Integrated road crack grass cleaning, sucking and picking device and method and motor sweeper

Abstract

The invention discloses an integrated road crack grass cleaning, sucking and picking device and method and a sweeper, and belongs to the technical field of road maintenance equipment. The integrated road crack grass cleaning, sucking and picking device comprises a supporting frame, a multi-degree-of-freedom mechanical arm and a negative pressure sucking and picking assembly; the operation end of the multi-degree-of-freedom mechanical arm is fixedly connected with a cutting device, the moving end of the multi-degree-of-freedom mechanical arm is arranged above the front end of the supporting frame in a sliding mode in the horizontal direction, a steel wire brush in the cutting device is used for cleaning road crack grass, and the negative pressure suction and pickup assembly comprises a negative pressure fan, a settling box and a conveying pipeline which are fixed to the supporting frame. The conveying pipeline is located on one side of the multi-degree-of-freedom mechanical arm, an inlet of the conveying pipeline is connected with a dust suction port, the dust suction port is close to the ground and is arranged behind the steel wire brush, an inlet of the settling box is communicated with an outlet of the conveying pipeline, and the negative pressure fan is communicated with the outlet of the settling box through a suction pipeline. And the subsequent manual cleaning link is reduced.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of highway maintenance equipment, and particularly relates to an integrated highway joint grass cleaning and sucking device, method and sweeper. BACKGROUND

[0002] In the modern transportation technology system, as a core infrastructure component, the running state of the highway is positively correlated with the regional logistics efficiency and the traffic system running stability. However, the surge in highway mileage and traffic flow has brought severe challenges to highway maintenance, especially the problem of joint grass treatment. In spring and summer, grass and wood grow wildly in the joint of the highway, not only from the joint of the road surface and the road shoulder, expansion joints and other places, but also damage the linear fluency and landscape coordination of the highway, and block the drainage channel due to the root spread, leading to the infiltration of road surface water and erosion of the road surface, and accelerating the aging of the asphalt pavement.

[0003] The current traditional cleaning method for joint grass is manual cleaning, which causes the following significant disadvantages: first, the maintenance workers need to work for a long time, with high labor intensity and low efficiency, and it is easy to leave grass roots and miss weeds due to operation differences; second, when the maintenance workers work in the traffic, highway maintenance accidents are sometimes unavoidable, with high safety risk; third, the herbicide used in chemical weeding can penetrate into the soil, destroy the aggregate structure and inhibit the survival of microorganisms, and finally threaten the soil ecology.

[0004] In terms of mechanical cleaning devices, there are currently related equipment such as hydraulic grass chopper, vehicle-mounted hedge trimmer and grass cutting robot, which can avoid the above problems and have significantly higher efficiency than manual cleaning. However, the core components often involve waterproof motors, hydraulic systems, obstacle avoidance sensors and remote control operation to adapt to complex terrain, but are prone to wear and tear, and the blades need to be replaced frequently, with high long-term use cost. In addition, the Chinese invention patent with the application number 202510674898.9 and the name of "a highway multifunctional cleaning comprehensive device, method and maintenance vehicle" can also flexibly swing to clean the joint grass and significantly improve the cleaning effect, but the device is mainly driven by a swing cylinder, which is not flexible enough, and cannot solve the collection and processing problem after cleaning the joint grass. SUMMARY

[0005] In view of the problem that the existing technology cannot solve the collection and processing problem after cleaning the joint grass, the application provides an integrated highway joint grass cleaning and sucking device, method and sweeper, which is efficient, environmentally friendly, and can achieve the three goals of precise harvesting, efficient operation and green environmental protection, and can remove weeds from the joint of the road surface and the road shoulder, expansion joints and other parts.

[0006] The application is realized by the following technical solutions: The application discloses a one-piece road joint grass cleaning and sucking device which comprises a support frame, a negative pressure sucking assembly and a multi-degree-of-freedom mechanical arm. The operating end of the multi-degree-of-freedom mechanical arm is fixedly connected with a cutting device, the moving end of the multi-degree-of-freedom mechanical arm is arranged above the front end of the support frame in a sliding mode along the horizontal direction, and the steel wire brush in the cutting device is used for cleaning the road joint grass. The negative pressure sucking assembly comprises a negative pressure fan fixed on the support frame, a conveying pipeline, a settling tank and a sucking pipeline, the conveying pipeline is located on one side of the multi-degree-of-freedom mechanical arm, the inlet of the conveying pipeline is connected with a dust suction port, the dust suction port is close to the ground and is arranged behind the steel wire brush, the inlet of the settling tank is in communication with the outlet of the conveying pipeline, and the negative pressure fan is in communication with the outlet of the settling tank through the sucking pipeline.

