CN110666815A - Snow sweeping robot based on compressed snow blocking and collecting device - Google Patents
Snow sweeping robot based on compressed snow blocking and collecting device Download PDFInfo
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- CN110666815A CN110666815A CN201911069200.1A CN201911069200A CN110666815A CN 110666815 A CN110666815 A CN 110666815A CN 201911069200 A CN201911069200 A CN 201911069200A CN 110666815 A CN110666815 A CN 110666815A
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- snow
- block
- sweeping robot
- assembly
- collecting
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- 238000010408 sweeping Methods 0.000 title claims abstract description 136
- 230000000903 blocking effect Effects 0.000 title abstract description 15
- 210000000078 claw Anatomy 0.000 claims description 50
- 238000003825 pressing Methods 0.000 claims description 37
- 238000004140 cleaning Methods 0.000 claims description 29
- 238000005192 partition Methods 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000007599 discharging Methods 0.000 claims description 5
- 238000004080 punching Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 2
- 239000013589 supplement Substances 0.000 abstract description 3
- 238000005520 cutting process Methods 0.000 description 30
- 241001417527 Pempheridae Species 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 208000001034 Frostbite Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 239000002826 coolant Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000004297 night vision Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/08—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 driven elements
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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
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/08—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 driven elements
- E01H5/09—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 driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
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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
- E01H5/04—Apparatus propelled by animal or engine power; Apparatus propelled by hand with driven dislodging or conveying levelling elements, conveying pneumatically for the dislodged material
- E01H5/08—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 driven elements
- E01H5/09—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 driven elements the elements being rotary or moving along a closed circular path, e.g. rotary cutter, digging wheels
- E01H5/092—Brushing elements
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Cleaning Of Streets, Tracks, Or Beaches (AREA)
Abstract
The invention relates to a snow sweeping robot based on a compressed snow blocking and collecting device, which mainly comprises a snow sweeping robot body assembly, a foldable snow sweeping assembly, a compressed snow blocking assembly, a snow conveying block assembly and a front snow collecting assembly; the compressed snow blocking assembly is combined with the snow conveying block assembly, so that collected snow can be compressed into snow blocks and then conveyed into a carriage of the snow sweeping robot or discharged out of the box body, and the snow blocks are automatically and orderly stacked on the roadside; the rear vehicle body of the snow sweeping robot dynamically supplements the insufficient capacity space of the front vehicle body of the snow sweeping robot in the snow collecting block; a push-pull rod retainer is arranged between the two folding push-pull frames, and a retractable foldable snow removal assembly which is matched with the moving wheel to roll in the upper limit clipping and buckling limit range and the lower limit clipping and buckling limit range is fixed on the retaining rod limit moving slide block, so that the service life of the snow removal brush is effectively protected; the elastic snow shovel is matched with the pin shaft sleeve spring to have certain shrinkage performance, and snow can be shoveled on various rugged road surfaces.
Description
Technical Field
The invention relates to the technical field of intelligent snow sweeping robots, in particular to a snow sweeping robot based on a compressed snow blocking and collecting device.
Background
At present, snow is frequently snowed in northern areas of China in winter, the snow is accumulated severely by cold throughout the bones at the temperature of twenty-few degrees below zero in daily life, and the accumulated snow on roads can not only cause people to slip and fall down easily, but also cause a large amount of traffic jam phenomena. At the present stage, the snow sweeping modes in China are manual snow sweeping and mechanical snow sweeping: the manual snow sweeping is time-consuming and labor-consuming, and can cause the risks of frostbite and falling injury; mechanical snow sweeping equipment is heavy, and tail gas can pollute the environment.
The snow sweeping mode of the snow sweeping robot is adopted, so that a large amount of labor force is saved, the snow sweeping efficiency is improved, and various potential traffic hazards are solved.
The snow sweeping of the existing machine mostly adopts a snow throwing mode to throw the collected accumulated snow to one side of a road, and the phenomenon that the snow is not completely swept and needs to be swept for the second time in the severe weather of cold wind is shown. Besides, the carriage with unit capacity has the defects of less snow collection amount, incapability of fully utilizing the snow in winter and the like.
Aiming at the problems, the snow sweeping robot designed by the scheme is used for thoroughly sweeping the accumulated snow on the road, increasing the snow collecting amount of a carriage with unit capacity and fully utilizing the snow in winter, the swept snow is collected into a snow collecting and pressing bin of the snow sweeping robot and then is pressed into snow blocks, and the snow blocks can be temporarily stored in the carriage or discharged out of a box body from the side surface of the carriage and automatically and regularly stacked on the roadside, so that the snow is cleanly removed. Further, the collected snow lump can be easily transported and stacked and stored to serve as a "coolant" in summer, and the snow lump collected into the vehicle compartment can also be used for building ice and snow houses, winter theme parks, and the like.
Disclosure of Invention
In order to solve the existing problems, the invention provides a snow sweeping robot which is high in automation degree and suitable for extremely severe conditions and is based on a compressed snow blocking and collecting device.
