Automobile cleaning device based on multi-axis linkage mechanical arm

Abstract

The utility model discloses a car washing device based on multi -shaft linkage mechanical arm. The device includes: spreader mechanism is used for bearing and conveying car, device frame is across on car conveying path top, at least two multi -shaft linkage mechanical arm is inverted on device frame, and positioning mechanism. The supporting plate of spreader mechanism is equipped with the locating post, the positioning mechanism includes two positioning strips of forming locating groove, when car is conveyed to the cleaning work position, the locating post with locating groove slide embed, and the mechanical position of supporting plate is limited. The utility model discloses through the high flexibility movement ability of multi -shaft linkage mechanical arm and the high precision ground mechanical positioning mechanism are combined, ensure the stable reliable of car benchmark position, and robot can execute accurate cleaning track accordingly, thereby thoroughly eliminates the cleaning blind area, and the washing quality, efficiency and automation degree have been improved significantly, and the compact equipment structure, space utilization is high.

Description

Technical Field

[0001] This utility model relates to the field of automated car cleaning technology, specifically to a car cleaning device based on a multi-axis linkage robotic arm. Background Technology

[0002] In modern automotive painting or assembly lines, vehicle body cleaning is a crucial process, directly impacting the quality of subsequent painting and the overall aesthetics of the vehicle. Traditional automated cleaning stations often employ gantry-type or fixed spray bar structures, where vehicles move in a straight line through fixed spray and brushing areas. The drawback of these systems is their lack of flexibility; the fixed trajectory of the nozzles and brushes makes it difficult to fully adapt to the complex curves and contours of different vehicle types (such as sedans, SUVs, and MPVs), especially in areas like rearview mirrors, door handle recesses, and roof rack connections, where blind spots are easily created.

[0003] Furthermore, these traditional devices are typically inefficient in terms of water usage, with large amounts of cleaning water failing to be precisely applied to the vehicle's surface, resulting in resource waste. More importantly, when using lifting devices or skids to transport vehicles, factors such as chain tension, lifting device swaying, or station stopping errors can cause a slight deviation or sway in the vehicle's actual position upon entering the cleaning station compared to its theoretical position. For cleaning equipment with a fixed trajectory, this inaccurate positioning can directly lead to uncontrolled spacing between the cleaning tools and the vehicle body, potentially affecting cleaning effectiveness or even causing collisions that damage the equipment or the vehicle.

[0004] Therefore, the industry urgently needs an intelligent car washing device that has high cleaning coverage, can adapt to various car models, is highly flexible, and can actively adapt to or eliminate vehicle position deviations. Utility Model Content

[0005] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a car washing device based on a multi-axis linkage robotic arm, which solves the technical problems of blind spots, poor flexibility and low positioning accuracy in the prior art.

[0006] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: This application provides a car washing device based on a multi-axis linkage robotic arm, comprising: The lifting mechanism includes a pallet and a positioning post, the positioning post being fixed to the side of the pallet, and the pallet carrying and transporting a vehicle; The frame of the device spans across the vehicle transport path; At least two multi-axis linkage robotic arms are inverted and mounted on the frame of the device and located on both sides of the car transport path; The positioning mechanism includes two positioning bars fixed on the device frame, and a positioning groove is formed between the two positioning bars. The positioning groove is a narrow sliding groove that restricts the pallet to at least one degree of freedom in the horizontal plane, and the positioning post is slidably engaged with the positioning groove.

[0007] In some embodiments of this application, the device frame includes a cantilever robot mounting column, a crossbeam, and a base. The crossbeam and the base are respectively fixed to the top and bottom of the column. At least two multi-axis linkage robotic arms are mounted on the crossbeam via flanges or inverted mounting brackets, and two positioning strips are mounted on the base.

[0008] In some embodiments of this application, an integrated cleaning tool tray is also included, which is installed at the end of the multi-axis linkage robotic arm. The integrated cleaning tool tray includes at least two of the following: a high-pressure water nozzle, a foam spray bar, and a brushing unit.

[0009] In some embodiments of this application, a high-powered air knife is also included, which is mounted on the integrated cleaning tool tray, and the air outlet of the high-powered air knife is arranged side by side or coaxially with the nozzle of the high-pressure water spray head.

[0010] In some embodiments of this application, a collision-resistant mechanical structure is also included, which is disposed between the integrated cleaning tool disk and the end of the multi-axis linkage robotic arm.

