Snow removing robot

Abstract

The invention provides a snow removal robot, and belongs to the technical field of municipal engineering equipment. A snow shoveling bucket is fixedly connected to the front portion of a cantilever, a plurality of driving wheels and a plurality of driven wheels are rotationally connected to the two sides of a machine body, supports are fixedly connected to the two sides of the machine body, supporting wheels are rotationally connected to the supports, tracks are arranged on the driving wheels, the driven wheels and the supporting wheels, and a driving motor is fixedly connected to the machine body. The driving motor is in transmission connection with the driving wheel, a connecting shaft is connected between the driven wheels on the two sides of the machine body, and a battery is arranged in the machine body. The crawler-type traveling mechanism is adopted, a plurality of driving wheels are used for driving the crawler belt to operate, transmission is established between the driven wheels on the two sides through the connecting shafts, and the reliability and road holding force of the traveling mechanism are fully guaranteed. Meanwhile, the operation path is more flexible, and the robot is suitable for the working environment of a small plane site or a complex site; and due to the remote control function, the on-site unattended operation can be realized, and the automation degree is higher.

Description

Technical Field

[0001] The invention relates to the field of municipal engineering equipment, in particular to a snow removal robot. Background Art

[0002] Municipal snow removal is of great significance to ensure the safety of citizens' lives and travel. By timely removing snow and ice, traffic accidents can be reduced, traffic can be ensured to be unimpeded, and municipal facilities can be protected from damage. In addition, reasonable snow removal measures can also reduce the impact of snow melting agents on the environment and protect the ecological environment.

[0003] Typical snow removal work first requires timely acquisition of snowfall information, inspection of roads, and understanding of road conditions and snow accumulation. On this basis, use manual or snow removal machinery to remove snow on the road to ensure smooth roads. At the same time, sprinkle sand or snow removal agents according to actual conditions to prevent roads from icing. After the above work is completed, the road is leveled to ensure the flatness and safety of the road. In recent years, the cost of snow removal machinery has gradually decreased, and it has been increasingly used in municipal work.

[0004] In the prior art, snow removal machinery is mainly divided into hand-push type, portable type, self-propelled type and motorized type. Among them, the hand-push snow removal machine is a simple manpower-propelled equipment, which is suitable for occasions with a small snow clearing area and a shallow snow depth. The portable snow removal machine is driven by electricity or fuel, can be hand-held and carried, and is suitable for occasions with a small snow clearing area and a shallow snow depth. Self-propelled snow removal machines generally have an independent driving mechanism, have the ability to drive independently and have a strong snow clearing ability, and are suitable for occasions with small and medium snow volumes. Motorized snow removal machines are mostly carried on heavy motor vehicles, have strong snow pushing ability and the ability to handle snow, and are suitable for large snow clearing tasks. According to the operating principle, the existing snow removal machinery can be divided into snow throwing type, snow sweeping type, snow pushing type and snow shoveling type. Among them, the snow throwing type and snow sweeping type machinery are generally equipped with a lifting mechanism or a snow removal roller, which can output the snow to the sides of the road during the operation, simplifying the subsequent snow clearing steps. However, its effect is weak and is often only suitable for relatively loose snow, so it is generally used in the case of just snowing. Snow pushing and snow shoveling machines use buckets or shovels to scrape the snow along the ground. They have great force and are suitable for hard snow or a mixture of snow and ice after a certain period of snowfall.

[0005] In the prior art, the above-mentioned types of snow removal machinery are generally propelled by vehicles, and the wheels have poor grip on the snow. In addition, the curb weight is large, so the stability and reliability are not ideal, and there are certain installation risks. In addition, the above-mentioned types of snow removal machinery are either handheld or driven by personnel, and cannot be remotely controlled, and the degree of automation is low. In addition, the above-mentioned snow removal machinery (except the handheld type) is generally bulky and difficult to flexibly operate in the front and rear directions. Therefore, they all work along a straight path, making them only suitable for road conditions. For flat sites, especially small flat sites, more flexible snow removal machinery is required. Summary of the invention

[0006] The technical problem to be solved by the present invention is: how to design a snow removal machine which can be remotely controlled, has better stability and a more flexible operation path.

