CN109629503A - A kind of multifunction snow removing car and its control method for realizing Electric gate type transmission - Google Patents
A kind of multifunction snow removing car and its control method for realizing Electric gate type transmission Download PDFInfo
- Publication number
- CN109629503A CN109629503A CN201910035697.9A CN201910035697A CN109629503A CN 109629503 A CN109629503 A CN 109629503A CN 201910035697 A CN201910035697 A CN 201910035697A CN 109629503 A CN109629503 A CN 109629503A
- Authority
- CN
- China
- Prior art keywords
- snow
- snow removing
- gate
- speed
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/06—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades
-
- 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
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/06—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades
- E01H5/065—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades characterised by the form of the snow-plough blade, e.g. flexible, or by snow-plough blade accessories
-
- 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
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/06—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades
- E01H5/07—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material dislodging essentially by non-driven elements, e.g. scraper blades, snow-plough blades, scoop blades and conveying dislodged material by driven or pneumatic means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention discloses a kind of multifunction snow removing cars for realizing Electric gate type transmission, comprising: gate-type bearing chassis, middle part are arch, and both ends are flat construction；Lifting device is symmetricly set on the gate-type bearing chassis on both sides of the middle；Remove the snow roller, and both ends are connect with the lifting device；The lifting device includes: the first pivoting support and the second pivoting support, and the arch both ends of gate-type bearing chassis side are symmetrically hingedly arranged in；First linkage rod and the second connecting rod, one end are hinged with first pivoting support and the second pivoting support respectively；Connecting rod, one end and the first linkage rod other end are hinged；Lifting hydraulic cylinder, one end and the second connecting rod other end are hinged, and the other end and the connecting rod other end are hinged.The present invention also provides a kind of control methods of multifunction snow removing car for realizing Electric gate type transmission, and the rotation speed of snow removing roller can be accurately controlled according to specific road conditions and environment, improves efficiency of cleaning snow.
Description
Technical field
The present invention relates to multifunction snow removing car technical fields, and more particularly, the present invention relates to a kind of realization Electric gate types
The multifunction snow removing car and its control method of transmission.
Background technique
Domestic snow sweeper relies on external import mostly.External snow sweeper manufacturer mainly has: Switzerland's wave is male
(Boschung), German Schmidt (SCHMIDT), German cloth conspicuous (BUCHER) etc..The technology of above-mentioned snow removing equipment manufacturer produces
Quality and occupation rate of market are relatively high.And performance technologies parameter, manufacturing process and the reliability side of domestic snow sweeper
It is bigger that external gap is compared in face.
In recent years there are mainly two types of used snow sweepers, one is being designed transformation on the basis of universal chassis
Multifunction snow removing car, the other is using the multifunction snow removing car on dedicated self-control chassis.Wherein, the snow sweeper of domestic production is main
It is all the snow sweeper of the first seed type, using the more chassis for having People and east wind, but such snow sweeper is being reequiped
The aspect factor to be comprehensively considered is more, and design difficulty and limitation are all bigger.Such as: it is restricted by longitudinal beam height,
The snow removing roller diameter that snow sweeper is installed is not easy excessive；And the roller that removes the snow is asked with connection value it is possible that axle load transfinites on chassis
Topic.So being increasingly becoming a new development trend, the more convenient snow removing roller of this snow sweeper using the snow sweeper of chassis special
Etc. the layout design of some dedicated units.
The snow sweeper of external mainstream uses chassis special mostly, which can provide bigger cloth for snow removing roller and empty
Between.Since snow sweeper will realize a11wheel drive, so to arrange transmission shaft.But in order to configure larger sized snow removing roller and
Excessive in view of transmission shaft angle cannot be arranged, spy is added to lifting shaft case, drop axle box, automatic gear-box and is used for a11wheel drive
Differential mechanism.But since domestic technique is limited, the differential mechanism production cost and maintenance cost for a11wheel drive are bigger, because
This is difficult to be manufactured and popularized at home.
Summary of the invention
It is an object of the invention to design and develop a kind of multifunction snow removing car for realizing Electric gate type transmission, gate-type is held
Carrying is arch in the middle part of chassis, and is provided with snow removing roller lifting device, bigger installation space is provided for Snow removing tool, raising removes
Avenge efficiency.
The series hybrid-power assembly that the present invention also uses generating set and power battery pack to be formed, simplifies power train
System, so that overall structure is simple.
Another object of the present invention is to have designed and developed a kind of control of multifunction snow removing car for realizing Electric gate type transmission
Method processed can accurately control the rotation speed of snow removing roller according to specific road conditions and environment, improve efficiency of cleaning snow.
The present invention can also control the revolving speed of air blower based on fuzzy control method, further increase efficiency of cleaning snow.
Technical solution provided by the invention are as follows:
A kind of multifunction snow removing car for realizing Electric gate type transmission, comprising:
Gate-type bearing chassis, middle part are arch, and both ends are flat construction；
Lifting device is symmetricly set on the gate-type bearing chassis on both sides of the middle；
Remove the snow roller, and both ends are connect with the lifting device；
The lifting device includes:
First pivoting support and the second pivoting support, are symmetrically hingedly arranged in the arch of gate-type bearing chassis side
Both ends；
First linkage rod and the second connecting rod, one end are cut with scissors with first pivoting support and the second pivoting support respectively
It connects；
Connecting rod, one end and the first linkage rod other end are hinged；
Lifting hydraulic cylinder, one end and the second connecting rod other end are hinged, and the other end and the connecting rod other end are cut with scissors
It connects；
Wherein, the lifting hydraulic cylinder both ends and second connecting rod and connecting rod junction are connected using two rod-type revolute pairs
It connects, the connecting rod is connect with first linkage rod junction using three rod-type revolute pairs, and the three rod-types revolute pair is removed with described
Avenge roller connection.
Preferably, further includes:
Power battery pack is fixed at gate-type bearing chassis front；
Engine and generator are travelled, gate-type bearing chassis front is fixed at, series connection forms generator
Group, and series hybrid-power assembly is formed with the power battery pack；
Preceding driving motor is fixed at gate-type bearing chassis front and close middle part arch side, with
The series hybrid-power assembly connection, the preceding driving motor are connect by the first retarder with front vehicle wheel；
Driving motor afterwards is fixed at gate-type bearing chassis rear portion and the close middle part arch other side,
It is connect with the series hybrid-power assembly, the rear driving motor is connect by the second retarder with rear wheel.
