Crawler-type soil in-situ modification and granulation all-in-one machine

Abstract

The invention discloses a crawler-type soil in-situ modification and granulation all-in-one machine, which belongs to the technical field of soil improvement and slope greening engineering equipment, and comprises a crawler-type mobile chassis, an in-situ soil sampling and crushing system, a soil modification mixing system, an efficient granulation system, a discharge output system, an intelligent control system and an auxiliary support system, all the systems are integrally installed on a crawler-type movable chassis, in-situ full-process integrated operation of side slope soil is achieved, the auxiliary supporting system comprises a side slope positioning mechanism, and the side slope positioning mechanism is used for achieving rapid and stable positioning of equipment on a side slope. According to the crawler-type soil in-situ modification and granulation all-in-one machine, the soil transportation link is omitted, and the transportation cost is greatly saved; meanwhile, the equipment structure and the operation process are optimized, the granulation efficiency and the yield are improved, the large-scale requirement for slope greening soil in engineering is met, and the device is adaptive to the complex landform of the slope, high in operation flexibility and good in stability.

Description

Technical Field

[0001] This invention relates to the field of soil improvement and slope greening engineering equipment technology, and in particular to a tracked soil in-situ modification and granulation integrated machine. Background Technology

[0002] In slope greening projects, the soil used for greening must possess good air permeability, water retention, and stability, and have uniform particle size to ensure vegetation survival and slope protection effectiveness. Currently, the preparation of soil for slope greening mostly adopts the traditional model of "soil sourcing from other locations—transportation—modification—granulation—re-transportation to the slope site," which has the following core drawbacks: 1. Extremely high transportation costs: Soil has high density and volume, and the extraction and transportation of soil from other places requires a large amount of transportation equipment and manpower. Moreover, slope construction sites are mostly located in mountainous and hilly areas with inconvenient transportation, making transportation difficult and costly, and also easily causing environmental pollution along the way. 2. Low production efficiency: The various processes are carried out separately, and the connection between soil extraction, transportation, modification and granulation is not smooth, resulting in a lot of waiting time. In addition, traditional granulation equipment is mostly fixed and requires fixed site installation and debugging, which cannot adapt to the mobile operation needs of slope sites and makes it difficult to meet the production requirements of large-scale soil use in engineering projects. 3. Serious waste of resources: Taking soil from other places can easily damage the original surface vegetation, and the soil loss during transportation is significant. At the same time, decentralized operations require more equipment and energy, which does not conform to the engineering concept of energy conservation and environmental protection. To address the aforementioned issues, there is an urgent need to design an integrated device capable of in-situ soil extraction, modification, and granulation. Summary of the Invention

[0003] The purpose of this invention is to provide a tracked soil in-situ modification and granulation integrated machine, which eliminates the soil transportation link and greatly saves transportation costs; at the same time, it optimizes the equipment structure and operation process, improves granulation efficiency and output, meets the large-scale demand for soil for slope greening in engineering projects, and is suitable for complex slope terrain, with high operational flexibility and good stability.

[0004] To achieve the above objectives, this invention provides a tracked in-situ soil modification and granulation integrated machine, comprising a tracked mobile chassis, an in-situ soil sampling and crushing system, a soil modification and mixing system, a high-efficiency granulation system, a discharge output system, an intelligent control system, and an auxiliary support system. Each system is integrated and installed on the tracked mobile chassis. The output end of the in-situ soil sampling and crushing system is connected to the input end of the soil modification and mixing system, the output end of the soil modification and mixing system is connected to the input end of the high-efficiency granulation system, and the output end of the high-efficiency granulation system is connected to the input end of the discharge conveying system, realizing integrated in-situ soil modification and granulation operation on slopes. The auxiliary support system includes a slope positioning mechanism, which is used to quickly and stably position the equipment on the slope.

