Fluidized soil raw material pretreatment robot and method

Abstract

The invention belongs to the technical field of constructional engineering, and discloses a fluid soil raw material pretreatment robot and method.The fluid soil raw material pretreatment robot comprises a crawler chassis, a main machine body arranged on the crawler chassis, a mechanical arm part arranged on the main machine body in the clockwise direction, a humidity adjusting part, a lifting transfer part and a crushing and screening part. The muck on the construction site is shoveled, sorted, cleaned and crushed through the mechanical arm part, then the moisture content of the muck is adjusted and controlled through the humidity adjusting part, finally, the muck is cleaned and output through the crushing and screening part, and direct pretreatment of the muck on the ground of the construction site by the robot is achieved; the raw materials can be directly put into a fluid soil production line for production, the method is efficient and convenient, the muck treatment cost and the fluid soil production cost are saved, muck on a construction site is directly changed into the high-quality fluid soil production raw materials, and the problem that muck at all positions of the construction site is difficult to treat into the fluid soil production line raw materials in the prior art is effectively solved.

Description

Technical Field

[0001] This invention relates to the technical field of construction engineering, and in particular to a robot for pre-treating fluidized soil raw materials, as well as a method for pre-treating fluidized soil raw materials. Background Technology

[0002] With the acceleration of urbanization, large-scale infrastructure construction, subway excavation, municipal engineering and other projects generate a large amount of construction waste. Usually, this waste is treated as construction waste and directly disposed of or landfilled, failing to be fully recycled and utilized, resulting in resource waste and environmental burden.

[0003] In recent years, fluidized soil, as a new type of engineering material that can be pumped, filled, and has controllable strength, has been widely used in tunnel backfilling, underground pipeline filling, and other fields. Current technologies for producing fluidized soil typically fall into two categories: centralized plant mixing and on-site mobile mixing. The first method involves transporting the excavated soil to a mixing plant for moisture adjustment, additive proportioning, and uniform mixing, before transporting it to the construction site. This method is time-consuming, labor-intensive, and has high transportation costs. The second method usually uses a vehicle-mounted fluidized soil preparation device installed on-site for immediate use. This method requires a large site, occupies a significant amount of space, and lacks flexibility.

[0004] Both the first and second methods require pretreatment of the construction waste. Pretreatment typically involves collecting the waste at a designated location and processing it centrally. This method is costly in terms of transportation and cannot flexibly address the waste disposal needs at various locations on the construction site. Current waste waste pretreatment methods usually involve manual drying, single-machine screening, fixed magnetic separation, and single-sensor monitoring. The resulting waste waste is prone to unstable moisture content and inaccurate removal of particulate impurities. Furthermore, because the processing equipment is dispersed and mostly fixed, each stage of the process is fragmented, resulting in low efficiency. It also cannot monitor the environmental or material conditions in real time, leading to low processing efficiency and poor processing quality.

[0005] Patent CN202510442507.0 discloses an intelligent fluidized soil solidifier mixing production line and method. It integrates the entire fluidized soil solidifier production line into a transportable container, enabling on-site production and use of the solidifier. However, it does not pre-treat the fluidized soil at the construction site; instead, it directly uses pre-treated bagged raw materials for on-site production. Therefore, there is still a gap in existing technology regarding robots for pre-treating construction waste. There is a need for a fluidized soil raw material pre-treatment robot that can flexibly move around various locations on the construction site and process the waste into raw materials that can be directly used in on-site production lines. Summary of the Invention

[0006] Based on the shortcomings of the existing technology, the technical problem to be solved by the present invention is to provide a robot for pre-processing fluidized soil raw materials. The robot uses a robotic arm to shovel, sort, remove impurities, and crush the slag at the construction site. Then, the moisture content of the slag is controlled by a humidity adjustment section. Finally, the slag is removed and output by a crushing and screening section. This robot can directly pre-process the slag on the ground of the construction site, making it a raw material that can be directly put into the fluidized soil production line. This is efficient, convenient, and saves on the cost of slag treatment and fluidized soil production.

[0007] Another objective of this invention is to provide a method for pre-treating fluidized soil raw materials, which can be directly applied to the process of processing construction waste into fluidized soil raw materials at existing construction sites. By sorting, shoveling, adjusting the moisture content, rotary crushing and screening, and removing impurities from the construction waste, the construction waste at the construction site is directly transformed into high-quality fluidized soil production raw materials, effectively solving the problem in the prior art that construction waste from various locations at construction sites is difficult to process into raw materials for fluidized soil production lines.

[0008] To achieve the above objectives, the present invention employs the following technical measures: The fluid soil raw material pretreatment robot of the present invention includes a tracked chassis, a main body mounted on the tracked chassis, a robotic arm portion mounted clockwise on the main body, a humidity adjustment portion, a lifting and conveying portion, and a crushing and screening portion; the robotic arm portion consists of a bucket robotic arm, a sorting robotic arm, and a crushing robotic arm mounted on the upper right corner of the main body; the humidity adjustment portion includes a storage box mounted on the lower right corner of the main body, and a soil processing unit installed on the left side inside the storage box for preliminary temperature and humidity adjustment of the soil. The unit includes a logistics water supply unit installed on the right side inside the storage box for providing pressurized water for humidifying the slag, and a heating and dehumidifying unit installed on the top of the storage box for heating and dehumidifying the slag; the lifting and transferring part includes a transfer box installed at the output port of the humidity regulating part, and the lifting and transferring unit is installed inside the transfer box; the crushing and screening part includes a raw material output trough installed in the left area of ​​the main body, a crushing and screening unit installed inside the crushing and screening box on the right side of the raw material output trough, and an impurity output trough installed in the crushing and screening unit near the outside of the main body.

[0009] Preferably, the top of the front and rear side walls of the storage box is provided with a heating cover plate track, and the top of the left side wall of the storage box is provided with a heating cover plate limiting plate for enhancing the sealing of the heating cover plate; the area of ​​the front side wall of the storage box near the slag treatment unit is provided with an output port for discharging the treated slag, the output port is provided with an output baffle, the output baffle is provided with a rack and pinion track, and a gear drive motor is provided on the side wall of the storage box near the rack and pinion track, the output shaft of which is connected to a gear, and the gear meshes with the rack and pinion track.

[0010] Furthermore, the waste disposal unit includes a waste transport conveyor belt installed at the bottom of the left side of the storage box, with several partitions spaced on it to enhance the order of waste transfer. Several temperature and humidity sensors for monitoring the temperature and humidity of the waste are installed between the partitions. Humidifying water pipes are also installed on the left and right side walls and the rear side wall of the left side of the storage box. Several atomizing nozzles are installed on the humidifying water pipes. The main pipe of the humidifying water pipe extends from the right rear side of the left side of the storage box to the right side of the storage box and is connected to the pressure pump of the logistics water supply unit.

