CN-122013707-A - Rolling sweeping type road ice and snow removing robot and method

CN122013707ACN 122013707 ACN122013707 ACN 122013707ACN-122013707-A

Abstract

The invention provides a rolling sweeping type road ice and snow removing robot and a rolling sweeping type road ice and snow removing method, which relate to the field of deicing equipment, wherein a machine body shell is fixed at the top of a machine body bottom plate, crawler running devices for driving the whole robot to move are arranged on two sides of the machine body shell, a pitching main arm is rotatably arranged on the inner wall of one end of the head of the machine body shell, a pitching oil cylinder is hinged between the pitching main arm and the machine body shell, a bucket is hinged at the end of the pitching main arm, a bucket driving oil cylinder is hinged between the bucket and the pitching main arm, a snow discharging pipe is connected at the back of the bucket through a communication hole, a movable snow discharging opening is hinged at the end of the snow discharging pipe through a short pin shaft, a snow discharging opening control mechanism is arranged between the movable snow discharging opening and the snow discharging pipe, a sweeping device is communicated on the snow discharging pipe, and a grinding roller device is arranged inside the bucket. The crawler-type travelling device is adopted to travel along the road surface, rolling and stripping of ice and snow on the road surface are realized through the rolling roller device, and then blowing and sweeping are carried out by the sweeping device, so that the purpose of automatically removing ice and snow on the road surface is achieved.

Inventors

JIN JUN
YUAN PENG
AI WEI
LIU MING
ZHAO MIN
HE JIAXIN

Assignees

三峡大学

Dates

Publication Date: 20260512
Application Date: 20260226

Claims (10)

