A kind of mine high and steep slope ecological restoration spray planting device based on soil-like matrix
By combining the rotary drive mechanism and the movable drive mechanism with tilt angle monitoring, the two-dimensional adjustment of the spraying mechanism is realized, which solves the problem of matrix sagging or falling off caused by the fixed jet angle of the existing device, improves the spraying accuracy and uniformity, and promotes the ecological restoration of high and steep slopes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- YELLOW RIVER SOIL & WATER CONSERVATION TIANSHUI MANAGEMENT SUPERVISION BUREAU (TIANSHUI SOIL & WATER CONSERVATION SCI EXPERIMENT STATION)
- Filing Date
- 2026-05-08
- Publication Date
- 2026-06-16
AI Technical Summary
Existing slope hydroseeding devices based on loam-like substrates cannot adjust the jet angle according to the slope gradient, resulting in insufficient kinetic energy after the substrate impacts the slope surface, causing dripping or detachment, which affects the thickness and uniformity of the layer.
A rotary drive mechanism and a movable drive mechanism are used in conjunction with an inclination monitoring mechanism to achieve two-dimensional adjustment of the spraying mechanism. The direction of the jet is adjusted in real time through a CNC system to ensure spraying accuracy.
It improves the accuracy of spraying landing by 30% to 50%, reduces substrate waste and missed spraying areas, improves the uniformity of substrate distribution, promotes seed germination and root growth, and increases the survival rate and coverage of ecological restoration.
Smart Images
Figure CN122207429A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mine ecological restoration and slope spraying equipment technology, and in particular to a spraying device for ecological restoration of steep mine slopes based on a loam-like substrate. Background Technology
[0002] During the development of mineral resources in my country, numerous exposed steep slopes have been created, particularly at the end of open-pit mines, in spoil heaps, and on tailings dam surfaces. These slopes are steep (often reaching 60°–85°), with exposed rock, missing soil layers, and extremely poor water and fertilizer retention capacity. They often suffer from heavy metal pollution or extreme acid / alkali environments, requiring decades for natural restoration and are highly susceptible to landslides, soil erosion, and dust pollution. To accelerate the ecological restoration of these slopes, "soil-like matrix" ecological restoration technology has been developed in recent years. This technology attempts to create a composite material with the granular structure, porosity, and water-fertilizer coordination capabilities of natural soil by attaching it to the steep slope surface, forming an "artificial living soil layer" necessary for plant growth. Compared to traditional topsoil spraying or thick-layer substrate spraying, soil-like matrix offers significant advantages in improving adhesion, reducing cement usage, and enhancing long-term ecological functions.
[0003] In existing slope hydroseeding devices based on loam-like substrates, the jet dispersion angle is fixed. This means that the jet angle of the loam-like substrate cannot be changed according to the slope gradient. As a result, the kinetic energy of the substrate after impacting the slope is insufficient to overcome gravity and rebound force, leading to dripping or detachment, which affects the thickness and uniformity of the layer. Summary of the Invention
[0004] In order to overcome the shortcomings of the existing technology, the purpose of this invention is to provide a hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate, which can change the jet angle of the loam-like substrate according to the environment.
[0005] The objective of this invention is achieved by the following technical solution: a hydroseeding device for ecological restoration of steep mine slopes based on loam-like matrix, comprising: an installation body, a transmission mechanism, a rotary drive mechanism, a spraying mechanism, a movable drive mechanism, an inclination monitoring mechanism, and a numerical control system;
[0006] The transmission mechanism is pivotally connected to the mounting body;
[0007] The rotary drive mechanism is mounted on the mounting body, and the output end of the rotary drive mechanism is connected to the transmission mechanism.
[0008] The injection mechanism is movably mounted on the transmission mechanism;
[0009] The movable drive mechanism is mounted on the transmission mechanism; the output end of the movable drive mechanism is connected to the spray mechanism to drive the spray mechanism to change the jet orientation relative to the loam-like substrate.
[0010] The tilt monitoring mechanism is installed on the spraying mechanism; the tilt monitoring mechanism is used to detect the angle between the spraying mechanism and the ground surface;
[0011] The CNC system is mounted on the mounting body; the CNC system is signal-connected to the rotary drive mechanism, the injection mechanism, the movable drive mechanism, and the tilt angle monitoring mechanism; the CNC system is used to adjust the attitude of the injection mechanism according to the tilt angle information collected by the tilt angle monitoring mechanism, so as to change its jet direction.
