Rolling blowing type road ice and snow removing robot and method

Abstract

The invention provides a rolling blowing type road ice and snow removing robot and method, and relates to the field of ice removing equipment, a machine body shell is fixed to the top of a machine body bottom plate, and crawler walking devices used for driving the whole robot to move are installed on the two sides of the machine body shell; a pitching main arm is rotationally installed on the inner wall of one end of the head of the machine body shell, and a pitching oil cylinder is hinged between the pitching main arm and the machine body shell. A bucket is hinged to the end of the pitching main arm, and a bucket driving oil cylinder is hinged between the bucket and the pitching main arm. The back of the bucket is connected with a snow discharging pipe through a communicating hole, the end of the snow discharging pipe is hinged to a movable snow discharging opening through a short pin shaft, and a snow discharging opening control mechanism is installed between the movable snow discharging opening and the snow discharging pipe. The snow discharging pipe is communicated with a purging device; and a grinding roller device is mounted in the bucket. The crawler-type walking device is adopted to walk along the road surface, rolling and stripping of ice and snow on the road surface are achieved through the rolling roller device, and then blowing and sweeping are conducted through the sweeping device, so that the purpose of automatically removing ice and snow on the road surface is achieved.

Description

Technical Field

[0001] This invention relates to the field of road de-icing and snow removal equipment, and in particular to a roller-blowing type road de-icing and snow removal robot and method. Background Technology

[0002] Winter snow and ice can reduce the road surface friction coefficient, leading to traffic hazards. Road de-icing and snow removal is a core aspect of road maintenance in cold regions during winter. Existing de-icing and snow removal technologies are divided into active melting and passive removal. Passive removal equipment has become mainstream due to its wide applicability and controllable cost, but it suffers from several technical bottlenecks, making it difficult to meet the demands for efficient and low-damage de-icing and snow removal under complex road conditions. Specific shortcomings are as follows: Firstly, existing mechanical snow removal equipment has a single operating mode, poor de-icing effect, and is prone to damaging the road surface. Traditional snow removal equipment cannot handle compacted ice and snow, and the bucket is prone to rigid collision with the hard ice layer, damaging the road surface; simple rolling equipment cannot remove ice and snow debris in time after breaking it up, which is prone to secondary icing, and the rolling mechanism lacks buffering, resulting in uneven rolling pressure.

[0003] Secondly, blower-type snow removal equipment has high energy consumption, low precision, and poor snow removal effect. This type of equipment relies on a high-power power source, has a fixed airflow direction, and the residual ice and snow in the bucket can easily clog the mechanism; the snow removal structure is fixed, and in special scenarios, ice and snow cannot be completely removed, requiring secondary manual cleaning; the pipe interface has poor sealing, and low temperature can easily lead to leakage, affecting the effect.

[0004] Third, the adaptability and stability of the walking device are insufficient. Wheeled walking equipment is prone to slipping, and tracked equipment lacks an effective shock absorption and floating mechanism, resulting in poor road surface adhesion, severe bumps, insufficient steering flexibility, and the drive connection parts are prone to failure in harsh environments.

[0005] Fourth, the actuator has poor adjustment flexibility and versatility. The pitch and tilt adjustment of the snow and ice removal actuator is limited, making it unsuitable for complex road sections; the rigid connection lacks buffering and is easily damaged by obstacles; the protection is inadequate, and snow water backflow and icing can easily damage equipment components.

[0006] Fifth, snow and ice removal methods are cumbersome, have low automation, and pose a risk of secondary icing. Step-by-step operations increase labor costs and are inefficient; active snow melting methods have drawbacks such as high energy consumption, pollution or corrosion of road surfaces, and are prone to secondary icing after snow melting.

[0007] To address the aforementioned shortcomings, there is an urgent need for a snow and ice removal robot and method that integrates compaction, blowing, and snow removal to solve the problems of low efficiency, poor effect, and high wear and tear of existing technologies, and to meet the needs of safe snow and ice removal on roads in winter. Summary of the Invention

[0008] The purpose of this invention is to overcome the above-mentioned shortcomings and provide a roller-blowing road de-icing and snow removal robot. This de-icing robot can be used for de-icing and snow removal on icy and snowy roads in winter. It walks along the road surface using a tracked walking device and uses a roller device to crush and peel off the ice and snow on the road surface. Then, it uses a blowing device to blow air and sweep the ice and snow, and finally discharges the ice and snow to the outside of the road through the snow exhaust pipe and movable snow exhaust port, so as to achieve the purpose of automatic de-icing and snow removal on the road surface.

