楔刃振动式道路冰雪清除机理和除雪机械研究
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摘要
公路与城市道路冰雪，对北方冬季交通和人民日常生活有重要影响。我国北方地区冬季时间长，降雪周期长，雪后能否快速、干净、高效的清除公路和道路的积雪及其形成的冰雪混合物，已成为迫切需要解决的科学与技术课题。
本文在总结分析以往道路冰雪清除技术和原理的基础上，以硬质道路冰雪清除为主，对道路冰雪混合物的物理和机械性能进行了试验与分析，形成了以浮雪推铲、硬质混合冰雪振动破碎清除为主要研究目标，且经济、实用、除净率高、路面损伤小的新型除雪设备设计与研究思路，并研制出了试验用样机。
楔刃振动式道路冰雪清除机械的结构特点是：采用推雪铲与振动楔刃铲相组合的方式连续除雪；振动楔刃铲与推雪铲装置采用分立结构，柔性连接，以适应不同路面，提高除净率；整个除雪机构可悬挂在工程机械或相应的机动车辆上使用，以降低结构复杂程度和生产成本。振动楔刃铲结构与除雪角度采用仿生(仿人工除雪)除雪技术，楔形除雪刃具与路面形成一定楔角，以提高压实冰雪的振碎效率。
在课题研究过程中，首先对道路积雪物理机械性能进行了测试试验，以最佳硬质冰雪破碎效果为目标，测试确定了除雪机具设计所需的铲雪力、刃具形状、刃具最佳入雪角度等基本参数。根据积雪和硬质冰雪测试试验结果，分析确定了除雪过程工作阻力计算方法。
经比较分析，推铲式除雪机具是目前道路浮冰雪清除机械清除速度最快，结构简单，效率最高的除雪设备，但不能清除压实冰雪和道路冰雪混合物；而现有的清除压实冰雪和道路冰雪混合物的除雪机械又普遍存在着速度慢，效率低等问题。因此，以推雪铲形式为基础组合设计楔刃振动式道路冰雪清除机械是本课题研究的基本指导思想。目的，就是适应各种道路冰雪清除的要求，研制出经济、实用、高效、安全的寒地新型道路冰雪清除设备。
课题研究考虑到除雪机具制造及使用性能的稳定性，对楔刃振动机构、推雪铲机构等关键部件进行了详细的设计；并设计了楔刃磨损快速更换功能、路面保护功能和柔性避障等功能。从满足试验用样机研制的角度，设计并研制了除雪机械的动力和传动系统。
最后，对试制样机进行了除雪性能试验，通过试验数据的分析，验证了设计方案的正确性、结构的合理性以及性能的稳定性，并分析、探讨了除雪机械的发展和存在的不足。
The ice-snow on the highway and city road has negative effect on the transportation and the daily life in north winter. Considering the longer winter period and snowfall period in North China, it is very important to clear up the snow over and ice-snow mixture on the road cleanly, effectively and quickly.
After summing up and analyzing the past ice-snow clearing technology and principle, this thesis mainly has researched the ice-snow clearing technology on the hard road, and has made an experiment on the physical and mechanical performance of the ice-snow mixture. And moreover, the main research objective has been accomplished, which is to push and spade float snow and to oscillate and break up clearing the hard ice-snow mixture. Finally, the design and research objective of the snow-removal machine has been presented, which is economic, practical, high efficient and small damage to road surface, and that the trial- manufacture prototype machine has been developed.
The structure characteristics of the snow-removal machine based on the wedge blade oscillatory is followed: oscillatory wedge blade spades is applied to push snow continuously; in order to adapt the different road surface, it is together for separate structure and flexible connection to improve clearing efficiently; in order to reduce the structure complexity and production cost, the snow-removal machine can be suspended from the engineering machine or locomotive. The bio- simulation (human-like snow-removal) snow-removal technology is applied for the structure of oscillatory snow-removal spade and its angle, and that the wedge snow-removal blade has an angle with the road surface to enhance oscillation efficiency of compacting the ice-snow.