[0005] Preferably, the tracked mobile chassis adopts a heavy-duty tracked structure, and the tracks are made of high wear-resistant and high-grip rubber tracks, which are suitable for slope terrain with a slope of ≤35° and match the angle adjustment range of the slope positioning mechanism; the tracked mobile chassis is equipped with a two-way continuously variable hydraulic drive system, which is flexible in steering; a load-bearing frame is provided on the top of the tracked mobile chassis, and a shock-absorbing buffer device is installed at the bottom of the load-bearing frame; a foldable guide baffle is provided at the front end of the tracked mobile chassis.

[0006] Preferably, the in-situ soil extraction and crushing system includes a hydraulically driven milling and mixing rotor, a twin-shaft crushing roller, a vibrating screen, and a chain conveyor; the milling and mixing rotor is installed below the front end of the chassis, and the milling depth can be steplessly adjusted within the range of 0-300mm, used for in-situ grabbing of slope soil; the twin-shaft crushing roller is used to crush soil and impurities, the vibrating screen is used to separate unqualified impurities, and the chain conveyor transports the screened qualified soil particles to the soil modification and mixing system.

[0007] Preferably, the soil modification mixing system includes an amendment storage bin, a precision batching machine, a twin-shaft spiral mixer, a soil testing sensor, and a high-pressure spraying device; the amendment storage bin is set up independently in multiple locations, the precision batching machine adopts a spiral structure for precise addition of amendment; the twin-shaft spiral mixer is used to achieve uniform mixing of soil and amendment, the soil testing sensor is used to detect soil parameters, and the high-pressure spraying device is used to adjust soil moisture content.

[0008] Preferably, the high-efficiency granulation system includes 3-4 sets of parallel extrusion granulation units, a particle shaping machine, a grading and screening screen, and an anti-clogging protection unit; each granulation unit adopts a double-roller extrusion structure with adjustable extrusion pressure to achieve high-efficiency granulation; the grading and screening screen has two aperture grades, and unqualified particles can be returned to the granulation unit for regranulation through the return channel to improve raw material utilization; the anti-clogging protection unit is used to prevent equipment blockage and damage.

[0009] Preferably, the discharge conveying system adopts a retractable and rotatable inclined belt conveyor, which can directly transport the granulated soil to the designated location on the slope without secondary handling; the discharge end of the conveyor is equipped with an adjustable guide hopper and a dust cover to control the discharge direction and reduce dust pollution.

[0010] Preferably, the intelligent control system adopts a PLC programmable controller and is equipped with a touch screen operation panel, which can realize the switching between manual and automatic operation modes; the control system can receive detection data from soil detection sensors and sensors of various systems, automatically adjust various operation parameters, and realize the coordinated operation of the entire process.

[0011] Preferably, the slope positioning mechanism is a purely mechanical combination structure, different from the existing hydraulic positioning structure, including outriggers, positioning plates, and positioning pins; two sets of outriggers are set on each side of the tracked mobile chassis, and hydraulic telescopic cylinders are installed inside the outriggers. The fixed end of the hydraulic telescopic cylinder is close to the side of the tracked mobile chassis. A limiting hinge seat is provided at the connection between the outrigger and the tracked mobile chassis, with an adjustment range of 0-35°. Telescopic cylinders are provided on the outside of the outriggers, and the fixed end of the telescopic cylinders is connected to the tracked mobile chassis; a positioning plate is fixed at the bottom of the outrigger. The surface of the positioning plate is provided with anti-slip teeth and a positioning hole is reserved in the middle, which can cooperate with the positioning pin on the pre-embedded positioning pile of the slope to achieve rapid and stable positioning.

[0012] Preferably, the auxiliary support system further includes a power unit, a safety protection unit, and a dust and noise reduction unit; the power unit is a high-power diesel engine that provides power to each system and is equipped with a noise reduction device and an exhaust gas purification device; the safety protection unit includes protective covers for each moving part and an emergency stop button; the dust and noise reduction unit is used to reduce dust and noise pollution during operation.

[0013] Preferably, the soil modification mixing system can add organic fertilizer, binder, and water-retaining agent to the soil in proportion according to soil testing parameters; the granulation unit of the high-efficiency granulation system is replaceable to adapt to granulation requirements of different particle sizes, with a high qualified granulation rate and a raw material utilization rate of ≥98%.