[0011] Furthermore, the heating and dehumidification unit includes a heating cover plate mounted on a heating cover plate track via pulleys. A sealing top plate is provided on the surface of the heating cover plate near the heating cover plate limiting plate, and a sealing bottom plate is provided on the bottom surface of the heating cover plate near the central partition. A rectangular insert plate is provided on the outer wall of the sealing top plate. A first sliding platform is provided on the side of the heating cover plate away from the output port, which is connected to a first screw drive mechanism installed on the top of the rear wall of the storage box. A far-infrared heating plate is provided at the bottom of the heating cover plate, which heats the slag through far-infrared thermal radiation.

[0012] Preferably, the lifting and transferring unit includes a second screw drive mechanism installed on the inner bottom surface of the transfer box, a lifting base plate installed on the second slide of the second screw drive mechanism, and a lifting top plate installed on the lifting base plate by springs; the lifting top plate is a sloping plate with a vertical side plate on its higher side and its lower side aligned with the direction of the transfer output channel.

[0013] Furthermore, the inside of the raw material output trough is provided with a raw material transport conveyor belt extending from the crushing and screening unit to the edge of the main body. The raw material transport conveyor belt is driven by a raw material transport conveyor belt drive motor installed on the side of the raw material output trough. A magnetic suction impurity removal mechanism is provided on the raw material output trough between the edge of the main body and the crushing and screening unit. The magnetic suction impurity removal mechanism is mainly composed of a bridge-shaped mounting base covering part of the raw material transport conveyor belt. The bottom of the bridge-shaped mounting base is provided with an electro-permanent magnet chuck for adsorbing magnetic impurities in the raw material.

[0014] Furthermore, the crushing and screening unit includes support legs, a screening barrel mounted on a screening barrel support seat via bullseye balls, a screening barrel support seat mounted on the top inner side of the support legs for supporting the screening barrel, a screening barrel drive motor and a screening barrel drive turntable mounted on two support legs near the feed inlet of the screening barrel for driving the screening barrel to rotate, a screening barrel lifting motor mounted between the two support legs near the feed inlet of the screening barrel, and a screening barrel closing electric push rod mounted on two support legs near the discharge outlet of the screening barrel.

[0015] Accordingly, the present invention also provides a method for pretreatment of fluidized soil raw materials, which employs the aforementioned fluidized soil raw material pretreatment robot, and the steps are as follows:

[0016] S1. Ground Slag Treatment: First, based on the actual conditions of the construction site, the robot is controlled to move to the vicinity of the slag dumping area. If there are no large clods, stones, or planks in the slag, the slag is directly shoveled onto the slag conveyor belt of the slag treatment unit by the bucket of the shovel robotic arm to await processing. If the slag contains large clods, stones, or planks, the sorting claws on the sorting robotic arm, with the assistance of camera image recognition, sort and remove the unwanted structures from the slag to the side. At the same time, the hydraulic crushing claws on the crushing robotic arm crush the large clods. After the crushing is completed, the slag is shoveled onto the slag conveyor belt of the slag treatment unit to await processing.

[0017] S2. Slag Moisture Content Adjustment: When the slag to be processed arrives on the slag conveyor belt, the first slide on the first screw drive mechanism is moved, causing the heating cover to cover the entire slag processing unit. The sealing top plate and the heating cover limit plate are joined, and the sealing bottom plate and the central partition are joined, sealing the entire slag processing unit. At this time, the temperature and humidity of the slag and the inside of the storage box are monitored by temperature and humidity sensors on the left and right side walls of the left area of ​​the slag conveyor belt and the storage box. If the slag moisture content is high, dehumidification is performed; if the moisture content is low, humidification is performed. When dehumidification is performed, the far-infrared heating plate is activated to heat the slag, reducing the internal moisture content. Evaporation is performed until the ambient temperature and humidity and the temperature and humidity of the slag soil change, that is, the slag soil humidity decreases and the ambient humidity increases to a certain level. Then, the far-infrared heating plate is turned off, the electric air valves on all air ducts are turned on, and the fans are turned on to blow out the high-temperature and high-humidity gas in the slag soil treatment unit until the ambient temperature and humidity inside the slag soil treatment unit reach the set humidity. Then, all electric air valves and fans are turned off, and the above operation is repeated until the moisture content of the slag soil reaches the specified range. When humidifying, the pressure pump and the electric water valve on its outlet pipe are turned on. The water in the water tank is used to humidify the slag soil through the atomizing nozzle until the moisture content of the slag soil reaches the specified range. Then, the pressure pump and the electric water valve are turned off.

[0018] S3. Slag Transfer: After the slag has completed moisture content adjustment, the second slide of the lifting transfer unit is at its lowest point in the second screw drive mechanism, meaning the upper surface of the lifting top plate is below the horizontal plane of the slag conveyor belt. At this time, the door opening mechanism on the side wall of the storage box is opened, and the slag conveyor belt is started. The slag is transported through the output port to the lifting top plate of the second screw drive mechanism. After all the transport is completed, the second slide is raised in the second screw drive mechanism until its lifting top plate is higher than the feeding area of ​​the transfer output channel. At this time, the unloading electric pusher is controlled. The rod extends the hook on its output shaft, and the hook pulls the lifting ring on the side plate of the lifting top plate to rise, so that the lifting top plate tilts towards the transfer output channel under the support of the spring, and the slag falls into the transfer output channel; before the slag enters the discharge area, the control of the screening barrel lifting motor extends the screening barrel lifting seat, so that the inlet of the screening barrel is lifted to the bottom of the discharge area of ​​the transfer output channel. During this process, the rear cover of the screening barrel is always covered at the discharge port of the screening barrel under the drive of the screening barrel sealing electric push rod and the screening barrel sealing rotary motor, and then the slag falls into the screening barrel;

[0019] S4. Slag Crushing and Screening: After all the slag has fallen into the screening barrel, the output shaft of the screening barrel lifting motor is retracted until the screening barrel lifting seat is disengaged from the screening barrel. At this time, the screening barrel falls completely onto the bullseye ball bearings of the screening barrel support seat. At the same time, the front baffle of the screening barrel is restricted by the screening barrel limiting baffle, and the screening barrel will not slide outward. The screening barrel drive motor is started to drive the screening barrel drive turntable. The screening barrel drive turntable contacts the screening barrel and drives it to rotate. At this time, the crushing and screening operation is performed. The crushing mechanical arm is controlled to rotate and extend, and its hydraulic crushing claw is inserted into the screening barrel to continuously stir and crush the slag inside until the slag is screened into raw materials with magnetic impurities and impurities that cannot be screened out.