During the research period, we have made a test on the physical and mechanical performance of the ice-snow cover, and the test has made sure the main parameters at the same time, such as spade force, blade tool shape, spading angle of the snow-removal machine for the objective of the best hard ice-snow breaking effect. According to the result, we have analyzed and made certain the calculating method of the snow-removal process resistance.
By comparing and analyzing, the snow-removal machine presented by this thesis is the one with the fastest snow-removal speed, simple structure and high efficiency in all of the float snow-removal machines on road, but it can't clear up the compacted ice-snow and ice-snow mixture on road; However, there were several problems for the exist snow-removal machines which can clear up the compacted ice-snow and mixture, such as slow speed and low efficiency. Consequently, in order to meet the requirement of all kinds of snow-removal machines on road, the guideline for this research subject to design the wedge blade oscillation snow-removal machine was on the basis of the pushing and spade form.
Considering the stability of manufacturing and using performance for snow-removal machine, a detailed design is presented for the key component, such as wedge blade oscillation mechanism and push spade mechanism; And that the functions are designed such as fast replacement for the wear-out wedge blade, the road surface protecting and flexibly dodging the obstruction. To meet the developing of prototype machine, the power and transmission system are designed and developed.
In the end, a snow-removal performance test is made to thetrial-manufacture prototype machine. By analyzing the test data, the accuracy of the project, the rationality of the structure and the stability of the performance are entirely verified, and then the development and deficiency of the snow-removal machine is discussed.
本文在总结分析以往道路冰雪清除技术和原理的基础上，以硬质道路冰雪清除为主，对道路冰雪混合物的物理和机械性能进行了试验与分析，形成了以浮雪推铲、硬质混合冰雪振动破碎清除为主要研究目标，且经济、实用、除净率高、路面损伤小的新型除雪设备设计与研究思路，并研制出了试验用样机。
楔刃振动式道路冰雪清除机械的结构特点是：采用推雪铲与振动楔刃铲相组合的方式连续除雪；振动楔刃铲与推雪铲装置采用分立结构，柔性连接，以适应不同路面，提高除净率；整个除雪机构可悬挂在工程机械或相应的机动车辆上使用，以降低结构复杂程度和生产成本。振动楔刃铲结构与除雪角度采用仿生(仿人工除雪)除雪技术，楔形除雪刃具与路面形成一定楔角，以提高压实冰雪的振碎效率。
在课题研究过程中，首先对道路积雪物理机械性能进行了测试试验，以最佳硬质冰雪破碎效果为目标，测试确定了除雪机具设计所需的铲雪力、刃具形状、刃具最佳入雪角度等基本参数。根据积雪和硬质冰雪测试试验结果，分析确定了除雪过程工作阻力计算方法。
经比较分析，推铲式除雪机具是目前道路浮冰雪清除机械清除速度最快，结构简单，效率最高的除雪设备，但不能清除压实冰雪和道路冰雪混合物；而现有的清除压实冰雪和道路冰雪混合物的除雪机械又普遍存在着速度慢，效率低等问题。因此，以推雪铲形式为基础组合设计楔刃振动式道路冰雪清除机械是本课题研究的基本指导思想。目的，就是适应各种道路冰雪清除的要求，研制出经济、实用、高效、安全的寒地新型道路冰雪清除设备。
课题研究考虑到除雪机具制造及使用性能的稳定性，对楔刃振动机构、推雪铲机构等关键部件进行了详细的设计；并设计了楔刃磨损快速更换功能、路面保护功能和柔性避障等功能。从满足试验用样机研制的角度，设计并研制了除雪机械的动力和传动系统。
最后，对试制样机进行了除雪性能试验，通过试验数据的分析，验证了设计方案的正确性、结构的合理性以及性能的稳定性，并分析、探讨了除雪机械的发展和存在的不足。
The ice-snow on the highway and city road has negative effect on the transportation and the daily life in north winter. Considering the longer winter period and snowfall period in North China, it is very important to clear up the snow over and ice-snow mixture on the road cleanly, effectively and quickly.