[0012] Furthermore, the transmission mechanism is provided with a ball joint, and the spraying mechanism is provided with a ball hinge fitting groove. The ball joint is movably inserted into the ball hinge fitting groove so that the spraying mechanism can rotate along at least two mutually orthogonal rotation axes of the transmission mechanism.
[0013] Furthermore, the injection mechanism includes a mounting base, a drive housing, and a matrix injection structure; the mounting base is provided with the ball joint fitting groove; the drive housing is disposed on the mounting base; the matrix injection structure is disposed on the drive housing; the ball joint is provided with a matrix outlet; the ball joint fitting groove is provided with a matrix injection port; the drive housing is provided with a matrix temporary storage cavity; the matrix outlet, the matrix injection port, the matrix temporary storage cavity, and the matrix injection structure are sequentially connected along the matrix flow direction; the movable drive mechanism drives and connects to the drive housing; the tilt angle monitoring mechanism is disposed on the injection mechanism.
[0014] Furthermore, the active drive mechanism includes multiple linear drive mechanisms, one end of each of the multiple linear drive mechanisms is hinged to the transmission mechanism, and the other end is hinged to the drive housing; each of the linear drive mechanisms is signal-connected to the CNC system.
[0015] Furthermore, the mounting body includes a mounting sleeve and a mounting base connected sequentially along the direction of gravity; one end of the mounting sleeve away from the mounting base is rotatably sleeved on the transmission mechanism; the transmission mechanism is provided with a matrix flow channel; the mounting sleeve is provided with a matrix input hole and a liquid storage chamber; the matrix input hole, the liquid storage chamber, the matrix flow channel and the matrix outlet are sequentially connected along the direction of matrix flow; the movable drive mechanism is mounted on the mounting sleeve.
[0016] Furthermore, the transmission mechanism is provided with a mounting ring; one of the mounting ring and the mounting sleeve is provided with an annular moving structure, and the other is provided with an annular guide groove, the annular moving structure being slidably embedded in the annular guide groove; the output end of the movable drive mechanism is driven and connected to the mounting ring.
[0017] Furthermore, the mounting ring is provided with a driven gear; the mounting sleeve is provided with a mounting platform; the rotary drive mechanism includes a drive gear and a rotary drive motor; the drive gear is pivotally connected to the mounting platform; the rotary drive motor is mounted on the mounting platform, and the output end of the rotary drive motor drives and connects to the drive gear.
[0018] Furthermore, the transmission mechanism is provided with multiple anti-adhesion shear structures; each of the anti-adhesion shear structures is located within the matrix flow channel, and the multiple anti-adhesion shear structures are distributed at intervals along the length direction of the transmission mechanism.
[0019] Furthermore, the hydroseeding device for ecological restoration of steep mine slopes based on loam-like matrix also includes a guide rail; the mounting base is slidably inserted into the guide rail so as to slide along the length of the guide rail; a plug is provided on the end face of the guide rail away from the spraying mechanism, and the plug is used to insert into the ground surface.
[0020] Furthermore, the guide slide rail is provided with a guide groove and a drive groove; the guide groove and the drive groove are distributed at intervals along the direction of gravity; the mounting body also includes a pulley and a sliding drive mechanism; the pulley is pivotally connected to the mounting base and abuts against the guide groove; the sliding drive mechanism is disposed on the mounting base, and the output end of the sliding drive mechanism is driven and connected to the drive groove; the sliding drive mechanism is signal-connected to the CNC system.
[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0022] 1. The rotary drive mechanism drives the transmission mechanism to rotate as a whole, thereby adjusting the jet direction within a certain range in the horizontal direction; while the movable drive mechanism drives the spraying mechanism to change the pitch angle, thereby achieving a large range of jet direction adjustment in the vertical direction. It can be understood that the two-dimensional adjustments are independent of each other and do not interfere with each other, which can adapt to the complex working conditions of different slope angles, different spraying heights and different spraying distances on steep slopes in mines.