[0007] The application further improves that: The multi-degree-of-freedom mechanical arm comprises a driving arm, a connecting arm and an operating arm, one end of the driving arm is installed on a driving arm base through a driving arm motor, the driving arm base is arranged above the front end of the support frame in a sliding mode along the horizontal direction, a connecting arm motor is installed at the joint of the other end of the driving arm and one end of the connecting arm, an operating arm motor is installed at the joint of the other end of the connecting arm and one end of the operating arm, and the other end of the operating arm is fixedly connected with the cutting device.

[0008] The cutting device comprises a brush disc support and a brush disc, the upper end of the brush disc support is fixedly connected with the other end of the operating arm, the lower end of the brush disc support is fixedly connected with the upper end face of the brush disc, the lower end face of the brush disc is detachably installed with the steel wire brush, an asynchronous motor is installed at the center of the brush disc, and the steel wire brush is driven to rotate in working.

[0009] Further, the brush disc support comprises a cross beam and connecting rods located at the lower end faces of the two ends of the cross beam, one end of each connecting rod is hingedly connected with the lower end face of the corresponding end of the cross beam, and the lower end face of the other end of each connecting rod is connected with the corresponding brush disc. The first spring and the second spring are symmetrically distributed on the lower end faces of the cross beam and the connecting rods, one end of the first spring is close to the center of the cross beam, the other end of the first spring is close to the corresponding brush disc, the cross beam and the corresponding connecting rod are perpendicular when the first spring is in a natural state, the cross beam and the corresponding connecting rod are perpendicular when the second spring is in a natural state, and gaps are left between the brush discs when the first spring and the second spring are both in a natural state.

[0010] The driving arm base is slidably arranged on the vertical guide rail through a sliding block, the guide rail is fixed on a guide rail support, and the guide rail support is fixed on the front end of the support frame. The guide rail support is L-shaped, the horizontal edge of the guide rail support is fixed on the upper support surface of the front end of the support frame, the horizontal edge of the guide rail support extends vertically upward, the first extension edge is lower than the vertical edge of the guide rail support and extends horizontally inward, and then extends vertically downward, and the second extension edge is fixed on the outer side wall of the guide rail.

[0011] The support frame is horizontally arranged, the negative pressure fan and the settling tank are fixed on the upper surface of the support frame, the settling tank is arranged behind the negative pressure fan, the outlet of the settling tank is close to the inlet of the negative pressure fan, and the outlet of the settling tank is communicated with the inlet of the negative pressure fan through the suction pipeline. The conveying pipeline is arranged in a plurality of bending sections and comprises an adsorption section, a main body section and an input section which are communicated with each other in sequence, the main body section is arranged in a straight line on the side wall of the support frame, the adsorption section is arranged in a vertical line and is communicated with the dust suction port at the lower end surface and with the front end of the main body section at the upper end surface, the main body section and the input section form an L-shaped structure, the input section is L-shaped, the horizontal edge of the input section is fixed on the upper surface of the support frame, one end of the horizontal edge of the input section is communicated with the rear end of the main body section, and the upper end of the vertical edge of the input section is communicated with the inlet of the settling tank.

[0012] The settling tank has a rectangular cross section and a length dimension decreasing from top to bottom, a rectangular opening is formed in the top of the settling tank and communicated with the two side walls, a screen is arranged in the opening, and an arc-shaped baffle is arranged on the side wall of the settling tank close to the negative pressure fan, the arc-shaped baffle is bent downward and the top of the arc-shaped baffle is close to the inner wall of the top of the settling tank. An air exhaust cavity is arranged on the upper surface of the top of the settling tank and opens downward, the air exhaust cavity covers the screen, and the outlet of the air exhaust cavity is communicated with the inlet of the negative pressure fan through the suction pipeline.

