Automatic vehicle pre-washing device based on robot control

Abstract

The utility model discloses an automatic vehicle pre-washing device based on robot control, which relates to the technical field of intelligent vehicle washing and comprises two robot gantry support columns, a robot gantry cross beam is arranged at the tops of the two robot gantry support columns, and lifting components are arranged at the left end and the right end of the robot gantry cross beam. The lifting assembly comprises a lifting assembly fixing plate and lifting assembly racks, collaborative robots are arranged below the two lifting assembly racks, the collaborative robots can accurately spray cleaning liquid and efficiently remove stubborn stains on a vehicle body through the robot path planning technology, and the cleaning quality is remarkably improved; the vehicle surface can be monitored in real time in the cleaning process, operation safety is guaranteed, damage to vehicle paint is avoided, in addition, the automatic pre-cleaning system reduces manual intervention and labor intensity, meanwhile, the using amount of cleaning agents is accurately controlled, water resources are saved, waste of chemical agents is reduced, and more environment friendliness is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to intelligent car washing technical field, especially in vehicle automation prewash device based on robot control. BACKGROUND

[0002] With the vigorous development of the automobile industry, the vehicle ownership continues to rise, and people's demand for vehicle cleaning services also increases day by day. In such a market environment, a vehicle automation prewash device based on robot control emerges as the times require. It combines advanced robot control technology, automation technology and intelligent path planning technology, aiming to provide efficient, intelligent and accurate prewash services for vehicle cleaning. In actual application scenarios, the device usually works with other car washing equipment to form a complete car washing process.

[0003] It usually contains the following key parts:

[0004] 1. Robot gantry structure: composed of robot gantry pillars and robot gantry beams, it provides stable support framework for the entire device, ensuring the normal operation of other components.

[0005] 2. Lifting assembly: installed at both ends of the robot gantry beam, it can adjust the height of the collaborative robot, making it adaptable to different vehicle height differences.

[0006] 3. Collaborative robot: equipped with a spray head device, under the control of the system, it cleans the vehicle surface according to the preset path, and is the core component of precise cleaning.

[0007] 4. Spray head device: equipped with contact sensors and nozzles, it can not only monitor the vehicle surface in real time, but also dynamically adjust the spraying ratio of cleaning liquid and water according to the dirt level.

[0008] Currently, in order to improve the efficiency and quality of vehicle prewash, the car washing industry has adopted a variety of equipment and technology. Some car washing places use traditional fixed nozzle type prewash equipment, which installs multiple nozzles at specific positions to spray and clean the vehicle. Some use manual handheld spray guns for prewash, and manual workers can flexibly adjust the cleaning position and intensity according to the vehicle dirt condition. In addition, some more advanced car wash shops have begun to try to use simple automated car washing equipment to move the spray head with a mechanical arm for limited cleaning.

[0009] However, the above-mentioned existing vehicle pre-washing method has many problems. In terms of cleaning effect, the traditional fixed nozzle type equipment is difficult to accurately clean different dirty points and dirty degrees of the vehicle, and the cleaning effect of stubborn stains is poor. Although the manual handheld spray gun method has high flexibility, the cleaning efficiency is low, and the stability and consistency of manual operation are difficult to guarantee, which is easy to cause incomplete cleaning or over-cleaning. In terms of safety, neither the fixed nozzle type equipment nor the manual operation can monitor the distance between the nozzle and the surface of the vehicle in real time, which is easy to collide with the vehicle during cleaning and damage the paint. In terms of resource utilization, manual cleaning often cannot accurately control the amount of cleaning agent and water, causing resource waste; and some low automation degree equipment also has the problem of unreasonable use of cleaning agent and water. In addition, the existing pre-washing method mostly needs more manual participation, which has high labor intensity and high labor cost. Based on these problems, the vehicle automatic pre-washing device based on robot control provided in the application realizes accurate spraying and efficient cleaning by combining robot path planning technology, and ensures the safety of the cleaning process through the contact sensor on the nozzle. The system not only can significantly improve the efficiency and quality of vehicle cleaning, but also can reduce resource waste, has wide application prospect and has obvious advantages. Content of the utility model

[0010] In view of the defects of the prior art, the utility model provides a vehicle automatic pre-washing device based on robot control, solves the problems that the traditional fixed nozzle type equipment is difficult to accurately clean different dirty points and dirty degrees of the vehicle, and the cleaning effect of stubborn stains is poor, and the manual handheld spray gun method has high flexibility, but the cleaning efficiency is low, and the stability and consistency of manual operation are difficult to guarantee.