The invention is realized by the following technical scheme:
the invention discloses a snow sweeping robot based on a compressed snow lump collecting device, which mainly comprises a snow sweeping robot vehicle body assembly (1), a foldable snow sweeping assembly (11), a compressed snow lump assembly (39), a snow sweeping robot vehicle chassis assembly (40), a front snow collecting assembly (55), a snow conveying lump assembly (68) and a snow sweeping robot vehicle cover assembly (85);
the front snow collecting assembly (55) is composed of a hose snow collecting channel bin (27), a front snow collecting cover (56), an elastic snow shovel (57), a rotary cutting disc rotating motor (25), an LED lamp (24), a hinged fixing rod A (47), a lifting snow collecting device push rod motor (48), a hinged fixing rod B (65), a rotary cutting disc (22), a rotary cutting shaft (23), an air blower (59), air blower fan blades (60), a spring (61), a pin shaft (62), a rotary cutting shaft cylindrical roller bearing A (63) and a rotary cutting shaft cylindrical roller bearing B (58).
Compressed snow blocking assembly (39) comprises baffle clearance snow removing plate (8), snow removing plate operation track (9), snow removing plate (10), baffle clearance bin seam (19), snow collecting pressure block bin (20), pushing block end push rod motor (21), punching block end push rod motor fixing plate (26), temporary block collecting plate (28), pushing block plate (29), pushing block end cylinder (30), pushing block plate operation track (31), block limiting plate (32), pushing block end cylinder fixing plate (33), pushing block end vertical baffle (34), baffle clearance snow removing push rod motor (35), snow pressing end vertical baffle (36), snow pressing end cylinder (37), snow pressing end cylinder fixing plate (38), snow sweeping robot side block outlet (81), snow sweeping robot body front door (82), outer conveying block side door (83) and inner conveying block side door (84).
The snow conveying block assembly (68) is composed of a front conveying roller screw A (69), a rear conveying roller screw A (69), a left conveying roller screw (72), a right conveying roller screw (72), a front conveying roller screw B (79), a screw motor (49), a fixing seat A end (66), a fixing rod (70), a screw (50), a screw nut seat (73), a screw nut (71), a lifting mechanical claw push rod motor (74), a mechanical claw fixing table (75), a mechanical claw synchronous cross bar (76), a mechanical claw rotating motor (77), a mechanical claw (78), a fixing seat B end (67), a screw fixing roller bearing A (80) and a 64-screw fixing roller bearing B.
The foldable snow removing assembly (11) is composed of a front vehicle body push-pull stroke plate, a rear vehicle body push-pull stroke plate (6), a foldable push-pull frame push rod motor (7), a snow removing brush tailstock (12), a snow removing brush (13), a foldable push-pull frame (14), a rear snow removing rotating motor (15), a moving wheel (16), an upper limiting clamping buckle (17), a lower limiting clamping buckle (18), a moving slider guide rail (51), a retaining rod limiting moving slider (52), a moving wheel limiting guide rail (53) and a push-pull rod retaining frame (54).
The snow sweeping robot body assembly (1) is composed of a snow sweeping robot front body (2), a snow sweeping robot sliding rail inner side (3), a snow sweeping robot rear body (4) and a snow sweeping robot sliding rail outer side (5).
The chassis assembly (40) of the snow sweeping robot vehicle consists of a travelling crane cylindrical roller bearing (41), a chassis frame (42) of the snow sweeping robot vehicle, an air pump (43), a coupler (44), a walking driving motor (45) and an anti-skid tire (46).
The snow sweeping robot car cover assembly (85) is composed of a two-axis holder (86), an infrared camera (87), a laser radar (88), a support (89), a snow sweeping robot car cover (90), a baffle pin shaft (91), a hinge (92) and a baffle (93).
Compared with the prior art, the invention has the beneficial effects that:
the invention relates to a snow sweeping robot based on a compressed snow blocking and collecting device, wherein a snow pushing plate running track (9) is paved in a snow collecting and blocking bin (20) and a partition plate gap bin seam (19) is arranged in the snow collecting and blocking bin; the snow pressing end cylinder (37) is positioned on the right side of the snow collecting and pressing block bin (20); the snow pressing end cylinder (37) is combined with the snow pushing plate running track (9) and the snow pushing plate (10) to realize that collected snow is punched into blocks and directly conveyed to the left side; the front end of the partition board gap snow-removing push rod motor (35) is provided with a partition board gap snow-removing board (8) and a partition board gap bin seam (19) to push the residual snow inside the partition board to the outside: the pushing block end pushing rod motor (21) is positioned on the left front side of the snow collecting and pressing block bin (20) and used for pushing the compressed snow blocks to the block collecting temporary plate (28), and the pushing process passes through a limiting channel formed by a front door (82) of a body of the snow sweeping robot, an outer side door (83) of the block conveying robot and an inner side door (84) of the block conveying robot; openings are formed in four corners of the temporary block collecting plate (28) so that the mechanical claws (78) can conveniently capture snow blocks, and a block pushing plate running track (31) is laid on the temporary block collecting plate; the front end of the push block end cylinder (30) is provided with a push block plate (29) which runs on a push block plate running track (31) and penetrates through a block discharging outlet (81) on the side face of the snow sweeping robot to discharge snow blocks outside the box body and automatically and orderly stack the snow blocks on the roadside.