Preferably, further includes:
Fixed plate is vertically and fixedly arranged at gate-type bearing chassis front end；
Supporting vertical plate, parallel interval are arranged in front of the fixed plate；
Multiple connecting rods, be arranged between the fixed plate and supporting vertical plate, and both ends respectively with the fixed plate and
Supporting vertical plate is hinged；
Lifting hydraulic cylinder is arranged between the fixed plate and supporting vertical plate, and is symmetricly set on the fixed plate two
Side, and both ends are hinged with the fixed plate and supporting vertical plate respectively, for driving the snow removing shovel to swing along the vertical direction；
Snow removing shovel is arranged in front of the supporting vertical plate, and hinged by rocker arm and the supporting vertical plate；
Oscillating motor is arranged between the supporting vertical plate and snow removing shovel, and is symmetricly set on the supporting vertical plate
Two sides, and both ends are hinged with the supporting vertical plate and snow removing shovel respectively, for driving the snow removing shovel lateral along the snow sweeper
It swings；
Spring is arranged between the supporting vertical plate and snow removing shovel, and is symmetricly set on the supporting vertical plate two sides, and
Both ends are hinged with the supporting vertical plate and snow removing shovel respectively.
Preferably, further includes:
Air blower is fixed at gate-type bearing chassis rear portion；
Blowing snow cabinet is fixed on the bottom surface of the gate-type bearing chassis, and one end and the air blower go out
Air port sealing connection, the other end are provided with towards the opening on the outside of snow sweeper；
Assistant engine is connect with the air blower, for driving the air blower to work.
Preferably, first retarder and second retarder pass through transmission shaft and the front vehicle wheel and rear car respectively
Wheel connection；It is tiltedly installed with support rod between the fixed plate and gate-type bearing chassis, for fixing the fixed plate.
Preferably, the two rod-types revolute pair includes:
Mandrel, one end are provided with the shaft shoulder；And
Bearing shell, interference are set in the mandrel, and are arranged close to the shaft shoulder；
First rotating bar, it is rotatable to be set on the bearing shell, and can be rotated around the mandrel；
Second pivot link, it is rotatable to be set in the mandrel, and be arranged close to first rotating bar；
Nut is fixed at the mandrel other end, for the first rotating bar described in axially position and the second rotation
Bar.
Preferably, the three rod-types revolute pair includes:
Mandrel, one end are provided with the shaft shoulder；And
Bearing shell, interference are set in the mandrel, and are arranged close to the shaft shoulder；
First rotating bar, it is rotatable to be set on the bearing shell, and can be rotated around the mandrel；
Second rotating bar, it is rotatable to be set in the mandrel, and be arranged close to first rotating bar；
Third rotating bar, it is rotatable to be set in the mandrel, and be arranged close to first rotating bar；
Nut is fixed at the mandrel other end, for the first rotating bar, the second rotating bar described in axially position
With third rotating bar.
Preferably, gasket is provided between second rotating bar and the nut.
Preferably, gasket is provided between three rotating bar and the nut.
Preferably, the connecting rod is arranged in the fixed plate quadrangle；Described lifting hydraulic cylinder one end and the fixation
Plate lower hinge, the other end and the supporting vertical plate top are hinged；The oscillating motor both ends are hinged on the supporting vertical plate
With snow removing shovel middle part；The rocker arm both ends are hinged on the supporting vertical plate and snow removing shovel lower part；The spring one end is hinged on institute
Supporting vertical plate lower part is stated, the other end is hinged on the snow removing shovel top.
Preferably, further includes:
Velocity sensor is arranged in the gate-type bearing chassis, for detecting the travel speed of snow sweeper；
Humidity sensor is arranged in the gate-type bearing chassis, for detecting accumulated snow humidity；
Hardness transducer is arranged in the snow removing shovel lower edge, for detecting road snow mantle hardness；
Infrared sensor, be arranged in snow removing roller shaft on, for detect remove the snow roller shaft at a distance from ground with
And the thickness of deposite snow；
Controller, with the velocity sensor, humidity sensor, hardness transducer, infrared sensor, snow removing roller, string
Connection hybrid power assembly is connected with assistant engine, for receiving the velocity sensor, humidity sensor, hardness transducer and red
The detection data of outer sensor, and control the snow removing roller, series hybrid-power assembly and assistant engine work.
A kind of control method of multifunction snow removing car that realizing Electric gate type transmission, includes the following steps:
Step 1: starting snow sweeper, control lifting hydraulic cylinder elongation, so that snow removing shovel downwardly turns over, road pavement accumulated snow is carried out
It is primary to remove；
Step 2: the roller rotation that removes the snow is controlled, to the secondary removing of road snow progress after primary remove, and described in control
The speed that roller rotates that removes the snow meets:
Wherein, n is the speed of snow removing roller rotation, n0For the basic revolving speed of snow removing roller rotation, vmaxTo permit when snow sweeper snow removing
Perhaps the maximum speed travelled, v are real time running speed when snow sweeper removes the snow, and h is the shaft of snow removing roller at a distance from ground, r
For the radius for the roller that removes the snow, d is the thickness of the road snow after primary remove, and ξ is the hardness etc. of the road snow after primary remove
Grade, RH are the humidity level of the road snow after primary remove, and e is the truth of a matter of natural logrithm；
Step 3: assistant engine controls air blower work, makes it through blowing snow cabinet for the road surface product after secondary removing
Avenge vehicle bottom of blowing off.
Preferably, the step 3 further includes fuzzy controller:
The thickness D of road snow after the speed n for the roller rotation that removes the snow and secondary removing is inputted into fuzzy controller, it is described to remove
Avenging the speed n of roller rotation and thickness D points of the road snow after secondary removing is 7 grades；
Fuzzy controller exports the rotational speed omega of air blower, and output is divided into 7 grades；
The fuzzy domain of the speed n of the snow removing roller rotation is [0,1], quantizing factor 20；After the secondary removing
Road snow thickness D fuzzy domain be [0,1], quantizing factor 0.1；Export the fuzzy theory of the rotational speed omega of air blower
Domain is [0,1], quantizing factor 60；
The fuzzy set output and input is { NB, NM, NS, 0, PS, PM, PB }.
Preferably, further include fuzzy controller:
Desired ride speed v when real time running speed v and snow sweeper when inputting i-th of snow sweeper snow removing remove the snowsi's
Deviation, deviation variation rate export the proportionality coefficient, proportion integral modulus and differential coefficient of PID, proportionality coefficient, proportional integration system
The speed error that several and differential coefficient input PID controller carries out air blower compensates control.
Preferably, comprising:
Desired ride speed v when real time running speed v and snow sweeper when the snow sweeper removes the snow remove the snowsiDeviation e
Fuzzy domain be [- 1,1], quantizing factor 5；The fuzzy domain of the deviation variation rate ec is [- 1,1], and quantizing factor is
2；
The fuzzy domain of the proportionality coefficient of the output PID is [- 1,1], quantizing factor 0.1；Proportion integral modulus
Fuzzy domain be [- 1,1], quantizing factor 0.1；The fuzzy domain of differential coefficient is [- 1,1], and quantizing factor is
0.0001；
The deviation e and deviation variation rate ec points are 7 grades；Proportionality coefficient, the proportion integral modulus of the output PID
It is divided into 7 grades with differential coefficient；
The fuzzy set of the fuzzy controller output and input is { NB, NM, NS, 0, PS, PM, PB }.