[0013] An integrated highway crack grass cleaning and suction method is provided based on the integrated highway crack grass cleaning and suction device, the moving end of the multi-degree-of-freedom mechanical arm slides in the horizontal direction, the operating end of the multi-degree-of-freedom mechanical arm is moved above the highway crack grass, the multi-degree-of-freedom mechanical arm drives the steel wire brush to contact the highway crack grass, the steel wire brush cleans the highway crack grass, the negative pressure fan generates negative pressure power, the dust suction port forms a local negative pressure field through the settling tank and the conveying pipeline in sequence, and the generated grass, dust and airflow are sucked into the settling tank through the conveying pipeline.

[0014] The grass, dust and airflow enter the settling tank downward through the blocking of the arc-shaped baffle, then one airflow which is relatively separated from the grass and dust moves upward and enters the screen along the inner wall of the top of the settling tank, another airflow mixed with the grass and dust moves downward and collides with the bottom of the settling tank, the grass stays at the bottom of the settling tank, the other airflow and the dust move upward along the inner wall of the settling tank and enter the screen, and the two airflows are filtered and then enter the negative pressure fan through the outlet of the air exhaust cavity and the suction pipeline in sequence and are discharged.

[0015] The integrated highway joint grass cleaning sweeper is based on the integrated highway joint grass cleaning and sucking device in any one of the above, the support frame is the frame of the sweeper, and the multi-degree-of-freedom mechanical arm is in front of the head of the sweeper.

[0016] Compared with the prior art, the present application has the following beneficial technical effects: The integrated highway joint grass cleaning and sucking device needs to be accurately adjusted according to the actual situation of the working section before actual operation. The highway conditions are various and complex. Because the growth environments of joint grasses in different sections are quite different, there are conditions such as road surface undulation, road shoulder slope, road curb stone change and uneven distribution of weeds, and therefore a multi-degree-of-freedom mechanical arm is the key to adapt to these complex terrains. The moving end of the multi-degree-of-freedom mechanical arm can slide in the horizontal direction, the rotary joint of the multi-degree-of-freedom mechanical arm can flexibly move in the three-dimensional space, the operating end can be moved above the joint grass of the highway, the steel wire brush is brought into contact with the joint grass of the highway, the steel wire brush cleans the joint grass of the highway, and the negative pressure power is generated by the negative pressure fan, sequentially passes through the settling tank and the conveying pipeline to form a local negative pressure field of the dust suction port, and the generated grass clippings, dust and airflow are sucked into the settling tank through the conveying pipeline. The integrated design of the mechanical arm positioning, the steel wire brush cutting and the negative pressure collection is used to solve the problem of weed cleaning in the joint of the highway pavement and the road shoulder, the expansion joint and the like, and to realize accurate positioning, accurate cutting and efficient collection of the joint grass of the highway. The multi-degree-of-freedom mechanical arm can quickly and accurately adjust its own posture according to the actual conditions of the road surface and the height of the joint grass, and ensure that the steel wire brush installed at the front end of the mechanical arm always maintains the best contact state with the joint grass, thereby laying a solid foundation for subsequent efficient weeding work. After the mechanical arm is adjusted in place, cutting and collection are simultaneously carried out. The steel wire brush rotates at high speed to play a core function and accurately cut weeds with strong cutting capacity. No matter whether the weeds are strong in vitality, have developed root systems or are just germinated, they can be quickly cut off. The negative pressure fan is immediately started when the steel wire brush is working. The negative pressure collection assembly is the key guarantee for efficient operation of the joint grass cleaning machine. Strong suction is quickly generated at the dust suction port during cutting. The steel wire brush throws the cut weeds to the suction area. The suction force generated by the negative pressure fan quickly sucks the grass clippings into the closed settling tank. The design of simultaneous cutting and collection improves the cleaning efficiency and reduces the subsequent manual cleaning process. The adjustable multi-degree-of-freedom mechanical arm adapts to complex terrains and dynamically adjusts to ensure that the steel wire brush always maintains contact with the joint grass. The negative pressure technology is used to simultaneously complete cutting and automatic collection of grass clippings, thereby saving manual secondary cleaning. The fully-closed system is adopted to abandon chemical agents and suppress dust raising, thereby realizing environmental protection and efficiency breakthroughs, providing an efficient, safe and green solution for highway maintenance, assisting in upgrading intelligent and ecological maintenance, ensuring highway safety and landscape coordination, solving the problems of low efficiency of traditional manual weeding and large pollution of chemical weeding, and having the advantages of high automation, environmental protection and energy saving and adaptation to complex road conditions. The device can be widely applied to joint grass cleaning operations of expressways and urban roads. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the highway joint grass sweeper according to the present application; Figure 2for Figure 1 Schematic diagram of the structure of the cutting device; Figure 3 for Figure 1 Schematic diagram of the structure of the multi-degree-of-freedom robotic arm; Figure 4 for Figure 1 Schematic diagram of the middle mounting frame structure; Figure 5 for Figure 1 Schematic diagram of the structure of the medium negative pressure suction pickup component; Figure 6 for Figure 1 Schematic diagram of the internal working principle of the middle sedimentation box; In the figure: 1-sweeper; 2-cutting device; 201-wire brush; 202-brush plate; 203-asynchronous motor; 204-first spring; 205-crossbeam; 206-second spring; 207-connecting rod; 3-multi-degree-of-freedom robotic arm; 301-driving arm; 302-connecting arm; 303-operating arm; 304-driving arm motor; 305-connecting arm motor; 306-operating arm motor; 4-guide rail bracket; 5-negative pressure suction and collection assembly; 501-negative pressure fan; 502-dust suction port; 503-conveying pipe; 504-sedimentation box; 505-suction and collection pipe; 506-arc baffle; 507-cross partition; 508-screen. DETAILED DESCRIPTION

