An adaptive obstacle-crossing snow removal device

Abstract

This invention discloses an adaptive obstacle-crossing snow removal device, applied in the field of snow removal equipment. The snow removal module is used to remove snow accumulated on the ground using a snow scraper, while the auger module outputs the snow collected by the snow scraper. During operation, sensors detect obstacles encountered by the snow scraper. When the sensor's detection value exceeds a set threshold, the controller drives a connecting rod to rotate around its upper shaft via a drive rod. The snow scraper rises synchronously with the connecting rod, overcoming the obstacle. Afterward, the snow scraper falls synchronously with the connecting rod, resuming the snow removal state. This invention utilizes sensors for detection, enabling the snow scraper to be lifted independently to avoid obstacles, preventing obstruction and improving the passability of the snow removal device.

Description

Technical Field

[0001] This invention relates to the field of snow removal equipment, and more particularly to an adaptive obstacle-crossing snow removal device. Background Technology

[0002] With the continuous development of automation technology, snow removal equipment has completed the transition from snowplows to walk-behind snow sweepers, and is currently in the transition stage from walk-behind snow sweepers to snow removal robots. There is a lack of snow removal equipment on the market that can operate completely autonomously, and the existing snow removal equipment relies on human judgment to detect obstacles.

[0003] Existing snowplows capable of automatic obstacle avoidance detect obstacles in their path using visual detection or sensors, and the snowplow as a whole avoids obstacles. However, they cannot effectively avoid low obstacles. During operation, the snowplow and auger rotate together, with the snowplow in close contact with the ground, making it prone to colliding with low obstacles and hindering progress, indicating insufficient obstacle-crossing ability.

[0004] For those skilled in the art, how to enable snowplows to overcome obstacles is a technical problem that needs to be solved. Summary of the Invention

[0005] This invention provides an adaptive obstacle-crossing snow removal device that can automatically overcome obstacles and has good passability. The specific solution is as follows:

[0006] An adaptive obstacle-crossing snow removal device includes an auger module and a snow-shoveling module. The snow-shoveling module is used to shovel snow, and the auger module is used to output the snow collected by the snow-shoveling module. The auger module is installed on the vehicle body.

[0007] The snow removal module includes a connecting rod, a snow scraper, a drive rod, and a sensor. The upper end of the connecting rod is hinged to the vehicle body, and the snow scraper is located at the lower end of the connecting rod, enabling it to scrape snow while keeping it close to the ground.

[0008] The sensor is used to detect the obstruction encountered by the snow scraper. When the sensor's detection value exceeds a set threshold, the controller drives the connecting rod to rotate around the upper shaft via the drive rod, thereby lifting the snow scraper upward.

[0009] Optionally, the snow scraper is rotatably connected to the bottom end of the connecting rod via a snow scraper pivot.

[0010] The snow scraper is equipped with a torsion spring, which generates torque on the snow scraper, causing the snow scraper to adhere to the arc surface of the auger module housing.

[0011] Optionally, a reset torsion spring is provided at the upper end of the connecting rod, and the reset torsion spring applies a downward reset torque to the connecting rod.

[0012] Optionally, a limiting block is provided on the outer shell of the auger module, the limiting block being used to limit the rotational limit position of the connecting rod.

[0013] Optionally, the torque of the reset torsion spring is less than the torque of the contact torsion spring.

[0014] Optionally, the snow scraper includes a scraper body and a scraper tip, the scraper tip being detachably mounted on the scraper body.

[0015] Optionally, a buffer rod is connected between the drive rod and the shovel body, and the buffer rod can undergo elastic deformation when subjected to impact.

[0016] Optionally, the shovel body is rotatably mounted on the snow shovel shaft, and the buffer rod is hinged to the snow shovel shaft; the shovel body is provided with an annular groove for avoiding the buffer rod.

[0017] Optionally, two buffer rods are provided, rotatably connected to a connecting shaft, the connecting shaft being perpendicular to the drive rod.