[0007] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0008] A snow removal robot comprises a body, a fixed arm, a cantilever, a middle rod, a rear rod, a slider, a threaded rod, an adjustment motor, a mounting seat, a snow shovel, a driving wheel, a passive wheel, a bracket, a supporting wheel, a driving motor, a connecting shaft, a trough body, a groove, a battery, a top plate, a searchlight, an image collector, and an antenna, wherein a fixed arm is fixedly connected to the front of the body, a middle rod and a rear rod are respectively provided at the middle and rear of the cantilever, the middle rod is rotatably connected to the fixed arm, a slider is fixedly connected to the rear rod, the slider is threadably connected to the threaded rod, the threaded rod is connected to the main shaft of the adjustment motor, the adjustment motor is rotatably connected to the mounting seat, and the mounting seat is fixedly connected to At the front of the machine body, a snowplow bucket is fixedly connected to the front of the cantilever, a plurality of driving wheels and a plurality of passive wheels are rotatably connected to the two sides of the machine body, a bracket is fixedly connected to the two sides of the machine body, a supporting wheel is rotatably connected to the bracket, tracks are arranged on the driving wheel, the passive wheel and the supporting wheel, a driving motor is fixedly connected to the machine body, the driving motor is transmission-connected to the driving wheel, a connecting shaft is connected between the passive wheels on both sides of the machine body, a trough body is provided on the machine body, a groove is fixedly connected in the trough body, a plurality of batteries are arranged in the groove, a top plate is fixedly connected at the upper port of the trough body, a searchlight, an image collector and an antenna are respectively fixedly connected to the top plate.

[0009] Preferably, an angle steel is fixedly connected to the bottom end of the snow shovel bucket, and a shovel blade is fixedly connected to the front side of the angle steel.

[0010] Preferably, a plurality of holes are provided on the groove, and a supporting foot is fixedly connected to the bottom end of the groove, and the supporting foot fits with the inner bottom surface of the groove body.

[0011] Preferably, an angle adjustment mechanism is provided on the top plate, and the searchlight is mounted on the angle adjustment mechanism.

[0012] Preferably, a plurality of ribs are provided on the back side of the snow shovel bucket, and the front side of the bracket is connected to the ribs.

[0013] Preferably, a pan-tilt platform is provided on the top plate, and an image collector is mounted on the pan-tilt platform, and the image collector is a camera or a video camera.

[0014] Preferably, at least two image collectors are provided, and the two image collectors respectively collect images from the front and rear of the snow removal robot.

[0015] Preferably, a snow removal roller is rotatably connected to the front side of the snow shovel bucket, and the rotating shaft of the snow removal roller is horizontally arranged, leaving a gap between the snow removal roller and the ground.

[0016] Preferably, a solar panel is provided on the machine body, and the solar panel is electrically connected to a battery, and the battery is used to supply power to the regulating motor, the driving motor, the searchlight, the image collector and the antenna.

[0017] Preferably, a vent is provided on the tank body, and a fan is fixedly installed inside the tank body.

[0018] In the above technical scheme, the body is the main structure of the snow removal robot, which is used to play a supporting and bearing role; the fixed arm is located at the front side of the snow removal robot and plays a supporting role for the cantilever; when the adjusting motor rotates, the slider feeds on the threaded rod, so that the rear rod at the rear of the cantilever is pushed, and since the middle rod of the cantilever is rotatably connected to the fixed arm, the cantilever can be rotated within a certain range with the middle rod as the axis, so as to adjust the angle of the snow shovel bucket; the mounting seat plays a role in mounting and bearing the adjusting motor. The snow shovel bucket plays a role in pushing the accumulated snow as the robot moves, so that it is pushed to the edge of the road or a small flat field to achieve the snow removal effect. In terms of the robot's traveling mechanism, the driving wheel, the passive wheel, and the supporting wheel are all located on the crawler track, and the driving wheel is driven by the driving motor to provide power for the crawler track operation; the passive wheel and the supporting wheel play a supporting role for the crawler track, wherein the passive wheels located on both sides of the body are connected by a connecting shaft, so that the operation and force of the crawlers on both sides form a whole, and the supporting wheel is located on the bracket, and the tension of the crawler track can be adjusted by adjusting the bracket. The trough body is used to accommodate batteries, which are installed in the grooves. The top plate serves to seal the trough body on the one hand, and is used to install searchlights, image collectors, antennas and other components on the other hand. The searchlight provides light for the image collector, which is used to collect image information in the front and rear directions for viewing by remote control operators. The antenna is used to send and receive commands between the robot and the remote control operator.

