A river regulation device for ISER sponge soil and its regulation method

Abstract

The invention discloses a river regulation device for ISER sponge soil and a regulation method thereof, which comprises a mobile device, a storage bin and a pouring device; the mobile device comprises a mobile frame and two robotic arms; the robotic arms are hinged to the mobile frame; the robotic arms are provided with a first guiding groove and a reciprocating driving component; the first guiding groove is provided with a plurality of pouring sections arranged in a stepped structure; the pouring device comprises a pouring sliding seat, a blanking component and a blanking driving component; the pouring sliding seat is connected with the reciprocating driving component; the pouring sliding seat is provided with a pin shaft movably embedded in the first guiding groove; a pressing plate capable of reciprocating is movably arranged in the pouring port; the blanking component comprises a blanking bin, a first baffle and a second baffle; the blanking bin is communicated with the storage bin; a blanking port is arranged at the bottom of the blanking bin; the first baffle and the second baffle intermittently open and close the blanking port; the material loss caused by water and soil loss can be effectively reduced, and the resource utilization rate of the sponge soil and the compactness and surface flatness of the sponge soil laying layer can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of river regulation, and more specifically, to a river regulation device for ISER sponge soil and a regulation method thereof. Background Art

[0002] In existing river regulation projects, sponge soil, as a material with good water permeability and ecological functions, has been widely used in the laying of revetments. However, in the actual construction process, sponge soil is usually injected or spread manually in a one-time centralized manner, making it difficult to accurately control the injection volume. Problems such as uneven layer thickness, local accumulation, and uneven surface are likely to occur during the laying process, which not only affects the compaction effect but also easily leads to material loss due to soil erosion. Summary of the Invention

[0003] The purpose of the present invention is to overcome the above-mentioned drawbacks and provide a river regulation device for ISER sponge soil and a regulation method thereof.

[0004] To achieve the above purpose, the specific solutions of the present invention are as follows:

[0005] On the one hand, the present invention provides a river regulation device for ISER sponge soil, including a moving device, a storage bin and a perfusion device provided on the moving device;

[0006] The moving device includes a moving frame and two robotic arms arranged side by side at both ends of the moving frame; one end of the robotic arm is hinged to the moving frame; each robotic arm is provided with a first guiding groove and a reciprocating driving component; the first guiding groove is provided with a plurality of perfusion sections arranged in a stepped structure from bottom to top in sequence; the plurality of perfusion sections are smoothly connected through transition sections in sequence;

[0007] The perfusion device includes a perfusion sliding seat, a blanking component and a blanking driving component provided in the perfusion sliding seat; both ends of the perfusion sliding seat are respectively connected to the reciprocating driving component; both ends of the perfusion sliding seat are also respectively provided with pins movably embedded in the first guiding groove; a perfusion port is provided at the bottom of the perfusion sliding seat; a pressing plate is movably provided in the perfusion port; the pressing plate can reciprocate under the action of the blanking driving component;

[0008] The blanking component includes a blanking bin, a first baffle and a second baffle; the blanking bin is communicated with the storage bin; a blanking port communicated with the perfusion port is provided at the bottom of the blanking bin; the first baffle and the second baffle are slidably provided at the blanking port; the first baffle and the second baffle respectively make the blanking port open and close intermittently under the action of the blanking driving component.

[0009] Optionally, the blanking driving assembly includes a first motor and a driving column; the first motor is disposed at one end within the perfusion sliding seat; both ends within the perfusion sliding seat are recessed with driving grooves; both ends of the driving column are respectively provided with guide shafts that are movably embedded within the driving grooves; one of the guide shafts is connected to the output end of the first motor; both ends of the driving column are penetrated with driving holes;

[0010] The first baffle extends with a first extension arm; the second baffle extends with a second extension arm whose length is greater than that of the first extension arm; the first extension arm and the second extension arm are distributed at both ends of the perfusion sliding seat; a first return spring is connected between the first baffle and the blanking bin; a second return spring is connected between the second baffle and the blanking bin;

[0011] When the driving column rotates along the trajectory of the driving groove, the driving column alternately cooperates with the first extension arm and the second extension arm respectively through the driving holes.

[0012] Optionally, the cross-section of the driving groove is egg-shaped; the blanking driving assembly further includes a first telescopic block, a second telescopic block, and a first spring; one end of the first telescopic block is connected to the output end of the first motor; the other end of the first telescopic block is provided with a telescopic hole; the first spring is disposed within the telescopic hole; one end of the second telescopic block slides into the telescopic hole and abuts against the first spring; the other end of the second telescopic block is hinged to the guide shaft.

[0013] Optionally, the perfusion port is provided with a guiding frame; the pressing plate slides within the guiding frame.