[0018] Optionally, the sensor is a pneumatic pressure sensor, which is disposed in the elastic inner cavity of the shovel tip;

[0019] Alternatively, the sensor may be a strain sensor, which is disposed on the inner wall of the inner cavity of the shovel tip;

[0020] Alternatively, the sensor may be a pressure sensor, which is positioned between the shovel body and the shovel tip.

[0021] This invention provides an adaptive obstacle-crossing snow removal device. A snow-shoveling module is used to shovel snow, and a auger module is used to output the snow collected by the snow-shoveling module. During operation, a sensor detects obstacles encountered by the snow-shovel. When the sensor's detection value exceeds a set threshold, the controller drives a connecting rod to rotate around its upper shaft via a drive rod. The snow-shovel is then lifted upwards synchronously with the connecting rod to overcome the obstacle. Afterwards, the snow-shovel falls back down synchronously with the connecting rod, resuming the snow-shoveling state. This invention utilizes sensors for detection, enabling the snow-shovel to be lifted independently to avoid obstacles, preventing obstruction and improving the passability of the snow removal device. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the overall structure of a specific embodiment of the adaptive obstacle-crossing snow removal device of the present invention;

[0024] Figure 2 A schematic diagram of the overall structure of a specific implementation of a snow removal module;

[0025] Figure 3 This is a schematic diagram of the overall structure of one specific implementation of the auger module.

[0026] The image includes:

[0027] Screw module 1, limit block 11, snow shovel module 2, connecting rod 21, reset torsion spring 211, snow scraper 22, scraper body 221, scraper tip 222, snow scraper shaft 223, fitting torsion spring 224, drive rod 23, connecting shaft 231, buffer rod 24. Detailed Implementation

[0028] The core of this invention is to provide an adaptive obstacle-crossing snow removal device that can automatically cross obstacles and improve passability.

[0029] To enable those skilled in the art to better understand the technical solution of the present invention, the adaptive obstacle-crossing snow removal device of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Combination Figure 1 The adaptive obstacle-crossing snow removal device of the present invention includes an auger module 1 and a snow-shoveling module 2. The auger module 1 is mounted on the vehicle body in a fixed manner, and the auger structure of the auger module 1 rotates during operation. The auger module 1 and the snow-shoveling module 2 work together. The snow-shoveling module 2 is used to shovel snow and collect the snow on the ground, while the auger module 1 is used to output the snow collected by the snow-shoveling module 2.

[0031] Combination Figure 2 The snow removal module 2 includes a connecting rod 21, a snow scraper 22, a drive rod 23, sensors, and other structures. The upper end of the connecting rod 21 is hinged to the vehicle body and can rotate around the upper hinge axis. When the connecting rod 21 rotates around the upper hinge axis, its lower end has a vertical displacement component. The snow scraper 22 is located at the lower end of the connecting rod 21 and can swing with the connecting rod 21. The snow scraper 22 has a vertical motion component. During normal snow removal, the snow scraper 22 adheres to the ground to scrape snow. When the entire snow removal device moves on the ground, it drives the snow scraper 22 to move, scraping away and collecting the snow in front of the snow scraper 22. The collected snow is then transferred and output through the auger module 1.

[0032] The sensor is used to detect the obstruction encountered by the snow scraper 22. By detecting the resistance encountered by the snow scraper 22, when the sensor's detection value exceeds the set threshold (when a sudden change occurs or the upper limit of the snow scraping detection value is exceeded), it indicates that the snow scraper 22 has encountered an obstacle and is blocked. At this time, the controller drives the connecting rod 21 to rotate upward around the upper pivot of the drive rod 23, lifting the snow scraper 22 upward. The distance between the snow scraper 22 and the ground increases, making it easier for the snow scraper 22 to overcome the obstacle.

[0033] Combination Figure 2 In this invention, the rear end of the drive rod 23 is connected to the vehicle body (the vehicle body structure is not shown in the drawings), and the front end of the drive rod 23 is connected to the connecting rod 21 or the snow scraper 22. The drive rod 23 can adopt a telescopic structure to change its length, or it can adopt a rotational motion, as long as it can drive the snow scraper 22 to move up and down.