[0014] Therefore, the present invention employs the above-mentioned tracked soil in-situ modification and granulation integrated machine, and the technical effects are as follows: 1. In-situ operation, significantly reducing transportation costs: The equipment can complete the entire process of soil extraction, modification, granulation, and discharge directly on the slope site, eliminating the need to transport the soil to a processing plant for treatment and then back to the slope. This completely saves on equipment, manpower, and fuel costs associated with soil transportation. It is estimated that this can reduce construction transportation costs by 60%-80%, while also reducing soil loss and environmental pollution during transportation, aligning with the environmental advantages of in-situ operation of soil stabilizers. 2. High-efficiency mass production to meet engineering soil requirements: Employing multiple parallel granulation mechanisms, the overall granulation output is ≥50m³. 3 / h, average daily output ≥400m 3 It can meet the large-scale soil demand of large-scale slope greening projects and solve the problem of insufficient output of existing small granulation equipment; at the same time, the exclusive slope positioning innovative structure can quickly complete the positioning, reduce equipment adjustment downtime, ensure continuous operation and seamless connection of each system, and further improve the operation efficiency by 3-4 times compared with traditional decentralized operation. 3. Tracked chassis for high operational flexibility: Adopting a high-grip tracked chassis, it is suitable for complex terrain with slopes of ≤35°. It can move and position flexibly in uneven and narrow slope sites without frequent disassembly and assembly. Its operational adaptability is better than traditional wheeled equipment. It also improves the stability of slope operations by referencing the chassis advantages of tracked soil improvement and remediation integrated machines. 4. Reliable granulation quality, suitable for slope greening: Through precise soil modification and granulation parameter control, the granulated soil particles are uniform, with a particle qualification rate of ≥95%. The modified soil has good fertility, water retention and stability, and can be directly used for slope greening to ensure the survival rate of vegetation. At the same time, unqualified particles are returned for regranulation, with a raw material utilization rate of ≥98%, reducing resource waste. 5. High degree of intelligence, reducing labor costs: The PLC intelligent control system enables automated collaborative operation of various systems. Only one operator is needed to complete all operations on a single device, significantly reducing the intensity and cost of manual operation. It also has remote monitoring and fault self-diagnosis functions, which facilitates equipment maintenance and management, and references the intelligent control logic of soil in-situ remediation systems. 6. Integrated and highly practical: It integrates functions such as soil extraction, crushing, modification, granulation, discharge, and control into one unit. The equipment has a compact structure, small footprint, and does not require multiple machines to work together, simplifying the construction process and improving construction convenience. At the same time, it is equipped with dust prevention, noise reduction, and exhaust gas purification devices, which meet environmental protection construction requirements and are compatible with modern engineering construction standards.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of an embodiment of the tracked soil in-situ modification and granulation integrated machine of the present invention; Figure 2 This is a schematic diagram of the slope positioning mechanism of an embodiment of a tracked soil in-situ modification and granulation integrated machine of the present invention.

[0017] Figure Labels 1. Tracked mobile chassis; 2. Outriggers; 3. Positioning plate; 4. Telescopic cylinder. Detailed Implementation

[0018] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0020] Example 1 This invention provides a tracked soil in-situ modification and granulation integrated machine, including a tracked mobile chassis 1, an in-situ soil sampling and crushing system, a soil modification and mixing system, a high-efficiency granulation system, a discharge conveying system, an intelligent control system, and an auxiliary support system. All systems are integrated and installed on the tracked mobile chassis, realizing a complete in-situ process. Figure 1 As shown, the tracked mobile chassis 1 consists of, from back to front, an in-situ soil extraction and crushing system, a soil modification and mixing system, a high-efficiency granulation system, and a discharge conveying system.

