Full-automatic side slope and open space integrated ecological restoration equipment

Abstract

The invention discloses full-automatic side slope and open space integrated ecological restoration equipment, relates to the technical field of mine ecological restoration, and particularly aims to solve the problem of mine side slope and open space ecological restoration existing in the background art. The full-automatic side slope and open space integrated ecological restoration equipment comprises a vehicle body, and a plurality of wheels are arranged at the lower end of the vehicle body; a storage device, a spraying device and an angle control device are further arranged on the vehicle body, the spraying device is communicated with the storage device, the angle control device is used in cooperation with the spraying device, the effect of ecological restoration of the mine slope open space is achieved through the technical means formed by the multiple technical characteristics, and the problems existing in the background technology are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of mine ecological restoration, and in particular relates to a fully automatic slope and open space integrated ecological restoration device. Background Art

[0002] In the past decade, my country's mining industry has developed rapidly, and the role of mining in the national economy has also increased sharply, achieving huge economic benefits. However, large-scale mining has also caused great damage to my country's land environment, causing a sharp reduction in land resources around mining areas. Open-pit mining has destroyed the topography of the region and caused devastating damage to vegetation, thereby exacerbating the degree of soil erosion. At the same time, during the excavation of the mine, serious damage to the mountain, exposed rocks, and unstable slopes have been caused. These phenomena not only bring huge safety hazards to mining production, but also cause geological disasters, posing a serious threat to the economy of mining enterprises and workers.

[0003] In response to the ecological problems of the above-mentioned mine slope vacant land, traditional restoration methods include: 1. Functional hard slope protection; 2. Ecological restoration using vegetation bag grass planting technology; 3. Ecological restoration using TBS imported soil spraying technology; 4. SPF wood fiber spraying and regreening technology; Among them, the SPF wood fiber spraying and regreening technology uses spraying pine wood fiber as the spraying base material. During the construction of the ecological restoration and regreening project, you only need to put the adhesive, water retaining agent, flower / grass seeds, plant nutrients, fertilizers, probiotics and wood fiber into the spraying vehicle, stir and mix them evenly, and then use a high-pressure spray gun to spray directly on the construction surface in any environment. The regreening can be completed in one go without any trouble of later repair or rework.

[0004] After spraying, the pine wood fiber can prevent birds, cold, drought and rain erosion to the greatest extent through its unique water retention, heat preservation, air permeability and adhesion, providing the best growth environment for plants from germination to survival; and the sprayed grass seeds usually germinate in 3 or 4 days, gradually turn green in a week, and are basically grown in 15 days. The pine wood fiber begins to gradually degrade and transform into organic fertilizer within a week after spraying. The organic fertilizer needed for the later growth of the plants is basically provided by the degradation and transformation of pine wood fibers. The pine wood fibers are completely degraded after 180 days.

[0005] Therefore, it is urgent to design a fully automatic integrated ecological restoration equipment for slope vacant land, which can be used to carry out SPF wood fiber spraying and greening process on the slope vacant land of mines to protect the ecological balance of mines. Summary of the invention

[0006] Aiming at the ecological restoration problem of mine slope vacant land, the purpose of the present invention is to provide a fully automatic slope vacant land integrated ecological restoration equipment, including a vehicle body and wheels arranged at the lower end of the vehicle body, the wheels adopt a tank-type crawler design, so that the ecological restoration equipment can be applied to various open-pit mining areas and protect the soil environment; A storage device, a spraying device and an angle control device for storing repair materials are arranged on the vehicle body. The spraying device is connected to the vehicle body, and an angle control device is also installed on the storage device, which is convenient for controlling the spraying angle of the spraying device so that it can better repair the slope. When in use, the control system automatically controls the rotation of the motor on the wheel, thereby driving the wheel to rotate so that the vehicle body moves automatically, and controls the spraying device to extract the repair material in the storage device, and spray the repair material out in a mist form, so as to realize fully automatic, comprehensive and uniform spraying of the open space on the slope.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows: A fully automatic integrated ecological restoration device for slope vacant land comprises a vehicle body with a plurality of wheels arranged at the lower end of the vehicle body. A storage device, a spraying device and an angle control device are arranged on the vehicle body. The spraying device is connected with the storage device, and the angle control device is used in conjunction with the spraying device.

