CN106759051B - A kind of automatic snow instrument, its motion control system and control method - Google Patents
A kind of automatic snow instrument, its motion control system and control method Download PDFInfo
- Publication number
- CN106759051B CN106759051B CN201611246974.3A CN201611246974A CN106759051B CN 106759051 B CN106759051 B CN 106759051B CN 201611246974 A CN201611246974 A CN 201611246974A CN 106759051 B CN106759051 B CN 106759051B
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- snow
- thickness
- power part
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Classifications
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01H—STREET CLEANING; CLEANING OF PERMANENT WAYS; CLEANING BEACHES; DISPERSING OR PREVENTING FOG IN GENERAL CLEANING STREET OR RAILWAY FURNITURE OR TUNNEL WALLS
- E01H5/00—Removing snow or ice from roads or like surfaces; Grading or roughening snow or ice
- E01H5/12—Apparatus or implements specially adapted for breaking, disintegrating, or loosening layers of ice or hard snow with or without clearing or removing ; Roughening ice or hard snow by means of tools
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention discloses a kind of automatic snow instrument, its motion control system and control method motion control system, the spade handle that the automatic snow instrument includes Handheld Division, is fixedly connected with the Handheld Division, and pass through connection component and the shovel head of the movable connection of spade handle；Shovel head does the reciprocally swinging of predetermined angle scope in a first direction under the driving of the first power part relative to the spade handle, and the first direction is the direction of the shovel snow face perpendicular to the shovel head；The small-sized automatic snow instrument makes improvement in the structure of original now spade, with relatively simple structure, is easy to ordinary people is hand-held to use, while automatic snow can be realized, to reduce the labor intensity of user, improves efficiency of cleaning snow.
Description
Technical field
The present invention relates to snow removing equipment technical field, more particularly to a kind of automatic snow instrument.The invention further relates to one kind
Motion control system and control method for the automatic snow instrument.
Background technology
In the Northeast of China, due to very cold, the snowfall phase is longer, and the use of Snow removing tool is in extensive range.It is existing
Automatic snow equipment is large scale equipment, and not only cost is very high, and very high to the skill set requirements of operating personnel, is used for municipal ring
In the large-scale snow removing for defending Departmental organization；And civilian Snow removing tool is generally common spade tool, man-hour manually hand-held spade tool realizes shovel snow, labor
Fatigue resistance is larger.Therefore it provides a kind of small-sized automatic snow instrument, to relatively simple structure, be easy to common hundred
Surname is hand-held to be used, while automatic snow can be realized, to reduce the labor intensity of user, is improved efficiency of cleaning snow, is just turned into this
Art personnel's urgent problem to be solved.
The content of the invention
For defect of the prior art, the present invention provides a kind of a kind of small-sized automatic snow instrument of offer, to have
There is relatively simple structure, be easy to ordinary people is hand-held to use, while automatic snow can be realized, to reduce the work of user
Intensity, improves efficiency of cleaning snow.The present invention also provides a kind of motion control system and control method for the automatic snow instrument.
To achieve these goals, a kind of automatic snow instrument that the present invention is provided includes Handheld Division and the Handheld Division
The spade handle being fixedly connected, and pass through connection component and the shovel head of the movable connection of spade handle；Wherein, it is provided with the spade handle
First power part, the shovel head does pre- in a first direction under the driving of first power part relative to the spade handle
If the reciprocally swinging of angular range, the first direction is the direction of the shovel snow face perpendicular to the shovel head；The spade handle includes
First handle section and the second handle section with the scalable connection of first handle section, the one of remote second handle section of the first handle section
End is affixed with the Handheld Division, the second handle section one end and the movable connection of the shovel head away from first handle section；Institute
State and the second power part is installed on spade handle, second handle section is under the driving of second power part relative to described the
One handle section does flexible reciprocating motion in a second direction, and the second direction is the direction parallel to the shovel snow face；The hand
Hold the button for being provided with portion and controlling first power part and second power part switch.