[0014] Optionally, the inner side wall of the guiding frame is provided with a sliding groove; a second spring is disposed within the sliding groove; a convex platform is provided on the side wall of the pressing plate; the convex platform slides within the sliding groove and abuts against the second spring.

[0015] Optionally, one end of the pressing plate extends with a connecting plate; the connecting plate is provided with a first elongated hole; a sliding rod movably penetrates through the first elongated hole; a third spring is connected between the sliding rod and the connecting plate; the end of the sliding rod is elastically and floatingly connected with a retaining pin.

[0016] The inner side wall of the perfusion sliding seat is provided with a second guiding groove; the retaining pin is movably embedded within the second guiding groove; one end of the driving column is provided with a driving portion for cooperating with the sliding rod.

[0017] Optionally, the second guiding groove includes a horizontal section, a first inclined section, a second inclined section, a third inclined section, and a vertical section that are sequentially connected end to end; anti-reverse groove positions are provided at one end of the horizontal section close to the vertical section, one end of the second inclined section close to the first inclined section, one end of the third inclined section close to the second inclined section, and one end of the vertical section close to the third inclined section; the first inclined section and the second inclined section are connected in a V shape.

[0018] Optionally, the driving part includes a driving inclined surface, a pressing flat surface, and a reset inclined surface; when the driving inclined surface contacts the sliding rod, the driving column pushes the pin to move along the vertical section and the horizontal section in sequence; when the pressing flat surface contacts the sliding rod, the driving column presses the pin to move along the first inclined section; when the reset inclined surface contacts the sliding rod, the pin moves along the second inclined section and the third inclined section in sequence under the elastic force of the third spring and then returns to the vertical section.

[0019] Optionally, the reciprocating driving assembly includes a second motor, a transmission belt, and a driving block; the second motor is arranged on the outer side wall of the robotic arm; the transmission belt is rotatably arranged on the inner side wall of the robotic arm and is in transmission connection with the output end of the second motor; the driving block is slidably arranged on the robotic arm; the driving block is fixedly connected to the perfusion sliding seat; the driving block is provided with a second elongated hole; the transmission belt is provided with a transmission pin; the transmission pin is movably embedded in the second elongated hole.

[0020] On the other hand, the present invention provides a rectification method for a river regulation device using the above-mentioned ISER sponge soil, specifically including the following steps:

[0021] Arrange a plurality of slope protection irrigation areas in an array on the inclined surface of the river embankment, and each slope protection irrigation area is provided with a plurality of perfusion grooves arranged in a stepped structure along the inclined direction of the inclined surface of the river embankment;

[0022] Operate the mobile device to a predetermined construction point, align it with the slope protection irrigation area, and drive the perfusion device to sequentially fill each perfusion groove with sponge soil from top to bottom through the reciprocating driving assembly. Under the cooperation of the pin shaft and the first guide groove, the perfusion device automatically adjusts the filling thickness of each perfusion groove in the slope protection irrigation area, and the filling thickness of the sponge soil decreases sequentially from top to bottom. The pressing plate compacts and levels the sponge soil filled into the perfusion groove;

[0023] After the perfusion device fills all the perfusion grooves in one slope protection irrigation area, move the river regulation device to a position corresponding to another slope protection irrigation area, and then fill the perfusion grooves in the other slope protection irrigation area with sponge soil; and so on until all the perfusion grooves in all slope protection irrigation areas are filled with sponge soil.

[0024] The beneficial effects of the present invention are as follows: By arranging a plurality of perfusion sections arranged in a stepped structure from bottom to top on the robotic arm, and cooperating with the first baffle and the second baffle to alternately and intermittently open the material discharge port, when the perfusion device moves into the corresponding perfusion groove, it can automatically fill sponge soil with different thicknesses. Thus, when soil erosion occurs due to rain erosion in the upper perfusion groove, the lost sponge soil can slide down to the lower perfusion groove, forming a natural filling. In this way, the material loss caused by soil erosion can be effectively reduced, and the resource utilization rate of sponge soil and the slope protection construction quality can be improved.

[0025] In the present invention, the blanking driving assembly cooperates with the pressing plate, and the reciprocating motion of the pressing plate is used to automatically compact and level the sponge soil in the perfusion tank, thereby improving the density and surface flatness of the sponge soil laying layer and enhancing the stability of the filling layer structure.

