Construction equipment for slope protection structure and construction method thereof

Abstract

The application discloses a kind of slope protection structure's construction equipment and its construction method, including walking system, operation control system and external mechanical equipment, wherein: the external mechanical equipment and operation control system are installed at the top of walking system, and the operation control system controls external mechanical equipment and walking system work;The external mechanical equipment includes multi-section cutter, coiled material laying machine, special fixture, multifunctional mechanical arm;Conversion joint is provided on the multifunctional mechanical arm, and the multi-section cutter, coiled material laying machine, special fixture are provided with the joint interface matched with the conversion joint on the multifunctional mechanical arm Connection.The construction method uses the slope protection structure's construction equipment of the application.Solve the construction of the protection structure of the existing high and steep slope, mainly by artificial or ordinary mechanical equipment, there is the problem of low construction efficiency, construction personnel safety cannot be guaranteed.

Description

Technical Field

[0001] This invention belongs to the field of intelligent construction technology for slope engineering, and relates to a construction equipment and construction method for slope protection structures. Background Technology

[0002] Intelligent construction aims to improve construction efficiency, reduce costs, and ensure project quality by integrating advanced technologies. Against this backdrop, the research and application of intelligent, advanced, and green construction technologies in the construction industry are progressing rapidly. However, traditional slope construction techniques still suffer from labor intensity and low production efficiency. Although slope protection engineering has gradually shifted from traditional manual construction to mechanized construction, conventional processes such as geogrid laying and drainage ditch construction still rely on manual operation, which may lead to longer project cycles and difficulties in guaranteeing construction quality. To address this, some technical personnel have optimized and improved some existing technologies. For example, the invention patent with application number CN202110459604.2 provides a slope support construction equipment, including a vehicle body, telescopic boom, boom traveling legs, working forearm, and sliding and rotating mechanism. This technology can ultimately realize the functions of slotting and hoisting, installing lattice beams, and installing anchor bolts and anchor cables. The invention patent with application number CN202310551816.2 provides a slope support construction equipment and its construction method, which has the effect of bearing and releasing reinforced anchor bolts in stages, thereby making the construction process safer and faster. The two patented technologies mentioned above have achieved breakthroughs in the construction processes of lattice beams and anchor bolts, respectively, effectively improving construction speed and quality. However, in humid and hot regions with abundant rainfall, shallow landslides frequently occur on high-fill embankment slopes due to rainwater infiltration, surface runoff erosion, and localized waterlogging. Rigid structures such as lattice beams and anchor bolts cannot provide adequate protection for the soil and rock mass of high-fill embankment slopes in these areas, thus limiting the application of the two patented technologies. The construction of protective structures for steep slopes, cliffs, and water-adjacent slopes primarily relies on manual labor or ordinary machinery, resulting in limitations such as low construction efficiency and compromised worker safety. Summary of the Invention

[0003] The purpose of this invention is to provide a construction equipment and method for slope protection structures, in order to solve the problems that the construction of existing slope protection structures mainly relies on manual labor or ordinary mechanical equipment, resulting in low construction efficiency and inability to guarantee the safety of construction personnel.

[0004] One technical solution adopted in this embodiment of the invention is: construction equipment for slope protection structures, including a walking system, an operation control system, and external mechanical equipment, wherein: The external mechanical equipment and operation control system are installed on top of the walking system, and the operation control system controls the operation of the external mechanical equipment and the walking system. The external mechanical equipment includes multi-segment cutting tools, roll material laying machines, special clamps, and multi-functional robotic arms; The multi-functional robotic arm is equipped with a conversion connector, and the multi-segment cutter, roll material laying machine, and special fixture are equipped with connector interfaces that match and connect with the conversion connector on the multi-functional robotic arm.

[0005] Furthermore, the walking system includes: A fixed base, on which an operation control system, a supply system, and external mechanical equipment are mounted; The tracks, the two tracks are respectively connected to the left and right sides of the fixed base through a connecting support mechanism, and the height of the connecting support mechanism is adjustable; The support bracket is located directly below the fixed base and includes a second hydraulic cylinder, a support cylinder, a spraying device, and counterweight plates. One end of the second hydraulic cylinder is hinged to the third mounting base at the bottom of the fixed base via a third rotating shaft, and the other end of the second hydraulic cylinder is connected to the top of the support cylinder. Two counterweight plates are hinged to the bottom of the support cylinder. The spraying device is installed inside the support cylinder, and the spray nozzle of the spraying device is positioned downward between the two counterweight plates. The operation control system and external mechanical equipment are fixed to the fixed base by connectors. Under the control of the controller of the operation control system, the fixed base can drive the operation control system and external mechanical equipment to rotate in a plane. The spraying device is equipped with a construction monitoring structure, which is electrically connected to the input terminal of the controller. The spraying device is connected to the output terminal of the controller, and the controller controls the spraying operation of the spraying device based on the feedback information from the construction monitoring structure.

[0006] Furthermore, the connecting support mechanism includes two support plates and a first hydraulic pressure. One end of each of the two support plates is connected to one end of the first hydraulic pressure, and the other end of one support plate is hinged to the first mounting seat on the track via the first rotating shaft. The other end of the other support plate is hinged to the second mounting seat at the bottom of the fixed seat via the second rotating shaft. The fixed base moves vertically in space by means of the cooperation of the first hydraulic system, the first rotating shaft, and the second rotating shaft, which in turn drive the operation control system and external mechanical equipment.

[0007] Furthermore, a gyroscope is installed on the fixed base to measure the angular motion of the fixed base in the relative inertial space in real time and feed it back to the controller; Based on feedback information from the gyroscope, the controller issues adjustment commands to the drive components of the first hydraulic cylinder, the first rotating shaft, and the second rotating shaft, adjusting the height of the first hydraulic cylinder on both sides of the bottom of the fixed base and the angles of the first rotating shaft and the second rotating shaft, correcting the state of the fixed base and ensuring that the fixed base remains horizontal at all times.

[0008] Furthermore, the multi-functional robotic arm includes: The base is integrated into the fixed base and is rotatable; The boom is telescopic and angle-adjustable; The connector is an adapter for connecting special clamps, multi-segment cutters, and roll material laying machines. The adapter can rotate 360° and is an electric pin connector. The special fixture, multi-segment cutter, and roll material laying machine are mounted on the fixed base through corresponding positioning structures. The multi-segment cutter, roll material laying machine, and special fixture are equipped with sensors to determine whether the multi-functional robotic arm has moved into position and sensors to determine whether the multi-segment cutter, roll material laying machine, and special fixture have moved into position. When special fixtures, multi-segment cutters, or roll material laying machines are required, the multi-functional robotic arm moves to the location of the multi-segment cutter, roll material laying machine, or special fixture. Its connector mates with the matching connector interface on the multi-segment cutter, roll material laying machine, or special fixture. The sensor that determines whether the multi-functional robotic arm has moved to the correct position sends a feedback signal to the controller. The controller then powers on the connector to fix the electric pin. When the multi-functional robotic arm needs to replace equipment, according to the control instructions of the controller, the connected special fixture, multi-segment cutter or roll material laying machine is first returned to its original position. The sensor that determines that the multi-segment cutter, roll material laying machine or special fixture has moved into place sends a feedback signal to the controller. The controller controls the connector to de-energize, so that the electric pin is released from the connection, and controls the multi-functional robotic arm to move to the location of the equipment to be connected, and completes the connection and fixation with the equipment.

[0009] Furthermore, the special fixture includes: The connecting plate is hinged via a second coupling and a connector interface that matches the connector head of the multi-functional robotic arm; The large clamp has its grippers hinged to the connecting plate via corresponding connectors and a first coupling. The opening angle of the large clamp is adjusted by rotating the two first couplings. A small clamp is installed in the cavity starting from the connector of the large clamp, and the small clamp can extend and retract in and out of the cavity along its vertical direction. The pusher is installed at the bottom of the connecting plate, below the large clamp; The multi-segment cutting tool comprises multiple cutting tools, with the blades of two adjacent cutting tools hinged together by a fourth pivot, and the cutting head of each cutting tool hinged to the blade by a fifth pivot.

[0010] Furthermore, the roll material laying machine includes: A roll of material, on which rolls of material are mounted; Drive wheel: The free end of the roll material is laid on the slope after passing through the drive wheel, and the drive wheel provides power for laying the roll material; The cutting tool consists of a cutting blade at the bottom and a slide rail at the top. The cutting blade can move along the slide rail. The positioning wheel is located between the cutting tool and the drive wheel. The positioning wheel is a roller with multiple hollow holes and has a positioning device that can retract and pop out from the hollow holes. The pop-out / retraction of the positioning device is controlled by the controller. The U-shaped nail spraying device is located on the side of the cutting tool away from the positioning wheel, and sprays U-shaped nails downwards.