[0011] In order to realize the above object, the utility model realizes the following technical scheme:

[0012] The utility model provides an automatic prewashing device of vehicle based on robot control, including two robot gantry pillars, the top of two robot gantry pillars is provided with robot gantry crossbeam, the left and right ends of robot gantry crossbeam are provided with lifting assembly, and lifting assembly includes lifting assembly fixed plate and lifting assembly rack, the lower of two lifting assembly racks is provided with collaborative robot, and the end flange of two collaborative robots is provided with spray head mechanism, and the surface of two spray head racks is provided with a group of contact sensors and a group of nozzles, the left surface of two lifting assembly racks is provided with upper limit sensor and lower limit sensor, the right side wall of two lifting assembly racks is provided with rack, the front surface of two lifting assembly fixed plates is provided with brake band mechanism, and the upper of two lifting assembly fixed plates is provided with driving motor, and the bottom of two robot gantry pillars is provided with a group of leveling bolts, and the top platform of two robot gantry pillars is provided with control cabinet.

[0013] Preferably, the output end of two driving motors is fixedly connected with gear, two racks are meshed with two gears respectively, the internal gear of two brake band mechanisms is meshed with two racks respectively, the rear surface of two lifting assembly racks is provided with slide rail, the front surface of two lifting assembly fixed plates is provided with two sliding blocks, two slide rails are slidingly connected with two pairs of sliding blocks respectively, and the top of two lifting assembly racks is provided with upper drag chain guide plate.

[0014] Preferably, the rear surface of two lifting assembly fixed plates is provided with lower drag chain guide plate, the bottom end of two drag chains is connected with two lower drag chain guide plates respectively, and the side away from a group of nozzles of two spray head racks is provided with first spray head interface and second spray head interface.

[0015] Compared with the prior art, the utility model has the beneficial effects that:

[0016] The whole passes through robot path planning technology, and the collaborative robot can accurately spray cleaning liquid, efficiently removes stubborn stains on the vehicle body and significantly improves the cleaning quality, secondly, the device is equipped with contact sensors, can monitor the vehicle surface in real time during the cleaning process, ensures the operation safety, avoids damaging the vehicle paint, furthermore, the automatic prewashing system reduces manual intervention, reduces the labor intensity, accurately controls the cleaning agent dosage, saves water resources, reduces chemical agent waste, is more environmental protection, as a whole, the device not only improves the vehicle cleaning efficiency and quality, but also has good economy and environmental protection, and has wide application prospect. BRIEF DESCRIPTION OF DRAWINGS

[0017] The above description is only a summary of the technical scheme of the utility model, in order to more clearly understand the technical means of the utility model, and can be implemented according to the content of the specification, the following preferred embodiments of the utility model are described in detail below with the accompanying drawings.

[0018] Figure 1 It is the overall structural diagram of the utility model;

[0019] Figure 2 It is the lifting assembly structure diagram of the utility model;

[0020] Figure 3 It is the spray head mechanism structure diagram of the utility model.

[0021] Legend: 1, leveling bolt;2, collaborative robot;3, robot gantry pillar;4, lifting assembly rack;5, lifting assembly fixed plate;6, lower limit sensor;7, upper limit sensor;8, drag chain;9, control cabinet;10, drive motor;11, robot gantry beam;12, brake holding mechanism;13, spray head mechanism;14, rack;15, upper drag chain guide plate;16, slide rail;17, lower drag chain guide plate;18, sliding block;19, first spray head interface;20, second spray head interface;21, spray head rack;22, contact sensor;23, nozzle. DETAILED DESCRIPTION

[0022] The embodiment of the application provides a vehicle automatic pre-washing device based on robot control, which effectively solves the problems that the traditional fixed spray head type equipment cannot accurately clean different dirty points and dirty degrees of vehicles, the cleaning effect of stubborn stains is poor, the manual handheld spray gun method has high flexibility, but the cleaning efficiency is low, and the stability and consistency of manual operation cannot be guaranteed, by combining the robot path planning technology, accurate spraying and efficient cleaning are realized, meanwhile, the safety of the cleaning process is ensured through the contact sensor on the spray head, the system can not only significantly improve the efficiency and quality of vehicle cleaning, but also reduce resource waste, has a wide application prospect and has significant advantages.

