Scraper device and path planning method thereof

Abstract

The application discloses a scraping device and a path planning method thereof, and relates to the technical field of ship building. The scraping device comprises a machine base, a flattening mechanism and a plurality of adjusting wheels. A plurality of tines are arranged on the working side of the machine base. The plurality of tines are arranged at intervals along the working direction of the scraping device. The flattening mechanism is arranged on the rear side of the machine base. The machine base is supported on a working plane through the adjusting wheels. Each adjusting wheel is rotationally connected with the machine base and is used for driving the machine base to move along the working direction. The adjusting wheels are arranged at intervals on the machine base along the working direction of the scraping device. The adjusting wheels have at least an expanded state and a contracted state, so as to adjust the relative height of each tine and the working plane. The state of the adjusting wheels can be changed according to the type of the ship, the working environment, the type of the paving material and other parameters, so as to adjust the relative distance between each tine on the working side and the working plane, change the effect of the tines on the paving material, and make the tines meet the paving requirements.

Description

Technical Field

[0001] This invention relates to the technical field of shipbuilding, and more particularly to a scraper device and its path planning method. Background Technology

[0002] Ro-Ro ships are vessels that use ramps to load and unload cargo vehicles. During the construction of a Ro-Ro ship, the cabin floor, which provides passage for vehicles and cargo, generally needs to be covered with anti-slip materials (such as PVC flooring). Due to the generally large size of Ro-Ro ships, the area required for the construction of the cabin floor is also relatively large (generally around 10,000 square meters). Furthermore, the anti-slip material is often made by mixing high-molecular materials with hard particles. After installation, it needs to be smoothed manually with a scraper to eliminate bubbles inside the anti-slip material and to level the surface of the anti-slip material.

[0003] However, depending on the type of ship and the type of anti-skid material, the requirements for laying anti-skid materials (such as laying thickness and laying method) must also be changed. This means that in addition to the high labor costs and low work efficiency of manual laying, the laying accuracy of manual laying is also relatively low, making it difficult to meet the relevant laying requirements. As a result, ships often fail to pass inspection and need to be reworked. Summary of the Invention

[0004] The purpose of this invention is to provide a scraper device and its path planning method to solve the problems of low material laying efficiency and low laying accuracy.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, a scraper device is provided, comprising:

[0007] The machine base has multiple rake teeth arranged on its working side, and the multiple rake teeth are arranged at intervals along the working direction of the scraper device.

[0008] A leveling mechanism is disposed at the rear of the base, and at least part of the leveling mechanism is capable of vertical movement relative to the base in the height direction to adjust the leveling height; and

[0009] Multiple adjusting wheels are provided. The base is supported on the working plane by the adjusting wheels. Each adjusting wheel is rotatably connected to the base and is used to drive the base to move along the working direction. The adjusting wheels are arranged at intervals on the base along the working direction of the scraper device.

[0010] The adjusting wheel has at least an expanded state and a contracted state. The diameter of the adjusting wheel in the expanded state is larger than that in the contracted state, so as to adjust the relative height of each rake tooth and the working plane.

[0011] As an optional implementation, the adjusting wheel includes:

[0012] An outer support member has a hollow interior forming a first mounting cavity, and the outer support member is surrounded by a plurality of movable openings communicating with the first mounting cavity;

[0013] An airbag is disposed in the first mounting cavity. The airbag is rotatably connected to the base. Multiple wheel columns are fixedly disposed on the airbag. The multiple wheel columns are spaced around the periphery of the airbag. The ends of the wheel columns contact the working surface through arc-shaped contact surfaces. The wheel columns are movably connected to the movable openings so that the wheel columns can perform telescopic movements through the movable openings.

[0014] The base is provided with an inflation / deflation device communicating with the airbag. The inflation / deflation device is used to inflate the airbag with external gas, so that the airbag expands and drives each of the wheel columns to move out of the first mounting cavity; or, to extract the gas in the airbag, so that the airbag contracts and drives each of the wheel columns to move into the first mounting cavity.

[0015] As an optional implementation, the adjusting wheel structure includes:

[0016] An outer support member has a hollow interior forming a first mounting cavity, and the outer support member is surrounded by a plurality of movable openings communicating with the first mounting cavity;

[0017] An inner support member is disposed in the first mounting cavity. The inner support member is rotatably connected to the base. Multiple wheel columns are arranged around the periphery of the inner support member. The ends of the wheel columns contact the working surface through arc-shaped contact surfaces. Each wheel column is movably connected to the movable opening.

[0018] The inner support member is detachably connected to the base and each of the wheel columns.

[0019] As an optional implementation, the first end of the rake tooth is fixedly connected to the working side of the machine base, and the second end of the rake tooth extends away from the machine base;

[0020] The distance between the second end of the rake tooth and the machine base gradually increases along the working direction.

[0021] As an optional implementation, it also includes:

[0022] A pusher plate, one end of which is rotatably connected to the end of the machine base away from the leveling mechanism, and a pushing surface is formed on the side of the pusher plate away from the machine base. The first end of the pushing surface is connected to the working side surface, and the second end of the pushing surface extends obliquely from bottom to top away from the machine base.

[0023] The crank, the first end of which is movably connected to the base via a first drive device;

[0024] The connecting rod is movably connected to the second end of the crank and the pusher plate, respectively.

[0025] The first driving device is used to drive the second end of the crank to swing about its first end relative to the base, so as to drive the pusher plate to swing relative to the base through the connecting rod and adjust the relative angle between the pushing surface and the base.

[0026] As an optional implementation, the base is provided with a plurality of telescopic holes, and each of the rake teeth is respectively provided with respect to each of the telescopic holes and is movably connected to the telescopic holes;

[0027] A second driving device is provided between the rake teeth and the machine base. The second driving device is located on the mounting side of the machine base away from the working side. The second driving device is used to drive the rake teeth to extend and retract along the telescopic hole.

[0028] An elastic scraper is provided around one end of the telescopic hole near the working side. The elastic scraper surrounds the circumference of the rake teeth and abuts against the outer circumferential surface of the rake teeth.

[0029] As an optional implementation, the leveling mechanism is movably connected to the base via a lifting drive device, the lifting drive device comprising:

[0030] A fixed base has a lifting groove inside along the height direction, and slots communicating with the lifting groove are respectively opened on the front and rear sides of the fixed base;

[0031] A lifting block is movably disposed within the lifting groove. At least two sides of the lifting block extend out of the grooves on both sides of the fixed base. The first side of the lifting block is fixedly connected to the leveling mechanism. The second side of the lifting block is provided with a rack extending along the lifting direction. A third driving device is provided on the base. The third driving device is provided with a gear that meshes with the rack and is used to drive the rack to move up and down along the height direction.