[0011] Furthermore, the construction equipment for the slope protection structure also includes a dust removal system and a supply system installed on the fixed base of the walking system; The supply system includes a raw material storage silo, a vibrating screen, a mixing system, a batching system, and a finished product storage silo. The raw material storage silo is divided into a temporary raw material storage silo and a dedicated raw material storage silo. The discharge end of the earth and stone collection conveyor belt in the external mechanical equipment is connected to the inlet of the vibrating screen and the inlet of the temporary raw material storage bin. The discharge outlet of the temporary raw material storage bin is connected to the inlet of the vibrating screen. The discharge outlet of each layer of the vibrating screen is connected to the corresponding aggregate bin. The inlet of the mixing system is connected to the outlet of the special raw material storage bin and the aggregate bin, the outlet of the mixing system is connected to different finished product storage bins, and the outlet of the finished product storage bins is connected to the inlet of the mixing conveyor belt and the spraying device. The batching system includes an electronic metering system, level sensors installed in each raw material storage bin and aggregate bin, and electronic / pneumatic gates installed at the discharge ports of each raw material storage bin and aggregate bin.

[0012] Another technical solution adopted in this embodiment of the invention is: a construction method for slope protection structures, using the slope protection structure construction equipment described above, including the following construction steps: Step S1: Construction personnel use a moisture content meter to randomly sample soil at different locations and depths on the slope. They calculate the average moisture content of the samples and set the average moisture content in the operation control system as the benchmark for moisture content when batching the surface soil and rock material of the slope. Depending on the specific construction conditions, the construction personnel decide whether to operate in the control room or remotely. Step S2: First, construct the drainage ditch at the toe of the slope. Move the equipment to the end of the slope using the walking system, and simultaneously activate the multi-segment cutter and soil and rock collection conveyor belt. Using the forward direction of the construction equipment as a reference, excavate the drainage ditch using the multi-segment cutter in front through variable cross-section cutting operations. The number of back-and-forth excavation operations depends on the depth of the drainage ditch. The soil and rock collection conveyor belt collects the surface soil and rock material of the slope behind the multi-segment cutter and transports it to the vibrating screen. After screening, the surface soil and rock material of different particle sizes enters the corresponding... The aggregate bins are controlled by the batching system according to the input component ratio. The materials in the aggregate bins and raw material storage bins are mixed in the mixing system to form concrete. After the drainage ditch is excavated to the predetermined depth, the integrated wooden formwork is erected by special clamps. The high-dosage modified soil and concrete are transported by the mixed material conveyor belt. The concrete is used to form the drainage ditch. The high-dosage modified soil with a thickness of 20cm to 40cm is set on both sides of the drainage ditch and the drainage ditch is cured after the pouring is completed. Step S3: The construction equipment remains stationary. The soil is cut from top to bottom using a multi-segment cutter in a straight-line cutting operation. With the forward direction of the construction equipment as the front, the soil and rock collection conveyor belt located behind the multi-segment cutter collects the slope surface soil and rock material to the vibrating screening system and conveys it into the vibrating screen. After screening, the slope surface soil and rock material of each particle size enters the corresponding aggregate bin. According to the input component ratio, the batching system controls the output of slope surface soil and rock material, solid waste material, and cement in each aggregate bin and raw material storage bin. The mixing system mixes the slope surface soil and rock material, solid waste material, and cement to form low-dosage modified soil and high-dosage modified soil, which then enter different finished product storage bins. Step S4: After cutting the soil to form the first-level zigzag slope and reserving construction space, use a roll material laying machine to lay impermeable geotextile on the second slope surface and the slope platform at the bottom of the current zigzag slope. Step S5: One of the tracks of the walking system moves to the position of the first-level zigzag slope, and the other track is set at the toe of the current zigzag slope. The low-dosage modified soil in the finished material storage bin is transported out by the mixed material conveyor belt. The low-dosage modified soil is compacted by the movement of the track. Then, a layer of geogrid is laid on the compacted low-dosage modified soil using a roll laying machine. Step S6: Repeat step S5 until the construction of the first-stage low-modification soil flexible retaining wall and geogrid is completed. Step S7: Climb to the top of the low-dosage modified soil flexible retaining wall of the current level zigzag slope through the walking system. The spraying device of the support frame sprays high-dosage modified soil. The repeated extension and retraction of the first hydraulic pressure of the support frame drives the counterweight plate to compact the sprayed high-dosage modified soil. During the construction of the high-dosage modified soil slope protection structure, based on the construction process of the drainage ditch in step S2, longitudinal water collection ditches are constructed at certain intervals, and vegetation bags are constructed using special clamps. Step S8: After the flexible protection structure of the current level zigzag slope is completed, based on the construction process of the drainage ditch in step S2, the lateral water collection ditch at its location is constructed; then, the walking system moves and, based on the construction process of the drainage ditch in step S2, the construction of the transverse water collection ditch is completed. Step S9: Based on the construction process of steps S3 to S8, complete the construction of all low-dosage modified soil flexible retaining walls, geogrids, high-dosage modified soil slope protection structures, longitudinal drainage ditches, transverse drainage ditches, intercepting ditches, and lateral drainage ditches. After the longitudinal drainage ditches, transverse drainage ditches, drainage ditches, lateral drainage ditches, and intercepting ditches have been cured to a certain strength, remove the wooden formwork to form a complete slope protection structure on the high fill embankment slope.

[0013] Furthermore, the slope protection structure is installed on the slope of the high embankment. The high embankment slope is a multi-platform zigzag slope constructed in the road engineering, including multiple levels of zigzag slopes. Each level of zigzag slope consists of a first slope at the top and a second slope at the bottom. The longitudinal slope of the second slope is greater than that of the first slope. A slope platform with a slope of 30° to 60° is set at the bottom of the second slope. The slope protection structure includes: An impermeable layer is provided on the second slope surface and the bottom slope platform surface of each level of the broken slope of the high fill embankment. A flexible retaining wall with low-dosage modified soil is installed on the surface of the impermeable layer. Geogrid, which is laid inside a flexible retaining wall with low-dosage modified soil, is fixed with U-shaped nails and compacted in stages with the low-dosage modified soil of the flexible retaining wall. One layer of geogrid wraps around one layer of low-dosage modified compacted soil. The high-modification modified soil slope protection structure consists of several parts. The lowest high-modification modified soil slope protection structure is laid on the slope surface of the low-modification modified soil flexible retaining wall set on the first-level zigzag slope and extends to the top of the low-modification modified soil flexible retaining wall. The middle high-modification modified soil slope protection structure is laid on the first slope surface of each zigzag slope and on the slope surface of the low-modification modified soil flexible retaining wall above the first slope surface. The top and bottom of the middle high-modification modified soil slope protection structure extend to the top of the low-modification modified soil flexible retaining wall above and below it. The uppermost high-modification modified soil slope protection structure is laid on the surface of the first slope surface of the last zigzag slope and extends to the top of the low-modification modified soil flexible retaining wall below the first slope surface, in order to reinforce the toe of each slope platform. The mesh-like water collection and interception structure includes: Interception ditch, which is set at the top of the slope of the high embankment; A drainage ditch is located at the toe of the slope of a high embankment. Longitudinal drainage ditches, multiple such longitudinal drainage ditches are set along the slope of the high embankment, with the top of each longitudinal drainage ditch connected to the intercepting ditch and the bottom connected to the drainage canal; The transverse water collection ditch is set on the top of the low-dosage modified soil flexible retaining wall on each slope platform, and the two sides of the transverse water collection ditch are in contact with the high-dosage modified soil slope protection structure. Each transverse water collection ditch is connected to all longitudinal water collection ditches. Lateral drainage ditches are set on both sides of the slope of the high embankment. The top of the lateral drainage ditches is connected to the roadside ditch and the bottom is connected to the drainage ditch. The vegetation bags are embedded in the slope surface of the high embankment and the gaps in the mesh water collection and interception structure, and the vegetation bags are embedded in the slope protection structure with high dosage modified soil.