[0008] Preferably, the wheel comprises: A driving gear set, one end of which is connected to the fixed plate and used in conjunction with the crawler track; A driven wheel set, one end of which is connected to the fixed plate and is used in conjunction with the crawler track and the driving gear set; The inner wall of the crawler track conflicts with the driving gear set and the driven wheel set; The fixing plates are arranged on both sides of the vehicle body.

[0009] Preferably, the driving gear set includes a driving rod 1 and a plurality of gears coaxially arranged on the driving rod 1, the end of the driving rod 1 is connected to the fixing plate, and the gears are used in conjunction with the crawler track.

[0010] Preferably, the driven wheel assembly includes a second driving rod and a plurality of driven wheels concentrically arranged on the second driving rod, the second end of the driving rod is connected to the fixing plate, and the driven wheels are used in conjunction with the crawler track.

[0011] Preferably, a stirring mechanism is provided in the storage device.

[0012] Preferably, the spraying device comprises an extraction mechanism and a spraying device which are communicated with each other, the extraction mechanism is communicated with the storage device, and the spraying device is connected with the control device.

[0013] Preferably, the spraying device comprises a delivery pipe and a conical nozzle which are integrally arranged, and a threaded track is arranged in the delivery pipe and the conical nozzle.

[0014] Preferably, the angle control device comprises: an electric motor, electrically connected to the controller; Gear 1, mounted on the motor, Gear 2 is sleeved on the base of the spraying device and meshes with gear 1; A remote sensing sensor is electrically connected to the controller and is disposed on the vehicle body for collecting slope data; The controller is arranged in the vehicle body and is used to receive data uploaded by the remote sensing sensor and control the rotation of the motor according to the uploaded data.

[0015] The beneficial effects of the present invention are as follows: the present invention discloses a fully automatic slope and open space integrated ecological restoration device. Compared with the prior art, the present invention has the following improvements: (1) The present invention adopts the design of tank-type crawler tracks, so that the ecological restoration equipment can be applied to various open-pit mining areas, such as rugged hillsides, sandy and soft riverbeds, and quarries full of stones. Its powerful crawler system ensures the stable movement of the equipment on complex terrain. The specially designed tooth structure on the crawler effectively increases the friction with the ground, so that the equipment can climb and descend smoothly even in the case of a large slope, ensuring continuous work and efficient ecological restoration operations, improving the operating efficiency under complex terrain conditions, and making it have strong adaptability and stability. At the same time, this design reduces the maintenance requirements and failure rate of the equipment and extends its service life.