After summing up and analyzing the past ice-snow clearing technology and principle, this thesis mainly has researched the ice-snow clearing technology on the hard road, and has made an experiment on the physical and mechanical performance of the ice-snow mixture. And moreover, the main research objective has been accomplished, which is to push and spade float snow and to oscillate and break up clearing the hard ice-snow mixture. Finally, the design and research objective of the snow-removal machine has been presented, which is economic, practical, high efficient and small damage to road surface, and that the trial- manufacture prototype machine has been developed.
The structure characteristics of the snow-removal machine based on the wedge blade oscillatory is followed: oscillatory wedge blade spades is applied to push snow continuously; in order to adapt the different road surface, it is together for separate structure and flexible connection to improve clearing efficiently; in order to reduce the structure complexity and production cost, the snow-removal machine can be suspended from the engineering machine or locomotive. The bio- simulation (human-like snow-removal) snow-removal technology is applied for the structure of oscillatory snow-removal spade and its angle, and that the wedge snow-removal blade has an angle with the road surface to enhance oscillation efficiency of compacting the ice-snow.
During the research period, we have made a test on the physical and mechanical performance of the ice-snow cover, and the test has made sure the main parameters at the same time, such as spade force, blade tool shape, spading angle of the snow-removal machine for the objective of the best hard ice-snow breaking effect. According to the result, we have analyzed and made certain the calculating method of the snow-removal process resistance.
By comparing and analyzing, the snow-removal machine presented by this thesis is the one with the fastest snow-removal speed, simple structure and high efficiency in all of the float snow-removal machines on road, but it can't clear up the compacted ice-snow and ice-snow mixture on road; However, there were several problems for the exist snow-removal machines which can clear up the compacted ice-snow and mixture, such as slow speed and low efficiency. Consequently, in order to meet the requirement of all kinds of snow-removal machines on road, the guideline for this research subject to design the wedge blade oscillation snow-removal machine was on the basis of the pushing and spade form.
Considering the stability of manufacturing and using performance for snow-removal machine, a detailed design is presented for the key component, such as wedge blade oscillation mechanism and push spade mechanism; And that the functions are designed such as fast replacement for the wear-out wedge blade, the road surface protecting and flexibly dodging the obstruction. To meet the developing of prototype machine, the power and transmission system are designed and developed.
In the end, a snow-removal performance test is made to thetrial-manufacture prototype machine. By analyzing the test data, the accuracy of the project, the rationality of the structure and the stability of the performance are entirely verified, and then the development and deficiency of the snow-removal machine is discussed.