[0026] In the present invention, by arranging the blanking driving assembly to cooperate with the first baffle and the second baffle, when the sponge soil is filled, the blanking port is intermittently opened, so that the sponge soil is filled into the perfusion tank in multiple times, which is beneficial to the uniform distribution of the sponge soil filling and the control of the filling thickness of the sponge soil. Description of the Drawings

[0027] Figure 1 is a schematic diagram of the structural application of the present invention;

[0028] Figure 2 is Figure 1 a partial enlarged schematic diagram of part A in

[0029] Figure 3 is a schematic diagram of the structure of the mobile device of the present invention;

[0030] Figure 4 is a schematic diagram of the structure of the robotic arm of the present invention;

[0031] Figure 5 is a schematic diagram of the structure of the perfusion device of the present invention;

[0032] Figure 6 is a sectional schematic diagram of the perfusion device of the present invention;

[0033] Figure 7 is Figure 6 a partial enlarged schematic diagram of part B in

[0034] Figure 8 is a schematic diagram of the structure of part of the perfusion device of the present invention;

[0035] Figure 9 is a schematic diagram of the present invention when the driving column cooperates with the first extension arm;

[0036] Figure 10 is a schematic diagram of the present invention when the driving column cooperates with the second extension arm;

[0037] Figure 11 is a sectional schematic diagram of the perfusion sliding seat of the present invention;

[0038] Figure 12 is a schematic diagram of the structure of the blanking driving assembly of the present invention;

[0039] Figure 13 is a schematic diagram of the structure of the blanking assembly of the present invention;

[0040] Figure 14 It is an exploded schematic view of the blanking component of the present invention;

[0041] Explanation of reference numerals in the drawings: 1. Moving device; 11. Moving frame; 12. Robot arm; 121. Pouring section; 122. Transition section; 131. Second motor; 132. Transmission belt; 133. Driving block; 134. Second hole; 135. Transmission pin; 14. Moving roller; 15. Third motor; 16. Screw; 17. Sliding block; 2. Storage bin; 3. Pouring device; 31. Pouring slide; 311. Pin shaft; 312. Driving groove; 313. Horizontal section; 314. First inclined section; 315. Second inclined section; 316. Third inclined section; 317. Vertical section; 321. Blanking bin; 3211. Blanking port; 322. First baffle; 3221. First extension arm; 323. Second baffle; 3231. Second extension arm; 324. First return spring; 325. Second return spring; 331. First motor; 332. Driving column; 3321. Guide shaft; 3322. Driving hole; 3323. Driving inclined surface; 3324. Pressing plane; 3325. Return inclined surface; 333. First telescopic block; 334. Second telescopic block; 335. First spring; 34. Pressing plate; 341. Connecting plate; 35. Guide frame; 36. Second spring; 37. Slide bar; 371. Pin; 38. Third spring; 4. Transmission hose; 10. Pouring tank. Detailed implementation manners

[0042] The present invention will be further described in detail below with reference to the drawings and specific embodiments, and the implementation scope of the present invention is not limited thereto.

[0043] As Figures 1 to 14 shown, a river regulation device for ISER sponge soil in this embodiment includes a moving device 1, a storage bin 2 and a pouring device 3;

[0044] The moving device 1 includes a moving frame 11 and two robot arms 12 arranged side by side at both ends of the moving frame 11; moving rollers 14 can be provided at the bottom of the moving frame 11 for the movement of the entire device; the moving device 1 is supported on the support surface of the external river dam; one ends of the two robot arms 12 are respectively hinged to both ends of the moving frame 11 so that the pouring device 3 can be in contact with the inclined surface of the external river dam; each robot arm 12 is provided with a first guiding groove and a reciprocating driving assembly; the pouring device 3 is driven by the reciprocating driving assembly to reciprocate along the inclined surface of the external river dam; the first guiding groove is provided with a plurality of pouring sections 121 arranged in a stepped structure from bottom to top in sequence; the plurality of pouring sections 121 are smoothly connected through transition sections 122 in sequence, as Figure 4 shown;

[0045] The perfusion device 3 includes a perfusion slide base 31, and a blanking assembly and a blanking driving assembly arranged in the perfusion slide base 31; both ends of the perfusion slide base 31 are respectively connected to the reciprocating driving assembly, so that the reciprocating driving assembly drives the perfusion device 3 to reciprocate through the perfusion slide base 31; both ends of the perfusion slide base 31 are also respectively provided with pin shafts 311 movably embedded in the first guide groove; during the reciprocating movement of the perfusion device 3, the pin shafts 311 reciprocate along the track of the first guide groove; a perfusion port is provided at the bottom of the perfusion slide base 31; a pressing flat plate 34 is movably arranged in the perfusion port; the pressing flat plate 34 can reciprocate under the action of the blanking driving assembly to compact and level the laid sponge soil.