[0016] (2) The present invention uses the design of the centrifugal atomization spraying structure to make the nozzle automatically swing and spray, achieving a large-area and uniform spraying effect. The structure can ensure that the repair material is sprayed evenly over a large area, thereby avoiding the phenomenon of local overspraying or insufficient spraying common in traditional spraying methods. This spraying method significantly improves the utilization efficiency of the repair material, achieves comprehensive coverage of the slope and open space, and effectively improves the overall quality and effect of ecological restoration. In addition, due to the uniform spraying, the need for repeated operations is reduced, saving time and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The ecological restoration equipment of the present invention is viewed from above Figure 1 ; Figure 2 The ecological restoration equipment of the present invention is viewed from above Figure 2 ; Figure 3 This is a test diagram of the ecological restoration equipment of the present invention; Figure 4 This is an enlarged view of part A of the present invention; Figure 5 This is a schematic diagram of the structure of the ecological restoration equipment of the present invention when viewed from above; Figure 6It is a cross-sectional view of a conical nozzle of the present invention; Figure 7 It is a schematic diagram of the structure of the storage device of the present invention; Figure 8 This is a schematic diagram of the stirring mechanism structure of the present invention; Fig. 9 It is a schematic diagram of the connection structure between the spraying angle control device and the spraying device of the present invention; Fig.10 This is an enlarged view of part A of the present invention; Among them: 1. vehicle body; 2. storage device; 201. stirring mechanism; 3. spraying device; 301. extraction mechanism; 302. spraying device; 302-1. delivery pipe; 302-2. conical nozzle; 302-2A. threaded track; 4. spraying angle control device; 401. motor; 402. gear one; 403. gear two; 5. wheel; 501. driving gear set; 501-1. driving rod one; 501-2. gear; 502. driven wheel set; 502-1. driving rod two; 502-2. driven wheel; 503. track; 503-1. teeth; 504. fixing plate. DETAILED DESCRIPTION

[0018] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0019] Example: Refer to the attached Figure 1-10 The fully automatic integrated ecological restoration equipment for slope and open space shown in the figure comprises a vehicle body 1, a plurality of wheels 5 are arranged on the lower side of the vehicle body 1, and the wheels 5 adopt a tank-type crawler structure; the wheels 5 comprise a fixing plate 504, a driving gear set 501, a plurality of driven wheel sets 502 and a crawler 503, the fixing plate 504 is fixedly arranged on both sides of the vehicle body 1, the driving gear set 501 and the driven wheel set 502 are connected to the fixing plate 504, and the driving gear set 501 and the driven wheel set 502 are both arranged in the crawler 503 and contact with the inner wall of the crawler 503; the driven wheel set 502, the driving gear set 501 and the crawler 503 cooperate with each other, so that the vehicle body 1 has good adhesion to the ground, and protects the clay and nutrients of the slope soil during the moving process, has obvious advantages in deep plowing and load-bearing operations, and has super passability and climbing ability; Furthermore, the driving gear set 501 includes a driving rod 1 501-1 and a plurality of gears 501-2 concentrically fixedly arranged on the driving rod 1 501-1, and one end of the driving rod 1 501-1 is rotatably connected to the fixed plate 504; the driven wheel set 502 includes a driving rod 2 502-1 and a plurality of driven wheels 502-2 concentrically fixedly arranged on the driving rod 2 502-1, and one end of the driving rod 2 502-1 is rotatably connected to the fixed plate 204; teeth 503-1 are arranged inside and outside the crawler 503, and the inner teeth 503-1 are used in conjunction with the gear 501-2, and the teeth 503-1 make the crawler 503 have good adhesion to the ground, so that it can also generate greater traction, and the ground contact pressure is low, the soil is protected, and the clay and nutrients of the slope soil are better protected, and the advantages of deep plowing and load-bearing operations are obvious, and the passability and climbing ability are superb; When in use, the two active gear sets 501 are connected with a 12V motor, which is arranged on the vehicle body 1. The 12V motor drives the driving rod 1 501-1 to rotate, the driving rod 1 501-1 drives the gear 501-2 to rotate, the gear 501-2 drives the crawler 503 to rotate, the crawler 503 rotates and drives the driven wheel 502-2 to rotate, the driven wheel 502-2 drives the driving rod 2 502-1 to rotate, which further drives and improves the stability of the device. The multiple components cooperate with each other to make the vehicle body 1 move stably; the crawler 503 adopts the TS900 tank crawler, which can adapt to various open-pit mine terrains and better complete the construction work; A storage device 2, a spraying device 3 and a spraying angle control device 4 are also provided on the vehicle body 1; the storage device 2 is fixed at the central position of the vehicle body 1, and a discharge port is provided at the bottom, which is connected to the feed port of the spraying device 3 through a pipeline, and the repair material is transported from the storage device 2 to the spraying device 3 through the pipeline; the storage device 2 is 210.5 mm long, 235 mm wide, 80 mm high, and 3 mm thick. The volume of the storage device 2 is 3.96 liters, and the material selected is a light-curing resin, i.e., a photosensitive resin; The storage device 2 is used to store the repair material, and a stirring mechanism 201 is provided in the storage device 2. The stirring mechanism 201 stirs the wood fiber material and seeds in the storage device 2 quickly and evenly, so that the SPF soilless spraying wood fiber material is evenly sprayed and adhered to the mine surface during spraying. ； Specifically, the spraying device 3 includes an extraction mechanism 301 and a spraying device 302, wherein the extraction mechanism 301 is a water pump, which is arranged in the vehicle body 1, and is used to connect the storage device 2 and the spraying device 302, and extract the material in the storage device 2 into the spraying device 302; the first advantage of using a water pump: it is fully enclosed, there is no dynamic seal in the structure, and there is only a static seal at the outer shell of the pump, so it can be completely leak-free, which is particularly suitable for SPF soilless spraying wood fiber materials; the second advantage: high safety, the rotor and the stator each have a shielding sleeve to prevent the motor rotor and stator from contacting the material, and even if the shielding sleeve is broken, there will be no danger of leakage; the third advantage: the structure is compact and occupies less space, the pump and the motor are integrated, the requirements for the base and foundation are low, and the daily maintenance workload is small, and the maintenance cost is low; the fourth advantage: stable operation, low noise, and no need to add lubricating oil. Since there are no rolling bearings and motor fans, no lubricating oil is needed, and the noise is low.