[0009] To achieve the above-mentioned technical features, the objective of this invention is as follows: In a first aspect, the present invention provides a roller-blowing road de-icing and snow removal robot, comprising a base plate, a body shell fixed to the top of the base plate, and tracked walking devices for moving the entire robot installed on both sides of the body shell; a pitching main arm is rotatably mounted on the inner wall of one end of the head of the body shell, and a pitching cylinder is hinged between the pitching main arm and the body shell; a bucket is hinged to the end of the pitching main arm, and a bucket drive cylinder is hinged between the bucket and the pitching main arm; a snow discharge pipe is connected to the back of the bucket through a connecting hole, and a movable snow discharge port is hinged to the end of the snow discharge pipe through a short pin, and a snow discharge port control mechanism is installed between the movable snow discharge port and the snow discharge pipe; a blowing device is connected to the snow discharge pipe; and a rolling roller device for compacting ice and snow is installed inside the bucket.

[0010] Preferably, the tracked walking device includes a walking motor fixed inside the body housing. The output shaft of the walking motor is equipped with a double row of drive sprockets, which mesh with transmission chains respectively. A walking track is arranged between the two transmission chains. First shock absorbers are symmetrically installed on both sides of the body housing. The ends of the first shock absorbers are rotatably mounted with first track wheels through first wheel axles. The first track wheels cooperate with the walking track for support. Multiple sets of floating track wheel mechanisms for supporting the inner bottom surface of the walking track are installed between the body housing and the walking track.

[0011] Preferably, the floating track wheel mechanism includes a second shock absorber hinged to the outer wall of the fuselage housing, the other end of the second shock absorber being hinged to the middle part of the top of the first arc-shaped arm via a first pin, one end of the first arc-shaped arm being hinged to the outer wall of the fuselage housing via a second pin, and the other end of the first arc-shaped arm being fitted with a floating track wheel via a second axle.

[0012] Preferably, the pitch boom is rotatably mounted on the inner wall of the fuselage housing via a first bearing seat, and the fuselage housing is provided with a boom slot for the pitch boom to pass through.

[0013] Preferably, the cylinder base of the pitch cylinder is rotatably mounted on the inner wall of the machine body housing via a second bearing seat, and the piston rod end of the pitch cylinder is hinged to the bottom lug of the pitch main arm via a pin.

[0014] Preferably, the base of the bucket drive cylinder is hinged to the top lug of the pitching boom via a pin, and the end of the piston rod of the bucket drive cylinder is hinged between the stiffening plates on the back of the bucket via a pin.

[0015] Preferably, the snow exhaust port control mechanism includes a first cylinder body, the base of the first cylinder body is hinged to a cylinder body hinge seat, the cylinder body hinge seat is fixed to the outer wall of the snow exhaust pipe, the end of the first piston rod of the first cylinder body is hinged to the top of the inclined arm through a third pin, and the inclined arm is fixed to the top of the movable snow exhaust port; the movable snow exhaust port has a movable door hinged to its tail end that cooperates with the snow exhaust pipe.

[0016] Preferably, the purging device includes a blower installed inside the housing, the blower outlet is provided with an outlet flange, the outlet flange is connected to an inlet flange pipe through a hose, and the inlet flange pipe is connected to the back of the snow exhaust pipe.

[0017] Preferably, the rolling roller device includes a roller arc arm, the top end of which is hinged to the end of the third shock absorber, the other end of which is hinged to the inside of the bucket, the bottom end of which is hinged to the inside of the bucket via a fourth pin, and a roller is rotatably mounted on the middle part of the roller arc arm via a roller shaft.

[0018] In a second aspect, the present invention provides a roller-pressed blowing method for road de-icing, comprising the following steps: S1. Equipment debugging and initialization: Move the snow and ice removal robot to the road surface to be operated, check the operating status of each mechanism, and adjust the pitch angle of the main boom and the tilt angle of the bucket according to the thickness and hardness of the ice and snow on the road surface. Make the rolling roller device in the bucket fit with the ice and snow layer and adjust the appropriate rolling pressure. At the same time, adjust the tilt angle of the movable snow discharge port and close the movable door to wait for operation. S2, Snow and Ice Crushing and Removal: Start the walking device to drive the snow and ice removal robot to move at a constant speed along the road surface to be worked. During the movement, the crushing roller device rolls and crushes the compacted snow and hard ice layer on the road surface, breaking the snow and ice and removing it from the road surface. The removed snow and ice debris falls into the bucket. S3, Snow and Ice Blowing and Conveying: When a preset amount of snow and ice debris accumulates in the bucket, the blowing device is activated to generate a high-speed airflow and deliver it to the snow exhaust pipe. The airflow flows through the snow exhaust pipe to the bucket to blow away the snow and ice debris in the bucket and push the snow and ice debris along the snow exhaust pipe toward the active snow exhaust port. S4. Directional Snow and Ice Discharge: Adjust the angle of the movable snow discharge port, open the movable door, and snow and ice debris will be discharged through the movable snow discharge port to the designated area outside the road under the thrust of the airflow. After the snow discharge is completed, close the movable door. S5. Continuous operation and completion: The robot continues to move at a constant speed, repeating steps S2 to S4 to continuously remove ice and snow from the road surface. After the operation is completed, the walking device and blowing device are turned off, the bucket and rolling roller device are lifted to remove them from the road surface, the remaining ice and snow on the equipment are cleaned up and the operation is completed.