[0046] As Figure 13 and Figure 14 shown, the blanking assembly includes a blanking bin 321, a first baffle 322 and a second baffle 323; the blanking bin 321 is communicated with the storage bin 2, preferably, the blanking bin 321 is communicated with the storage bin 2 through a transmission hose 4; a blanking port 3211 communicated with the perfusion port is provided at the bottom of the blanking bin 321; the first baffle 322 and the second baffle 323 are slidably arranged at the blanking port 3211; the first baffle 322 and the second baffle 323 respectively make the blanking port 3211 open and close intermittently under the action of the blanking driving assembly.

[0047] When the river regulation equipment of this embodiment is initially used, as Figure 1 shown, the equipment is placed on the support surface of the external river dam, the two robotic arms 12 extend along the inclined surface of the external river dam, the reciprocating driving assembly places the perfusion device 3 at the upper end position of the robotic arm 12, fills the sponge soil into the storage bin 2, and the first baffle 322 and the second baffle 323 close the blanking port 3211, so that the sponge soil entering the blanking bin 321 is naturally distributed to both sides, avoiding the problem of local excessive accumulation caused by the concentrated ejection at the moment of discharging, thereby facilitating the improvement of the uniformity of the initial laying of the sponge soil material;

[0048] During laying, as Figure 1As shown in the figure, a plurality of slope protection irrigation areas are arranged in an array on the inclined surface of the external river channel dam. Each slope protection irrigation area is provided with a plurality of perfusion grooves 10 that are stepped and layered along the inclined direction of the inclined surface of the external river channel dam. The number of perfusion sections 121 is the same as the number of perfusion grooves 10 in a single slope protection irrigation area. Then, the mobile device 1 is operated to a predetermined construction point, aligned with the slope protection irrigation area, and the sponge soil perfusion operation is carried out on each slope protection irrigation area in turn. For the perfusion grooves 10 in each slope protection irrigation area, the perfusion device 3 is driven by the reciprocating drive assembly to fill the sponge soil into each perfusion groove 10 from top to bottom in turn. At the same time, since the first guide groove is provided with a plurality of perfusion sections 121 arranged in a stepped structure from bottom to top in turn, under the cooperation of the pin shaft 311 and the first guide groove, the perfusion device 3 can automatically adjust the filling thickness of each perfusion groove 10 in the slope protection irrigation area, and the filling thickness of the sponge soil decreases from top to bottom in turn. After the perfusion device 3 fills all the perfusion grooves 10 in a slope protection irrigation area, the river regulation equipment is moved to correspond to the position of another slope protection irrigation area, and then the sponge soil is filled into the perfusion grooves 10 in the other slope protection irrigation area, and so on until all the perfusion grooves 10 in all slope protection irrigation areas are filled with sponge soil.

[0049] When filling the sponge soil into the perfusion groove 10, the sponge soil in the storage bin 2 enters the blanking bin 321 through the transmission hose 4. After the sponge soil is fully and evenly distributed in the blanking bin 321, the blanking drive assembly drives the first baffle 322 to open the blanking port 3211. The sponge soil in the blanking bin 321 enters the perfusion groove 10 through the blanking port 3211 and the perfusion port. Then the first baffle 322 closes the blanking port 3211. After the sponge soil is replenished and distributed again in the blanking bin 321, the blanking drive assembly drives the second baffle 323 to open the blanking port 3211, so that the sponge soil in the blanking bin 321 enters the perfusion groove 10 again through the blanking port 3211 and the perfusion port. Then the second baffle 323 closes the blanking port 3211. In this way, under the drive of the blanking drive assembly, the first baffle 322 and the second baffle 323 alternately and intermittently open the blanking port 3211 until the perfusion groove 10 is filled with sponge soil of a predetermined thickness. When the sponge soil is filled into the perfusion groove 10, the blanking drive assembly simultaneously drives the pressing plate 34 to reciprocate, so as to compact and level the sponge soil filled into the perfusion groove 10.

[0050] In this embodiment, by arranging a plurality of perfusion sections 121 on the robotic arm 12 in a stepped structure arranged successively from bottom to top, and cooperating with the first baffle 322 and the second baffle 323 to alternately and intermittently open the material discharge port 3211, when the perfusion device 3 moves to the corresponding perfusion tank 10, it can automatically fill sponge soil with different thicknesses. Thus, when the upper perfusion tank 10 is eroded by rainwater and soil erosion occurs, the lost sponge soil can slide down into the lower perfusion tank 10 along the trend to form a natural filling. In this way, the material loss caused by soil erosion can be effectively reduced, and the resource utilization rate of sponge soil and the slope protection construction quality can be improved.

