CN113062536B

CN113062536B - Slope roof snow removing robot

Info

Publication number: CN113062536B
Application number: CN202110384509.0A
Authority: CN
Inventors: 庞小兵; 刘志超; 周烨; 肖丽; 宋俊杰; 鲁李文; 刘健
Original assignee: Changsha University
Current assignee: Changsha University
Priority date: 2021-04-09
Filing date: 2021-04-09
Publication date: 2021-10-26
Anticipated expiration: 2041-04-09
Also published as: CN113062536A

Abstract

The invention relates to a slope roof snow removing robot, which comprises paired guide rails, paired self-driven snow removing robots and cutting ropes, wherein the guide rails can extend from the ground to the slope roof; the self-driven snow removing robot comprises a shell, a climbing device and a traction manipulator, wherein the climbing device and the traction manipulator are arranged on the shell respectively, the climbing device can be used for moving a guide rail, the traction manipulator comprises a traction driving motor, a rope pulley, a telescopic arm and a fixed pulley, one end of a cutting rope is wound on one of the rope pulley and the fixed pulley, and the other end of the cutting rope is wound on the other of the rope pulley and the fixed pulley. The slope roof snow removing robot can realize the functions of layered snow cutting and obstacle avoidance, solves the problems of time and labor consumption, low efficiency and operation danger in snow removal, and simultaneously achieves the purposes of high efficiency, reassurance and safety.

Description

Slope roof snow removing robot

Technical Field

The invention relates to the technical field of automatic operation of manipulators, in particular to a slope roof snow removing robot.

Background

China is vast in territory, and the northern and partial southern areas can be damaged by snow in different degrees in winter. According to incomplete statistics, house collapse caused by snow disasters every year reaches ten thousands of times, direct economic loss reaches 10 hundred million yuan, and the condition that house collapse is caused by snow accumulated on the roof reaches 60%, so that the house collapse is greatly troubled for lives of residents.

At present, the roof snow removing mode used by residents is still the traditional manual snow removing mode, the mode is time-consuming and labor-consuming, and along with the increase of social population, the more built houses in our country are, the higher the corresponding danger coefficient is, and the traditional snow removing mode is not applicable any more. Therefore, it is desirable to provide a time-saving and labor-saving automatic snow removing device to solve the problems of time and labor consuming, low efficiency and dangerous operation in snow removal.

Disclosure of Invention

Technical problem to be solved

In view of the defects and shortcomings of the prior art, the invention provides a slope roof snow removing robot, which solves the problems of time and labor consumption and operation danger in snow removal.

(II) technical scheme

In order to achieve the above object, the present invention provides a slope roof snow removing robot comprising:

a pair of rails extendable from the ground onto a pitched roof;

the self-driven snow removing robots are arranged on the guide rails in a one-to-one correspondence manner; the self-driven snow removal robot comprises a shell, and a climbing device and a traction manipulator which are respectively arranged on the shell, wherein the climbing device can move along the guide rail; the traction mechanical arm comprises a traction driving motor, a rope wheel, a telescopic arm and a fixed pulley, wherein the traction driving motor is arranged on the shell and can drive the rope wheel to rotate, one end of the telescopic arm is arranged on the shell, and the fixed pulley is arranged at the other end of the telescopic arm; and

one end of the cutting rope is wound on the rope wheel and the fixed pulley of one of the self-driven snow removing robots, and the other end of the cutting rope is wound on the rope wheel and the fixed pulley of the other self-driven snow removing robot.

Optionally, the housing is an annular frame structure capable of being sleeved on the guide rail, and the traction manipulator is arranged on the outer side wall of the housing; the climbing device comprises a plurality of groups of climbing mechanisms capable of moving along the guide rail, the groups of climbing mechanisms are distributed on the inner side wall of the shell at intervals along the circumferential direction, and at least part of the climbing mechanisms can be in contact with the guide rail and can move along the guide rail.

Optionally, the climbing mechanism comprises a mounting frame arranged on the inner side wall of the housing, a driving pulley and a driven pulley which are both arranged on the mounting frame, and a transmission belt arranged on the driving pulley and the driven pulley;

the climbing mechanism comprises a mounting frame, a driving belt wheel, a driven belt wheel and a transmission belt, wherein the driving belt wheel, the driven belt wheel and the transmission belt are arranged on the mounting frame, and the driving belt wheel, the driven belt wheel and the transmission belt are arranged on the mounting frame.