[0023] 2. By setting the tilt angle monitoring mechanism to collect the angle between the spraying mechanism and the ground surface in real time, the CNC system performs closed-loop control based on this, eliminating the cumulative error in open-loop control. Compared with traditional fixed spraying devices, the spraying accuracy of this device can be improved by 30% to 50%, effectively reducing the waste and missed spraying areas of the loam-like substrate. This enables the ecological restoration spraying device for steep mine slopes based on loam-like substrate to have a closed-loop control capability with real-time tilt angle feedback, improving spraying accuracy and angle adjustment speed.
[0024] 3. The precise and controllable jet orientation makes the loam-like substrate more evenly distributed on the slope, avoiding local areas that are too thick or too thin. The uniform substrate layer is conducive to seed germination and root growth, improving the survival rate and coverage of ecological restoration. In addition, for steep slopes with undulations or local depressions, the dynamic angle adjustment capability of the ecological restoration spraying device for steep mine slopes based on loam-like substrate can achieve targeted supplementary spraying. Attached Figure Description
[0025] Figure 1 This is a schematic diagram of the structure of a hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate, according to the present invention.
[0026] Figure 2 for Figure 1 A cross-sectional view of a hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate is shown.
[0027] Figure 3 for Figure 1 A cross-sectional view of a hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate is shown.
[0028] Figure 4 for Figure 1 The image shows a front view of a hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate.
[0029] In the diagram: 1. Mounting body; 11. Mounting sleeve; 111. Matrix inlet; 112. Liquid storage chamber; 113. Mounting platform; 12. Mounting base; 13. Pulley; 14. Sliding drive mechanism; 2. Transmission mechanism; 21. Ball joint; 22. Matrix outlet; 23. Mounting ring; 231. Driven gear; 24. Matrix flow channel; 25. Anti-adhesion shear structure; 3. Rotary drive mechanism; 31. Drive gear; 32. Rotary drive motor; 4. Spraying mechanism; 41. Mounting base; 411. Ball joint groove; 4111. Matrix injection port; 42. Drive housing; 421. Matrix temporary storage chamber; 43. Matrix spraying structure; 5. Movable drive mechanism; 51. Linear drive mechanism; 6. Guide rail; 61. Guide groove; 62. Drive groove. Detailed Implementation
[0030] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.
[0031] It should be noted that when an element is described as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is described as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementations.
[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.
[0033] See Figures 1-4 A preferred embodiment of the present invention provides a hydroseeding device for ecological restoration of steep mine slopes based on a loam-like matrix, comprising: an installation body, a transmission mechanism, a rotary drive mechanism, a spraying mechanism, a movable drive mechanism, an inclination monitoring mechanism, and a numerical control system;
[0034] The transmission mechanism is pivotally connected to the mounting body; the rotary drive mechanism is mounted on the mounting body, and the output end of the rotary drive mechanism drives and connects to the transmission mechanism; it can be understood that the rotary drive mechanism can be selected from worm gear reducers, planetary gear reducers, harmonic reducers, cycloidal pinwheel reducers, and direct-drive torque motors, etc.; more importantly, by driving the transmission mechanism to rotate as a whole through the rotary drive mechanism, the jet direction can be adjusted within a certain range in the horizontal direction;
[0035] The spraying mechanism is movably mounted on the transmission mechanism; the movable drive mechanism is mounted on the transmission mechanism; the output end of the movable drive mechanism drives the spraying mechanism to change the jet orientation relative to the loam-like substrate; it is understood that the movable drive mechanism can be selected from multiple independent electric push rods (in parallel), hydraulic servo cylinders (in parallel), pneumatic muscles and parallel motion platforms, etc.; more importantly, by driving the spraying mechanism to change the pitch angle through the movable drive mechanism, a large range of jet orientation adjustment in the vertical direction can be achieved. It is understood that the two-dimensional adjustment is independent and does not interfere with each other, which can adapt to the complex working conditions of different slope inclination angles, different spraying heights and different spraying distances on steep slopes in mines;
[0036] The tilt angle monitoring mechanism is installed on the spraying mechanism; the tilt angle monitoring mechanism is used to detect the angle between the spraying mechanism and the ground surface; the CNC system is installed on the mounting body; the CNC system is signal-connected to the rotary drive mechanism, the spraying mechanism, the movable drive mechanism, and the tilt angle monitoring mechanism; the CNC system is used to adjust the attitude of the spraying mechanism according to the tilt angle information collected by the tilt angle monitoring mechanism to change its jet direction; by setting the tilt angle monitoring mechanism to collect the angle between the spraying mechanism and the ground surface in real time, the CNC system performs closed-loop control accordingly, eliminating the accumulated error in open-loop control. Compared with traditional fixed spraying devices, the spraying point of this device is more precise. The spraying accuracy can be increased by 30% to 50%, effectively reducing waste and missed areas of the loam-like substrate. This enables the hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate to have a closed-loop control capability with real-time tilt angle feedback, improving spraying accuracy and angle adjustment speed. The precise and controllable jet direction makes the loam-like substrate more evenly distributed on the slope, avoiding local areas that are too thick or too thin. A uniform substrate layer is conducive to seed germination and root growth, improving the survival rate and coverage of ecological restoration. In addition, for steep slopes with undulations or local depressions, the dynamic angle adjustment capability of the hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate can achieve targeted supplementary spraying.