In use, user holds Handheld Division, presses start button, and the first power part drives shovel head first
The reciprocating motion of predetermined angle scope is done on direction, to realize that shovel head is doing preset frequency and speed on shovel snow face direction
The swing of degree, it should be appreciated that the motion of shovel head in the vertical direction can be driven by the swing；At the same time, second
Power part drives the second handle section reciprocally to stretch out or retract relative to the first handle section, and drives shovel head along spade handle axial direction
Stretching motion；So, the conjunction track of two groups of motion vectors is that can realize the automatic shovel snow operation of shovel head；Will by the instrument
Deposite snow is scooped up and easily swept away using instruments such as brooms after pine.The small-sized automatic snow instrument is in original now spade
Structure on make improvement, with relatively simple structure, be easy to ordinary people is hand-held to use, removed automatically while can realize
Snow, to reduce the labor intensity of user, improves efficiency of cleaning snow.
Further, the connection component includes fixed seat, penetrates rotatably the rotating shaft of the fixed seat, and with it is described
The rotation seat that rotating shaft is fixedly connected；
The fixed seat is fixedly connected with the spade handle, and via is offered in the fixed seat, and the rotating shaft passes through axle
Hold to rotate with the via and be connected, the rotation seat is fixedly connected with the shovel head；
First power part is motor, and the rotating shaft and the output shaft of the motor are connected.
Further, the storage tank for holding Snow Agent is offered in the spade handle, the storage tank is towards the spade
One end of head offers discharging opening, and the discharge outlet is provided with electromagnetism slide valve.
Further, the discharge outlet is also equipped with meshed baffle plate, and the baffle plate is located at the electromagnetism flashboard
The inner side of valve.
Further, the spade handle is hollow structure, and the storage tank is formed at the hollow structure of the spade handle.
The present invention also provides a kind of motion control system, for above-mentioned automatic snow instrument, including detection unit and control
Unit；Wherein, the detection unit is used to detecting snow thickness for clearance and snow deposit hardness, and by the thickness signal detected
Transmitted with hardness signals to described control unit；Described control unit receives the thickness signal and the hardness signals, and will
Current snow thickness compares compared with default snow thickness, by current snow deposit hardness with default snow deposit hardness；If current snow
Thickness degree is more than default snow thickness and current snow deposit hardness is more than default snow deposit hardness, and described control unit control first is moved
Power part increases the amplitude of fluctuation and swing speed of the shovel head, meanwhile, described control unit controls second power part
Increase extension elongation of the second handle section relative to first handle section；If current snow thickness be more than default snow thickness,
And current snow deposit hardness is less than or equal to default snow deposit hardness, described control unit controls the first power part to reduce the shovel head
Amplitude of fluctuation and swing speed, meanwhile, described control unit controls second power part to increase the second handle section phase
For the extension elongation of first handle section；If current snow thickness is less than or equal to default snow thickness and current snow deposit is hard
Degree is more than default snow deposit hardness, and described control unit controls the first power part to increase the amplitude of fluctuation of the shovel head and swings speed
Degree, meanwhile, described control unit controls second power part to reduce the second handle section relative to first handle section
Extension elongation.
Due to snow thickness is thicker or during larger snow deposit hardness, it is necessary to larger shovel avenges torque, that is, shovel head
The extension elongation of amplitude of fluctuation, swing speed and the second handle section be both needed to it is larger, and snow thickness is relatively thin or snow deposit hardness
When relatively low, then less shovel snow torque is needed, that is, the stretching of the amplitude of fluctuation of shovel head, swing speed and the second handle section is long
Degree is both needed to smaller.By setting above-mentioned control system, the amplitude of fluctuation of shovel head can be adjusted according to current snow thickness and hardness
With swing speed and the second handle section extension elongation so that based on the suitable output state of Operating condition adjustment, to meet different works
Different demands under condition, expand the scope of application.
Further, in addition to alarm unit；If the current snow thickness detected is more than 3 times of default snow thickness,
Or the current snow deposit hardness detected, when being more than 1.5 times of default snow deposit hardness, described control unit is sent out to the alarm unit
Go out alarm command, the alarm unit sends alarm signal.
Further, the alarm unit is the audible-visual annunciator being installed on the spade handle.