[0014] The beneficial effects of the embodiments of the present invention are: (1) The construction steps are streamlined and automated, which greatly improves the construction speed compared with the traditional construction method. At the same time, the proposed construction equipment and construction methods can not only be used for the construction of slope protection structures, but also for other similar slope protection structures, such as reinforced soil retaining walls, ecological slope protection structures, and shotcrete slopes, which can also accelerate the construction efficiency and ensure the construction quality. (2) Compared with existing technologies that mainly rely on manual labor or traditional mechanical equipment, this technology has functions such as automated operation, remote control, real-time monitoring, and intelligent scheduling. It can cope with various construction scenarios and complex environments, and achieve more efficient, safe and sustainable construction through intelligent means. It solves the problem that the construction of existing high and steep slope protection structures mainly relies on manual labor or ordinary mechanical equipment, resulting in low construction efficiency and inability to guarantee the safety of construction personnel. (3) The construction method of excavation and support is adopted, and the construction is carried out in the order of bottom to top and left to right. This avoids slope instability accidents caused by untimely support during the construction period and effectively ensures construction safety. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a top view of the overall slope protection structure.

[0017] Figure 2 This is a side view of section I-I of the slope protection structure.

[0018] Figure 3 This is a magnified view of section AA in section I-I of the slope protection structure.

[0019] Figure 4 This is a flowchart of the construction equipment for slope protection structures.

[0020] Figure 5 This is a schematic diagram of the layout of construction equipment for slope protection structures.

[0021] Figure 6 This is a three-dimensional structural diagram of the walking system according to an embodiment of the present invention.

[0022] Figure 7 This is a front view schematic diagram of the walking system according to an embodiment of the present invention.

[0023] Figure 8 This is a top view schematic diagram of a 1 / 2 multi-segment cutting tool according to an embodiment of the present invention.

[0024] Figure 9 This is a three-dimensional structural diagram of a 1 / 2 multi-segment cutting tool according to an embodiment of the present invention.

[0025] Figure 10 This is a three-dimensional structural diagram of a single blade of a multi-segment cutting tool according to an embodiment of the present invention.

[0026] Figure 11 This is a side view schematic diagram of a roll material laying machine according to an embodiment of the present invention.

[0027] Figure 12 This is a front view of the positioning wheel according to an embodiment of the present invention.

[0028] Figure 13This is a schematic diagram of a wooden template according to an embodiment of the present invention.

[0029] Figure 14 This is a schematic diagram of a special fixture according to an embodiment of the present invention.

[0030] Figure 15 This is a schematic diagram of the spatial positions of the large clamp and the small clamp in an embodiment of the present invention.

[0031] Figure 16 This is a schematic diagram of a multifunctional robotic arm according to an embodiment of the present invention.

[0032] In the diagram, 1. Walking system, 1-1. Slope, 1-2. Track, 1-3. First pivot, 1-4. Support plate, 1-5. Second pivot, 1-6. Fixed seat, 1-7. Second hydraulic system, 1-8. Spraying device, 1-9. Counterweight plate, 1-10. First hydraulic system, 2. Multi-segment cutter, 2-1. Blade body, 2-2. Fourth pivot, 2-3. Blade head, 3. Roll material laying machine, 3-1. Roll material cylinder, 3-2. Roll material, 3-3. U-shaped nail spraying device, 3-4. Slide rail, 3-5. Cutting blade, 3-6. Positioning wheel, 3-7. Positioning device, 3-8. Drive wheel, 3-9. Hole, 4. Wooden template, 4-1. Pad block. 5. Slope protection structure, 5-1. Longitudinal drainage ditch, 5-2. Transverse drainage ditch, 5-3. Drainage ditch, 5-4. High-dosage modified soil slope protection structure, 5-5. Geogrid, 5-6. Low-dosage modified soil flexible retaining wall, 5-7. Intercepting ditch, 5-8. Lateral drainage ditch, 5-9. High embankment slope, 5-10. Vegetation bag, 5-11. U-shaped nail, 5-12. Impermeable layer, 6. Special clamps, 6-1. Large clamp, 6-2. Small clamp, 6-3. First coupling, 6-4. Second coupling, 6-5. Pusher, 6-6. Cavity, 7. Multifunctional robotic arm, 7-1. Base, 7-2. Boom, 7-3. Connector. Detailed Implementation

[0033] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] Example 1 This embodiment provides a slope protection structure, installed on slope 1-1 of a high embankment slope 5-9 in a humid and hot southern region. The high embankment slope 5-9 is a multi-platform, zigzag slope constructed during road engineering. Figures 2-3As shown, the multi-platform zigzag slope includes multiple levels of zigzag slopes. Each level of the zigzag slope consists of a first slope at the top and a second slope at the bottom. The longitudinal slope of the second slope is greater than that of the first slope. A slope platform with a slope of 30° to 60° is set at the bottom of the second slope. The slope platform is designed with a certain slope to facilitate the drainage of seepage water. The embankment slopes 5-9 of the high fill road are constructed with a filling height greater than 18.0m (soil) or exceeding 20.0m (rock). This specific implementation case takes a soil road embankment slope as an example.

[0035] Slope protection structures, such as Figures 1-3 As shown, it includes: The impermeable layer 5-12 is provided on the second slope surface of each level of the broken slope of the high fill embankment slope 5-9 and the surface of the slope platform at its bottom. Low-dosage modified soil flexible retaining wall 5-6, the low-dosage modified soil flexible retaining wall 5-6 is set on the surface of the seepage prevention layer 5-12; Geogrid 5-5 is laid inside the low-dosage modified soil flexible retaining wall 5-6. The geogrid 5-5 is fixed with U-shaped nails 5-11 and compacted in stages with the low-dosage modified soil of the low-dosage modified soil flexible retaining wall 5-6. One layer of geogrid 5-5 wraps around one layer of low-dosage modified compacted soil. The high-modification modified soil slope protection structure 5-4 is located at the bottom and is laid on the slope surface of the low-modification modified soil flexible retaining wall 5-6 set on the first-level zigzag slope, extending to the top of the low-modification modified soil flexible retaining wall 5-6. The high-modification modified soil slope protection structure 5-4 in the middle is laid on the first slope surface of each zigzag slope and on the slope surface of the low-modification modified soil flexible retaining wall 5-6 above the first slope surface. The top and bottom of the high-modification modified soil slope protection structure 5-4 in the middle extend to the top of the low-modification modified soil flexible retaining wall 5-6 above and below it. The high-modification modified soil slope protection structure 5-4 at the top is laid on the surface of the first slope surface of the last zigzag slope and extends to the top of the low-modification modified soil flexible retaining wall 5-6 below the first slope surface, in order to reinforce the slope toe of each slope platform. The mesh-like water collection and interception structure includes: Interception ditch 5-7 is located at the top of the slope of the high embankment 5-9; Drainage ditch 5-3, wherein the drainage ditch 5-3 is located at the toe of the slope of the high embankment 5-9; Longitudinal drainage ditch 5-1, multiple longitudinal drainage ditches 5-1 are set along the slope of the high embankment 5-9, the top of each longitudinal drainage ditch 5-1 is connected to the intercepting ditch 5-7 and the bottom is connected to the drainage ditch 5-3; A transverse water collection ditch 5-2 is set on the top of a low-dosage modified soil flexible retaining wall 5-6 on each slope platform, and the two sides of the transverse water collection ditch 5-2 are in contact with the high-dosage modified soil slope protection structure 5-4. Each transverse water collection ditch 5-2 is connected to all longitudinal water collection ditches 5-1. Lateral drainage ditch 5-8 is set on both sides of the slope of the high embankment slope 5-9. The top of the lateral drainage ditch 5-8 is connected to the roadside ditch and the bottom is connected to the drainage ditch 5-3. Vegetation bags 5-10 are embedded in the slope surface of the high embankment slope 5-9 and the gaps in the mesh water collection and interception structure, and the vegetation bags 5-10 are embedded in the slope protection structure 5-4 with high-dosage modified soil.

[0036] Lateral drainage ditch 5-8 is connected to each transverse drainage ditch 5-2 via reinforcement points, which in this embodiment are constructed of reinforced concrete. Lateral drainage ditch 5-8 serves as the edge boundary of the slope and has no particular shape; its design and construction are based on the actual slope orientation. The cross-section of longitudinal drainage ditch 5-1 is smaller than that of lateral drainage ditch 5-8, and the expected flow rate is: longitudinal drainage ditch 5-1 < lateral drainage ditch 5-8.

[0037] To prevent water from flowing back into the transverse collection ditch 5-2 during scouring, the longitudinal collection ditch 5-1 is set 2cm higher than the transverse collection ditch 5-2.

[0038] To effectively collect water through the transverse collection ditch 5-2 and drain it using the longitudinal collection ditch 5-1, such as... Figure 1 As shown, the transverse drainage ditch 5-2 between two adjacent longitudinal drainage ditches 5-1 is symmetrically arranged with a certain slope, with a preferred slope of 5%.