[0019] The present invention provides a snow removal robot. The technical solution adopts a crawler-type travel mechanism, drives the crawler to operate with multiple driving wheels, and uses a connecting shaft to establish a synchronous transmission between the passive wheels on both sides, which fully guarantees the reliability and grip of the travel mechanism. At the same time, the operation path of the present invention is more flexible and suitable for working environments of small flat sites or complex sites; thanks to its remote control function, it can realize unattended work on site and has a higher degree of automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is the first structural diagram of the present invention as a whole;

[0021] Figure 2 It is the second structural diagram of the present invention as a whole;

[0022] Figure 3 It is a structural diagram of the fixed arm, cantilever and other components in the present invention;

[0023] Figure 4 It is a structural diagram of a snow shovel bucket in the present invention;

[0024] Figure 5 It is a structural diagram of the snow shovel bucket, fixed arm, cantilever and other components in the present invention;

[0025] Figure 6 It is a structural diagram of the traveling mechanism and the machine body in the present invention;

[0026] Figure 7 It is a structural diagram of the machine body, the internal parts of the tank body and the top parts of the machine body in the present invention;

[0027] Figure 8 It is a structural diagram of the internal components of the tank body in the present invention;

[0028] Fig. 9 It is a structural diagram of the top component of the machine body in the present invention;

[0029] In the figure:

[0030] DETAILED DESCRIPTION

[0031] The specific embodiments of the present invention will be described in detail below. In order to avoid too much unnecessary details, the well-known structures or functions will not be described in detail in the following examples. The approximate language used in the following examples can be used for quantitative expression, indicating that the quantity can be allowed to have a certain change without changing the basic function. Unless otherwise defined, the technical and scientific terms used in the following examples have the same meaning as those generally understood by those skilled in the art to which the present invention belongs.

[0032] Example 1

[0033] A snow removal robot, such as Figure 1 to Figure 9 As shown, it includes a body 1, a fixed arm 2, a cantilever 3, a middle rod 4, a rear rod 5, a slider 6, a threaded rod 7, an adjustment motor 8, a mounting seat 9, a snow shovel 10, a driving wheel 11, a passive wheel 12, a bracket 13, a supporting wheel 14, a driving motor 15, a connecting shaft 16, a trough 17, a groove 18, a battery 19, a top plate 20, a searchlight 21, an image collector 22, and an antenna 23, wherein the fixed arm 2 is fixedly connected to the front of the body 1, the middle rod 4 and the rear rod 5 are respectively provided in the middle and rear of the cantilever 3, the middle rod 4 is rotatably connected to the fixed arm 2, the slider 6 is fixedly connected to the rear rod 5, the slider 6 is threadedly connected to the threaded rod 7, the threaded rod 7 is connected to the main shaft of the adjustment motor 8, the adjustment motor 8 is rotatably connected to the mounting seat 9, and the mounting seat 9 is fixedly connected to the front of the body 1. A snowplow 10 is fixedly connected to the front of the cantilever 3, a plurality of driving wheels 11 and a plurality of passive wheels 12 are rotatably connected to the body 1 on both sides, brackets 13 are fixedly connected to the body 1 on both sides, and support wheels 14 are rotatably connected to the brackets 13, tracks are provided on the driving wheels 11, the passive wheels 12 and the support wheels 14, a driving motor 15 is fixedly connected to the body 1, the driving motor 15 is transmission-connected to the driving wheel 11, a connecting shaft 16 is connected between the passive wheels 12 on both sides of the body 1, a trough 17 is provided on the body 1, a groove 18 is fixedly connected in the trough 17, a plurality of batteries 19 are arranged in the groove 18, a top plate 20 is fixedly connected at the upper port of the trough 17, and a searchlight 21, an image collector 22 and an antenna 23 are respectively fixedly connected to the top plate 20.