It is of the present invention the utility model has the advantages that
(1) multifunction snow removing car provided by the invention for realizing Electric gate type transmission, gate-type bearing chassis middle part is arch,
And it is provided with snow removing roller lifting device, bigger installation space is provided for snow removing roller, improves efficiency of cleaning snow.Also use generator
The series hybrid-power assembly that group and power battery pack are formed, simplifies transmission system, so that overall structure is simple.
(2) control method of the multifunction snow removing car provided by the invention for realizing Electric gate type transmission, can be according to specific
Road conditions and environment accurately control the rotation speed of snow removing roller, improve efficiency of cleaning snow.Air blast can also be controlled based on fuzzy control method
The revolving speed of machine, further increases efficiency of cleaning snow.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the multifunction snow removing car of realization Electric gate type transmission of the present invention.
Fig. 2 is the structural schematic diagram on gate-type dedicated bearer of the present invention chassis.
Fig. 3 is the overlooking structure diagram of snow removing shovel assembly of the present invention.
Fig. 4 is the side structure schematic view of snow removing shovel assembly of the present invention.
Fig. 5 is the structural schematic diagram of lifting device of the present invention.
Fig. 6 is the structural schematic diagram of two rod-types revolute pair of the present invention.
Fig. 7 is the control schematic diagram of fuzzy controller and fuzzy controller of the present invention.
Fig. 8 is the subordinating degree function figure of the speed n of the input snow removing roller rotation of fuzzy controller of the present invention.
Fig. 9 is the degree of membership of the thickness D of the road snow after the secondary removing of input of fuzzy controller of the present invention
Functional arrangement.
Figure 10 is the subordinating degree function figure of the rotational speed omega of the output air blower of fuzzy controller of the present invention.
Figure 11 is the subordinating degree function figure of the input deviation e of fuzzy controller of the present invention.
Figure 12 is the subordinating degree function figure of the input deviation change rate ec of fuzzy controller of the present invention.
Figure 13 is the export ratio COEFFICIENT K of fuzzy controller of the present inventionpSubordinating degree function figure.
Figure 14 is the export ratio integral coefficient K of fuzzy controller of the present inventioniSubordinating degree function figure.
Figure 15 is the output differential coefficient K of fuzzy controller of the present inventiondSubordinating degree function figure.
Specific embodiment
Present invention will be described in further detail below with reference to the accompanying drawings, to enable those skilled in the art referring to specification text
Word can be implemented accordingly.
As shown in Figure 1, 2, the present invention provides a kind of multifunction snow removing car for realizing Electric gate type transmission, including gate-type is dedicated
Bearing chassis 100 travels engine 110, generator 120, power battery pack 130, transmission system, preceding driving motor 140, rear-guard
Dynamic motor 150, snow removing shovel assembly, remove the snow roller assembly, blowing snow system etc..
The gate-type dedicated bearer chassis 100 by be located at both sides stringer and four crossbeams form, longitudinal and cross beam it
Between use tightening of rivet, the intermediate position of stringer in fore-and-aft plane be arch, rest part be straight trough shape, be described to facilitate
Snow removing roller assembly bigger space is provided, to improve efficiency of cleaning snow.The traveling engine 110 and generator 120 are connected
Generating set is formed, traveling 110 direct drive generator 120 of engine is the power battery pack 130, preceding driving motor
140 and rear driving motor 150 power, power battery pack 130 is responsible for the demand and row of preceding driving motor 140, rear driving motor 150
The adjustment effect of the output of engine 110 is sailed, i.e. it is dynamic to form series hybrid for the generating set and the power battery pack 130
Power assembly.
Travelling engine is that generator and power battery pack are powered, and the effect of power battery pack is that traveling engine is allowed to be in
A kind of most economical working condition.Above-mentioned series hybrid-power assembly is preceding driving motor 140, rear driving motor 150 is powered,
The variable speed of front and back wheel may be implemented by the adjusting of revolving speed for the driving motor；Pass through the tune of its output power simultaneously
The independent distribution of antero posterior axis driving force may be implemented in section.And front-rear axle is all made of corresponding driving motor driving and can guarantee to appoint
When wheel-slip or any one driving motor in one vehicle bridge break down, the corresponding driving motor of another vehicle bridge can be passed through
It is driven, that is, realize Anti-slip regulation and improves the emergency capability of failure.
On in terms of the construction and arrangement, travels engine 110 and generator 120 is all made of longitudinal arrangement form, be put in institute
The front end for stating gate-type dedicated bearer chassis passes through the bolt hole and the gate-type of traveling engine 110 and 120 shell of generator
Dedicated bearer chassis 100 is attached.The connection of traveling engine 110 and generator 120 be using generator terminal pad and
Generator axle sleeve, generator axle sleeve inside have internal spline.Specific assembling process is the splined shaft of generator axle sleeve and generator
It puts in capable cooperation, realizes circumferentially fixed, be threadedly engaged realization by what locking nut and generator shaft stretched outer end on axial direction
It is fixed.Generator axle sleeve is set the bolt and lock nut being evenly arranged by week with generator terminal pad and is connect.Generator connection
The flywheel of disk and traveling engine 110 is attached by setting uniform spring column pin and pivot pin nut week.
Since front-rear axle transmission system is symmetric arrangement, used component and connection type are essentially identical, and front and back subtracts
Fast device passes through transmission shaft respectively and connect with the front vehicle wheel and rear wheel；Between the fixed plate 210 and gate-type bearing chassis 110
It is tiltedly installed with support rod 211, for further fixing the fixed plate 210.
Now it is introduced according to rear axle drive system.Rear axle drive system mainly includes retarder 160, Hooke's joint
161,162, intermediate propeller shaft 170, vehicle bridge.The retarder 160 be it is two-axis, input shaft and output shaft are in the same end.Afterwards
Driving motor 150 is arranged in the rear end of retarder 160.In terms of structure and connection, the splined shaft of the rear driving motor 150
It stretches and cooperates with the gear inner spline in the retarder 160, complete circumferentially fixed.On axial direction, completed by ring flange
Fastening.The shell and 160 shell of retarder of ring flange and the rear driving motor 150 pass through circumferentially
Screw bolt and nut fastening.160 output shaft of retarder is circumferentially fixed by spline and the progress of the second axial flange, then passes through
Installation locking nut completes the axial restraint of the second axial flange at the outermost end screw thread of the second axis.The Hooke's joint
One is respectively arranged in front and back end, for the connection of retarder 160 and transmission shaft 140 and transmission shaft 170 and vehicle bridge, the deceleration
160 output shaft of device and the front end Hooke's joint 161 are actively pitched to be carried out by four uniform screw bolt and nut of setting in week
Connection, the input shaft of the rear axle main reducing gear and the slave moving fork of rear end universal joint 161 also use same connection method.