[0051] In this embodiment, through the cooperation of the material discharge driving assembly and the pressing plate 34, the reciprocating movement of the pressing plate 34 is used to automatically compact and level the sponge soil in the perfusion tank 10, thereby improving the density and surface flatness of the sponge soil laying layer and enhancing the stability of the filling layer structure.

[0052] In this embodiment, by arranging the material discharge driving assembly in cooperation with the first baffle 322 and the second baffle 323, when the sponge soil is filled, the material discharge port 3211 is intermittently opened, so that the sponge soil is filled into the perfusion tank 10 in multiple times. In this way, it is beneficial to the uniform distribution of sponge soil filling and the control of the filling thickness of sponge soil.

[0053] As Figures 7 to 14 shown, in some implementation manners of the river regulation equipment of this embodiment, the material discharge driving assembly includes a first motor 331 and a driving column 332; one end of the first motor 331 is arranged inside the perfusion sliding seat 31; driving grooves 312 are recessed at both ends inside the perfusion sliding seat 31; guide shafts 3321 are respectively arranged at both ends of the driving column 332 and are movably embedded in the driving grooves 312; one of the guide shafts 3321 is connected to the output end of the first motor 331; driving holes 3322 are respectively arranged through both ends of the driving column 332; the first baffle 322 extends with a first extension arm 3221; the second baffle 323 extends with a second extension arm 3231 whose length is greater than that of the first extension arm 3221; the first extension arm 3221 and the second extension arm 3231 are distributed at both ends of the perfusion sliding seat 31; a first return spring 324 is connected between the first baffle 322 and the material discharge bin 321; a second return spring 325 is connected between the second baffle 323 and the material discharge bin 321; when the driving column 332 rotates along the track of the driving groove 312, the driving column 332 alternately cooperates with the first extension arm 3221 and the second extension arm 3231 through the driving holes 3322 respectively.

[0054] Specifically, during laying, the first motor 331 drives the driving column 332 to rotate. During the rotation of the driving column 332, under the cooperation of the guide shaft 3321 and the driving groove 312, the second extension arm 3231 is inserted into the driving hole 3322. As the driving column 332 rotates, when the driving column 332 contacts the second extension arm 3231, asFigure 10 As shown, the driving column 332 pushes the second baffle 323 to move through the second extension arm 3231, so that the second baffle 323 opens the discharge port 3211, and the sponge soil in the discharge bin 321 is filled into the pouring tank 10 through the discharge port 3211 and the pouring port. When the driving column 332 releases the thrust on the second extension arm 3231, the second baffle 323 is reset to close the discharge port 3211 under the action of the second return spring 325; as the driving column 332 rotates, the first extension arm 3221 is also inserted into the corresponding driving hole 3322. When the driving column 332 contacts the first extension arm 3221, as shown in FIG. Figure 9 As shown, the driving column 332 pushes the first baffle 322 to move through the first extension arm 3221, so that the first baffle 322 opens the discharge port 3211, and the sponge soil in the discharge bin 321 is filled in the pouring trough 10 through the discharge port 3211 and the pouring port. When the driving column 332 releases the thrust on the first extension arm 3221, the first baffle 322 is reset to close the discharge port 3211 under the action of the first return spring 324; as the driving column 332 circulates, the driving column 332 intermittently alternates with the first extension arm 3221 and the second extension arm 3231, thereby intermittently and alternately pushing the first baffle 322 and the second baffle 323 to move, so that the discharge port 3211 is intermittently opened.

[0055] like Figure 8 and Figure 12 As shown, in the river channel regulation equipment of this embodiment, in some embodiments, the cross-section of the driving groove 312 is egg-shaped; the unloading driving assembly also includes a first telescopic block 333, a second telescopic block 334 and a first spring 335; one end of the first telescopic block 333 is connected to the output end of the first motor 331; the other end of the first telescopic block 333 is provided with a telescopic hole; the first spring 335 is provided in the telescopic hole; one end of the second telescopic block 334 slides into the telescopic hole and abuts against the first spring 335; the other end of the second telescopic block 334 is hinged to the guide shaft 3321.

[0056] In actual use, the first spring 335 provides elastic force to the second telescopic block 334, ensuring that the second telescopic block 334 always maintains contact with the groove wall of the drive groove 312. The drive groove 312 has an egg-shaped cross-section, which allows the drive column 332 to reciprocate vertically along the trajectory of the drive groove 312, thereby vibrating the flattening plate 34 and further improving the density and surface smoothness of the sponge soil. The first motor 331 drives the first telescopic block 333 to rotate, which in turn drives the second telescopic block 334 to rotate. The second telescopic block 334 drives the drive column 332 to rotate via the guide shaft 3321, thereby achieving the alternating and intermittent opening of the discharge port 3211 by the first baffle 322 and the second baffle 323, and the intermittent vibration of the flattening plate 34 by the drive column 332.

