CN110666815A - A snow sweeping robot based on a compressed snow block collecting device - Google Patents

Abstract

The invention relates to a snow sweeping robot based on a compressed snow block collecting device. The snow assembly is composed; the compressing snow block assembly combined with the snow block conveying assembly can compress the collected snow into snow blocks and send them to the snow plow robot car or outside the box, and automatically and neatly stack the roadside The rear body of the snow sweeping robot is a dynamic supplement to the insufficient capacity space of the snow sweeping robot in the front body of the snow sweeping robot; a push-pull rod holder is arranged in the middle of the two folding push-pull frames and cooperates with the moving wheels to pinch at the upper position. The rolling, retractable and foldable snow clearing assembly is fixed on the limit moving slider of the holding rod within the limit range of the buckle and the lower limit, which effectively protects the service life of the snow brush; the elastic snow shovel cooperates with the pin The bushing spring has a certain retraction performance to shovel snow on a variety of rough surfaces.

Description

A snow sweeping robot based on a compressed snow block collecting device

technical field

The invention relates to the technical field of intelligent snow sweeping robots, in particular to a snow sweeping robot based on a device for collecting compressed snow into blocks.

Background technique

At present, it snows frequently in winter in northern my country, with a daily temperature of minus 20 degrees, freezing to the bone and serious snow accumulation. Snow on the roads will not only cause people to slip and fall easily, but also cause a lot of traffic jams. At this stage, my country's snow removal methods include manual snow removal and mechanical snow removal: manual snow removal is time-consuming and labor-intensive, and it also causes the risk of frostbite and falls; mechanical snow removal equipment is cumbersome, and the exhaust gas will pollute the environment.

The use of snow sweeping robots saves a lot of labor, improves the efficiency of snow removal, and solves various traffic hidden dangers.

Existing mechanical snow shovels mostly use the snow throwing method to throw the collected snow to one side of the road, which shows the phenomenon that the snow shoveling is not clean and requires a second shovel in severe weather with cold wind. In addition, the per unit capacity of the car has few shortcomings, such as the lack of snow collection and the inability to make full use of the winter snow.

In view of these problems, the snow sweeping robot designed in this paper aims to thoroughly clean the road snow, increase the snow collection capacity of the unit capacity car and make full use of the winter snow. Snow briquetting bin, and then compress them into snow blocks, the snow blocks will be temporarily stored in the car or discharged from the side of the car and automatically and neatly stacked on the roadside, neat and clean. In addition, the collected snow can be easily transported, stacked and stored to act as a "coolant" in the summer, and can also be used in the construction of snow houses and winter theme parks.

SUMMARY OF THE INVENTION

In order to solve the above-mentioned existing problems, the present invention proposes a snow sweeping robot with a high degree of automation and suitable for extremely harsh conditions, based on a device for collecting compressed snow into pieces.

The present invention is achieved through the following technical solutions:

The invention discloses a snow sweeping robot based on a compressed snow block collecting device, which mainly consists of a snow sweeping robot body assembly (1), a foldable snow cleaning assembly (11), and a compressed snow block assembly (39). , a snowplowing robot vehicle chassis assembly (40), a front snow collecting assembly (55), a snow block assembly (68), and a snowplowing robot vehicle cover assembly (85);

The front snow collecting assembly (55) is composed of a hose snow collecting channel bin (27), a front snow collecting cover (56), an elastic snow shovel (57), a rotary cutting disc rotating motor (25), and LED lights (24), articulated fixed rod A (47), lifting and lowering snow collecting device push rod motor (48), articulated fixed rod B (65), rotary cutting disc (22), rotary cutting shaft (23), blower (59) ), blower fan blade (60), spring (61), pin shaft (62), rotary shaft cylindrical roller bearing A (63), rotary shaft cylindrical roller bearing B (58).

The compressed snow block assembly (39) is composed of a partition gap snow clearing board (8), a snow pushing board running track (9), a snow pushing board (10), a partition gap gap (19), and a snow collecting board. Compression block compartment (20), push block end push rod motor (21), punch block end push rod motor fixing plate (26), block receiving temporary plate (28), push block plate (29), push block end cylinder (30) ), push block plate running track (31), block limit plate (32), push block end cylinder fixing plate (33), push block end vertical baffle plate (34), partition clearance snow removal push rod motor (35) ), the vertical baffle plate (36) at the snow-sweeping end, the snow-sweeping end cylinder (37), the fixing plate of the snow-sweeping end cylinder (38), the side block outlet of the snow sweeping robot (81), and the front door of the snow sweeping robot body (82) , the outer side door (83) of the input block and the inner side door (84) of the input block.

