Multi-scene self-adaptive snow and ice removing robot and operation method thereof

Abstract

The invention discloses a multi-scene self-adaptive snow and ice removing robot and an operation method thereof, and relates to the technical field of robotics.The robot comprises a snow box, a snow shoveling bucket is arranged at the front end of the snow box, a snow crushing structure used for crushing accumulated snow in the snow shoveling bucket is arranged in the snow shoveling bucket, and a partition plate is fixed in the snow box; the interior of the snow box is sequentially divided into a transmission area and a snow accumulation area from top to bottom through a partition plate, the interior of the snow accumulation area is connected with a snow shoveling bucket through a connecting hose, and a snow suction structure used for sucking broken snow into the snow accumulation area is arranged in the snow shoveling bucket. The snow shoveling bucket is provided with the snow crushing structure, accumulated snow can be preliminarily crushed, and follow-up treatment is facilitated; the snow suction structure can quickly suck broken snow into a snow accumulation area of the snow box, so that the snow removal efficiency is improved; a crushing structure in the snow box further refines accumulated snow, and conditions are created for efficient snow melting; and the snow melting piece realizes quick melting of accumulated snow.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a multi-scene adaptive snow and ice removing robot and a working method thereof. BACKGROUND

[0002] In winter, snow accumulation and icing phenomenon bring great inconvenience and safety hazards to people's travel, transportation operation and various outdoor activities. Therefore, it is crucial to timely and effectively remove snow and ice.

[0003] Most of the existing snow removing equipment has single function, and can only complete a certain specific link in the snow removing process. For example, some equipment only has the function of snow shoveling, which piles the accumulated snow to one side through a mechanical shovel, but has no ability to process the subsequent snow. This leads to the need for multiple devices with different functions to work together to complete the whole process from snow shoveling to snow processing in actual operation. This multi-device cooperation method not only increases the purchase cost and use cost of the equipment, but also greatly reduces the efficiency of snow removing operation due to the need for frequent coordination and conversion of the equipment during operation.

[0004] Therefore, the present application provides a multi-scene adaptive snow and ice removing robot and a working method thereof to eliminate the drawbacks of the existing robots. SUMMARY

[0005] The present application aims to provide a multi-scene adaptive snow and ice removing robot and a working method thereof to solve the problems in the background art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] A multi-scene adaptive snow and ice removing robot comprises a snow box, a snow shovel is arranged at the front end of the snow box, a snow crushing structure is arranged inside the snow shovel for crushing the snow accumulated inside the snow shovel, a partition is fixed inside the snow box, the snow box is divided into a transmission area and a snow accumulation area from top to bottom by the partition, the snow accumulation area is connected to the snow shovel through a connecting hose, a snow suction structure is arranged inside the snow shovel for sucking the crushed snow into the snow accumulation area, a crushing structure is arranged inside the snow box for crushing the snow accumulated in the snow accumulation area, a snow melting device is further arranged inside the snow box for melting the snow, the snow accumulation area is connected to the outside through a water outlet pipe, a base is fixed at the lower end of the snow box, and moving devices are arranged on the left and right sides of the base.

[0008] Preferably, the broken snow structure includes a motor I installed at one end of the snow shovel, and the output end of the motor I extends to the inside of the snow shovel to be fixedly connected with a rotating rod, a plurality of connecting plates are fixed on the rotating rod, the connecting plates are fixedly connected with the ice breaking blades, and a connecting piece is arranged in the middle of the rotating rod, and the rotating rod is connected with the snow suction structure through the connecting piece.

[0009] Preferably, the connecting piece includes a bevel gear I and a bevel gear II, the bevel gear I is fixedly connected with the rotating rod, the bevel gear I is meshingly connected with the bevel gear II, and the bevel gear II is connected with the snow suction structure.

[0010] Preferably, the snow suction structure includes a rotating shaft, one end of the rotating shaft is fixedly connected with the bevel gear II, and the other end of the rotating shaft is fixedly connected with a fan.