The invention relates to a snow sweeping robot based on a compressed snow blocking and collecting device, wherein a snow conveying block assembly (68) is formed by combining a front conveying roller screw A (69), a rear conveying roller screw A (69), a left conveying roller screw B (72), a right conveying roller screw B (79) and a front conveying roller screw B (79), and can realize that a control mechanical claw (78) runs in the front body (2) and the rear body (4) of the snow sweeping robot in a front-back left-right mode; the lifting mechanical claw push rod motor (74) is arranged at the lower end of a screw nut seat (73) of a left conveying roller screw (72) and a right conveying roller screw (72) and can realize the up-and-down operation of a mechanical claw (78); the mechanical claw fixing table (75) is connected to the lower end of a lifting mechanical claw push rod motor (74); a mechanical claw synchronous cross bar (76) is arranged in the row of mechanical claws (78); the mechanical claw rotating motor (77) is arranged at the lower end of the mechanical claw fixing table (75) and is fixed on the side surface of the mechanical claw (78); the snow conveying block assembly (68) can grab snow blocks and transmit the snow blocks to any position in the front vehicle body (2) of the snow sweeping robot and the rear vehicle body (4) of the snow sweeping robot.
The invention relates to a snow sweeping robot based on a compressed snow blocking and collecting device, wherein a front vehicle body (2) of the snow sweeping robot is internally and externally matched with a rear vehicle body (4) of the snow sweeping robot through the inner side (3) of a sliding rail of the snow sweeping robot and the outer side (5) of the sliding rail of the snow sweeping robot; the rear body (4) of the snow sweeping robot supplements the insufficient capacity of the snow collecting blocks of the front body (2) of the snow sweeping robot and slides in the limit range of the push-pull stroke plates (6) of the front body and the rear body.
The invention relates to a snow sweeping robot based on a compressed snow blocking and collecting device, wherein a front snow collecting cover (56) and an elastic snow shovel (57) are connected by a pin shaft matched with a spring so as to meet the requirement of certain contractibility in the snow removing process of the elastic snow shovel (57), and snow can be shoveled on the ground of various obstacles; the springs (61) and the pins (62) are uniformly distributed on the inner side of the cover wall of the front snow collecting cover (56).
The invention relates to a snow sweeping robot based on a compressed snow blocking and collecting device, wherein a folding push-pull frame push rod motor (7), a folding push-pull frame (14) and a moving wheel (16) are matched to realize that a snow sweeping brush (13) is separated from the ground when the snow sweeping robot does not work and the service life of the snow sweeping robot is effectively protected; the retaining rod limit moving slide block (52) can slide up and down in the range of the moving slide block guide rail (51); the push-pull rod retainer (54) is arranged between the two folding push-pull frames (14) and is matched with the retainer rod limiting moving slide block (52) to be used for fixing the foldable snow cleaning assembly (11); the movable wheel (16) can move in the range of an upper limit buckle (17) and a lower limit buckle (18) in the movable wheel limit guide rail (53).
Drawings
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a left side view of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a top view of the present invention.
Figure 5 is an upper and lower isometric view of the present invention.
Fig. 6 is a right side view of the folding snow sweeper of the present invention.
Fig. 7 is a bottom view of the present invention.
FIG. 8 is a right side down sectional view of the present invention.
FIG. 9 is a right front cross-sectional view of the present invention.
Fig. 10 is a right side contracted cabin view of the present invention.
Figure 11 is a left and right isometric view of the present invention.
Fig. 12 is a general view of the snow sweeper with the cover of the present invention.
Fig. 13 is a left side view of the snowplow with a cowl according to the present invention.
In the figure:
1-a snowplow robot vehicle body assembly, 2-a snowplow robot front vehicle body, 3-a snowplow robot sliding track inner side, 4-a snowplow robot rear vehicle body, 5-a snowplow robot sliding track outer side, 6-a front and rear vehicle body push-pull stroke plate, 7-a folding push-pull frame push rod motor, 8-a clapboard clearance snowplow plate, 9-a snowplow plate running track, 10-a snowplow plate, 11-a folding snowplow assembly, 12-a snowplow brush tailstock, 13-a snowplow brush, 14-a folding push-pull frame, 15-a rear snowplow rotating motor, 16-a moving wheel, 17-an upper limit position snap fastener, 18-a lower limit position snap fastener, 19-a clapboard clearance bin seam, 20-a snowplow pressure bin, 21-a pushing block end push rod motor, 22-a rotary cutting disc, 23-rotary cutting shaft, 24-LED lamp, 25-rotary cutting disc rotating motor, 26-punching block end push rod motor fixing plate, 27-hose snow collecting channel bin, 28-collection block temporary plate, 29-pushing block plate, 30-pushing block end cylinder, 31-pushing block plate running rail, 32-limiting plate, 33-pushing block end cylinder fixing plate, 34-pushing block end vertical baffle plate, 35-baffle plate gap snow clearing push rod motor, 36-snow pressing end vertical baffle plate, 37-snow pressing end cylinder, 38-snow pressing end cylinder fixing plate, 39-compressed snow forming block assembly, 40-snow sweeping robot vehicle chassis assembly, 41-vehicle cylindrical roller bearing, 42-snow sweeping robot vehicle chassis frame, 43-air pump, 44-coupler, 45-walking driving motor, 46-antiskid tyre, 47-hinged fixed rod A, 48-lifting snow-collecting