阅读说明：本技术 一种铁路边坡割草割灌机器人 (Railway side slope mowing and brush-cutting robot ) 是由 周宗贺 陈浩 李政 张如涛 张立东 张渔洋 张建红 鹿焕海 王勇 刘治军 周万石 于 2020-08-14 设计创作，主要内容包括：本发明公开了一种铁路边坡割草割灌机器人,包括底盘以及安装在底盘上的发动机1、液压系统、割草结构、行走机构以及无线遥控系统,发动机和燃油箱采用上部缩口的容器状,用于发动机1的润滑系统适应50度以内的倾斜角度,柴油发动机与柱塞泵相连为整个设备的行走、作业提供动力,整体框架采用钢结构焊接而成,采用高强度橡胶履带作为行走装置,提高设备整体稳定性以及减少设备对铁路边坡的伤害；本发明设计的铁路边坡割草割灌机器人通过设计的上部缩口的容器状的发动机油底壳和燃油箱,实现发动机在50度以内的坡度上行走时,不会造成吸油管底部亏油的情况,有效的保护了发动机的运行,避免人工作业的危险,提高割草效率。(The invention discloses a railway slope mowing and brush-cutting robot, which comprises a chassis, an engine 1, a hydraulic system, a mowing structure, a travelling mechanism and a wireless remote control system, wherein the engine 1, the hydraulic system, the mowing structure, the travelling mechanism and the wireless remote control system are arranged on the chassis; according to the railway side slope mowing and brush-cutting robot, the designed container-shaped engine oil pan with the upper part being reduced and the designed fuel tank are adopted, so that the condition that the bottom of the oil suction pipe is lack of oil when an engine walks on the slope within 50 degrees is avoided, the running of the engine is effectively protected, the danger of manual operation is avoided, and the mowing efficiency is improved.)

1. A railway slope mowing and brush-cutting robot is characterized by comprising a chassis, an engine, a hydraulic system, a mowing structure and a traveling mechanism, wherein the engine, the hydraulic system and the mowing structure are mounted on the chassis;

a rotor arranged on the engine is connected with a plunger pump arranged on a hydraulic system through a coupler, the plunger pump is used for providing hydraulic power for a walking motor, a mowing driving motor and a lifting cylinder which are arranged on the hydraulic system, the other side of the plunger pump is connected with a hydraulic oil tank, the hydraulic oil tank is arranged at the front end of a chassis, a valve block is arranged below the plunger pump and on the chassis, the valve block is connected with and controls the walking motor, the mowing driving motor and the lifting cylinder through a hydraulic pipeline, the valve block is electrically connected with a controller in a control box, and the controller is connected with a manual operator through a wireless module arranged in the control box to form a remote control system;

the rear seat of the lifting cylinder is mounted on the chassis, the front end of the lifting cylinder is rotatably mounted on the support frame, the support frame is connected to the mower, the mower is rotatably connected to the chassis through a mower connecting piece and used for controlling the mower to lift, a flail knife roller is rotatably connected inside the mower, and flail knives are mounted on the flail knife roller in a staggered mode and used for rotatably mowing the flail knife roller.

2. The railway slope mowing and brush-cutting robot as claimed in claim 1, wherein the traveling motors are provided with two traveling motors which are oppositely arranged on two sides of the chassis, the traveling motors are connected with and drive driving wheels of the traveling mechanisms, the driving wheels drive tension wheels through rubber track connections, the tension wheels are arranged on the chassis, and a plurality of driven supporting wheels are arranged between the driving wheels and the tension wheels and on the chassis and used for supporting the rubber tracks to rotate and driving the vehicle body to travel.

3. The railway slope mowing and brush-cutting robot as claimed in claim 1, wherein a transmission case is mounted on one side of the mower, a driving wheel and a driven wheel which are connected through a belt are mounted in the transmission case, the driving wheel is connected with a mowing driving motor mounted on the mower, and the driven wheel is connected with the flail roller and used for driving the flail roller to rotate through the mowing driving motor.

4. The railway slope mowing and brush-cutting robot according to claim 3, wherein a baffle is mounted at the upper part of the mower, and a guide roller is mounted in the mower below the flail roller and used for assisting the stable rotation of the flail roller.