The conveying snow block assembly (68) consists of front and rear transport roller screws A (69), left and right transport roller screws (72), front and rear transport roller screws B (79), and a screw motor ( 49), fixed seat A end (66), fixed rod (70), lead screw (50), lead screw nut seat (73), lead screw nut (71), lifting and lowering mechanical claw push rod motor (74), mechanical claw Fixed table (75), mechanical claw synchronizing bar (76), mechanical claw rotating motor (77), mechanical claw (78), fixed seat B end (67), screw fixed roller bearing A (80), 64- The screw is composed of fixed roller bearing B.

The foldable snow cleaning assembly (11) is composed of a front and rear body push-pull stroke plate (6), a foldable push-pull frame push rod motor (7), a snow cleaning brush tailstock (12), a snow cleaning brush (13), a folding Type push-pull frame (14), rear-mounted snow-clearing rotating motor (15), moving wheel (16), upper limit pinch buckle (17), lower limit pinch buckle (18), moving slider guide rail (51), holding rod limit It is composed of a position moving slider (52), a moving wheel limit guide rail (53), and a push-pull rod holder (54).

The snowplow robot body assembly (1) is composed of a snowplow robot front body (2), an inner side of a snowplow robot sliding track (3), a snowplow robot rear body (4), and an outer side of the snowplow robot sliding track (5). .

The snowplowing robot vehicle chassis assembly (40) is composed of a driving cylindrical roller bearing (41), a snowplowing robot vehicle chassis frame (42), an air pump (43), a coupling (44), and a traveling drive motor (45) and anti-skid tires (46).

The snow plow robot car cover assembly (85) is composed of a two-axis gimbal (86), an infrared camera (87), a laser radar (88), a bracket (89), a snow plow robot car cover (90), and a baffle pin It consists of a shaft (91), a hinge (92), and a baffle (93).

Compared with the prior art, the beneficial effects of the present invention are:

The present invention is a snow sweeping robot based on a compressed snow block collecting device. The snow collecting briquette bin (20) is provided with a snow pushing board running track (9) and is provided with a partition gap slot (19). ; the snow-pressing end cylinder (37) is located on the right side of the snow-collecting briquette bin (20); The collected snow is punched into pieces and directly transported to the left side; the front end of the partition gap snow-clearing push rod motor (35) is provided with a partition gap snow-clearing board (8), which can be removed through the partition gap slot (19) . The residual snow inside the partition is pushed to the outside: the push block end push rod motor (21) is located on the left front side of the snow collecting briquette bin (20) and is used to push the compressed snow blocks to the temporary block collecting plate (28) and The pushing process passes through the limit channel formed by the front door (82) of the snowplow robot body, the outer door (83) and the inner door (84) of the conveying block; the four corners of the temporary block receiving plate (28) are opened to facilitate the mechanical claw (78) The snow blocks are grabbed and a push block plate running track (31) is laid thereon; the front end of the push block end cylinder (30) is provided with a push block plate (29) which runs on the push block plate running track (31) and passes through the sweeper. The side block discharge outlet (81) of the snow robot can discharge snow blocks to the outside of the box and automatically and neatly stack them on the roadside.

The present invention is a snow sweeping robot based on a device for collecting compressed snow into pieces. It is combined with the front and rear transport roller screw B (79) and can control the mechanical claw (78) to run forward, backward, left and right in the front body (2) and the rear body (4) of the snowplowing robot; The mechanical claw push rod motor (74) is arranged at the lower end of the lead screw nut seat (73) of the left and right transport roller screws (72) and can realize the up and down movement of the mechanical claw (78); the mechanical claw fixing platform (75) is connected to At the lower end of the push rod motor (74) for lifting and lowering the mechanical claw; the row of mechanical claws (78) is provided with a mechanical claw synchronizing bar (76); the mechanical claw rotating motor (77) is arranged on the mechanical claw fixing table (75) ) at the lower end and fixed on the side of the mechanical gripper (78); the snow block conveying assembly (68) can grab snow blocks and transfer them to any position in the front body (2) and the rear body (4) of the snowplowing robot.

The present invention is a snow-sweeping robot based on a device for collecting compressed snow into pieces. Between the snow-sweeping robot front body (2) and the snow-sweeping robot rear body (4), the snow-sweeping robot slides through the inner side (3) of the snow-sweeping robot and the snow-sweeping robot. The outside of the sliding track (5) cooperates with the inside and outside of the sliding track; the rear body (4) of the snow sweeping robot is a supplement to the insufficient capacity of the snow collecting block in the front body (2) of the snow sweeping robot and pushes and pulls the travel plate (6) on the front and rear bodies to limit the position Slide within range.