[0020] S5. Slag and Soil Removal and Discharge: Raw materials containing magnetic impurities fall directly onto the raw material conveyor belt through the screen. The conveyor belt is driven by a motor to transport the raw materials to the magnetic removal mechanism. The electro-permanent magnet chuck is opened to adsorb and remove the magnetic impurities in the slag and soil. The finished raw materials can then be transported to the edge of the main body through the conveyor belt and discharged to the outside of the machine through the opening mechanism on the side wall of the raw material output trough. Impurities that cannot be screened are tilted by driving the screening barrel in the same way as in step S3, and the rear cover of the screening barrel is disengaged from the screening barrel. The impurities fall from the discharge port of the screening barrel into the impurity output trough, and are then discharged to the outside of the machine through the sloping bottom plate and the opening mechanism.

[0021] Based on the above, the beneficial effects of the fluidized soil raw material pretreatment robot and method of the present invention are as follows:

[0022] 1. The robotic arm portion of this invention is directly mounted on the main body of the robot. The three robotic arms each perform their own functions, namely, shoveling and transporting construction waste, sorting and removing impurities from construction waste, and crushing construction waste. With the cooperation of a camera and sorting claws, the sorting robotic arm can efficiently remove impurities such as wood strips and stones that cannot be processed in the construction waste. The crushing robotic arm directly crushes large clods of soil through hydraulic crushing claws. At the same time, it can also rotate and extend into the screening bucket inside the machine to stir and crush the construction waste, making the construction waste processing more efficient. This robotic arm portion can directly perform preliminary processing of construction waste on the ground at the construction site, or transport the construction waste to the inside of the machine for further processing, and has good flexibility.

[0023] 2. The humidity control unit of this invention has a slag treatment unit, a logistics water supply unit, and a heating and dehumidification unit. It can monitor the temperature and humidity of the slag stored in the machine body and its surrounding environment in real time. Then, it uses a far-infrared heating plate to heat and evaporate the moisture inside the slag. Then, an electric air valve and a fan will discharge the high-temperature and high-humidity air inside to reduce the moisture content of the slag. At the same time, it can also humidify through atomizing nozzles to increase the moisture content of the slag. This achieves intelligent control of the moisture content of the fluid soil raw material, which is efficient and controllable.

[0024] 3. The lifting and transferring part of the present invention, through the lifting and transferring unit inside the transfer box and the transfer output channel, combined with the tiltable screening bucket, realizes the rapid transfer of slag from low to high and then back to low. The overall structure is simple, which makes the transportation efficiency higher while keeping the cost low.

[0025] 4. The crushing and screening unit of the present invention separates the slag into two types: raw materials with magnetic impurities and impurities that cannot be screened out, through a rotatable, tiltable, and openable screening barrel. The raw materials with magnetic impurities are directly screened out by the screen, and the impurities that cannot be screened out are directly poured out by tilting the screening barrel and opening the rear cover of the screening barrel. It is convenient, efficient and has good application prospects.

[0026] 5. This invention can directly process and collect scattered construction waste from various locations on the construction site and transport it to a temporary fluid soil production line on the construction site. It effectively fills the gap in the existing technology for processing construction waste into raw materials for fluid soil production lines. By combining this invention with a mobile fluid soil production line, a complete mobile production line for recycled construction waste fluid soil will be formed, which will effectively improve the efficiency of construction waste treatment, save energy and protect the environment, and reduce the production cost of fluid soil and the cost of construction waste treatment. Attached Figure Description

[0027] The accompanying drawings, which are provided to further illustrate this application and form part of this application, illustrate exemplary embodiments of this application and are used to explain this application, but do not constitute an undue limitation of this application.

[0028] Figure 1This is a schematic diagram of the structure of the fluidized soil raw material pretreatment robot of the present invention;

[0029] Figure 2 This is a schematic diagram of the robotic arm portion of the present invention;

[0030] Figure 3 This is a schematic diagram of the humidity regulating part of the present invention;

[0031] Figure 4 This is a schematic diagram of the structure of the slag and soil treatment unit of the present invention;

[0032] Figure 5 This is a schematic diagram of the structure of the logistics water supply unit of the present invention;

[0033] Figure 6 This is a schematic diagram of the heating and dehumidification unit of the present invention;

[0034] Figure 7 This is a schematic diagram of the lifting and transferring part of the present invention;

[0035] Figure 8 This is a schematic diagram of the lifting and transferring unit of the present invention;

[0036] Figure 9 This is a schematic diagram of the crushing and screening section of the present invention;

[0037] Figure 10 This is a schematic diagram of the crushing and screening unit of the present invention;

[0038] Figure 11 This is a schematic diagram of the crushing and screening unit of the present invention with the screening barrel hidden.

[0039] Explanation of reference numerals in the attached figures:

[0040] 0001 - Tracked chassis; 0002 - Main body;

[0041] 1000-Robotic Arm Section:

[0042] 1001-Bucket robotic arm; 1002-Bucket; 1003-Sorting robotic arm; 1004-Sorting claw; 1005-Camera; 1006-Crushing robotic arm; 1007-Hydraulic crushing claw;

[0043] 2000-Humidity Control Section:

[0044] 2001 - Storage box; 2002 - Output port; 2003 - Output baffle; 2004 - Air duct; 2005 - Electric air valve; 2006 - Fan; 2007 - Heating cover rail; 2008 - Heating cover limit plate;

[0045] 2100 - Slag and waste treatment unit; 2101 - Slag and waste transport conveyor belt; 2101a - Separating baffle; 2102 - Temperature and humidity sensor; 2103 - Humidifying water pipe; 2103a - Atomizing nozzle;

[0046] 2200 - Logistics water supply unit; 2201 - Booster pump; 2202 - Water tank;

[0047] 2300 - Heating and dehumidifying unit; 2301 - Heating cover plate; 2301a - Sealing top plate; 2301b - Sealing bottom plate; 2302 - First slide table; 2303 - First lead screw drive mechanism; 2304 - Far-infrared heating plate;

[0048] 3000-Lifting and Transfer Section:

[0049] 3001 - Transfer box; 3002 - Transfer output channel;

[0050] 3100 - Lifting and transferring unit; 3101 - Lifting base plate; 3101a - Second slide table; 3102 - Spring; 3103 - Lifting top plate; 3104 - Second lead screw drive mechanism; 3105 - Unloading electric push rod;

[0051] 4000 - Crushing and Screening Section:

[0052] 4001 - Raw material output trough; 4001a - Crushing and screening box; 4002 - Impurity output trough; 4003 - Magnetic impurity removal mechanism; 4004 - Raw material conveyor belt; 4005 - Raw material conveyor belt drive motor;

[0053] 4100 - Crushing and screening unit; 4101 - Support leg; 4101a - Screening barrel support seat; 4101b - Screening barrel limit baffle; 4101c - Bullseye ball bearing; 4102 - Screening barrel drive motor; 4102a - Screening barrel drive turntable; 4103 - Screening barrel lifting motor; 4103a - Screening barrel lifting seat; 4104 - Screening barrel enclosed electric push rod; 4105 - Screening barrel enclosed rotary motor; 4106 - Screening barrel rear cover; 4107 - Screening barrel; 4107a - Screen; 4107b - Screening barrel anti-leakage hopper; 4107c - Screening barrel front baffle. Detailed Implementation

[0054] Below, in conjunction with Figures 1 to 11 This invention provides a detailed description of a robot and method for pre-treating fluidized soil raw materials.