[0018] In order to further understand the content of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the embodiments are only for explaining the present invention and are not intended to limit it.

[0019] The present invention is an integrated highway grass sweeper, the main function of which is the cleaning and suction device. Figure 1 As shown, it includes a cutting device 2, a multi-degree-of-freedom robotic arm 3, a support frame, and a negative pressure suction assembly 5. The operating end of the multi-degree-of-freedom robotic arm 3 is fixedly connected to the cutting device 2, and the movable end is slidably arranged horizontally above the front end of the support frame. The wire brush 201 arranged in the cutting device 2 can clean the grass in the cracks of the road. The negative pressure suction assembly 5 specifically includes a negative pressure fan 501 fixed to the support frame, a conveying pipe 503, a sedimentation box 504, and a suction pipe 505. The conveying pipe 503 is arranged on one side of the multi-degree-of-freedom robotic arm 3. The inlet of the conveying pipe 503 is equipped with a dust suction port 502. The dust suction port 502 is close to the ground and arranged behind the wire brush 201. The inlet of the sedimentation box 504 is connected to the outlet of the conveying pipe 503. The negative pressure fan 501 is connected to the outlet of the sedimentation box 504 through the suction pipe 505. They can work together to complete the entire process of cleaning the grass in the cracks.

[0020] The support frame is a corresponding frame of the integrated highway joint grass sweeper 1, and the multi-degree-of-freedom mechanical arm 3 is fixedly installed in front of the head of the sweeper 1. Considering the complex and changeable terrain of the highway joint, the multi-degree-of-freedom mechanical arm 3 needs to accurately reach the joint position, so a three-section arm structure of a driving arm 301, a connecting arm 302 and an operating arm 303 is adopted, the three-section arms are respectively driven by motors to realize positioning, so as to realize multi-degree-of-freedom motion. Figure 3 As shown in the figure, the multi-degree-of-freedom mechanical arm 3 includes the driving arm 301, the connecting arm 302 and the operating arm 303. One end of the driving arm 301 is installed on the driving arm base through the driving arm motor 304, the driving arm base is installed with the driving arm motor 304, the driving arm base is slidably arranged above the front end of the support frame in the horizontal direction, the other end of the driving arm 301 and the connecting arm 302 is installed with the connecting arm motor 305 at the joint, the other end of the connecting arm 302 and the operating arm 303 is installed with the operating arm motor 306 at the joint, the joints of the arms are connected by flanges, and the other end of the operating arm 303 is fixedly connected with the cutting device 2. When working, the multi-degree-of-freedom mechanical arm 3 can stretch out the three-section arms under the driving of the motors, and adjust the working position, so that the steel wire brush 201 in the operating arm 303 can reach the corresponding working position. The multi-degree-of-freedom mechanical arm 3 can move left and right in front of the sweeper 1, realize the cleaning of the joint grass of the super lane and the emergency lane in the driving direction, and the maximum working radius reaches 2.5 m.