The present invention is a snow sweeping robot based on a device for collecting compressed snow into lumps. The front snow collecting cover (56) and the elastic snow shovel (57) are connected by pins and springs to meet the requirements of the elastic snow shovel (57). 57) The snow removal process has a certain shrinkage requirement, and snow removal can be performed on ground with various obstacles; the springs (61) and the pins (62) are evenly distributed on the inner side of the front snow collecting cover (56).

The present invention is a snow sweeping robot based on a device for collecting compressed snow into pieces. The snow sweeping brush (13) is separated from the ground and its service life is effectively protected; the limit moving slider (52) of the holding rod can slide up and down within the range of the moving slider guide rail (51); the push-pull rod holder (54) is provided with Between the two foldable push-pull frames (14) and in cooperation with the holding rod, the limit moving slider (52) is used to fix and retract the foldable snow-clearing assembly (11); the moving wheel (16) can move The upper limit pinch (17) and the lower limit pinch (18) in the wheel limit guide rail (53) move within the range.

Description of drawings

Figure 1 is an isometric view of the present invention.

Figure 2 is a left side view of the present invention.

Figure 3 is a front view of the present invention.

Figure 4 is a top view of the present invention.

FIG. 5 is an upper and lower isometric axonometric view of the present invention.

FIG. 6 is a right side view of the folding snow blowing device of the present invention.

Figure 7 is a bottom view of the present invention.

FIG. 8 is a right-side cross-sectional view of the present invention.

Fig. 9 is a right front sectional view of the present invention.

Fig. 10 is a right side view of the retracted compartment of the present invention.

Figure 11 is a left and right isometric isometric view of the present invention.

Fig. 12 is an overall view of the snow plow with a hood of the present invention.

Fig. 13 is an overall left side view of the snow plow with a hood of the present invention.

In the picture:

1-Snowplow robot body assembly, 2-Snowplow robot front body, 3-Snowplow robot sliding track inside, 4-Snowplow robot rear body, 5-Snowplow robot sliding track outside, 6- Front and rear body push-pull travel boards , 7-foldable push-pull frame push rod motor, 8-partition clearance snow clearing board, 9-snowboard running track, 10-snowboard, 11-foldable snow clearing assembly, 12-snow clearing brush tail Seat, 13-snow brush, 14-foldable push-pull frame, 15-rear snow-clearing rotating motor, 16-moving wheel, 17-upper limit pinch buckle, 18-lower limit pinch buckle, 19-partition gap compartment seam Mouth, 20-snow collecting briquette bin, 21- push block end push rod motor, 22- rotary cutting disc, 23- rotary cutting shaft, 24- LED light, 25- rotary cutting disc rotating motor, 26- punching block end push Rod motor fixing plate, 27-Hose snow collection channel bin, 28-Block temporary plate, 29-Push block plate, 30-Push block end cylinder, 31-Push block plate running track, 32-Block limit plate, 33 -Push block end cylinder fixing plate, 34- Push block end vertical baffle, 35- Clapboard clearance snow clearing push rod motor, 36- Snow pressure end vertical baffle, 37- Snow pressure end cylinder, 38- Snow pressure End cylinder fixing plate, 39-compressed snow block assembly, 40-snow sweeping robot vehicle chassis assembly, 41-driving cylindrical roller bearing, 42-snow sweeping robot vehicle chassis frame, 43-air pump, 44-coupling , 45-travel drive motor, 46-anti-skid tires, 47-articulated fixed rod A, 48-lifting snow collecting device push rod motor, 49-screw motor, 50-screw, 51-moving slider guide rail, 52- Retaining rod limit moving slider, 53-moving wheel limit guide rail, 54-push-pull rod cage, 55-front snow collecting assembly, 56- front snow collecting cover, 57- elastic snow shovel, 58-spin Cutting shaft cylindrical roller bearing B, 59-blower, 60-blower fan blade, 61-spring, 62-pin shaft, 63-rotating shaft cylindrical roller bearing A, 64-screw fixed roller bearing B, 65- Articulated fixed rod B, 66-fixed seat A end, 67-fixed seat B end, 68-conveying snow block assembly, 69-front and rear transport roller screw A, 70-fixed rod, 71-lead screw nut, 72- Left and right transport roller screw, 73- Screw nut seat, 74- Lifting mechanical claw push rod motor, 75- Mechanical claw fixing table, 76- Mechanical claw synchronizing bar, 77- Mechanical claw rotating motor, 78- Mechanical gripper, 79- front and rear transport roller screw B, 80- screw fixed roller bearing A, 81- side block outlet of snow plow robot, 82- front door of snow plow robot body, 83- block outside door, 84 -Inner door of input block, 85-Snowplow robot car cover assembly, 86-Two-axis gimbal, 87-Infrared camera, 88-Lidar, 89-Bracket, 90-Snowplow robot car cover, 91-Baffle pin Shaft, 92-hinge, 93-baffle.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and its specific embodiments:

The invention discloses a snow sweeping robot based on a compressed snow block collecting device, which mainly consists of a snow sweeping robot body assembly (1), a foldable snow cleaning assembly (11), and a compressed snow block assembly (39). , a snow sweeping robot vehicle chassis assembly (40), a front snow collecting assembly (55), a conveying snow block assembly (68), and a snow sweeping robot vehicle cover assembly (85). As shown in Figures 1-13, an infrared camera (87) and a laser radar (88) are provided at the upper end of the snowplow robot vehicle cover assembly (85) of the present invention. The foldable snow clearing assembly (11) is connected to the rear end of the rear body (4) of the snow clearing robot; the front and rear body push-pull travel plates (6) are connected to the front body (2) of the snow clearing robot and can only be within the range of the range moves in the front and rear directions; the folding push-pull frame push rod motor (7) is installed between the front and rear body push-pull stroke plates (6) and the foldable snow cleaning assembly (11); the snow sweeping brush (13) is installed Below the tailstock (12) of the snow sweeping brush; the rear-mounted snow sweeping rotating motor (15) is installed on the tailstock (12) of the snow sweeping brush and is located at the lower end of the folding push-pull frame (14); the sliding slider guide rail (51) and the moving wheel limit guide rail (53) are respectively connected to the middle and partial sides of the rear body (4) of the snow sweeping robot; the upper limit pinch buckle (17) and the lower limit pinch buckle (18) are respectively are located at the upper and lower limit positions of the moving wheel limit guide rail (53); the holding rod limit moving slider (52) is connected to the inner side of the moving slider guide rail (51) and can move up and down; the push-pull rod holder (54) Connecting two foldable push-pull frames (14) and synchronously sweeping snow at both ends; the snow sweeping robot vehicle chassis assembly (40) is located on the front body (2) of the snow sweeping robot and the rear body of the snow sweeping robot (4) The lower end; the six traveling cylindrical roller bearings (41) are installed inside the side of the chassis frame (42) of the snowplowing robot; the six traveling drive motors (45) are installed on the chassis frame ( 42) Above; the coupling (44) is located above the chassis frame (42) of the snowplowing robot vehicle and is connected between the traveling cylindrical roller bearing (41) and the traveling drive motor (45); the anti-skid tire (46) The air pump (43) is installed on the chassis frame (42) of the snowplowing robot vehicle and is located on the side of the snowplowing robot vehicle chassis frame (42) and is connected to the coupling (44) through the driving cylindrical roller bearing (41). ; the front snow collecting assembly (55) and the snow plow robot body assembly (1) are connected by an articulated fixing rod A (47) and an articulated fixing rod B (65); the lifting and lowering snow collecting device push rod The motor (48) is installed between the front snow collecting cover (56) and the snowplow robot body assembly (1); the elastic snow shovel (57) is installed on the front snow collecting cover ( 56) above; the rotary shaft (23) is installed inside the front snow cover (56); the rotary disc (22) is installed on the rotary shaft (23); the rotary shaft cylindrical roller The bearing A (63) and the rotary shaft cylindrical roller bearing B (58) are respectively connected to both sides of the rotary shaft (23) and installed on the left and right ends of the front snow cover (56); the rotary cutting disc rotates the motor (25) is installed on the right end of the front snow collecting cover (56); the compressed snow block assembly (39) is installed on the front side of the front body (2) of the snowplowing robot; the push block end push rod motor (21) It is installed on the inner side of the push rod motor fixing plate (26) at the punch block end and is located on the left side of the compressed snow block assembly (39); the snow pressure end cylinder (37) is installed on the snow pressure end cylinder fixing plate (38) and in the snow The inner side of the vertical baffle (36) at the end; the snow-clearing push rod motor (35) for the partition gap is installed on the inner side of the vertical baffle (36) at the snow pressing end, and the other end is provided with a partition gap snow-clearing board (8) ; the partition gap (19) is located on the left side of the snow-collecting briquette silo (20); the snow-pusher running track (9) is laid inside the snow-collecting briquette silo (20); the collection block The temporary plate (28) is installed on the front body (2) of the snowplowing robot and is located behind the snow collecting briquette bin (20); the block limit plate (32) is located on the side of the temporary block receiving plate (28); The block end air cylinder (30) is installed on the temporary block receiving plate (28) and is located between the push block plate (29) and the push block end vertical baffle plate (34); the snow block conveying assembly (68) consists of front and rear blocks. The transport roller screw A (69), the left and right transport roller screws (72) and the front and rear transport roller screws B (79) are combined, and the left and right transport roller screws (72) are arranged at the front and rear. On the screw nut seat (73) of the transport roller screw A (69) and the front and rear transport roller screw B (79); the front and rear transport roller screw A (69) and the front and rear transport roller screws Axle screws B (79) are respectively installed on both sides of the front body (2) and the rear body (4) of the snowplowing robot; the end A (66) of the fixing seat and the end B (67) of the fixing seat are located at the front and rear respectively The two sides and inside of the transport roller screw A (69) are respectively provided with a lead screw fixed roller bearing B (64) and a lead screw fixed roller bearing A (80); the lead screw nut seat (73) and the screw The rod nuts (71) are arranged together and are located between the A end (66) of the fixed seat and the B end (67) of the fixed seat; the lifting and lowering mechanical claw push rod motor (74) is installed on the left and right transport roller screws (72) The lower end of the screw nut seat (73) of the ); the mechanical claw fixing platform (75) is installed under the lifting and lowering mechanical claw push rod motor (74) and a mechanical claw (78) is installed at the lower end; the mechanical claw rotating motor (77) ) is installed on the side of the mechanical claw (78) and below the mechanical claw fixing table (75); the mechanical claw synchronizing bar (76) is installed between a row of mechanical claws (78); the lead screw motor (49) Install it on the A-end (66) of the fixing base. The snow plow robot car cover assembly (85) is arranged on the snow plow robot front body (2) and the snow plow robot rear body (4) and can be detached at any time; the lidar (88) is arranged on the snow plow robot A bracket (89) is placed on the vehicle cover (90) and in the middle; the infrared camera (87) is arranged on the vehicle cover (90) of the snow sweeping robot, and a two-axis pan/tilt (86) is connected in the middle.