1. The rolling sweeping type road ice and snow removing robot is characterized by comprising a machine body bottom plate (43), wherein a machine body shell (1) is fixed at the top of the machine body bottom plate (43), crawler traveling devices used for driving the whole robot to move are arranged at two sides of the machine body shell (1), a pitching main arm (31) is rotatably arranged on the inner wall of one end of the head of the machine body shell (1), a pitching cylinder (34) is hinged between the pitching main arm (31) and the machine body shell (1), a bucket (23) is hinged at the end head of the pitching main arm (31), a bucket driving cylinder (29) is hinged between the bucket (23) and the pitching main arm (31), a snow discharging pipe (14) is connected at the back of the bucket (23) through a communication hole (38), a movable snow discharging port (16) is hinged at the end head of the snow discharging pipe (14) through a short pin shaft (15), a snow discharging port control mechanism is arranged between the movable snow discharging port (16) and the snow discharging pipe (14), a rolling roller device used for rolling ice and snow is arranged inside the bucket (23).
2. The rolling sweeping type road ice and snow removing robot according to claim 1, wherein the crawler traveling device comprises a traveling motor (39) fixed inside a machine body shell (1), a double-row driving chain wheel (3) is installed on an output shaft of the traveling motor (29), the double-row driving chain wheel (3) is respectively meshed with a transmission chain (4) for transmission, a traveling crawler (2) is arranged between the two transmission chains (4), first shock absorbers (5) are symmetrically installed on two sides of the machine body shell (1), first crawler wheels (6) are rotatably installed at ends of the first shock absorbers (5) through first wheel shafts (7), the first crawler wheels (6) are matched with the traveling crawler (2) for supporting, and a plurality of groups of floating crawler wheel mechanisms for supporting the inner bottom surfaces of the traveling crawler (2) are installed between the machine body shell (1) and the traveling crawler (2).
3. The rolling sweeping type road ice and snow removing robot according to claim 2, wherein the floating track wheel mechanism comprises a second shock absorber (8) hinged to the outer wall of the machine body shell (1), the other end of the second shock absorber (8) is hinged to the middle part of the top end of the first arc-shaped arm (10) through a first pin shaft (11), one end of the first arc-shaped arm (10) is hinged to the outer wall of the machine body shell (1) through a second pin shaft (9), and the other end of the first arc-shaped arm (10) is provided with a floating track wheel (13) through a second wheel shaft (12).
4. The roll-in purge type road ice and snow removing robot according to claim 1, wherein the pitching main arm (31) is rotatably mounted on the inner wall of the body housing (1) through a first bearing seat (41), and a main arm groove (33) for passing through the pitching main arm (31) is formed in the body housing (1).
5. The rolling sweeping type road ice and snow removing robot according to claim 1, wherein a cylinder body base of the pitching oil cylinder (34) is rotatably mounted on the inner wall of the body shell (1) through a second bearing (42), and the tail end of a piston rod of the pitching oil cylinder (34) is hinged on a bottom lug seat (35) of the pitching main arm (31) through a pin shaft.
6. The rolling sweeping type road ice and snow removing robot according to claim 1, wherein a base of a cylinder body of the bucket driving oil cylinder (29) is hinged to a top lug seat (32) of the pitching main arm (31) through a pin shaft, and the tail end of a piston rod of the bucket driving oil cylinder (29) is hinged between stiffening plates (44) on the back of the bucket (23) through a pin shaft.
7. The rolling sweeping type road ice and snow removing robot according to claim 1, wherein the ice and snow removing opening control mechanism comprises a first cylinder body (21), a base of the first cylinder body (21) is hinged to a cylinder body hinge seat (22), the cylinder body hinge seat (22) is fixed to the outer wall of a snow removing pipe (14), the tail end of a first piston rod (19) of the first cylinder body (21) is hinged to the top end of an inclined arm (17) through a third pin shaft (18), the inclined arm (17) is fixed to the top end of a movable snow removing opening (16), and a movable door (20) is hinged to the tail portion of the movable snow removing opening (16) matched with the snow removing pipe (14).
8. The rolling and sweeping type road ice and snow removing robot according to claim 1, wherein the sweeping device comprises a blower (40) arranged inside the machine body shell (1), an outlet flange (36) is arranged at the outlet of the blower (40), the outlet flange (36) is connected with an inlet flange pipe (30) through a hose, and the inlet flange pipe (30) is communicated with the back of the snow discharging pipe (14).
9. The rolling and sweeping type road ice and snow removing robot according to claim 1, wherein the rolling roller device comprises a roller arc-shaped arm (25), the top end of the roller arc-shaped arm (25) is hinged to the tail end of a third shock absorber (24), the other end of the third shock absorber (24) is hinged to the inside of a bucket (23), the bottom end of the roller arc-shaped arm (25) is hinged to the inside of the bucket (23) through a fourth pin shaft (28), and a roller (26) is rotatably arranged at the middle part of the roller arc-shaped arm (25) through a roller shaft (27).
10. A method for removing ice and snow on a rolling and sweeping type road, which is characterized by being implemented by adopting the rolling and sweeping type road ice and snow removing robot according to any one of claims 1-9 and comprising the following steps: S1, equipment debugging and initialization, namely moving the deicing snow robot to a road surface to be operated, checking the running state of each mechanism, adjusting the pitching angle of a pitching main arm and the overturning angle of a bucket according to the thickness and hardness of ice and snow on the road surface, enabling a rolling roller device in the bucket to be attached to an ice and snow layer, adjusting the adaptive rolling force, adjusting the inclination angle of a movable snow discharging port, and closing a movable door to be operated; S2, ice and snow rolling and stripping, namely starting a travelling device to drive the ice and snow removing robot to uniformly travel along a road surface to be operated, and rolling the compacted snow and hard ice layer on the road surface by a rolling roller device in the traveling process, crushing the ice and snow, stripping the ice and snow from the road surface, and enabling the stripped ice and snow fragments to fall into a bucket; S3, purging and conveying ice and snow, namely when a preset amount of ice and snow fragments are accumulated in the bucket, starting a purging device, generating high-speed air flow and conveying the air flow to the snow discharging pipe, enabling the air flow to the bucket through the snow discharging pipe, purging the ice and snow fragments in the bucket, and pushing the ice and snow fragments to be conveyed along the direction of the movable snow discharging opening; S4, directionally discharging ice and snow, namely adjusting the angle of the movable snow discharging opening, opening the movable door, discharging ice and snow fragments to a designated area outside a road through the movable snow discharging opening under the action of air flow thrust, and closing the movable door after the snow is discharged; And S5, continuously operating and ending, namely continuously and uniformly running the robot, repeating the steps S2 to S4 to realize continuous removal of ice and snow on the road surface, closing the travelling device and the blowing device after the operation is finished, lifting the bucket and the rolling roller device to separate from the road surface, cleaning the residual ice and snow of the equipment, and ending.