[0055] Depend on Figure 1As shown, the fluid soil raw material pretreatment robot of the present invention includes a tracked chassis 0001, a main body 0002 mounted on the tracked chassis 0001, a robotic arm part 1000 mounted on the main body 0002 in a clockwise direction, a humidity adjustment part 2000, a lifting and conveying part 3000, and a crushing and screening part 4000.

[0056] Depend on Figure 2 As shown, the robotic arm 1000 consists of a bucket robotic arm 1001, a sorting robotic arm 1003, and a crushing robotic arm 1006 installed in the upper right corner of the main body 0002. The end of the bucket robotic arm 1001 is connected to a movable bucket 1002 that can scoop up slag and soil. The end of the sorting robotic arm 1003 is connected to a movable sorting claw 1004 that can clamp impurities. Near the sorting claw 1004, there is also a camera 1005 for image recognition to identify the impurities that need to be picked out. The end of the crushing robotic arm 1006 is connected to a movable hydraulic crushing claw 1007 that can crush large pieces of slag and waste.

[0057] Depend on Figures 3-6 As shown, the humidity control unit 2000 includes a storage box 2001 installed in the lower right corner of the main body 0002, a slag treatment unit 2100 installed on the left side inside the storage box 2001 for preliminary temperature and humidity control of the slag, a logistics water supply unit 2200 installed on the right side inside the storage box 2001 for providing pressurized water for slag humidification, and a heating and dehumidification unit 2300 installed on the top of the storage box 2001 for heating and dehumidifying the slag. It should be noted that... Figure 3 The storage box 2001 shown is divided into front, back, left, and right directions. The left direction corresponds to the direction of the storage box 2001 near the slag treatment unit 2100, the right direction corresponds to the direction of the storage box 2001 near the logistics water supply unit 2200, the front direction corresponds to the direction of the storage box 2001 near the output port 2002, and the back direction is the opposite of the front. The storage box 2001 divides its internal space into two areas, left and right, by a central partition. The two areas are used to install the slag treatment unit 2100 and the logistics water supply unit 2200, respectively. The inner wall of the storage box 2001 in the left area, which is used to install the slag treatment unit 2100, is made of aluminum alloy, which is mainly used to reflect the far-infrared heat radiation emitted by the far-infrared heating plate 2304 and reduce energy consumption.

[0058] Several air ducts 2004 are provided on the left and right side walls and the middle partition of the storage box 2001. The part of the air duct 2004 located outside the slag treatment unit 2100 is only set on the outer wall, that is, it is not connected to the air duct 2004 on the middle partition. However, the part of the air duct 2004 located outside the logistics water supply unit 2200 is connected to the air duct 2004 set on the middle partition. Fans 2006 are provided in the area of ​​the air duct 2004 near the left and right side walls and the middle partition, and electric air valves 2005 are provided in the area of ​​the air duct 2004 extending outward from the left and right side walls.

[0059] The storage box 2001 has heating cover rails 2007 on the top of its front and rear side walls. The left side wall of the storage box 2001 has a heating cover limiting plate 2008 on its top to enhance the sealing of the heating cover 2301. A rectangular slot is provided on the side of the limiting plate near the interior of the storage box 2001, the shape of which corresponds to the shape of the rectangular insert plate on the side wall of the sealing top plate 2301a. The front side wall of the storage box 2001 near the slag processing unit 2100 has an output port 2002 for discharging processed slag. An output baffle 2003 is provided on the output port 2002. A rack and pinion track is provided on the baffle 2003. A gear drive motor is provided on the side wall of the storage box 2001 near the rack and pinion track. Its output shaft is connected to a gear, which meshes with the rack and pinion track. By controlling the start of the gear drive motor, the gear is driven to rotate on the rack and pinion track, thereby controlling the rise and fall of the baffle 2003, so that the output port 2002 is opened or closed. The output port 2002, the output baffle 2003, the rack and pinion track, the gear, and the gear drive motor together form the door opening mechanism, which is mainly used to switch the device between the mode of allowing and preventing the output of slag and soil.

[0060] like Figure 4 As shown, the slag handling unit 2100 includes a slag transport conveyor belt 2101 installed at the bottom of the left area of ​​the storage box 2001. Several partition baffles 2101a are spaced along the conveyor belt to enhance the order of slag transfer. Several temperature and humidity sensors 2102 for monitoring the temperature and humidity of the slag are installed between the partition baffles 2101a. These temperature and humidity sensors 2102 are also installed on the left and right side walls of the left area of ​​the storage box 2001, primarily for monitoring the temperature and humidity in this area, thereby guiding ventilation, heating, and humidification operations. Humidifying water pipes 2103 are also connected to the left, right, and rear side walls of the left area of ​​the storage box 2001. Several atomizing nozzles 2103a are installed on these humidifying water pipes 2103. Finally, the main pipe of the humidifying water pipe 2103 extends from the right rear side of the left area of ​​the storage box 2001 to the right area of ​​the storage box 2001 and connects to a pressure pump 2201.

[0061] The logistics water supply unit 2200 includes a booster pump 2201 and a water tank 2202 installed on the bottom of the right side of the storage tank 2001. The booster pump 2201 and the water tank 2202 are connected by a pipe. An electric water valve for controlling the water supply switch of the atomizing nozzle 2103a is also provided on the water outlet pipe of the booster pump 2201.

[0062] The heating and dehumidifying unit 2300 includes a heating cover plate 2301 mounted on a heating cover plate track 2007 via pulleys. A sealing top plate 2301a is provided on the surface of the heating cover plate 2301 near the heating cover plate limiting plate 2008, and a sealing bottom plate 2301b is provided on the bottom surface of the heating cover plate 2301 near the central partition. A rectangular insert plate is provided on the outer wall of the sealing top plate 2301a. A first slide 2302 is provided on the side of the heating cover plate 2301 away from the output port 2002, which is connected to a first lead screw drive mechanism 2303 mounted on the top of the rear wall of the storage box 2001. The first lead screw drive mechanism 2303 includes a drive motor, a lead screw, a guide rail, and a slide. The slider here is the first slide table 2302, which is mounted on the guide rail and the lead screw. The guide rail is not shown in the figure. The lead screw is driven to rotate by the drive motor at the end of the first lead screw drive mechanism 2303, thereby moving the slider on the lead screw and the guide rail. The first lead screw drive mechanism, in turn, moves the heating cover plate 2301 on the heating cover plate track 2007. A far-infrared heating plate 2304 is provided at the bottom of the heating cover plate 2301. It heats the slag soil through far-infrared heat radiation, thereby evaporating the internal moisture. Then, the hot and humid air is discharged from the slag soil treatment unit 2100 through the fan 2006 and the air duct 2004, thereby reducing the moisture content of the slag soil.