[0034] This invention utilizes sensors to detect whether the snow scraper 22 is obstructed. When an obstacle is encountered, the snow scraper 22 is lifted upwards by the drive rod 23, thereby improving the obstacle-crossing ability of the entire snow removal device and providing better passability.

[0035] Combination Figure 2 The snow scraper 22 of this invention is rotatably connected to the bottom end of the connecting rod 21 via a snow scraper shaft 223, allowing the snow scraper 22 to rotate relative to the connecting rod 21. The snow scraper 22 is equipped with a contact torsion spring 224, which generates torque on the snow scraper 22. The direction of the torque is... Figure 2 The snow scraper 22 is aligned clockwise with the arc surface of the auger module 1's outer shell. Figure 3 The outer shell of the auger module 1 has an arc-shaped surface, and the snow scraper 22 can fit against this arc-shaped surface and move along the arc-shaped surface.

[0036] Combination Figure 1 Because the torsion spring 224 applies a pre-applied torsional force to the snow scraper 22, the snow scraper 22 is attached to the arc surface of the auger module 1. When the drive rod 23 lifts the snow scraper 22 upward, the angle of the connecting rod 21 changes. The snow scraper 22 is always attached to the outer shell of the auger module 1. The angle of the snow scraper 22 changes. When the snow scraper 22 is working normally, the angle between the snow scraper 22 and the ground is small. When the connecting rod 21 rotates upward and the snow scraper 22 moves against the outer shell of the auger module 1, the angle between the connecting rod 21 and the ground decreases, and the angle between the snow scraper 22 and the ground increases.

[0037] Furthermore, the present invention provides a return torsion spring 211 at the upper end of the connecting rod 21, the return torsion spring 211 applying a downward return torque to the connecting rod 21. Figure 2The clockwise torque causes the connecting rod 21 to tend to return to its normal snow-scraping position, thereby bringing the snow scraper 22 closer to the ground. Because of the reset torsion spring 211, when the upward pulling force of the drive rod 23 is released, the connecting rod 21 can reset more quickly under the elastic force of the reset torsion spring 211, improving the sensitivity of the reset movement.

[0038] Combination Figure 3 In this invention, a limiting block 11 is provided on the outer shell of the auger module 1. The limiting block 11 is used to limit the rotational limit position of the connecting rod 21. Two arc-shaped surfaces are provided on opposite sidewalls of the outer shell of the auger module 1. Two limiting blocks 11 are provided on each arc surface to limit the lowest and highest rotational positions of the connecting rod 21, respectively. When the connecting rod 21 contacts the limiting block 11, it cannot continue to move, thus achieving the function of position limitation. The limiting block 11 has a protrusion structure, and a groove structure is formed between the two limiting blocks 11. The connecting rod 21 swings within the groove between the two limiting blocks 11.

[0039] Preferably, in this invention, the torque of the reset torsion spring 211 is less than the torque of the contact torsion spring 224. When encountering an obstacle, the obstacle exerts resistance on the snow scraper 22, and the snow scraper 22 exerts a force on the connecting rod 21, causing the connecting rod 21 to rotate upward. Because the torque of the contact torsion spring 224 is greater than the torque of the reset torsion spring 211, only the connecting rod 21 rotates as a whole, while the snow scraper 22 does not rotate relative to the connecting rod 21. When the connecting rod 21 contacts the upper limiting block 11 and reaches its limit position, if a force is continuously applied, it will push the snow scraper 22 to rotate relative to the connecting rod 21 in the direction of rotation. Figure 2 In a counter-clockwise direction, the snow scraper 22 gradually rotates downward from its original forward-facing position and can rotate to face backward, so as to pass over obstacles; when the snow scraper 22 passes over the obstacle, the obstacle no longer exerts force on the snow scraper 22, at which time the snow scraper 22 is reset by the force of the torsion spring 224 and returns to the forward-facing position.