device push rod motor, 49-lead screw motor, 50-lead screw, 51-moving slide block guide rail, 52-holding rod limiting moving slide block, 53-moving wheel limiting guide rail, 54-push-pull rod holder, 55-preposed snow-collecting assembly, 56-preposed snow-collecting cover, 57-elastic snow shovel, 58-rotary cutting shaft cylindrical roller bearing B, 59-blower, 60-blower fan blade, 61-spring, 62-pin shaft, 63-rotary cutting shaft cylindrical roller bearing A, 64-lead screw fixed roller bearing B, 65-hinged fixed rod B, 66-fixed seat A end, 67-fixed seat B end, 68-conveying snow block assembly, 69-front and back conveying roller lead screw A, 70-fixed rod, 71-lead screw nut, 72-left and right conveying roller lead screws, 73-lead screw nut seat, 74-lifting mechanical claw push rod motor, 75-mechanical claw fixed table, 76-mechanical claw synchronous cross bar, 77-mechanical claw rotating motor, 78-mechanical claw, 79-front and back conveying roller lead screw B, 80-lead screw fixed roller bearing A, 81-snow sweeping robot side block discharging outlet, 82-front door of snow sweeping robot body, 83-outer side door of conveying block, 84-inner side door of conveying block, 85-snow sweeping robot car cover assembly, 86-two-axis pan-tilt, 87-infrared camera, 88-laser radar, 89-bracket, 90-snow sweeping robot car cover, 91-baffle pin shaft, 92-hinge and 93-baffle.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments thereof:
the invention discloses a snow sweeping robot based on a compressed snow lump collecting device, which mainly comprises a snow sweeping robot vehicle body assembly (1), a foldable snow sweeping assembly (11), a compressed snow lump assembly (39), a snow sweeping robot vehicle chassis assembly (40), a front snow collecting assembly (55), a snow conveying lump assembly (68) and a snow sweeping robot vehicle cover assembly (85). As shown in fig. 1 to 13, the upper end of the cover assembly (85) of the snow-sweeping robot of the present invention is provided with an infrared camera (87) and a laser radar (88). The foldable snow cleaning assembly (11) is connected to the rear end of the rear vehicle body (4) of the snow cleaning robot; the front and rear vehicle body push-pull stroke plate (6) is connected to the front vehicle body (2) of the snow sweeping robot and can only move in the front and rear directions within a range; the foldable push-pull frame push rod motor (7) is arranged between the push-pull stroke plates (6) of the front and rear vehicle bodies and the foldable snow cleaning assembly (11); the snow sweeping brush (13) is arranged below the tail seat (12) of the snow sweeping brush; the rear snow cleaning rotating motor (15) is arranged on the tail seat (12) of the snow cleaning brush and is positioned at the lower end of the folding push-pull frame (14); the movable sliding block guide rail (51) and the movable wheel limiting guide rail (53) are respectively connected to the middle and the two sides of the rear part of the rear vehicle body (4) of the snow sweeping robot; the upper limit clipping buckle (17) and the lower limit clipping buckle (18) are respectively positioned at the upper end limit position and the lower end limit position of the moving wheel limit guide rail (53); the retaining rod limiting moving slide block (52) is connected to the inner side of the moving slide block guide rail (51) and can move up and down; the push-pull rod retainer (54) is connected with the two folding push-pull frames (14) and plays a role in synchronously sweeping snow at two ends; the chassis assembly (40) of the snow sweeping robot vehicle is positioned at the lower ends of the front vehicle body (2) and the rear vehicle body (4) of the snow sweeping robot; the six traveling cylindrical roller bearings (41) are arranged inside the side surface of a chassis frame (42) of the snow sweeping robot vehicle; the six walking driving motors (45) are arranged on a chassis frame (42) of the snow sweeping robot vehicle; the coupling (44) is positioned on a chassis frame (42) of the snow-sweeping robot vehicle and connected between the travelling cylindrical roller bearing (41) and the walking drive motor (45); the antiskid tire (46) is positioned on the side surface of a chassis frame (42) of the snow sweeping robot vehicle and penetrates through a travelling crane cylindrical roller bearing (41) to be connected onto a coupler (44); the air pump (43) is arranged on a chassis frame (42) of the snow sweeping robot vehicle; the front snow collecting assembly (55) is connected with the snow sweeping robot body assembly (1) through a hinged type fixing rod A (47) and a hinged type fixing rod B (65); the push rod motor (48) of the lifting snow collecting device is arranged between the front snow collecting cover (56) and the body assembly (1) of the snow sweeping robot; the elastic snow shovel (57) is arranged on the front snow collecting cover (56) through a pin shaft (62); the rotary cutting shaft (23) is arranged inside the front snow collecting cover (56); the rotary cutting disc (22) is arranged on the rotary cutting shaft (23); the rotary cutting shaft cylindrical roller bearing A (63) and the rotary cutting shaft cylindrical roller bearing B (58) are respectively connected to two sides of the rotary cutting shaft (23) and are arranged at the left end and the right end of the front snow collecting cover (56); the rotary cutting disc rotating motor (25) is arranged at the right end of the front snow collecting cover (56); the compressed snow assembly (39) is arranged on the front side of the front vehicle body (2) of the snow sweeping robot; the push rod motor (21) at the push block end is arranged on the inner side of the push rod motor fixing plate (26) at the punch block end and is positioned on the left side of the compressed snow assembly (39); the snow pressing end cylinder (37) is arranged on the snow pressing end cylinder fixing plate (38) and is positioned on the inner side of the