As shown in Figure 3, Figure 4, Figure 6, Figure 8, Figure 10, the front snow collecting assembly (55) consists of a hose snow collecting channel bin (27), a front snow collecting cover (56), an elastic Type snow shovel (57), rotary cutting disc rotation motor (25), LED light (24), articulated fixing rod A (47), lifting snow collecting device push rod motor (48), hinged fixing rod B (65) , rotary cutting disc (22), rotary cutting shaft (23), blower (59), fan blade (60), spring (61), pin shaft (62), rotary cutting shaft cylindrical roller bearing A (63), The rotary shaft cylindrical roller bearing B (58) is composed; the elastic snow shovel (57) and the front snow collecting cover (56) are connected through the shaft hole of the pin shaft (62); the pin shaft (62) The top is covered with springs (61) and distributed on the inside of the front snow cover (56); the LED lights (24) are installed on the front snow cover (56); the rotary shaft (23) is provided with Inside the front snow collecting cover (56); the rotary shaft cylindrical roller bearing A (63) and the rotary shaft cylindrical roller bearing B (58) are respectively connected to both sides of the rotary shaft (23) and installed on the The left and right ends of the front snow collecting cover (56); the rotary cutting disc rotation motor (25) is installed on the right end of the front snow collecting cover (56); the push rod motor (48) of the lifting snow collecting device is fixed in combination with an articulated type The rod A (47) and the hinged fixing rod B (65) can lift the front snow cover (56) off the ground when not working, effectively prolonging the service life of the elastic snow shovel (57). (22) is installed on the rotary cutting shaft (23) to realize rotary snow removal; the hose snow collecting channel bin (27) is connected to the rear port position of the front snow collecting cover (56); the blower (59) Installed behind the front snow cover (56) and connected with nuts and bolts and the blower fan blade (60) is placed inside the hose snow collection channel bin (27); the elastic snow shovel (57) can be detached from the front The snow collecting assembly (55) can be replaced at any time when it is damaged, which effectively reduces the use cost of the front snow collecting assembly (55). This kind of road work has a certain shrinkage, which can realize snow shoveling on rough roads.