[0023] EMBODIMENT

[0024] As shown in Figure 1 , Figure 2 and Figure 3 , the technical scheme in the embodiment of the application effectively solves the technical problems that the traditional fixed spray head type equipment cannot accurately clean different dirty points and dirty degrees of vehicles, the cleaning effect of stubborn stains is poor, the manual handheld spray gun method has high flexibility, but the cleaning efficiency is low, and the stability and consistency of manual operation cannot be guaranteed, and the overall idea is as follows:

[0025] In view of the problems in the prior art, the utility model provides a vehicle automation prewash device based on robot control, including two robot gantry pillars 3, two robot gantry pillars 3 top are provided with robot gantry crossbeam 11, provide support for robot and lifting assembly, both ends of robot gantry crossbeam 11 are provided with lifting assembly, and lifting assembly contains lifting assembly fixed plate 5 and lifting assembly rack 4, two lifting assembly racks 4 below are provided with collaborative robot 2, and the end flange of two collaborative robots 2 is provided with spray head mechanism 13, and spray head mechanism 13 contains spray head rack 21, and the surface of two spray head racks 21 is provided with a group of contact sensors 22 and a group of nozzles 23, the left surface of two lifting assembly racks 4 is provided with upper limit sensor 7 and lower limit sensor 6, is used for the soft limit control of lifting assembly, the right side wall of two lifting assembly racks 4 is provided with rack 14, the front surface of two lifting assembly fixed plates 5 is provided with brake mechanism 12, and two lifting assembly fixed plates 5 are provided with driving motor 10, and the bottom of two robot gantry pillars 3 is provided with a group of leveling bolts 1, to ensure the stability and levelness of the device, and the top platform of two robot gantry pillars 3 is provided with control cabinet 9, for controlling the operation of whole system, when the device works, vehicle enters prewash area and triggers system to start, and the system generates prewash path through the vehicle shape and dirty point information provided by previous process, after vehicle reaches prewash station, the driving motor 10 of lifting assembly starts, moves up and down through the meshing of gear and rack 14, adjusts the height of collaborative robot 2, makes its spray head mechanism 13 align with vehicle surface, brake mechanism 12 and upper limit sensor 7 and lower limit sensor 6 provide emergency brake and limit protection, ensure operation safety, collaborative robot 2 moves along vehicle surface according to prewash path, and spray head mechanism 13 dynamically adjusts the proportion of cleaning liquid and clean water according to the dirty condition and carries out accurate spraying.

[0026] The output end of the two driving motors 10 is fixedly connected with a gear, the two racks 14 are engaged with the two gears respectively, the internal gears of the two brake band mechanisms 12 are engaged with the two racks 14 respectively, which are used for emergency braking and positioning of the lifting assembly, the rear surface of each of the two lifting assembly racks 4 is provided with a sliding rail 16, the front surface of each of the two lifting assembly fixing plates 5 is provided with two sliding blocks 18, the two sliding rails 16 are slidably connected with the two pairs of sliding blocks 18 respectively, so as to ensure the stability of the lifting movement, the top of each of the two lifting assembly racks 4 is provided with an upper drag chain guide plate 15, the rear surface of each of the two upper drag chain guide plates 15 is provided with a drag chain 8, the rear surface of each of the two lifting assembly fixing plates 5 is provided with a lower drag chain guide plate 17, and the bottom end of each of the two drag chains 8 is connected with the two lower drag chain guide plates 17 respectively, one side of each of the two nozzle racks 21 away from a group of nozzles 23 is provided with a first nozzle interface 19 and a second nozzle interface 20, which are used for connecting cleaning liquid and water source, and the contact sensor 22 on the nozzle mechanism 13 monitors the surface of the vehicle in real time, so as to ensure that the nozzle keeps a proper distance from the vehicle surface, avoids collision and damage to the vehicle paint, after the pre-washing is completed, the lifting assembly lifts the robot to the initial position, the vehicle drives away from the pre-washing position, the collaborative robot 2 and the lifting assembly are reset, and the pre-washing of the next vehicle is prepared, through the robot path planning technology, the collaborative robot 2 can accurately spray cleaning liquid, efficiently removes stubborn stains on the vehicle body, and significantly improves the cleaning quality, secondly, the device is provided with the contact sensor 22, which can monitor the surface of the vehicle in real time during the cleaning process, so as to ensure the operation safety and avoid damage to the vehicle paint, in addition, the automatic pre-washing system reduces manual intervention, reduces the labor intensity, accurately controls the amount of cleaning agent, saves water resources, reduces chemical agent waste, is more environmentally friendly, and overall, the device not only improves the vehicle cleaning efficiency and quality, but also has good economy and environmental protection, and has a wide application prospect.