[0039] Runoff erosion and burrowing are the main causes of shallow water damage to slopes. The impermeable layer 5-12 further prevents surface water from entering the slope interior, preventing slope instability caused by softening of the soil and rock due to increased water content. Impermeable geotextiles can be used for the impermeable layer 5-12. The high-modification soil slope protection structure 5-4 possesses certain strength. Based on the principle that the slope stability safety factor remains unchanged when the total slope ratio of a zigzag slope is equal to that of a straight slope, the multi-platform zigzag design can reduce the erosion energy of rainfall on the slope surface.

[0040] Modified reinforced topsoil refers to a reinforced soil layer formed by modifying the topsoil and rock materials of a slope. Within a certain dosage range, the higher the dosage of solid waste tailings (gold tailings), the higher the shear strength of the modified soil. X-ray diffraction and Fourier transform infrared spectroscopy analysis of soil at different depths of the slope revealed that the farther away from the slope surface, the higher the intensity of the active crystal diffraction peaks in the soil, and the sharper the frequency of the active functional group peaks (thus defining the topsoil of the slope as 0~0.5m). Therefore, slope protection structures constructed using topsoil and rock materials can effectively avoid drying shrinkage deformation caused by climate change and are less prone to cracking. In this embodiment, the high-modification modified soil slope protection structure 5-4 and the low-modification modified soil flexible retaining wall 5-6 use surface soil and stone materials from the slope. The modified materials mainly use solid waste materials such as tailings. The main special functions are: 1. Under long-term physical and chemical weathering, the surface soil has a more stable crystal state. The retaining wall and slope protection structure formed by its modification and reinforcement can better adapt to the local environment and prevent deformation and cracks; 2. Due to the continuous mining and consumption of resources, a large amount of solid waste materials such as tailings are generated. Mines and factories need to spend a lot of money and high-quality land resources to treat them. This embodiment effectively solves the problem of tailings and other solid waste materials treatment by adding them as a modified material to the slope support structure. The feasibility of this method has been verified by experiments and engineering.

[0041] The modified reinforced topsoil in this embodiment includes solid waste tailings (gold tailings), slope topsoil and stone materials, and cement. The mass ratio of solid waste tailings (gold tailings), slope topsoil and stone materials, and cement is x:10-xy:y. For high-dosage modified soil, x∈[1.5, 2.0], y∈[0, 1.5], and the preferred amount of solid waste tailings (gold tailings) is 2. For low-dosage modified soil, x∈[0.5, 1.0], y∈[0, 1.5], and the preferred amount of solid waste tailings (gold tailings) is 1. Cement can be added or not, depending on the modified soil parameters required for the design of the protective structure. If the geological conditions are too complex and the modified soil parameters are too high, and the solid waste tailings (gold tailings) cannot meet the requirements, then a certain amount of cement is added.

[0042] The drainage ditch 5-3 is provided with compacted high-modification soil with a thickness of 20cm to 40cm on both sides to adapt to the drying shrinkage deformation in a hot and humid environment; if the thickness exceeds the corresponding range, it is considered excessive support, which will waste resources; if it is less than the range, the purpose of setting it will not be achieved.

[0043] Example 2 This embodiment provides a construction device for slope protection structures, such as... Figure 4 As shown, it includes a supply system, external mechanical equipment, a walking system, and an operation control system.

[0044] like Figures 6-7 As shown, the walking system includes: Fixed base 1-6, on which the operation control system, supply system and external mechanical equipment are installed; Tracks 1-2, the two tracks 1-2 are respectively connected to the left and right sides of the fixed base 1-6 through a connecting support mechanism, and the height of the connecting support mechanism is adjustable; The support bracket is located directly below the fixed base 1-6. When the walking system moves along the horizontal direction of the slope (i.e., the length direction), the support bracket is not required. When the walking system moves along the longitudinal direction of the slope (i.e., the height direction), the support bracket supports the other track 1-2 when either track 1-2 is moving, so that the track 1-2 that needs to be moved is temporarily suspended in the air for movement. With the cooperation of fixed base 1-6, connecting support mechanism, track 1-2, and support bracket, the walking system can stop and move on steep slopes and irregular terrain, ensuring the safety of the operation control system and the normal construction of the supply system.

[0045] In some embodiments, the support bracket includes a second hydraulic 1-7, a support cylinder, a spraying device 1-8, and counterweight plates 1-9. One end of the second hydraulic 1-7 is hinged to a third mounting base at the bottom of the fixed base 1-6 via a third rotating shaft, and the other end of the second hydraulic 1-7 is connected to the top of the support cylinder. The two counterweight plates 1-9 are hinged to the bottom of the support cylinder. The spraying device 1-8 is installed inside the support cylinder, and the spray nozzle of the spraying device 1-8 is positioned downward between the two counterweight plates 1-9.

[0046] In some embodiments, the connecting support mechanism includes two support plates 1-4 and a first hydraulic 1-10. One end of each of the two support plates 1-4 is connected to one end of the first hydraulic 1-10. The other end of one support plate 1-4 is hinged to a first mounting seat on the track 1-2 via a first rotating shaft 1-3. The other end of the other support plate 1-4 is hinged to a second mounting seat at the bottom of the fixed seat 1-6 via a second rotating shaft 1-5.

[0047] In some embodiments, the operation control system, the supply system, and the external mechanical equipment are fixed on the fixed base 1-6 by connecting parts. The operation control system, the supply system, and the external mechanical equipment can move up and down in space and rotate on the plane of the fixed base 1-6. Specifically, the rotation on the plane can be achieved by rotating the turntable on the fixed base 1-6, and the up and down movement in space can be achieved by the cooperation of the first hydraulic 1-10, the first rotating shaft 1-3, and the second rotating shaft 1-5.

[0048] In some embodiments, the fixed base 1-6 is also equipped with a gyroscope, which can measure and control the angular motion of the fixed base 1-6 in relative inertial space in real time. During the movement, the operation control system issues adjustment commands to the drive components of the first hydraulic 1-10, the first rotating shaft 1-3, and the second rotating shaft 1-5. The drive components adjust the height of the first hydraulic 1-10 on both sides of the bottom of the fixed base 1-6 and the angle of the first rotating shaft 1-3 and the second rotating shaft 1-5 according to the commands, correct the state of the fixed base 1-6, and keep the fixed base 1-6 always horizontal.

[0049] In some embodiments, the spraying devices 1-8 are rotor-type sprayers. The inlet of the spraying devices 1-8 is connected to the finished product bin of the supply system. This is because the conveying distance is long, the output is continuous and stable, the operation is convenient, and it is suitable for mechanized operations. At the same time, the semi-wet spraying method can reduce dust and prevent pipe blockage. A construction monitoring structure including an infrared aiming device, a distance sensor, and a camera is also provided. The construction monitoring structure is installed on the spraying devices 1-8. The infrared aiming device assists in manual positioning, the camera identifies areas that are not fully sprayed and feeds this information back to the control system. The control system then controls the spraying devices 1-8 to perform supplementary spraying. The distance sensor and camera identify the position and distance and provide this information to the control system. The control system adjusts the spraying volume according to the set spraying thickness (related to the thickness of the mixture). The infrared aiming device, distance sensor, and camera are connected to the controller (e.g., wireless communication connection) to provide real-time feedback on the construction status. The controller controls the walking system and the spraying devices 1-8 to move and spray, facilitating accurate automatic spraying of the slope.

[0050] In some embodiments, the controller includes a manual control mode and a remote (remote control) control mode. In the manual control mode, the operating console and the control cabinet containing the controller are both located in the operating room. The operating room is situated in front of the fixed seats 1-6, with a spacious interior, ergonomically designed seats, large windows providing a wide field of vision, and good sound insulation. All control switches and circuits for the drive components on the equipment are housed within the control cabinet in the operating room. The remote control mode means that all operations of the construction equipment can be performed remotely. This allows operators to remotely operate the equipment from a safe area when it needs to be deployed to a more dangerous construction area.