5. The railway slope mowing and brush-cutting robot as claimed in claim 3, wherein the flail knife is made of 65Mn steel.

6. The railway slope mowing and brush-cutting robot as claimed in claim 1, wherein the plunger pump is mounted on an engine on one side, a control box is mounted above the plunger pump, and the control box is fixed on a chassis through four upright posts.

7. The railway slope mowing and brush-cutting robot as claimed in claim 1, wherein the mower is rotatably connected to the chassis through a mower connector, the mower connector is located below the supporting frame, and the mower connector is hinged to the chassis through a rotating shaft for rotatably supporting the mower to be lifted.

8. The railway slope mowing and brush-cutting robot as claimed in claim 1, wherein the engine is a diesel engine, and a radiator is mounted on a base behind the engine.

9. The railway slope mowing and brush-cutting robot according to claim 1, wherein the valve block adopts a plurality of electric proportional servo valves.

Technical Field

The invention relates to the technical field of mowing robots, in particular to a mowing and brush-cutting robot for railway slopes.

Background

The railway lines are long, the roadbed of a plurality of sections is a high slope, weeds and shrubs grow vigorously, manual clearing wastes time and labor, and the operation efficiency is low. The burning of shrubs and grass after drying out can not be eliminated in time, which affects the train running safety and the railway running equipment safety, especially the safety of dangerous goods transportation. Because the bank protection slope is great (the field measurement is about 40 degrees), the clear away equipment of selling on the general market can't be in the operation on the ramp that is greater than 30 degrees, can not be fine when current engine is greater than 30 degrees inclination and absorbs lubricating oil to can lead to the engine to produce the dry grinding scene, work can cause the engine to damage under the dry grinding condition for a long time. Therefore, the mode of manual mowing is adopted at present, and due to the steep gradient, a human body frequently slides when standing, so that workers are easily injured. Therefore, a railway slope mowing and brush-cutting robot capable of driving on a slope within 50 degrees needs to be designed, and the problems that an engine is damaged due to a large railway slope and manual mowing efficiency is easy to hurt are solved.

Disclosure of Invention

Aiming at the problems in the prior art, the invention aims to provide a railway slope mowing and brush-cutting robot.

The technical scheme adopted by the invention for solving the technical problems is as follows: a railway slope mowing and brush-cutting robot comprises a chassis, an engine, a hydraulic system, a mowing structure and a traveling mechanism, wherein the engine, the hydraulic system, the mowing structure and the traveling mechanism are arranged on the chassis, the bottom of an engine oil pan arranged on the engine is arranged on the chassis through a bracket, the upper part of the engine oil pan is an oil pan connecting layer and is connected with an upper structure of the engine through a flange, the middle part and the bottom of the engine oil pan are respectively an oil pan inclined layer and an oil pan bottom layer to form a container shape of an upper necking of the engine oil pan, a lubricating system used for the engine is suitable for an inclination angle within 50 degrees, the engine oil pan is connected with an upper engine through an oil suction pipe arranged in the engine oil;

a rotor arranged on the engine is connected with a plunger pump arranged on a hydraulic system through a coupler, the plunger pump is used for providing hydraulic power for a walking motor, a mowing driving motor and a lifting cylinder which are arranged on the hydraulic system, the other side of the plunger pump is connected with a hydraulic oil tank, the hydraulic oil tank is arranged at the front end of a chassis, a valve block is arranged below the plunger pump and on the chassis, the valve block is connected with and controls the walking motor, the mowing driving motor and the lifting cylinder through a hydraulic pipeline, the valve block is electrically connected with a controller in a control box, and the controller is connected with a manual operator through a wireless module arranged in the control box to form a remote control system;

the rear seat of the lifting cylinder is mounted on the chassis, the front end of the lifting cylinder is rotatably mounted on the support frame, the support frame is connected to the mower, the mower is rotatably connected to the chassis through a mower connecting piece and used for controlling the mower to lift, a flail knife roller is rotatably connected inside the mower, and flail knives are mounted on the flail knife roller in a staggered mode and used for rotatably mowing the flail knife roller.