The present invention also provides a kind of control method, based on motion control system as described above, comprises the following steps；
91) detection snow thickness for clearance and snow deposit hardness, and the thickness signal detected and hardness signals are transmitted
To control unit；
92) current snow thickness is compared with default snow thickness, by current snow deposit hardness and default snow deposit hardness phase
Compare；If current snow thickness is more than default snow thickness and current snow deposit hardness is more than default snow deposit hardness, step is turned to
93)；If current snow thickness is more than default snow thickness and current snow deposit hardness is less than or equal to default snow deposit hardness, turn to
Step 94)；If current snow thickness is less than or equal to default snow thickness and current snow deposit hardness is more than default snow deposit hardness,
Turn to step 95)；
93) the first power part of control increases the amplitude of fluctuation and swing speed of the shovel head, meanwhile, control described second
Power part increases extension elongation of the second handle section relative to first handle section；
94) the first power part of control reduces the amplitude of fluctuation and swing speed of the shovel head, meanwhile, control described second
Power part increases extension elongation of the second handle section relative to first handle section；
95) the first power part of control increases the amplitude of fluctuation and swing speed of the shovel head, meanwhile, control described second
Power part reduces extension elongation of the second handle section relative to first handle section.
Further, it is further comprising the steps of：
If the current snow thickness detected is more than 3 times of default snow thickness, or the current snow deposit hardness detected is big
When 1.5 times of default snow deposit hardness, described control unit sends alarm command, the alarm unit hair to the alarm unit
Go out alarm signal.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The accompanying drawing used required in embodiment or description of the prior art is briefly described.In all of the figs, similar element
Or part is general by similar reference mark.In accompanying drawing, each element or part might not be drawn according to actual ratio.
Fig. 1 is a kind of structural representation of embodiment of automatic snow instrument provided by the present invention；
Fig. 2 is a kind of structural representation of embodiment of motion control system provided by the present invention；
Fig. 3 is a kind of structural representation of embodiment of control method provided by the present invention.
Embodiment
The embodiment of technical solution of the present invention is described in detail below in conjunction with accompanying drawing.Following examples are only used for
Clearly illustrate technical scheme, therefore be only used as example, and the protection model of the present invention can not be limited with this
Enclose.
It should be noted that unless otherwise indicated, technical term or scientific terminology used in this application should be this hair
The ordinary meaning that bright one of ordinary skill in the art are understood.
Fig. 1 is refer to, Fig. 1 is a kind of structural representation of embodiment of automatic snow instrument provided by the present invention
Figure.
In a kind of embodiment, a kind of automatic snow instrument that the present invention is provided includes Handheld Division 1 and the hand
The spade handle 2 that portion 1 is fixedly connected is held, and passes through connection component and the shovel head 3 of the movable connection of the spade handle 2；Wherein, the spade handle
First power part 4 is installed, the shovel head 3 exists under the driving of first power part 4 relative to the spade handle 2 on 2
The reciprocally swinging of predetermined angle scope is done on first direction, the first direction is the side of the shovel snow face perpendicular to the shovel head 3
To；The spade handle 2 includes the first handle section 21 and the second handle section 22 with first handle, 21 scalable connections of section, first handle
One end and the Handheld Division 1 away from second handle section 22 of section 21 are affixed, and the second handle section 22 is away from first handle section
21 one end and the movable connection of the shovel head 3；Second power part 7 is installed, the second handle section 22 exists on the spade handle 2
Flexible reciprocating motion is done in a second direction relative to first handle section 21 under the driving of second power part 7, it is described
Second direction is the direction parallel to the shovel snow face, and second power part 7 can specifically oil cylinder or cylinder etc.；It is described hand-held
The button 5 for controlling first power part 4 and second power part 7 switch is installed in portion 1.
The end that above-mentioned shovel head 3 is contacted with snow face, which can be set, broached-tooth design 31, and grip is improved during snow in order to shovel, so that
Improve shovel snow efficiency.The end of shovel head 3 can also be flake structure, and in order to protect shovel head 3, can set up the protective case of shovel head 3.