[0051] In some embodiments, such as Figures 4-5 As shown, the supply system includes a raw material storage silo, a vibrating screen, a mixing system, a batching system, and a finished product storage silo. The raw material storage silo is divided into a temporary raw material storage silo and a dedicated raw material storage silo. The discharge end of the earth and stone collection conveyor belt in the external mechanical equipment is connected to the inlet of the vibrating screen and the inlet of the temporary raw material storage bin. The discharge outlet of the temporary raw material storage bin is connected to the inlet of the vibrating screen. The discharge outlet of each layer of the vibrating screen is connected to the corresponding aggregate bin. The inlet of the mixing system is connected to the outlet of the dedicated raw material storage silo and aggregate silo. The outlet of the mixing system is connected to different finished product storage silos. The outlet of the finished product storage silos is connected to the inlet of the spraying device 1-8 and the mixing conveyor belt in the external mechanical equipment. The concrete of the longitudinal water collection ditch 5-1, the transverse water collection ditch 5-2, the drainage ditch 5-3, the intercepting ditch 5-7, and the lateral water collection ditch 5-8, as well as the low-dosage modified soil of the low-dosage modified soil flexible retaining wall 5-6, are transported by the mixing conveyor belt. The high-dosage modified soil of the high-dosage modified soil slope protection structure 5-4 is sprayed by the spraying device 1-8.

[0052] In some embodiments, the raw material storage silo can store a certain amount of raw materials that cannot be directly obtained from the construction site, such as solid waste tailings (gold tailings), cement, and water, according to actual construction needs. Since the surface soil and rock material of the slope itself has a gradation, and the gradation of the surface soil and rock material in different parts of the same area varies, to reduce this difference, the surface soil and rock material is vibrated and screened before entering the mixing system. The vibrating screen contains multiple screens to ensure the separation of powder materials. The discharge port of each screen layer is connected to the corresponding aggregate bin, so that surface soil and rock materials of different particle sizes can be stored separately. During mixing, the material is discharged and mixed according to the optimal gradation to reduce the gradation difference of the surface soil and rock material. The surface soil and rock materials of the slope can be screened into fine-grained groups with a particle size of less than 0.075mm, sand with a particle size of 0.075~2mm, fine gravel with a particle size of 2~5mm, medium gravel with a particle size of 5~20mm, coarse gravel with a particle size of 20~60mm, and giant-grained groups with a particle size of more than 60mm. In the subsequent mixing system, the surface soil and rock materials of each particle size are discharged and mixed according to a predetermined ratio in order to obtain uniform high / low content modified soil and ensure the reliable quality of the subsequent slope structure.

[0053] In some embodiments, the batching system includes an electronic metering system, level sensors installed in each raw material storage bin and aggregate bin, and electronic / pneumatic gates installed at the discharge ports of each raw material storage bin and aggregate bin. The controller calculates the required mass of slope surface soil and rock, solid waste materials, and cement according to a preset dosage. Based on the required mass of slope surface soil and rock and the preset gradation of slope surface soil and rock, the controller calculates the mass of slope surface soil and rock of each particle size. Then, through the batching system, the electronic / pneumatic gates at the discharge ports of the raw material storage bins and aggregate bins corresponding to solid waste materials, cement, and slope surface soil and rock are opened. The electronic metering system automatically measures the discharge amount of the raw material storage bins and aggregate bins corresponding to solid waste materials, cement, and slope surface soil and rock. When the discharge amount of solid waste materials, cement, and slope surface soil and rock reaches the calculated amount, the corresponding electronic / pneumatic gates are closed.

[0054] In some embodiments, the supply system has a globally unified speed regulation mechanism that can calculate in real time the discharge speed and discharge volume of the raw material storage silo and vibrating screen, as well as the feeding speed, feeding volume, discharge speed and discharge volume of the mixing system and finished product storage silo, and feed them back to the controller. The controller controls the feeding and discharging speed by frequency conversion regulation of the drive components (motors) used for feeding and discharging and the opening of the electronic / pneumatic gates of the feeding and discharging ports. The controller controls the feeding and discharging volume by the feeding and discharging speed and the feeding and discharging time.

[0055] In some embodiments, the mixing system includes multiple mixing chambers, including a solid waste tailings (gold tailings) modified soil mixing chamber, a cement concrete mixing chamber, etc., which can be selected according to actual needs.

[0056] The slope surface soil and rock, cement, and solid waste materials are metered by the batching system and fed into the mixing bin. After a set time, the mixture is mixed, and then discharged through an electronic / pneumatic gate. The raw material storage bins are divided into temporary and dedicated bins. There are two discharge scenarios: when the input exceeds the output, the collected slope surface soil and rock is collected by the conveyor belt, screened by a vibrating screen, and then enters the temporary storage bin. The mixed high / low admixture modified soil is temporarily stored in the finished product storage bin. When the output exceeds the input, the material is directly discharged to the spraying devices 1-8 and does not enter the finished product storage bin. The input refers to the slope surface soil and rock supplied to the supply system via external mechanical equipment. The output refers to the required mass of the mixture for the current construction plane. The construction plane refers to the area that can be covered when the entire construction equipment is stationary. This area is fixed, and the required mass of the mixture for that area is calculated based on its area and the thickness of the mixture.

[0057] In some embodiments, the finished product storage silo refers to a space capable of storing different mixtures obtained after the mixing system. Each raw material storage silo or finished product storage silo is equipped with an overflow pipe leading to the mixing system. The entire process involves real-time feeding, real-time mixing, and real-time discharging, so a large volume is not required to store the finished material. The finished product storage silo is relatively small, while the raw material storage silo is slightly larger. However, overall, it does not require the dedicated area of ​​an asphalt mixing plant, and the aforementioned objectives can be achieved within the entire construction equipment. Each raw material storage silo or finished product storage silo has an automatic position display function, which can feed back the real-time level information to the controller. Each component of the supply system is equipped with overload protection. When any component of the batching system, supply system, and / or operating system becomes saturated, the overload protection mechanism is immediately activated, and the affected component stops operating independently without affecting the normal operation of the batching system, supply system, and / or operating system.

[0058] In some embodiments, the external mechanical equipment, in this embodiment, includes a soil and rock collection conveyor belt, a mixed material conveyor belt, and a multi-functional robotic arm 7. Other mechanical equipment can be replaced according to specific construction requirements.

[0059] In some embodiments, the multifunctional robotic arm 7 integrates a special clamp 6, a multi-segment cutter 2, a roll material laying machine 3, etc. Figure 16 As shown, the multi-functional robotic arm 7 includes: Base 7-1, which is integrated on fixed base 1-6 and is rotatable; The upper arm 7-2 is telescopic and angle-adjustable; Connector 7-3 is an adapter for connecting special clamp 6, multi-segment cutter 2, and roll material laying machine 3. The adapter can rotate 360° and is an electric pin connector. The special clamp 6, the multi-segment cutter 2, and the roll material laying machine 3 are mounted on the fixed base 1-6 through corresponding positioning structures. The multi-segment cutter 2, the roll material laying machine 3, and the special clamp 6 are equipped with sensors to determine whether the multi-functional robotic arm 7 has moved into place and sensors to determine whether the multi-segment cutter 2, the roll material laying machine 3, and the special clamp 6 have moved into place. When the special clamp 6, multi-segment cutter 2, or roll material laying machine 3 are required, the multi-functional robotic arm 7 moves to the location of the multi-segment cutter 2, roll material laying machine 3, or special clamp 6. Its connector 7-3 mates with the matching connector interface on the multi-segment cutter 2, roll material laying machine 3, or special clamp 6. The sensor that determines whether the multi-functional robotic arm 7 has moved to the correct position sends a feedback signal to the controller. The controller then controls the connector 7-3 to be energized, so that the electric pin can be fixed.

[0060] When the multi-functional robotic arm 7 needs to replace equipment, according to the control instructions of the controller, it first puts the connected special clamp 6, multi-segment cutter 2 or roll material laying machine 3 back to their original positions. The sensor that determines that the multi-segment cutter 2, roll material laying machine 3 or special clamp 6 has moved into place sends a feedback signal to the controller. The controller controls the connector 7-3 to de-energize, so that the electric pin is released from the connection, and controls the multi-functional robotic arm 7 to move to the location of the equipment to be connected, and completes the connection and fixation with the equipment.

[0061] The special clamp 6 has multiple functions, including but not limited to: fixing the planting bags 5-10 and placing the wooden template 4 before pouring the transverse water collection ditch 5-2, drainage ditch 5-3, intercepting ditch 5-7, and lateral water collection ditch 5-8. Figures 14-15 As shown, the special clamp 6 includes: The connecting plate is connected via a second coupling 6-4 and a connector interface that matches the connector 7-3 of the multi-functional robotic arm 7; The large clamp 6-1 has its grippers connected to the connecting plate via corresponding connectors and the first coupling 6-3. The large clamp 6-1 adjusts the opening angle by rotating the two first couplings 6-3. The large clamp 6-1 is used to fix the planting bag 5-10 and the wooden template 4. Small clamp 6-2 is installed in the cavity 6-6 starting from the connector of large clamp 6-1, and small clamp 6-2 can extend and retract in and out of the cavity 6-6 in the vertical direction to ensure the normal operation of large clamp 6-1. The arrangement of drainage pipes in modified reinforced retaining wall is realized through small clamp 6-2. The pusher 6-5 is installed at the bottom of the connecting plate and below the large clamp 6-1. The pusher 6-5 can help level the soil and place the wooden template 4 evenly.