[0021] The tracked mobile chassis 1 serves as the load-bearing and mobility core of the integrated machine, adapting to complex terrain such as slopes, enabling flexible movement and stable positioning for in-situ operations. Its specific structure is as follows: (1) The heavy-duty tracked chassis is adopted, and the track is made of high wear-resistant and high grip rubber track with a track width ≥600mm and a ground pressure ≤80kPa. This can effectively reduce the damage to the slope surface and improve the stability of the equipment on slopes with a gradient ≤35°, avoiding slippage. With the exclusive slope positioning innovative structure, the slope positioning can be completed quickly, reducing the preparation time for operation and ensuring continuous granulation. (2) The chassis is equipped with a high-power hydraulic drive system and adopts bidirectional stepless speed control, which can realize flexible adjustment of the equipment's forward, backward and turning movements. The turning radius is ≤2.5m, which makes it easy to adjust the working position in narrow slope sites without frequent disassembly and assembly of the equipment. (3) A rigid load-bearing frame is installed on the top of the chassis. The rigid load-bearing frame is welded from high-strength manganese steel and is used to fix each operating system. A shock-absorbing buffer device is installed at the bottom of the frame to reduce the impact of equipment vibration on granulation quality and slope stability during operation. (4) A foldable guide baffle is installed at the front of the chassis. It can be unfolded during operation to prevent soil from scattering during soil extraction, and folded when not in operation to facilitate equipment transfer and storage.

[0022] The in-situ soil extraction and crushing system enables the in-situ extraction, transportation, crushing, and impurity removal of slope soil, providing qualified soil raw materials for subsequent modification and granulation, while balancing soil extraction efficiency and raw material purity. The specific structure is as follows: (1) Soil extraction mechanism: A hydraulically driven milling and mixing rotor is installed below the front end of the chassis. The rotor diameter is ≥800mm. High-strength alloy milling teeth are evenly distributed on the rotor. The milling depth can be steplessly adjusted within the range of 0-300mm, adapting to slope surface soil of different thicknesses. It can realize in-situ continuous soil extraction with a soil extraction efficiency ≥80m 3 / h; (2) Crushing mechanism: It is set behind the soil extraction mechanism and is seamlessly connected to the soil extraction mechanism through the conveying channel. It adopts a double-shaft crushing roller structure. The crushing roller surface is set with staggered crushing teeth. The crushing gap can be adjusted within the range of 5-20mm. It can crush impurities such as stones, weeds, and construction waste mixed in during the soil extraction process to a particle size ≤10mm. At the same time, it crushes the blocky soil into uniform particles to avoid impurities affecting the subsequent granulation quality. (3) Impurity removal and screening mechanism: A vibrating screen is set behind the crushing mechanism. The screen has a mesh size of 10mm and adopts a high-frequency vibration mode (vibration frequency ≥30Hz). It can screen and separate impurities with a particle size greater than 10mm after crushing. The separated impurities are discharged to one side of the equipment through a special impurity discharge channel for easy subsequent centralized cleaning. The qualified soil particles are transported to the soil modification and mixing system. (4) Conveying components: A chain plate conveyor is used, and the conveying speed can be adjusted within the range of 0.5-1.5m / s. Anti-slip protrusions are set on the surface of the conveyor to prevent soil particles from slipping, ensuring continuous operation of soil extraction, crushing and conveying, avoiding material blockage, and improving conveying stability and efficiency.

[0023] The soil modification and mixing system addresses issues such as poor soil quality, insufficient clay content, and poor water retention on slopes. It achieves precise mixing of soil and soil conditioner, improving soil fertility and granulation performance to meet the soil requirements for slope greening. The specific structure is as follows: (1) Modifier storage and batching unit: includes multiple independent modifier storage bins (for storing organic fertilizer, binder, water-retaining agent, etc.), with a storage bin volume ≥ 0.5m³. 3 Each storage bin is equipped with a precision batching machine with a spiral batching structure. The batching accuracy is ≤±2%. The addition ratio of each amendment can be precisely adjusted according to soil test parameters and requirements for greening soil (organic fertilizer is added at 5%-10% of soil mass, binder at 2%-5%, and water-retaining agent at 0.5%-1%). (2) Mixing and stirring unit: A twin-shaft spiral mixer is adopted, with a mixer volume ≥ 1.2m³. 3The stirring shaft speed can be adjusted within the range of 30-60 r / min. The stirring shaft surface is equipped with staggered stirring blades made of wear-resistant alloy material, which can realize the rapid and uniform mixing of soil and amendment, with a mixing uniformity of ≥90% and a mixing time of ≤30s / batch, ensuring the consistency of the performance of the modified soil. (3) Soil parameter detection unit: A soil detection sensor is set at the feed end of the mixer to detect parameters such as soil moisture content, particle size distribution, and organic matter content in real time. The detection data is transmitted to the intelligent control system, which automatically adjusts the amount of amendment added, mixing time and subsequent granulation parameters without manual intervention, thus improving the accuracy of modification. (4) Moisture adjustment unit: A high-pressure spray device is installed above the mixer and connected to a water tank (water tank volume ≥ 1m³). 3 Based on soil moisture content testing data, it can automatically spray an appropriate amount of water to adjust the soil moisture content to 18%-25%, ensuring smooth subsequent granulation and preventing loose or clumped particles.