[0011] In some embodiments of this application, a vision camera is also included, which is disposed on the device frame. The vision camera is a structured light camera or a depth camera, used to acquire the actual position information of the vehicle.

[0012] In some embodiments of this application, the multi-axis linkage robotic arm is a six-axis collaborative robotic arm, and the six-axis collaborative robotic arm body integrates a force sensor or a torque sensor.

[0013] In some embodiments of this application, a water collection tank and a water circulation treatment unit are also included, wherein the water collection tank is disposed below the vehicle transport path and the water circulation treatment unit is connected to the water collection tank.

[0014] In some embodiments of this application, the entrance of the positioning groove is configured as an outwardly expanding funnel-shaped guide structure, and an elastic buffer layer is provided on the inner wall of the positioning groove that contacts the positioning post.

[0015] In some embodiments of this application, a lifting cleaning mechanism is also included, which is disposed below the vehicle transport path.

[0016] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: By inverting a multi-axis robotic arm above the conveyor line and combining it with a ground-based mechanical positioning mechanism, the robot's high flexibility is combined with high-precision baseline positioning. The inverted layout significantly expands the robot's working range and saves floor space; the mechanical engagement between the positioning column of the lifting mechanism and the positioning slot of the positioning mechanism provides an absolutely stable positional reference for the cars entering the workstation in a simple and reliable manner. Based on this reference, two robots can collaboratively execute preset complex cleaning trajectories, thus achieving precise, efficient, and thorough cleaning of cars. Furthermore, the equipment has a compact structure, high space utilization, and stable and reliable cleaning quality. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in this application, the accompanying drawings used in the embodiments will be briefly described below: Figure 1 This is a schematic diagram of the structure of a car washing device based on a multi-axis linkage robotic arm in an embodiment of this application; Figure 2 This is a front view of a car washing device based on a multi-axis linkage robotic arm according to an embodiment of this application; Figure 3 This is a top view of a car washing device based on a multi-axis linkage robotic arm, as described in an embodiment of this application.

[0018] Figure label: 1-Equipment frame; 11-Column; 12-Crossbeam; 13-Base; 2-Multi-axis linkage robotic arm; 3-Positioning mechanism; 31-Positioning groove; 4-Integrated cleaning tool tray; 41-High-pressure water nozzle. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0020] Those skilled in the art will understand that, in this specification, the term "comprising" is an open-ended expression, meaning that the stated feature is present but other features are excluded. Directional terms such as "upper," "lower," "left," and "right" refer to exemplary directions based on the accompanying drawings. Features specified as "first" or "second" implicitly include one or more of that feature. Singular expressions can also be used in plural forms. "Multiple" means two or more. The terms "installed," "connected," and "linked" can refer to a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection via an intermediate medium, and it can be a connection within two components. Furthermore, "linked" can include wireless connections.

[0021] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a car washing device based on a multi-axis linkage robotic arm, which solves the technical problems of blind spots, poor flexibility and low positioning accuracy in the prior art.

[0022] To achieve the above-mentioned technical objectives, this application adopts the following technical solution: Reference Figures 1-3 This embodiment provides a car washing device based on multi-axis linkage robotic arms. This device is used at the car body washing station on an automated automotive production line. The device includes a lifting mechanism, a device frame 1, at least two multi-axis linkage robotic arms 2, and a positioning mechanism 3.

[0023] A spreader mechanism for carrying and transporting vehicles includes a spreader pallet. One or more forward-extending positioning posts are fixedly connected to the bottom or side of the spreader pallet. In this embodiment, the spreader pallet is driven by a chain on the production line and travels along a predetermined vehicle transport path.

[0024] The device frame 1 is a robust steel structure that spans across the vehicle transport path. At least two multi-axis robotic arms 2 are mounted upside down on the device frame 1, positioned on the left and right sides of the vehicle transport path, respectively. This upside-down layout maximizes the robots' workspace, enabling them to cover the top, sides, front, and rear of the vehicle.

[0025] The positioning mechanism 3 is installed on the ground along the vehicle transport path. In this embodiment, the positioning mechanism 3 includes two fixed positioning strips, which are arranged opposite each other, forming a narrow positioning groove 31 between them. The orientation of the positioning groove 31 is consistent with the direction of the vehicle transport path.