[0063] Depend on Figure 7-8As shown, the lifting and transfer section 3000 includes a transfer box 3001 installed near the output port 2002 of the humidity control section 2000. The bottom of the transfer box 3001 near the output port 2002 has a rectangular opening, the size of which matches the size of the output port 2002. The top of the transfer box 3001 near the side of the crushing mechanical arm 1006 has a transfer output channel 3002. The transfer output channel 3002 is a slope shape. Its higher area is called the feeding area, which is connected to the interior of the transfer box 3001. The lower area is called the discharge area, which is aligned with the screening barrel 4107 of the crushing and screening unit 4100. The transfer box 3001 has an internal lifting and transfer unit 3100, which includes a second lead screw drive mechanism 3104 installed on the internal bottom surface of the transfer box 3001, a lifting base plate 3101 installed on a second slide 3101a of the second lead screw drive mechanism 3104, and a lifting top plate 3103 installed on the lifting base plate 3101 by a spring 3102; the lifting top plate 3103 is a sloping plate, with a vertical side plate on its higher side and its lower side aligned with the direction of the transfer output channel 3002; the second lead screw drive mechanism 3104 is provided with a second slide 3101a, and the second lead screw drive mechanism 3104 is provided with a second slide 3101a, and the second lead screw drive mechanism 3104 is provided with a second slide 3101a, and the second lead screw drive mechanism 3102 is provided with a second slide 3101a, and the second lead screw drive mechanism 3104 is provided with a second slide 3101a, and the second lead screw drive mechanism 3102 is provided with a second slide 3101a, and the second lead screw drive mechanism 3102 is provided with a second slide 3101a, and the second lead screw drive mechanism 3102 is provided with a second slide 3101a, and the second lead screw drive mechanism 3102 is provided with a second slide 3101a, and the second lead screw drive mechanism 3101 ... The lever drive mechanism 3104 has the same specific composition as the first lead screw drive mechanism, including a drive motor, lead screw, guide rail, and slider. The slider here is the second slide table 3101a. The slider is mounted on the guide rail and lead screw. The guide rail is not shown in the figure. The drive motor at the end of the second lead screw drive mechanism 3104 drives the lead screw to rotate, thereby driving the slider to move on the lead screw and guide rail. The second slide table 3101a is provided with an upward unloading electric push rod 3105. The output shaft of the unloading electric push rod 3105 is connected to a hook. The hook is connected to a lifting ring on a side plate fixed to the higher side of the lifting top plate 3103.

[0064] Depend on Figure 9-11As shown, the crushing and screening section 4000 includes a raw material output trough 4001 installed in the left region of the main body 0002, a crushing and screening unit 4100 installed inside the crushing and screening box 4001a on the right side of the raw material output trough 4001, and an impurity output trough 4002 installed in the crushing and screening unit 4100 near the outside of the main body 0002. The raw material output trough 4001 is a large rectangular trough, inside which is a raw material conveyor belt 4004 extending from the crushing and screening unit 4100 to the edge of the main body 0002. It is driven by a raw material conveyor belt drive motor 4005 installed on the side of the raw material output trough 4001. On the side wall of the raw material output trough 4001 near the edge of the main body 0002, there is an opening mechanism similar to that of the humidity adjustment part 2000. The opening mechanism is mainly used to switch between the raw material output trough 4001 allowing raw material output and preventing raw material output. A magnetic impurity removal mechanism 4003 is provided on the raw material output trough 4001 between the edge of the main body 0002 and the crushing and screening unit 4100. The magnetic impurity removal mechanism 4003 consists of a bridge-shaped mounting base covering part of the raw material conveyor belt 4004. The bottom of the bridge-shaped mounting base is provided with an electro-permanent magnet chuck for adsorbing magnetic impurities in the raw material. A vertical crushing and screening box 4001a is provided in the area of ​​the raw material output trough 4001 near the crushing and screening unit 4100. It covers the crushing and screening unit 4100 inside, so that the fluid soil raw material screened by the screening barrel 4107 is blocked by the inner wall of the crushing and screening box 4001a and falls into the raw material conveyor belt 4004 at the bottom, avoiding the raw material from splashing left and right during the crushing and screening process. The impurity output trough 4002 is perpendicular to the raw material output trough 4001. Its interior is a sloping bottom plate. The higher side is close to the rear cover 4106 of the screening barrel of the crushing and screening unit 4100, and the lower side is close to the edge of the main body 0002. The side wall of the impurity output trough 4002 on the lower side is provided with the same door opening mechanism as the humidity adjustment part 2000. The door opening mechanism is mainly used for the impurity output trough 4002 to switch between the impurity output mode and the impurity raw material output mode.

[0065] like Figure 10 and Figure 11As shown, the crushing and screening unit 4100 includes support legs 4101, a screening barrel 4107 mounted on a screening barrel support base 4101a via bullseye balls 4101c, a screening barrel support base 4101a mounted on the top inner side of the support legs 4101 for supporting the screening barrel 4107, a screening barrel drive motor 4102 and a screening barrel drive turntable 4102a mounted on the two support legs 4101 near the feed inlet of the screening barrel 4107 for driving the rotation of the screening barrel 4107, a screening barrel lifting motor 4103 mounted between the two support legs 4101 near the feed inlet of the screening barrel 4107, and a screening barrel closing electric push rod 4104 mounted on the two support legs 4101 near the discharge outlet of the screening barrel 4107.

[0066] The screening barrel 4107 is a cylindrical structure with a screen 4107a in the middle. The screen 4107a is densely covered with screening holes, and its two openings are the feed inlet and the discharge outlet. The outer wall of the feed inlet is equipped with a front baffle 4107c, and the inner wall of the feed inlet is equipped with a sloping anti-leakage funnel 4107b, which extends from the outside of the feed inlet to the screen 4107a, with the height decreasing along this direction. It is mainly used to prevent the slag from leaking out of the feed inlet during the crushing and screening process after entering the screening barrel 4107. The screening barrel support 4101a is equipped with a screening barrel limiting baffle 4101b on the side near the feed inlet of the screening barrel 4107. It extends towards the front baffle 4107c until it contacts it. It is mainly used to prevent the screening barrel 4107 from sliding out of the screening barrel support 4101a during the crushing and screening process.