And pass through two universal joint crosses and one between the active fork of front end universal joint 161 and the slave moving fork of rear end universal joint 162
Intermediate propeller shaft is attached.Snow removing shovel assembly as described in Fig. 3,4 mainly includes fixed plate 210, is vertically and fixedly arranged at
100 front end of gate-type bearing chassis is provided with supporting vertical plate 220 in 210 front parallel interval of fixed plate, in fixed plate 210 and branch
It supports and is provided with multiple connecting rods 230 between vertical plate 220, in the present embodiment, connecting rod setting is in fixed plate quadrangle, and both ends are distinguished
It is hinged with fixed plate 210 and supporting vertical plate 220.Lifting hydraulic cylinder 240 is provided between fixed plate 210 and supporting vertical plate 220,
The lifting hydraulic cylinder 240 is symmetricly set on fixed plate two sides, and one end and 210 lower hinge of fixed plate, and the other end and support are vertical
220 top of plate is hinged, for driving snow removing shovel 250 to rotate along the vertical direction.Snow removing shovel 250 is arranged in 220 front of supporting vertical plate,
And it is hinged by rocker arm 260 and supporting vertical plate 220, which is hinged on 250 lower part of supporting vertical plate 220 and snow removing shovel.
It is provided with oscillating motor 270 between supporting vertical plate 220 and snow removing shovel 250, is symmetricly set on 220 two sides of supporting vertical plate,
And both ends are hinged with supporting vertical plate 220 and snow removing shovel 250 respectively, for driving the snow removing shovel to swing laterally along snow sweeper.?
It is additionally provided with spring 280 between supporting vertical plate 220 and snow removing shovel 250, is symmetricly set on 220 two sides of supporting vertical plate, and one end
It is hinged on 220 lower part of supporting vertical plate, the other end is hinged on 250 top of snow removing shovel.It is controlled by spring 280 and lifting hydraulic cylinder 240
The ground connection power and lifting action of snow removing shovel 250 processed；Meanwhile oscillating motor 270 realizes that rocker arm 260 drives by stretching motion
The wobbling action of snow removing shovel 250.
The snow removing roller assembly includes snow removing roller lifting device, snow removing roller and its connecting component.The snow removing roller is lifted
Rising device has arrangement in middle part (i.e. at the arch) two sides on the gate-type dedicated bearer chassis 100.With side lifting device
For, as shown in figure 5, snow removing roller lifting device include the first pivoting support 310 and the second pivoting support 320, connecting rod 330,
340, hydraulic cylinder 350, connecting rod 360, two rod-type revolute pairs 370,380 and three rod-type revolute pairs 390, three rod-type revolute pairs 390
Third end is connect with snow removing roller 300, and the pivoting support 310,320 is fixed on the gate-type dedicated bearer chassis 100
Arch position outside, first linkage rod 330 and the second connecting rod 340, one end respectively with the first pivoting support 310 and
Two pivoting supports 320 are hinged, and connecting rod 360, one end and 330 other end of first linkage rod are hinged；Lifting hydraulic cylinder 350, one
End is hinged with 340 other end of the second connecting rod, and the other end and 360 other end of connecting rod are hinged；Lifting hydraulic cylinder both ends 350 and second
Connecting rod 340 is connected with 360 junction of connecting rod using two rod-type revolute pairs, and connecting rod and 330 junction of first linkage rod use three
Rod-type revolute pair 390 connects, and the three rod-types revolute pair 390 is connect with snow removing roller 300.
As shown in fig. 6, two rod-type revolute pairs include mandrel 361, one end is provided with the shaft shoulder 362, bearing shell 363, interference
It is set in mandrel 361, and is arranged close to the shaft shoulder 362, the first rotating bar 364 is rotatable to be set on bearing shell 363, and energy
It is enough to be rotated around mandrel 361, it is provided with oilhole 368 between the first rotating bar 364 and bearing shell 363, convenient for addition machine oil, is conducive to first
The rotation of rotating bar 364, the second rotating bar 365 is rotatable to be set in mandrel 361, and sets close to the first rotating bar 364
It sets；Nut 366 is fixed at 361 other end of mandrel, is used for axially position the first rotating bar 364 and the second rotating bar
365, elastic washer 367 is provided between nut 366 and the second rotating bar 365.Wherein, the second rotating bar 366 is to pass through the heart
The shaft shoulder 362, hex nut 366, monoblock type bearing shell 363 and the elastic washer 367 of axis 361 carry out axially position, integrated shaft
Watts 363 and mandrel 361 are interference fit, the first rotating bar 364 by the convex shoulder of monoblock type bearing shell 363 and 361 shaft shoulder of mandrel into
Row axially position.And three rod-type revolute pairs only arrange a new rotating bar between the second rotating bar and elastic washer, cloth
Set that mode is identical as the second rotating bar, but setting angle of two bars on fore-and-aft plane can be carried out according to the actual size of snow removing roller
It adjusts.
The blowing snow system include blowing snow cabinet 410, air blower 420, assistant engine 430, air blower output air duct and
Belt transmission system.The air outlet of the blowing snow cabinet 410 is towards snow sweeper outside, and dry cabinet 410 and air blower 420
Outlet is connected and sealed by air blower adapter tube, preferably sets air blower 420 and assistant engine 430 close to blowing snow cabinet 410
Set, be convenient between structure connection.410 front end of blowing snow cabinet is connect with gate-type dedicated bearer chassis 100 using articulated manner, is made
Height of the air outlet away from ground can be finely tuned by obtaining the regulating device at 410 air outlet of blowing snow cabinet, guarantee the passability of vehicle.
It should be noted that the multifunction snow removing car in the present embodiment is to have used snow removing shovel, snow removing roller simultaneously and blown
Snow system (air blower, assistant engine and blowing snow cabinet) carries out snow removing.But it is not using wherein any both of which
Creation of the invention is sexually revised.