snow pressing end vertical baffle (36); the partition plate gap snow cleaning push rod motor (35) is arranged on the inner side of the snow pressing end vertical baffle (36), and the partition plate gap snow cleaning plate (8) is arranged at the other end of the partition plate gap snow cleaning push rod motor; the partition plate gap bin seam (19) is positioned at the left side of the snow collecting and pressing block bin (20); the snow pushing plate running track (9) is laid inside the snow collecting and pressing block bin (20); the temporary block collecting plate (28) is arranged on the front vehicle body (2) of the snow sweeping robot and is positioned behind the snow collecting pressure block bin (20); the block limiting plate (32) is positioned on the side surface of the block collecting temporary plate (28); the push block end air cylinder (30) is arranged on the temporary block collecting plate (28) and is positioned between the push block plate (29) and the push block end vertical baffle plate (34); the snow conveying block assembly (68) is formed by combining a front conveying roller screw A (69), a rear conveying roller screw A (69), a left conveying roller screw (72), a right conveying roller screw (72) and a front conveying roller screw B (79), and the left conveying roller screw (72) and the right conveying roller screw are arranged on screw nut seats (73) of the front conveying roller screw A (69) and the rear conveying roller screw B (79); the front and rear conveying roller screw A (69) and the front and rear conveying roller screw B (79) are respectively arranged on two sides of a front vehicle body (2) and a rear vehicle body (4) of the snow sweeping robot; the end A (66) and the end B (67) of the fixed seat are respectively positioned at two sides of the front and rear conveying roller screw A (69), and a screw rod fixing roller bearing B (64) and a screw rod fixing roller bearing A (80) are respectively arranged in the fixed seat A and the fixed seat B; the lead screw nut seat (73) and the lead screw nut (71) are arranged together and are positioned between the A end (66) and the B end (67) of the fixed seat; the lifting mechanical claw push rod motor (74) is arranged at the lower end of a screw nut seat (73) of a left conveying roller screw (72) and a right conveying roller screw (72); the mechanical claw fixing platform (75) is arranged below the lifting mechanical claw push rod motor (74), and the lower end of the mechanical claw fixing platform is provided with a mechanical claw (78); the mechanical claw rotating motor (77) is arranged on the side surface of the mechanical claw (78) and is positioned below the mechanical claw fixing table (75); the mechanical claw synchronous cross bar (76) is arranged between a row of mechanical claws (78); the screw motor (49) is arranged on the A end (66) of the fixed seat. The snow sweeping robot hood assembly (85) is arranged on the front body (2) and the rear body (4) of the snow sweeping robot and can be detached at any time; the laser radar (88) is arranged on a snow sweeping robot car cover (90) and a bracket (89) is arranged in the middle of the snow sweeping robot car cover; the infrared camera (87) is arranged on the snow sweeping robot car cover (90) and the middle of the infrared camera is connected with a two-axis cloud deck (86).
As shown in fig. 3, 4, 6, 8, and 10, the front snow collecting assembly (55) is composed of a hose snow collecting channel bin (27), a front snow collecting cover (56), an elastic snow shovel (57), a rotary cutting disc rotating motor (25), an LED lamp (24), a hinged fixing rod a (47), a push rod motor (48) of a lifting snow collecting device, a hinged fixing rod B (65), a rotary cutting disc (22), a rotary cutting shaft (23), a blower (59), a blower fan blade (60), a spring (61), a pin shaft (62), a rotary cutting shaft cylindrical roller bearing a (63), and a rotary cutting shaft cylindrical roller bearing B (58); the elastic snow shovel (57) is connected with the front snow collecting cover (56) through a shaft hole of a pin shaft (62); the springs (61) are sleeved on the pin shafts (62) and are distributed on the inner sides of the front snow collecting covers (56); the LED lamp (24) is arranged on the front snow collecting cover (56); the rotary cutting shaft (23) is arranged inside the front snow collecting cover (56); the rotary cutting shaft cylindrical roller bearing A (63) and the rotary cutting shaft cylindrical roller bearing B (58) are respectively connected to two sides of the rotary cutting shaft (23) and are arranged at the left end and the right end of the front snow collecting cover (56); the rotary cutting disc rotating motor (25) is arranged at the right end of the front snow collecting cover (56); the push rod motor (48) of the lifting snow collecting device is combined with the hinged fixing rod A (47) and the hinged fixing rod B (65) to lift the front snow collecting cover (56) to be separated from the ground when the lifting snow collecting device does not work, so that the service life of the elastic snow shovel (57) is effectively prolonged; the rotary cutting disc (22) is arranged on the rotary cutting shaft (23) and can realize rotary cutting and snow removal; the hose snow collecting channel bin (27) is connected to the rear port of the front snow collecting cover (56); the blower (59) is arranged behind the front snow collecting cover (56) and connected by nuts and bolts, and blower fan blades (60) are placed inside the hose snow collecting channel bin (27); the elastic snow shovel (57) can be detached from the front snow collecting assembly (55) and can be replaced at any time when damaged, so that the use cost of the front snow collecting assembly (55) is effectively reduced; wherein elastic snow shovel (57) combines spring (61) and round pin axle (62) to satisfy multiple road surface work and have certain contractibility, can realize rugged road surface snow shovel.