[0026] Working Principle: When the carrier pallet carrying the car enters the cleaning station, its positioning pin slides into and precisely embeds into the positioning groove 31 of the positioning mechanism 3. Because the positioning groove 31 is elongated, it effectively constrains the positioning pin's degree of freedom perpendicular to the conveying direction (i.e., preventing lateral displacement, X-axis) and its degree of freedom of rotation around the vertical axis (Rz-axis), thus ensuring that the entire carrier pallet, along with the car on it, is precisely stopped at the predetermined cleaning position. At this point, the car has a fixed reference pose relative to the inverted robot. Subsequently, based on this precise reference position, the two multi-axis linkage robotic arms 2 collaboratively execute the preset cleaning program, using their end tools to perform a comprehensive cleaning of the car body. After cleaning, the carrier pallet is driven away, the positioning pin slides out of the positioning groove 31, and the next car enters the station, repeating the process.

[0027] This embodiment provides a highly repeatable positioning reference for the flexible robotic cleaning system through the purely mechanical cooperation between the positioning column and the positioning groove 31, fundamentally solving the problem of inaccurate positioning caused by the shaking of the lifting device, and ensuring the stability and consistency of the cleaning quality.

[0028] The structure of the device frame 1 is further defined. Specifically, the device frame 1 includes a cantilever robot mounting column 11, a crossbeam 12 fixed to the top of the column, and a base 13 fixed to the bottom of the column. At least two multi-axis linkage robotic arms 2 are mounted and fixed to the crossbeam 12 via flanges or a dedicated inverted mounting bracket. The two positioning strips of the positioning mechanism 3 are mounted on the base 13. This structure integrates the robot support and the positioning mechanism reference into one unit, resulting in a more stable structure.

[0029] The integrated frame of the device, consisting of column 11, beam 12, and base 13, boasts high structural strength and stability, ensuring a constant relative position between the robot body and the positioning reference, thus providing a solid structural guarantee for the high-precision operation of the system.

[0030] An integrated cleaning tool tray 4 is mounted on the end flange of the multi-axis linkage robotic arm 2. This integrated cleaning tool tray 4 integrates at least two or three of the following: high-pressure water nozzles 41, foam sprayers, and brushing units. For example, multiple high-pressure water nozzles 41 at different angles can be arranged in a ring on the tool tray, with a foam nozzle in the center and a rotatable flexible brush mounted on the side.

[0031] By integrating multiple cleaning functions such as spraying, foaming, and brushing onto a single end-effector, the robot can seamlessly switch cleaning processes at different stages of the cleaning process without changing tools, greatly shortening the operation time and improving the cleaning efficiency and functional complexity of a single workstation.

[0032] To further expand functionality, a powerful air knife is also installed on the integrated cleaning tool tray 4. The air outlet of this powerful air knife can be arranged side-by-side with the nozzle of the high-pressure water nozzle 41, or designed as a coaxial structure, meaning the air knife's outlet surrounds the high-pressure water nozzle 41. The air knife is connected to an external high-pressure blower via a flexible air tube.

[0033] In addition to the cleaning function, the device integrates a drying function, which allows the robot to immediately perform a drying operation along the contour of the car body after the cleaning and rinsing processes are completed. This removes most of the water droplets from the surface, preparing the car for the next process (such as electrophoresis or painting), simplifying the production line layout and reducing the waiting time between processes.

[0034] To enhance safety, an anti-collision mechanical structure is installed between the integrated cleaning tool tray 4 and the end flange of the multi-axis linkage robotic arm 2. This structure can be a spring-loaded buffer mechanism or a collision disengagement device with built-in sensors. When the tool tray accidentally collides with the vehicle body or other obstacles during movement, this mechanical structure will deform under force or be triggered to disengage, and immediately send an emergency stop signal to the robot controller.

[0035] It features a purely mechanical collision avoidance structure, providing a passive safety barrier independent of the robot's internal sensors. It boasts a fast response time and high reliability, protecting the robot's end effector and the expensive vehicle body from damage in the event of a collision.

[0036] The device also includes a vision camera mounted on the device frame 1. Preferably, the vision camera is a structured light camera or a ToF depth camera capable of acquiring three-dimensional information. The camera is mounted at a position such as the center of the crossbeam that provides an overview of the entire vehicle. Before cleaning begins, the camera photographs or scans the car after it has entered the workstation and been positioned, obtaining the actual position information of key features such as the roof and hood. This information is then compared with a standard 3D model of the vehicle stored in the system to calculate the deviation between the actual and theoretical poses of the vehicle (including deviations in the six degrees of freedom: X, Y, Z, Rx, Ry, and Rz). This deviation value is sent to the robot controller for real-time compensation and correction of the preset cleaning trajectory.