Optionally, the climbing device comprises four groups of climbing mechanisms distributed in an annular array, and two groups of climbing mechanisms with the climbing driving motors are arranged oppositely.

Optionally, the guide rail including buckle the pipe with set up in U type guide slot on the pipe of buckling, the extending direction of the pipe of buckling with the extending direction of U type guide slot is the same, at least part of driving pulley, at least part of driven pulley and at least part of drive belt all can be located in the U type guide slot.

Optionally, the climbing mechanism further comprises a compression spring and a plurality of sets of guide blocks, wherein the guide blocks are arranged on the inner side wall of the shell and provided with guide grooves; a plurality of groups of guide pins are arranged on the mounting rack, and the guide pins are correspondingly inserted into the guide grooves one by one and can move along the length direction of the guide grooves; the compression spring is pre-compressed between the inner side wall of the housing and the mounting bracket.

Optionally, the housing comprises a first half-shell and a second half-shell, both of which are triangular structures; the first end of the first half shell is hinged to the first end of the second half shell through a hinge, and the second end of the first half shell and the second end of the second half shell can be mutually buckled through a lock catch to be spliced to form a square annular frame structure; the traction mechanical arm is arranged on the outer side wall of the first half shell.

Optionally, the telescopic arm is an electric push rod.

Optionally, the sloping roof snow removing robot further comprises a controller and an induction synchronizer, and the controller is connected with the induction synchronizer, the traction driving motor and the climbing device respectively.

Optionally, the pitched roof snow removing robot further comprises a camera and a wireless connection module, and the controller is connected with the camera and the wireless connection module respectively.

(III) advantageous effects

The invention has the beneficial effects that: the self-driven snow removing robot can integrally reciprocate on the guide rail by being driven by the climbing device, so that automatic snow removing operation can be realized. In addition, the guide rail extends from the ground to the slope roof, so that a user can directly stand on the ground to install the self-driven snow removal robot on the guide rail, high-altitude operation is not needed, and the self-driven snow removal robot is very safe.

And the rope wheel can be driven to rotate in the corresponding direction through the forward and reverse rotation of the traction driving motor, so that the cutting rope can be driven to reciprocate along the longitudinal direction of the cutting rope, the snow can be cut in a reciprocating manner, and the cutting efficiency can be greatly improved by matching with the movement of the self-driven snow removal robot on the guide rail.

Moreover, due to the existence of the telescopic arm, the height of the cutting rope on the pitched roof can be adjusted, so that the layered cutting of the snow layer is realized. When the snow layer on the pitched roof is too thick, the thick snow layer is cut into a plurality of snow layers with moderate thickness, and the danger that the snow layers slide down from the pitched roof can be reduced. And when meeting the obstacle, the height of the cutting rope is adjusted through the telescopic arm, and the obstacle avoidance function can be realized.

After snow removal is completed, the self-driving snow removal robot can automatically move down to the ground, and then a user can take the self-driving snow removal robot down from the guide rail and install the self-driving snow removal robot on the guide rails of other sloping roofs so as to realize repeated use. And moreover, the paired self-driven snow removal robots are connected through the cutting ropes, the distance between the paired guide rails can be flexibly adjusted according to actual conditions, and after the distance between the guide rails is determined, the length of the cutting ropes is adaptively adjusted, so that snow removal can be performed on slope roofs with different widths again.

In a word, the slope roof snow removing robot solves the problems of time and labor consumption, low efficiency and operation danger in snow removal, achieves the aims of high efficiency, reassurance and safety, and has very strong adaptability and good market prospect.

Drawings

FIG. 1 is a schematic structural view of a sloping roof snow removing robot in a climbing state;

FIG. 2 is a schematic structural view of the snow removing robot for a sloping roof of the present invention in a snow removing state;

FIG. 3 is a schematic structural view of a single-sided hill top snow removal robot of the present invention;

FIG. 4 is an enlarged sectional view taken along line A-A of FIG. 3;

FIG. 5 is a schematic structural view of one of the self-propelled snow removal robots of the present invention;

FIG. 6 is a front view of FIG. 5;

fig. 7 is a front view of another self-propelled snow removal robot of the present invention after removing a portion of the housing;

fig. 8 is a front view of the self-propelled snow removal robot of fig. 7 in a deployed state;

FIG. 9 is a bottom view of a portion of the structure of FIG. 8;

fig. 10 is a partial cross-sectional view of fig. 9.