[0021] The cutting device 2 is a disc type structure, as Figure 2, including a brush disc support, a disc type steel wire brush 201, a brush disc 202, and an asynchronous motor 203. The upper end of the brush disc support is fixedly connected to the end of the operating arm 303 through a bolt, and the lower end of the brush disc support is fixedly connected to the upper end surface of the brush disc 202. The steel wire brush 201 is detachably installed to the lower end surface of the brush disc 202. The asynchronous motor 203 is installed in the center of the brush disc 202 and extends out of the upper end of the brush disc 202. The rotating shaft of the asynchronous motor 203 is connected to the steel wire brush 201. During operation, the asynchronous motor 203 drives the steel wire brush 201 to rotate at high speed. The steel wire brush 201 is fixedly connected to the brush disc 202 through a bolt, which facilitates the replacement of the steel wire brush 201 when it is worn out. The steel wire brush 201 is made of spring steel wire (which has excellent elasticity and wear resistance, can restore to its original state without permanent deformation after bearing repeated tensile and compressive stress, and can better adapt to different gap shapes and hardness when rotating at high speed, ensuring effective contact with weeds during cutting. In addition, the wear resistance of the spring steel wire ensures that the brush wire can work effectively and continuously when facing hard road surface materials without rapid wear. In order to improve cutting efficiency and durability, and also to adapt to complex working environments, the device is more efficient and reliable when cleaning the grass in the road gap. Steel wire rope can also be used to replace the steel wire brush, achieving high-speed rotation and cutting of the grass in the gap.

[0022] Preferably, as an improved embodiment, the cutting device 2 further comprises a first spring 204 and a second spring 206. The brush disc support specifically comprises a cross beam 205 and a connecting rod 207 located at the lower end surface of both ends of the cross beam 205. One end of each connecting rod 207 is hingedly connected to the lower end surface of the corresponding end of the cross beam 205, and the lower end surface of the other end of each connecting rod 207 is connected with the corresponding brush disc 202. The first spring 204 and the second spring 206 are symmetrically distributed on the lower end surface of the cross beam 205 and the connecting rod 206. One end of the first spring 204 is close to the center of the cross beam 205, and the other end is close to the corresponding brush disc 202. When the first spring 204 is in a natural state, the cross beam 205 and the corresponding connecting rod 207 are perpendicular. Similarly, when the second spring 206 is in a natural state, the cross beam 205 and the corresponding connecting rod 207 are perpendicular. In this way, the spring connects the cross beam 205 and the corresponding connecting rod 207, which can prevent the two brush discs 202 from swinging excessively during work. At the same time, when the first spring 204 and the second spring 206 are both in a natural state, there is enough gap between the brush discs 202, which can prevent the brush discs 202 from being damaged by collision during the operation of the cutting device 2.

[0023] The driving arm base of the multi-degree-of-freedom manipulator 3 of the present invention is specifically set on a vertically distributed guide rail through a slider, and the guide rail is fixed on a guide rail bracket 4, and the guide rail bracket 4 is fixed to the front end of the support frame. The guide rail bracket 4 is specifically L-shaped and is specifically welded with high-strength alloy steel. The horizontal edge of the guide rail bracket 4 is fixed to the upper support surface at the front end of the support frame. Figure 4 As shown, the horizontal end of the guide rail bracket 4 extends vertically upward. The resulting first extension is lower than the vertical edge of the guide rail bracket 4, then continues horizontally inward, then extends vertically downward. The second extension is fixed to the outward side wall. The multi-degree-of-freedom robot arm 3 can adjust its working position by moving the slider on the guide rail left and right.

[0024] like Figure 5 As shown, the negative pressure suction assembly 5 includes a negative pressure fan 501, a dust suction port 502, a conveying pipe 503, a sedimentation box 504, and a suction pipe 505. The conveying pipe 503 adopts a corrugated hose, and an airflow is generated by the negative pressure fan 501 during operation. The support frame is a horizontal structure, and the negative pressure fan 501 and the sedimentation box 504 are fixed to the upper surface of the support frame. The sedimentation box 504 is arranged behind the negative pressure fan 501. The outlet of the sedimentation box 504 is close to the inlet of the negative pressure fan 501. The outlet of the sedimentation box 504 is connected to the inlet of the negative pressure fan 501 through the suction pipe 505. The suction pipe 505 is arranged on one side of the frame of the sweeper 1. The dust suction port 502 is flat and oval, close to the ground to form a local negative pressure field, and is installed behind the cutting device 2. The inlet of the sedimentation box 504 is connected to the outlet of the conveying pipe 503. The conveying pipe 503 is arranged in a multi-section curved manner, including an adsorption section, a main section and an input section that are connected to each other in sequence. The main section is distributed in a straight line and is arranged on the side wall of the support frame. The adsorption section is distributed vertically. The lower end face of the adsorption section is specifically connected to the dust suction port 502, and the upper end face of the adsorption section is connected to the front end of the main section. The main section and the input section form an L-shaped structure, and the input section is an L-shaped structure. Its horizontal edge is fixed on the upper surface of the support frame, one end of the horizontal edge is connected to the rear end of the main section, and the upper end of its vertical edge is connected to the inlet of the sedimentation box 504.