[0037] By using a vision camera for secondary precision positioning, dynamic compensation is achieved for mechanical positioning errors, assembly tolerances of different batches of vehicles, and even changes in vehicle models. This elevates positioning accuracy from macroscopic mechanical constraints to microscopic visual correction, truly achieving precise contour cleaning and further improving cleaning quality and the system's intelligence level.

[0038] The multi-axis linkage robotic arm 2 is preferably a six-axis collaborative robotic arm. An inherent characteristic of collaborative robots is that each joint of their body integrates a high-precision force sensor or torque sensor. During normal movement, the controller monitors the force / torque feedback of each joint in real time.

[0039] By utilizing force / torque sensors integrated into the collaborative robot body, proactive safety protection is achieved. When the robot comes into unexpected contact with any object (including the vehicle body) during the cleaning process, the joint forces / torques will momentarily become abnormal. The system can immediately detect this and stop moving. Its sensitivity and safety are far superior to external anti-collision devices, making it particularly suitable for scenarios involving close-range operation with high-value products, providing ultimate safety assurance.

[0040] At the bottom of the unit, below the vehicle transport path, is a large water collection tank and a water circulation treatment unit. All wastewater generated during the cleaning process (including cleaning agents and dirt) is collected in the water collection tank and then pumped into the water circulation treatment unit through pipelines. This unit includes equipment such as a sedimentation tank, filter screen, and oil-water separator to perform preliminary physical treatment of the wastewater, removing large particulate impurities and floating oil. After this treatment, the wastewater can be recycled for less demanding pre-rinsing stages or further treated to achieve higher reuse standards.

[0041] By collecting, treating, and recycling cleaning wastewater, valuable water resources are significantly saved, factory operating costs are reduced, and wastewater discharge is decreased, reflecting the design concepts of green manufacturing and energy conservation and environmental protection.

[0042] The details of the positioning mechanism 3 are optimized. The entrance of the positioning groove 31 is designed as an outwardly expanding funnel-shaped guide structure. At the same time, a replaceable elastic buffer layer, such as a strip made of polyurethane or high-hardness rubber, is provided on the inner wall of the positioning groove 31 for final contact with the positioning post and to constrain its movement.

[0043] The flared guide structure enables the positioning column to self-align upon entry, smoothly guiding it to the correct position even with initial alignment deviations in the spreader tray, thus improving the robustness of the positioning process. The elastic buffer layer absorbs the impact energy when the spreader tray reaches its final position, preventing vibrations and noise from rigid collisions, protecting the equipment, and providing the robot with a more static and stable working environment.

[0044] To achieve the cleaning of the car chassis, the device also includes a lifting cleaning mechanism. This mechanism is installed underground, below the car transport path, between two inverted multi-axis robotic arms 2. After the car is positioned, the lifting cleaning mechanism rises from the ground to under the car chassis, and its integrated high-pressure jet pipes perform reciprocating or rotary spray cleaning on the chassis. Its movements are coordinated and controlled with the two multi-axis robotic arms 2 to avoid motion interference.

[0045] A dedicated chassis cleaning function has been added, which perfectly complements the inverted robot's cleaning of the upper and sides of the vehicle body, forming a three-dimensional cleaning system that covers all surfaces of the vehicle, completely solving the major problem that traditional cleaning methods are unable to effectively clean the chassis.

[0046] The high-pressure water nozzle 41 includes an electrically adjustable nozzle that can be driven by a robot controller to switch spray modes. The nozzle has a built-in micro stepper motor that can change the spray pattern of the water flow online and in real time according to the instructions in the cleaning program. For example, it can switch to a zero-degree straight jet when it is necessary to powerfully remove stubborn stains, and switch to a 45-degree fan-shaped spray when rinsing a large area.

[0047] By electrically adjusting the nozzles, the cleaning process is given greater flexibility and precise control, enabling a single set of equipment to intelligently match the optimal water flow pattern according to different parts of the vehicle body and different types of stains, thereby optimizing water consumption while ensuring cleaning effect.

[0048] In addition to the global vision camera mounted on the device frame 1, a small second vision camera is also mounted on the wrist of at least one multi-axis linkage robotic arm 2, near the integrated cleaning tool tray 4. This camera moves with the robot's end effector.