[0032] The leveling mechanism includes:

[0033] equalization plate; and

[0034] A rotating device, the fixed end of which is fixedly connected to the lifting block, and the driving end of which is connected to the material leveling plate, for driving the material leveling plate to rotate relative to the machine base.

[0035] As an optional implementation, the multiple rake teeth are arranged at intervals along the transverse and longitudinal directions of the machine base, and any two adjacent rows of rake teeth are staggered.

[0036] The angle between each of the rake teeth and the working direction of the scraper device is an obtuse angle;

[0037] In the working direction of the scraper device, the width of the rake teeth gradually decreases from the end near the base to the end away from the base; and / or

[0038] The width of the rake teeth in each row gradually increases along the working direction of the rake device.

[0039] As an optional implementation, the scraper device further includes a detection unit and a control unit;

[0040] The detection unit is used to detect the material laying status on the working plane and send the detected material laying status information to the control unit;

[0041] The control unit is communicatively connected to the adjusting wheel and the leveling mechanism, and controls the wheel diameter of the adjusting wheel and the height of the leveling mechanism according to the material spreading status information.

[0042] Secondly, a path planning method for a scraper device is provided, the method comprising:

[0043] A scraper path covering the work area is planned based on the outline of the work area, and this path is used as a static path.

[0044] When an obstacle is detected during the scraping operation along the static path, the obstacle is scraped along its edge to obtain its outline.

[0045] For the area that does not contain the obstacle but is covered by the static path that intersects the outline of the obstacle, a dynamic path is replanned, and the static path that intersects the outline of the obstacle is replaced by the dynamic path to form a new operation path.

[0046] The scraping operation is carried out along the new working path.

[0047] The beneficial effects of the present invention are as follows: the scraper device arranges multiple rake teeth on the working side (bottom side) of the machine base, so that the scraper device can make the material spread more evenly on the working plane by the action of the rake teeth on the material during the process of moving along the working direction, and also plays a role in eliminating bubbles inside the material.

[0048] Multiple rake teeth are arranged at intervals along the working direction of the scraper device. In addition to supporting and driving the base to move along the working direction, the adjusting wheel also has an expanded state and a contracted state. The scraper device can make corresponding changes to the state of the adjusting wheel according to parameters such as ship type, working environment, and material type, thereby adjusting the relative distance between each rake tooth on the working side and the working plane, changing the effect of the rake teeth on the material, so that the rake teeth can meet the laying requirements.

[0049] The leveling mechanism can flatten the surface of the material after the rake teeth act on it. Furthermore, the leveling mechanism can adjust the leveling height according to the above parameters to further meet the laying requirements of the material. Attached Figure Description

[0050] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0051] Figure 1 This is a schematic diagram of the overall structure of the scraper device according to an embodiment of the present invention;

[0052] Figure 2 This is a schematic diagram of one of the rake tooth setting methods described in an embodiment of the present invention;

[0053] Figure 3 This is one of the schematic diagrams of the adjusting wheel structure described in the embodiment of the present invention;

[0054] Figure 4 This is a second schematic diagram of the adjusting wheel structure according to an embodiment of the present invention;

[0055] Figure 5 This is the third schematic diagram of the adjusting wheel structure described in the embodiment of the present invention;

[0056] Figure 6 for Figure 1 Enlarged view of part B;

[0057] Figure 7 for Figure 1 Enlarged view of part A;

[0058] Figure 8 This is a schematic diagram of the paving mechanism structure described in an embodiment of the present invention;

[0059] Figure 9 This is a schematic diagram of the second method of setting the rake teeth according to an embodiment of the present invention;

[0060] Figure 10 This is a schematic diagram of the third method of setting the rake teeth according to an embodiment of the present invention;

[0061] Figure 11 This is a schematic diagram of the connection structure of the driving unit according to an embodiment of the present invention;

[0062] Figure 12 This is a flowchart of the path planning method for the scraper device according to an embodiment of the present invention.

[0063] In the diagram: 10. Base; 11. Working side; 12. Mounting side; 13. Telescopic hole; 131. Elastic scraper; 14. Second drive device; 15. Storage slot; 16. Lifting platform; 161. Second mounting cavity; 162. Lead screw; 163. Lead screw nut; 164. Slider; 165. Swing arm; 166. Fourth drive device; 20. Rake teeth; 30. Leveling mechanism; 31. Fixed base; 311. Lifting slot; 32. Lifting block; 321. Rack 33. Third drive unit; 331. Gear; 34. Material leveling plate; 35. Rotating device; 40. Adjusting wheel; 41. Outer support; 411. First mounting cavity; 412. Movable opening; 42. Airbag; 43. Wheel column; 431. Arc-shaped contact surface; 44. Inner support; 50. Pushing plate; 51. Pushing surface; 52. Crank; 53. Connecting rod; 54. First drive unit; 60. Detection unit; 70. Control unit; 80. Working plane. Detailed Implementation

[0064] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of the present invention will be further described in detail below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] In the description of this invention, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0066] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0067] Ro-Ro ships are vessels that use ramps to load and unload cargo vehicles. During the construction of a Ro-Ro ship, the cabin floor, which provides passage for vehicles and cargo, generally needs to be covered with anti-slip materials (such as PVC flooring). Due to the generally large size of Ro-Ro ships, the area required for the construction of the cabin floor is also relatively large (generally around 10,000 square meters). Furthermore, the anti-slip material is often made by mixing high-molecular materials with hard particles. After installation, it needs to be smoothed manually with a scraper to eliminate bubbles inside the anti-slip material and to level the surface of the anti-slip material.

[0068] As is known from the background art, the requirements for laying anti-skid materials (such as laying thickness and laying method) vary depending on the type of ship and the type of anti-skid material. Manual laying not only incurs high labor costs and low work efficiency, but also results in relatively low laying accuracy, making it difficult to meet relevant laying requirements. This often leads to ships failing inspection and requiring rework. Therefore, this embodiment provides the following solution.

[0069] This embodiment provides a scraper device, which mainly addresses the technical problems mentioned above. By installing an adjusting wheel 40 and a leveling mechanism 30 on a base 10 equipped with rake teeth 20, it solves the problems of low efficiency and low accuracy in laying materials on the cabin floor.