[0020] The spraying device 302 is a centrifugal fine water mist nozzle, which includes an integrally formed delivery pipe 302-1 and a conical nozzle 302-2. The delivery pipe 302-1 is a hose, and the inner walls of the delivery pipe 302-1 and the conical nozzle 302-2 are both provided with a threaded track 302-2A, and the threaded tracks 302-2A on the delivery pipe 302-1 and the conical nozzle 302-2 cooperate with each other. One end of the delivery pipe 302-1 is connected to the discharge port of the extraction mechanism 301, and the other end is connected to the conical nozzle 302-2. The function of the threaded track 302-2A is to achieve an atomization effect of spraying liquid. When in use, the extraction mechanism 301 extracts the material and transports the material to the end of the conical nozzle 302-2 through the conveying pipe 302-1 for atomization and spraying. During this period, the material moves along the threaded track 302-2A in the conveying pipe 302-1 and enters the conical nozzle 302-2, and flows along the threaded track 302-2A in the conical nozzle 302-2 to the front end of the conical nozzle 302-2 and sprays out in atomization. Under the action of air resistance, the sprayed liquid breaks into fine water droplets and lands in the spraying area, achieving the effects of uniform spraying, material saving, and directional control. The sprayed liquid that breaks into fine water droplets can better adhere to the target surface and fill small pores and cracks, so that the SPF forms a continuous, seamless, weather-resistant and heat-insulating protective layer; During the spraying process, the liquid to be sprayed has a certain pressure after coming out of the extraction mechanism 301. It enters the threaded track 302-2A in the conical nozzle 302-2 through the threaded track 302-2A of the delivery pipe 302-1. The water flows around the wall to generate eddy current motion, so that the water is sprayed outward from the spray hole in the form of a hollow annular cone-shaped thin water layer, and at the same time has radial centrifugal speed and tangential speed. Under the action of air resistance, it is broken into fine water droplets; Specifically, the spraying angle control device 4 controls the angle of the spraying device 302 through gear remote sensing. The spraying angle control device 4 is located in the upper square warehouse of the vehicle body 1. The line part is connected to the agitator line of the storage device 2 from the wiring groove of the square warehouse. The spraying device 3 is connected to the spraying angle control device 4 through the internal wiring at the front end of the vehicle body 1, and a gear 2 403 is fixedly provided on the spraying device 3. The gear 2 403 cooperates with the spraying angle control device 4 to adjust the angle of the spraying device 3. The angle control device 4 includes a remote sensing sensor, a motor 401, a gear 1 402 and a controller. The remote sensing sensor is arranged in a circuit element storage box, and the circuit element storage box is arranged on the vehicle body 1. The remote sensing sensor is connected to the controller through a signal line, and the controller is connected to the motor 401 through a circuit. The motor 401 is meshed with the gear 2 403 on the base of the spraying device 3 through the gear 1 402. The controller has a built-in algorithm that analyzes and calculates the required angle adjustment parameters according to the received remote sensing sensor data. The controller can set a threshold value. When the monitored angle deviates from the preset value, the adjustment program is automatically triggered. After the motor 401 receives the command from the controller, the motor 401 starts, and the motor 401 rotates to drive the gear 1 402 to rotate. The gear 1 402 rotates and then drives the gear 2 403 to rotate. The gear 2 403 rotates and drives the spraying device 3 to rotate, thereby completing the angle adjustment of the spraying device 3. The speed and direction of the motor 401 are precisely controlled according to the command of the controller to ensure the accuracy and stability of the angle adjustment. The remote sensing sensor is arranged inside the circuit development board on the upper part of the vehicle body 1, and is used for real-time monitoring of the spraying angle and feeding back the result to the controller. The controller is arranged in the circuit development box on the upper part of the vehicle body 1. The controller adjusts the rotation direction and speed of the motor according to the feedback signal, so as to realize the precise control of the spraying angle. The various components cooperate with each other to ensure that the spraying angle control device can automatically adjust the spraying direction and range according to the changes in the terrain, so as to ensure the comprehensive coverage of the slopes and open spaces.