[0034] In the above technical scheme, the body 1 is the main structure of the snow removal robot, which is used to support and bear the load; the fixed arm 2 is located at the front side of the snow removal robot, supporting the cantilever 3; when the adjustment motor 8 rotates, the slider 6 feeds on the threaded rod 7, so that the rear rod 5 at the rear of the cantilever 3 is pushed, and since the middle rod 4 of the cantilever 3 is rotatably connected to the fixed arm 2, the cantilever 3 can be rotated within a certain range with the middle rod 4 as the axis, so as to adjust the angle of the snow shovel 10; the mounting seat 9 plays a role in installing and bearing the adjustment motor 8. The snow shovel 10 pushes the snow as the robot moves, so that it is pushed to the edge of the road or a small flat field to achieve the snow removal effect. In terms of the robot's traveling mechanism, the driving wheel 11, the passive wheel 12, and the supporting wheel 14 are all located on the crawler. The driving wheel 11 is driven by the driving motor 15 to provide power for the crawler operation; the passive wheel 12 and the supporting wheel 14 support the crawler. The passive wheels 12 located on both sides of the body are connected by a connecting shaft 16, so that the operation and force of the crawlers on both sides form a whole. The supporting wheel 14 is located on the bracket 13, and the tension of the crawler can be adjusted by adjusting the bracket 13. The tank 17 is used to accommodate the battery 19, and the battery 19 is installed in the groove 18. The top plate 20, on the one hand, plays a sealing role for the tank 17, and on the other hand, is used to install the searchlight 21, the image collector 22, the antenna 23 and other components. The searchlight 21 provides light for the image collector 22, and the image collector 22 is used to collect image information in the front and rear directions for the remote control operator to watch. The antenna 23 is used to send and receive instructions between the robot and the remote control operator.

[0035] Example 2

[0036] A snow removal robot, such as Figure 1 to Figure 9As shown, it includes a body 1, a fixed arm 2, a cantilever 3, a middle rod 4, a rear rod 5, a slider 6, a threaded rod 7, an adjustment motor 8, a mounting seat 9, a snow shovel 10, a driving wheel 11, a passive wheel 12, a bracket 13, a supporting wheel 14, a driving motor 15, a connecting shaft 16, a trough 17, a groove 18, a battery 19, a top plate 20, a searchlight 21, an image collector 22, and an antenna 23, wherein the fixed arm 2 is fixedly connected to the front of the body 1, the middle rod 4 and the rear rod 5 are respectively provided in the middle and rear of the cantilever 3, the middle rod 4 is rotatably connected to the fixed arm 2, the slider 6 is fixedly connected to the rear rod 5, the slider 6 is threadedly connected to the threaded rod 7, the threaded rod 7 is connected to the main shaft of the adjustment motor 8, the adjustment motor 8 is rotatably connected to the mounting seat 9, and the mounting seat 9 is fixedly connected to the front of the body 1. A snow shovel 10 is fixedly connected to the front of the cantilever 3, a plurality of driving wheels 11 and a plurality of passive wheels 12 are rotatably connected to the two sides of the machine body 1, a bracket 13 is fixedly connected to the two sides of the machine body 1, a support wheel 14 is rotatably connected to the bracket 13, tracks are arranged on the driving wheels 11, the passive wheels 12 and the support wheels 14, a driving motor 15 is fixedly connected to the machine body 1, the driving motor 15 is transmission-connected to the driving wheel 11, a connecting shaft 16 is connected between the passive wheels 12 on both sides of the machine body 1, a slot 17 is arranged on the machine body 1, a groove 18 is fixedly connected in the slot 17, a plurality of batteries 19 are arranged in the groove 18, a top plate 20 is fixedly connected at the upper end of the slot 17, a searchlight 21, an image collector 22 and an antenna 23 are respectively fixedly connected to the top plate 20. Among them, an angle steel 24 is fixedly connected to the bottom end of the snow shovel 10, and a shovel blade 25 is fixedly connected to the front side of the angle steel 24. There are several holes 26 on the groove 18, and a support foot 27 is fixedly connected to the bottom end of the groove 18, and the support foot 27 is in contact with the inner bottom surface of the groove body 17. An angle adjustment mechanism 28 is provided on the top plate 20, and a searchlight 21 is installed on the angle adjustment mechanism 28. There are several ribs 29 on the back side of the snow shovel 10, and the front side of the bracket 13 is connected to the ribs 29. A pan-tilt is provided on the top plate 20, and an image collector 22 is installed on the pan-tilt, and the image collector 22 is a camera or a video camera. At least two image collectors 22 are provided, and the two image collectors 22 collect images toward the front and rear of the snow removal robot respectively. A snow removal roller is rotatably connected to the front side of the snow shovel 10, and the rotating shaft of the snow removal roller is horizontally arranged, leaving a gap between the snow removal roller and the ground. A solar panel is provided on the body 1, and the solar panel is electrically connected to the battery 19, and the battery 19 is respectively used to power the regulating motor 8, the driving motor 15, the searchlight 21, the image collector 22, and the antenna 23. A vent is provided on the tank 17, and a fan is fixedly installed inside the tank 17.