[0019] The present invention has the following beneficial effects: 1. This invention integrates a rolling roller device, a blowing device, a snow removal device, and a walking device. It eliminates the need for multiple devices to work together and can complete the rolling, stripping, blowing, conveying, and directional discharge of ice and snow in one go, greatly shortening the operation process and improving the efficiency of snow and ice removal. The rolling roller device uses the rolling roller to roll and crush the ice, and with the buffering effect of the third shock absorber, it can thoroughly break up the hard ice layer and avoid rigid collision damage to the road surface. At the same time, the blowing device can thoroughly clean the bucket and the road surface of residual ice and snow, eliminating the risk of secondary icing.

[0020] 2. This invention adopts a tracked walking structure, combined with a first shock absorber, a second shock absorber, and a floating track wheel mechanism, which can adapt to complex road surfaces such as potholes and undulations, improve the fit between the track and the road surface, reduce body bumps, and ensure the stability of the robot's movement during operation; it avoids the defect of wheeled walking equipment being prone to slipping on icy and snowy roads, while the floating track wheel mechanism can effectively buffer the impact of the road surface, reduce the wear of the walking mechanism, extend the service life of the equipment, and adapt to a variety of special working scenarios such as narrow roads, bridges, and steep slopes.

[0021] 3. This invention adjusts the pitch angle of the main boom and the tilt angle of the bucket using a pitch cylinder and a bucket drive cylinder, respectively. This allows for flexible adjustment of the contact state between the roller device and the road surface according to the thickness of ice and snow and the slope, achieving comprehensive snow and ice removal. The snow discharge port control mechanism can flexibly adjust the angle of the movable snow discharge port and the opening and closing of the movable door to adapt to the snow removal needs of different operating scenarios, eliminating the need for secondary manual cleaning and further improving operating efficiency. All actuators are hinged and connected, combined with a shock-absorbing structure, which can effectively buffer the impact of obstacles, reduce component damage, and lower maintenance costs.

[0022] 4. The blowing device of this invention can flexibly adjust the output power of the blower according to the amount of ice and snow debris. Compared with existing high-power blowing equipment, energy consumption is significantly reduced and operating costs are controllable. The snow discharge pipe is connected to the hose through a flange, which has good sealing performance and can avoid air leakage caused by snow water freezing in low-temperature environments, ensuring stable blowing effect. The machine body can effectively protect the internal core components such as motors and cylinders, prevent snow water from flowing back and freezing and damaging the equipment, and improve the safety and reliability of equipment operation.

[0023] 5. The entire snow and ice removal operation process of this invention can be automated and continuous. Only the initial equipment debugging and the final finishing work need to be completed. No manual operation is required throughout the process, which greatly reduces the labor input. The operation process is simple and can effectively avoid the problem of poor connection in the existing step-by-step operation, further improving the operation efficiency. It is suitable for large-scale road snow and ice removal operation scenarios.

[0024] 6. This invention uses a mechanical snow removal method, eliminating the need for chemical de-icing agents and avoiding pollution of road surfaces, soil, and water bodies by chemical de-icing agents, which is in line with the concept of green environmental protection. The buffer design of the roller device and the reasonable structure of the bucket can be adapted to different types of road surfaces such as asphalt and cement, avoiding structural damage to the road surface during operation and extending the service life of the road surface. Attached Figure Description

[0025] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0026] Figure 1 This is a three-dimensional view from the first perspective of the present invention.

[0027] Figure 2 This is a three-dimensional view from the second perspective of the present invention.

[0028] Figure 3 This is a three-dimensional view from the third perspective of the present invention.

[0029] Figure 4 This is a three-dimensional view from the fourth perspective of the present invention.

[0030] Figure 5 This is a three-dimensional view from the fifth perspective of the present invention.

[0031] Figure 6 This is a three-dimensional view from the fifth perspective of the present invention.

[0032] Figure 7 This is a first-view 3D view of the present invention with the fuselage shell removed.

[0033] Figure 8 This is a second-view 3D diagram of the present invention with the fuselage shell removed.