In addition, in order to improve convenience of working at night, light structures can also be installed in pry handle.
It is pointed out that above-mentioned predetermined angle scope should be according to default required shovel snow thickness range, hardness range etc.
Operating mode is determined, for example, the angular range can be 15 ° -40 °.
In use, user holds Handheld Division 1, presses start button 5, and the first power part 4 driving shovel head 3 exists
The reciprocating motion of predetermined angle scope is done on first direction, to realize that shovel head 3 is doing predetermined frequency on shovel snow face direction
The swing of rate and speed, it should be appreciated that the motion of shovel head 3 in the vertical direction can be driven by the swing；It is same with this
When, the second power part 7 drives the second handle section 22 reciprocally to stretch out or retract relative to the first handle section 21, and drives shovel head 3 to exist
Along the stretching motion of the axial direction of spade handle 2；So, the conjunction track of two groups of motion vectors is that can realize the automatic shovel snow of shovel head 3
Operation；Deposite snow is scooped up by the instrument and easily swept away using instruments such as brooms after pine.This is small-sized automatic to remove
Snow instrument makes improvement in the structure of original now spade, with relatively simple structure, is easy to ordinary people is hand-held to use, together
When can realize automatic snow, to reduce the labor intensity of user, improve efficiency of cleaning snow.
Specifically, above-mentioned connection component includes fixed seat 61, penetrates rotatably the rotating shaft 62 of the fixed seat 61, and with
The rotation seat 63 that the rotating shaft 62 is fixedly connected；Wherein, the fixed seat 61 is fixedly connected with the spade handle 2, and the fixation
Via is offered on seat 61, the rotating shaft 62 is rotated with the via by bearing and is connected, the rotation seat 63 and the shovel head 3
It is fixedly connected；First power part 4 is motor, and the rotating shaft 62 and the output shaft of the motor are connected.It is worked
Cheng Zhong, the output shaft of motor drives rotating shaft 62 to rotate to drive rotation seat 63 to rotate relative to fixed seat 61, the band of fixed seat 61
Dynamic shovel head 3 is rotated relative to spade handle 2.
It should be appreciated that motor is preferably stepper motor at this, according to default control strategy, the motor can be according to control
The rotating in certain slewing area is realized in system instruction, so as to realize the forward or reverse of rotating shaft 62 in a first direction, finally
Realize the reciprocally swinging of shovel head 3 in a first direction.The structure of the motor is known in the art common-sense technology, does not go to live in the household of one's in-laws on getting married herein
State, and should not be in this, as insufficient disclosure the reasons why.
In order to avoid occurring position rotation, predeterminated position that can also be between fixed seat 61 and rotating shaft 62 sets locating piece
Structure.
Further, the storage tank for holding Snow Agent is offered in the spade handle 2, the storage tank is towards the spade
First 3 one end offers discharging opening, and the discharge outlet is provided with electromagnetism slide valve；So, snow deposit is shoveled after pine, sprinkles snow melt
Agent can be such that snow deposit fully melts.
Above-mentioned discharge outlet is also equipped with meshed baffle plate, and the baffle plate is located at the inner side of the electromagnetism slide valve,
To avoid Snow Agent from leaking.Specifically, the spade handle 2 is hollow structure, and the storage tank is formed at the hollow knot of the spade handle 2
Structure.
Except above-mentioned automatic snow instrument, the present invention also provides a kind of for above-mentioned automatic snow action of tool control system
System.