[0021] The working principle and process of the fully automatic integrated ecological restoration equipment for slope and open space in this embodiment are as follows: first, the restoration material is poured into the storage device 2. The stirring mechanism in the storage device 2, driven by the motor, drives the stirring blades thereon to rotate and stir the restoration material in the storage device 2, so that the restoration material is evenly mixed. When spraying is required, the extraction mechanism 301 extracts the restoration material from the storage device 2. The restoration material passes through the conveying pipe 302-1 and the threaded track 302-2A in the conical nozzle 302-2 in turn, and is finally sprayed out from the end of the conical nozzle 302-2 in an atomized form, thereby achieving the effects of uniform spraying, material saving, and directional control.

[0022] This embodiment also provides a control system, which relies on the control system to complete the unmanned driving automation work, realize the problem of spraying in dangerous areas, and at the same time combines with multi-rotor drones for auxiliary spraying to solve the problem of difficult spraying in the mine slope area; The control system also includes a detection and recognition system to identify the target and provide timely feedback to the control system; the control system enables the ecological restoration equipment to move forward autonomously by planning the path. It is equipped with various sensors, GPS, radar, and uses Raspberry Pi to capture information to achieve route planning. The control system uses 5G satellite chips for real-time positioning to capture the target and compare it with the position set on the screen to adjust the position of the fully automatic slope repair vehicle. If it reaches the predetermined position, the control system controls the ecological restoration equipment to perform fully automatic spraying. After the spraying is completed, a comparison task is performed to confirm the completion of the spraying task, and finally return autonomously to the destination. The advantages of using this unmanned automated repair equipment are: (1) Improved safety: Mine slope repair is often a dangerous task involving geological disaster risks and personnel safety. The use of unmanned repair equipment can reduce the need for personnel to enter dangerous areas and reduce the risk of personal injury.

[0023] (2) Improve work efficiency: Unmanned repair equipment can autonomously carry out slope repair tasks. They can work according to preset paths and procedures, reducing the demand for human resources and being able to quickly complete a large amount of slope repair work.