Velocity sensor is arranged in gate-type bearing chassis 100, for detecting the travel speed of snow sweeper；Humidity passes
Sensor is arranged in gate-type bearing chassis 100, for detecting accumulated snow humidity；Hardness transducer is arranged in the snow removing shovel
250 lower edges, for detecting road snow mantle hardness；Infrared sensor is arranged in the shaft of snow removing roller 300, for examining
The shaft of snow removing roller 300 is surveyed at a distance from ground and the thickness of deposite snow；Controller, with the velocity sensor, wet
Degree sensor, hardness transducer, infrared sensor, snow removing roller, series hybrid-power assembly are connected with assistant engine, for receiving
The detection data of the velocity sensor, humidity sensor, hardness transducer and infrared sensor, and control the snow removing roller,
Series hybrid-power assembly and assistant engine work.
The multifunction snow removing car provided by the invention for realizing Electric gate type transmission, gate-type bearing chassis middle part is arch, and
It is provided with snow removing roller lifting device, bigger installation space is provided for snow removing roller, improves efficiency of cleaning snow.Also use generating set
The series hybrid-power assembly formed with power battery pack, simplifies transmission system, so that overall structure is simple, avoids lifting shaft
Case, there are also the uses of differential mechanism for drop axle box.
The present invention also provides a kind of control methods of multifunction snow removing car for realizing Electric gate type transmission, including walk as follows
It is rapid:
Step 1: starting snow sweeper, control lifting hydraulic cylinder elongation so that snow removing shovel downwardly turns over, determine under snow removing shovel
Edge is contacted with road surface, and road pavement accumulated snow is once removed；
Step 2: control snow removing roller rotation carries out secondary remove (after primary remove to the road snow after primary remove
Remaining road snow is purged), and the speed for controlling snow removing roller rotation meets:
Wherein, n is the speed of snow removing roller rotation, n0For the basic revolving speed of snow removing roller rotation, vmaxTo permit when snow sweeper snow removing
Perhaps the maximum speed travelled, v are real time running speed when snow sweeper removes the snow, and h is the shaft of snow removing roller at a distance from ground, r
For the radius for the roller that removes the snow, d is the thickness of the road snow after primary remove, and ξ is the hardness etc. of the road snow after primary remove
Grade, RH are the humidity level of the road snow after primary remove, and e is the truth of a matter of natural logrithm.
Step 3: assistant engine controls air blower work, makes it through blowing snow cabinet for the road surface product after secondary removing
Avenge vehicle bottom of blowing off.
Controller in step 3 includes fuzzy controller and fuzzy controller, control method as shown in fig. 7, comprises with
Lower step:
Step 3.1: by the thickness D and air blower of the road snow after the speed n for the roller rotation that removes the snow and secondary removing
Rotational speed omega carries out Fuzzy Processing；The fuzzy domain of the speed n of snow removing roller rotation is [0,1], quantizing factor 20 when without control；
The fuzzy domain of the thickness D of road snow after secondary removing is [0,1], quantizing factor 0.1；Export the revolving speed of air blower
The fuzzy domain of ω is [0,1], quantizing factor 60；In order to guarantee the precision of control, realizes preferably control, reality is repeated
It tests, it is determined that optimal to output and input grade, wherein the speed n of the snow removing roller rotation and the road surface product after secondary removing
The thickness D of snow points are 7 grades；The rotational speed omega of air blower is exported, output is divided into 7 grades；The fuzzy set output and input is equal
For { NB, NM, NS, 0, PS, PM, PB }.Wherein, the control rule of the fuzzy controller are as follows:
(1) the speed n of snow removing roller rotation is certain, and the thickness D of the road snow after secondary removing increases, and needs to increase air blast
The rotational speed omega of machine；
(2) the thickness D of the road snow after secondary removing is certain, when the speed n of snow removing roller rotation increases, needs to reduce drum
The rotational speed omega of blower；
The specific control rule of fuzzy control is detailed in table one.
The fuzzy control table of one blower speed of table
The speed n of the fuzzy controller input snow removing roller rotation and thickness D of the road snow after secondary removing, uses Fuzzy Control
Rule list one processed show that the rotational speed omega of the output air blower of fuzzy controller, the rotational speed omega of air blower utilize gravity model appoach ambiguity solution
Change.
Step 3.2: fuzzy controller
Desired ride speed v when real time running speed v and snow sweeper when i-th of snow sweeper is removed the snow remove the snowsi
Deviation e, deviation variation rate ec, export the proportionality coefficient of PID, proportion integral modulus and differential coefficient and carry out Fuzzy Processing,
When without control, the fuzzy domain of deviation e is [- 1,1], quantizing factor 5；The fuzzy domain of deviation variation rate ec is [- 1,1], amount
Changing the factor is 2；The Proportional coefficient K of PIDpFuzzy domain be [- 1,1], quantizing factor 0.1；Proportion integral modulus KiMould
Pasting domain is [- 1,1], quantizing factor 0.1；Differential coefficient KdFuzzy domain be [- 1,1], the quantification factor is
0.0001.In order to guarantee the precision of control, realizes preferably control, experiment is repeated, it is determined that optimal to output and input
Grade, wherein the fuzzy controller large deviations e, deviation variation rate ec points are 7 grades；Export proportionality coefficient, the ratio of PID
Example integral coefficient and differential coefficient are divided into 7 grades；The fuzzy set output and input is { NB, NM, NS, 0, PS, PM, PB },
The subordinating degree function output and input is all made of triangular membership, is detailed in Fig. 8-15.Its fuzzy control rule are as follows:
1, when deviation | e | when larger, increase KpValue, so that deviation be made quickly to reduce, but produce simultaneously biggish
Deviation variation rate should take lesser Kd, usually take Ki=0；
2, as | ec | and | e | when value is in medium, to avoid overshoot, suitably reduction KpValue, make KiIt is smaller, selection
Appropriately sized Kd；
3, when deviation | e | when smaller, increase Kp KiValue, to avoid the occurrence of the shakiness oscillated about in systematic steady state value
Determine phenomenon, usually make to work as | ec | when larger, take lesser Kd；When | ec | when smaller, take biggish Kd；Specific fuzzy control rule
Then it is detailed in table two, three and four.
The Proportional coefficient K of two PID of tablepFuzzy control table
The proportion integral modulus K of three PID of tableiFuzzy control table
The differential coefficient K of four PID of tabledFuzzy control table
Desired ride speed when real time running speed v and snow sweeper when inputting i-th of snow sweeper snow removing remove the snow
vsiDeviation e, deviation variation rate ec, export the proportionality coefficient, proportion integral modulus and differential coefficient of PID, proportionality coefficient, ratio
Integral coefficient and differential coefficient carry out defuzzification with height method, and the rotational speed omega error that input PID controller carries out air blower is mended
Control is repaid, formula is controlled are as follows:
It is determined repeatedly through testing, fuzzy controller accurately controls the rotational speed omega of air blower, the revolving speed of air blower
ω is the adduction of the output revolving speed of fuzzy controller and the speed error offset of PID controller, obtains the rotational speed omega of air blower
Accurately to control, make its deviation less than 0.1%.