[0040] Based on any of the above technical solutions and their combinations, the snow scraper 22 includes a scraper body 221 and a scraper tip 222. The scraper tip 222 is detachably installed on the scraper body 221. In this preferred embodiment, the scraper body 221 and the scraper tip 222 are two independent components. The scraper tip 222 has a wedge-shaped structure and faces forward to complete the snow scraping process. The scraper tip 222 is a wear-prone part. When the scraper tip 222 wears to the standard, it needs to be replaced in time. Only the old scraper tip needs to be removed and replaced with a completely new scraper tip. It is not necessary to replace the scraper body 221.

[0041] The shovel body 221 and shovel tip 222 can be connected in various ways, such as through a dovetail joint or by bolts. The dovetail joint structure allows for quick plug-in replacement.

[0042] Combination Figure 2 The present invention provides a further embodiment: a buffer rod 24 is connected between the drive rod 23 and the shovel body 221, and the buffer rod 24 can undergo elastic deformation when impacted. The buffer rod 24 is an elastic rod, comprising two interlocking rods, and an elastic body is provided inside, so that the buffer rod 24 can elastically retract when impacted.

[0043] The buffer rod 24 is located between the drive rod 23 and the shovel body 221, and can buffer the impact on the drive rod 23. When an obstacle impacts the snow scraper 22, the buffer rod 24 retracts.

[0044] Combination Figure 2 In this invention, the shovel body 221 is rotatably mounted on the snow shovel shaft 223, which is a horizontally extending rod connected to the connecting rod 21 by a nut or other components; the buffer rod 24 is hinged to the snow shovel shaft 223; the shovel body 221 is provided with an annular groove to avoid the buffer rod 24, the buffer rod 24 is inserted into the annular groove, and the buffer rod 24 is directly connected to the snow shovel shaft 223. Due to the presence of the annular groove, when the shovel body 221 rotates relative to the snow shovel shaft 223, the buffer rod 24 rotates along the annular groove.

[0045] Combination Figure 2 In this invention, two buffer rods 24 are provided, and the two buffer rods 24 are rotatably connected to the connecting shaft 231. The connecting shaft 231 is perpendicular to the driving rod 23 and extends laterally. The connecting rods 231 are inserted into or fixed to the driving rod 23. The two buffer rods 24 are rotatably connected to the connecting shaft 231 respectively. The stability is improved by providing two buffer rods 24.

[0046] Specifically, the sensor in this invention can take different forms. This invention provides three specific embodiments, in which the sensor is a barometric pressure sensor, a strain sensor, or a pressure sensor.

[0047] The first type uses a pressure sensor, which is installed inside the elastic shovel tip 222. The shovel tip 222 is made of a structure with a certain elasticity, such as silicone, and has a sealed cavity inside. When the shovel tip is blocked by an obstacle and undergoes elastic deformation, the cavity inside is squeezed and the pressure rises. The resistance is obtained by changing the air pressure.

[0048] The second type is a strain sensor, which is installed on the inner wall of the inner cavity of the shovel tip 222. The shovel tip 222 is made of a structure with a certain elasticity, such as silicone, and has an internal cavity. When the shovel tip is blocked by an obstacle and undergoes elastic deformation, the strain sensor detects the strain and the resistance is obtained from the strain value.

[0049] The third type is a pressure sensor, which is set between the shovel body 221 and the shovel tip 222. Both the shovel tip 222 and the shovel body 221 are rigid bodies, such as stainless steel. When the shovel tip is blocked by an obstacle, pressure is generated between it and the shovel body 221. The resistance can be obtained by directly detecting the pressure value.

[0050] The following describes the working process of the adaptive obstacle-crossing snow removal device of the present invention:

[0051] (1) Normal operation: When the machine is in the snow removal state, the shovel tip 222 is in contact with the ground to gather the snow on the ground. The auger module 1 is in operation to gather the snow from both ends to the middle. When the auger 116 brings the snow to the snow throwing port, the snow is thrown to the side of the machine through the snow throwing port under the action of centrifugal force and auger thrust.