As shown in Fig. 2 in a kind of embodiment, control system provided by the present invention includes detection unit 101
With control unit 102；Wherein, the detection unit 101 snow thickness for clearance for detecting and snow deposit hardness, and will detection
To thickness signal and hardness signals transmit to described control unit 102；Described control unit 102 receive the thickness signal and
The hardness signals, and current snow thickness compared with default snow thickness, current snow deposit hardness and default snow deposit is hard
Degree compares；If current snow thickness is more than default snow thickness and current snow deposit hardness is more than default snow deposit hardness, the control
Unit 102 processed controls the first power part 4 to increase the amplitude of fluctuation and swing speed of the shovel head 3, meanwhile, described control unit
102 control second power parts 77 increase extension elongation of the second handle section 22 relative to first handle section 21；If
Current snow thickness is more than default snow thickness and current snow deposit hardness is less than or equal to default snow deposit hardness, the control list
Member 102 controls the first power part 4 to reduce the amplitude of fluctuation and swing speed of the shovel head 3, meanwhile, described control unit 102
Second power part 7 is controlled to increase extension elongation of the second handle section 22 relative to first handle section 21；If current
Snow thickness is less than or equal to default snow thickness and current snow deposit hardness is more than default snow deposit hardness, described control unit 102
The first power part 4 is controlled to increase the amplitude of fluctuation and swing speed of the shovel head 3, meanwhile, the control of described control unit 102 institute
State the second power part 7 and reduce extension elongation of the second handle section 22 relative to first handle section 21.
Due to snow thickness is thicker or during larger snow deposit hardness, it is necessary to larger shovel avenges torque, that is, shovel head 3
The extension elongation of amplitude of fluctuation, swing speed and the second handle section 22 be both needed to it is larger, it is and relatively thin or snow deposit is hard in snow thickness
When spending relatively low, then less shovel snow torque is needed, that is, the amplitude of fluctuation of shovel head 3, swing speed and the second handle section 22
Extension elongation is both needed to smaller.By setting above-mentioned control system, the pendulum of shovel head 3 can be adjusted according to current snow thickness and hardness
The extension elongation of dynamic amplitude and swing speed and the second handle section 22, so that based on the suitable output state of Operating condition adjustment, with full
Different demands under foot difference operating mode, expand the scope of application.
Further, in addition to alarm unit 103；If the current snow thickness detected is more than the 3 of default snow thickness
Times, or the current snow deposit hardness detected is when being more than 1.5 times of default snow deposit hardness, and described control unit 102 is to the alarm
Unit sends alarm command, and the alarm unit sends alarm signal.So as to which early warning can be sent under extreme conditions, so as to keep away
Exempt from snow deposit blocked up or really up to the mark cause tool damage.Specifically, the alarm unit 103 is the acousto-optic being installed on the spade handle 2
Alarm.
Ground is corresponded, the present invention also provides a kind of control method, based on motion control system as described above, including
Following steps；
S1：Detection snow thickness for clearance and snow deposit hardness, and the thickness signal detected and hardness signals are transmitted
To control unit 102；
S2：Current snow thickness is compared with default snow thickness, by current snow deposit hardness and default snow deposit hardness phase
Compare；If current snow thickness is more than default snow thickness and current snow deposit hardness is more than default snow deposit hardness, step is turned to
S3；If current snow thickness is more than default snow thickness and current snow deposit hardness is less than or equal to default snow deposit hardness, step is turned to
Rapid S4；If current snow thickness is less than or equal to default snow thickness and current snow deposit hardness is more than default snow deposit hardness, turn to
Step S5；If the current snow thickness detected is more than 3 times of default snow thickness, or the current snow deposit hardness detected is more than
1.5 times of default snow deposit hardness, turn to step S6；
S3:The first power part 4 is controlled to increase the amplitude of fluctuation and swing speed of the shovel head 3, meanwhile, control described the
Two power parts 7 increase extension elongation of the second handle section 22 relative to first handle section 21；
S4:The first power part 4 is controlled to reduce the amplitude of fluctuation and swing speed of the shovel head 3, meanwhile, control described the
Two power parts 7 increase extension elongation of the second handle section 22 relative to first handle section 21；
S5:The first power part 4 is controlled to increase the amplitude of fluctuation and swing speed of the shovel head 3, meanwhile, control described the
Two power parts 7 reduce extension elongation of the second handle section 22 relative to first handle section 21；
S6:Send alarm signal.