As shown in Fig. 1, Fig. 2, Fig. 4, Fig. 11, the compressed snow block assembly (39) consists of a partition clearance snow-clearing board (8), a snow-pushing board running track (9), a snow-pushing board ( 10), the slit of the partition gap compartment (19), the snow collecting block compartment (20), the pusher end pusher motor (21), the punch end pusher motor fixing plate (26), and the temporary plate for collecting blocks (28) ), push block plate (29), push block end cylinder (30), push block plate running track (31), block limit plate (32), push block end cylinder fixing plate (33), push block end vertical stop Plate (34), Clapboard Clearance Push Rod Motor (35), Snow Sweeping End Vertical Baffle (36), Snow Sweeping End Air Cylinder (37), Snow Sweeping End Cylinder Fixing Plate (38), Snow Sweeping Robot Side The block outlet (81), the front door (82) of the snowplow robot body, the outer side door (83), and the inner side door (84) of the delivery block; the capacity of the snow collecting block (20) is 70cm X 20cm X 20cm. space, the push-rod motor (21) at the push-block end is installed on the inner side of the fixing plate (26) of the push-rod motor at the punch block end and on the left front side of the snow-collecting block bin (20); the snow-pressing end cylinder (37) It is fixed on the cylinder fixing plate (38) at the snow pressing end, and a snow pushing board (10) is installed at one end to realize the function of compressing snow; the snow pushing board running track (9) is laid on the inner side of the snow collecting block bin (20). And combined with the snow pusher (10) to achieve limited sliding snow pressure; the partition gap snow clearing push rod motor (35) is fixed on the inner side of the vertical baffle plate (36) at the snow pressing end, and one end is installed with the partition gap to clear snow The plate (8) is used to remove the snow inside the partition gap; the slot (19) of the partition gap is opened on the left side of the snow collecting briquette bin (20); the inner door (84) and the The outer side door (83) of the delivery block is opened on the left rear side of the snow collecting briquette bin (20), and cooperates with the front door (82) of the snow sweeping robot body to realize the function of limiting the snow block out of the bin; the push block end cylinder (30) is fixed on the A push block plate (29) is installed on and at one end of the cylinder fixing plate (33) at the push block end; the push block plate running track (31) is laid on the temporary block receiving plate (28); the push block plate (29) It runs on the running track (31) of the push block board and can pass through the block discharge outlet (81) on the side of the snow sweeping robot to realize that the snow blocks are discharged from the temporary warehouse to the outside of the box and automatically and neatly stacked on the roadside; the block limit The plate (32) is used to limit the movement range of the snow block on the side of the temporary block receiving plate (28); the four corners of the temporary block receiving plate (28) are open to facilitate the grasping of the mechanical claw, and the rear part is provided with a vertical block at the end of the push block plate (34).

As shown in Fig. 6, Fig. 9, Fig. 10, Fig. 11, the conveying snow block assembly (68) consists of front and rear transport roller screws A (69), left and right transport roller screws (72), front and rear transport roller screws (72), Transport roller lead screw B (79), lead screw motor (49), fixed seat A end (66), fixed rod (70), lead screw (50), lead screw nut seat (73), lead screw nut ( 71), lifting and lowering mechanical claw push rod motor (74), mechanical claw fixing table (75), mechanical claw synchronizing bar (76), mechanical claw rotating motor (77), mechanical claw (78), fixed seat B end (67) ), screw fixed roller bearing A (80), 64-screw fixed roller bearing B; the conveying snow block assembly (68) consists of front and rear transport roller screw A (69), left and right transport The roller screw (72) and the front and rear transport roller screw B (79) are combined and the left and right transport roller screws (72) are installed on the front and rear transport roller screw A (69) and the front and rear transport roller screw A (69). The position of the screw nut seat (73) of the roller screw B (79); the fixed seat A end (66) and the fixed seat B end (67) are located on both sides of the front and rear transport roller screw A (69) respectively And the inside are respectively provided with a screw fixed roller bearing B (64) and a screw fixed roller bearing A (80); the screw (50) is installed in the middle position of the front and rear transport roller screw A (69) for use the screw nut seat (73); the fixing rods (70) are evenly distributed between the A end (66) of the fixing seat and the B end (67) of the fixing seat; the screw nuts (71) and The screw nut seat (73) is used in conjunction; the lifting mechanical claw push rod motor (74) is installed under the screw nut seat (73) of the left and right transport roller screws (72); the mechanical claw fixing table (75) ) is installed on the lower end of the lifting and lowering mechanical claw push rod motor (74) and four mechanical claws (78) are evenly distributed on it; ) below; the mechanical claw synchronizing bar (76) is fixed between a row of mechanical claws (78); the conveying snow block assembly (68) is transported by the front and rear conveying roller screw A (69), the left and right conveying The transport roller screw (72) and the front and rear transport roller screw B (79) cooperate with each other to grab snow blocks and deliver them to any position in the snowplow robot carriage in real time.