[0024] (3) Data collection and monitoring: The unmanned repair equipment is equipped with corresponding sensors and cameras, which can collect slope data and images in real time. These data can be used to monitor and analyze the slope, helping staff understand the changes in the slope and the repair effect.

[0025] (4) Precision and refined operation: Unmanned repair equipment is equipped with advanced navigation systems and positioning technologies, and can operate accurately along the preset path.

[0026] Preferably, the control system adopts 5G chip satellite positioning. The 5G chip combined with the satellite positioning system can realize high-precision positioning function. Through signal measurement and processing of multiple satellites, it can provide accurate location information, which is suitable for application spraying areas that require high-precision positioning; 5G chips can support multiple satellite positioning systems, such as GPS, GLONASS, Galileo, etc. This multi-mode positioning capability enables effective positioning in different regions or when signals are limited; 5G chips have a faster positioning speed and can obtain location information in a shorter time.

[0027] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A fully automatic slope and open space integrated ecological restoration device, comprising a vehicle body (1), and a plurality of wheels (5) are arranged at the lower end of the vehicle body (1), characterized in that: A storage device (2), a spraying device (3) and an angle control device (4) are arranged on the vehicle body (1); the spraying device (3) is connected to the storage device (2), and the angle control device (4) is used in conjunction with the spraying device (3).

2. The fully automatic slope and open space integrated ecological restoration equipment according to claim 1 is characterized by: The wheel (5) comprises: A driving gear set (501) has one end connected to a fixing plate (504) and is used in conjunction with a crawler track (503); A driven wheel set (502) has one end connected to the fixing plate (504) and is used in conjunction with the crawler track (503) and the driving gear set (501); The crawler track (503) has an inner wall that is in conflict with the driving gear set (501) and the driven wheel set (502); The fixing plates (504) are arranged on both sides of the vehicle body (1).

3. The fully automatic slope and open space integrated ecological restoration equipment according to claim 2 is characterized by: The driving gear set (501) comprises a driving rod (501-1) and a plurality of gears (501-2) coaxially arranged on the driving rod (501-1); the end of the driving rod (501-1) is connected to a fixing plate (504); and the gears (501-2) are used in conjunction with the crawler track (503).

4. The fully automatic slope and open space integrated ecological restoration equipment according to claim 2 is characterized by: The driven wheel set (502) comprises a second driving rod (502-1) and a plurality of driven wheels (502-2) coaxially arranged on the second driving rod (502-1); the end of the second driving rod (502-1) is connected to a fixing plate (504); and the driven wheels (502-2) are used in conjunction with the crawler track (503).

5. The fully automatic slope and open space integrated ecological restoration equipment according to claim 1 is characterized by: A stirring mechanism is provided in the storage device (2).

6. The fully automatic slope and open space integrated ecological restoration equipment according to claim 1 is characterized by: The spraying device (3) comprises an extraction mechanism (301) and a spraying device 302 which are connected to each other. The extraction mechanism (301) is connected to the storage device (2), and the spraying device (302) is connected to the control device (4).

7. The fully automatic slope and open space integrated ecological restoration equipment according to claim 6 is characterized by: The spraying device (302) comprises a delivery pipe (302-1) and a conical spray head (302-2) which are integrally arranged, and threaded tracks (302-2A) are arranged in the delivery pipe (302-1) and the conical spray head (302-2).

8. The fully automatic slope and open space integrated ecological restoration equipment according to claim 6 is characterized by: The angle control device (4) comprises: The motor (401) is electrically connected to the controller; Gear 1 (402) is mounted on the motor 401. Gear 2 (403) is sleeved on the base of the spraying device (302) and meshes with gear 1 (402); A remote sensing sensor, electrically connected to the controller and arranged on the vehicle body (1), for collecting slope data; The controller is arranged in the vehicle body (1) and is used to receive data uploaded by the remote sensing sensor and control the rotation of the motor (401) according to the uploaded data.

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