CN105501192A

CN105501192A - Intelligent manipulator type multifunctional car cleaning machine

Info

Publication number: CN105501192A
Application number: CN201510943712.1A
Authority: CN
Inventors: 戴钢
Original assignee: Nanjing Hanyideman Robot Technology Co Ltd
Current assignee: Nanjing Hanyideman Robot Technology Co Ltd
Priority date: 2015-12-16
Filing date: 2015-12-16
Publication date: 2016-04-20

Abstract

The surface of a car is easily scratched by high-speed rotating rolling brushes of existing gantry type and tunnel type car washing machines, and non-contact type car washing machines only with water spraying swing arms cannot effectively remove dirt; much water is consumed (for example, a tunnel type car washing machine needs 40-50 liters of water for one car), and much electricity is consumed (for example, a tunnel type car washing machine consumes 35 kilowatt of electricity per hour); although the cleanliness of manual cleaning is high and the water consumption is low, workers are difficult to hire because of disadvantaged social position, poor work environment and large labor intensity. According to the intelligent manipulator type multifunctional car washing machine, structures of existing car washing machines are completely changed, and the machine can simulate movements of workers and can accurately control the cleaning process. A manipulator is taken as a main work body and is matched with three-dimensional stereo imaging equipment, an automatic car traction device, a car chassis washing device, a system control computer, a saturated vapor instant generator, a compressed air blowing device, a water mist spraying device and a scrubbing plate device to finish car appearance washing work.

Description

Puma manipulator formula Multifunctional cleaning machine for car

Technical field

The present invention is mechanical device puma manipulator being used for automobile appearance cleaning.

Background technology

Existing automatic automobile appearance cleaning equipment has two large classes: with planer-type, the tunnel type car washer of large-scale round brush; There is no round brush, only have the contactless motor washer of water spray swing arm.The former, the round brush of High Rotation Speed easily causes scratch damage at bodywork surface; The latter, because do not have physical contact with bodywork surface, cannot effectively take out stains.Meanwhile, water consumption large (example: tunnel type car washer needs 40-50 liter/car), consumption of current large (example: tunnel type car washer 35 kilowatts/hour).

Manual cleaning wash degree is high, and water consumption is low, because people accurately can control cleaning action along body contour.But because low in social standing, poor working environment, labour intensity is large, has been in the condition that recruitment is difficult.

Only have the manipulator of intelligentized control method thoroughly can change existing carwash machinery fault of construction, farthest imitate manual action, accurately control cleaning process to greatest extent.Meanwhile, the defect that aforementioned two large class motor washers exist is avoided, the replacement HAND CAR ASH of maximal efficiency.

Summary of the invention

The object of this invention is to provide a kind of puma manipulator formula Multifunctional cleaning machine for car.It is operative body with manipulator, coordinates with Three-dimensional imager, automatically enters car draw gear, car chassis flushing arrangement, System control computer, the instant producer of saturated steam, compressed air blowing dry device, atomized water spray device, scrub pad device, completes automobile appearance cleaning.

Accompanying drawing explanation

Fig. 1 is a complete set of equipment integral planar schematic layout pattern.In figure, A1 is vehicle body front side three-dimensional imaging laser scanner, A2 is three-dimensional imaging laser scanner on the right side of vehicle body, A3 is vehicle body back side three-dimensional imaging laser scanner, A4 is three-dimensional imaging laser scanner on the left of vehicle body, B is that manipulator automatic capturing cleans plate rail, C robot movement guide rail, D six axis robot, E drawbar frame guide rail, F drawbar frame actuating device, A5 is ultrasonic type off front wheel position transduser, A6 is ultrasonic type the near front wheel position transduser, G drawbar frame crossbeam, H drawbar frame parking plate, I parking plate position regulator, J parking plate position adjustment pull bar, K1 is vehicle body front side three-dimensional imaging laser scanner displacement guide rail, K2 is vehicle body back side three-dimensional imaging laser scanner displacement guide rail.

Fig. 2 is manipulator main body External view.In figure, L is manipulator base slide unit, and M is manipulator turntable, and N is manipulator carwash assembly.