[ description of reference ]

100: a guide rail; 101: bending the round pipe; 102: a U-shaped guide groove;

200: a self-propelled snow removal robot;

210: a housing; 211: a first half shell; 212: a second half shell; 213: a hinge; 214: locking;

220: a climbing device; 221: a driving pulley; 222: a driven pulley; 223: a transmission belt; 224: a mounting frame; 225: a climbing driving motor; 226: a compression spring; 227: a guide block; 228: a guide pin;

230: a traction manipulator; 231: a traction drive motor; 232: a sheave; 233: a telescopic arm; 234: a fixed pulley;

300: the rope is cut.

Detailed Description

For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings. In which the terms "upper", "lower", etc. are used herein with reference to the orientation of fig. 1.

As shown in fig. 1 to 3, the present invention provides a sloping roof snow removing robot comprising a pair of guide rails 100, a pair of self-driving snow removing robots 200, and a cutting rope 300, the guide rails 100 being capable of extending from the ground onto a sloping roof; the self-propelled snow removing robots 200 are arranged on the guide rails 100 in a one-to-one correspondence manner; the self-propelled snow removing robot 200 includes a housing 210, and a climbing device 220 and a traction manipulator 230 both disposed on the housing 210, the climbing device 220 being capable of moving along the rail 100. The self-propelled snow removing robot 200 is driven by the climbing device 220 to move back and forth on the guide rail 100, and thus automatic snow removing operation can be achieved. The guide rail 100 extends from the ground to the slope roof, the guide rail 100 is erected on both sides of the eave and is parallel to the edge of the eave, the upper end of the guide rail is welded and fixed on the roof of the eave, and the lower end of the guide rail is connected to the ground. The user can directly stand on the ground to install the self-driven snow-removing robot 200 on the guide rail 100 without performing aerial work, and then let the self-driven snow-removing robot 200 self-climb to the top of a sloping house along the guide rail 100 to remove snow.

As shown in fig. 5 and 6, the traction robot 230 includes a traction drive motor 231, a sheave 232, an extendable arm 233, and a fixed pulley 234, the traction drive motor 231 is provided on the casing 210 and can drive the sheave 232 to rotate, and one end of the extendable arm 233 is provided on the casing 210 and the other end is provided with the fixed pulley 234. The extending direction of the telescopic arm 233 is perpendicular to the extending direction of the guide rail 100, the extending directions of the telescopic arms 233 on the two self-propelled snow removing robots 200 are parallel to each other, and in the snow removing process, one end of the telescopic arm 233 where the fixed pulley 234 is installed protrudes from the housing 210 and always faces obliquely upward.

One end of the cutting rope 300 is wound around the sheave 232 and the fixed pulley 234 of one of the self-driving snow removing robots 200, and the other end of the cutting rope 300 is wound around the sheave 232 and the fixed pulley 234 of the other self-driving snow removing robot 200. Both ends of the cutting cord 300 are wound around the corresponding sheaves 232 and then wound around the fixed sheave 234, respectively, and the cutting cord 300 is guided and tensioned by the fixed sheave 234 and friction during movement of the cutting cord 300 can be reduced. The rope wheel 232 can be driven to rotate in the corresponding direction through positive and negative rotation of the traction driving motor 231, so that the cutting rope 300 can be driven to longitudinally reciprocate along the cutting rope, snow can be cut in a reciprocating mode, and the self-driven snow removing robot 200 can move on the guide rail 100 in a matched mode, so that the cutting efficiency can be greatly improved.

Also, due to the presence of the telescopic arm 233, the height of the cutting cord 300 on the pitched roof may be adjusted, thereby achieving layered cutting of the snow layer. When the snow layer on the pitched roof is too thick, the thick snow layer is cut into a plurality of snow layers with moderate thickness, and the danger when the snow layer slides down from the pitched roof can be reduced. In addition, when an obstacle is encountered, the height of the cutting rope 300 is adjusted by the telescopic arm 233, and an obstacle avoidance function can be realized. The telescopic arm 233 may be an electric push rod, an air cylinder, or the like, and the telescopic amount of the telescopic arm 233 may be adjusted according to the actual situation, thereby adjusting the position of the fixed pulley 234 and the height of the cutting cord 300. In addition, one end of the telescopic arm 233, which is disposed on the housing 210, may be further hinged to the housing 210, so as to facilitate adjustment of the position of the fixed pulley 234, and by changing the position of the fixed pulley 234, adjustment of the tension and the guiding direction of the cutting string 300 may be assisted.