[0027] The leveling bolt 1 is used to adjust the bottom of the robot gantry pillar 3, so as to ensure the stability and levelness of the device.

[0028] The collaborative robot 2 is provided with the nozzle mechanism 13 and moves according to the preset path under the control of the system, accurately sprays cleaning liquid, and cleans the vehicle.

[0029] The robot gantry pillar 3 supports the robot gantry beam 11 and cooperates with the leveling bolt 1 to ensure the stability of the device, and the control cabinet 9 on the top platform controls the whole system.

[0030] The lifting assembly rack 4 installs the collaborative robot 2 and cooperates with the lifting assembly fixing plate 5 and other components to realize the lifting movement and drive the collaborative robot 2 to adjust the height.

[0031] The lifting assembly fixing plate 5 installs the driving motor 10, the brake band mechanism 12 and other components and cooperates with the lifting assembly rack 4 to realize the lifting function.

[0032] The lower limit sensor 6 and the upper limit sensor 7 are used for soft limit control of the lifting assembly to prevent the lifting assembly from exceeding the safe range;

[0033] The drag chain 8 is used to protect the cables and air pipes of the robot and can stretch and contract with the movement of the lifting assembly;

[0034] The control cabinet 9 controls the operation of the entire vehicle automatic pre-washing device system;

[0035] The drive motor 10 outputs power and drives the lifting assembly rack 4 to move up and down through the engagement of the gear and the rack 14;

[0036] The robot gantry beam 11 connects two robot gantry pillars 3 to provide support for the lifting assembly and the collaborative robot 2;

[0037] The band brake mechanism 12 is used for emergency braking and positioning in the lifting assembly to ensure safety;

[0038] The spray head mechanism 13 is installed at the end of the collaborative robot 2 and sprays cleaning liquid through the nozzle 23. The contact sensor 22 monitors the surface of the vehicle to avoid damaging the paint;

[0039] The rack 14 engages with the gear at the output end of the drive motor 10 and the internal gear of the band brake mechanism 12 to realize the lifting movement of the lifting assembly rack 4;

[0040] The upper drag chain guide plate 15 connects the top end of the drag chain 8 to guide the movement of the drag chain 8 and protect the cables and air pipes;

[0041] The slide rail 16 cooperates with the sliding block 18 on the lifting assembly fixing plate 5 to ensure the stability of the lifting movement of the lifting assembly rack 4;

[0042] The lower drag chain guide plate 17 connects the bottom end of the drag chain 8 and guides the movement of the drag chain 8 together with the upper drag chain guide plate 15;

[0043] The sliding block 18 is slidingly connected with the slide rail 16 to assist the stable lifting of the lifting assembly rack 4;

[0044] The first spray head interface 19 and 20 and the second spray head interface 20 are used to connect the cleaning liquid and water source to provide cleaning medium for the spray head mechanism 13;

[0045] The spray head rack 21 installs the contact sensor 22, the nozzle 23, and the spray head interface, which is the support structure of the spray head mechanism 13;

[0046] The contact sensor 22 monitors the surface of the vehicle in real time to ensure that the spray head maintains an appropriate distance from the surface and avoids collision and damage to the paint;

[0047] The nozzle 23 is responsible for spraying cleaning liquid to clean the surface of the vehicle.