[0049] Using a wrist camera, the system can provide close-range visual guidance for complex, easily contaminated areas such as wheel hubs, door seams, and the base of rearview mirrors, achieving ultra-high precision contour cleaning. More importantly, it can also photograph these key areas after cleaning for online quality checks. If residual stains are found, the system can automatically generate and execute a re-cleaning trajectory, thus achieving a closed-loop control of the cleaning operation from "inspection to rework," demonstrating a high degree of intelligence.

[0050] On one side of the device frame 1, at the edge of the robot's working range, there is a comprehensive service station. The service station includes: a calibration needle for automatic tool center point (TCP) calibration of the robot's end effector; a replenishment port with quick-change connectors for automatic replenishment of foam liquid or cleaning agent; and a quick-release holder for automatic replacement of worn brushes.

[0051] The integrated service station automates the maintenance of robotic tools. When the robot is in standby mode or receives a maintenance command, it can automatically proceed to the service station to perform tasks such as calibration, replenishing consumables, or replacing vulnerable parts. This significantly reduces manual intervention and improves the long-term operational accuracy and overall uptime (OEE) of the equipment.

[0052] Compared with the prior art, the beneficial technical effects of the technical solution provided in this application include: Through an innovative overall layout and the organic integration of multiple technological features, a highly flexible, intelligent, precise, and reliable car washing solution is provided. It not only addresses many pain points of existing technologies but also demonstrates strong applicability and advanced technology through expanded functionality, effectively meeting the high standards required for cleaning processes in modern automobile manufacturing.

[0053] Those skilled in the art will understand that the steps, measures, and schemes in the various operations, methods, processes, and procedures discussed in this application can be alternated, modified, rearranged, decomposed, combined, or deleted.

[0054] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Any other corresponding changes and modifications made based on the technical concept of this application should be included within the scope of protection of the claims of this application.

Claims

1. A car washing device based on a multi-axis linkage robotic arm, characterized in that, include: The lifting mechanism includes a pallet and a positioning post, the positioning post being fixed to the side of the pallet, and the pallet carrying and transporting a vehicle; The frame of the device spans across the vehicle transport path; At least two multi-axis linkage robotic arms are inverted and mounted on the frame of the device and located on both sides of the car transport path; The positioning mechanism includes two positioning bars fixed on the device frame, and a positioning groove is formed between the two positioning bars. The positioning groove is a narrow sliding groove that restricts the pallet to at least one degree of freedom in the horizontal plane, and the positioning post is slidably engaged with the positioning groove.

2. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, The device frame includes a cantilever robot mounting column, a crossbeam, and a base. The crossbeam and the base are respectively fixed to the top and bottom of the column. At least two multi-axis linkage robotic arms are mounted on the crossbeam via flanges or inverted mounting brackets, and two positioning strips are mounted on the base.

3. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, It also includes an integrated cleaning tool tray, which is installed at the end of the multi-axis linkage robotic arm. The integrated cleaning tool tray includes at least two of the following: a high-pressure water nozzle, a foam spray bar, and a brushing unit.

4. The car washing device based on a multi-axis linkage robotic arm according to claim 3, characterized in that, It also includes a powerful air knife, which is installed on the integrated cleaning tool tray, and the air outlet of the powerful air knife is arranged side by side or coaxially with the nozzle of the high-pressure water spray head.

5. The car washing device based on a multi-axis linkage robotic arm according to claim 3, characterized in that, It also includes a collision-resistant mechanical structure, which is disposed between the integrated cleaning tool disk and the end of the multi-axis linkage robotic arm.

6. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, It also includes a vision camera, which is mounted on the device frame. The vision camera is a structured light camera or a depth camera, used to acquire the actual position information of the vehicle.

7. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, The multi-axis linkage robotic arm is a six-axis collaborative robotic arm, and the six-axis collaborative robotic arm body integrates a force sensor or a torque sensor.

8. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, It also includes a water collection tank and a water circulation treatment unit, wherein the water collection tank is located below the vehicle transport path and the water circulation treatment unit is connected to the water collection tank.

9. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, The entrance of the positioning groove is configured as an outwardly expanding funnel-shaped guide structure, and an elastic buffer layer is provided on the inner wall of the positioning groove that contacts the positioning post.

10. The car washing device based on a multi-axis linkage robotic arm according to claim 1, characterized in that, It also includes a lifting cleaning mechanism, which is located below the vehicle transport path.

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