[0057] As Figure 6 shown, in some embodiments of the river regulation device of this embodiment, a guiding frame 35 is provided at the pouring port; the pressing plate 34 is slidably arranged in the guiding frame 35; thus arranged, so that the movement of the pressing plate 34 is more stable.

[0058] As Figures 5 to 8 shown, in some embodiments of the river regulation device of this embodiment, a sliding groove is provided on the inner side wall of the guiding frame 35; a second spring 36 is arranged in the sliding groove; a convex platform is arranged on the side wall of the pressing plate 34; the convex platform is slidably arranged in the sliding groove and abuts against the second spring 36. Specifically, when the driving column 332 pushes the pressing plate 34 to slide, the second spring 36 is compressed, and when the driving column 332 releases the thrust on the pressing plate 34, the second spring 36 pushes the pressing plate 34 to reset. Thus, during the cyclic rotation of the driving column 332, the pressing plate 34 makes a reciprocating motion, and further compacts and levels the sponge soil filled into the pouring groove 10.

[0059] As Figure 7 、 Figure 8 and Figure 11 shown, in some embodiments of the river regulation device of this embodiment, a connecting plate 341 extends from one end of the pressing plate 34; a first elongated hole is provided in the connecting plate 341; a sliding rod 37 movably penetrates through the first elongated hole; a third spring 38 is connected between the sliding rod 37 and the connecting plate 341; an end of the sliding rod 37 is elastically and floatingly connected with a latch 371; a second guiding groove is provided on the inner side wall of the pouring slide base 31; the latch 371 is movably embedded in the second guiding groove; one end of the driving column 332 is provided with a driving part for cooperating with the sliding rod 37. Specifically, during actual use, the latch 371 moves along the track of the second guiding groove, the sliding rod 37 moves in the first elongated hole, the third spring 38 provides a reset elastic force for the sliding rod 37, and the driving part is used for the driving column 332 to squeeze the sliding rod 37 to move and facilitate the reset movement of the sliding rod 37. As Figure 11 shown, in some embodiments of the river regulation device of this embodiment, the second guiding groove includes a horizontal section 313, a first inclined section 314, a second inclined section 315, a third inclined section 316 and a vertical section 317 that are sequentially connected end to end; anti-reverse groove positions are provided at one end of the horizontal section 313 close to the vertical section 317, one end of the second inclined section 315 close to the first inclined section 314, one end of the third inclined section 316 close to the second inclined section 315, and one end of the vertical section 317 close to the third inclined section 316; the first inclined section 314 and the second inclined section 315 are connected in a V shape.

[0060] Initially, the detent 371 is located in the anti-reverse groove position within the vertical section 317. When the driving part generates a downward pressure on the sliding rod 37, the sliding rod 37 moves downward against the elastic force of the third spring 38. The detent 371 enters the anti-reverse groove position within the horizontal section 313 from the vertical section 317. Then, the detent 371 moves along the horizontal section 313. At this time, the driving part pushes the pressing plate 34 to slide through the sliding rod 37 and the connecting plate 341, and the second spring 36 is compressed until the detent 371 enters the first inclined section 314 from the horizontal section 313 and moves along the first inclined section 314 to the anti-reverse groove position within the second inclined section 315. At this time, the sliding rod 37 moves to the lower dead center position. As the driving column 332 rotates, the driving part releases the downward pressure on the sliding rod 37. The sliding rod 37 moves upward under the action of the third spring 38, and the detent 371 moves along the second inclined section 315. At this time, the detent 371 cooperates with the second inclined section 315 to push the pressing plate 34 to continue compressing the second spring 36 until the detent 371 enters the anti-reverse groove position within the third inclined section 316 from the second inclined section 315. At this time, the second spring 36 pushes the pressing plate 34 to reset, and the detent 371 moves along the third inclined section 316 until the detent 371 returns to the anti-reverse groove position within the vertical section 317. Thus, as the driving column 332 rotates cyclically, under the synergistic action of the second guiding groove, the detent 371, the third spring 38, the second spring 36, the sliding rod 37 and the driving part, the pressing plate 34 can reciprocate to compact and level the sponge soil.