Due to snow thickness is thicker or during larger snow deposit hardness, it is necessary to larger shovel avenges torque, that is, shovel head 3
The extension elongation of amplitude of fluctuation, swing speed and the second handle section 22 be both needed to it is larger, it is and relatively thin or snow deposit is hard in snow thickness
When spending relatively low, then less shovel snow torque is needed, that is, the amplitude of fluctuation of shovel head 3, swing speed and the second handle section 22
Extension elongation is both needed to smaller.By setting above-mentioned control system, the pendulum of shovel head 3 can be adjusted according to current snow thickness and hardness
The extension elongation of dynamic amplitude and swing speed and the second handle section 22, so that based on the suitable output state of Operating condition adjustment, with full
Different demands under foot difference operating mode, expand the scope of application.
In the description of the present application, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " water
It is flat ", " interior ", the orientation of the instruction such as " outer " or position relationship for based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating or implying relatively important
Property or the implicit quantity for indicating indicated technical characteristic.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the specification of the present invention, numerous specific details are set forth.It is to be appreciated, however, that embodiments of the invention can be with
Put into practice in the case of these no details.In some instances, known method, structure and skill is not been shown in detail
Art, so as not to obscure the understanding of this description.
In the description of this specification, specific features, structure, material or feature can be in any one or more embodiments
Or combined in an appropriate manner in example.In addition, in the case of not conflicting, those skilled in the art can say this
The feature of not be the same as Example or example and non-be the same as Example or example described in bright book is combined and combined.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its according to
The technical scheme described in foregoing embodiments can so be modified, or which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme, it all should cover among the claim of the present invention and the scope of specification.
Claims (4)
1. a kind of automatic snow instrument, it is characterised in that the spade handle being fixedly connected including Handheld Division, with the Handheld Division, and it is logical
Cross the shovel head of connection component and the movable connection of spade handle；
First power part is installed, first power part is stepper motor on the spade handle, the shovel head is described the
Do the reciprocally swinging of predetermined angle scope, described first under the driving of one power part in a first direction relative to the spade handle
Direction is the direction of the shovel snow face perpendicular to the shovel head；
The spade handle includes the first handle section and the second handle section with the scalable connection of first handle section, and the first handle section is remote
One end and the Handheld Division of the second handle section are affixed, the second handle section one end and the spade away from first handle section
Movable connection；
Second power part is installed, the second power part is oil cylinder or cylinder, and the second handle section is described on the spade handle
Flexible reciprocating motion, the second direction are done in a second direction relative to first handle section under the driving of second power part
For the direction parallel to the shovel snow face；
The end that shovel head is contacted with snow face is broached-tooth design or flake structure；
The button for controlling first power part and second power part switch is installed on the Handheld Division；
The connection component includes fixed seat, penetrates rotatably the rotating shaft of the fixed seat, and is fixedly connected with the rotating shaft
Rotation seat；Predeterminated position between fixed seat and rotating shaft sets positioning block structure；
The fixed seat is fixedly connected with the spade handle, and offers via in the fixed seat, the rotating shaft by bearing with
The via rotates connection, and the rotation seat is fixedly connected with the shovel head；
The rotating shaft and the output shaft of the motor are connected；
The storage tank for holding Snow Agent is offered in the spade handle, one end of the storage tank towards the shovel head is offered
Discharging opening, the discharge outlet is provided with electromagnetism slide valve；
The spade handle is hollow structure, and the storage tank is formed at the hollow structure of the spade handle.
2. automatic snow instrument according to claim 1, it is characterised in that the discharge outlet is also equipped with carrying mesh
Baffle plate, the baffle plate be located at the electromagnetism slide valve inner side.