As shown in figures 1, 2, 4 and 11, the compressed snow assembly (39) comprises a partition plate gap snow removing plate (8), a snow pushing plate running track (9), a snow pushing plate (10), partition plate gap bin slits (19), a snow collecting pressing block bin (20), a pushing block end push rod motor (21), a punching block end push rod motor fixing plate (26), a block collecting temporary plate (28), a pushing block plate (29) and a pushing block end cylinder (30), the snow sweeper comprises a push block plate running track (31), a block limiting plate (32), a push block end cylinder fixing plate (33), a push block end vertical baffle (34), a partition plate gap snow clearing push rod motor (35), a snow pressing end vertical baffle (36), a snow pressing end cylinder (37), a snow pressing end cylinder fixing plate (38), a snow sweeping robot side block discharging outlet (81), a snow sweeping robot body front door (82), a conveying block outer side door (83) and a conveying block inner side door (84); the volume of the snow collecting pressure block bin (20) is 70cm X20 cm X20 cm, and the push block end push rod motor (21) is arranged on the inner side of the push rod motor fixing plate (26) at the punching block end and is positioned on the left front side of the snow collecting pressure block bin (20); the snow pressing end cylinder (37) is fixed on the snow pressing end cylinder fixing plate (38), and a snow pushing plate (10) is arranged at one end of the snow pressing end cylinder to realize the function of compressing snow; the snow pushing plate running track (9) is laid on the inner side of the snow collecting and pressing block bin (20) and is combined with the snow pushing plate (10) to realize limiting sliding snow pressing; the partition plate gap snow cleaning push rod motor (35) is fixed on the inner side of the snow pressing end vertical baffle (36), and a partition plate gap snow cleaning plate (8) is mounted at one end of the partition plate gap snow cleaning push rod motor and used for removing accumulated snow in the partition plate gap; the partition board gap bin seam (19) is arranged at the left side of the snow collecting and pressing block bin (20); the inner side door (84) and the outer side door (83) of the conveying block are arranged on the left rear side of the snow collecting and pressing block bin (20) and are matched with a front door (82) of a snow sweeping robot body to realize the effect of limiting the position of the snow block to be taken out of the bin; the push block end cylinder (30) is fixed on the push block end cylinder fixing plate (33), and a push block plate (29) is installed at one end of the push block end cylinder; the push plate running track (31) is laid on the block collection temporary plate (28); the pushing plate (29) runs on the pushing plate running track (31) and can pass through a block discharging outlet (81) on the side surface of the snow sweeping robot to discharge snow blocks from the temporary bin to the outside of the box body and automatically and orderly stack the snow blocks on the roadside; the block limiting plate (32) is arranged on the side surface of the block collecting temporary plate (28) and used for limiting the movement range of the snow block; the four corners of the temporary closing block plate (28) are opened to facilitate the grabbing of a mechanical claw, and a vertical baffle (34) at the end of a push block is arranged at the rear part of the temporary closing block plate.
As shown in fig. 6, 9, 10 and 11, the snow conveying assembly (68) is composed of a front and rear conveying roller screw a (69), a left and right conveying roller screw (72), a front and rear conveying roller screw B (79), a screw motor (49), a fixed seat a end (66), a fixed rod (70), a screw (50), a screw nut seat (73), a screw nut (71), a lifting mechanical claw push rod motor (74), a mechanical claw fixing table (75), a mechanical claw synchronous cross bar (76), a mechanical claw rotating motor (77), a mechanical claw (78), a fixed seat B end (67), a screw fixing roller bearing a (80) and a 64-screw fixing roller bearing B; the snow conveying block assembly (68) is formed by combining a front conveying roller screw A (69), a rear conveying roller screw A (69), a left conveying roller screw (72), a right conveying roller screw (72) and a front conveying roller screw B (79), and the left conveying roller screw (72) and the right conveying roller screw are arranged at the positions of screw nut seats (73) of the front conveying roller screw A (69) and the rear conveying roller screw B (79); the end A (66) and the end B (67) of the fixed seat are respectively positioned at two sides of the front and rear conveying roller screw A (69), and a screw rod fixing roller bearing B (64) and a screw rod fixing roller bearing A (80) are respectively arranged in the fixed seat A and the fixed seat B; the screw rod (50) is arranged in the middle position of a front and rear conveying roller screw rod A (69) and is used for conveying a screw rod nut seat (73); the fixing rods (70) are uniformly distributed between the end A (66) of the fixing seat and the end B (67) of the fixing seat by four; the screw nut (71) is matched with the screw nut seat (73) for use; the lifting mechanical claw push rod motor (74) is arranged below a lever nut seat (73) of a left conveying roller screw rod (72) and a right conveying roller screw rod (72); the gripper fixing table (75) is arranged at the lower end of the lifting gripper push rod motor (74), and four grippers (78) are uniformly distributed on the gripper fixing table; the mechanical claw rotating motor (77) is arranged on the side surface of the mechanical claw (78) and is positioned below the mechanical claw fixing table (75); the mechanical claw synchronous cross bar (76) is fixed between a row of mechanical claws (78); the snow conveying assembly (68) is formed by mutually matching a front conveying roller screw A (69), a rear conveying roller screw A (69), a left conveying roller screw (72), a right conveying roller screw B (79) and a front conveying roller screw B (79), and can grab snow blocks and convey the snow blocks to any position in a carriage of the snow sweeping robot in real time.