[0011] Preferably, the broken structure includes a motor II installed on the upper end of the snow box, the output end of the motor II extends to the inside of the transmission area to be fixedly connected with a gear II, the gear II is meshingly connected with two gear III in the transmission area, the two gear III are meshed with a tooth ring, and the lower ends of the gear II and the two gear III are fixedly connected with three broken pieces in the snow accumulation area.

[0012] Preferably, the broken piece includes a transmission shaft, a broken blade is fixed on the outer wall of the transmission shaft, and the three transmission shafts are fixedly connected with the lower ends of the gear II and the two gear III.

[0013] Preferably, the snow melting piece includes a connecting pipe in the transmission area, a hopper is fixedly installed on the top of the snow box through the extension of the upper end of the connecting pipe, and a spray head is fixedly installed in the snow accumulation area through the extension of the lower end of the connecting pipe.

[0014] Preferably, a plurality of snow shovel teeth are fixedly arranged on the bottom of the front end of the snow shovel, and the moving piece adopts a track type structure.

[0015] Based on the above-mentioned working method of the multi-scene self-adaptive snow and ice removing robot, the following steps are included:

[0016] Step one: the operator starts the robot, and moves the robot to the working area where snow and ice need to be removed by controlling the moving piece;

[0017] Step two: during the forward movement of the robot, the snow shovel teeth at the front end of the snow shovel first contact the snow or ice layer, shovel the snow or ice layer and push it into the inside of the snow shovel;

[0018] Step three: start the motor I, the motor I drives the rotating rod to rotate, the connecting plates and the ice breaking blades on the rotating rod rotate, and the larger snow or ice blocks in the inside of the snow shovel are broken to become smaller snow blocks or ice particles;

[0019] Step four: when the rotating rod rotates, the rotating shaft is driven to rotate through the meshing of bevel gear one and bevel gear two, and the fan is driven to rotate by the rotating shaft, thereby generating negative pressure in the snow bucket to suck the broken snow or ice particles into the snow accumulation area in the snow bucket through the connecting hose;

[0020] Step five: start motor two, and the motor two drives gear two to rotate, the gear two drives two gear threes meshing therewith to rotate, and the two gear threes drive the gear ring to rotate, realizing gear transmission in the transmission area; the gear two and the two gear threes respectively drive three breaking pieces located in the snow accumulation area to rotate, the transmission shaft of the breaking piece drives the breaking blade to rotate, and the breaking piece is broken again to make the snow or ice particles more fine;

[0021] Step six: the prepared snow-melting agent is poured into the connecting pipe through the hopper, and the snow-melting agent is sprayed from the nozzle along the connecting pipe and uniformly sprayed on the broken snow in the snow accumulation area, so that the snow-melting agent and the snow react chemically to melt the snow into water;

[0022] Step seven: after the snow is melted into water, the snow water is discharged from the snow box through the water outlet pipe.

[0023] Compared with the prior art, the beneficial effects of the present application are as follows:

[0024] 1、The snow bucket of the present application is equipped with a snow breaking structure, which can preliminarily break the snow, facilitating subsequent processing; the snow suction structure can quickly suck the broken snow into the snow accumulation area of the snow box, improving the snow removal efficiency; the breaking structure in the snow box further refines the snow, creating conditions for efficient snow melting; and the snow melting piece realizes rapid melting of the snow.

[0025] 2、The present application integrates multiple snow removal steps in one device through integrated design, realizing continuous and efficient snow removal operation; the double breaking action of the snow breaking structure and the breaking structure makes the snow more easily sucked by the snow suction structure and melted by the snow melting piece, greatly shortening the snow removal time. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 The figure is a structural schematic diagram of the present application.

[0027] Figure 2 The figure is a structural schematic diagram of the snow removing structure of the present application.

[0028] Figure 3 The figure is a structural schematic diagram of the breaking structure of the present application.

[0029] Figure 4 The figure is a structural schematic diagram of the internal structure of the present application.