After snow removal is completed, the self-driving snow-removing robot 200 can also be moved down to the ground by itself, and then the user can take the self-driving snow-removing robot 200 off the guide rail 100 and install the self-driving snow-removing robot on the guide rails 100 of other sloping roofs to realize repeated use. Moreover, the paired self-driven snow removal robots are connected through the cutting ropes 300, the distance between the paired guide rails 100 can be flexibly adjusted according to actual conditions, and after the distance between the guide rails 100 is determined, the length of the cutting ropes 300 can be adaptively adjusted, so that snow removal operation can be performed on sloping roofs of different widths again. The slope roof snow removing robot solves the problems of time and labor consumption, low efficiency and operation danger in snow removal, achieves the purposes of high efficiency, reassurance and safety, and has very strong adaptability and good market prospect.

In a preferred embodiment, as shown in fig. 6 and 7, the housing 210 is a ring-shaped frame structure that can be fitted over the guide rail 100, and the traction robot 230 is provided on the outer side wall of the housing 210, or in other embodiments, the housing may have another shape as long as the self-propelled snow-removing robot 200 can achieve self-propelled climbing along the guide rail 100. The climbing device 220 includes a plurality of sets of climbing mechanisms capable of moving along the rail 100 simultaneously, the plurality of sets of climbing mechanisms being circumferentially spaced apart on an inner sidewall of the housing 210, at least a portion of each set of climbing mechanisms being capable of contacting the rail 100 and moving along the rail 100. The climbing mechanism may be similar to a driving system of a vehicle, which has a driving force of itself and can drive the self-driven snow-removing robot 200 to move along the guide rail 100, while arranging multiple sets of climbing mechanisms and enabling the multiple sets of climbing mechanisms to move synchronously along the guide rail 100, which can improve the stability of the self-driven snow-removing robot 200 during moving and increase the driving power.

Wherein the climbing mechanism can be a driving system with various combinations, in a preferred embodiment, as shown in fig. 8 to 10, the climbing mechanism includes a mounting frame 224 disposed on the inner sidewall of the housing 210, a driving pulley 221 and a driven pulley 222 both disposed on the mounting frame 224, and a transmission belt 223 disposed on the driving pulley 221 and the driven pulley 222, the driving pulley 221 and the driven pulley 222 are rotatably mounted on the mounting frame 224, and the transmission belt 223 can be a timing belt or a track, etc. to make the driving pulley 221 and the driven pulley 222 rotate synchronously. As can be seen from fig. 9 and 10, the mounting bracket 224 includes a pair of mounting plates and a connecting end plate between the mounting plates, the driving pulley 221 and the driven pulley 222 have the same width, and the driving pulley 221 and the driven pulley 222 are rotatably mounted between the pair of mounting plates by a pin shaft, respectively.

It should be noted that, at least one set of climbing mechanism further includes a climbing driving motor 225 disposed on the mounting frame 224, the climbing driving motor 225 is mounted on the outer side wall of the mounting plate, an output shaft of the climbing driving motor 225 is connected to a pin of the driving pulley 221, so as to drive the driving pulley 221 to rotate, the driving pulley 221 drives the driven pulley 222 to rotate through a synchronous belt, and an outer side surface of the driving belt 223 can contact with the guide rail 100, so that the driving pulley 221, the driven pulley 222, and the driving belt 223 can move along the guide rail 100. In addition, the transmission belt 223 can be set to be wider, and the wider transmission belt 223 can have a larger contact area with the guide rail 100, so that the friction force can be increased, and the self-propelled snow removing robot 200 can climb more stably.