[0034] In the diagram: 1. Body housing; 2. Tracks; 3. Double-row drive sprockets; 4. Drive chain; 5. First shock absorber; 6. First track wheel; 7. First axle; 8. Second shock absorber; 9. Second pin; 10. First arc arm; 11. First pin; 12. Second axle; 13. Floating track wheel; 14. Snow exhaust pipe; 15. Short pin; 16. Movable snow exhaust port; 17. Slanted arm; 18. Third pin; 19. First piston rod; 20. Movable door; 21. First cylinder; 22. Cylinder hinge seat. 23. Bucket; 24. Third shock absorber; 25. Roller arc arm; 26. Roller; 27. Roller shaft; 28. Fourth pin; 29. ​​Bucket drive cylinder; 30. Inlet flange pipe; 31. Pitch boom; 32. Top lug; 33. Boom groove; 34. Pitch cylinder; 35. Bottom lug; 36. Outlet flange; 37. Indicator light; 38. Connecting hole; 39. Travel motor; 40. Blower; 41. First bearing seat; 42. Second bearing seat; 43. Machine body base plate; 44. Reinforcing plate. Detailed Implementation

[0035] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0036] Example 1: See Figure 1-8 To achieve integrated snow compaction, blowing, and snow removal operations, and to address the issues of dispersed operations and low efficiency of existing equipment, a roller-blowing road snow removal robot is developed. This robot includes a base plate 43, with a body shell 1 fixed to the top of the base plate 43. Tracked walking devices for moving the entire robot are installed on both sides of the body shell 1. A pitching main arm 31 is rotatably mounted on the inner wall of one end of the head of the body shell 1, and a pitching cylinder 3 is hinged between the pitching main arm 31 and the body shell 1. 4. A bucket 23 is hinged to the end of the tilting boom 31, and a bucket drive cylinder 29 is hinged between the bucket 23 and the tilting boom 31. A snow exhaust pipe 14 is connected to the back of the bucket 23 through a connecting hole 38. A movable snow exhaust port 16 is hinged to the end of the snow exhaust pipe 14 through a short pin 15. A snow exhaust port control mechanism is installed between the movable snow exhaust port 16 and the snow exhaust pipe 14. A blowing device is connected to the snow exhaust pipe 14. A rolling roller device for compacting ice and snow is installed inside the bucket 23. The structure is characterized by high integration and strong coordination of various mechanisms. It can complete the entire process of ice and snow removal in one go, with a thorough effect and no risk of secondary icing. Its working process is that the tracked walking device drives the equipment to move, the rolling roller device peels off the ice and snow, the blowing device transports the ice and snow, and the snow exhaust port control mechanism discharges the ice and snow in a directional manner. The whole process is completed automatically.

[0037] Furthermore, to address the issues of poor stability and slippage in existing walking devices and to ensure the equipment's adaptability to complex road surfaces, the tracked walking device includes a walking motor 39 fixed inside the body housing 1. The output shaft of the walking motor 39 is equipped with a double-row drive sprocket 3, which meshes with transmission chains 4 respectively. A walking track 2 is arranged between the two transmission chains 4. First shock absorbers 5 are symmetrically installed on both sides of the body housing 1. The ends of the first shock absorbers 5 are rotatably mounted with first track wheels 6 via first wheel axles 7. The first track wheels 6 cooperate with and support the walking track 2. Multiple sets of floating track wheel mechanisms for supporting the inner bottom surface of the walking track 2 are installed between the body housing 1 and the walking track 2. The mechanism is characterized by stable transmission, good shock absorption, and high road surface fit, which can avoid slippage and machine body bumps. Its working process is that the walking motor 39 drives the double row of active sprockets 3 to rotate, which drives the walking track 2 to rotate through the transmission chain 4. The first track wheel 6 cooperates to support the track. The floating track wheel mechanism adapts to the undulation of the road surface. The first shock absorber 5 buffers the bumps and ensures that the equipment moves smoothly.

[0038] Furthermore, to enhance the road adaptability of the tracked walking device, buffer road impacts, and protect the walking components, the floating track wheel mechanism includes a second shock absorber 8 hinged to the outer wall of the machine body housing 1. The other end of the second shock absorber 8 is hinged to the middle of the top of the first arc-shaped arm 10 via a first pin 11. One end of the first arc-shaped arm 10 is hinged to the outer wall of the machine body housing 1 via a second pin 9, and the other end of the first arc-shaped arm 10 is fitted with a floating track wheel 13 via a second wheel axle 12. This mechanism is characterized by its flexible structure, strong shock absorption, and adaptability to different undulating road surfaces. During operation, when the equipment is moving, the floating track wheel 13 is in contact with the road surface. When the road surface is uneven, the first arc-shaped arm 10 rotates around the second pin 9, and the second shock absorber 8 extends and retracts to buffer the impact force, ensuring that the floating track wheel 13 remains in contact with the road surface and maintaining stability.

[0039] Furthermore, to achieve flexible rotation of the tilt boom 31 and ensure its adjustable contact angle between the bucket 23 and the road surface, the tilt boom 31 is rotatably mounted on the inner wall of the machine housing 1 via a first bearing seat 41. The machine housing 1 is provided with a boom groove 33 for the tilt boom 31 to pass through. This structure features smooth rotation and reliable limiting, preventing jamming or deviation of the tilt boom 31 during movement. During operation, when the tilt cylinder 34 drives the tilt boom 31, it rotates around the first bearing seat 41. The boom groove 33 provides space for the tilt boom 31 to move, ensuring its flexible adjustment of the tilt angle to adapt to different operational needs.