[0061] As Figure 12 shown, in some embodiments, the driving part of the river regulation device of this embodiment includes a driving inclined surface 3323, a downward pressing plane 3324 and a reset inclined surface 3325. When the driving inclined surface 3323 contacts the sliding rod 37, the driving column 332 generates a thrust on the sliding rod 37, pushing the sliding rod 37 to move within the first hole. The detent 371 first enters the horizontal section 313 from the vertical section 317 and then moves along the horizontal section 313 until the detent 371 enters the first inclined section 314 from the horizontal section 313. At this time, the sliding rod 37 contacts the downward pressing plane 3324. When the downward pressing plane 3324 contacts the sliding rod 37, the driving column 332 presses down the sliding rod 37, causing the detent 371 to move along the first inclined section 314 until the detent 371 enters the anti-reverse groove position within the second inclined section 315 from the first inclined section 314. At this time, the sliding rod 37 contacts the reset inclined surface 3325. When the reset inclined surface 3325 contacts the sliding rod 37, the driving column 332 moves upward, and the sliding rod 37 resets upward under the elastic force of the third spring 38, causing the detent 371 to move along the second inclined section 315 and the third inclined section 316 in sequence and then return to the vertical section 317.

[0062] As Figure 2 and Figure 3As shown, for the river regulation equipment of this embodiment, in some embodiments, the reciprocating drive assembly includes a second motor 131, a transmission belt 132, and a drive block 133; the second motor 131 is arranged on the outer side wall of the robotic arm 12; the transmission belt 132 is rotatably arranged on the inner side wall of the robotic arm 12 and is in transmission connection with the output end of the second motor 131; the drive block 133 is slidably arranged on the robotic arm 12; the drive block 133 is fixedly connected to the perfusion slider 31; the drive block 133 is provided with a second hole 134; the transmission belt 132 is provided with a transmission pin 135; the transmission pin 135 is movably embedded in the second hole 134. In this embodiment, the second motor 131 drives the transmission belt 132 to rotate, and the drive block 133 moves along with the transmission belt 132, so as to drive the entire perfusion device 3 to move along the inclined surface of the external river embankment through the perfusion slider 31, so as to sequentially fill and lay sponge soil in each perfusion groove 10 in the slope protection irrigation area. By setting the cooperation between the second hole 134 and the transmission pin 135, the height change of the perfusion device 3 can be adapted.

[0063] As Figure 3 As shown, for the river regulation equipment of this embodiment, in some embodiments, third motors 15, screw rods 16, and sliding blocks 17 are provided at both ends of the moving frame 11. The screw rods 16 are rotatably installed on the moving frame 11 and are connected to the output ends of the third motors 15. The sliding blocks 17 are slidably installed on the moving frame 11 and are threadedly sleeved on the screw rods 16; two robotic arms 12 are respectively and pivotally connected to the two sliding blocks 17; thus, when the support surface of the external river embankment is uneven, the third motor 15 can be driven to drive the screw rod 16 to rotate, so that the sliding block 17 drives the robotic arm 12 to move, so as to ensure the fitting degree between the perfusion device 3 and the inclined surface of the external river embankment.

[0064] The above are only the preferred embodiments of the present invention. Therefore, any equivalent changes or modifications made according to the structures, features, and principles described in the scope of the present invention patent application are included in the protection scope of the present invention patent application.

Claims

1. An ISER sponge soil river regulation device, characterized in that, It includes a mobile device, as well as a storage bin and a perfusion device both arranged on the mobile device; The mobile device includes a mobile rack and two robotic arms arranged side by side at both ends of the mobile rack; one end of the robotic arm is hinged to the mobile rack; each robotic arm is provided with a first guide groove and a reciprocating drive assembly; the first guide groove is provided with a plurality of perfusion sections arranged in a stepped structure from bottom to top in sequence; the plurality of perfusion sections are smoothly connected through transition sections in sequence; The perfusion device includes a perfusion slide base, as well as a blanking component and a blanking drive component both arranged in the perfusion slide base; both ends of the perfusion slide base are respectively connected to the reciprocating drive assembly; both ends of the perfusion slide base are also respectively provided with pin shafts movably embedded in the first guide groove; a perfusion port is arranged at the bottom of the perfusion slide base; a pressing plate is movably arranged in the perfusion port; the pressing plate can reciprocate under the action of the blanking drive component; the blanking component includes a blanking bin, a first baffle and a second baffle; the blanking bin is communicated with the storage bin; a blanking port communicated with the perfusion port is arranged at the bottom of the blanking bin; the first baffle and the second baffle are slidably arranged at the blanking port; the first baffle and the second baffle respectively make the blanking port open and close intermittently under the action of the blanking drive component; The blanking drive component includes a first motor and a drive column; the first motor is arranged at one end in the perfusion slide base; drive grooves are recessed at both ends in the perfusion slide base; both ends of the drive column are respectively provided with guide shafts movably embedded in the drive grooves; one of the guide shafts is connected to the output end of the first motor; drive holes are respectively arranged through both ends of the drive column; The first baffle extends with a first extension arm; the second baffle extends with a second extension arm whose length is greater than that of the first extension arm; the first extension arm and the second extension arm are distributed at both ends of the perfusion slide base; a first return spring is connected between the first baffle and the blanking bin; a second return spring is connected between the second baffle and the blanking bin; When the drive column rotates along the track of the drive groove, the drive column alternately cooperates with the first extension arm and the second extension arm through the drive holes respectively; The cross section of the drive groove is egg-shaped; the blanking drive component further includes a first telescopic block, a second telescopic block and a first spring; one end of the first telescopic block is connected to the output end of the first motor; a telescopic hole is arranged at the other end of the first telescopic block; the first spring is arranged in the telescopic hole; one end of the second telescopic block slides into the telescopic hole and abuts against the first spring; the other end of the second telescopic block is hinged to the guide shaft.