Fig. 3 is manipulator carwash component planes schematic layout pattern.In figure, O is saturated steam shower nozzle, and P is waterfog head, and Q is that pressurized air dries up shower nozzle, and R is the automatic claw of brush drive motor, S purging medium shower nozzle.

Detailed description of the invention

1, before vehicle to be cleaned reaches drawbar frame parking plate H, A3 vehicle body back side three-dimensional imaging laser scanner can rest on the rightmost side of displacement guide rail K2 as shown in Figure 1, so that vehicle enters.

2, as shown in Figure 1, after vehicle front-wheel reaches drawbar frame parking plate H, the ultrasonic type front wheel positions sensors A 5 of drawbar frame both sides, A6 detect front wheel positions, result of detection is delivered to control computer, just whether stopped by control computer for analysis headstock, parking plate position regulator I action is controlled again by System control computer, parking plate is pulled by parking plate position adjustment pull bar about J, until the position signal that the front wheel positions sensors A 5 of both sides, A6 receive is identical, thus ensureing that vehicle is when being drawn to carwash position, car load position is put between two parties.

3, as shown in Figure 1, when vehicle reaches drawbar frame parking plate H, when being advanced to front haulage, three-dimensional imaging laser scanner A2, A4 of being positioned at the vehicle body left and right sides start to scan body side facade and generate data to deliver to System control computer.After vehicle sails into completely, be positioned at the vehicle body front side three-dimensional imaging laser scanner A1 of headstock, be positioned at vehicle body back side three-dimensional imaging laser scanner A3 to start to carry out three-dimensional imaging scanning to body forward structure, afterbody, and data are mail to control system computer for controlling, finally generate contour of the vehicle and volumetric parameter, and then the precise motion of controlling machine mechanical arm.

4, as shown in Figure 2, base slide unit L can be movable in vehicle body both sides along guide rail for the six axis robot overall appearance used, and manipulator turntable M can make mechanical arm complete swing and revolution action, and manipulator carwash component N is positioned at mechanical arm extreme end.

5, as shown in Fig. 3 manipulator carwash component planes schematic layout pattern, mechanical arm is provided with foremost as lower component: O is saturated steam shower nozzle, removes obstinate attachment (as birds droppings, viscose glue etc.) for brute force; P is waterfog head, for rinsing; Q is that pressurized air dries up shower nozzle, for drying up residuary water mark.R is the automatic claw of brush drive motor, for capturing dish; S purging medium shower nozzle, for spraying purging medium to bodywork surface.

6, car load cleaning process:

After vehicle front-wheel reaches drawbar frame parking plate H, moved ahead by front haulage, in the process, analyze headstock by the ultrasonic type front wheel positions sensors A 5 of drawbar frame both sides, A6 just whether stopping, parking plate position regulator I action is controlled again by System control computer, ensure that vehicle is when arriving stop position, car load is put between two parties.

Meanwhile, three-dimensional imaging laser scanner A2, A4 of being positioned at the vehicle body left and right sides complete the scanning of body side facade and generate data.When vehicle stops, be positioned at the vehicle body front side three-dimensional imaging laser scanner A1 of headstock, be positioned at vehicle body back side three-dimensional imaging laser scanner A3 and complete body forward structure, afterbody three-dimensional imaging are scanned and generate data.Carry out Data Synthesis by System control computer, generate the control command to robot work track by setup program.

Manipulator keeps setting spacing (about 100mm) by setup program by instruction along vehicle body appearance subsequently, be saturated steam shower nozzle by the O of mechanical arm front end, P is waterfog head, and Q is that pressurized air dries up shower nozzle, R is the automatic claw of brush drive motor, S purging medium shower nozzle.Complete successively: the moistening vehicle body of atomized water spray---spray purging medium---capture scrub pad clean vehicle body---saturated steam spray washing---pressurized air dries up.

Claims

1. the present invention take manipulator as the automotive automation washing equipment of operative body.

2. the present invention adopts Three-dimensional imager to carry out the identification of vehicle appearance shape facility, as manipulator operation track control program basis of design.

3. what the present invention used enters car draw gear automatically, is equipped with ultrasonic type front wheel positions sensor, parking plate position regulator, automatically can adjusts storing cycle attitude to middle position.