[0048] Working principle:

[0049] When the device is working, the vehicle enters the pre-washing area to trigger the system to start, the system generates a pre-washing path based on the vehicle shape and dirty point information provided by the previous process, after the vehicle reaches the pre-washing station, the driving motor 10 of the lifting assembly starts to drive the lifting assembly rack 4 to move up and down through the meshing of the gear and the rack 14, adjust the height of the collaborative robot 2, so that the nozzle mechanism 13 of the collaborative robot 2 is aligned with the surface of the vehicle, and the emergency brake and limit protection provided by the brake mechanism 12 and the upper limit sensor 7 and the lower limit sensor 6 ensure the safety of operation, the collaborative robot 2 moves along the surface of the vehicle according to the pre-washing path, the nozzle mechanism 13 dynamically adjusts the proportion of cleaning liquid and clean water according to the dirty situation to accurately spray, the contact sensor 22 on the nozzle mechanism 13 monitors the surface of the vehicle in real time to ensure that the nozzle maintains an appropriate distance from the vehicle surface to avoid collision and damage to the paint, after the pre-washing is completed, the lifting assembly lifts the robot to the initial position, the vehicle drives away from the pre-washing station, and the collaborative robot 2 and the lifting assembly are reset to prepare for the pre-washing of the next vehicle, through the robot path planning technology, the collaborative robot 2 can accurately spray cleaning liquid to efficiently remove stubborn stains on the vehicle body and significantly improve the cleaning quality, secondly, the device is equipped with a contact sensor 22 that can monitor the surface of the vehicle in real time during the cleaning process to ensure the safety of operation and avoid damage to the paint, in addition, the automatic pre-washing system reduces manual intervention, reduces labor intensity, accurately controls the amount of cleaning agent, saves water resources, reduces chemical agent waste, and is more environmentally friendly, in general, the device not only improves the vehicle cleaning efficiency and quality, but also has good economic efficiency and environmental friendliness, and has broad application prospects.

[0050] Finally, it should be noted that: obviously, the above embodiments are only examples for clearly illustrating the utility model, and are not limited to the implementation mode. For ordinary skilled persons in the art, other different forms of changes or variations can be made on the basis of the above description. Here, it is not necessary and impossible to exhaust all the implementation modes. The obvious changes or variations derived therefrom are still within the protection scope of the utility model.

Claims

1. A robotically controlled vehicle automated prewash apparatus comprising two robotic gantry pillars (3), characterized in that, Two said robot gantry pillars (3) top is equipped with robot gantry beam (11), the left and right two ends of the robot gantry beam (11) are equipped with lifting assembly, lifting assembly contains lifting assembly fixed plate (5) and lifting assembly rack (4), two said lifting assembly rack (4) below are equipped with collaborative robot (2), the end flange of two said collaborative robot (2) is equipped with spray head mechanism (13), the spray head mechanism (13) contains spray head rack (21); Wherein, two said spray head rack (21) surface are equipped with a group of contact sensors (22) and a group of nozzles (23), two said lifting assembly rack (4) left surface are equipped with upper limit sensor (7) and lower limit sensor (6), two said lifting assembly rack (4) right side wall are equipped with rack (14), two said lifting assembly fixed plate (5) front surface are equipped with brake mechanism (12), two said lifting assembly fixed plate (5) are equipped with driving motor (10) on.

2. A robotic control based vehicle automated prewash apparatus as claimed in claim 1, wherein: Two said robot gantry pillars (3) bottom are equipped with a group of leveling bolts (1); Wherein, two said robot gantry pillar (3) top platform are equipped with control cabinet (9).

3. A robotic control based vehicle automated prewash apparatus as claimed in claim 1, wherein: The output end of two said driving motor (10) is fixedly connected with gear, two said rack (14) are respectively engaged with two gears, the internal gear of two said brake mechanism (12) is respectively engaged with two rack (14), two said lifting assembly rack (4) rear surface are equipped with slide rail (16); Wherein, two said lifting assembly fixed plate (5) front surface are equipped with two slide blocks (18), two said slide rail (16) are respectively connected with two pairs of slide blocks (18).

4. A robotic control based vehicle automated prewash apparatus as claimed in claim 1, wherein: Two said lifting assembly rack (4) top are equipped with upper drag chain guide plate (15); Wherein, two said upper drag chain guide plate (15) rear surface are equipped with drag chain (8).

5. A robotic control based vehicle automated prewash apparatus as claimed in claim 4, wherein: Two said lifting assembly fixed plate (5) rear surface are equipped with lower drag chain guide plate (17); Wherein, two said lower drag chain guide plate (17) are respectively connected with the bottom end of two drag chains (8).

6. A robotic control based vehicle automated prewash apparatus as claimed in claim 1, wherein: Two said spray head rack (21) away from a group of nozzles (23) one side are equipped with first spray head interface (19) and second spray head interface (20).

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