[0024] The high-efficiency granulation system enables efficient granulation of modified soil, ensuring granulation yield and particle quality, and meeting the large-scale soil requirements of slope greening projects. The specific structure is as follows: (1) Granulation mechanism: Multiple parallel extrusion granulators are used, with 3-4 granulation units. Each granulation unit adopts a double roller extrusion structure with a granulation roller diameter ≥ 300 mm. The roller surface is equipped with evenly distributed granulation grooves (groove particle size is 2-10 mm, and different specifications of granulation rollers can be replaced according to the needs of greening soil). The extrusion pressure can be automatically adjusted within the range of 5-15 MPa to adapt to modified soils with different viscosity. (2) Granulation transmission system: The system is driven by a hydraulic motor, with each granulation unit driven independently. 1-4 granulation units can be flexibly activated according to the granulation output requirements. The granulation speed can be adjusted within the range of 10-20 r / min, and the output of a single granulation unit is ≥15 m³. 3 / h, overall granulation output ≥50m 3 / h, meeting the soil requirements for large-scale engineering projects (daily output ≥400m³). 3 ); (3) Particle shaping and screening unit: A particle shaping machine and a grading screening screen are set behind the granulation mechanism. The shaping machine adopts a roller structure. The irregular particles are shaped into round or elliptical shapes by the rotation of the roller (which facilitates the attachment of plant roots and water retention). The grading screening screen is set with two aperture levels of 2-10mm and 10-20mm. It can screen out granulated soil of different particle sizes according to the needs of slope greening. Unqualified particles (particle size > 20mm or < 2mm) are returned to the granulation mechanism through the return channel for re-granulation. The particle qualification rate is ≥ 95%, which optimizes the particle shaping effect. (4) Anti-clogging protection unit: An automatic cleaning device is set on the surface of the granulation roller, which adopts a scraper structure to remove the soil adhering to the roller surface in real time and avoid clogging of the granulation roller; at the same time, an overload protection device is set, which automatically stops the machine and alarms when the granulation pressure exceeds the set value to prevent equipment damage and improve equipment reliability.

[0025] The discharge conveying system enables on-site transport and stockpiling of the granulated soil, eliminating the need for secondary handling and further improving operational efficiency. The specific structure is as follows: (1) Conveying mechanism: A telescopic and rotatable inclined belt conveyor is adopted. The conveyor length can be extended or retracted within the range of 5-10m, the conveying angle can be adjusted within the range of 0-45°, the conveyor bandwidth is ≥800mm, the conveying speed can be adjusted within the range of 0.8-2.0m / s, and the conveying capacity is ≥60m 3 / h, the granulated soil can be directly transported to a designated location on the slope (such as the slope surface or toe) without secondary handling; (2) Discharge guiding unit: The discharge end of the conveyor is equipped with an adjustable guide hopper, which can adjust the discharge direction and discharge range according to the stacking requirements to avoid soil particles from scattering. At the same time, a dust cover is set up to reduce dust pollution during operation and meet the requirements of environmental protection construction. (3) Recirculation channel: The unqualified particles after screening are returned to the granulation unit for regranulation via the recirculation conveyor, so as to realize resource recycling, reduce soil loss and improve raw material utilization (raw material utilization ≥ 98%).