Description

Rolling sweeping type road ice and snow removing robot and method Technical Field The invention relates to the field of road ice and snow removing equipment, in particular to a rolling sweeping type road ice and snow removing robot and a rolling sweeping type road ice and snow removing method. Background The ice and snow in winter is easy to reduce the friction coefficient of the road surface, induces traffic hidden trouble, and the ice and snow removal of the road is the core of the winter road maintenance in cold areas. The existing deicing and snow removing technology is divided into active deicing and passive cleaning, and passive cleaning equipment is mainstream due to wide application and controllable cost, but has a plurality of technical bottlenecks, and is difficult to meet the requirements of efficient and low-damage deicing and snow under complex road conditions, and the specific defects are as follows: Firstly, the existing mechanical ice and snow removing equipment has single operation mode, poor ice removing effect and easy damage to the road surface. The conventional snow shoveling equipment cannot process compacted ice and snow, the bucket is easy to rigidly collide with a hard ice layer to damage a road surface, ice and snow fragments cannot be discharged in time after the pure rolling equipment breaks, secondary icing is easy to occur, a rolling mechanism lacks buffering, and rolling force is uneven. Secondly, the sweeping type snow removing equipment has high energy consumption, low precision and poor snow removing effect. The device relies on a high-power source, the airflow direction is fixed, the mechanism is easy to block due to residual ice and snow in the bucket, the snow discharging structure is fixed, the ice and snow cannot be thoroughly discharged in a special scene, manual secondary cleaning is needed, the sealing performance of a pipeline interface is poor, and the effect is affected due to easy leakage at low temperature. Thirdly, the adaptability and stability of the running gear are insufficient. The wheel type walking equipment is easy to slip, the crawler type equipment is lack of an effective damping floating mechanism, the pavement is poor in laminating degree, jolt is severe, the steering flexibility is insufficient, and the driving connection part is easy to fail in a severe environment. Fourth, the actuator has poor adjustment flexibility and universality. The deicing snow executing mechanism is limited in pitching and overturning adjustment, cannot adapt to a complex road section, is lack of buffering in rigid connection, is easy to damage due to obstacles, is imperfect in protection, and is capable of being frozen by backflow of snow water, so that equipment components are easy to damage. Fifthly, the deicing and snow-removing method is complex in flow and low in automation, and secondary icing risks exist. The active snow-melting method has the defects of high energy consumption, pollution or corrosion to the road surface, and the like, and is easy to freeze for the second time after snow melting. Aiming at the defects, a deicing and snow removing robot and a deicing and snow removing method integrating rolling, sweeping and snow removing are needed, the problems of low efficiency, poor effect, large loss and the like in the prior art are solved, and the requirements of safety deicing and snow removing of roads in winter are met. Disclosure of Invention The invention aims to overcome the defects, and provides the rolling blowing type road ice and snow removing robot which can be used for removing ice and snow on a winter ice and snow road surface, the crawler type travelling device is adopted to travel along the road surface, rolling and stripping of ice and snow on the road surface are realized through the rolling roller device, blowing and blowing are carried out by the blowing device, and finally, the ice and snow is discharged to the outer side of the road through the snow discharging pipe and the movable snow discharging port, so that the purpose of automatically removing the ice and the snow on the road surface is achieved. In order to achieve the technical characteristics, the aim of the invention is realized in the following way: The invention provides a rolling sweeping type road ice and snow removing robot which comprises a machine body bottom plate, wherein a machine body shell is fixed at the top of the machine body bottom plate, crawler traveling devices used for driving the whole robot to move are arranged on two sides of the machine body shell, a pitching main arm is rotatably arranged on the inner wall of one end of the head of the machine body shell, a pitching oil cylinder is hinged between the pitching main arm and the machine body shell, a bucket is hinged at the end of the pitching main arm, a bucket driving oil cylinder is hinged between the bucket and the pitching main arm, a snow discharging pipe is connected at the back of the bucket throu