[0062] like Figure 13 As shown, the wooden formwork 4, which serves as a support, has pads 4-1 on both sides and at the bottom. The wooden formwork 4 and the pads 4-1 are weakly connected by chemical reagents (such as phenolic resin adhesive), which facilitates the separation of the concrete structure from the wooden formwork 4 during demolding. The pads 4-1 are permanently retained in the concrete structure. The height of the pads 4-1 depends on the design requirements. The special clamps 6 place the wooden formwork 4 at the designated positions of the transverse drainage ditch 5-2 and the longitudinal drainage ditch 5-1.

[0063] The multi-segment cutter 2 has multiple functions, including but not limited to: excavating the main shapes of the longitudinal water collection ditch 5-1, the transverse water collection ditch 5-2, the drainage ditch 5-3, the lateral water collection ditch 5-8, and the intercepting ditch 5-7, and cooperating in completing concrete pouring, and excavating the foundation of the slope protection structure. For example... Figures 8-10As shown, the multi-segment cutter 2 comprises multiple cutters. The blades 2-1 of two adjacent cutters are hinged together by a fourth pivot 2-2, and the cutter head 2-3 of each cutter is hinged to the blade 2-1 by a fifth pivot. When all the blades 2-1 of the multi-segment cutter 2 are adjusted to form a straight line by rotating the fourth pivot 2-2, straight-line soil cutting operations can be performed (excavation of modified reinforced soil flexible retaining wall foundations). The multiple blades of the multi-segment cutter 2 can change their state by rotating the fourth pivot 2-2 to achieve variable cross-section soil cutting operations, excavating the main shape of the longitudinal drainage ditch 5-1, the transverse drainage ditch 5-2, the drainage ditch 5-3, the lateral drainage ditch 5-8, and the intercepting ditch 5-7. Figure 10 The diagram shows the structure of a single cutting tool. Its blade 2-1 has an arc-shaped design, allowing the cut soil to be flipped out along the arc-shaped cross-section for easy collection by the subsequent soil and rock collection conveyor belt.

[0064] The aforementioned roll-laying machine 3 is similar to a roll, and this equipment has multiple functions, including but not limited to: laying geogrid 5-5 and impermeable layer 5-12. Figures 11-12 As shown, the roll material laying machine 3 includes a roll material cylinder 3-1, a drive wheel 3-8, a cutting tool, a positioning wheel 3-6, and a U-shaped nail spraying device 3-3. The roll material cylinder 3-1 can be loaded with different roll materials 3-2 required for construction, such as impermeable geotextile, (bidirectional) geogrid 5-5, etc. The free end of the roll material 3-2 is laid on the slope after passing through the drive wheel 3-8, which provides power for the roll material 3-2 to be laid on the slope. The cutting tool consists of a cutting blade 3-5 at the lower end and a slide rail 3-4 at the upper end. The cutting blade 3-5 can move along the slide rail 3-4. The positioning wheel 3-6 is located between the cutting tool and the drive wheel. Between 3-8, the positioning wheel 3-6 is a roller with multiple perforated holes 3-9, which allows the roll material 3-2 to fit tightly against the soil. At the same time, the positioning wheel 3-6 has a positioning device 3-7 that can retract and pop out from the perforated holes 3-9. The pop-out / retraction of the positioning device 3-7 is controlled by the operation control system. After the cutting tool 3-5 cuts the roll material, the positioning device 3-7 fixes the roll material 3-2 to prevent the roll material from springing back or shifting. The U-shaped nail spraying device 3-3 is set on the side of the cutting tool away from the positioning wheel 3-6. The U-shaped nail spraying device 3-3 sprays U-shaped nails to finally fix the roll material 3-2.

[0065] The dust removal system is used throughout the entire operation process. High-pressure spray guns and other dust removal devices are installed during mixing and conveying to prevent further spread of dust. The dust removal system has a positive impact on the mixing of the mixture and can prevent the moisture content of the mixture from decreasing below the expected moisture content during construction.

[0066] Example 3 This embodiment provides a construction method for a slope protection structure, including the following construction steps: Step S1: Construction personnel use a moisture content meter to randomly sample soil at different locations at different depths on the slope (depths set to 0, 0.1, 0.2, 0.3, 0.4, and 0.5 m). The average moisture content of the samples is calculated and set in the operation control system as the benchmark for moisture content when batching the surface soil and rock material of the slope. Depending on the specific construction conditions, the construction personnel decide whether to operate the system in the control room or remotely. Step S2: First, construct the drainage ditch 5-3 at the toe of the slope. Move the equipment to the end of the slope using the walking system. Simultaneously, activate the multi-segment cutter 2 and the soil and rock collection conveyor belt. Using the forward direction of the construction equipment as a reference, excavate the drainage ditch using the multi-segment cutter 2 in front through variable cross-section cutting operations. The number of back-and-forth excavation operations depends on the depth of the drainage ditch. The soil and rock collection conveyor belt collects the surface soil and rock from the slope behind the multi-segment cutter 2 and transports it to the vibrating screen. After screening, the surface soil and rock of each particle size enters the corresponding aggregate bin. According to the batching system, the discharge volume of each aggregate bin and raw material storage bin is controlled according to the input component ratio. The materials in the aggregate bin and raw material storage bin enter the mixing system for mixing to form concrete. After the drainage ditch 5-3 is excavated to the predetermined depth, the integrated wooden formwork 4 is erected by special clamps 6. High-dosage modified soil and concrete are transported by the mixed material conveyor belt. The concrete is used to form the drainage ditch 5-3. The high-dosage modified soil with a thickness of 20cm~40cm is set on both sides of the drainage ditch 5-3 and the drainage ditch 5-3 is cured after pouring. Step S3: The construction equipment remains stationary. The soil is cut from top to bottom using the linear cutting operation of the multi-segment cutter 2. With the forward direction of the construction equipment as the front, the soil and rock collection conveyor belt located behind the multi-segment cutter 2 collects the slope surface soil and rock material to the vibrating screening system and transports it into the vibrating screen. After screening, the slope surface soil and rock material of each particle size enters the corresponding aggregate bin. According to the input component ratio, the batching system controls the output of slope surface soil and rock material, solid waste material, and cement in each aggregate bin and raw material storage bin. The mixing system mixes the slope surface soil and rock material, solid waste material, and cement to form low-dosage modified soil and high-dosage modified soil, which then enter different finished product storage bins. Step S4: After cutting the soil to form the first-level zigzag slope and reserving construction space, use the roll material laying machine 3 to lay the impermeable geotextile on the second slope surface and the slope platform at the bottom of the current zigzag slope. Step S5: One of the tracks 1-2 of the walking system moves to the position of the first-level zigzag slope, and the other track 1-2 is set at the toe of the current zigzag slope. The low-dosage modified soil in the finished material storage bin is transported out by the mixed material conveyor belt. The low-dosage modified soil is compacted by the movement of the track 1-2. Then, a layer of geogrid 5-5 is laid on the compacted low-dosage modified soil using the roll laying machine 3. Step S6: Repeat step S5 until the construction of the first-level low-dosage modified soil flexible retaining wall 5-6 and geogrid 5-5 is completed. Step S7: Climb to the top of the low-dosage modified soil flexible retaining wall 5-6 of the current level zigzag slope using the walking system. The spraying device 1-8 of the support frame sprays high-dosage modified soil, and the counterweight plate 1-9 compacts the sprayed high-dosage modified soil by the repeated extension and retraction of the first hydraulic system 1-10 of the support frame. During the construction of the high-dosage modified soil slope protection structure 5-4, based on the construction process of the drainage ditch 5-3 in step S2, construct the longitudinal water collection ditch 5-1 at certain intervals, and construct the vegetation bag 5-10 using the special clamp 6. Step S8: After the flexible protection structure of the current level zigzag slope is completed, based on the construction process of drainage ditch 5-3 in step S2, the lateral water collection ditch 5-8 at its location is constructed; then, one track 1-2 of the walking system climbs to the slope surface of the next level zigzag slope, and based on the construction process of drainage ditch 5-3 in step S2, the construction of lateral water collection ditch 5-2 is completed; Step S9: Based on the construction process of steps S3 to S8, complete the construction of all low-dosage modified soil flexible retaining walls 5-6, geogrids 5-5, high-dosage modified soil slope protection structures 5-4, longitudinal drainage ditches 5-1, transverse drainage ditches 5-2, intercepting ditches 5-7, and lateral drainage ditches 5-8. After the longitudinal drainage ditches 5-1, transverse drainage ditches 5-2, drainage ditches 5-3, lateral drainage ditches 5-8, and intercepting ditches 5-7 have been cured to a certain strength, remove the wooden formwork 4 to form a complete slope protection structure 5 on the high embankment slope 5-9.