[0067] The output shaft of the screening drum lifting motor 4103 is connected to a screening drum lifting seat 4103a, the top shape of which matches the circle of the screening drum 4107. When it is necessary to discharge material from the screening drum 4107, the screening drum lifting seat 4103a can be lifted by the screening drum lifting motor 4103, thereby lifting the feed inlet of the screening drum 4107 and aligning it with the discharge area of ​​the transfer output channel 3002, so as to catch the slag from the lifting and transfer section 3000. The output shaft of the screening drum enclosed electric push rod 4104 is connected to a horizontal plate. A horizontal screening drum enclosed rotary motor 4105 is provided in the middle of the horizontal plate. Its output shaft is connected to a circular screening drum rear cover 4106 through a horizontal rod. The size of the screening drum rear cover 4106 is slightly larger than that of the screening drum 4107. It can be fastened to the discharge port of the screening drum 4107. To prevent slag and impurities from leaving the screening bucket 4107 prematurely during the screening process; when the screening bucket 4107 needs to be covered by the rear cover 4106, if the screening bucket 4107 and the rear cover 4106 are both in a horizontal state, the screening bucket closing electric push rod 4104 is directly pushed out, so that the rear cover 4106 directly covers the back of the screening bucket 4107; if the rear cover 4106 has already covered the back of the screening bucket 4107 and then the screening bucket 4107 needs to be tilted, the screening bucket closing electric push rod 4104 is driven to retract and the screening bucket closing rotary motor 4105 is driven to rotate while the screening bucket 4107 is tilted, so that the rear cover 4106 can follow the tilt of the screening bucket 4107 and tightly cover the back of the screening bucket 4107 in real time.

[0068] The screening barrel support 4101a has an annular inner wall whose shape matches the annular shape of the screening barrel 4107. The inner wall is provided with a number of bullseye balls 4101c, which can provide support for the screening barrel 4107 while allowing the screening barrel 4107 to rotate.

[0069] Based on the above-mentioned fluidized soil raw material pretreatment robot, the fluidized soil raw material pretreatment method of the present invention includes the following steps:

[0070] S1. Ground Slag Handling: First, based on the actual conditions of the construction site, the robot is controlled to move to the vicinity of the slag dumping area. If there are no large clods of soil, stones, wooden planks, or other structures in the slag, the slag can be directly shoveled onto the slag transport conveyor belt 2101 of the slag handling unit 2100 by the bucket 1002 of the bucket robotic arm 1001 for processing. If the slag contains large clods of soil, stones, wooden planks, or other structures, the sorting claws 1004 on the sorting robotic arm 1003, with the assistance of image recognition by the camera 1005, sort and remove the unwanted structures from the slag to the side. At the same time, the hydraulic crushing claws 1007 on the crushing robotic arm 1006 crush the large clods of soil that can be crushed. After the crushing is completed, the slag is shoveled onto the slag transport conveyor belt 2101 of the slag handling unit 2100 for processing.

[0071] S2. Soil Moisture Content Adjustment: When the soil to be processed arrives on the soil transport conveyor belt 2101, the first slide 2302 on the first screw drive mechanism 2303 is moved, causing the heating cover 2301 to cover the entire soil processing unit 2100. The sealing top plate 2301a and the heating cover limiting plate 2008 are joined, and the sealing bottom plate 2301b and the central partition are joined, thus sealing the entire soil processing unit 2100. At this time, the temperature and humidity of the soil and the inside of the storage box are monitored by the temperature and humidity sensors 2102 on the left and right side walls of the left area of ​​the soil transport conveyor belt 2101 and the storage box 2001. If the soil moisture content is high, dehumidification is performed; if the moisture content is low, humidification is performed. When dehumidification is performed, the far-infrared heating plate 2304 is activated to heat the soil. The moisture in the soil evaporates. Once the ambient temperature and humidity and the temperature and humidity of the slag soil change (i.e., the slag soil moisture decreases and the ambient humidity increases to a certain level), the far-infrared heating plate 2304 is closed, the electric air valves 2005 on all air ducts 2004 are opened, and the fan 2006 is started to blow out the high-temperature and high-humidity gas in the slag soil treatment unit 2100 until the internal ambient temperature and humidity of the slag soil treatment unit 2100 reach the set humidity, then all electric air valves 2005 and the fan 2006 are closed. The above dehumidification operation is then repeated until the moisture content of the slag soil reaches the specified range. When humidifying, the pressure pump 2201 and the electric water valve on its outlet pipe are opened. The water in the water tank 2202 is used to humidify the slag soil through the atomizing nozzle 2103a until the moisture content of the slag soil reaches the specified range, then the pressure pump 2201 and the electric water valve are closed.

[0072] S3. Slag Transfer: After the slag has completed moisture content adjustment, the second slide 3101a of the lifting and transferring unit 3100 is located at the lowest point of the second screw drive mechanism 3104, that is, the upper surface of the lifting top plate 3103 is below the horizontal plane of the slag transport conveyor belt 2101. At this time, the door opening mechanism on the side wall of the storage box 2001 is opened, and the slag transport conveyor belt 2101 is started. The slag is transported through the output port 2002 to the lifting top plate 3103 of the second screw drive mechanism. After all the transportation is completed, the second slide 3101a is raised in the second screw drive mechanism 3104 until its lifting top plate 3103 is higher than the feeding area of ​​the transfer output channel 3002. At this time, the unloading electric push rod 310 is controlled. 5. The hook on its output shaft is extended, and the hook pulls the lifting ring on the side plate of the lifting top plate 3103 to rise, so that the lifting top plate 3103 tilts towards the transfer output channel 3002 under the support of the spring 3102, and the slag falls into the transfer output channel 3002; before the slag enters the discharge area, the screen bucket lifting motor 4103 is controlled to extend the screen bucket lifting seat 4103a, so that the feed port of the screen bucket 4106 is lifted to the bottom of the discharge area of ​​the transfer output channel 3002. During this process, the screen bucket rear cover 4106 is always covered at the discharge port of the screen bucket 4107 under the drive of the screen bucket sealing electric push rod 4104 and the screen bucket sealing rotary motor 4105, and then the slag falls into the screen bucket 4106.