In order to balance the stress, the climbing device 220 includes four sets of climbing mechanisms distributed in an annular array, that is, the four sets of climbing mechanisms are arranged in a manner of being opposite to each other two by two, and the two sets of climbing mechanisms with the climbing driving motors 225 are arranged opposite to each other, so that the driving force generated by the climbing device 220 can keep a relative balance on the two opposite sides of the guide rail 100. The other two sets of climbing mechanisms serve as auxiliary mechanisms, and the driving pulley 221 and the driven pulley 222 can be regarded as auxiliary wheels. Further, in other embodiments, one, three, or even four sets of climbing mechanisms may be provided with a climbing drive motor 225, depending on the user's need for a driving force.

Referring to fig. 7, 9 and 10 again, the climbing mechanism further includes a pressing spring 226 and a plurality of sets of guide blocks 227, the guide blocks 227 are disposed on the inner side wall of the housing 210, and the guide blocks 227 are provided with guide grooves; the mounting bracket 224 is provided with a plurality of sets of guide pins 228, and the guide pins 228 are inserted into the guide grooves in a one-to-one correspondence and are movable in the longitudinal direction of the guide grooves. The hold-down spring 226 is pre-compressed between the inner side wall of the housing 210 and the mounting bracket 224 (specifically the connecting end plate). The belt 223 of the mounting block 224 may be urged closer to the rail 100 during movement by the compression spring 226, thereby preventing the climbing mechanism from freewheeling. Wherein, be provided with the installation section of thick bamboo with the adaptation of pressure spring 226 on the inside wall of casing 210 (see fig. 7 and 10), the one end butt of pressure spring 226 is in the interior bottom surface of installation section of thick bamboo, the other end butt of pressure spring 226 is on the connection end plate of mounting bracket 224, the installation section of thick bamboo has expanded the installation space of pressure spring 226 to make pressure spring 226 obtain bigger compression amount, also increased pressure spring 226's precompression power, and then can ensure that self-propelled snow removing robot 200 can not skid.

As shown in fig. 3, 4 and 6, the guide rail 100 includes a bent circular tube 101 and a U-shaped guide groove 102 disposed on the bent circular tube 101, an upper section of the bent circular tube 101 is parallel to the pitched roof, an extending direction of the bent circular tube 101 is the same as an extending direction of the U-shaped guide groove 102, and at least a portion of the driving pulley 221, at least a portion of the driven pulley 222 and at least a portion of the driving belt 223 can be located in the U-shaped guide groove 102. The bent round tube 101 has good strength and is difficult to deform, the U-shaped guide groove 102 is formed in the bent round tube 101, and one group of climbing mechanisms can be partially embedded into the U-shaped guide groove 102, so that the climbing mechanisms can be prevented from deflecting along the circumferential direction of the bent round tube 101 in the climbing process, the moving path of the self-driven snow removing robot 200 is more accurate, and controllability and accuracy of cutting a snow layer can be guaranteed.

Referring again to fig. 8, the housing 210 includes a first half-shell 211 and a second half-shell 212, each of the first half-shell 211 and the second half-shell 212 having a triangular configuration; the first end of the first half-shell 211 and the first end of the second half-shell 212 are hinged by a hinge 213, and the second end of the first half-shell 211 and the second end of the second half-shell 212 can be buckled with each other by a latch 214 to form a square annular frame structure by splicing; the drawing robot 230 is disposed on an outer sidewall of the first half-case 211. The first half-shell 211 and the second half-shell 212 are hinged to each other and fastened by the latch 214, and the self-driving snow-removing robot 200 can be easily mounted on the guide rail 100 or removed from the guide rail 100. When the latch 214 is opened, the first half-shell 211 and the second half-shell 212 can be opened about the hinge 213. When the latch 214 is locked, the first half 211 and the second half 212 are closed to clasp the rail 100. Among other things, in other embodiments, the first and second half-

shells

211 and 212 may also be semi-circular structures, so that the housing 210 may be formed as a circular ring-shaped frame structure. In addition, the material of the shell 210 may be carbon fiber, and when the carbon content of the carbon fiber exceeds ninety-five percent, the carbon fiber has the characteristic of relatively high strength, and can adapt to the freezing environment to work in cold weather, and the material is relatively light in weight, so that climbing can be better performed.