[0070] Please refer to Figure 1The scraper device of this embodiment includes a base 10, which serves as the main support for the device. The upper side of the base 10 is defined as the mounting side 12, which provides the mounting position for the functional module components required for scraping the material. The lower side of the base 10 is defined as the working side 11. The working side 11 of the base 10 is arranged with multiple rake teeth 20. The rake teeth 20 are used to act on the laid material during the scraping operation of the scraper device, and to move the laid material on the working surface in a preset direction, so that the laid material flows to the side of the rake teeth 20 by its fluidity, thereby spreading the material evenly to a certain extent. In addition, the rake teeth 20 can extend into the laid material and scratch a scratch with a certain depth on the laid material, so that the air hidden in the laid material can be discharged through the scratch, thereby eliminating the foaming of the laid material and improving the structural strength of the material after solidification.

[0071] Based on the above scheme, multiple rake teeth 20 are arranged at intervals along the working direction of the scraper device on the working side 11 of the machine base 10. That is, taking the end of the scraper device that moves along the working direction as its front side and the end that moves away from the working direction as its rear side as an example, the multiple rake teeth 20 are arranged at equal intervals from the front side of the machine base 10 to its rear side. In addition, in order to increase the working range of the scraper device, the multiple rake teeth 20 can also be arranged at intervals along the longitudinal (front-back direction) and transverse (the optimal direction that is in the same plane as the front-back direction and perpendicular to each other) of the machine base 10.

[0072] During the operation of the scraper device, the base 10 moves along the working direction on the working plane 80 to rake the material laid on the working plane 80 through the multiple rake teeth 20 located on the working side 11 of the base 10, so as to perform preliminary uniform material preparation and defoaming of the laid material. To ensure that the material forms a flat surface after being raked by the rake teeth 20, so that the material can meet the requirements for laying the cabin floor after solidification, the scraper device in this embodiment also includes a leveling mechanism 30. It should be understood that the leveling mechanism 30 is used to further level and smooth the material after it has been initially raked by the rake teeth 20. Specifically, the leveling mechanism 30 is located on the rear side of the base 10, and at least part of the leveling mechanism 30 can move up and down relative to the base 10 in the height direction to adjust its leveling height. This allows the device to adjust the leveling height of the leveling mechanism 30 according to parameters such as ship type, cabin environment (operating environment), and type of material to meet the leveling requirements under different conditions, thereby improving the versatility of the scraper device. The leveling mechanism 30 is adjusted to the height required for laying by moving up and down relative to the base 10, which also makes the laying effect after the leveling mechanism 30 acts on the material better and meets the requirements for higher precision material laying.

[0073] In addition, the scraper device includes multiple adjusting wheels 40, which are spaced apart on the base 10. One side of each adjusting wheel 40 protrudes from the working side 11 of the base 10, allowing the base 10 to be supported on the working plane 80 via the adjusting wheels 40. Each adjusting wheel 40 is rotatably connected to the base 10 and is used to drive the base 10 to move along the working direction. The adjusting wheels 40 are spaced apart on the base 10 along the working direction of the scraper device. In one embodiment, in addition to driving the base 10 to move along the working direction, the adjusting wheels 40 can also drive the base 10 to move in a direction opposite to the working direction by reversing, and provide a steering function, thereby improving the operational flexibility of the scraper device.

[0074] Specifically, the adjusting wheel 40 has at least an expanded state and a contracted state, and can switch between the expanded and contracted states. Furthermore, the adjusting wheel 40 can be fixed in any of the usage states between the expanded and contracted states. The diameter of the adjusting wheel 40 in the expanded state is larger than that in the contracted state. By switching between the expanded and contracted states, and between these two states, the adjusting wheel 40 can be fixed in different diameter states to adjust the relative height between each rake tooth 20 and the working plane 80.

[0075] According to the above technical solution, the scraper device can make corresponding changes to the usage state of the adjusting wheel 40 according to parameters such as ship type, working environment, and material type. By changing the wheel diameter of the adjusting wheel 40, the relative distance between the rake teeth 20 and the working plane 80 can be constrained, and the effect of the rake teeth 20 on the material can be changed (such as the depth of the rake teeth 20 extending into the material), so as to rake the material according to different laying requirements.

[0076] It should be noted that multiple adjusting wheels 40 are arranged at intervals along the working direction of the scraper device, that is, at least two adjusting wheels 40 are arranged at intervals along the longitudinal direction of the base 10. The scraper device can also adjust the usage state of each adjusting wheel 40 individually so that each adjusting wheel 40 in the front-rear direction of the base 10 can be in different usage states. For example, when the adjusting wheel 40 near the front of the base 10 is in an expanded state and the adjusting wheel 40 near the rear of the base 10 is in a contracted state, the base 10 will be in a state of tilting downward from front to back. At this time, if the length of the rake teeth 20 extending from the working side 11 of the base 10 is the same, the end of each rake tooth 20 away from the base 10 will be perpendicular to the working plane 80. The spacing of the base 10 is also gradually decreasing from the front to the rear to reduce the interference of the rake teeth 20 near the front of the base 10 with the laid material. As the base 10 moves along the working direction, the interference between the laid material and the rake teeth 20 on the base 10 at the same position will gradually increase (the rake teeth 20 near the middle and rear of the base 10 have a larger interference range with the laid material than the rake teeth 20 at the front of the base 10). This gradually increases the contact area between the laid material and the rake teeth 20, achieving a gradual rakeing effect and preventing the laid material from undergoing a large change in state in the early stage of being rakeed by the rake teeth 20, which would damage the uniformity and flatness of the laid material.

[0077] In addition, based on the fact that each adjusting wheel 40 can be individually adjusted and switched in its usage state, the scraper device can also be adjusted according to relevant parameters (such as the type of ship, the operation scenario, and the type of paving material) to a state where the diameter of the front adjusting wheel 40 is smaller and the diameter of the rear adjusting wheel 40 is larger, or the diameter of each adjusting wheel 40 is the same, so as to meet different paving requirements.

[0078] In order to keep the base 10 in a relatively stable state, adjustment wheels 40 are also provided on the left and right sides of the base 10. The adjustment wheels 40 located on the front and rear sides, as well as the left and right sides of the base 10, keep the base 10 stable on the working plane 80.

[0079] For example, in this embodiment, four adjusting wheels 40 are used as the support components of the base 10. The four adjusting wheels 40 are placed in pairs on the front and rear sides of the base 10, and in pairs on the left and right sides of the base 10. In this way, in addition to adjusting the usage state of the adjusting wheels 40 on the front and rear sides to adapt to different paving requirements, the scraper device can also adjust the usage state of the adjusting wheels 40 on the left and right sides of the base 10, so that the adjusting wheels 40 on the left and right sides of the base 10 are in different usage states (forming different wheel diameters). The state of the rake teeth 20 on the working side 11 of the base 10 can be adapted to more different working environments and meet more working requirements.