[0067] Based on the above description, it can be seen that the construction equipment for the slope protection structure in Example 1 can also be used for the construction of similar slope protection structures such as reinforced soil retaining walls, ecological slope protection structures, and concrete slopes, as well as other slope protection structures including reinforced soil retaining walls, ecological slope protection structures, and concrete slopes.

[0068] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. Construction equipment for slope protection structures, characterized in that, It includes a walking system, an operation control system, and external mechanical equipment, among which: The external mechanical equipment and operation control system are installed on top of the walking system, and the operation control system controls the operation of the external mechanical equipment and the walking system. The external mechanical equipment includes a multi-segment cutter (2), a roll material laying machine (3), a special clamp (6), and a multi-functional robotic arm (7). The multi-functional robotic arm (7) is equipped with a conversion connector, and the multi-segment cutter (2), the roll material laying machine (3), and the special clamp (6) are equipped with connector interfaces that match and connect with the conversion connector on the multi-functional robotic arm (7). The multi-functional robotic arm (7) includes: The base (7-1) is integrated on the fixed base (1-6) and is rotatable; The upper arm (7-2) is telescopic and angle-adjustable; Connector (7-3), the connector (7-3) is an adapter for connecting special clamp (6), multi-segment cutter (2) and roll laying machine (3). The adapter can rotate 360° and is an electric pin connector. The special fixture (6), the multi-segment cutter (2), and the roll material laying machine (3) are installed on the fixed base (1-6) through the corresponding positioning structure. The multi-segment cutter (2), the roll material laying machine (3), and the special fixture (6) are equipped with sensors to determine whether the multi-functional robotic arm (7) has moved into place and sensors to determine whether the multi-segment cutter (2), the roll material laying machine (3), and the special fixture (6) have moved into place. When a special clamp (6), a multi-segment cutter (2), or a roll material laying machine (3) is required, the multi-functional robotic arm (7) moves to the location of the multi-segment cutter (2), the roll material laying machine (3), or the special clamp (6), and its connector (7-3) connects to the matching connector interface on the multi-segment cutter (2), the roll material laying machine (3), or the special clamp (6). The sensor that determines whether the multi-functional robotic arm (7) has moved to the correct position sends a feedback signal to the controller, and the controller controls the connector (7-3) to be energized so that the electric pin can be fixed. When the multi-functional robotic arm (7) needs to replace equipment, according to the control instructions of the controller, the connected special clamp (6), multi-segment cutter (2) or roll material laying machine (3) is first put back to its original position. The sensor that determines that the multi-segment cutter (2), roll material laying machine (3) or special clamp (6) has moved to the position sends a feedback signal to the controller. The controller controls the connector (7-3) to de-energize, so that the electric plug is released from the connection, and controls the multi-functional robotic arm (7) to move to the location of the equipment to be connected, and completes the connection and fixation with the equipment. The special clamp (6) includes: The connecting plate is hinged via a second coupling (6-4) and a connector interface that matches the connector (7-3) of the multi-functional robotic arm (7); The large clamp (6-1) has its grippers hinged to the connecting plate via corresponding connectors and the first coupling (6-3). The opening angle of the large clamp (6-1) can be adjusted by rotating the two first couplings (6-3). A small clamp (6-2) is installed in the cavity (6-6) starting from the connector of the large clamp (6-1), and the small clamp (6-2) can extend and retract in and out of the cavity (6-6) in its vertical direction; Pusher (6-5) is installed at the bottom of the connecting plate, below the large clamp (6-1); The multi-segment cutter (2) includes multiple cutters. The blades (2-1) of two adjacent cutters are hinged together by a fourth pivot (2-2), and the tip (2-3) of each cutter is hinged to the blade (2-1) by a fifth pivot. The roll material laying machine (3) includes: Roll material tube (3-1), roll material (3-2) is installed on the roll material tube (3-1); Drive wheel (3-8), the free end of the roll material (3-2) is laid on the slope after passing through drive wheel (3-8), drive wheel (3-8) provides power for laying roll material (3-2); The cutting tool consists of a cutting blade (3-5) at the lower end and a slide rail (3-4) at the upper end. The cutting blade (3-5) can move along the slide rail (3-4). Positioning wheel (3-6) is positioned between the cutting tool and the drive wheel (3-8). Positioning wheel (3-6) is a roller with multiple hollow holes (3-9). Positioning wheel (3-6) is equipped with positioning device (3-7) that can retract and pop out from the hollow holes (3-9). The pop-out / retraction of positioning device (3-7) is controlled by the controller. The U-shaped nail spraying device (3-3) is located on the side of the cutting tool away from the positioning wheel (3-6) and sprays U-shaped nails downwards.

2. The construction equipment for slope protection structures according to claim 1, characterized in that, The walking system includes: A fixed base (1-6) is provided, on which an operation control system, a supply system, and external mechanical equipment are installed; Tracks (1-2), the two tracks (1-2) are respectively connected to the left and right sides of the fixed base (1-6) through a connecting support mechanism, and the height of the connecting support mechanism is adjustable; The support bracket is located directly below the fixed base (1-6) and includes a second hydraulic cylinder (1-7), a support cylinder, a spraying device (1-8), and counterweight plates (1-9). One end of the second hydraulic cylinder (1-7) is hinged to the third mounting base at the bottom of the fixed base (1-6) via a third rotating shaft, and the other end of the second hydraulic cylinder (1-7) is connected to the top of the support cylinder. The two counterweight plates (1-9) are hinged to the bottom of the support cylinder. The spraying device (1-8) is installed inside the support cylinder, and the spray nozzle of the spraying device (1-8) is positioned downward between the two counterweight plates (1-9). The operation control system and external mechanical equipment are fixed on the fixed base (1-6) by the connector. Under the control of the controller of the operation control system, the fixed base (1-6) can drive the operation control system and external mechanical equipment to rotate in the plane. The spraying device (1-8) is equipped with a construction monitoring structure, which is electrically connected to the input terminal of the controller. The spraying device (1-8) is connected to the output terminal of the controller. The controller controls the spraying operation of the spraying device (1-8) according to the feedback information of the construction monitoring structure.

3. The construction equipment for slope protection structures according to claim 2, characterized in that, The connecting support mechanism includes two support plates (1-4) and a first hydraulic pressure (1-10). One end of each of the two support plates (1-4) is connected to one end of the first hydraulic system (1-10). The other end of one support plate (1-4) is hinged to the first mounting seat on the track (1-2) via the first rotating shaft (1-3). The other end of the other support plate (1-4) is hinged to the second mounting seat at the bottom of the fixed seat (1-6) via the second rotating shaft (1-5). The fixed base (1-6) moves up and down in space by means of the cooperation of the first hydraulic system (1-10), the first rotating shaft (1-3), and the second rotating shaft (1-5), which in turn drive the operation control system and external mechanical equipment.

4. The construction equipment for the slope protection structure according to claim 3, characterized in that, A gyroscope is installed on the fixed base (1-6) to measure the angular motion of the fixed base (1-6) in the relative inertial space in real time and feed it back to the controller; Based on the feedback information from the gyroscope, the controller issues adjustment commands to the drive components of the first hydraulic cylinder (1-10), the first rotating shaft (1-3), and the second rotating shaft (1-5), adjusting the height of the first hydraulic cylinder (1-10) on both sides of the bottom of the fixed seat (1-6) and the angle of the first rotating shaft (1-3) and the second rotating shaft (1-5), correcting the state of the fixed seat (1-6) so that the fixed seat (1-6) always remains horizontal.

5. The construction equipment for slope protection structures according to any one of claims 1 to 4, characterized in that, It also includes a dust removal system and a supply system installed on the mounting base (1-6) of the walking system; The supply system includes a raw material storage silo, a vibrating screen, a mixing system, a batching system, and a finished product storage silo. The raw material storage silo is divided into a temporary raw material storage silo and a dedicated raw material storage silo. The discharge end of the earth and stone collection conveyor belt in the external mechanical equipment is connected to the inlet of the vibrating screen and the inlet of the temporary raw material storage bin. The discharge outlet of the temporary raw material storage bin is connected to the inlet of the vibrating screen. The discharge outlet of each layer of the vibrating screen is connected to the corresponding aggregate bin. The inlet of the mixing system is connected to the outlet of the special raw material storage bin and the aggregate bin, the outlet of the mixing system is connected to different finished product storage bins, and the outlet of the finished product storage bins is connected to the inlet of the mixing conveyor belt and the spraying device (1-8). The batching system includes an electronic metering system, level sensors installed in each raw material storage bin and aggregate bin, and electronic / pneumatic gates installed at the discharge ports of each raw material storage bin and aggregate bin.