[0073] S4. Slag Crushing and Screening: After all the slag has fallen into the screening drum 4106, the output shaft of the screening drum lifting motor 4103 retracts until the screening drum lifting seat 4103a disengages from the screening drum 4107. At this time, the screening drum 4107 falls completely onto the bullseye ball bearings 4101c of the screening drum support seat 4101a. Simultaneously, the front baffle 4107c of the screening drum is restricted by the screening drum limiting baffle 4101b, preventing the screening drum from sliding outwards. The screening barrel drive motor 4102 is started to drive the screening barrel drive turntable 4102a. The screening barrel drive turntable 4102a contacts the screening barrel 4107 and drives it to rotate. At this time, the crushing and screening operation is carried out. The crushing mechanical arm 1006 is controlled to rotate and extend, and its hydraulic crushing claw 1007 is inserted into the screening barrel 4107 to continuously stir and crush the slag inside until the slag is screened into raw materials with magnetic impurities and impurities that cannot be screened out.

[0074] S5. Slag and Soil Removal and Discharge: Raw materials containing magnetic impurities fall directly onto the raw material conveyor belt 4004 through the screen 4107a. The raw material conveyor belt 4004 is driven by the drive motor 4005 to transport the raw materials to the magnetic removal mechanism 4003. The electro-permanent magnet chuck is opened to adsorb and remove the magnetic impurities in the slag and soil. The finished raw materials can then be transported to the edge of the main body 0002 through the raw material conveyor belt 4004 and discharged to the outside of the machine through the opening mechanism on the side wall of the raw material output trough 4001. Impurities that cannot be screened off are tilted by driving the screening barrel 4107 in the same way as in step S3, and the rear cover 4106 of the screening barrel is controlled to detach from the screening barrel 4107. The impurities fall from the discharge port of the screening barrel 4107 into the impurity output trough 4002, and then the sloping bottom plate and the opening mechanism therein discharge the impurities to the outside of the machine.

[0075] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any transformations or substitutions that can be understood by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of the present invention.

Claims

1. A robot for pre-processing fluidized soil raw materials, characterized in that, It includes a tracked chassis (0001), a main body (0002) mounted on the tracked chassis (0001), a robotic arm (1000) mounted on the main body (0002) in a clockwise direction, a humidity regulating part (2000), a lifting and transferring part (3000), and a crushing and screening part (4000). The robotic arm section (1000) consists of a bucket robotic arm (1001), a sorting robotic arm (1003), and a crushing robotic arm (1006) installed in the upper right corner of the main body (0002); The humidity control section (2000) includes a storage box (2001) installed in the lower right corner of the main body (0002), a slag treatment unit (2100) installed on the left side inside the storage box (2001) for preliminary temperature and humidity control of the slag, a logistics water supply unit (2200) installed on the right side inside the storage box (2001) for providing pressurized water for humidifying the slag, and a heating and dehumidifying unit (2300) installed on the top of the storage box (2001) for heating and dehumidifying the slag. The lifting and transfer section (3000) includes a transfer box (3001) installed at the output port (2002) of the humidity control section (2000), and the interior of the transfer box (3001) is provided with a lifting and transfer unit (3100). The crushing and screening section (4000) includes a raw material output trough (4001) installed in the left region of the main body (0002), a crushing and screening unit (4100) installed inside the crushing and screening box (4001a) on the right side of the raw material output trough (4001), and an impurity output trough (4002) installed in the crushing and screening unit (4100) in a direction close to the outside of the main body (0002).

2. The fluidized soil raw material pretreatment robot according to claim 1, characterized in that, The storage box (2001) has a heating cover plate track (2007) on the top of the front and rear side walls, and a heating cover plate limiting plate (2008) on the top of the left side wall of the storage box (2001) to enhance the sealing of the heating cover plate (2301). The storage box (2001) has an output port (2002) for discharging processed waste soil on the front side wall near the waste soil treatment unit (2100). The output port (2002) is provided with an output baffle (2003), and the output baffle (2003) is provided with a rack and pinion track. A gear drive motor is provided on the side wall of the storage box (2001) near the rack and pinion track. Its output shaft is connected to a gear, which meshes with the rack and pinion track.

3. The fluidized soil raw material pretreatment robot according to claim 2, characterized in that, The slag processing unit (2100) includes a slag transport conveyor belt (2101) installed on the bottom of the left area of ​​the storage box (2001), with a number of partitions (2101a) spaced apart to enhance the order of slag transfer, and a number of temperature and humidity sensors (2102) for monitoring the temperature and humidity of the slag between the partitions (2101a). Humidifying water pipes (2103) are also provided on the left and right side walls and the rear side wall of the left area of ​​the storage tank (2001). Several atomizing nozzles (2103a) are provided on the humidifying water pipes (2103). The main pipe of the humidifying water pipes (2103) extends from the right rear side of the left area of ​​the storage tank (2001) to the right area of ​​the storage tank (2001) and is connected to the pressurizing pump (2201) of the logistics water supply unit (2200).

4. The fluidized soil raw material pretreatment robot according to claim 3, characterized in that, The heating and dehumidification unit (2300) includes a heating cover plate (2301) mounted on a heating cover plate track (2007) via pulleys. A sealing top plate (2301a) is provided on the surface of the heating cover plate (2301) near the heating cover plate limiting plate (2008). A sealing bottom plate (2301b) is provided on the bottom surface of the heating cover plate (2301) near the middle partition. A rectangular insert plate is provided on the outer side wall of the sealing top plate (2301a). A first slide (2302) is provided on the side of the heating cover plate (2301) away from the outlet (2002), which is connected to a first screw drive mechanism (2303) installed on the top of the rear wall of the storage box (2001). A far-infrared heating plate (2304) is provided at the bottom of the heating cover plate (2301), which heats the slag through far-infrared thermal radiation.

5. The fluidized soil raw material pretreatment robot according to claim 4, characterized in that, The lifting and transfer unit (3100) includes a second screw drive mechanism (3104) installed on the inner bottom surface of the transfer box (3001), a lifting base plate (3101) installed on the second slide (3101a) of the second screw drive mechanism (3104), and a lifting top plate (3103) installed on the lifting base plate (3101) by means of a spring (3102); the lifting top plate (3103) is a sloping plate with a vertical side plate on its higher side and its lower side aligned with the direction of the transfer output channel (3002).

6. The fluidized soil raw material pretreatment robot according to claim 5, characterized in that, The raw material output trough (4001) is provided with a raw material transport conveyor belt (4004) extending from the crushing and screening unit (4100) to the edge of the main body (0002). The raw material transport conveyor belt (4004) is driven by a raw material transport conveyor belt drive motor (4005) installed on the side of the raw material output trough (4001). A magnetic impurity removal mechanism (4003) is provided on the raw material output trough (4001) between the edge of the main body (0002) and the crushing and screening unit (4100). The magnetic impurity removal mechanism (4003) is composed of a bridge-type mounting base covering part of the raw material transport conveyor belt (4004). The bottom of the bridge-type mounting base is provided with an electro-permanent magnet chuck for adsorbing magnetic impurities in the raw material.