3. a kind of motion control system, for automatic snow instrument as claimed in claim 1 or 2, it is characterised in that including inspection
Survey unit and control unit；
The detection unit is used to detecting snow thickness for clearance and snow deposit hardness, and by the thickness signal detected and hardness
Signal is transmitted to described control unit；
Described control unit receives the thickness signal and the hardness signals, and by current snow thickness and default snow thickness
Compare, current snow deposit hardness compares with default snow deposit hardness；
If current snow thickness is more than default snow thickness and current snow deposit hardness is more than default snow deposit hardness, the control list
Member the first power part of control increases the amplitude of fluctuation and swing speed of the shovel head, meanwhile, described control unit control is described
Second power part increases extension elongation of the second handle section relative to first handle section；
If current snow thickness is more than default snow thickness and current snow deposit hardness is less than or equal to default snow deposit hardness, described
Control unit controls the first power part to reduce the amplitude of fluctuation and swing speed of the shovel head, meanwhile, described control unit control
Making second power part increases extension elongation of the second handle section relative to first handle section；
If current snow thickness is less than or equal to default snow thickness and current snow deposit hardness is more than default snow deposit hardness, described
Control unit controls the first power part to increase the amplitude of fluctuation and swing speed of the shovel head, meanwhile, described control unit control
Make second power part and reduce extension elongation of the second handle section relative to first handle section；The action control system
System also includes alarm unit；If the current snow thickness detected is more than 3 times of default snow thickness, or the current snow detected
When layer hardness is more than 1.5 times of default snow deposit hardness, described control unit sends alarm command, the report to the alarm unit
Alert unit sends alarm signal；
The alarm unit is the audible-visual annunciator being installed on the spade handle.
4. a kind of control method, based on motion control system as claimed in claim 3, it is characterised in that comprise the following steps；
91) detection snow thickness for clearance and snow deposit hardness, and the thickness signal detected and hardness signals are transmitted to control
Unit processed；
92) current snow thickness is compared with default snow thickness, current snow deposit hardness compares with default snow deposit hardness；
If current snow thickness is more than default snow thickness and current snow deposit hardness is more than default snow deposit hardness, step 93 is turned to)；If
Current snow thickness is more than default snow thickness and current snow deposit hardness is less than or equal to default snow deposit hardness, turns to step
94)；If current snow thickness is less than or equal to default snow thickness and current snow deposit hardness is more than default snow deposit hardness, turn to
Step 95)；
93) the first power part of control increases the amplitude of fluctuation and swing speed of the shovel head, meanwhile, control second power
Part increases extension elongation of the second handle section relative to first handle section；
94) the first power part of control reduces the amplitude of fluctuation and swing speed of the shovel head, meanwhile, control second power
Part increases extension elongation of the second handle section relative to first handle section；
95) the first power part of control increases the amplitude of fluctuation and swing speed of the shovel head, meanwhile, control second power
Part reduces extension elongation of the second handle section relative to first handle section；
If the current snow thickness detected is more than 3 times of default snow thickness, or the current snow deposit hardness detected is more than in advance
If at 1.5 times of snow deposit hardness, described control unit sends alarm command to the alarm unit, and the alarm unit sends report
Alert signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246974.3A CN106759051B (en) | 2016-12-29 | 2016-12-29 | A kind of automatic snow instrument, its motion control system and control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611246974.3A CN106759051B (en) | 2016-12-29 | 2016-12-29 | A kind of automatic snow instrument, its motion control system and control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106759051A CN106759051A (en) | 2017-05-31 |
| CN106759051B true CN106759051B (en) | 2017-09-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611246974.3A Expired - Fee Related CN106759051B (en) | 2016-12-29 | 2016-12-29 | A kind of automatic snow instrument, its motion control system and control method |
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| Country | Link |
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| CN (1) | CN106759051B (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111212948B (en) * | 2018-05-23 | 2022-06-14 | 苏州宝时得电动工具有限公司 | Automatic snow sweeper and working method thereof |
| CN111932823A (en) * | 2020-07-13 | 2020-11-13 | 深圳市燃气集团股份有限公司 | Multifunctional early warning device and excavation early warning method |
| CN114809147B (en) * | 2022-04-26 | 2024-07-12 | 马红 | Archaeological site exploration is with device of digging |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20110139763A1 (en) * | 2009-12-10 | 2011-06-16 | Jeff Glassman | Heated snow shovel |
| CN103088779B (en) * | 2013-01-15 | 2015-01-21 | 中联重科股份有限公司 | Control method, controller and control system for blowing nozzle of snow blowing vehicle and snow blowing vehicle |
| CN205276201U (en) * | 2015-12-31 | 2016-06-01 | 刘世新 | Can realize snow removing shovel of snow melt |
| CN205387685U (en) * | 2016-03-15 | 2016-07-20 | 尚桂勇 | Vibrating road cleans shovel |
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