[0040] Furthermore, to drive the pitch main boom 31 to achieve pitch adjustment and ensure precise adjustment and sufficient power, the cylinder base of the pitch cylinder 34 is rotatably mounted on the inner wall of the housing 1 via the second bearing seat 42, and the end of the piston rod of the pitch cylinder 34 is hinged to the bottom lug 35 of the pitch main boom 31 via a pin. This structure is characterized by a strong connection, smooth drive, and high adjustment precision. Its working process involves the cylinder body rotating around the second bearing seat 42 when the piston rod of the pitch cylinder 34 extends or retracts, and the piston rod drives the pitch main boom 31 to rotate around the first bearing seat 41 via the bottom lug 35, thereby adjusting the pitch angle of the pitch main boom 31.

[0041] Furthermore, to drive the bucket 23 to tilt and adjust its contact with the road surface, ensuring that ice and snow can smoothly enter the bucket 23, the base of the bucket drive cylinder 29 is hinged to the top lug 32 of the pitch boom 31 via a pin, and the end of the piston rod of the bucket drive cylinder 29 is hinged to the reinforcing plates 44 on the back of the bucket 23 via a pin. This structure is characterized by sufficient driving force, flexible tilting, and precise adjustment of the bucket angle. Its working process involves the piston rod of the bucket drive cylinder 29 extending or retracting, causing the cylinder to rotate around the top lug 32. The piston rod, through the reinforcing plates 44, drives the bucket 23 to tilt around the hinge point with the pitch boom 31, thus achieving bucket angle adjustment.

[0042] Furthermore, to flexibly adjust the angle of the movable snow discharge port 16, control the direction and timing of snow and ice discharge, and prevent snow and ice leakage or blockage, the snow discharge port control mechanism includes a first cylinder 21. The base of the first cylinder 21 is hinged to a cylinder hinge seat 22, which is fixed to the outer wall of the snow discharge pipe 14. The end of the first piston rod 19 of the first cylinder 21 is hinged to the top of the inclined arm 17 via a third pin 18. The inclined arm 17 is fixed to the top of the movable snow discharge port 16. A movable door 20 is hinged to the tail end of the movable snow discharge port 16 that cooperates with the snow discharge pipe 14. The characteristics of this mechanism are flexible adjustment and precise control, enabling directional snow and ice discharge. Its working process is as follows: when adjusting the snow discharge angle, the first cylinder 21 drives the first piston rod 19 to extend and retract, which drives the movable snow discharge port 16 to rotate around the short pin 15 via the inclined arm 17. The movable door 20 is opened during snow discharge and closed after the snow and ice are discharged to prevent debris from entering the snow discharge pipe 14.

[0043] Furthermore, to provide high-speed airflow for blowing and conveying ice and snow debris, and to solve the problems of residual ice and snow in the bucket and poor conveying, the blowing device includes a blower 40 installed inside the casing 1. The blower 40 has an outlet flange 36 at its outlet, which is connected to an inlet flange pipe 30 via a hose. The inlet flange pipe 30 is connected to the back of the snow exhaust pipe 14. This device is characterized by stable airflow, good sealing, flexible power adjustment, and controllable energy consumption. Its working process is as follows: the blower 40 starts to generate high-speed airflow, which is conveyed to the snow exhaust pipe 14 through the outlet flange 36, hose, and inlet flange pipe 30. The airflow flows along the snow exhaust pipe 14 to the bucket 23, blowing away ice and snow debris and pushing it towards the movable snow exhaust port 16.

[0044] Furthermore, to achieve effective compaction and stripping of ice and snow, avoid rigid collisions that could damage the road surface, and ensure uniform compaction, the compaction roller device includes a roller arc arm 25. The top end of the roller arc arm 25 is hinged to the end of a third shock absorber 24, and the other end of the third shock absorber 24 is hinged inside the bucket 23. The bottom end of the roller arc arm 25 is hinged to the inside of the bucket 23 via a fourth pin 28. A roller 26 is rotatably mounted on the middle part of the roller arc arm 25 via a roller shaft 27. This device is characterized by its good compaction effect, buffering function, ability to protect the road surface, and adaptability to ice and snow of varying hardness. During operation, as the equipment moves, the roller 26 adheres to the ice and snow layer and rotates synchronously under friction, rolling and compacting the ice and snow. The third shock absorber 24 extends and retracts to buffer the compaction pressure. The roller arc arm 25 is finely adjusted around the fourth pin 28 to ensure that the roller 26 always adheres to the road surface, uniformly compacting the ice and snow.