[0025] In order to delay the passage of airflow and accelerate the settling of weeds, the present invention further improves the settling box 504. Figure 5As shown, the cross-section of the sedimentation box 504 is rectangular, with increasing length from bottom to top. A rectangular opening is provided on the top side, away from the negative pressure blower 501, connecting the two side walls. This opening is fitted with a screen 508, specifically a phosphor bronze screen. A curved baffle 506 is fixed to the side wall of the sedimentation box 504 near the negative pressure blower 501. The baffle 506 is bent downward, with its top close to the top inner wall of the sedimentation box 504. A downward-facing exhaust cavity is fixed to the upper surface of the top of the sedimentation box 504. This cavity, with a vacant top panel forming a diaphragm 507, is covered by the screen 508. The exhaust cavity's outlet is connected to the inlet of the negative pressure blower 501 via a suction pipe 505. The diaphragm 507 and curved baffle 506 redirect the airflow within the sedimentation box 504, allowing weeds to settle.

[0026] See also Figure 6 The schematic diagram of the principle is as follows: Port A is connected to the conveying pipe 503 and is connected to the dust suction port 502. After the airflow direction is changed inside the sedimentation box 504, the airflow is discharged from port B, which is connected to the negative pressure fan 501 through the suction pipe 505. The specific internal working principle is as follows: the airflow containing dust, grass clippings and other debris is discharged from the suction pipe 505. Figure 5 The airflow enters the sedimentation box 504 through inlet A, passes through the arc-shaped baffle 506, and then flows downward into the interior of the sedimentation box 504. Subsequently, one airflow, relatively separated from the grass and dust, moves upward, collides with the baffle 507, and then flows along the top inner wall of the sedimentation box 504 into the screen 508. Another airflow, mixed with the grass and dust, moves downward, along with the grass and dust, and hits the bottom of the sedimentation box 504, where the grass remains. The other airflow, along with the fine dust particles that failed to settle in time, changes direction again and flows upward along the inner wall of the sedimentation box 504 into the screen 508. After being filtered, the two airflows pass through outlet B of the exhaust chamber and the suction pipe 505, respectively, and enter the negative pressure fan 501 for exhaust. The baffle 507 increases the airflow's time in the sedimentation box 504, facilitating the settling of weeds and particles. The settled debris is stored in the lower part of the sedimentation box 504.

[0027] The integrated highway joint grass sweeper first drives along the highway guardrail, then moves the multi-degree-of-freedom mechanical arm 3 above the highway joint grass through the movement of the sliding block on the guide rail, and the driving arm 301 of the multi-degree-of-freedom mechanical arm 3 first rotates under the action of the driving arm motor 304, the connecting arm 302 extends under the action of the connecting arm motor 305, and the operating arm 303 also extends under the action of the operating arm DC joint motor 306, so as to realize ±180° horizontal rotation and 0-90° vertical pitching to adjust the disc brush posture and ensure that the cutting device 2 reaches the working position.

[0028] When the multi-degree-of-freedom mechanical arm 3 is adjusted to the working position, the steel wire brush 201 contacts the highway joint grass, and then the cutting device 2 is started, and the asynchronous motor 203 installed on the upper end of the brush disc 202 starts to drive the steel wire brush 201 to rotate at a high speed of 350 r / min, and the cutting depth is adjusted by the joint of the multi-degree-of-freedom mechanical arm 3 to control the height (vertical displacement) of the brush disc 202 from the ground, so as to process tender grass, perennial grass roots and ensure that the grass is completely removed. At the same time of cutting, the negative pressure suction assembly 5 also starts to operate, the negative pressure fan 501 generates negative pressure power, and the dust suction port 502 adopts a flat oval design and is close to the ground to form a local negative pressure field. The cut grass and dust treated by the cutting device 2 are sucked into the settling tank 504 through the conveying pipeline 503 with a diameter of 150 mm and a length of 5.5 m. The airflow direction is changed by the transverse partition plate 507, the flow rate is delayed, and the screen 508 is filtered to realize the settlement and collection of the cut grass and the separation of the dust. After the dust is filtered through the screen 508, the clean airflow is discharged through the screen 508 to suppress the operation dust.