As shown in fig. 1, 2 and 7, the foldable snow cleaning assembly (11) is composed of a front vehicle body push-pull stroke plate and a rear vehicle body push-pull stroke plate (6), a foldable push-pull frame push rod motor (7), a snow cleaning brush tailstock (12), a snow cleaning brush (13), a foldable push-pull frame (14), a rear snow cleaning rotating motor (15), a moving wheel (16), an upper limit buckle (17), a lower limit buckle (18), a moving slider guide rail (51), a retaining rod limit moving slider (52), a moving wheel limit guide rail (53) and a push-pull rod retainer (54); the snow sweeping brush (13) is connected to the lower end of a tail seat (12) of the snow sweeping brush; the folding push-pull frame (14) has foldability and can slide and contract within the limit ranges of the upper limit clipping buckle (17) and the lower limit clipping buckle (18) by matching with the movable wheel (16) in a non-working state; the lower end of the rear snow cleaning rotating motor (15) is arranged on the tail seat (12) of the snow cleaning brush, and the upper end of the rear snow cleaning rotating motor is provided with a folding push-pull frame (14); the moving slide block guide rail (51) is matched with the retaining rod limiting moving slide block (52) for use, is used for limiting the push-pull rod retainer (54) and is contracted and fixed when not working; the moving wheel limiting guide rail (53) is used for limiting the moving track of the moving wheel (16); the front and rear vehicle body push-pull travel plates (6) and the foldable push-pull frame push rod motor (7) are connected and used for contracting the foldable snow cleaning assembly (11) and effectively prolonging the service life of the snow cleaning brush (13).
As shown in fig. 1, the snow sweeping robot body assembly (1) consists of a snow sweeping robot front body (2), a snow sweeping robot sliding rail inner side (3), a snow sweeping robot rear body (4) and a snow sweeping robot sliding rail outer side (5); when the snow sweeping robot is not unfolded, the capacity of a front vehicle body (2) of the snow sweeping robot is 90cm X100cm X100cm, and about 500 snow blocks can be collected; when the snow sweeping robot is unfolded, the front vehicle body (2) of the snow sweeping robot and the rear vehicle body (4) of the snow sweeping robot are folded, the volume of the space is 140cm X100cm X100cm, and about 900 snow blocks can be collected; the front vehicle body (2) and the rear vehicle body (4) of the snow sweeping robot are in sliding fit through the inner side (3) and the outer side (5) of the sliding track of the snow sweeping robot; the rear vehicle body (4) of the snow sweeping robot is a supplement for the insufficient capacity of storing snow blocks in the front vehicle body (2) of the snow sweeping robot.
As shown in fig. 5, the chassis assembly (40) of the snow-sweeping robot vehicle consists of a travelling crane cylindrical roller bearing (41), a chassis frame (42) of the snow-sweeping robot vehicle, an air pump (43), a coupling (44), a walking drive motor (45) and an anti-skid tire (46); the six walking driving motors (45) are fixed on a chassis frame (42) of the snow sweeping robot vehicle through bolts and nuts; the six traveling cylindrical roller bearings (41) are arranged inside a chassis frame (42) of the snow sweeping robot vehicle; the coupling (44) is matched on the walking driving motor (45); the antiskid tyre (46) is matched on the coupler (44) through a driving cylindrical roller bearing (41); the tire group of walking driving motor (45) non-identity power and the walking driving motor (45) that adopts 4+2 mode and 4+2 independent control can give every walking driving motor (45) a speed error range, so not only turn to further stably, nimble, still to the further greatly reduced of loss of walking driving motor (45).
As shown in fig. 12 and 13, the cover assembly (85) of the snow sweeping robot is composed of a two-axis pan-tilt (86), an infrared camera (87), a laser radar (88), a bracket (89), a snow sweeping robot cover (90), a baffle pin shaft (91), a hinge (92) and a baffle (93). The bracket (89) is arranged at the position close to the front side in the middle of the snow sweeping robot car cover (90); the laser radar (88) is arranged on the bracket (89); the two-axis cradle head (86) is arranged on the right front side; the infrared camera (87) for night vision monitoring is arranged on the two-axis tripod head (86); the baffle (93) is hinged on the snow sweeping robot car cover (90) through a baffle pin shaft (91) and a hinge (92) and can be opened and closed.