[0026] The intelligent control system enables coordinated operation and automated work among various systems, reducing manual labor intensity and improving work efficiency and quality. Its specific structure is as follows: (1) Control host: PLC programmable controller is adopted, equipped with touch screen operation panel, which can realize the switching between manual operation and automatic operation mode. The touch screen can display the operating parameters of each system in real time (such as soil extraction speed, crushing gap, amount of amendment added, granulation pressure, output, etc.), and can set the threshold of operating parameters. It will automatically alarm when abnormality occurs. (2) Collaborative control logic: The control system receives the detection data from the soil detection unit and the sensors of each system, and automatically adjusts parameters such as soil sampling speed, crushing gap, amount of amendment added, mixing time, granulation pressure, and conveying speed to achieve seamless connection between soil sampling, crushing, modification, granulation and discharge. No manual intervention is required, and only one operator is needed to complete all operations for a single device. (3) Remote monitoring and fault diagnosis unit: Equipped with a wireless communication module, it can remotely monitor the equipment operation status and transmit operation data; at the same time, it has a fault self-diagnosis function, which can automatically identify equipment faults (such as material blockage, overload, sensor failure, etc.) and display the fault location and fault cause on the touch screen, which facilitates quick troubleshooting and repair. (4) Parameter storage and recall unit: It can store multiple sets of operation parameters (adapted to different types of slope soil and greening soil requirements), which can be directly recalled during subsequent operations without repeated settings, thus improving operation efficiency.

[0027] Auxiliary support systems ensure stable equipment operation and operator safety, such as... Figure 2 As shown, the specific structure is as follows: (1) Slope positioning mechanism: It adopts a combination structure of "adjustable angle hydraulic outrigger + slope surface fitting positioning component + quick positioning pin", which does not require a complex control system, adapts to different slopes, ensures the stability of equipment operation, reduces positioning adjustment time, and improves the continuity of operation to increase granulation output. Specifically: Two sets of adjustable-angle outriggers 2 are set on each side of the chassis. The outriggers 2 are equipped with hydraulic telescopic cylinders. The fixed end of the hydraulic telescopic cylinder is close to the side of the tracked mobile chassis 1. A limiting hinge seat (adjustable range 0-35°, consistent with the slope of the equipment) is set at the connection between the outriggers 2 and the tracked mobile chassis 1. A telescopic cylinder 4 is set on the outside of the outriggers 2. The fixed end of the telescopic cylinder 4 is connected to the tracked mobile chassis 1. The bottom of the outriggers 2 is fixed to the slope and fits the positioning plate 3 (the surface of the fitting plate 3 is provided with anti-slip teeth to increase the friction with the slope). The positioning plate 3 has a positioning hole reserved in the middle. Before operation, simple positioning piles are pre-embedded in the slope operation area (positioning pins matching the positioning holes are set on the top of the piles). After the equipment travels to the operation position, the outriggers 2 extend under the action of the hydraulic telescopic cylinder. At the same time, the angle of the outriggers 2 is adjusted by the telescopic cylinder 4 so that the positioning plate 3 fits against the slope surface. The positioning pin is inserted to complete the quick positioning. The positioning time is ≤5 minutes, which saves 80% of the adjustment time compared with the traditional positioning method. It avoids the equipment from sliding and shifting during operation, ensures continuous operation of soil extraction and granulation, and indirectly improves the granulation output. When not in operation, the outriggers 2 are retracted and the positioning plate is folded, which does not increase the size of the equipment and does not affect the mobility of the chassis. It meets the need for in-situ operation and saves transportation costs. This positioning combination structure has not been used in existing tracked soil equipment and has both novelty and practicality. (2) Power unit: Equipped with a high-power diesel engine (power ≥150kW) to provide power for each system. The engine is equipped with a noise reduction device and an exhaust gas purification device to meet environmental emission standards. It is also equipped with a backup power interface to connect to an external power source for operation, adapting to different operating scenarios. (3) Safety protection unit: All moving parts of the equipment (such as crushing roller, granulation roller, and conveyor) are equipped with protective covers to prevent operators from accidentally contacting them; at the same time, an emergency stop button is provided so that the machine can be stopped quickly in case of an emergency to ensure operational safety; (4) Dust and noise reduction unit: Dust covers and spray dust reduction devices are set up in the soil extraction, crushing and granulation processes to reduce dust pollution; noise reduction covers are set up for the engine and hydraulic system to reduce operating noise (operating noise ≤85dB), which meets the environmental protection requirements of the construction site.