The control method of the multifunction snow removing car provided by the invention for realizing Electric gate type transmission, can be according to specific road conditions
The rotation speed that snow removing roller is accurately controlled with environment, improves efficiency of cleaning snow.Air blower can also be controlled based on fuzzy control method
Revolving speed further increases efficiency of cleaning snow.
Although the embodiments of the present invention have been disclosed as above, but its is not only in the description and the implementation listed
With it can be fully applied to various fields suitable for the present invention, for those skilled in the art, can be easily
Realize other modification, therefore without departing from the general concept defined in the claims and the equivalent scope, the present invention is simultaneously unlimited
In specific details and legend shown and described herein.
Claims (10)
1. a kind of multifunction snow removing car for realizing Electric gate type transmission characterized by comprising
Gate-type bearing chassis, middle part are arch, and both ends are flat construction；
Lifting device is symmetricly set on the gate-type bearing chassis on both sides of the middle；
Remove the snow roller, and both ends are connect with the lifting device；
The lifting device includes:
The arch two of gate-type bearing chassis side is symmetrically hingedly arranged in first pivoting support and the second pivoting support
End；
First linkage rod and the second connecting rod, one end are hinged with first pivoting support and the second pivoting support respectively；
Connecting rod, one end and the first linkage rod other end are hinged；
Lifting hydraulic cylinder, one end and the second connecting rod other end are hinged, and the other end and the connecting rod other end are hinged；
Wherein, the lifting hydraulic cylinder both ends are connect with second connecting rod and connecting rod junction using two rod-type revolute pairs,
The connecting rod is connect with first linkage rod junction using three rod-type revolute pairs, and the three rod-types revolute pair and the snow removing roller
Connection.
2. realizing the multifunction snow removing car of Electric gate type transmission as described in claim 1, which is characterized in that further include:
Power battery pack is fixed at gate-type bearing chassis front；
Engine and generator are travelled, is fixed at gate-type bearing chassis front, and series connection forms generating set, and
Series hybrid-power assembly is formed with the power battery pack；
Preceding driving motor, is fixed at gate-type bearing chassis front and close to middle part arch side, and described
The connection of series hybrid-power assembly, the preceding driving motor are connect by the first retarder with front vehicle wheel；
Driving motor afterwards is fixed at gate-type bearing chassis rear portion and the close middle part arch other side, with institute
The connection of series hybrid-power assembly is stated, the rear driving motor is connect by the second retarder with rear wheel.
3. realizing the multifunction snow removing car of Electric gate type transmission as claimed in claim 2, which is characterized in that further include:
Fixed plate is vertically and fixedly arranged at gate-type bearing chassis front end；
Supporting vertical plate, parallel interval are arranged in front of the fixed plate；
Multiple connecting rods, be arranged between the fixed plate and supporting vertical plate, and both ends respectively with the fixed plate and support
Vertical plate is hinged；
Lifting hydraulic cylinder is arranged between the fixed plate and supporting vertical plate, and is symmetricly set on the fixed plate two sides, and
Both ends are hinged with the fixed plate and supporting vertical plate respectively, for driving the snow removing shovel to swing along the vertical direction；
Snow removing shovel is arranged in front of the supporting vertical plate, and hinged by rocker arm and the supporting vertical plate；
Oscillating motor is arranged between the supporting vertical plate and snow removing shovel, and is symmetricly set on the supporting vertical plate two sides,
And both ends are hinged with the supporting vertical plate and snow removing shovel respectively, for driving the snow removing shovel to swing laterally along the snow sweeper；
Spring is arranged between the supporting vertical plate and snow removing shovel, and is symmetricly set on the supporting vertical plate two sides, and both ends
It is hinged with the supporting vertical plate and snow removing shovel respectively.
4. realizing the multifunction snow removing car of Electric gate type transmission as claimed in claim 3, which is characterized in that further include:
Air blower is fixed at gate-type bearing chassis rear portion；
Blowing snow cabinet is fixed on the bottom surface of the gate-type bearing chassis, and the air outlet of one end and the air blower
Sealing connection, the other end are provided with towards the opening on the outside of snow sweeper；
Assistant engine is connect with the air blower, for driving the air blower to work.
5. realizing the multifunction snow removing car of Electric gate type transmission as claimed in claim 4, which is characterized in that described first slows down
Device and second retarder pass through transmission shaft respectively and connect with the front vehicle wheel and rear wheel；The fixed plate and gate-type carry bottom
Support rod is tiltedly installed between disk, for fixing the fixed plate.
6. realizing the multifunction snow removing car of Electric gate type transmission as claimed in claim 5, which is characterized in that further include:
Velocity sensor is arranged in the gate-type bearing chassis, for detecting the travel speed of snow sweeper；
Humidity sensor is arranged in the gate-type bearing chassis, for detecting accumulated snow humidity；
Hardness transducer is arranged in the snow removing shovel lower edge, for detecting road snow mantle hardness；
Infrared sensor is arranged in the shaft of snow removing roller, for detect the shaft for the roller that removes the snow at a distance from ground and ground
The thickness of area snow；
Controller, with the velocity sensor, humidity sensor, hardness transducer, infrared sensor, snow removing roller, connect mix
It closes power assembly to connect with assistant engine, for receiving the velocity sensor, humidity sensor, hardness transducer and infrared biography
The detection data of sensor, and control the snow removing roller, series hybrid-power assembly and assistant engine work.
7. a kind of control method for the multifunction snow removing car for realizing Electric gate type transmission, which comprises the steps of:
Step 1: starting snow sweeper, control lifting hydraulic cylinder elongation, so that snow removing shovel downwardly turns over, road pavement accumulated snow carries out primary
It removes；
Step 2: control snow removing roller rotation carries out secondary removing to the road snow after primary remove, and control the snow removing
The speed of roller rotation meets:
Wherein, n is the speed of snow removing roller rotation, n0For the basic revolving speed of snow removing roller rotation, vmaxTo allow to go when snow sweeper snow removing
The maximum speed sailed, v be snow sweeper remove the snow when real time running speed, h be remove the snow roller shaft at a distance from ground, r for except
The radius of roller is avenged, d is the thickness of the road snow after primary remove, and ξ is the hardness level of the road snow after primary remove, RH
For the humidity level of the road snow after once removing, e is the truth of a matter of natural logrithm；
Step 3: assistant engine controls air blower work, makes it through blowing snow cabinet and blows the road snow after secondary removing
From vehicle bottom.