The vehicle body is characterized in that the two traveling motors are arranged on two sides of the chassis and are oppositely arranged on the two sides of the chassis, the traveling motors are connected with and drive driving wheels of the traveling mechanism, the driving wheels are connected with and drive tensioning wheels through rubber tracks, the tensioning wheels are arranged on the chassis, and a plurality of driven supporting wheels are arranged between the driving wheels and the tensioning wheels and on the chassis and are used for supporting the rubber tracks to rotate and driving the vehicle body to travel.

Specifically, a transmission case is installed on one side of the mower, a driving wheel and a driven wheel which are connected through a belt are installed in the transmission case, the driving wheel is connected with a mowing driving motor installed on the mower, and the driven wheel is connected to a flail knife roller and used for driving the flail knife roller to rotate by the mowing driving motor.

Specifically, a baffle is arranged at the upper part of the mower, and a guide roller is arranged in the mower below the flail knife roller and used for assisting the stable rotation of the flail knife roller.

Specifically, the flail knife is made of 65Mn steel.

Specifically, one side of the plunger pump is installed on an engine, a control box is installed above the plunger pump, and the control box is fixed on a chassis through four upright posts.

The lawn mower is rotatably connected to the chassis through a lawn mower connecting piece, the lawn mower connecting piece is located below the supporting frame, and the lawn mower connecting piece is hinged to the chassis through a rotating shaft and used for rotatably supporting the lifting of the lawn mower.

Specifically, the engine adopts a diesel engine, and a radiator is arranged behind the engine and on the base.

Specifically, the valve block adopts a plurality of electric proportional servo valves.

The invention has the following beneficial effects:

according to the railway side slope mowing and brush-cutting robot, the designed container-shaped engine oil pan with the upper part being reduced and the designed fuel tank are adopted, so that the condition that the bottom of the oil suction pipe is lack of oil is avoided when an engine walks on the slope within 50 degrees, the running of the engine is effectively protected, the danger of manual operation is avoided, and the mowing efficiency is improved; the designed wireless remote control system avoids the slipping damage of the artificial side slope, and because the field gradient is larger, the artificial driving has certain slipping and rollover risks, and the remote control operation is safer and more reliable; the designed rubber track has strong environmental adaptability and strong off-road capability, a drainage channel is arranged on a field ramp, and the vehicle body can automatically cross over the drainage channel for operation.

Drawings

Fig. 1 is a schematic structural diagram of a railway side slope mowing and brush-cutting robot.

Fig. 2 is a front view of the railway slope mowing and brush-cutting robot.

Fig. 3 is a left side view of fig. 1.

Fig. 4 is a top view of fig. 1.

Fig. 5 is a schematic structural view of an engine oil pan.

Fig. 6 is a schematic diagram of a hydraulic control system.

In the figure: 1-an engine; 2-a hydraulic system; 3-a mowing mechanism; 4-a traveling mechanism; 5-a chassis; 101-engine oil sump; 102-oil pan connection layer; 103-oil pan tilting layer; 104-oil pan bottom layer; 105-an oil suction pipe; 106-a fuel tank; 107-a heat sink; 201-plunger pump; 202-control box; 203-hydraulic oil tank; 204-a walking motor; 205-mowing drive motor; 206-lifting cylinder; 207-valve block; 301-a lawn mower; 302-mower attachment; 303-flail knife; 304-flail knife roller; 305-a guiding roller; 306-a support frame; 307-baffles; 308-a transmission case; 401-driving wheels; 402-driven support wheels; 403-tensioning wheel; 404-track.

Detailed Description

The technical solutions in the embodiments of the present invention will be described in further detail in the following clearly and completely with reference to the accompanying drawings in the embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1-6, the railway side slope mowing and brush-cutting robot comprises a chassis 5, an engine 1, a hydraulic system 2, a mowing structure 3 and a traveling mechanism 4, wherein the engine 1, the hydraulic system 2, the mowing structure 3 and the traveling mechanism 4 are installed on the chassis 5, in order to ensure the rigidity of the chassis 5, the chassis 5 is integrally welded, the integrated chassis 5 is compact in structural design, no redundant space exists, and reasonable stress is ensured. The engine 1 adopts diesel engine to provide power, and diesel engine links to each other with hydraulic pressure plunger pump and provides power for walking, the operation of whole equipment, and whole frame adopts the steel construction welding to form, adopts high strength rubber track as running gear, improves equipment overall stability and reduces the injury of equipment to the railway side slope.