[0029] After the work is completed, the three-section mechanical arm is folded under the drive of the motor, the sweeper transports the compressed cut grass to the designated treatment point, and the hydraulic cylinder installed on the door is opened by the vehicle-mounted hydraulic system to open the bottom hatch of the settling tank 504 to realize automatic dumping of the cut grass. At the same time, the airflow is blown back to the screen by using the negative pressure fan 501 to complete the cleaning of the equipment.

[0030] In summary, the sweeper 1 has reasonable structure and can clean and collect the highway joint grass.

Claims

1. An integrated road grass cleaning and suction device, characterized in that: The invention comprises a support frame, a multi-degree-of-freedom mechanical arm (3) and a negative pressure suction pickup assembly (5); the operating end of the multi-degree-of-freedom mechanical arm (3) is fixedly connected to a cutting device (2); the moving end of the multi-degree-of-freedom mechanical arm (3) is arranged to slide horizontally above the front end of the support frame; the wire brush (201) in the cutting device (2) is used to clean grass in the cracks of the road; the negative pressure suction pickup assembly (5) comprises a negative pressure fan (501) fixed to the support frame, a conveying pipe (503) and a sedimentation box (504). The conveying pipe (503) is located on one side of the multi-degree-of-freedom mechanical arm (3); the inlet of the conveying pipe (503) is connected to a dust suction port (502); the dust suction port (502) is close to the ground and arranged behind the wire brush (201); the inlet of the sedimentation box (504) is connected to the outlet of the conveying pipe (503); and the negative pressure fan (501) is connected to the outlet of the sedimentation box (504).

2. The integrated road grass cleaning and suction device according to claim 1 is characterized in that: The multi-degree-of-freedom mechanical arm (3) comprises a driving arm (301), a connecting arm (302), and an operating arm (303); one end of the driving arm (301) is mounted on a driving arm base via a driving arm motor (304); the driving arm base is slidably arranged above the front end of the support frame in a horizontal direction; a connecting arm motor (305) is mounted at the connection between the other end of the driving arm (301) and one end of the connecting arm (302); an operating arm motor (306) is mounted at the connection between the other end of the connecting arm (302) and one end of the operating arm (303); and the other end of the operating arm (303) is fixedly connected to the cutting device (2).

3. The integrated road grass cleaning and suction device according to claim 2 is characterized in that: The cutting device (2) comprises a brush disc holder and a brush disc (202); the upper end of the brush disc holder is fixedly connected to the other end of the operating arm (303); the lower end of the brush disc holder is fixedly connected to the upper end surface of the brush disc (202); a wire brush (201) is detachably mounted on the lower end surface of the brush disc (202); an asynchronous motor (203) is mounted at the center of the brush disc (202) to drive the wire brush (201) to rotate during operation.

4. The integrated road grass cleaning and suction device according to claim 3 is characterized in that: The brush plate bracket further comprises a first spring (204) and a second spring (206). The brush plate bracket comprises a crossbeam (205) and connecting rods (207) located at the lower end surfaces of both ends of the crossbeam (205). One end of each connecting rod (207) is hinged to the lower end surface of the corresponding end of the crossbeam (205). The lower end surface of the other end of each connecting rod (207) is connected to the corresponding brush plate (202). The first spring (204) and the second spring (206) are symmetrically distributed on the crossbeam (205) and the connecting rod (207). The lower end surface of the first spring (204) is close to the center of the crossbeam (205), and the other end is close to the corresponding brush plate (202). When the first spring (204) is in a natural state, the crossbeam (205) and the corresponding connecting rod (207) are vertical. When the second spring (206) is in a natural state, the crossbeam (205) and the corresponding connecting rod (207) are vertical. When the first spring (204) and the second spring (206) are both in their natural states, a gap is left between the brush plates (202).