Further, the sloping roof snow removing robot further comprises a controller and an induction synchronizer, wherein the controller is respectively connected with the induction synchronizer, the traction driving motor 231 and the climbing device 220 (specifically the climbing driving motor 225), and specifically can be in circuit connection or signal connection. The controller can receive the signals sent by the induction synchronizer and adjust the rotating speed of the climbing driving motors 225 of the two self-driven snow removing robots 200 according to the signals, so that the two self-driven snow removing robots 200 can keep synchronous movement on the respective guide rails 100. Moreover, the controller can also cause the traction drive motors 231 of the two self-propelled snow removing robots 200 to rotate synchronously and in the same direction in coordination with the cutting rope 300 being kept in a tensioned state and moving back and forth.

In addition, the slope roof snow removing robot further comprises a camera and a wireless connection module, and the controller is connected with the camera and the wireless connection module respectively and specifically can be in circuit connection or signal connection. The camera shoots an environment image, so that the barrier can be recognized in advance. When an obstacle is found, the controller can control the climbing driving motor 225 to stop working or rotate reversely, or the controller can also control the electric push rod to extend and retract to avoid the obstacle. Wherein, wireless connection module includes wireless connection circuit and the antenna of being connected with this wireless connection circuit, because be provided with wireless connection module, the user can also carry out remote control and adjustment to the operating condition of self-propelled snow removing robot 200 through various terminal to promote the intelligent degree of hillside roof snow removing robot, thereby can satisfy user's different demands.

Hereinafter, the operation and use method of the present invention will be described based on the preferred embodiment of the present invention to further explain the technical solution. Specifically, the self-propelled snow removing robot 200 is first mounted on the guide rail 100, and attention is paid to fit the driving pulley 221, the driven pulley 222, and the transmission belt 223 of one set of the hill-climbing mechanism into the U-shaped guide groove 102, and to direct the fixed pulley 234 on the traction robot 230 toward the front of the house or obliquely upward. Then, the climbing device 220 drives the self-driven snow removing robot 200 to climb along the guide rail 100, and when climbing to the upper section of the guide rail 100, the self-driven snow removing robot 200 reciprocates on the guide rail 100, and simultaneously the traction manipulator 230 starts to work, and the traction drive motor 231 reciprocates to make the cutting rope 300 reciprocate, so as to cut the snow layer on the sloping roof, and make the snow layer go up and down two layers. By utilizing the physical characteristics of low friction coefficient and small friction force between snow layers, the upper-layer snow can naturally slide under the action of gravity. According to the thickness of the snow layer, the electric push rods on the two self-driven snow removing robots 200 stretch out and draw back, the height of the cutting rope 300 is adjusted, and the layered snow layer cutting is achieved. When snow removal is not required, the self-driving snow removing robot 200 returns to the bottom of the guide rail 100, the lock catch 214 of the self-driving snow removing robot 200 is opened, and the self-driving snow removing robot 200 can be taken down from the guide rail 100 and placed indoors for storage or used for removing the accumulated snow on the roofs of other houses.

In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium; either as communication within the two elements or as an interactive relationship of the two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, a first feature may be "on" or "under" a second feature, and the first and second features may be in direct contact, or the first and second features may be in indirect contact via an intermediate. Also, a first feature "on," "above," and "over" a second feature may be directly or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lower level than the second feature.

In the description herein, the description of the terms "one embodiment," "some embodiments," "an embodiment," "an example," "a specific example" or "some examples" or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Although embodiments of the present invention have been shown and described above, it should be understood that the above embodiments are illustrative and not restrictive, and that those skilled in the art may make changes, modifications, substitutions and alterations to the above embodiments without departing from the scope of the present invention.

Claims

1. A pitched roof snow removing robot, characterized in that it comprises:

a pair of guide rails (100), the guide rails (100) being extendable from the ground onto a pitched roof;

the self-driven snow removing robots (200) are paired, and the self-driven snow removing robots (200) are arranged on the guide rails (100) in a one-to-one correspondence manner; the self-propelled snow removal robot (200) comprises a shell (210), and a climbing device (220) and a traction manipulator (230) which are respectively arranged on the shell (210), wherein the climbing device (220) can move along the guide rail (100); the traction manipulator (230) comprises a traction driving motor (231), a rope pulley (232), a telescopic arm (233) and a fixed pulley (234), the traction driving motor (231) is arranged on the shell (210) and can drive the rope pulley (232) to rotate, one end of the telescopic arm (233) is arranged on the shell (210) and the other end of the telescopic arm is provided with the fixed pulley (234); and