[0028] The working principle is as follows: The working process of this tracked soil in-situ modification and granulation integrated machine is as follows: it achieves in-situ operation throughout the entire process, eliminating the need for soil transportation and efficiently completing the granulation of soil for slope greening: 1. Equipment positioning: The operator uses the tracked mobile chassis 1 to drive the equipment to the slope operation area, deploys the outriggers 2 and guide baffles, and adjusts the equipment position to ensure stable operation; 2. In-situ soil sampling and crushing: Start the in-situ soil sampling and crushing system, and the milling and mixing rotor grabs the surface soil of the slope in situ. At the same time, it performs preliminary crushing. The soil is transported to the twin-shaft crushing rollers by the chain conveyor for further crushing and impurity removal. The vibrating screen separates impurities with a particle size >10mm. The qualified soil particles are transported to the soil modification and mixing system. 3. Soil modification and mixing: Soil detection sensors monitor soil parameters in real time, and the data is transmitted to the intelligent control system. The control system automatically adjusts the amount of amendment added by the additive batching machine, and delivers the amendments such as organic fertilizer, binder, and water-retaining agent to the twin-shaft screw mixer. At the same time, the soil moisture content is adjusted by a high-pressure spraying device. The mixer quickly stirs the soil to achieve uniform mixing of soil and amendment, resulting in qualified modified soil. 4. High-efficiency granulation: The modified soil is transported to multiple sets of parallel extrusion granulators. The granulators use double rollers to extrude the soil into particles of a set size. The particle shaping machine shapes the irregular particles. The grading screen screens out qualified particles, and unqualified particles are returned to the granulation mechanism for regranulation through the return channel. 5. On-site discharge: Qualified granulated soil is directly transported to the designated location on the slope via a retractable inclined conveyor for subsequent slope greening operations; 6. Dynamic adjustment and shutdown: During operation, the intelligent control system monitors the operating parameters of each system in real time and automatically adjusts the operating parameters based on soil test data and granulation quality. After the operation is completed, each system is shut down, the hydraulic outriggers and guide baffles are retracted, the equipment is driven to the designated storage area, and residual soil and impurities inside the equipment are cleaned.

[0029] Therefore, the present invention adopts the above-mentioned tracked soil in-situ modification and granulation integrated machine, which eliminates the soil transportation link and greatly saves transportation costs; at the same time, it optimizes the equipment structure and operation process, improves granulation efficiency and output, meets the large-scale demand for soil for slope greening in engineering, and is suitable for complex slope terrain, with high operational flexibility and good stability.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A tracked soil in-situ modification and granulation integrated machine, characterized in that: The system includes a tracked mobile chassis, an in-situ soil sampling and crushing system, a soil modification and mixing system, a high-efficiency granulation system, a material discharge system, an intelligent control system, and an auxiliary support system. All systems are integrated and installed on the tracked mobile chassis. The output end of the in-situ soil sampling and crushing system is connected to the input end of the soil modification and mixing system, the output end of the soil modification and mixing system is connected to the input end of the high-efficiency granulation system, and the output end of the high-efficiency granulation system is connected to the input end of the material discharge system, achieving integrated in-situ soil removal and conveying throughout the entire process. The auxiliary support system includes a slope positioning mechanism, which is used to quickly and stably position the equipment on the slope.

2. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The tracked mobile chassis adopts a heavy-duty tracked structure, with tracks made of high wear-resistant and high-grip rubber, suitable for slope terrain with a gradient of ≤35°, and matching the angle adjustment range of the slope positioning mechanism; the tracked mobile chassis is equipped with a two-way continuously variable hydraulic drive system, which is flexible in steering, and a load-bearing frame is provided on the top of the tracked mobile chassis, with shock-absorbing and buffering devices installed at the bottom of the load-bearing frame, and a foldable guide baffle is provided at the front end of the tracked mobile chassis.

3. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The in-situ soil extraction and crushing system includes a hydraulically driven milling and mixing rotor, a twin-shaft crushing roller, a vibrating screen, and a chain conveyor. The milling and mixing rotor is installed below the front end of the chassis, and the milling depth is infinitely adjustable within the range of 0-300mm. It is used to grab slope soil in situ. The twin-shaft crushing roller is used to crush soil and impurities, the vibrating screen is used to separate unqualified impurities, and the chain conveyor transports the qualified soil particles after screening to the soil modification and mixing system.

4. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The soil modification and mixing system includes an amendment storage bin, a precision batching machine, a twin-shaft spiral mixer, a soil testing sensor, and a high-pressure spraying device. The amendment storage bins are set up independently, and the precision batching machine adopts a spiral structure for precise addition of the amendment. The twin-shaft spiral mixer is used to achieve uniform mixing of soil and amendment, the soil testing sensor is used to detect soil parameters, and the high-pressure spraying device is used to adjust the soil moisture content.

5. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The high-efficiency granulation system includes 3-4 sets of parallel extrusion granulation units, a particle shaping machine, a grading and screening screen, and an anti-clogging protection unit. Each granulation unit adopts a double-roller extrusion structure with adjustable extrusion pressure to achieve high-efficiency granulation. The grading and screening screen has two aperture grades. Unqualified particles are returned to the granulation unit for regranulation through the return channel, improving the raw material utilization rate. The anti-clogging protection unit is used to prevent equipment blockage and damage.

6. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The discharge conveying system uses a retractable and rotatable inclined belt conveyor to directly transport the granulated soil to the designated location on the slope without secondary handling. The discharge end of the conveyor is equipped with an adjustable guide hopper and a dust cover to control the discharge direction and reduce dust pollution.

7. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The intelligent control system adopts a PLC programmable controller and is equipped with a touch screen operation panel to realize the switching between manual and automatic operation modes. The control system receives detection data from soil detection sensors and sensors of various systems, automatically adjusts various operation parameters, and realizes coordinated operation throughout the entire process.

8. The tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The slope positioning mechanism is a purely mechanical combination structure, unlike existing hydraulic positioning structures. It includes outriggers, positioning plates, and positioning pins. Two sets of outriggers are installed on each side of the tracked mobile chassis. The outriggers are equipped with hydraulic telescopic cylinders, with the fixed end of the hydraulic telescopic cylinder close to the side of the tracked mobile chassis. A limiting hinge is provided at the connection between the outrigger and the tracked mobile chassis, with an adjustment range of 0-35°. Telescopic cylinders are provided on the outside of the outriggers, with the fixed end of the telescopic cylinders connected to the tracked mobile chassis. A positioning plate is fixed at the bottom of the outrigger. The surface of the positioning plate is equipped with anti-slip teeth and a positioning hole is reserved in the middle. It cooperates with the positioning pin on the pre-embedded positioning pile on the slope to achieve rapid and stable positioning.

9. A tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The auxiliary support system also includes a power unit, a safety protection unit, and a dust and noise reduction unit; the power unit is a high-power diesel engine that provides power to each system and is equipped with a noise reduction device and an exhaust gas purification device; the safety protection unit includes protective covers for each moving part and an emergency stop button; the dust and noise reduction unit is used to reduce dust and noise pollution during operation.

10. A tracked soil in-situ modification and granulation integrated machine according to claim 1, characterized in that: The soil modification mixing system adds organic fertilizer, binder, and water-retaining agent to the soil in proportion according to soil testing parameters; the granulation unit of the high-efficiency granulation system is replaceable to adapt to granulation needs of different particle sizes, with a high qualified granulation rate and raw material utilization rate of ≥98%.

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