5. The integrated road grass cleaning and suction device according to claim 2 is characterized in that: The driving arm base is slidably arranged on a vertically distributed guide rail through a slider, and the guide rail is fixed on a guide rail bracket (4), and the guide rail bracket (4) is fixed to the front end of the support frame; the guide rail bracket (4) is L-shaped, and the horizontal edge of the guide rail bracket (4) is fixed on the upper support surface of the front end of the support frame, and the end of the horizontal edge of the guide rail bracket (4) is vertically extended upward, and the first extended edge is lower than the vertical edge of the guide rail bracket (4) and then continues to extend horizontally inward, and then extends vertically downward, and the second extended edge is fixed on the side wall facing outward.

6. The integrated road grass cleaning and suction device according to claim 1 is characterized in that: The support frame is a horizontal structure, the negative pressure fan (501) and the sedimentation box (504) are fixed on the upper surface of the support frame, the sedimentation box (504) is arranged behind the negative pressure fan (501), the outlet of the sedimentation box (504) is close to the inlet of the negative pressure fan (501), and is connected to the inlet of the negative pressure fan (501) through the suction pipe (505); the conveying pipe is arranged in a multi-section bending manner, including an adsorption section, a main section and an input section that are connected to each other in sequence, the main section is distributed in a straight line and arranged on the side wall of the support frame, the adsorption section is distributed vertically, the lower end face is connected to the dust suction port (502), and the upper end face is connected to the front end of the main section, the main section and the input section form an L-shaped structure, and the input section is an L-shaped structure, the horizontal side of the input section is fixed on the upper surface of the support frame, one end of the horizontal side is connected to the rear end of the main section, and the upper end of the vertical side is connected to the inlet of the sedimentation box (504).

7. The integrated road grass cleaning and suction device according to claim 6 is characterized in that: The cross section of the sedimentation box (504) is rectangular and its length decreases from top to bottom. A rectangular opening communicating with the two side walls is provided on the side of the top of the sedimentation box (504) away from the negative pressure fan (501), and a screen (508) is installed on the opening. An arc-shaped baffle (506) is fixed to the side wall of the sedimentation box (504) close to the negative pressure fan (501), and the arc-shaped baffle (506) is bent downward and its top is close to the top inner wall of the sedimentation box (504); an exhaust cavity with an opening facing downward is provided on the upper surface of the top of the sedimentation box (504), and the exhaust cavity is covered with a screen (508). The outlet of the exhaust cavity is communicated with the inlet of the negative pressure fan (501) through a suction pipe (505).

8. An integrated road grass cleaning and suction picking method, based on the integrated road grass cleaning and suction picking device according to any one of claims 1 to 7, characterized in that: The moving end of the multi-degree-of-freedom robotic arm (3) slides in the horizontal direction, and the operating end of the multi-degree-of-freedom robotic arm (3) is moved above the grass in the cracks of the road. The multi-degree-of-freedom robotic arm (3) drives the wire brush (201) to contact the grass in the cracks of the road. The wire brush (201) cleans the grass in the cracks of the road. At the same time, the negative pressure fan (501) generates negative pressure power, which in turn forms a local negative pressure field at the dust suction port (502) through the sedimentation box (504) and the conveying pipe (503), and the generated grass fragments, dust and air flow are sucked into the sedimentation box (504) through the conveying pipe (503).

9. The integrated road grass cleaning and suction method according to claim 8, characterized in that: The grass clippings, dust, and air flow pass through the obstruction of the arc-shaped baffle (506) and enter the sedimentation box (504). Thereafter, one air flow relatively separated from the grass clippings and dust moves upward and then enters the screen (508) along the top inner wall of the sedimentation box (504). Another air flow mixed with the grass clippings and dust moves downward together with the grass clippings and dust and hits the bottom of the sedimentation box (504). The grass clippings stay at the bottom of the sedimentation box (504), and the other air flow and dust move upward along the inner wall of the sedimentation box (504) and enter the screen (508). After being filtered, the two air flows sequentially pass through the outlet of the exhaust chamber and the suction pipe (505) and enter the negative pressure fan (501) for discharge.

10. An integrated road grass cleaning vehicle, based on the integrated road grass cleaning and suction device according to any one of claims 1 to 7, characterized in that: The support frame is the frame of the sweeper (1), and the multi-degree-of-freedom mechanical arm (3) is installed in front of the front of the sweeper.

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