[0037] The embodiments of the present invention are described in detail above, but the contents are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the scope of the present invention shall be included in the protection scope of the present invention.

Claims

1. A snow removal robot, characterized in that The invention comprises a machine body (1), a fixed arm (2), a cantilever (3), a middle rod (4), a rear rod (5), a slider (6), a threaded rod (7), an adjustment motor (8), a mounting base (9), a snow shovel (10), a driving wheel (11), a passive wheel (12), a bracket (13), a supporting wheel (14), a driving motor (15), a connecting shaft (16), a trough body (17), a groove (18), a battery (19), a top plate (20), a searchlight (21), and an image acquisition device (22). , an antenna (23), wherein a fixed arm (2) is fixedly connected to the front of the body (1), a middle rod (4) and a rear rod (5) are respectively provided at the middle and rear of the cantilever (3), the middle rod (4) is rotatably connected to the fixed arm (2), a slider (6) is fixedly connected to the rear rod (5), the slider (6) is threadedly connected to the threaded rod (7), the threaded rod (7) is connected to the main shaft of the adjustment motor (8), the adjustment motor (8) is rotatably connected to the mounting seat (9), and the mounting seat (9) is fixedly connected A snow shovel (10) is fixedly connected to the front of the machine body (1) and the front of the cantilever (3); a plurality of driving wheels (11) and a plurality of passive wheels (12) are rotatably connected to both sides of the machine body (1); a bracket (13) is fixedly connected to both sides of the machine body (1); a support wheel (14) is rotatably connected to the bracket (13); tracks are provided on the driving wheel (11), the passive wheel (12) and the support wheel (14); a driving motor (15) is fixedly connected to the machine body (1); and the driving motor (15) is rotatably connected to the support wheel (14). ) is drivingly connected to a driving wheel (11), a connecting shaft (16) is connected between the passive wheels (12) on both sides of the machine body (1), a slot body (17) is provided on the machine body (1), a groove (18) is fixedly connected in the slot body (17), a plurality of batteries (19) are provided in the groove (18), a top plate (20) is fixedly connected at an upper end of the slot body (17), and a searchlight (21), an image collector (22) and an antenna (23) are respectively fixedly connected to the top plate (20).

2. A snow removal robot according to claim 1, characterized in that: An angle steel (24) is fixedly connected to the bottom end of the snow shoveling bucket (10), and a shovel blade (25) is fixedly connected to the front side of the angle steel (24).

3. The snow removal robot according to claim 1, characterized in that: The groove (18) is provided with a plurality of holes (26), and a support foot (27) is fixedly connected to the bottom end of the groove (18), and the support foot (27) is in contact with the inner bottom surface of the groove body (17).

4. The snow removal robot according to claim 1, characterized in that: An angle adjustment mechanism (28) is provided on the top plate (20), and the searchlight (21) is mounted on the angle adjustment mechanism (28).

5. The snow removal robot according to claim 1, characterized in that: A plurality of ribs (29) are provided on the back side of the snow shovel bucket (10), and the front side of the bracket (13) is connected to the ribs (29).

6. The snow removal robot according to claim 1, characterized in that: A pan platform is provided on the top plate (20), and an image collector (22) is mounted on the pan platform; the image collector (22) is a camera or a video camera.

7. The snow removal robot according to claim 1, characterized in that: At least two image collectors (22) are provided, and the two image collectors (22) respectively collect images in the front and rear of the snow removal robot.

8. The snow removal robot according to claim 1, characterized in that: A snow removal roller is rotatably connected to the front side of the snow shovel bucket (10), and the rotating shaft of the snow removal roller is arranged horizontally, leaving a gap between the snow removal roller and the ground.

9. The snow removal robot according to claim 1, characterized in that: A solar panel is provided on the machine body (1), and the solar panel is electrically connected to a battery (19). The battery (19) supplies power to the regulating motor (8), the driving motor (15), the searchlight (21), the image collector (22), and the antenna (23).

10. The snow removal robot according to claim 1, characterized in that: A vent is provided on the tank body (17), and a fan is fixedly installed inside the tank body (17).

Images