[0045] Example 2: S1. Equipment debugging and initialization: Move the snow and ice removal robot to the road surface to be operated, check the operating status of each mechanism, and adjust the pitch angle of the main boom and the tilt angle of the bucket according to the thickness and hardness of the ice and snow on the road surface. Make the rolling roller device in the bucket fit with the ice and snow layer and adjust the appropriate rolling pressure. At the same time, adjust the tilt angle of the movable snow discharge port and close the movable door to wait for operation. S2, Snow and Ice Crushing and Removal: Start the walking device to drive the snow and ice removal robot to move at a constant speed along the road surface to be worked. During the movement, the crushing roller device rolls and crushes the compacted snow and hard ice layer on the road surface, breaking the snow and ice and removing it from the road surface. The removed snow and ice debris falls into the bucket. S3, Snow and Ice Blowing and Conveying: When a preset amount of snow and ice debris accumulates in the bucket, the blowing device is activated to generate a high-speed airflow and deliver it to the snow exhaust pipe. The airflow flows through the snow exhaust pipe to the bucket to blow away the snow and ice debris in the bucket and push the snow and ice debris along the snow exhaust pipe toward the active snow exhaust port. S4. Directional Snow and Ice Discharge: Adjust the angle of the movable snow discharge port, open the movable door, and snow and ice debris will be discharged through the movable snow discharge port to the designated area outside the road under the thrust of the airflow. After the snow discharge is completed, close the movable door. S5. Continuous operation and completion: The robot continues to move at a constant speed, repeating steps S2 to S4 to continuously remove ice and snow from the road surface. After the operation is completed, the walking device and blowing device are turned off, the bucket and rolling roller device are lifted to remove them from the road surface, the remaining ice and snow on the equipment are cleaned up and the operation is completed.

[0046] In step S1, the pitch angle of the main boom is adjusted by the pitch cylinder, the tilt angle of the bucket is adjusted by the bucket drive cylinder, the rolling pressure of the roller device is adjusted by the third shock absorber, and the tilt angle of the movable snow discharge port is adjusted by the snow discharge port control mechanism.

[0047] Furthermore, in step S2, the walking device drives the double-row active sprockets to rotate via the walking motor, and drives the walking track to move through the transmission chain to achieve movement. During the movement, the floating track wheel mechanism adapts to the undulations of the road surface, and the first shock absorber and the second shock absorber synchronously buffer the bumps of the machine body to ensure that the rolling pressure of the rolling roller device is uniform.

[0048] Furthermore, in step S3, the purging device generates a high-speed airflow through a blower. The airflow is sequentially delivered to the snow exhaust pipe via the outlet flange, hose, and inlet flange. The output power of the blower can be adjusted according to the amount of ice and snow debris to prevent ice and snow debris from clogging the snow exhaust pipe.

[0049] Furthermore, in step S4, the first piston rod is driven to extend and retract by the first cylinder of the snow discharge port control mechanism, which drives the inclined arm and the movable snow discharge port to rotate around the short pin shaft, thereby achieving fine adjustment of the snow discharge angle and ensuring that ice and snow debris is accurately discharged to the outside of the road.

[0050] Working principle of the invention: This invention is based on an integrated structure of compaction, stripping, blowing, conveying, and directional discharge, relying on the coordinated operation of various mechanisms to achieve efficient and automated removal of ice and snow from roads. The tracked walking device provides stable movement power and support for the entire robot, adapting to different complex road conditions; the pitching main arm 31 achieves pitch adjustment under the drive of the pitching cylinder 34, and the bucket drive cylinder 29 drives the bucket 23 to rotate, thereby adjusting the contact angle and pressure between the bucket 23 and the internal compaction roller device and the road surface; the compaction roller device crushes and strips the compacted snow and hard ice layer on the road surface through the rolling of the roller 26, avoiding damage to the road surface caused by rigid collisions; the blowing device generates a high-speed airflow, which is transported to the snow discharge pipe 14 through the pipeline to blow away the ice and snow debris stripped from the bucket 23, while also assisting in the transportation of ice and snow along the snow discharge pipe 14; the snow discharge port control mechanism can flexibly adjust the angle of the movable snow discharge port 16 and the opening and closing of the movable door 20 to achieve directional and efficient discharge of ice and snow, ultimately completing the road de-icing and snow removal operation.

[0051] The collaborative working logic of each core mechanism is as follows: the traveling mechanism provides the mobile foundation, the execution mechanism (tilting boom, bucket, and roller) completes the removal of ice and snow, the blowing mechanism provides the conveying power, and the snow removal mechanism achieves directional discharge. The actions of each mechanism can be flexibly adjusted according to the road surface ice and snow conditions to ensure the snow removal effect and operational safety.

[0052] The specific working process of this invention is as follows: S1. Equipment Debugging and Initialization: Move the roller-blowing road de-icing and snow removal robot to the road surface to be de-iced and snow-covered. Check the reliability of the connections of each mechanism to ensure that the walking motor 39, blower 40, cylinders 21, 29, 34 and roller device are operating normally. According to the thickness of the ice and snow on the road surface, adjust the pitch angle of the main boom 31 through the pitch cylinder 34, and adjust the tilt angle of the bucket 23 through the bucket drive cylinder 29 so that the roller 26 inside the bucket 23 is in contact with the ice and snow layer on the road surface. Adjust the rolling pressure of the roller 26 through the third shock absorber 24 to match the hardness of the ice and snow. Adjust the tilt angle of the movable snow discharge port 16 through the first cylinder 21 of the snow discharge port control mechanism to ensure that the ice and snow can be discharged to the outside of the road. Close the movable door 20 and wait for operation.