[0030] Notes on the accompanying drawings: 1. Snow box; 11. Connecting hose; 111. Partition; 12. Water outlet pipe; 13. Transmission area; 14. Snow accumulation area; 2. Base; 21. Moving part; 3. Snow shovel; 31. Snow shovel teeth; 4. Crushing structure; 41. Motor 2; 42. Crushing part; 421. Transmission shaft; 422. Crushing blade; 43. Gear 2; 44. Gear 3; 45. Gear ring; 5. Snow melting part; 51. Funnel; 52. Connecting pipe; 53. Nozzle; 6. Snow crushing structure; 61. Motor 1; 62. Rotating rod; 63. Connecting plate; 64. Ice-breaking blade; 65. Connecting part; 651. Bevel gear 1; 652. Bevel gear 2; 7. Snow suction structure; 71. Rotating shaft; 72. Fan. DETAILED DESCRIPTION

[0031] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.

[0032] Example 1

[0033] In one embodiment, Figures 1-4 As shown, a multi-scene adaptive snow and ice removal robot includes a snow box 1, a snow shoveling bucket 3 is provided at the front end of the snow box 1, and a snow crushing structure 6 is provided inside the snow shoveling bucket 3 for crushing the snow accumulated in the snow shoveling bucket 3, a partition 111 is fixed inside the snow box 1, and the interior of the snow box 1 is divided into a transmission area 13 and a snow accumulation area 14 from top to bottom by the partition 111, the interior of the snow accumulation area 14 is connected to the snow shoveling bucket 3 through a connecting hose 11, and a snow suction structure 7 for pumping crushed snow into the snow accumulation area 14 is provided inside the snow shoveling bucket 3, a crushing structure 4 for crushing the snow accumulated in the snow accumulation area 14 is provided inside the snow box 1, and a snow melting part 5 for melting snow is also provided inside the snow box 1, and the snow accumulation area 14 is connected to the outside through a water outlet pipe 12, and a base 2 is fixed at the lower end of the snow box 1, and movable parts 21 are provided on the left and right sides of the base 2.

[0034] In this embodiment, first, the moving pieces 21 on both sides of the base 2 drive the entire robot to move in a snow-covered scene. When the robot is moving, the front snow shovel 3 contacts the snow and shovels the snow into the snow shovel 3. At this time, the snow crushing structure 6 inside the snow shovel 3 starts to work and preliminarily crushes the snow entering the snow shovel 3, so that the snow is more loose and convenient for subsequent operation; then, the snow suction structure 7 works and sucks the preliminarily crushed snow into the snow area 14 inside the snow box 1 through the connecting hose 11. After the snow enters the snow area 14, the crushing structure 4 inside the snow box 1 further crushes the snow to ensure that the snow is fully crushed and refined; then, the snow melting piece 5 starts to melt the snow in the snow area 14 into snow water; finally, the snow water melted in the snow area 14 is discharged to the outside through the water outlet pipe 12, thereby completing the entire snow and ice removal work process.

[0035] In an optional embodiment, the snow crushing structure 6 includes a motor one 61 installed at one end of the snow shovel 3, the output end of the motor one 61 extends to the inside of the snow shovel 3 and is fixedly connected with a rotating rod 62, a plurality of connecting plates 63 are fixed on the rotating rod 62, the connecting plates 63 are fixedly connected with ice breaking blades 64, a connecting piece 65 is arranged in the middle of the rotating rod 62, and the rotating rod 62 is connected with the snow suction structure 7 through the connecting piece 65.

[0036] It should be noted that the motor one 61 provides power for the snow crushing structure 6, the rotating rod 62 serves as a transmission component and transmits the rotating motion of the motor one 61 to the connecting plates 63 and the ice breaking blades 64, the connecting plates 63 serve to connect and support the ice breaking blades 64, the ice breaking blades 64 directly crush the snow or ice, and the connecting piece 65 realizes power transmission between the snow crushing structure 6 and the snow suction structure 7.

[0037] In an optional embodiment, the connecting piece 65 includes a bevel gear one 651 and a bevel gear two 652, the bevel gear one 651 is fixedly connected with the rotating rod 62, the bevel gear one 651 is meshingly connected with the bevel gear two 652, and the bevel gear two 652 is connected with the snow suction structure 7.