The bottom of an engine oil pan 101 arranged on an engine 1 is installed on a chassis 5 through a bracket, the upper part of the engine oil pan 101 is an oil pan connecting layer 102 which is connected with the upper structure of the engine 1 through a flange, the middle part and the bottom of the engine oil pan 101 are respectively an oil pan inclined layer 103 and an oil pan bottom layer 104 to form a container shape of an upper necking of the engine oil pan 101, a lubricating system of the engine 1 is adapted to an inclination angle within 50 degrees, so that lubricating oil is always arranged at the bottom of the engine oil pan 101, the engine 1 is connected with an upper engine 1 through an oil suction pipe 105 arranged in the engine oil pan 101, the engine 1 is connected with a fuel tank 106 through an oil conveying pipe, and the fuel tank 106 is provided with the same structure as the engine oil pan 101, so that when the engine 1 travels on a slope within 50 degrees, avoid manual work's danger, improve the efficiency of mowing.

The whole set of hydraulic system 2 adopts imported German Lishi le hydraulic components, the whole hydraulic system 2 adopts an open-circuit structure, other functions can be added according to requirements in the later period, and the hydraulic system 2 comprises a plunger pump 201, a hydraulic oil tank 203, an electric proportional servo valve, a walking motor 204, a mowing driving motor 205, a lifting cylinder 206, pipelines and the like. The rotor arranged on the engine 1 is connected with the plunger pump 201 arranged on the hydraulic system 2 through a coupler, the plunger pump 201 is directly connected with the rotor of the engine 1 and used as hydraulic power of the whole system, the hydraulic oil tank 203 is located at the front part of the vehicle body, the bottom of the hydraulic oil tank is connected with the chassis 5 and used for providing hydraulic oil for the hydraulic system 2, the two walking motors 204, the mower driving motor 205 and the two lifting cylinders 206 are respectively controlled by an electric proportional servo valve, and the synchronous rotating speed of the two walking motors 204, the rotating speed adjustability of the mower driving motor 205 and the stability of the lifting cylinders 206 are guaranteed. The plunger pump 201 provides hydraulic power for a traveling motor 204, a mowing driving motor 205 and a lifting cylinder 206 which are arranged on the hydraulic system 2, the other side of the plunger pump 201 is connected with a hydraulic oil tank 203, the hydraulic oil tank 203 is installed at the front end of the chassis 5, a valve block 207 is installed below the plunger pump 201 and on the chassis 5, the valve block 207 adopts a plurality of electric proportional servo valves, the valve block 207 is connected with and controls the traveling motor 204, the mowing driving motor 205 and the lifting cylinder 206 through hydraulic pipelines, and the valve block 207 is electrically connected with a controller in the control box 202.

The fuel tank 106 and the hydraulic oil tank 203 are directly connected with the front end of the chassis 5 through screws, the fuel tank 106 and the hydraulic oil tank 203 are separated by heat insulation cotton, the plunger pump 201 is directly connected with the engine 1 through a coupler, the plunger pump 201 is connected with the coupler and the coupler is connected with the engine 1 through screws, the engine 1 is connected with the chassis 5 through a shockproof gasket and screws, and the valve block 207 is connected with the chassis 5 through screws.

The controller is connected with a manual operator through a wireless module to form a remote control wireless remote control system, the manual operator controls the starting and stopping of the engine 1 and the size of an accelerator, the engine 1 drives the plunger pump 201, meanwhile, the two walking motors 204, the mowing driving motor 205 and the two lifting cylinders 206 control the action, the stopping and the flow through four electric proportional servo valves, and the four proportional servo valves realize wireless remote control through the controller. The wireless remote control system comprises a controller, a manual operator and a connecting circuit, wherein the manual operator can control the vehicle body to move forwards, backwards, turn left and turn right, can control the mowing mechanism 3 to rotate and stop, can control the starting and stopping of the engine 1 and the size of an accelerator, and can control the sound of a horn, the switch of an illuminating lamp and the like.