a cutting rope (300) having one end of the cutting rope (300) wound around the sheave (232) and the fixed pulley (234) of one of the self-driven snow removing robots (200) and the other end of the cutting rope (300) wound around the sheave (232) and the fixed pulley (234) of the other self-driven snow removing robot (200);

the slope roof snow removing robot further comprises a controller and an induction synchronizer, wherein the controller is respectively connected with the induction synchronizer, the traction driving motor (231) and the climbing device (220); the traction driving motor (231) can drive the rope wheel (232) to rotate in the corresponding direction through positive and negative rotation, so that the cutting rope (300) can be driven to reciprocate along the longitudinal direction of the cutting rope (300) to cut snow in a reciprocating manner; the controller can enable the traction driving motors (231) of the self-driven snow removing robots (200) in pairs to keep synchronous and rotate in the same direction so as to enable the cutting ropes (300) to keep a tensioned state and move in a reciprocating mode in a matching mode;

the shell (210) is an annular frame structure capable of being sleeved on the guide rail (100), and the traction manipulator (230) is arranged on the outer side wall of the shell (210); the climbing device (220) comprises a plurality of groups of climbing mechanisms which can move along the guide rail (100), the groups of climbing mechanisms are distributed on the inner side wall of the shell (210) at intervals along the circumferential direction, and at least part of the climbing mechanisms can be in contact with the guide rail (100) and can move along the guide rail (100);

the climbing mechanism comprises a mounting frame (224) arranged on the inner side wall of the shell (210), a driving pulley (221) and a driven pulley (222) which are arranged on the mounting frame (224), and a transmission belt (223) arranged on the driving pulley (221) and the driven pulley (222);

wherein at least one group of climbing mechanisms further comprises a climbing driving motor (225) arranged on the mounting rack (224), the climbing driving motor (225) can drive the driving pulley (221) to rotate, so that the driving pulley (221), the driven pulley (222) and a transmission belt (223) can move along the guide rail (100);

the controller can receive the signals sent by the induction synchronizer and adjust the rotating speed of climbing driving motors (225) of the paired self-driven snow removing robots (200) according to the signals so that the paired self-driven snow removing robots (200) can keep synchronous movement on the respective guide rails (100).

2. The pitched roof snow removal robot of claim 1, characterized in that said climbing device (220) comprises four sets of said climbing mechanisms distributed in an annular array, two sets of said climbing mechanisms having said climbing drive motors (225) being oppositely disposed.

3. The pitched roof snow removing robot as claimed in claim 1, wherein the guide rail (100) comprises a bent round tube (101) and a U-shaped guide groove (102) provided on the bent round tube (101), the bent round tube (101) extends in the same direction as the U-shaped guide groove (102), and at least part of the driving pulley (221), at least part of the driven pulley (222), and at least part of the transmission belt (223) are located in the U-shaped guide groove (102).

4. The pitched roof snow removing robot as claimed in claim 1, wherein the climbing mechanism further comprises a compression spring (226) and a plurality of sets of guide blocks (227), the guide blocks (227) are arranged on the inner side wall of the housing (210) and the guide blocks (227) are provided with guide grooves; a plurality of groups of guide pins (228) are arranged on the mounting frame (224), and the guide pins (228) are correspondingly inserted into the guide grooves one by one and can move along the length direction of the guide grooves; the hold down spring (226) is pre-compressed between the inner side wall of the housing (210) and the mounting bracket (224).

5. The pitched roof snow removing robot of any one of claims 1 to 4, characterized in that said casing (210) comprises a first half-shell (211) and a second half-shell (212), said first half-shell (211) and said second half-shell (212) being both of triangular configuration; the first end of the first half-shell (211) is hinged to the first end of the second half-shell (212) through a hinge (213), and the second end of the first half-shell (211) and the second end of the second half-shell (212) can be mutually buckled through a lock catch (214) to form a square annular frame structure in a splicing mode; the pulling robot (230) is arranged on an outer side wall of the first half-shell (211).

6. The pitched roof snow removing robot as claimed in any one of claims 1 to 4, wherein said telescopic arm (233) is an electric push rod.

7. The pitched roof snow removing robot as claimed in any one of claims 1 to 4, further comprising a camera and a wireless connection module, wherein the controller is connected to the camera and the wireless connection module, respectively.