[0038] It should be noted that the meshing connection mode of the bevel gear one 651 and the bevel gear two 652 can change the transmission direction and convert the horizontal rotating motion of the rotating rod 62 into the rotating motion in the vertical direction (or other suitable direction for the work of the snow suction structure 7), thereby realizing effective power transmission between the snow crushing structure 6 and the snow suction structure 7 and making the structure layout of the entire robot more reasonable and compact.

[0039] In an optional embodiment, the snow suction structure 7 includes a rotating shaft 71, one end of the rotating shaft 71 is fixedly connected with the bevel gear two 652, and the other end of the rotating shaft 71 is fixedly connected with a fan 72.

[0040] It should be noted that the rotating shaft 71 is the transmission core component of the snow suction structure 7, which transmits the rotating power from the bevel gear 652 to the fan 72. The fan 72 rotates to generate negative pressure inside the snow shovel 3, which is a key link to realize the suction of broken snow blocks or ice particles into the snow accumulation area 14 of the snow box 1. The suction force and stability directly affect the snow suction effect.

[0041] In an optional embodiment, the crushing structure 4 includes a motor 41 installed on the upper end of the snow box 1. The output end of the motor 41 extends into the transmission area 13 and is fixedly connected with a gear 43. The gear 43 is engaged with two gears 44 inside the transmission area 13. The two gears 44 are engaged with a toothed ring 45. The lower ends of the gear 43 and the two gears 44 are fixedly connected with three crushing pieces 42 located inside the snow accumulation area 14.

[0042] It should be noted that the motor 41 provides power for the crushing structure 4. Through the gear transmission system composed of the gear 43, the gear 44 and the toothed ring 45, the single rotating motion of the motor 41 is distributed to the three crushing pieces 42, so that the three crushing pieces 42 can simultaneously perform secondary crushing on the snow blocks or ice particles in the snow accumulation area 14, thereby improving the crushing efficiency and crushing effect and ensuring that the snow can be fully and finely crushed for subsequent reaction with the snow melting agent.

[0043] In an optional embodiment, the crushing piece 42 includes a transmission shaft 421, and the outer wall of the transmission shaft 421 is fixedly connected with a crushing blade 422. The lower ends of the three transmission shafts 421 are fixedly connected with the gear 43 and the two gears 44.

[0044] It should be noted that the transmission shaft 421 transmits the rotating power from the gear transmission system to the crushing blade 422, which directly contacts with the snow or ice particles and crushes them through rotating motion. The reasonable layout and cooperative work of the three crushing pieces 42 can cover a larger space range in the snow accumulation area 14, ensuring that the snow is fully and uniformly crushed.

[0045] In an optional embodiment, the snow melting piece 5 includes a connecting pipe 52 located inside the transmission area 13. The upper end of the connecting pipe 52 extends to the top of the snow box 1 and is fixedly connected with a hopper 51. The lower end of the connecting pipe 52 extends into the snow accumulation area 14 and is fixedly connected with a spray head 53.

[0046] It should be noted that the hopper 51 facilitates the operator to pour the snow melting agent. The connecting pipe 52 serves as a conveying channel for the snow melting agent, guiding the snow melting agent from the hopper 51 to the spray head 53 inside the snow accumulation area 14. The spray head 53 can uniformly spray the snow melting agent on the crushed snow, so that the snow melting agent fully contacts with the snow and chemical reaction occurs, thereby achieving the purpose of rapid snow melting.

[0047] In an optional embodiment, the snow bucket 3 is fixed with a plurality of snow teeth 31 at the front end thereof, and the moving member 21 adopts a track type structure.

[0048] It should be noted that the snow teeth 31 can enhance the contact friction between the front end of the snow bucket 3 and the snow or ice layer, and more effectively shovel and push the snow or ice layer into the snow bucket 3. The moving member 21 adopts a track type structure, which has a larger contact area and better grip than a wheel type structure, and can provide more stable moving performance on complex road conditions such as snow and ice, to ensure that the robot can work smoothly in various harsh environments.