[0080] Please refer to Figure 1 , Figures 3-5 The following provides a structural form of the centralized adjustment wheel 40, which enables the adjustment wheel 40 to switch between different usage states:

[0081] like Figure 3 As shown, in the first embodiment of the adjusting wheel 40 structure, the adjusting wheel 40 includes an outer support member 41 and an airbag 42. Specifically, the outer support member 41 has a hollow interior forming a first mounting cavity 411. For example, the outer support member 41 can be a cylindrical structure, that is, the opposite ends of the outer support member 41 are respectively provided with openings connecting the outside of the adjusting wheel 40 and the first mounting cavity 411 inside, so that other components can be assembled into the first mounting cavity 411 or disassembled from the first mounting cavity 411 through the openings. Of course, in addition to being cylindrical, the outer support member 41 can also be a cylindrical body of other shapes, or a shell structure with the end of the first mounting cavity 411 sealed, etc. This embodiment will not be described in further detail here.

[0082] The airbag 42 is disposed in the first mounting cavity 411. The assembly between the airbag 42 and the outer support member 41 can be determined according to the specific structure of the outer support member 41. For example, when the outer support member 41 adopts the above-mentioned cylindrical structure, the airbag 42 can be assembled into the first mounting cavity 411 through the opening at one end of the outer support member 41. When the first mounting cavity 411 of the outer support member 41 is a sealed structure, the airbag 42 can be placed in a preset position before the outer support member 41 is formed, and the outer support member 41 will cover the outside of the airbag 42 during the forming process. It should be understood that in this embodiment, the airbag 42 is a flexible bladder with elastic restoring ability. For example, in addition to gas, the interior of the airbag 42 can also be filled with a liquid medium. When the filling medium is filled into the airbag 42, the airbag 42 will be expanded by the filling medium. When the filling medium is removed from the airbag 42, the airbag 42 can shrink with the filling medium through the pneumatic elastic restoring function. The airbag 42 can be rotatably connected to the base 10 via a rotating structure such as a rotating shaft. Furthermore, multiple wheel columns 43 are fixedly installed on the airbag 42. The multiple wheel columns 43 are spaced around the periphery of the airbag 42. The ends of the wheel columns 43 contact the working plane 80 through the arc-shaped contact surface 431 to serve as support components for the adjusting wheel 40 and the working plane 80. The ends of each wheel column 43 that are away from the outer support member 41 are connected in sequence to form an approximately circular structure, ensuring that the adjusting wheel 40 remains relatively stable during rotation.

[0083] The outer support member 41 has multiple movable openings 412 around its periphery, corresponding to the positions of each wheel post 43, connecting the first mounting cavity 411 to the external environment of the outer support member 41. Each wheel post 43 is movably connected to each movable opening 412, allowing the wheel post 43 to extend and retract through the movable opening 412. Here, the main function of the outer support member 41 is to restrict the radial degree of freedom of the wheel post 43 through the movable openings 412 in the periphery, restricting the wheel post 43 to only extend and retract along its axial direction. The function of the airbag 42 is... The airbag 42 is used as a drive mechanism to extend and retract the wheel column 43. When the airbag 42 is filled with a filling medium, it expands around its periphery, which drives the wheel column 43 located around the airbag 42 to move along the movable opening 412 toward the direction of extending out of the first mounting cavity 411, thereby expanding the wheel diameter of the adjusting wheel 40. When the airbag 42 releases its internal filling medium, the airbag 42 will contract around its periphery, which will drive each wheel column 43 to move along the movable opening 412 toward the direction of retracting into the first mounting cavity 411, thereby shrinking the wheel diameter of the adjusting wheel 40.

[0084] Following the above technical solution, the filling medium inside the airbag 42 can be filled or released by an electronic device. For example, the base 10 is provided with a filling / discharging device (not shown) connected to the airbag 42. The filling / discharging device is used to fill the airbag 42 with external gas, causing the airbag 42 to expand and drive each wheel column 43 to move out of the first mounting cavity 411; or, to extract the gas inside the airbag 42, causing the airbag 42 to contract and drive each wheel column 43 to move into the first mounting cavity 411. It can be understood that the filling / discharging device can achieve the filling or defilling of the filling medium by rotating the impeller in the air pump, water pump, etc. in the forward and reverse directions.

[0085] In the scheme of using an inflation / deflation device to inflate or deflate the filling medium of the airbag 42, each adjusting wheel 40 mounted on the base 10 can be connected to the same inflation / deflation device to achieve unified control and adjustment of the wheel diameter of each adjusting wheel 40. Alternatively, each adjusting wheel 40 can also be equipped with a corresponding inflation / deflation device to achieve individual control of the wheel diameter of each adjusting wheel 40.

[0086] like Figure 4 As shown, in the second embodiment of the adjusting wheel 40 structure, the adjusting wheel 40 structure includes an outer support member 41. Specifically, the outer support member 41 structure in this embodiment can adopt the outer support member 41 structure in the first adjusting wheel 40 structure described above. That is, the outer support member 41 has a hollow interior forming a first mounting cavity 411, and the outer support member 41 is surrounded by a plurality of movable openings 412 that communicate with the first mounting cavity 411.

[0087] In this embodiment, an inner support member 44 is provided in the first mounting cavity 411 formed by the outer support member 41. The inner support member 44 can be a rigid member, for example, a hollow member or a solid member like the outer support member. Similar to the embodiment using the airbag 42 described above, the inner support member 44 is rotatably connected to the base 10 as a rotating component. Multiple wheel columns 43 are arranged around the periphery of the inner support member 44. The ends of the wheel columns 43 contact the working plane 80 through the arc-shaped contact surface 431 to serve as support members for the adjusting wheel 40 and the working plane 80. The ends of each wheel column 43 facing away from the outer support member 41 are connected in sequence to form an approximately circular structure, ensuring that the adjusting wheel 40 remains relatively stable during rotation.

[0088] Similarly, the outer support member 41 serves as a component that constrains the degrees of freedom of the wheel column 43. Each wheel column 43 is movably connected to the movable opening 412, so that the wheel column 43 can only be adjusted along its axial direction (the direction in which the movable opening 412 is opened). That is, the distance by which the wheel column 43 extends from the first mounting cavity 411 through the movable opening 412 out of the outer support member 41 depends on the structural dimensions of the inner support member 44. The inner support member 44 is configured to be detachably connected to the base 10 and each wheel column 43. In this way, the scraper device can prepare multiple inner support members 44 with different structural dimensions, and replace the inner support members 44 with different structural dimensions into the first mounting cavity 411 and reconnect them to the base 10 and each wheel column 43 according to different actual working conditions, so as to adjust the distance by which each wheel column 43 extends out of the outer support member 41, and finally realize the adjustment of the wheel diameter of the adjusting wheel 40.

[0089] In the above embodiments, each wheel post 43 and the inner support member 44 can be installed and fixed by a connection method that is easy to disassemble. For example, the wheel post 43 and the inner support member 44 can be connected by a snap-fit, or as... Figure 4 As shown, multiple threaded holes are machined on the outer periphery of the inner support member 44, and a stud that matches the threaded holes is machined at the end of the wheel post 43. The wheel post 43 is connected and fixed by the threaded connection between the stud and the threaded hole. Furthermore, the depth of the threaded hole and / or the length of the stud can constrain the length of the wheel post 43 extending out of the outer support member 41 after assembly, which facilitates the operator's installation.

[0090] like Figure 5As shown, in the third embodiment of the adjusting wheel 40 structure, the inner support member 44 can be configured as a conical member, and the ends of each wheel post 43 are slidably connected to the conical surface of the inner support member 44, so that the ends of each wheel post 43 can slide along the conical surface of the inner support member 44. In this embodiment, the central axis of the inner support member 44 coincides with the rotation axis of the adjusting wheel 40. Furthermore, based on the rotatable connection between the inner support member 44 and the base 10, the inner support member 44 can also be connected to the rotating shaft of the base 10 through a drive mechanism such as a cylinder or a lead screw 162 pair. Specifically, the inner support member 44 can reciprocate along its central axis under the drive of the drive device. Thus, during the movement of the inner support member 44, the inner support member 44 can act on the wheel post 43 through the conical surface of the air cylinder, pushing the wheel post 43 to move in the direction extending out of the outer support member 41, or driving the wheel post 43 to move in the direction retracting into the outer support member 41.

[0091] As described above, the adjusting wheel 40 contacts the working surface 80 through the wheel column 43, which can reduce the contact area between the scraper device and the working surface 80, thereby reducing the impact of the adjusting wheel 40 on the spreading material. In addition, the arc-shaped contact surface 431 formed at the end of the wheel column 43 is also to reduce the impact force when the wheel column 43 contacts the spreading material, and avoid the occurrence of spreading material splashing.

[0092] like Figure 2 As shown, in one configuration of the rake teeth 20, the rake teeth 20 are configured to be fixedly connected to the base 10. That is, the first end of the rake teeth 20 is fixedly connected to the working side 11 of the base 10, and the second end of the rake teeth 20 extends away from the base 10 and is positioned close to the working plane 80. During the operation of the rake device, the rake teeth 20 can be inserted into the material laid on the working plane 80 to achieve the effects of uniform material distribution and defoaming.

[0093] Based on the above embodiments, in one embodiment, the distance between the end of each rake tooth 20 away from the base 10 and the base 10 is the same. Thus, in this embodiment, the distance between each rake tooth 20 on the working side 11 and the working plane 80 depends on the wheel diameter of each adjusting wheel 40. By adjusting the wheel diameter of each adjusting wheel 40, the distance between each rake tooth 20 and the working plane 80 can be different or equal.

[0094] In another embodiment, the distance between the second ends of the plurality of rake teeth 20 and the base 10 gradually increases along the working direction. That is, the distance between the ends of the rake teeth 20 near the front side of the base 10 and the working plane 80 is smaller than the distance between the ends of the rake teeth 20 near the rear side of the base 10 and the working plane 80. Furthermore, the distance between the rake teeth 20 and the working plane 80 gradually decreases from the front side of the base 10 to the rear side of the base 10. In this way, when all the adjusting wheels 40 have the same diameter, the ends of the rake teeth 20 located on the working side 11 of the machine base 10 can also be connected to form a state inclined to the working plane 80, reducing the interference of the rake teeth 20 near the front end of the machine base 10 on the paving material. As the machine base 10 moves along the working direction, the rake teeth 20 at the rear can gradually deepen the rakeing effect on the paving material, gradually improving the rakeing effect on the paving material in the same position, reducing the problems caused by excessive interference of the paving material by the rake teeth 20 in the early stage of rakeing (such as the rake teeth 20 getting stuck, the paving material being instantly pushed apart by the rake teeth 20 and unable to be gathered back into the scratches made by the rake teeth 20, or the paving material rolling and mixing in bubbles due to excessive instantaneous interference between the rake teeth 20 and the paving material).

[0095] Please continue to refer to this. Figure 1 , Figure 6 The scraper device also includes a pusher plate 50, which is disposed on the front side of the base 10. The pusher plate 50 is used to block excess material located on the front side of the base 10, allowing excess material to flow to the left and right sides of the base 10 under the action of the pusher plate 50, while also preventing excess material from contaminating the mounting side 12 of the base 10. For example, when the base 10 travels along the working direction, if the height of the material on the working plane 80 is greater than the distance between the working side 11 of the base 10 and the working plane 80, the excess material exceeding the working side 11 of the base 10 will be pushed back by the pusher plate 50, thus achieving the aforementioned effect.

[0096] Specifically, the pusher plate 50 is a flat plate, and to avoid excess material contaminating the mounting side 12 of the machine base 10, the length of the pusher plate 50 is the same as the width of the machine base 10, so that the pusher plate 50 can completely cover the front side of the machine base 10. One end of the pusher plate 50 in the front-back direction is rotatably connected to the end of the machine base 10 away from the leveling mechanism 30 (the front side of the machine base 10), so that the pusher plate 50 can swing relative to the machine base 10 about its rotation axis between the pusher plate 50 and the machine base 10. A pushing surface 51 is formed on the side of the pusher plate 50 away from the machine base 10. The first end of the pushing surface 51 is connected to the surface of the working side 11, and the second end of the pushing surface 51 extends obliquely from bottom to top away from the machine base 10, so that the excess material pushed by the pushing surface 51 can be guided by the pushing surface 51 to the working side 11 of the machine base 10 and raked by the rake teeth 20. It can be understood that the pushing surface 51 can be a flat surface or a curved surface.

[0097] Following the above technical solution, the scraper device is further provided with a crank 52 and a connecting rod 53 between the pusher plate 50 and the machine base 10. The relative position of the pusher plate 50 and the machine base 10 is controlled by the crank 52, the connecting rod 53, and the first drive device 54. Specifically, the first end of the crank 52 is movably connected to the machine base 10 via the first drive device 54, and the connecting rod 53 is movably connected to the second end of the crank 52 and the pusher plate 50 respectively. The first drive device 54 is mounted on the machine base 10 and is used to drive the second end of the crank 52 to rotate relative to the machine base 10 around its first end, thereby causing the pusher plate 50 to rotate relative to the machine base 10 via the connecting rod 53, adjusting the relative angle between the pushing surface 51 and the machine base 10.

[0098] The above configuration can effectively improve the stability of the pusher plate 50 during the adjustment of its relative angle with the base 10. At the same time, the first drive device 54 can be controlled by the control unit 70 of the scraper device, so that the pusher plate 50 can be automatically adjusted according to the current material spreading state, saving labor costs.

[0099] like Figure 9 As shown, this embodiment also provides another arrangement of the rake teeth 20 and the base 10. The base 10 is provided with a plurality of telescopic holes 13. Each rake tooth 20 is respectively arranged in relation to each telescopic hole 13 and is movably connected to the telescopic hole 13. A second drive device 14 is provided between the rake teeth 20 and the base 10. The second drive device 14 is provided on the mounting side 12 (upper side) of the base 10 away from the working side 11. The second drive device 14 is used to drive the rake teeth 20 to perform telescopic movement along the telescopic holes 13, so that the rake teeth 20 can reciprocate in the direction of approaching and moving away from the working plane 80.

[0100] Compared to the embodiment described above where the rake teeth 20 are fixedly connected to the base 10, in this embodiment, the rake teeth 20 can extend and retract relative to the base 10. Besides adjusting the usage state of each adjusting wheel 40 to constrain the state of the base 10, the scraping effect provided by the scraping device can also be changed by varying the length of the rake teeth 20 extending beyond the base 10. Furthermore, by limiting the extension and retraction length of the rake teeth 20, the scraping device can retract the rake teeth 20 into the base 10 when not in use, preventing the rake teeth 20 from extending beyond the working side 11 of the base 10 and causing interference between the scraping device and external obstacles.

[0101] For example, the second drive device 14 can be configured as a cylinder, an electric push rod, a lead screw 162, etc.

[0102] In one embodiment, each rake tooth 20 can be connected to the same second drive device 14 so that the second drive device 14 can uniformly drive the extension and retraction of each rake tooth 20.

[0103] In another embodiment, the rake teeth 20 distributed on the working side 11 of the base 10 can be divided into multiple regions. For example, the base can be divided into three regions along the front-rear direction: a first region on the front side of the base 10, a second region in the middle of the base 10, and a third region on the rear side of the base 10. The first, second, and third regions are respectively arranged close to each other, and the same number of second drive devices 14 are configured according to the number of regions. The rake teeth 20 in each region are driven and connected to the respective second drive device 14, so that the second drive devices 14 corresponding to the three regions can control the extension and retraction of the rake teeth 20 in each region. In this way, the scraping device can further limit the state of the rake teeth 20 by adjusting the state of the base 10 by the adjusting wheel 40, thereby constraining the state of the rake teeth 20, and further improve the applicability of the scraping device to different working conditions.

[0104] In the above-mentioned scheme in which the rake teeth 20 can be driven to extend and retract by the second drive device 14, since the rake teeth 20 can extend and retract within the extension hole 13 opened in the base 10, when the rake device performs the rake operation on the material, if the rake teeth 20 need to be retracted into the base 10 for storage, the rake teeth 20 will retract into the base 10 along with the material remaining on the rake teeth 20, causing the base 10 to be contaminated. If the material solidifies in the base 10, the rake teeth 20 may be stuck in the base 10, and the rake teeth 20 may not be able to extend out of the base 10 again, and it will be difficult to clean. To solve the above problems, an elastic scraper 131 is provided around the periphery of one end of the telescopic hole 13 near the working side 11. The elastic scraper 131 surrounds the periphery of the rake tooth 20 and abuts against the outer peripheral surface of the rake tooth 20. The elastic scraper 131 can isolate the inside of the telescopic hole 13 from the outside of the machine base 10. Furthermore, when the rake tooth 20 is retracted into the telescopic hole 13, the elastic scraper 131 can move relative to the rake tooth 20 along the outer periphery of the rake tooth 20 while abutting against the surface of the rake tooth 20, thereby scraping off the residual material on the surface of the rake tooth 20 and avoiding the occurrence of the above problems.

[0105] like Figure 1 , Figures 7-8 As shown, as a specific structural form of the leveling mechanism 30, the leveling mechanism 30 is movably connected to the base 10 through a lifting drive device. Specifically, the lifting drive device includes a fixed base 31 and a lifting block 32. The fixed base 31 has a lifting groove 311 inside along the height direction. The front and rear sides of the fixed base 31 are respectively provided with slots that communicate with the lifting groove 311. The lifting block 32 is movably disposed in the lifting groove 311. The slots are also arranged along the lifting direction to avoid interference with the fixed base 31 when the lifting block 32 is disposed in the lifting groove 311.

[0106] Furthermore, at least part of the opposite sides of the lifting block 32 extend out of the slots on both sides of the fixed seat 31. The lifting block 32 extends out of the slots on both sides of the fixed seat 31 to achieve positioning and engagement with the fixed seat 31 in directions other than the lifting direction, and to provide installation positions for other components of the scraper device. The first side of the lifting block 32 is fixedly connected to the leveling mechanism 30. The second side of the lifting block 32 is provided with a rack 321 extending along the lifting direction. A third drive device 33 is provided on the base 10. The third drive device 33 is provided with a gear 331 that meshes with the rack 321 and is used to drive the rack 321 to move up and down in the height direction. For example, the third drive device 33 may include a motor. The housing of the motor is fixed to the mounting side 12 of the base 10, and the output shaft of the motor is fitted with a gear 331. By rotating the motor forward and backward, the rack 321 and the lifting block 32 are driven to move up and down relative to the fixed seat 31 along the lifting groove 311, and finally control the height of the leveling mechanism 30 to meet the leveling operation of materials with different thicknesses.

[0107] In one embodiment, the leveling mechanism 30 includes a material leveling plate 34 and a rotating device 35. The fixed end of the rotating device 35 is fixedly connected to the lifting block 32, and the driving end of the rotating device 35 is connected to the material leveling plate 34, which is used to drive the material leveling plate 34 to rotate relative to the machine base 10. The leveling mechanism 30 can improve the leveling effect of the material by continuously driving the material leveling plate 34 to rotate and the machine base 10 to move continuously along the working direction. In some application scenarios, the material leveling plate 34 can also be rotated to a certain angle by the rotating device 35, so that the state of the material leveling plate 34 is in line with the current laying conditions.

[0108] On the base 10, multiple rake teeth 20 are arranged at intervals along the transverse and longitudinal directions of the base 10. Any two adjacent rows of rake teeth 20 are staggered, which makes the rake area of ​​the scraping device larger. In addition, the staggered arrangement can also make the rake effect better and improve the material uniformity of the rake teeth 20.

[0109] Optionally, the angle between each rake tooth 20 and the working direction of the scraper device is an obtuse angle. In this way, the angle between the side of the rake tooth 20 that initially contacts the dressing surface and the dressing is small, avoiding the situation where the dressing is scooped up or the dressing is interfered with too much, resulting in an unstable state of the dressing.

[0110] Of course, such as Figure 10As shown, the rake teeth 20 can also be connected to the base 10 via an angle adjustment mechanism. In this embodiment, combined with a scheme that allows the rake teeth 20 to extend or retract into the base 10, the base 10 does not have a telescopic hole 13. Instead, a storage slot 15 is opened on the working side 11 of the base 10. A lifting platform 16 is provided in the storage slot 15. The top of the storage slot 15 extends through to the mounting side 12 of the base 10. A second drive device 14 connected to the lifting platform 16 is provided on the mounting side 12. The second drive device 14 drives the lifting platform 16 to rise and fall relative to the base 10. Furthermore, a second mounting cavity 161 is provided in the lifting platform 16. The second mounting cavity 161 communicates with the outside through an opening at the bottom of the lifting platform 16 (the side facing away from the base 10). A wire is horizontally placed in the second mounting cavity 161. The screw 162 has two rotatably connected to the cavity wall of the second mounting cavity 161 at its opposite ends. Multiple screw nuts 163 are threaded onto the screw 162. A slider 164 is fixedly connected to the screw nut 163 near the top of the second mounting cavity 161. The slider 164 slides against the cavity wall of the second mounting cavity 161, thus restricting the degree of freedom of the screw nut 163 to rotate around the screw 162. A rocker arm 165 is rotatably connected to the side of the screw nut 163 away from the slider 164. The end of the rocker arm 165 away from the screw nut 163 is hinged to the middle of the rake tooth 20. The rake tooth 20 is rotatably disposed within the lifting platform 16, specifically at the opening of the second mounting cavity 161. The connection between the rake tooth 20 and the lifting platform 16 is offset from the connection between the rocker arm 165 and the rake tooth 20.

[0111] Based on the above, a fourth drive device 166 is also provided at the end of the lead screw 162. The fourth drive device 166 can be a motor. The fourth drive device 166 controls the rotation of the lead screw 162 so that the lead screw nut 163 can reciprocate along the length of the lead screw 162, thereby driving the rake teeth 20 to swing around the hinge point between it and the lifting platform 16, ultimately achieving the purpose of adjusting the angle of the rake teeth 20. The extension and retraction direction of the rake teeth 20 is achieved by driving the lifting platform 16 through the second drive mechanism mentioned above.

[0112] Please continue to refer to this. Figure 1 In the working direction of the scraper device, the width of the rake teeth 20 gradually decreases from the end near the base 10 to the end away from the base 10, and / or the width of each row of rake teeth 20 gradually increases along the working direction of the scraper device. This avoids the rake teeth 20 having too large a contact area with the dressing when they first come into contact with it, which would damage the state of the dressing. As subsequent rake teeth 20 gradually extend into and approach the dressing, and the width of the rake teeth 20 gradually increases in the direction toward the base 10, the contact area between the rake teeth 20 and the dressing gradually increases, thereby improving the rake effect of the rake teeth 20 on the spreading material.

[0113] Please continue to refer to this. Figure 1, Figure 11 The scraper device also includes a detection unit 60 and a control unit 70. The detection unit 60 is used to detect the material spreading status on the working plane 80 (such as the thickness of the material on the working plane 80, the flatness of the material, etc.) and send the detected material spreading status information to the control unit 70. The control unit 70 is communicatively connected to the adjusting wheel 40 and the leveling mechanism 30 respectively, and controls the wheel diameter of the adjusting wheel 40 and the height of the leveling mechanism 30 according to the material spreading status information.

[0114] In one embodiment, according to the above-described scraper device scheme, the control unit 70 can be electrically connected to any one or more of the first drive device 54, the second drive device 14, the third drive device 33, the fourth drive device 166, and the rotating device 35, so that the control unit 70 can control the angle of the pusher plate 50, the extension length of the rake teeth 20, the leveling height of the leveling mechanism 30, and the angle of the rake teeth 20 according to the material spreading status information.

[0115] like Figure 12 As shown, this embodiment also provides a path planning method for a scraper device, the method including:

[0116] Plan the scraper path covering the work area based on the outline of the work area, and use it as a static path;

[0117] When an obstacle is detected during the scraping operation along a static path, the obstacle is scraped along its edge to obtain its outline.

[0118] For areas that do not contain obstacles but are covered by static paths that intersect with the obstacle outlines, dynamic paths are replanned and the static paths that intersect with the obstacle outlines are replaced with dynamic paths to form new work paths.

[0119] The scraping operation is carried out along the new working path.

[0120] In the description herein, it should be understood that the terms "upper," "lower," "left," "right," and other orientations or positional relationships are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive distinction and have no special meaning.

[0121] In the description of this specification, references to terms such as "an embodiment," "example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0122] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style of the specification is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

[0123] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. A scraper device, characterized in that, include: The machine base (10) has multiple rake teeth (20) arranged on its working side (11), and the multiple rake teeth (20) are arranged at intervals along the working direction of the scraper device; A leveling mechanism (30) is provided on the rear side of the base (10). The leveling mechanism (30) is at least partially capable of moving up and down relative to the base (10) in the height direction to adjust the leveling height. as well as Multiple adjusting wheels (40) are provided. The base (10) is supported on the working plane (80) by the adjusting wheels (40). Each adjusting wheel (40) is rotatably connected to the base (10) and is used to drive the base (10) to move along the working direction. The adjusting wheels (40) are arranged at intervals on the base (10) along the working direction of the scraper device. The adjusting wheel (40) has at least an expanded state and a contracted state. The diameter of the adjusting wheel (40) in the expanded state is larger than that in the contracted state, so as to adjust the relative height of each rake tooth (20) and the working plane (80). The scraper device adjusts the usage state of each of the adjustment wheels (40) individually so that each of the adjustment wheels (40) in the front-rear direction of the base (10) can be in a different usage state; wherein, when the adjustment wheel (40) near the front side of the base (10) is in an expanded state and the adjustment wheel (40) near the rear side of the base (10) is in a contracted state, the base (10) will be in a state of tilting downward from front to back; The first end of the rake tooth (20) is fixedly connected to the working side (11) of the machine base (10), and the second end of the rake tooth (20) extends away from the machine base (10); the distance between the second end of the rake tooth (20) and the machine base (10) gradually increases along the working direction; and the distance between the rake tooth (20) and the working plane (80) gradually decreases from the front side of the machine base (10) to the rear side of the machine base (10). Among them, the multiple rake teeth (20) are arranged at intervals along the transverse and longitudinal directions of the machine base (10), and the rake teeth (20) of any two adjacent rows are staggered. The angle between each of the rake teeth (20) and the working direction of the scraper device is an obtuse angle; In the working direction of the scraper device, the width of the rake teeth (20) gradually decreases from the end near the base (10) to the end away from the base (10); and / or The width of each row of rake teeth (20) gradually increases along the working direction of the rake device; this avoids the rake teeth (20) having too large a contact surface with the dressing when they first come into contact with it, which would damage the dressing. As the subsequent rake teeth (20) gradually extend closer to the dressing, and the width of the rake teeth (20) gradually increases in the direction toward the machine base (10), the contact surface between the rake teeth (20) and the dressing gradually increases, thereby improving the rake effect of the rake teeth (20) on the spreading material. The scraper device further includes a detection unit (60) and a control unit (70); The detection unit (60) is used to detect the material laying status on the working plane (80) and send the detected material laying status information to the control unit (70); The control unit (70) is communicatively connected to the adjusting wheel (40) and the leveling mechanism (30) respectively, and controls the wheel diameter of the adjusting wheel (40) and the height of the leveling mechanism (30) according to the material laying status information.

2. The scraper device according to claim 1, characterized in that, The adjusting wheel (40) includes: An outer support member (41) has a hollow interior forming a first mounting cavity (411), and a plurality of movable openings (412) communicating with the first mounting cavity (411) are arranged around the outer support member (41). An airbag (42) is disposed in the first mounting cavity (411). The airbag (42) is rotatably connected to the base (10). Multiple wheel columns (43) are fixedly disposed on the airbag (42). The multiple wheel columns (43) are spaced around the periphery of the airbag (42). The ends of the wheel columns (43) are in contact with the working plane (80) through the arc-shaped contact surface (431). The wheel columns (43) are respectively movably connected to the movable opening (412) so that the wheel columns (43) can perform telescopic movement through the movable opening (412). The base (10) is provided with a charging and discharging device that communicates with the airbag (42). The charging and discharging device is used to charge the airbag (42) with external gas so that the airbag (42) expands and drives each of the wheel columns (43) to move in the direction of extending out of the first mounting cavity (411); or, to extract the gas located in the airbag (42) so that the airbag (42) contracts and drives each of the wheel columns (43) to move in the direction of retracting into the first mounting cavity (411).

3. The scraper device according to claim 1, characterized in that, The adjusting wheel (40) structure includes: An outer support member (41) has a hollow interior forming a first mounting cavity (411), and a plurality of movable openings (412) communicating with the first mounting cavity (411) are arranged around the outer support member (41). An inner support member (44) is disposed in the first mounting cavity (411). The inner support member (44) is rotatably connected to the base (10). Multiple wheel columns (43) are arranged around the periphery of the inner support member (44). The ends of the wheel columns (43) are in contact with the working plane (80) through the arc-shaped contact surface (431). Each wheel column (43) is movably connected to the movable opening (412). The inner support member (44) is detachably connected to the base (10) and each of the wheel columns (43).

4. The scraper device according to claim 1, characterized in that, Also includes: A pusher plate (50) is rotatably connected at one end to the machine base (10) away from the leveling mechanism (30). A pushing surface (51) is formed on the side of the pusher plate (50) away from the machine base (10). The first end of the pushing surface (51) is connected to the surface of the working side (11). The second end of the pushing surface (51) extends obliquely from bottom to top away from the machine base (10). The crank (52) has its first end movably connected to the base (10) via a first drive device (54); The connecting rod (53) is movably connected to the second end of the crank (52) and the pusher plate (50), respectively; The first drive device (54) is used to drive the second end of the crank (52) to swing about its first end relative to the base (10) so as to drive the pusher plate (50) to swing relative to the base (10) through the connecting rod (53) and adjust the relative angle between the push surface (51) and the base (10).

5. The scraper device according to claim 1, characterized in that, The base (10) is provided with a plurality of telescopic holes (13), and each of the rake teeth (20) is respectively provided with respect to each of the telescopic holes (13) and is movably connected to the telescopic holes (13); A second drive device (14) is provided between the rake teeth (20) and the base (10). The second drive device (14) is provided on the mounting side (12) of the base (10) away from the working side (11). The second drive device (14) is used to drive the rake teeth (20) to extend and retract along the telescopic hole (13). An elastic scraper (131) is provided around one end of the telescopic hole (13) near the working side (11). The elastic scraper (131) surrounds the periphery of the rake teeth (20) and abuts against the outer peripheral surface of the rake teeth (20).

6. The scraper device according to claim 1, characterized in that, The leveling mechanism (30) is movably connected to the base (10) via a lifting drive device, the lifting drive device comprising: The fixed base (31) has a lifting groove (311) inside along the height direction, and the front and rear sides of the fixed base (31) are respectively provided with slots that communicate with the lifting groove (311); A lifting block (32) is movably disposed in the lifting groove (311). At least two sides of the lifting block (32) extend out of the grooves on both sides of the fixed base (31). The first side of the lifting block (32) is fixedly connected to the leveling mechanism (30). The second side of the lifting block (32) is provided with a rack (321) extending in the lifting direction. A third driving device (33) is provided on the base (10). The third driving device (33) is provided with a gear (331) meshing with the rack (321) for driving the rack (321) to move up and down in the height direction. The leveling mechanism (30) includes: The uniform material plate (34); and A rotating device (35) is provided, with its fixed end fixedly connected to the lifting block (32) and its driving end connected to the uniform plate (34) for driving the uniform plate (34) to rotate relative to the machine base (10).

7. A path planning method using a scraper device as described in any one of claims 1 to 6, characterized in that, The method includes: A scraper path covering the work area is planned based on the outline of the work area, and this path is used as a static path. When an obstacle is detected during the scraping operation along the static path, the obstacle is scraped along its edge to obtain its outline. For the area that does not contain the obstacle but is covered by the static path that intersects the outline of the obstacle, a dynamic path is replanned, and the static path that intersects the outline of the obstacle is replaced by the dynamic path to form a new operation path. The scraping operation is carried out along the new working path.

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