The mowing mechanism 3 is designed in a flail knife type structure, flail knives 303 are made of 65Mn steel, and the flail knives 303 are distributed on the surface of the whole flail knife roller 304 in a cross distribution mode, so that mowing efficiency is guaranteed. The bottom is provided with a guide roller 305, and the guide roller 305 has the functions of ensuring the stability of the mowing mechanism 3 in the mowing process of the vehicle body and ensuring that the mowing mechanism 3 is protected from being damaged in the process of the vehicle body on a slope with large inclination up and down. The rear seat of the lifting cylinder 206 is mounted on the chassis 5, the front end of the lifting cylinder 206 is rotatably mounted on a support frame 306, the support frame 306 is connected to the mower 301, the mower 301 is rotatably connected to the chassis 5 through a mower connector 302 and used for controlling the mower 301 to lift and fall through the lifting cylinder 206, the mower 301 is rotatably connected with a flail roller 304, and flail knives 303 are arranged on the flail roller 304 in a staggered mode and used for rotatably mowing the flail roller 304. A transmission case 308 is installed on one side of the mower 301, a driving wheel and a driven wheel connected through a belt are installed in the transmission case 308, the driving wheel is connected with a mowing driving motor 205 installed on the mower 301, and the driven wheel is connected with a flail roller 304 and used for driving the flail roller 304 to rotate by the mowing driving motor 205 so as to perform mowing operation. The baffle 307 is arranged at the upper part of the mower 301 and used for blocking smashed grass to avoid damage to equipment, and the guide roller 305 is arranged in the mower 301 and below the flail knife roller 304 and used for assisting the stable rotation of the flail knife roller 304. The mower 301 is rotatably connected to the chassis 5 through a mower connector 302, the mower connector 302 is located below the supporting frame 306, and the mower connector 302 is hinged to the chassis 5 through a rotating shaft for rotatably supporting the mower 301 to lift.

The traveling mechanism 4 comprises a high-strength rubber crawler belt 404, a driving wheel 401, a tensioning cylinder assembly, a driven supporting wheel 402 and the like. The two walking motors 204 are oppositely arranged on two sides of the chassis 5, the walking motors 204 are connected with and drive driving wheels 401 of the walking mechanism 4, the driving wheels 401 are connected with and drive tension wheels 403 arranged on a tension cylinder assembly through rubber tracks 404, the tension wheels 403 are arranged on the chassis 5, and a plurality of driven supporting wheels 402 are arranged between the driving wheels 401 and the tension wheels 403 and on the chassis 5 and used for supporting the rubber tracks 404 to rotate and driving the vehicle body to walk. The drive wheel 401 is connected to the travel motor 204 by a screw, and the travel motor 204 is connected to the chassis 5 by a screw.

One of the main technical parameters of the device embodiment is as follows: the size of the whole machine is as follows: length x width x height 2800mmx1400mmx1000mm (approx); maximum working gradient: 50 degrees; driving speed: 0-7 km/h; the weight of the whole vehicle is as follows: about 1 ton; an engine: a diesel engine; power: 22.7 kw; the rotating speed of the mowing mechanism is as follows: 3000 r/min. By adopting a unique engine lubricating system, the supply of lubricating oil is normal under the condition that the engine 1 is inclined by 50 degrees, and the normal work of the engine is ensured; the unique fuel supply system also ensures the whole vehicle running of the engine under the condition of 50-degree inclination; the whole system adopts the wireless remote control technology, guarantees the personal safety of operators, adopts the open circuit hydraulic system design, and is convenient for the later stage to increase other functions.

The present invention is not limited to the above embodiments, and any structural changes made under the teaching of the present invention shall fall within the scope of the present invention, which is similar or similar to the technical solutions of the present invention.

The techniques, shapes, and configurations not described in detail in the present invention are all known techniques.