[0049] Embodiment two

[0050] A working method of a multi-scene adaptive snow and ice removing robot, comprising the following steps:

[0051] Step one: the operator starts the robot, and moves the robot to the working area where snow and ice removing is needed by controlling the moving member 21;

[0052] Step two: during the forward movement of the robot, the snow teeth 31 at the front end of the snow bucket 3 first contact the snow or ice layer, and shovel and push the snow or ice layer into the snow bucket 3;

[0053] Step three: start the motor one 61, the motor one 61 drives the rotating rod 62 to rotate, the connecting plate 63 and the ice breaking blade 64 on the rotating rod 62 rotate accordingly, and the larger snow or ice blocks in the snow bucket 3 are broken to make them into smaller snow blocks or ice particles;

[0054] Step four: when the rotating rod 62 rotates, the bevel gear one 651 meshes with the bevel gear two 652 to drive the rotating shaft 71 to rotate, the rotating shaft 71 drives the fan 72 to rotate, and a negative pressure is generated in the snow bucket 3 to suck the broken snow blocks or ice particles into the snow accumulation area 14 in the snow box 1 through the connecting hose 11;

[0055] Step five: start the motor two 41, the motor two 41 drives the gear two 43 to rotate, the gear two 43 drives the two gear threes 44 meshing therewith to rotate, the two gear threes 44 drive the gear ring 45 to rotate, realizing the gear transmission in the transmission area 13, the gear two 43 and the two gear threes 44 drive the three breaking members 42 located in the snow accumulation area 14 to rotate respectively, the transmission shaft 421 of the breaking member 42 drives the breaking blade 422 to rotate, and the snow blocks or ice particles sucked into the snow accumulation area 14 are broken again to make them more fine;

[0056] Step six: the prepared snow-melting agent is poured into the connecting pipe 52 through the funnel 51, and the snow-melting agent is sprayed from the spray head 53 along the connecting pipe 52 and uniformly sprayed on the crushed snow in the snow accumulation area 14, so that the snow-melting agent reacts with the snow to melt the snow into water;

[0057] Step seven: after the snow is melted into water, the snow water is discharged from the snow box 1 through the water outlet pipe 12.

[0058] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of changes or replacements within the technical range disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A multi-scenario adaptive snow and ice removal robot, characterized in that: The invention comprises a snow box (1), wherein a snow shoveling bucket (3) is provided at the front end of the snow box (1), and a snow crushing structure (6) for crushing the snow accumulated in the snow shoveling bucket (3) is provided inside the snow shoveling bucket (3), and a partition (111) is fixed inside the snow box (1). The interior of the snow box (1) is sequentially divided into a transmission area (13) and a snow accumulation area (14) from top to bottom by the partition (111), and the interior of the snow accumulation area (14) is connected to the snow shoveling bucket (3) through a connecting hose (11). A snow suction structure (7) for pumping crushed snow into a snow accumulation area (14) is provided inside the snow bucket (3); a crushing structure (4) for crushing the snow accumulated in the snow accumulation area (14) is provided inside the snow box (1); a snow melting part (5) for melting snow is also provided inside the snow box (1); the snow accumulation area (14) is connected to the outside through a water outlet pipe (12); a base (2) is fixed at the lower end of the snow box (1); and movable parts (21) are provided on the left and right sides of the base (2).

2. The multi-scenario adaptive snow and ice removal robot according to claim 1, characterized in that: The snow crushing structure (6) comprises a motor (61) installed at one end of the snow shoveling bucket (3), the output end of the motor (61) extends to the interior of the snow shoveling bucket (3) and is fixedly connected to a rotating rod (62), a plurality of connecting plates (63) are fixed on the rotating rod (62), the connecting plates (63) are fixedly connected to the ice-breaking blade (64), a connecting piece (65) is provided in the middle of the rotating rod (62), and the rotating rod (62) is connected to the snow suction structure (7) through the connecting piece (65).

3. The multi-scenario adaptive snow and ice removal robot according to claim 2, characterized in that: The connecting member (65) includes a bevel gear 1 (651) and a bevel gear 2 (652), wherein the bevel gear 1 (651) is fixedly connected to the rotating rod (62), the bevel gear 1 (651) is meshedly connected to the bevel gear 2 (652), and the bevel gear 2 (652) is connected to the snow suction structure (7).