As shown in Figure 1, Figure 2, Figure 7, the foldable snow cleaning assembly (11) consists of front and rear body push-pull travel plates (6), a folding push-pull frame push rod motor (7), and a snow cleaning brush tail seat (12), snow sweeping brush (13), foldable push-pull frame (14), rear snow-clearing rotating motor (15), moving wheel (16), upper limit pinch buckle (17), lower limit pinch buckle (18) , moving slider guide rail (51), holding rod limit moving slider (52), moving wheel limit guide rail (53), push-pull rod holder (54); the snow sweeping brush (13) is connected to the snow sweeping brush (13) The lower end of the brush tail seat (12); the foldable push-pull frame (14) is foldable and can cooperate with the moving wheel (16) to limit the upper and lower limit pinch buckles (17) in the non-working state. sliding and shrinking within the range; the lower end of the rear snow-clearing rotating motor (15) is installed on the tailstock (12) of the snow sweeping brush, and the upper end is installed with a folding push-pull frame (14); the sliding slider guide rail (51) and The holding rod limit moving slider (52) is used together and is used to limit the push-pull rod holder (54) and shrink and fix when it is not working; the moving wheel limit guide rail (53) is used to limit the moving wheel (16) Running track; the front and rear body push-pull stroke boards (6) and the push-pull push-rod motor (7) of the folding push-pull frame are connected to shrink the foldable snow-cleaning assembly (11) and effectively prolong the service life of the snow-sweeping brush (13). .

As shown in FIG. 1 , the snowplow robot body assembly (1) consists of a snowplow robot front body (2), an inner side of a snowplow robot sliding track (3), a snowplow robot rear body (4), and a snowplow robot sliding The outer side of the track (5) is composed of; when the snowplow robot is not deployed, the front body (2) of the snowplow robot has a capacity of 90cm X 100cm X 100cm and can collect about 500 snow blocks; After the robot is unfolded, the front body (2) and the rear body (4) of the snowplowing robot have a space of 140cm X 100cm X 100cm when folded, and can collect about 900 snow blocks; the front body ( 2) There is a sliding fit with the rear body (4) of the snowplowing robot through the inner side (3) of the sliding track of the snow cleaning robot and the outer side (5) of the sliding track of the snow cleaning robot; The front body of the robot (2) is a supplement for the insufficient storage capacity of snow blocks.

As shown in FIG. 5 , the snowplowing robot vehicle chassis assembly (40) consists of a driving cylindrical roller bearing (41), a snowplowing robot vehicle chassis frame (42), an air pump (43), a coupling (44), The traveling drive motor (45) and the anti-skid tire (46) are composed; the six traveling drive motors (45) are fixed on the chassis frame (42) of the snowplowing robot vehicle through bolts and nuts; the six traveling cylindrical roller bearings ( 41) Installed inside the chassis frame (42) of the snowplowing robot vehicle; the coupling (44) is fitted on the traveling drive motor (45); the anti-skid tire (46) is matched with the traveling cylindrical roller bearing (41) On the coupling (44); the travel drive motor (45) is not a tire group with the same power and adopts 4+2 mode and 4+2 independently controlled travel drive motors (45) to provide each travel drive motor (45) (45) A speed error range, so that not only the steering is further stable and flexible, but also the loss of the walking drive motor (45) is further greatly reduced.

As shown in Figures 12 and 13, the snowplow robot car cover assembly (85) consists of a two-axis pan/tilt head (86), an infrared camera (87), a laser radar (88), a bracket (89), a snowplow robot It consists of a car cover (90), a baffle pin shaft (91), a hinge (92), and a baffle (93). The bracket (89) is installed on the front side in the middle of the snowplowing robot cover (90); the lidar (88) is installed on the bracket (89); the two-axis pan/tilt (86) is installed on the front right side ; The infrared camera (87) for night vision monitoring is installed on the two-axis pan/tilt (86); The robot car cover (90) is above and can be pulled open and closed.

Specific embodiments of the invention have been described above. It should be understood that the present invention is not limited to the above-mentioned specific embodiments, and those skilled in the art can make various variations or modifications within the scope of the claims, which do not affect the essential content of the present invention.