8. realizing the control method of the multifunction snow removing car of Electric gate type transmission as claimed in claim 7, which is characterized in that institute
Stating step 3 further includes fuzzy controller:
The thickness D of road snow after the speed n for the roller rotation that removes the snow and secondary removing is inputted into fuzzy controller, the snow removing roller
The speed n of rotation and thickness D points of the road snow after secondary removing are 7 grades；
Fuzzy controller exports the rotational speed omega of air blower, and output is divided into 7 grades；
The fuzzy domain of the speed n of the snow removing roller rotation is [0,1], quantizing factor 20；Road after the secondary removing
The fuzzy domain of the thickness D of area snow is [0,1], quantizing factor 0.1；The fuzzy domain of rotational speed omega for exporting air blower is
[0,1], quantizing factor 60；
The fuzzy set output and input is { NB, NM, NS, 0, PS, PM, PB }.
9. realizing the control method of the multifunction snow removing car of Electric gate type transmission as claimed in claim 8, which is characterized in that also
Including fuzzy controller:
Desired ride speed v when real time running speed v and snow sweeper when inputting i-th of snow sweeper snow removing remove the snowsiDeviation,
Deviation variation rate, exports the proportionality coefficient, proportion integral modulus and differential coefficient of PID, proportionality coefficient, proportion integral modulus and micro-
The speed error for dividing coefficient input PID controller to carry out air blower compensates control.
10. realizing the control method of the multifunction snow removing car of Electric gate type transmission as claimed in claim 9, which is characterized in that
Include:
Desired ride speed v when real time running speed v and snow sweeper when the snow sweeper removes the snow remove the snowsiDeviation e mould
Pasting domain is [- 1,1], quantizing factor 5；The fuzzy domain of the deviation variation rate ec is [- 1,1], quantizing factor 2；
The fuzzy domain of the proportionality coefficient of the output PID is [- 1,1], quantizing factor 0.1；The mould of proportion integral modulus
Pasting domain is [- 1,1], quantizing factor 0.1；The fuzzy domain of differential coefficient is [- 1,1], quantizing factor 0.0001；
The deviation e and deviation variation rate ec points are 7 grades；The output proportionality coefficient of PID, proportion integral modulus and micro-
Coefficient is divided to be divided into 7 grades；
The fuzzy set of the fuzzy controller output and input is { NB, NM, NS, 0, PS, PM, PB }.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910035697.9A CN109629503B (en) | 2019-01-15 | 2019-01-15 | Multifunctional snow remover for realizing electric door type transmission and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910035697.9A CN109629503B (en) | 2019-01-15 | 2019-01-15 | Multifunctional snow remover for realizing electric door type transmission and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109629503A true CN109629503A (en) | 2019-04-16 |
| CN109629503B CN109629503B (en) | 2023-09-08 |
Family
ID=66060931
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910035697.9A Active CN109629503B (en) | 2019-01-15 | 2019-01-15 | Multifunctional snow remover for realizing electric door type transmission and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109629503B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111827193A (en) * | 2019-04-17 | 2020-10-27 | 山东东升科立辉专用车有限公司 | Special chassis of snow sweeper with gate-type transmission system |
| CN112947087A (en) * | 2021-02-03 | 2021-06-11 | 齐鲁工业大学 | Semi-active suspension enhanced multi-fuzzy PID control system and method |
| CN113391632A (en) * | 2021-06-08 | 2021-09-14 | 威海广泰特种车辆有限公司 | Automatic glue removal control system and method for airport runway based on infrared thermal imaging technology |
Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA570908A (en) * | 1959-02-17 | A. V. Bjorkman Anders | Road surface coating breaker | |
| CH563701A5 (en) * | 1974-03-14 | 1975-07-15 | Bucher Guyer Ag Masch | Attachment for vehicle coupled implements - has lifting frame hinged to two bottom linkages supported behind front side of vehicle |
| CN1238406A (en) * | 1998-05-08 | 1999-12-15 | 许汉荣 | Road sweeper |
| US6508018B1 (en) * | 2000-12-14 | 2003-01-21 | O'brien Orlin P. | Snow removal apparatus |
| CN200974965Y (en) * | 2006-12-08 | 2007-11-14 | 王新明 | Ice-opening snow cleaner |
| US20080109982A1 (en) * | 2004-10-30 | 2008-05-15 | Lars Sandberg | Support for the Suspension of a Roller Broom on a Sweeping Vehicle |
| CN201258467Y (en) * | 2008-09-08 | 2009-06-17 | 威海广泰空港设备股份有限公司 | Snow removing vehicle for airport |
| CN202730703U (en) * | 2012-08-14 | 2013-02-13 | 北京新胜福瑞机械设备有限公司 | Motor tractor and trailer connection beam device of snow sweeper |
| CN102979057A (en) * | 2012-12-24 | 2013-03-20 | 王海维 | Special snow remover for road pavements and residential districts |
| CN203213062U (en) * | 2013-04-12 | 2013-09-25 | 山东汇强重工科技有限公司 | Middle stage snow removing device of heavy truck |
| CN104328764A (en) * | 2014-11-23 | 2015-02-04 | 吉林大学 | Vertical shaft rotary cut type icebreaking snow removing device |
| CN204199215U (en) * | 2014-10-21 | 2015-03-11 | 广州市白云清洁用品有限公司 | A kind of structure protecting brush linear brake |
| CN204238156U (en) * | 2014-09-16 | 2015-04-01 | 陕西汽车集团有限责任公司 | Frame mechanism is sprayed before high-pressure sewer flushing vehicle and automatic obstacle-avoiding electrichydraulic control thereof |
| CN204551353U (en) * | 2015-03-13 | 2015-08-12 | 梁启鹏 | Cleaning dust removing integrated machine |
| KR20170059821A (en) * | 2015-11-23 | 2017-05-31 | (주)송현 | A snow-removal device |
| CN107059753A (en) * | 2017-04-21 | 2017-08-18 | 石家庄铁道大学 | Combined snow sweeper |
| CN207348000U (en) * | 2017-04-29 | 2018-05-11 | 山东汇强重工科技有限公司 | Electric endless track type is remotely controlled snow removal machine people |
| CN207672506U (en) * | 2017-11-22 | 2018-07-31 | 鞍山森远路桥股份有限公司 | Three-in one machine field strength wind snow sweeper |
| CN108505482A (en) * | 2018-05-29 | 2018-09-07 | 郑州宇通重工有限公司 | A kind of sweeping machine sets rolling sweeping mechanism in |