Specific embodiments of the invention have been described above. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (2)
1. The invention discloses a snow sweeping robot based on a compressed snow lump collecting device, which mainly comprises a snow sweeping robot vehicle body assembly (1), a foldable snow sweeping assembly (11), a compressed snow lump assembly (39), a snow sweeping robot vehicle chassis assembly (40), a front snow collecting assembly (55), a snow conveying lump assembly (68) and a snow sweeping robot vehicle cover assembly (85); the volume of the snow collecting pressure block bin (20) is 70cm X20 cm X20 cm, and the push block end push rod motor (21) is arranged on the inner side of the push rod motor fixing plate (26) at the punching block end and is positioned on the left front side of the snow collecting pressure block bin (20); the snow pressing end cylinder (37) is fixed on the snow pressing end cylinder fixing plate (38), and a snow pushing plate (10) is arranged at one end of the snow pressing end cylinder to realize the function of compressing snow; the snow pushing plate running track (9) is laid on the inner side of the snow collecting and pressing block bin (20) and is combined with the snow pushing plate (10) to realize limiting sliding snow pressing; the partition plate gap snow cleaning push rod motor (35) is fixed on the inner side of the snow pressing end vertical baffle (36), and a partition plate gap snow cleaning plate (8) is mounted at one end of the partition plate gap snow cleaning push rod motor and used for removing accumulated snow in the partition plate gap; the partition board gap bin seam (19) is arranged at the left side of the snow collecting and pressing block bin (20); the inner side door (84) and the outer side door (83) of the conveying block are arranged on the left rear side of the snow collecting and pressing block bin (20) and are matched with a front door (82) of a snow sweeping robot body to realize the effect of limiting the position of the snow block to be taken out of the bin; the push block end cylinder (30) is fixed on the push block end cylinder fixing plate (33), and a push block plate (29) is installed at one end of the push block end cylinder; the push plate running track (31) is laid on the block collection temporary plate (28); the pushing plate (29) runs on the pushing plate running track (31) and can pass through a block discharging outlet (81) on the side surface of the snow sweeping robot to discharge snow blocks from the temporary bin to the outside of the box body and automatically and orderly stack the snow blocks on the roadside; the block limiting plate (32) is arranged on the side surface of the block collecting temporary plate (28) and used for limiting the movement range of the snow block; four corners of the temporary block collecting plate (28) are provided with openings for facilitating the grabbing of a mechanical claw, and the rear part of the temporary block collecting plate is provided with a vertical baffle (34) at the end of a push block; when the snow sweeping robot is not unfolded, the capacity of a front vehicle body (2) of the snow sweeping robot is a space of 90cm X100cm X100 cm; when the snow sweeping robot is unfolded, the front vehicle body (2) of the snow sweeping robot and the rear vehicle body (4) of the snow sweeping robot are folded to form a space with the capacity of 140cm X100cm X100 cm; the front vehicle body (2) and the rear vehicle body (4) of the snow sweeping robot are in sliding fit through the inner side (3) and the outer side (5) of the sliding rail of the snow sweeping robot.
2. A snow sweeping robot based on a compressed snow lump collecting apparatus as claimed in claim 1, wherein:
the elastic snow shovel (57) is connected with the front snow collecting cover (56) through a shaft hole of a pin shaft (62); the springs (61) are sleeved on the pin shafts (62) and are distributed on the inner sides of the front snow collecting covers (56); the push rod motor (48) of the lifting snow collecting device is combined with the hinged fixing rod A (47) and the hinged fixing rod B (65) to lift the front snow collecting cover (56) to be separated from the ground when the lifting snow collecting device does not work; the elastic snow shovel (57) can be detached from the front snow collecting assembly (55) and can be replaced at any time when damaged, so that the use cost of the front snow collecting assembly (55) is effectively reduced; the snow conveying block assembly (68) is formed by combining a front conveying roller screw A (69), a rear conveying roller screw A (69), a left conveying roller screw (72), a right conveying roller screw (72) and a front conveying roller screw B (79), and the left conveying roller screw (72) and the right conveying roller screw are arranged on screw nut seats (73) of the front conveying roller screw A (69) and the rear conveying roller screw B (79); the lifting mechanical claw push rod motor (74) is arranged below a lever nut seat (73) of a left conveying roller screw rod (72) and a right conveying roller screw rod (72); the gripper fixing table (75) is arranged at the lower end of the lifting gripper push rod motor (74), and four grippers (78) are uniformly distributed on the gripper fixing table; the mechanical claw rotating motor (77) is arranged on the side surface of the mechanical claw (78) and is positioned below the mechanical claw fixing table (75); the mechanical claw synchronous cross bar (76) is fixed between a row of mechanical claws (78); the folding push-pull frame (14) has foldability and can slide and contract within the limit ranges of the upper limit clipping buckle (17) and the lower limit clipping buckle (18) by matching with the movable wheel (16) in a non-working state; the lower end of the rear snow cleaning rotating motor (15) is arranged on the tail seat (12) of the snow cleaning brush, and the upper end of the rear snow cleaning rotating motor is provided with a folding push-pull frame (14); the moving slide block guide rail (51) is matched with the retaining rod limiting moving slide block (52) for use, is used for limiting the push-pull rod retainer (54) and is contracted and fixed when not working; the moving wheel limiting guide rail (53) is used for limiting the moving track of the moving wheel (16); the front and rear vehicle body push-pull travel plates (6) and the foldable push-pull frame push rod motor (7) are connected and used for contracting the foldable snow cleaning assembly (11) and effectively prolonging the service life of the snow cleaning brush (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911069200.1A CN110666815A (en) | 2019-11-05 | 2019-11-05 | Snow sweeping robot based on compressed snow blocking and collecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911069200.1A CN110666815A (en) | 2019-11-05 | 2019-11-05 | Snow sweeping robot based on compressed snow blocking and collecting device |
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| Publication Number | Publication Date |
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| CN110666815A true CN110666815A (en) | 2020-01-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911069200.1A Pending CN110666815A (en) | 2019-11-05 | 2019-11-05 | Snow sweeping robot based on compressed snow blocking and collecting device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111236130A (en) * | 2020-01-21 | 2020-06-05 | 吉林电子信息职业技术学院 | Small-size incomplete snow cleaning device |
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