Claims (2)

1. The present invention discloses a snow sweeping robot based on a compressed snow mass collection device, which mainly consists of a snow sweeping robot body assembly (1), a foldable snow cleaning assembly (11), and a compressed snow mass assembly ( 39), a snow plow robot vehicle chassis assembly (40), a front snow collecting assembly (55), a snow block assembly (68), and a snow plow robot car cover assembly (85); the snow collecting pressure The block bin (20) has a capacity of 70cm X 20cm X 20cm, and the push block end push rod motor (21) is installed on the inner side of the punch block end push rod motor fixing plate (26) and is located in the snow collecting and briquetting block bin (20 ) on the left front side; the snow pressing end cylinder (37) is fixed on the snow pressing end cylinder fixing plate (38) and a snow pusher (10) is installed at one end to realize the function of compressing snow; the snow pusher running track ( 9) It is laid on the inner side of the snow collecting briquette bin (20) and combined with the snow pusher (10) to achieve limited sliding snow pressure; the partition clearance snow clearing push rod motor (35) is fixed on the vertical baffle at the snow pressing end (36) A partition gap snow-clearing board (8) is installed on the inner side and at one end to remove the snow inside the partition gap; the partition gap silo slot (19) is opened at the side of the snow collecting briquette bin (20). Left side; the inner side door (84) and outer side door (83) of the delivery block are opened on the left rear side of the snow collecting briquette bin (20) and cooperate with the front door (82) of the snow sweeping robot body to limit the snow block out of the bin Function; the push block end cylinder (30) is fixed on the push block end cylinder fixing plate (33) and a push block plate (29) is installed at one end; the push block plate running track (31) is laid on the temporary block receiving plate (28); the push block board (29) runs on the push block board running track (31) and can pass through the side block discharge outlet (81) of the snow sweeping robot to discharge the snow blocks from the temporary warehouse to the outside of the box And automatically and neatly stack the roadside; the block limit plate (32) is used to limit the movement range of the snow block on the side of the temporary block receiving plate (28); the four corners of the temporary block receiving plate (28) are opened to facilitate the mechanical claw. Grab and set a push block end vertical baffle (34) at the rear; when the snow sweeping robot is not unfolded, the front body (2) of the snow sweeping robot has a volume of 90cm X 100cm X 100cm; After the snowplowing robot is unfolded, the front body (2) and the rear body (4) of the snowplowing robot have a space of 140cm X 100cm X 100cm after being folded; The vehicle bodies (4) are slidably matched by the inner side (3) of the sliding track of the snow-ploughing robot and the outer side (5) of the sliding track of the snow-ploughing robot. 2. a kind of snow sweeping robot based on compressed snow block collecting device according to claim 1 is characterized in that: The elastic snow shovel (57) and the front snow collecting cover (56) are connected through the shaft hole of the pin shaft (62); the pin shaft (62) is covered with a spring (61) and distributed in the front collecting cover. There are several snow covers (56) on the inner side; the push rod motor (48) of the lifting snow collecting device combined with the hinged fixing rod A (47) and the hinged fixing rod B (65) can raise the front snow collecting when not working The cover (56) is separated from the ground; the elastic snow shovel (57) can be detached from the front snow collecting assembly (55) and can be replaced at any time when damaged, effectively reducing the use cost of the front snow collecting assembly (55); The conveying snow block assembly (68) is composed of front and rear conveying roller screws A (69), left and right conveying roller screws (72), and front and rear conveying roller screws B (79). The transport roller screw (72) is installed on the screw nut seat (73) of the front and rear transport roller screw A (69) and the front and rear transport roller screw B (79); The rod motor (74) is installed under the rod nut seat (73) of the left and right conveying roller screws (72); the mechanical claw fixing table (75) is installed on the lower end of the elevating mechanical claw push rod motor (74) and is evenly above Four mechanical claws (78) are distributed; the mechanical claw rotating motor (77) is installed on the side of the mechanical claw (78) and located below the mechanical claw fixing table (75); the mechanical claw synchronizing bar (76) is fixed on a Between the rows of mechanical claws (78); the foldable push-pull frame (14) is foldable and can cooperate with the moving wheel (16) to limit the upper limit pinch buckle (17) and the lower limit pinch buckle (18) in the non-working state. The lower end of the rear snow-clearing rotating motor (15) is installed on the tailstock (12) of the snow-sweeping brush, and the upper end is installed with a folding push-pull frame (14); the moving slider guide rail (51) It is used in conjunction with the retaining rod limit moving slider (52) and is used to limit the push-pull rod holder (54) and to shrink and fix it when it is not working; the moving wheel limit guide rail (53) is used to limit the moving wheel (16). ) running track; the front and rear body push-pull travel plates (6) and the push-pull motor (7) of the folding push-pull frame are connected to shrink the foldable snow-cleaning assembly (11) and effectively extend the use of the snow-cleaning brush (13). life.

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