引文
1 齐晓杰．道路与公路冰雪清除技术发展现状与探讨．林业机械与木工设备，2004(6)：7～10
2 Campbell, James F, Langevin, Andre. Operations management for urban snow removal and disposal. Transportation Research, Part A: Policy and Practice, 1995(5): 29～30
3 Li Shenglin, Meng Xiangshuan, Qiu Xuting. The road sweeping-snow devices in country and overseas. Road machinery & construction mechanization, 2003(1): 17～19
4 王振．国内除雪除冰机械现状刍议．工程机械，2002(7)：46～47
5 张启君，夏磐夫．国内外除雪机械的探讨．筑路机械与施工机械化，2005(11)：1～5
6 Colin Shabi. Take special precaution to keep snow removal equipment efficient and safe. Cleaning & Maintenance Management, 2001(9): 37～40
7 By Bob Tracinski. Snow removal safety. Cleaning Maintenance Management, 2001(9): 36～38
8 薛英卫，夏锦阳．日本除雪机械技术现状．工程机械，2003(8)：13～15
9 李盛林．国内外道路除雪装置．筑路机械与施工机械化，2003(1)：6～8
10 田晋跃．国外道路除雪机械技术发展概况．江苏理工大学学报，2003(4)：26～28
11 陆季挺．高速公路快速除雪作业．筑路机械与施工机械化，1999(2)：43～45
12 Feng shulin, Chen Gang, Wang Chunsheng. Snow removing on expressway in winter. Road machinery & construction mechanization, 2004(1): 31～32
13 Kanemura, Naotoshi. Road snow removal and the snowfall information system in the City of Sapporo. Transportation Research Record, 1998(16): 27～30
14 李晶．小型旋转式清雪车的总体设计和三维绘图．大连铁道学院硕士论文，2003：23～32
15 穆存远．城市道路积雪物理机械性能测试研究．机械设计与制造，2001(6)：73～74
16 付建华．路面冰雪清除机研究．吉林大学硕士论文，2003：1～25
17 张建国．多功能清雪车前雪铲仿真分析与改进研究．吉林大学硕士论文， 2006：5～12
18 Schweizer, Jurg, Wiesinger and Thomas. Snow profile interpretation for stability evaluation. Cold Regions Science and Technology, 2001(12): 179～188
19 Bodin, Anders. Study of the influence of vehicle parameters on tractive performance in deep snow. Journal of Terramechanics, 2001(1): 47～59
20 John Winter. New Snow Removal Gadgets Get Concept Test. Better roads, 2000(12): 70～73
21 Li Jing, Zhang Junrong. The dry-snow characteristic measuring in more frequency area and comparing with the calculated results by theoretic. Remote sensing technology and application, 1994(4): 9～13
22 Kempainen A, Milacic D. Modeling and testing snow ploughing forces on trucks. International journal of vehicle design, 1998(4): 472～491
23 张瑞普．高速公路冬季机械除雪方法初探．吉林交通科技，2004(11)：37～40
24 崔宪江．除雪机械．人民交通出版社，1988：41～52
25 杨光．CBX-1600型除冰雪机．筑路机械与施工机械化，1998(2)：3～5
26 刘永章．介绍一种破冰除雪装置．工程机械，1995(3)：2～3
27 张长荣．振动压裂式破冰雪机的研制．筑路机械与施工机械化，1999(6)：3～5
28 萧永江．城市道路压实雪除雪机构的研制．工程机械，1995(5)：38～40
29 张先璞．CL-24型公路除雪器的研制．吉林交通科技，1993(8)：23～26
30 曲继方．机构创新原理．科学出版社，2001：35～43
31 李峰华．自动行走除雪机的研究．中国农业大学硕士论文，2005：5～18．
32 Fleege E.J, Blackburn R.R. Spreader. equipment for anti-icing. Transportion Research Record, 1995(9): 15～18
33 Debbie L.Feldman. Developing Technology Improves Snow and Ice Control. Public Works, 1999(4): 130～136
34 王国安．除雪机械结构原理和计算要点．建筑机械化，1995(1)：22～25
35 薛红彦．一次性机械设计方法的研究．哈尔滨工业大学硕士论文，2006：5～10
36 周松波．除雪机弹性避让装置．建筑机械，2001(6)：23～25
37 王新梅，殷琳．可调压自动越障式除雪装置．工程机械，1999(10)：10～11
38 崔平正．组合式清雪机除雪装置的机液伺服系统设计．机床与液压，2003(2)：107～108
39 赵洪刚．长距离下运带式输送机的研究设计．山东科技大学硕士论文，2005：66～70
40 Tan H-S, Bougler B and Steinfeld A. Snowplow steering guidance with gain stabilization. Vehicle system dynamics, 2001(36): 279～305
41 Tan, Han-Shue:Bougler, Benodicte. Snowplow steering quidence system using roadway markers-problem formulation and solution concept. Vehicle System Dynamics, 1999(1): 32～38