6. A construction method for slope protection structures, characterized in that, The construction equipment for the slope protection structure according to any one of claims 1 to 4 includes the following construction steps: Step S1: Construction personnel use a moisture content meter to randomly sample soil at different locations and depths on the slope. They calculate the average moisture content of the samples and set the average moisture content in the operation control system as the benchmark for moisture content when batching the surface soil and rock material of the slope. Depending on the specific construction conditions, the construction personnel decide whether to operate in the control room or remotely. Step S2: First, construct the drainage ditch (5-3) at the toe of the slope. Move to the end of the slope using the walking system, and simultaneously activate the multi-segment cutter (2) and the soil and rock collection conveyor belt. Using the forward direction of the construction equipment as a reference, excavate the drainage ditch using the multi-segment cutter (2) in front through variable cross-section cutting operations. The number of back-and-forth excavations by the construction equipment depends on the depth of the drainage ditch. The soil and rock collection conveyor belt collects the surface soil and rock material of the slope behind the multi-segment cutter (2) and transports the surface soil and rock material of the slope to the vibrating screen. After screening, the surface soil and rock material of the slope of each particle size enters the corresponding aggregate bin. According to the input component ratio, the batching system controls the discharge of each aggregate bin and raw material storage bin. The materials in the aggregate bin and raw material storage bin enter the mixing system for mixing to form concrete. After the drainage ditch (5-3) is excavated to the predetermined depth, the integrated wooden formwork (4) is erected by special clamps (6). High-dosage modified soil and concrete are transported by the mixed material conveyor belt. The drainage ditch (5-3) is formed by pouring concrete. A layer of compacted high-dosage modified soil with a thickness of 20cm to 40cm is set on both sides of the drainage ditch (5-3). The drainage ditch (5-3) is cured after pouring. Step S3: The construction equipment remains stationary. The soil is cut from top to bottom using the linear cutting operation of the multi-segment cutter (2). The forward direction of the construction equipment is the front. The soil and rock collection conveyor belt located behind the multi-segment cutter (2) collects the slope surface soil and rock to the vibrating screening system and transports the slope surface soil and rock to the vibrating screen. After screening, the slope surface soil and rock of each particle size enters the corresponding aggregate bin. The batching system controls the output of slope surface soil and rock, solid waste materials, and cement in each aggregate bin and raw material storage bin according to the input component ratio. The mixing system mixes the slope surface soil and rock, solid waste materials, and cement to form low-dosage modified soil and high-dosage modified soil, which enter different finished product storage bins. Step S4: After cutting the soil to form the first-level zigzag slope and reserving construction space, use a roll material laying machine (3) to lay impermeable geotextile on the second slope surface and the slope platform at the bottom of the current zigzag slope; Step S5: One of the tracks (1-2) of the walking system moves to the position of the first-level zigzag slope, and the other track (1-2) is set at the toe of the current zigzag slope. The low-dosage modified soil in the finished material storage bin is transported out by the mixed material conveyor belt. The low-dosage modified soil is compacted by the movement of the track (1-2). Then, a layer of geogrid (5-5) is laid on the compacted low-dosage modified soil using a roll laying machine (3). Step S6: Repeat step S5 until the construction of the first-stage low-dosage modified soil flexible retaining wall (5-6) and geogrid (5-5) is completed; Step S7: Climb to the top of the low-dosage modified soil flexible retaining wall (5-6) of the current level zigzag slope through the walking system. The spraying device (1-8) of the support frame sprays high-dosage modified soil. The repeated extension and retraction of the first hydraulic pressure (1-10) of the support frame drives the counterweight plate (1-9) to compact the sprayed high-dosage modified soil. During the construction of the high-dosage modified soil slope protection structure (5-4), based on the construction process of the drainage ditch (5-3) in step S2, construct the longitudinal water collection ditch (5-1) at certain intervals. And construct the planting bags (5-10) through the special clamp (6). Step S8: After the flexible protection structure of the current level zigzag slope is completed, based on the construction process of the drainage ditch (5-3) in step S2, the lateral water collection ditch (5-8) at its location is constructed; then, the walking system moves, and based on the construction process of the drainage ditch (5-3) in step S2, the construction of the transverse water collection ditch (5-2) is completed. Step S9: Based on the construction process of steps S3 to S8, complete the construction of all low-dosage modified soil flexible retaining walls (5-6), geogrids (5-5), high-dosage modified soil slope protection structures (5-4), longitudinal drainage ditches (5-1), transverse drainage ditches (5-2), intercepting ditches (5-7), and lateral drainage ditches (5-8). After the longitudinal drainage ditches (5-1), transverse drainage ditches (5-2), drainage ditches (5-3), lateral drainage ditches (5-8), and intercepting ditches (5-7) have been cured to a certain strength, remove the wooden formwork (4) to form a complete slope protection structure (5) on the high embankment slope (5-9).

7. The construction method of the slope protection structure according to claim 6, characterized in that, The slope protection structure (5) is set on the high embankment slope (5-9). The high embankment slope (5-9) is a multi-platform zigzag slope formed by filling in the road project. It includes multiple levels of zigzag slopes. Each level of zigzag slope consists of a first slope at the top and a second slope at the bottom. The longitudinal slope of the second slope is greater than that of the first slope. A slope platform with a slope of 30° to 60° is set at the bottom of the second slope. The slope protection structure (5) includes: The impermeable layer (5-12) is provided on the second slope surface of each level of the broken slope of the high fill embankment slope (5-9) and the slope platform surface at its bottom. A low-dosage modified soil flexible retaining wall (5-6) is provided on the surface of the seepage-proof layer (5-12); Geogrid (5-5) is laid inside a flexible retaining wall (5-6) with low-dosage modified soil. The geogrid (5-5) is fixed with U-shaped nails (5-11) and compacted in stages with the low-dosage modified soil of the flexible retaining wall (5-6). One layer of geogrid (5-5) wraps around one layer of low-dosage modified compacted soil. The high-modification soil slope protection structure (5-4) at the bottom is laid on the slope surface of the low-modification soil flexible retaining wall (5-6) set on the first-level zigzag slope and extends to the top of the low-modification soil flexible retaining wall (5-6); the high-modification soil slope protection structure (5-4) in the middle is laid on the first slope surface of each zigzag slope and the low-modification soil flexible retaining wall above the first slope surface. On the slope of 5-6), the top and bottom of the high-dosage modified soil slope protection structure (5-4) located in the middle extend to the top of the low-dosage modified soil flexible retaining wall (5-6) above and below it; the high-dosage modified soil slope protection structure (5-4) located at the top is laid on the first slope surface of the last level of the zigzag slope and extends to the top of the low-dosage modified soil flexible retaining wall (5-6) below the first slope surface to reinforce the slope toe of each level of the slope platform; The mesh-like water collection and interception structure includes: Interception ditch (5-7), wherein the interception ditch (5-7) is set at the top of the slope of the high fill embankment (5-9); Drainage ditch (5-3), wherein the drainage ditch (5-3) is located at the toe of the slope of the high fill embankment (5-9); Longitudinal drainage ditches (5-1) are provided along the slope of the high embankment (5-9). The top of each longitudinal drainage ditch (5-1) is connected to the intercepting ditch (5-7) and the bottom is connected to the drainage ditch (5-3). A transverse water collection ditch (5-2) is set on top of a low-dosage modified soil flexible retaining wall (5-6) on each slope platform, and the two sides of the transverse water collection ditch (5-2) are in contact with the high-dosage modified soil slope protection structure (5-4). Each transverse water collection ditch (5-2) is connected to all longitudinal water collection ditches (5-1). Lateral drainage ditch (5-8) is set on both sides of the slope of the high embankment (5-9). The top of the lateral drainage ditch (5-8) is connected to the roadside ditch and the bottom is connected to the drainage ditch (5-3). Vegetation bags (5-10) are embedded in the slope surface of the high embankment slope (5-9) and the gaps in the mesh water collection and interception structure, and the vegetation bags (5-10) are embedded in the slope protection structure (5-4) with high-dosage modified soil.

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