2. The river regulation device for ISER sponge soil according to claim 1, characterized in that, A guide frame is arranged at the perfusion port; the pressing plate is slidably arranged in the guide frame.

3. The river regulation device for ISER sponge soil according to claim 2, characterized in that, Chute grooves are arranged on the inner side wall of the guide frame; a second spring is arranged in the chute grooves; a convex platform is arranged on the side wall of the pressing plate; the convex platform is slidably arranged in the chute grooves and abuts against the second spring.

4. The river regulation device for ISER sponge soil according to claim 3, characterized in that, One end of the pressing plate extends with a connecting plate; a first strip hole is arranged in the connecting plate; a slide bar movably penetrates through the first strip hole; a third spring is connected between the slide bar and the connecting plate; the end of the slide bar is elastically and floatingly connected with a retaining pin; A second guide groove is arranged on the inner side wall of the perfusion slide base; the retaining pin is movably embedded in the second guide groove; a driving part for cooperating with the slide bar is arranged at one end of the drive column.

5. The river regulation device for ISER sponge soil according to claim 4, characterized in that, The second guiding groove includes a horizontal section, a first inclined section, a second inclined section, a third inclined section, and a vertical section that are connected end to end in sequence; anti-reverse groove positions are provided at one end of the horizontal section close to the vertical section, one end of the second inclined section close to the first inclined section, one end of the third inclined section close to the second inclined section, and one end of the vertical section close to the third inclined section; the first inclined section and the second inclined section are connected in a V shape.

6. The river regulation device for ISER sponge soil according to claim 5, characterized in that, The driving part includes a driving inclined surface, a pressing-down flat surface, and a reset inclined surface; when the driving inclined surface contacts the sliding rod, the driving column pushes the pin to move along the vertical section and the horizontal section in sequence; when the pressing-down flat surface contacts the sliding rod, the driving column presses down the pin to move along the first inclined section; when the reset inclined surface contacts the sliding rod, the pin moves along the second inclined section and the third inclined section in sequence under the elastic force of the third spring and then returns to the vertical section.

7. The river regulation equipment for ISER sponge soil according to claim 1, characterized in that, The reciprocating driving assembly includes a second motor, a transmission belt, and a driving block; the second motor is arranged on the outer side wall of the robotic arm; the transmission belt is rotatably arranged on the inner side wall of the robotic arm and is in transmission connection with the output end of the second motor; the driving block is slidably arranged on the robotic arm; the driving block is fixedly connected to the perfusion sliding seat; the driving block is provided with a second hole; the transmission belt is provided with a transmission pin; the transmission pin is movably embedded in the second hole.

8. A rectification method for a river regulation device using the ISER sponge soil according to any one of claims 1 to 7, characterized in that, It includes the following steps: Arrange a plurality of slope protection irrigation areas in an array on the inclined surface of the river channel dam, and each slope protection irrigation area is provided with a plurality of perfusion grooves that are stratified in a stepped structure along the inclined direction of the inclined surface of the river channel dam. Operate the mobile device to a predetermined construction point, align it with the slope protection irrigation area, drive the perfusion device to sequentially fill each perfusion groove with sponge soil from top to bottom through the reciprocating driving assembly. Under the cooperation of the pin shaft and the first guiding groove, the perfusion device automatically adjusts the filling thickness of each perfusion groove in the slope protection irrigation area, and the filling thickness of the sponge soil decreases sequentially from top to bottom. The pressing plate compacts and levels the sponge soil filled into the perfusion groove. After the perfusion device fills all the perfusion grooves in one slope protection irrigation area, move the river channel regulation device to a position corresponding to another slope protection irrigation area, and then fill the perfusion grooves in the other slope protection irrigation area with sponge soil; and so on until all the perfusion grooves in all slope protection irrigation areas are filled with sponge soil.

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