| CN207919475U (en) * | 2017-12-22 | 2018-09-28 | 哈尔滨理工大学 | A kind of folding-type portable Mini-snowplow |
| CN209384179U (en) * | 2019-01-15 | 2019-09-13 | 吉林大学 | A kind of mixed dynamic multifunction snow removing car of the tandem using gate-type chassis |
-
2019
- 2019-01-15 CN CN201910035697.9A patent/CN109629503B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA570908A (en) * | 1959-02-17 | A. V. Bjorkman Anders | Road surface coating breaker | |
| CH563701A5 (en) * | 1974-03-14 | 1975-07-15 | Bucher Guyer Ag Masch | Attachment for vehicle coupled implements - has lifting frame hinged to two bottom linkages supported behind front side of vehicle |
| CN1238406A (en) * | 1998-05-08 | 1999-12-15 | 许汉荣 | Road sweeper |
| US6508018B1 (en) * | 2000-12-14 | 2003-01-21 | O'brien Orlin P. | Snow removal apparatus |
| US20080109982A1 (en) * | 2004-10-30 | 2008-05-15 | Lars Sandberg | Support for the Suspension of a Roller Broom on a Sweeping Vehicle |
| CN200974965Y (en) * | 2006-12-08 | 2007-11-14 | 王新明 | Ice-opening snow cleaner |
| CN201258467Y (en) * | 2008-09-08 | 2009-06-17 | 威海广泰空港设备股份有限公司 | Snow removing vehicle for airport |
| CN202730703U (en) * | 2012-08-14 | 2013-02-13 | 北京新胜福瑞机械设备有限公司 | Motor tractor and trailer connection beam device of snow sweeper |
| CN102979057A (en) * | 2012-12-24 | 2013-03-20 | 王海维 | Special snow remover for road pavements and residential districts |
| CN203213062U (en) * | 2013-04-12 | 2013-09-25 | 山东汇强重工科技有限公司 | Middle stage snow removing device of heavy truck |
| CN204238156U (en) * | 2014-09-16 | 2015-04-01 | 陕西汽车集团有限责任公司 | Frame mechanism is sprayed before high-pressure sewer flushing vehicle and automatic obstacle-avoiding electrichydraulic control thereof |
| CN204199215U (en) * | 2014-10-21 | 2015-03-11 | 广州市白云清洁用品有限公司 | A kind of structure protecting brush linear brake |
| CN104328764A (en) * | 2014-11-23 | 2015-02-04 | 吉林大学 | Vertical shaft rotary cut type icebreaking snow removing device |
| CN204551353U (en) * | 2015-03-13 | 2015-08-12 | 梁启鹏 | Cleaning dust removing integrated machine |
| KR20170059821A (en) * | 2015-11-23 | 2017-05-31 | (주)송현 | A snow-removal device |
| CN107059753A (en) * | 2017-04-21 | 2017-08-18 | 石家庄铁道大学 | Combined snow sweeper |
| CN207348000U (en) * | 2017-04-29 | 2018-05-11 | 山东汇强重工科技有限公司 | Electric endless track type is remotely controlled snow removal machine people |
| CN207672506U (en) * | 2017-11-22 | 2018-07-31 | 鞍山森远路桥股份有限公司 | Three-in one machine field strength wind snow sweeper |
| CN207919475U (en) * | 2017-12-22 | 2018-09-28 | 哈尔滨理工大学 | A kind of folding-type portable Mini-snowplow |
| CN108505482A (en) * | 2018-05-29 | 2018-09-07 | 郑州宇通重工有限公司 | A kind of sweeping machine sets rolling sweeping mechanism in |
| CN209384179U (en) * | 2019-01-15 | 2019-09-13 | 吉林大学 | A kind of mixed dynamic multifunction snow removing car of the tandem using gate-type chassis |
Non-Patent Citations (2)
| Title |
|---|
| 王晓方等: "除雪车功能及主要参数设计", 农业装备与车辆工程, vol. 44, no. 12, pages 24 - 25 * |
| 邓洪超等: "多功能除雪车犁形前雪铲结构设计", 工程机械, vol. 42, no. 10, pages 18 - 20 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111827193A (en) * | 2019-04-17 | 2020-10-27 | 山东东升科立辉专用车有限公司 | Special chassis of snow sweeper with gate-type transmission system |
| CN112947087A (en) * | 2021-02-03 | 2021-06-11 | 齐鲁工业大学 | Semi-active suspension enhanced multi-fuzzy PID control system and method |
| CN113391632A (en) * | 2021-06-08 | 2021-09-14 | 威海广泰特种车辆有限公司 | Automatic glue removal control system and method for airport runway based on infrared thermal imaging technology |
| CN113391632B (en) * | 2021-06-08 | 2021-12-07 | 威海广泰特种车辆有限公司 | Automatic glue removal control system and method for airport runway based on infrared thermal imaging technology |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109629503B (en) | 2023-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109629503A (en) | A kind of multifunction snow removing car and its control method for realizing Electric gate type transmission | |
| CN104991559B (en) | A kind of method of automatic cruising detection greenhouse integrated information | |
| CN109891126A (en) | For the drive apparatus of hybrid vehicle, the operation method and hybrid vehicle of powertrain, powertrain | |
| CN100541162C (en) | Railroad locomotive running simulation test bed | |
| CN108216363B (en) | Multidisciplinary optimization method of electric wheel automobile chassis integrated system | |
| CN206161300U (en) | Stabilizer bar's test bench | |
| CN106080605A (en) | A kind of wheel torque distribution method based on forerunner's wheel hub motor | |
| CN107701380A (en) | Adapter for wind turbine trimming | |
| CN107933732A (en) | Rolling robot based on parallel institution | |
| CN109398080A (en) | Intelligent agricultural machinery and its differential lock and differential lock control method | |
| CN106195193B (en) | A kind of planetary electric differential mechanism of double clutch | |
| CN201016860Y (en) | Rolling stock operation simulator stand | |
| CN208745675U (en) | A kind of automobile-used independent suspension type double drive double steering four-wheel drive mechanism of weeding | |
| CN108045444A (en) | A kind of racing car empennage angle of attack adjustable systems and control method | |
| CN209384179U (en) | A kind of mixed dynamic multifunction snow removing car of the tandem using gate-type chassis | |
| CN107727352A (en) | A kind of vehicle wind-tunnel gets rid of mud experimental rig and its test method | |
| CN207550350U (en) | Rolling robot based on parallel institution | |
| CN206734623U (en) | Bionical wing drive mechanism and bionical wing and bionic Aircraft | |
| CN206366871U (en) | A kind of 360 degree of Full-automatic polishing machines of metal wire rod | |
| CN102346087A (en) | Lossless dynamic balance mechanism | |
| CN209584950U (en) | The blowing snow spout of function jet snow removing vehicle | |
| CN206281645U (en) | A kind of drive shaft fatigue durability testing device | |
| CN107264629A (en) | Wheeled zero turn radius system | |
| CN207773130U (en) | Tractor trailer train multispan formula overhead trackless transportation facility and walked on the facility | |
| CN107225801A (en) | A kind of paper bag machine closes bottom device and paper bag machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |