Snow removing robot

Abstract

The invention provides a snow removing robot which comprises a driving mechanism, a detecting device, an ice melting device, a snow detecting device and a snow sweeping device, the driving mechanism comprises a supporting chassis and driving wheels, under driving of the driving wheels, the whole snow removing robot is driven to move, ice and snow on a rail are removed through the ice melting device, and the snow sweeping device is used for sweeping the snow on the rail. And meanwhile, the detection device, the snow detection device and the snow sweeping device are combined, so that the working efficiency and the working quality of the snow removal robot are effectively improved.

Description

Technical Field

[0001] The present application relates to the technical field of machine equipment manufacturing, and in particular to a snow removal robot. Background Art

[0002] With the intensification of global climate change, extreme weather events occur frequently, especially in winter, blizzards and heavy snowstorms have become an important factor affecting the safety of railway operations. On railway lines, although snow accumulation generally does not affect the normal operation of trains, once a blizzard or heavy snowstorm occurs, the snow in the turnout will accumulate rapidly, covering the rails and roadbed, seriously affecting the speed and safety of the train. In order to protect the personal safety of passengers and the loss of national property, the railway department must take effective measures to clear the snow on the line in time to ensure the smooth operation of the railway. However, when removing snow on specific tracks or environments such as railways, the snow removal method mainly relies on manpower and simple mechanical equipment, which is inefficient, not only has a large workload, but also has many safety hazards, and cannot meet the needs of modern railway operations.

[0003] In summary, in existing projects, when removing ice and snow in specific environments such as railways, manual methods are usually used, which results in a large workload and low snow removal efficiency. Summary of the invention

[0004] The purpose of this application is to overcome the above-mentioned technical deficiencies and propose a snow removal robot to solve the technical problem of low efficiency in removing ice and snow on rails in existing engineering technology.

[0005] In order to achieve the above technical objectives, this application adopts the following technical solutions: In a first aspect, the present application provides a snow removal robot, comprising: The driving mechanism comprises a supporting chassis and a plurality of driving wheels arranged on opposite sides of the supporting chassis, wherein the plurality of driving wheels on the same side are arranged side by side; A detection device, arranged on a side of the driving wheel away from the rail and fixed on the driving mechanism; An ice melting device is arranged in the direction of travel of the driving wheel, and the ice melting device includes a rail-locking module and a heating module. The rail-locking module is arranged relative to the supporting chassis, and the rail-locking module is arranged correspondingly on the rail; A snow detection device is arranged between the heating module and the rail buckle module; and The snow-clearing device is arranged between the track-locking module and the driving wheel.

[0006] According to an embodiment of the present application, the driving mechanism further includes a transmission track and a driving motor, the transmission track is sleeved on two adjacent driving wheels, and the driving motor is fixed on the supporting chassis.

[0007] According to an embodiment of the present application, each of the driving motors corresponds to one driving wheel, and the driving motors corresponding to different driving wheels are independently arranged.

[0008] According to an embodiment of the present application, the snow removal robot also includes a rotating rod and a support platform, the support platform is arranged at the end of the rotating rod close to the support chassis, and the driving wheel is connected to the support chassis through the rotating rod.

[0009] According to an embodiment of the present application, the detection device of the snow removal robot is arranged on the support platform, and the detection device includes a camera module.

[0010] According to an embodiment of the present application, the detection device further includes an early warning module, which is disposed on the support platform and connected to the camera module.

[0011] According to an embodiment of the present application, the snow-clearing device includes a plurality of detachable snow brushes, the plurality of snow brushes are arranged side by side, and the height of the snow brushes relative to the rails is adjustable.

[0012] According to an embodiment of the present application, the ice melting device includes a heating module disposed on a side close to the road surface.

[0013] According to an embodiment of the present application, the snow removal robot further includes a control module, and the control module is electrically connected to the snow detection device and the ice melting device.

[0014] According to an embodiment of the present application, the driving mechanism further includes a locking module, and the locking module is correspondingly arranged on one side of the driving wheel.

[0015] Compared with the prior art, the technical solution provided by this application has the following beneficial technical effects: The present application provides a snow removal robot, including a driving mechanism, a detection device, an ice melting device, a snow detection device and a snow sweeping device. The driving mechanism includes a supporting chassis and a driving wheel. Driven by the driving wheel, the entire snow removal robot is driven to move, and the ice and snow on the rails are removed by the ice melting device. At the same time, the detection device, the snow detection device and the snow sweeping device are combined to effectively improve the work efficiency and work quality of the snow removal robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solution in this application, the following is a brief introduction to the drawings required for use in the embodiments: Figure 1 A side view of a snow removal robot provided in an embodiment of the present application; Figure 2 A side view from another perspective provided in an embodiment of the present application; Figure 3 This is the intention of the rail buckle module to contact the rail in the embodiment of the present application; Figure 4 This is a side view schematic diagram of the snow removal robot provided in an embodiment of the present application.

[0017] Reference numerals: Driving mechanism 101, driving track 102, driving wheel 103, supporting chassis 104, rail buckling module 105, snow sweeping device 106, ice melting device 107; Crossbar 1051, rotating rod 1052, baffle 1053, rail 203, detection device 310, snow detection device 125, control module 126, base 1031, connecting rod 1032, camera module 110, support platform 313 DETAILED DESCRIPTION In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0018] Those skilled in the art will appreciate that in this specification, the wording "including" is an open-ended expression, which means that the described features exist but does not exclude other features. The directional words "up", "down", "left", "right", etc. are exemplary directions based on the drawings. Features defined as "first" and "second" implicitly include one or more of the features. Singular expressions can also be used in the plural. "Multiple" means two or more. The terms "installed", "connected", and "connected" can be fixed connections, detachable connections, or integrated connections; they can be directly connected, or indirectly connected through an intermediate medium, or they can be internal connections between two elements. In addition, "connected" can include wireless connections.

[0019] In winter, especially in the north, heavy snow or blizzards often occur. When the amount of snow is large, it is easy to accumulate on the road or cause icing problems. The above-mentioned deposited snow and ice seriously affect people's daily production, especially for complex road conditions such as railways. It is even more necessary to clear the snow or ice on the railway tracks in time to ensure safety performance.

[0020] A snow removal robot is provided in an embodiment of the present application, by which ice and snow on complex road conditions such as railroad tracks can be effectively removed in a timely manner, thereby ensuring safety performance.

[0021] like Figure 1 As shown, Figure 11 is a side view of a snow removal robot provided in an embodiment of the present application, wherein the snow removal robot comprises a driving mechanism 101 , a detection device 310 , a snow sweeping device 106 , an ice melting device 107 and a snow detecting device 125 .

[0022] Specifically, when the above structures are set, the driving mechanism 101 also includes a supporting chassis 104 and a plurality of driving wheels 103. The supporting chassis 104 mainly serves the purpose of support, and a plurality of functional components are arranged on the supporting chassis 104, such as a driving motor is also arranged on the supporting chassis 104, and a driving wheel is provided to each driving wheel 103 through the driving motor. In the embodiment of the present application, when the driving motor is arranged, the driving motor is arranged corresponding to each driving wheel 103, such as a driving motor is arranged correspondingly at a corresponding position above each driving wheel 103, and the driving motor is connected to the driving wheel 103, and when the driving motor rotates, it provides driving force to the driving wheel 103.

[0023] In the embodiment of the present application, since there are multiple drive wheels 103, when setting corresponding drive motors, each drive motor is set independently of each other, such as the output torque of the drive motor above the drive wheels 103 on the front and rear sides is greater than the output torque of the drive motor above the drive wheel at the middle position. In this way, the front and rear drive wheels 103 can provide greater output power, ensuring that the snow removal robot can start quickly when working and has a high starting speed.

[0024] At the same time, for the drive wheels 103 at the middle position, the torque and rotation speed of the drive motors above each drive wheel 103 can be adjusted in real time. In this way, on the one hand, the normal movement of the snow removal robot can be guaranteed, and on the other hand, the fine regulation of each drive wheel 103 can be guaranteed, thereby ensuring the fit with the rails during the movement and further ensuring its snow removal effect. In the embodiment of the present application, an independent hub motor drive is adopted to provide accurate power distribution and steering control for each drive wheel 103. And the drive motor has a sufficient waterproof and dustproof level to ensure that it can still work normally in bad weather.

[0025] Furthermore, when the driving wheels 103 in the embodiment of the present application are arranged, since the rails are two long straight rails, the driving wheels 103 can be arranged corresponding to the rails and arranged in two rows. Each row includes a plurality of driving wheels 103. In this way, the stability of the movement of the snow removal robot can be ensured.

[0026] In the embodiment of the present application, each driving wheel 103 is connected to the corresponding connecting rod 1032, one end of the connecting rod 1032 is connected to the driving wheel 103, and the other end of the connecting rod 1032 is connected to the base 1031, and the driving motor is fixed on the base 1031, thereby ensuring the normal rotation of the driving wheel 103 under the control of the driving motor.

[0027] Furthermore, in order to improve the driving effect of the driving mechanism 101, each driving wheel 103 can be detachably arranged. When a problem occurs with a driving wheel 103 on the snow removal robot, the problematic driving wheel 103 can be directly removed to avoid affecting the entire device.

[0028] In the embodiment of the present application, the driving mechanism 101 further includes a transmission track 102, which can be set as a wide track. By increasing its width, it can ensure normal running on the ground on the one hand, and ensure the stability of running on the rails on the other hand. The transmission track 102 is sleeved on the driving wheel 103. When the driving wheel 103 rotates, it drives the transmission track 102 to move, so as to achieve the purpose of moving the snow removal robot on the rails. Among them, the transmission track 102 also has a self-cleaning function, which can effectively prevent the accumulation of ice and snow during the movement process and improve the snow removal effect.

[0029] Furthermore, when the driving mechanism 101 is provided, a power system is also included, and the power system can provide power to the driving motor. Optionally, the power system can include a battery or a fuel cell, and the power system can be detachably provided on the driving mechanism.

[0030] See Figure 1 In the present application, the detection device 310 is arranged on the side of the driving wheel 103 away from the rail 203. At the same time, the detection device 310 is fixedly arranged on the driving mechanism 101. In this way, when the snow removal robot moves forward, the detection device 310 moves forward with it and detects the condition of the rail 203.

[0031] Among them, the detection device 310 also includes a camera module 110, which can be fixedly set on the support platform 313. In the embodiment of the present application, the above-mentioned detection device 310 is set on the front and rear sides of the snow removal robot in the moving direction of the snow removal robot, that is, a detection device 310 is set in the direction of the head of the snow removal robot, and correspondingly, a detection device 310 is also set at the tail position of the snow removal robot. During the snow removal process, the camera module 110 is used to photograph the snow and road conditions in front and behind the rails, so as to timely judge and improve the snow removal situation of the snow removal robot.

[0032] Correspondingly, at the tail position of the snow removal robot, at the rear end of the camera module 110, an early warning module is also provided. The early warning module is fixed on a support platform and is connected to the camera module 110. The early warning module receives image information from the camera module 110. The early warning module judges the snow removal effects of the ice melting device 107 and the snow sweeping device 106 in front according to the received image information. When the early warning module judges that the amount of snow or the ice layer is still thick according to the image information, an early warning signal occurs, thereby enabling the snow removal effect of the snow removal robot to be detected and timely feedback to be provided.

[0033] Furthermore, the support platform is arranged at the end of the rotating rod close to the supporting chassis. The early warning module can also warn the movement trajectory of the snow removal robot. When the driving wheel 103 or the transmission track of the snow removal robot deviates greatly, the early warning module sends out an early warning signal and controls the movement trajectory of the snow removal robot.

[0034] Furthermore, the ice melting device 107 is arranged in the direction of travel of the snow removal robot and is opposite to the track 203 on the ground. For example, the ice melting device 107 is arranged in front of the nose of the snow removal robot. In the embodiment of the present application, the ice melting device 107 includes a heating module, which can be arranged on a side close to the road surface or the track. At the same time, an air outlet can also be arranged in the ice melting device 107. When the ice melting device 107 moves forward with the robot, the heating module is heated, and the air outlet blows out the hot air inside the device, thereby melting the ice or snow on the track for subsequent removal of equipment and improving the snow removal effect of the snow removal robot. In the embodiment of the present application, the ice melting device 107 can use a high-power motor to drive the air intake system, combined with high-efficiency electric heating element heating technology, to form a powerful hot air flow. The temperature and flow rate of the hot air flow are adjustable, which can quickly melt the snow and blow away the ice, ensuring the rapid recovery of the turnout and track area.

[0035] Furthermore, when the ice melting device 107 is set, the ice melting device 107 can be fixed on the baffle 1053, and the baffle 1053 can rotate with the rotating rod 1052, and one end of the rotating rod 1052 is connected to the cross bar 1051, and the other end of the rotating rod 1052 is movably connected to the supporting chassis 104. During the rotation process, the rotating rod 1052 rotates relative to the supporting chassis 104, and rotates the ice melting device 107, the rail module 105, and the baffle 1053 to corresponding positions to facilitate subsequent snow removal operations.

[0036] like Figure 2 As shown, Figure 2 This is a side view from another perspective provided in the embodiment of the present application. Figure 1 The views and structures in the figure, wherein when the ice melting device 107 is set, the ice melting device 107 also includes a rail buckle module 105, a baffle 1053, and a cross bar 1051.

[0037] Among them, the crossbar 1051 connects the two rail-locking modules 105 on both sides of the rail 203. In the following embodiments, the rail-locking module 105 takes rollers as an example. The rail-locking module 105 can be arranged relative to the supporting chassis transmission, so that when snow removal operation is required on the rail 203, the rail-locking module 105 rotates relative to the supporting chassis and hangs in the air, and when snow removal operation is required, the rail-locking module 105 is tightly fastened to the rail 203. In this way, on the one hand, the snow removal robot can be effectively fixed, and the rail-locking module 105 can effectively reduce the lateral movement and shaking of the robot during operation, especially when encountering strong winds, uneven ground or other dynamic loads, which helps to maintain the overall stable posture of the product. On the other hand, its movement speed and flexibility can also be adjusted.

[0038] At the same time, the driving mechanism further includes a locking module, which is correspondingly arranged at one side of the driving wheel. When the driving wheel 103 needs to be locked, the driving wheel 103 is locked and its rolling is restricted by the locking module.

[0039] At the same time, the rail-locking module 105 also has the effect of emergency unlocking and braking: in an emergency, such as when a quick evacuation is required or there are obstacles on the track, the rail-locking module 105 can be quickly unlocked to ensure that the robot can move in time. And the rail-locking module 105 can adapt to different types of railway tracks, including differences in parameters such as width, height, and curve radius. The adaptability of the rail-locking module 105 is effectively improved.

[0040] Furthermore, a flexible material is provided at the edge of the rail-locking module 105, so as to avoid wear on the rail 203 during movement, and the rail-locking module 105 is detachable.

[0041] like Figure 3 As shown, Figure 3 In the embodiment of the present application, when the snow removal robot moves on the track 203 and removes snow, the track-locking module 105 of the ice melting device 107 rotates onto the track 203 and can rotate on the track 203.

[0042] Combination Figure 2 In the embodiment, the heating module 1071 of the ice melting device 107 is arranged in front of the track-locking module 105. After the heating module 1071 heats and removes the ice and snow on the rail 203, the track-locking module 105 can further remove the remaining ice and snow, thereby improving its removal effect.

[0043] Combination Figure 1-Figure 2In the embodiment, a snow detecting device 125 and a snow sweeping device 106 are further provided between the ice melting device 107 and the driving mechanism 101. Specifically, the snow detecting device 125 can be provided on a side close to the ice melting device 107. When the ice melting device 107 rotates onto the track 203, the probe of the snow detecting device 125 is just opposite to the track 203. When the snow removal robot moves forward, the probe of the snow detecting device 125 detects the road condition.

[0044] Specifically, the snow detection device 125 can be arranged between the heating module and the rail buckle module 105. This avoids the problem of mutual interference between different components during movement. The snow detection device 125 is equipped with an advanced intelligent control system, which can monitor and accurately locate the turnout and track areas that need ice melting and snow removal in real time. According to the snow accumulation and location information, the ice melting strategy and operation mode are intelligently adjusted to achieve efficient and accurate ice melting and snow removal operations.

[0045] The snow detection device 125 provided in the present application can use an ultrasonic snow detection device to monitor the thickness and distribution of snow in real time, provide accurate data support for the robot, and help it intelligently plan the optimal ice melting and snow removal path and strategy. Furthermore, the detection head of the snow detection device 125 is aligned with the center line of the track 203, so as to measure the thickness of the snow or ice layer on the track.

[0046] The snow detection device 125 is also integrated with a sensor, which integrates advanced algorithms and circuit designs, and can automatically perform temperature compensation, signal processing and other operations. This intelligent design not only simplifies the user's use process, but also improves the measurement accuracy and stability of the sensor. The user only needs to make simple settings to achieve automatic measurement and data collection.

[0047] In the embodiment of the present application, the snow removal robot also includes a control module 126, which is electrically connected to the snow detection device 125 and the ice melting device 107. The control module 126 receives the detection signal of the snow detection device 125 and determines the ice melting or snow removal effect of the ice melting device 107 based on the signal. When the snow removal is not ideal, the control module 126 can increase the heating temperature of the ice melting device 107 and improve its snow removal effect.

[0048] Further, the snow removal device 106 is arranged between the track buckle module 105 and the driving wheel 103. In this way, when the ice melting device 107 in front removes the ice layer or snow, the remaining snow can be cleaned again by the snow removal device 106 thereafter, thereby ensuring that the track 203 is clean and tidy.

[0049] like Figure 4 As shown, Figure 4 This is a side view of the snow removal robot provided in the embodiment of the present application, combined with Figure 1-Figure 3In the view in the embodiment of the present application, when the snow removal device 106 is set, the snow removal device 106 can be set to multiple rows of detachable snow brushes, roller brushes or rollers, and the multiple rows of snow brushes can be arranged side by side. In order to improve the snow removal effect, the height of the snow removal device 106 relative to the rail 203 is adjustable. When the amount of snow is large, its height can be lowered to improve the snow removal effect.

[0050] In the embodiment of the present application, when adjusting the height of the snow-clearing device, it can be achieved through a telescopic mechanism. At the same time, the installation and disassembly process of the roller brush and the snow-removing robot is designed to be simple and quick. This feature is due to the precise interface design and optimized operating procedures, which allow operators to complete the installation and disassembly work without complex tools or professional skills. This design not only facilitates daily maintenance and replacement of parts, improves the utilization and reliability of the equipment, but also greatly reduces maintenance costs and time. In an emergency, the quick replacement of the roller brush can also ensure that the snow removal operation is not affected and continues to be carried out efficiently.

[0051] Furthermore, the snow sweeping device 106 provided in the embodiment of the present application can be tilted relative to the rail 203, so that it can accurately sweep the snow to one side during operation. This design avoids the scattered splashing of snow during the sweeping process, which not only improves the neatness and efficiency of snow removal, but also protects the surrounding environment and the safety of pedestrians. At the same time, the snow sweeping direction can also be adjusted as needed to adapt to different snow removal needs and scenes.

[0052] In the embodiment of the present application, the snow brush corresponding to the snow sweeping device 106 can be selected to have a sweeping blade structure, and a sweeping blade made of thermoplastic engineering plastic with high crystallinity is used to improve the cleaning effect. Among them, the snow sweeping width is set to 300 mm, which not only ensures efficient operation ability, but also can flexibly shuttle in narrow spaces or complex terrains, avoiding unnecessary damage to the surrounding environment. The diameter of the sweeping blade is 200 mm, which ensures sufficient cleaning force while reducing energy consumption and wear and extending the service life.

[0053] At the same time, when the snow-clearing device 106 is in the process of clearing snow, the corresponding sweeping roller speed is set between 200 and 260 r / min to ensure that the robot can flexibly adjust the snow removal force according to the compactness of the snow and the road conditions.

[0054] Furthermore, in the embodiment of the present application, the snow removal robot also includes a balancing system, which can be arranged in the driving mechanism 101. Among them, the balancing system can include an integrated high-precision gyroscope, an accelerometer, an inclination sensor, and a wind speed sensor. The above-mentioned balancing system monitors the posture changes of the robot in real time, and the servo system automatically adjusts the supporting legs or the base to maintain the overall balance. And according to the wind force, the robot arm posture is automatically adjusted or the working height is lowered to reduce the influence of wind deviation.

[0055] In the embodiment of the present application, by providing the above-mentioned driving mechanism, detection device, ice melting device, snow detection device and snow sweeping device, when the snow removal robot is performing snow removal operations, the snow or ice layer on the rails is first processed by the ice melting device, and the remaining snow is further processed with the help of the detection device, snow detection device and snow sweeping device, thereby improving the snow removal effect of the snow removal robot.

[0056] Those skilled in the art will appreciate that the various operations, methods, steps, measures, and schemes in the processes discussed in this application may be alternated, modified, rearranged, decomposed, combined, or deleted.

[0057] The specific implementation methods of the present application described above do not constitute a limitation on the protection scope of the present application. Any other corresponding changes and modifications made according to the technical concept of the present application should be included in the protection scope of the claims of the present application.

Claims

1. A snow removal robot, It is characterized in that include: The driving mechanism comprises a supporting chassis and a plurality of driving wheels arranged on opposite sides of the supporting chassis, wherein the plurality of driving wheels on the same side are arranged side by side; A detection device, arranged on a side of the driving wheel away from the rail and fixed on the driving mechanism; An ice melting device is arranged in the direction of travel of the driving wheel, and the ice melting device includes a rail-locking module and a heating module. The rail-locking module is arranged relative to the supporting chassis, and the rail-locking module is arranged correspondingly on the rail; A snow detection device is arranged between the heating module and the rail buckle module; and The snow-clearing device is arranged between the track-locking module and the driving wheel.

2. The snow removal robot according to claim 1, It is characterized in that The driving mechanism further comprises a transmission crawler belt and a driving motor. The transmission crawler belt is sleeved on the driving wheel, and the driving motor is fixed on the supporting chassis.

3. The snow removal robot according to claim 2, It is characterized in that Each of the driving motors corresponds to one driving wheel, and the driving motors corresponding to different driving wheels are independently arranged.

4. The snow removal robot according to claim 1, It is characterized in that The snow removal robot also includes a rotating rod and a support platform. The support platform is arranged at the end of the rotating rod close to the support chassis, and the driving wheel is connected to the support chassis through the rotating rod.

5. The snow removal robot according to claim 4, It is characterized in that The detection device of the snow removal robot is arranged on the support platform, and the detection device includes a camera module.

6. The snow removal robot according to claim 5, It is characterized in that The detection device also includes an early warning module, which is arranged on the supporting platform and connected to the camera module.

7. The snow removal robot according to claim 1, It is characterized in that The snow-clearing device comprises a plurality of detachable snow brushes, which are arranged side by side and the heights of the snow brushes relative to the rails are adjustable.

8. The snow removal robot according to claim 1, It is characterized in that The ice melting device comprises a heating module arranged at one side close to the rail.

9. The snow removal robot according to claim 1, It is characterized in that The snow removal robot also includes a control module, and the control module is electrically connected to the snow detection device and the ice melting device.

10. The snow removal robot according to claim 1, It is characterized in that The driving mechanism further comprises a locking module, and the locking module is correspondingly arranged at one side of the driving wheel.

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