7. The fluidized soil raw material pretreatment robot according to claim 6, characterized in that, The crushing and screening unit (4100) includes support legs (4101), a screening barrel (4107) mounted on a screening barrel support seat (4101a) via bullseye balls (4101c), a screening barrel support seat (4101a) mounted on the inner top of the support legs (4101) for supporting the screening barrel (4107), a screening barrel drive motor (4102) and a screening barrel drive turntable (4102a) mounted on the two support legs (4101) near the feed inlet of the screening barrel (4107) for driving the rotation of the screening barrel (4107), a screening barrel lifting motor (4103) mounted between the two support legs (4101) near the feed inlet of the screening barrel (4107), and a screening barrel closing electric push rod (4104) mounted on the two support legs (4101) near the discharge outlet of the screening barrel (4107).

8. A method for pretreatment of fluidized soil raw materials using the robot described in claim 7, characterized in that, The steps are as follows: S1. Ground Slag Treatment: First, according to the actual situation of the construction site, control the robot to come to the vicinity of the slag dumping area. If there are no large soil blocks, stones, or wooden boards in the slag, the slag will be directly shoveled onto the slag transport conveyor belt (2101) of the slag treatment unit (2100) by the bucket (1002) of the bucket robotic arm (1001) to wait for processing. If the slag contains large soil blocks, stones, or wooden boards, the unnecessary structures in the slag will be sorted and removed to the side by the sorting claw (1004) on the sorting robotic arm (1003) with the assistance of image recognition by the camera (1005). At the same time, the large soil blocks will be crushed by the hydraulic crushing claw (1007) on the crushing robotic arm (1006). After the crushing is completed, the slag will be shoveled onto the slag transport conveyor belt (2101) of the slag treatment unit (2100) to wait for processing. S2. Soil Moisture Content Adjustment: When the soil to be processed arrives on the soil transport conveyor belt (2101), the first slide (2302) on the first screw drive mechanism (2303) is moved, so that the heating cover (2301) covers the entire soil processing unit (2100). Its sealing top plate (2301a) is combined with the heating cover limit plate (2008), and the sealing bottom plate (2301b) is combined with the middle partition, so that the entire soil processing unit (2100) is sealed. At this time, the temperature and humidity of the soil and the box are monitored by the temperature and humidity sensors (2102) on the left and right side walls of the left area of ​​the soil transport conveyor belt (2101) and the storage box (2001). If the soil moisture content is high, dehumidification is performed; if the moisture content is low, humidification is performed. When dehumidification is performed, the far-infrared heating plate (2304) is activated to heat the soil. The moisture in the soil evaporates. After the ambient temperature and humidity and the temperature and humidity of the slag soil change, that is, the slag soil humidity decreases and the ambient humidity increases to a certain level, the far-infrared heating plate (2304) is closed, the electric air valves (2005) on all air ducts (2004) are opened, and the fan (2006) is started at the same time to blow out the high temperature and high humidity gas in the slag soil treatment unit (2100) until the ambient temperature and humidity inside the slag soil treatment unit (2100) reach the set humidity, then all electric air valves (2005) and the fan (2006) are closed. Then the above operation is repeated to dehumidify until the moisture content of the slag soil reaches the specified range. When humidifying, the pressure pump (2201) and the electric water valve on its outlet pipe are turned on. The water in the water tank (2202) is used to humidify the slag soil through the atomizing nozzle (2103a) until the moisture content of the slag soil reaches the specified range, then the pressure pump (2201) and the electric water valve are turned off. S3. Slag Transfer: After the slag has completed moisture content adjustment, the second slide (3101a) of the lifting and transferring unit (3100) is located at the lowest point of the second screw drive mechanism (3104), that is, the upper surface of the lifting top plate (3103) is below the horizontal plane of the slag transport conveyor belt (2101). At this time, the door opening mechanism of the side wall of the storage box (2001) is opened, and the slag transport conveyor belt (2101) is started. The slag is transported through the output port (2002) to the lifting top plate (3103) of the second screw drive mechanism. After all the transportation is completed, the second slide (3101a) is raised in the second screw drive mechanism (3104) until its lifting top plate (3103) is higher than the feeding area of ​​the transfer output channel (3002). At this time, the unloading electric push rod (3105) is controlled to rise. The hook on its output shaft is pushed out, and the hook pulls the lifting ring on the side plate of the lifting top plate (3103) to rise, so that the lifting top plate (3103) tilts towards the transfer output channel (3002) under the support of the spring (3102), and the slag falls into the transfer output channel (3002); before the slag enters the discharge area, the screen bucket lifting motor (4103) is controlled to push out the screen bucket lifting seat (4103a), so that the feed port of the screen bucket (4106) is lifted to the bottom of the discharge area of ​​the transfer output channel (3002). During this process, the screen bucket rear cover (4106) is always covered at the discharge port of the screen bucket (4107) under the drive of the screen bucket closing electric push rod (4104) and the screen bucket closing rotary motor (4105), and then the slag falls into the screen bucket (4106); S4. Slag Crushing and Screening: After all the slag has fallen into the screening bucket (4106), the output shaft of the screening bucket lifting motor (4103) retracts until the screening bucket lifting seat (4103a) disengages from the screening bucket (4107). At this time, the screening bucket (4107) falls completely onto the bullseye ball bearings (4101c) of the screening bucket support seat (4101a), and at the same time, the front baffle (4107c) of the screening bucket is restricted by the screening bucket limiting baffle (4101b), so the screening bucket will not move outward. Slide out, start the screening barrel drive motor (4102) to drive the screening barrel drive turntable (4102a), the screening barrel drive turntable (4102a) contacts the screening barrel (4107) and drives it to rotate, at this time the crushing and screening operation is carried out, control the crushing mechanical arm (1006) to rotate and extend, and extend its hydraulic crushing claw (1007) into the screening barrel (4107) to continuously stir and crush the slag inside until the slag is screened into raw materials with magnetic impurities and impurities that cannot be screened out; S5. Slag and Soil Removal and Discharge: Raw materials with magnetic impurities fall directly onto the raw material conveyor belt (4004) through the screen (4107a). The raw material conveyor belt is driven by the drive motor (4005) to transport the raw material to the magnetic removal mechanism (4003). The electro-permanent magnet chuck is opened to adsorb and remove the magnetic impurities in the slag. The finished raw material can then be transported to the edge of the main body (0002) through the raw material conveyor belt (4004) and discharged to the outside of the machine through the opening mechanism on the side wall of the raw material output trough (4001). Impurities that cannot be screened off are driven to tilt the screening barrel (4107) in the same way as in step S3, and the rear cover (4106) of the screening barrel is controlled to detach from the screening barrel (4107). The impurities can fall from the discharge port of the screening barrel (4107) into the impurity output trough (4002), and then the sloping bottom plate and the opening mechanism therein discharge the impurities to the outside of the machine.

Images