4. The multi-scenario adaptive snow and ice removal robot according to claim 3, characterized in that: The snow suction structure (7) comprises a rotating shaft (71), one end of the rotating shaft (71) is fixedly connected to the second bevel gear (652), and the other end of the rotating shaft (71) is fixedly connected to the fan (72).

5. The multi-scenario adaptive snow and ice removal robot according to claim 1, characterized in that: The crushing structure (4) includes a second motor (41) installed at the upper end of the snow box (1), the output end of the second motor (41) extends to the inside of the transmission area (13) and is fixedly connected to the second gear (43), the second gear (43) is meshed with two third gears (44) inside the transmission area (13), the two third gears (44) are meshed with the gear ring (45), and the lower ends of the second gear (43) and the two third gears (44) are respectively fixedly connected to three crushing members (42) located inside the snow accumulation area (14).

6. The multi-scenario adaptive snow and ice removal robot according to claim 5, characterized in that: The crushing member (42) includes a transmission shaft (421), a crushing blade (422) is fixed on the outer wall of the transmission shaft (421), and the three transmission shafts (421) are respectively fixedly connected to the lower ends of gear 2 (43) and two gear 3s (44).

7. The multi-scenario adaptive snow and ice removal robot according to claim 1, characterized in that: The snow melting unit (5) comprises a connecting pipe (52) located inside the transmission area (13); the upper end of the connecting pipe (52) extends to the top of the snow box (1) and is fixedly mounted with a funnel (51); the lower end of the connecting pipe (52) extends to the inside of the snow accumulation area (14) and is fixedly mounted with a nozzle (53).

8. The multi-scenario adaptive snow and ice removal robot according to claim 1, characterized in that: A plurality of snow shoveling teeth (31) are fixed to the bottom of the front end of the snow shoveling bucket (3), and the moving part (21) adopts a crawler structure.

9. An operating method of a multi-scenario adaptive snow and ice removal robot according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step 1: The operator starts the robot and controls the moving part (21) to move the robot to the operation area where snow and ice removal is required; Step 2: As the robot moves forward, the snow shoveling teeth (31) at the front end of the snow shoveling bucket (3) first contact the snow or ice layer, shoveling the snow or ice layer and pushing it into the snow shoveling bucket (3); Step 3: Start the motor 1 (61), the motor 1 (61) drives the rotating rod (62) to rotate, and the connecting plate (63) and the ice-breaking blade (64) on the rotating rod (62) rotate accordingly, breaking the larger pieces of snow or ice inside the snow shovel bucket (3) into smaller pieces of snow or ice particles; Step 4: When the rotating rod (62) rotates, the bevel gear 1 (651) and the bevel gear 2 (652) are meshed to drive the rotating shaft (71) to rotate, and the rotating shaft (71) drives the fan (72) to rotate, thereby generating negative pressure inside the snow shovel bucket (3), and sucking the crushed snow blocks or ice particles into the snow accumulation area (14) of the snow box (1) through the connecting hose (11); Step 5: Start the second motor (41), the second motor (41) drives the second gear (43) to rotate, the second gear (43) drives the two third gears (44) meshing with it to rotate, the two third gears (44) in turn drive the gear ring (45) to rotate, thereby realizing the gear transmission in the transmission area (13), the second gear (43) and the two third gears (44) respectively drive the three crushing members (42) located inside the snow accumulation area (14) to rotate, the transmission shaft (421) of the crushing member (42) drives the crushing blade (422) to rotate, and the snow blocks or ice particles sucked into the snow accumulation area (14) are crushed for a second time to make them more finely broken; Step 6: Pour the prepared snow-melting agent into the connecting pipe (52) through the funnel (51), and the snow-melting agent is sprayed out from the nozzle (53) along the connecting pipe (52) and evenly sprinkled on the crushed snow in the snow accumulation area (14). The snow-melting agent reacts chemically with the snow, causing the snow to melt into water; Step 7: After the accumulated snow melts into water, the snow water is discharged from the snow box (1) through the water outlet pipe (12).

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