[0052] (2) Snow scraper obstacle crossing: When the pressure value of the sensor of the snow scraper tip 222 changes suddenly or exceeds the upper limit of the snow scraping pressure value during the operation of the machine, it indicates that the snow scraper tip 222 has touched an obstacle. At this time, the buffer rod 24 has a certain buffering effect and retracts to avoid damage to the snow scraper tip 222. Then, after the sensor is triggered, the drive rod 23 at the end retracts to adjust the snow scraper tip 222 from the ground state to the raised state, and the machine performs obstacle crossing movement.

[0053] (3) Snow scraper reset: After the machine passes through the obstacle, the drive rod 23 extends and pushes the shovel tip 222 to reset. During the reset process, the sensor at the front end of the shovel tip 222 performs real-time detection. When the pressure value reaches the ground and the rotation angle of the connecting rod 21 reaches the target position, it indicates that the shovel tip 222 has passed the obstacle and can continue to work normally.

[0054] (4) Adaptive adjustment and replacement of snow scraper tip: The tip 222 has a certain amount of redundancy. Its ground contact is judged based on the pressure value. When the tip 222 wears within the redundancy, the drive rod 23 will push the snow scraper forward, and the tip 222 will move in contact with the ground to ensure the ground contact and snow removal effect of the tip 222. When the tip 222 wears beyond the redundancy, the tip 222 needs to be replaced. It is quickly inserted through the dovetail groove structure.

[0055] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An adaptive obstacle-crossing snow removal device, characterized in that, It includes an auger module (1) and a snow removal module (2), wherein the snow removal module (2) is used to remove snow, and the auger module (1) is used to output the snow collected by the snow removal module (2); the auger module (1) is installed on the vehicle body; The snow removal module (2) includes a connecting rod (21), a snow scraper (22), a drive rod (23), and a sensor. The upper end of the connecting rod (21) is hinged to the vehicle body, and the snow scraper (22) is located at the lower end of the connecting rod (21) and can scrape snow by adhering to the ground. The sensor is used to detect the obstruction encountered by the snow scraper (22). When the sensor's detection value exceeds a set threshold, the controller drives the connecting rod (21) to rotate around its upper shaft via the drive rod (23), thereby lifting the snow scraper (22) upward. The snow scraper (22) is rotatably connected to the bottom end of the connecting rod (21) via the snow scraper pivot (223); The snow scraper (22) is provided with a fitting torsion spring (224), which generates torque on the snow scraper (22) so that the snow scraper (22) fits against the arc surface of the auger module (1) shell; A reset torsion spring (211) is provided at the upper end of the connecting rod (21), and the reset torsion spring (211) applies a downward reset torque to the connecting rod (21); A limiting block (11) is provided on the outer shell of the auger module (1), and the limiting block (11) is used to limit the rotation limit position of the connecting rod (21); The torque of the reset torsion spring (211) is less than the torque of the fitting torsion spring (224); The snow scraper (22) includes a scraper body (221) and a scraper tip (222), and the scraper tip (222) is detachably installed on the scraper body (221). A buffer rod (24) is connected between the drive rod (23) and the shovel body (221), and the buffer rod (24) can generate elastic deformation when subjected to impact.

2. The adaptive obstacle-crossing snow removal device according to claim 1, characterized in that, The shovel body (221) is rotatably mounted on the snow shovel shaft (223), and the buffer rod (24) is hinged to the snow shovel shaft (223); the shovel body (221) is provided with an annular groove for avoiding the buffer rod (24).

3. The adaptive obstacle-crossing snow removal device according to claim 2, characterized in that, Two buffer rods (24) are provided and are rotatably connected to the connecting shaft (231), which is perpendicular to the drive rod (23).

4. The adaptive obstacle-crossing snow removal device according to claim 1, characterized in that, The sensor is a pneumatic pressure sensor, which is disposed in the elastic inner cavity of the shovel tip (222); Alternatively, the sensor may be a strain sensor, which is disposed on the inner wall of the inner cavity of the shovel tip (222); Alternatively, the sensor may be a pressure sensor, which is positioned between the shovel body (221) and the shovel tip (222).

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