42 李乔非，吴书琴．除雪机除雪部件的试验研究．机械工程师，1995(2)：12～13
2 Campbell, James F, Langevin, Andre. Operations management for urban snow removal and disposal. Transportation Research, Part A: Policy and Practice, 1995(5): 29～30
3 Li Shenglin, Meng Xiangshuan, Qiu Xuting. The road sweeping-snow devices in country and overseas. Road machinery & construction mechanization, 2003(1): 17～19
4 王振．国内除雪除冰机械现状刍议．工程机械，2002(7)：46～47
5 张启君，夏磐夫．国内外除雪机械的探讨．筑路机械与施工机械化，2005(11)：1～5
6 Colin Shabi. Take special precaution to keep snow removal equipment efficient and safe. Cleaning & Maintenance Management, 2001(9): 37～40
7 By Bob Tracinski. Snow removal safety. Cleaning Maintenance Management, 2001(9): 36～38
8 薛英卫，夏锦阳．日本除雪机械技术现状．工程机械，2003(8)：13～15
9 李盛林．国内外道路除雪装置．筑路机械与施工机械化，2003(1)：6～8
10 田晋跃．国外道路除雪机械技术发展概况．江苏理工大学学报，2003(4)：26～28
11 陆季挺．高速公路快速除雪作业．筑路机械与施工机械化，1999(2)：43～45
12 Feng shulin, Chen Gang, Wang Chunsheng. Snow removing on expressway in winter. Road machinery & construction mechanization, 2004(1): 31～32
13 Kanemura, Naotoshi. Road snow removal and the snowfall information system in the City of Sapporo. Transportation Research Record, 1998(16): 27～30
14 李晶．小型旋转式清雪车的总体设计和三维绘图．大连铁道学院硕士论文，2003：23～32
15 穆存远．城市道路积雪物理机械性能测试研究．机械设计与制造，2001(6)：73～74
16 付建华．路面冰雪清除机研究．吉林大学硕士论文，2003：1～25
17 张建国．多功能清雪车前雪铲仿真分析与改进研究．吉林大学硕士论文， 2006：5～12
18 Schweizer, Jurg, Wiesinger and Thomas. Snow profile interpretation for stability evaluation. Cold Regions Science and Technology, 2001(12): 179～188
19 Bodin, Anders. Study of the influence of vehicle parameters on tractive performance in deep snow. Journal of Terramechanics, 2001(1): 47～59
20 John Winter. New Snow Removal Gadgets Get Concept Test. Better roads, 2000(12): 70～73
21 Li Jing, Zhang Junrong. The dry-snow characteristic measuring in more frequency area and comparing with the calculated results by theoretic. Remote sensing technology and application, 1994(4): 9～13
22 Kempainen A, Milacic D. Modeling and testing snow ploughing forces on trucks. International journal of vehicle design, 1998(4): 472～491
23 张瑞普．高速公路冬季机械除雪方法初探．吉林交通科技，2004(11)：37～40
24 崔宪江．除雪机械．人民交通出版社，1988：41～52
25 杨光．CBX-1600型除冰雪机．筑路机械与施工机械化，1998(2)：3～5
26 刘永章．介绍一种破冰除雪装置．工程机械，1995(3)：2～3
27 张长荣．振动压裂式破冰雪机的研制．筑路机械与施工机械化，1999(6)：3～5
28 萧永江．城市道路压实雪除雪机构的研制．工程机械，1995(5)：38～40
29 张先璞．CL-24型公路除雪器的研制．吉林交通科技，1993(8)：23～26
30 曲继方．机构创新原理．科学出版社，2001：35～43
31 李峰华．自动行走除雪机的研究．中国农业大学硕士论文，2005：5～18．
32 Fleege E.J, Blackburn R.R. Spreader. equipment for anti-icing. Transportion Research Record, 1995(9): 15～18
33 Debbie L.Feldman. Developing Technology Improves Snow and Ice Control. Public Works, 1999(4): 130～136
34 王国安．除雪机械结构原理和计算要点．建筑机械化，1995(1)：22～25
35 薛红彦．一次性机械设计方法的研究．哈尔滨工业大学硕士论文，2006：5～10
36 周松波．除雪机弹性避让装置．建筑机械，2001(6)：23～25
37 王新梅，殷琳．可调压自动越障式除雪装置．工程机械，1999(10)：10～11
38 崔平正．组合式清雪机除雪装置的机液伺服系统设计．机床与液压，2003(2)：107～108
39 赵洪刚．长距离下运带式输送机的研究设计．山东科技大学硕士论文，2005：66～70
40 Tan H-S, Bougler B and Steinfeld A. Snowplow steering guidance with gain stabilization. Vehicle system dynamics, 2001(36): 279～305
41 Tan, Han-Shue:Bougler, Benodicte. Snowplow steering quidence system using roadway markers-problem formulation and solution concept. Vehicle System Dynamics, 1999(1): 32～38
42 李乔非，吴书琴．除雪机除雪部件的试验研究．机械工程师，1995(2)：12～13