[0053] S2. Equipment Movement and Snow and Ice Crushing / Removal: Start the walking motor 39. The output shaft of the walking motor 39 drives the double-row drive sprocket 3 to rotate. The double-row drive sprocket 3 drives the walking track 2 through the transmission chain 4, causing the entire robot to move at a constant speed along the road surface to be worked on. During the movement, the rollers 26 inside the bucket 23 rotate synchronously with the robot under the friction of the snow and ice layer, rolling and crushing the compacted snow and hard ice layer on the road surface, breaking the snow and ice into small fragments and removing them from the road surface. The removed snow and ice fragments fall into the bucket 23. During this process, the second shock absorber 8 and the first arc arm 10 of the floating track wheel mechanism drive the floating track wheel 13 to adapt to the undulations of the road surface. The first shock absorber 5 works with the first track wheel 6 to buffer the body bumps, ensuring the stability of the robot's movement and the uniform crushing pressure of the rollers 26.

[0054] S3. Snow and ice blowing and conveying: When a certain amount of snow and ice debris accumulates inside the bucket 23, the blower 40 is started. The high-speed airflow generated by the blower 40 is conveyed to the snow exhaust pipe 14 through the outlet flange 36, hose, and inlet flange pipe 30. The airflow flows along the snow exhaust pipe 14 to the connecting hole 38 on the back of the bucket 23, which powerfully blows away the snow and ice debris inside the bucket 23, blowing up the snow and ice debris remaining on the inner wall of the bucket 23, and pushing all the snow and ice debris along the snow exhaust pipe 14 towards the movable snow exhaust port 16. At the same time, the output power of the blower 40 can be adjusted to meet the conveying needs of snow and ice debris, and to avoid the snow exhaust pipe 14 being blocked by snow and ice due to insufficient airflow.

[0055] S4. Directional Snow and Ice Discharge: When snow and ice debris is transported to the movable snow discharge port 16, the first cylinder 21 is controlled to drive the first piston rod 19 to extend and retract, causing the inclined arm 17 and the movable snow discharge port 16 to rotate around the short pin shaft 15, finely adjusting the snow discharge angle to ensure that the snow and ice can be accurately discharged to the outside of the road; then the movable door 20 is opened, and the snow and ice debris is discharged to the designated area through the movable snow discharge port 16 under the thrust of the airflow, completing a single snow and ice removal cycle; after the snow discharge is completed, the movable door 20 is closed to prevent snow water or debris from entering the snow discharge pipe 14 during subsequent operations.

[0056] S5. Continuous Operation and Finishing: The robot continues to move at a constant speed along the road surface to be worked on, repeating the steps from S2 to S4 above to achieve continuous and integrated removal of ice and snow from the road surface; when the de-icing and snow removal operation in a certain area is completed, the blower 40 and the travel motor 39 are turned off, the pitch cylinder 34 and the bucket drive cylinder 29 are adjusted to raise the bucket 23 and the rolling roller device and remove them from the road surface; check whether there is snow accumulation or blockage in each mechanism, wear of parts, etc., clean the residual ice and snow on the surface of the equipment, complete the finishing work, and move the equipment to the designated storage area.

Claims

1. A roller-blowing type road de-icing and snow removal robot, characterized in that, The system includes a base plate (43), with a body shell (1) fixed to the top of the base plate (43). Tracked walking devices for moving the entire robot are installed on both sides of the body shell (1). A pitching main arm (31) is rotatably installed on the inner wall of the head end of the body shell (1). A pitching cylinder (34) is hinged between the pitching main arm (31) and the body shell (1). A bucket (23) is hinged to the end of the pitching main arm (31). The bucket (23) and the pitching cylinder are connected together. A bucket drive cylinder (29) is hinged between the main boom (31); a snow exhaust pipe (14) is connected to the back of the bucket (23) through a connecting hole (38), and a movable snow exhaust port (16) is hinged to the end of the snow exhaust pipe (14) through a short pin (15). A snow exhaust port control mechanism is installed between the movable snow exhaust port (16) and the snow exhaust pipe (14); a blowing device is connected to the snow exhaust pipe (14); a rolling roller device for rolling ice and snow is installed inside the bucket (23).

2. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The tracked walking device includes a walking motor (29) fixed inside the body shell (1). The output shaft of the walking motor (29) is equipped with a double row of drive sprockets (3). The double row of drive sprockets (3) mesh with the transmission chains (4) respectively. A walking track (2) is provided between the two transmission chains (4). A first shock absorber (5) is symmetrically installed on both sides of the body shell (1). A first track wheel (6) is rotatably installed at the end of the first shock absorber (5) through the first wheel axle (7). The first track wheel (6) cooperates with the walking track (2) for support. Multiple sets of floating track wheel mechanisms for supporting the inner bottom surface of the walking track (2) are installed between the body shell (1) and the walking track (2).

3. The roller-blowing road de-icing and snow removal robot according to claim 2, characterized in that: The floating track wheel mechanism includes a second shock absorber (8) hinged to the outer wall of the fuselage housing (1). The other end of the second shock absorber (8) is hinged to the middle part of the top of the first arc arm (10) via a first pin (11). One end of the first arc arm (10) is hinged to the outer wall of the fuselage housing (1) via a second pin (9). The other end of the first arc arm (10) is equipped with a floating track wheel (13) via a second wheel axle (12).

4. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The pitch boom (31) is rotatably mounted on the inner wall of the fuselage housing (1) via the first bearing seat (41), and the fuselage housing (1) is provided with a boom groove (33) for passing through the pitch boom (31).

5. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The cylinder base of the pitch cylinder (34) is rotatably mounted on the inner wall of the fuselage housing (1) via the second bearing seat (42), and the piston rod end of the pitch cylinder (34) is hinged to the bottom ear seat (35) of the pitch main arm (31) via a pin.

6. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The base of the bucket drive cylinder (29) is hinged to the top lug (32) of the pitch boom (31) by a pin, and the end of the piston rod of the bucket drive cylinder (29) is hinged to the stiffening plate (44) on the back of the bucket (23) by a pin.

7. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The snow exhaust port control mechanism includes a first cylinder (21), the base of the first cylinder (21) is hinged to the cylinder hinge seat (22), the cylinder hinge seat (22) is fixed to the outer wall of the snow exhaust pipe (14), the end of the first piston rod (19) of the first cylinder (21) is hinged to the top of the inclined arm (17) through the third pin (18), and the inclined arm (17) is fixed to the top of the movable snow exhaust port (16); the movable snow exhaust port (16) is hinged to the tail end that cooperates with the snow exhaust pipe (14) with a movable door (20).

8. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The purging device includes a blower (40) installed inside the housing (1). The outlet of the blower (40) is provided with an outlet flange (36). The outlet flange (36) is connected to the inlet flange pipe (30) through a hose. The inlet flange pipe (30) is connected to the back of the snow exhaust pipe (14).

9. The roller-blowing road de-icing and snow removal robot according to claim 1, characterized in that: The rolling roller device includes a roller arc arm (25), the top end of which is hinged to the end of the third shock absorber (24), the other end of which is hinged to the inside of the bucket (23), the bottom end of which is hinged to the inside of the bucket (23) via the fourth pin (28), and a roller (26) is rotatably mounted on the middle part of the roller arc arm (25) via the roller shaft (27).

10. A roller-pressed blowing method for road de-icing and snow removal, characterized in that, The method is implemented using the roller-blowing road de-icing and snow removal robot described in any one of claims 1-9, and includes the following steps: S1. Equipment debugging and initialization: Move the snow and ice removal robot to the road surface to be operated, check the operating status of each mechanism, and adjust the pitch angle of the main boom and the tilt angle of the bucket according to the thickness and hardness of the ice and snow on the road surface. Make the rolling roller device in the bucket fit with the ice and snow layer and adjust the appropriate rolling pressure. At the same time, adjust the tilt angle of the movable snow discharge port and close the movable door to wait for operation. S2, Snow and Ice Crushing and Removal: Start the walking device to drive the snow and ice removal robot to move at a constant speed along the road surface to be worked. During the movement, the crushing roller device rolls and crushes the compacted snow and hard ice layer on the road surface, breaking the snow and ice and removing it from the road surface. The removed snow and ice debris falls into the bucket. S3, Snow and Ice Blowing and Conveying: When a preset amount of snow and ice debris accumulates in the bucket, the blowing device is activated to generate a high-speed airflow and deliver it to the snow exhaust pipe. The airflow flows through the snow exhaust pipe to the bucket to blow away the snow and ice debris in the bucket and push the snow and ice debris along the snow exhaust pipe toward the active snow exhaust port. S4. Directional Snow and Ice Discharge: Adjust the angle of the movable snow discharge port, open the movable door, and snow and ice debris will be discharged through the movable snow discharge port to the designated area outside the road under the thrust of the airflow. After the snow discharge is completed, close the movable door. S5. Continuous operation and completion: The robot continues to move at a constant speed, repeating steps S2 to S4 to continuously remove ice and snow from the road surface. After the operation is completed, the walking device and blowing device are turned off, the bucket and rolling roller device are lifted to remove them from the road surface, the remaining ice and snow on the equipment are cleaned up and the operation is completed.

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