[0037] In use, firstly, the mounting body is fixed to the work platform and the CNC system is started for self-testing. The tilt angle monitoring mechanism collects the initial tilt angle between the spraying mechanism and the ground surface and transmits it back. Then, the CNC system calculates the required target pitch angle and target rotation angle based on the target spraying area and sends a rotation command to the rotary drive mechanism. The output end of the rotary drive mechanism drives the transmission mechanism to rotate horizontally relative to the mounting body, so that the spraying mechanism is aligned with the target area in the horizontal direction. Next, the CNC system sends a pitch adjustment command to the movable drive mechanism, and the output end of the movable drive mechanism drives the spraying mechanism to rotate horizontally relative to the mounting body. The transmission mechanism moves, changing the angle between the spraying mechanism and the ground surface. Simultaneously, the tilt angle monitoring mechanism provides real-time feedback on the current tilt angle, forming a closed-loop control until the target posture is reached. During the spraying process, the tilt angle monitoring mechanism continuously collects the real-time tilt angle of the spraying mechanism at a set frequency. If the actual tilt angle deviates from the target value due to vibration or terrain changes, the CNC system immediately issues fine-tuning compensation commands to the movable drive mechanism and, if necessary, the rotary drive mechanism, respectively, to achieve adaptive control of the two-dimensional jet orientation with dynamic adjustment while spraying. After the spraying is completed, the CNC system controls the movable drive mechanism and the rotary drive mechanism to reset, completing the entire operation process.
[0038] The rotary drive mechanism drives the transmission mechanism to rotate as a whole, thereby adjusting the jet direction within a certain range in the horizontal direction; while the movable drive mechanism drives the spraying mechanism to change the pitch angle, thereby achieving a large range of jet direction adjustment in the vertical direction. It can be understood that the two-dimensional adjustments are independent of each other and do not interfere with each other, which can adapt to the complex working conditions of different slope angles, different spraying heights and different spraying distances on steep slopes in mines.
[0039] By setting up the tilt monitoring mechanism to collect the angle between the spraying mechanism and the ground surface in real time, the CNC system performs closed-loop control based on this, eliminating the accumulated error in open-loop control. Compared with traditional fixed spraying devices, the spraying accuracy of this device can be improved by 30% to 50%, effectively reducing the waste and missed spraying areas of the loam-like substrate. This enables the ecological restoration spraying device for steep mine slopes based on loam-like substrate to have a closed-loop control capability with real-time tilt feedback, improving spraying accuracy and angle adjustment speed.
[0040] The precise and controllable jet orientation makes the loam-like substrate more evenly distributed on the slope, avoiding local areas that are too thick or too thin. The uniform substrate layer is conducive to seed germination and root growth, improving the survival rate and coverage of ecological restoration. In addition, for steep slopes with undulations or local depressions, the dynamic angle adjustment capability of the hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate can achieve targeted supplementary spraying.
[0041] See Figure 2 Preferably, the transmission mechanism is provided with a ball joint, and the injection mechanism is provided with a ball hinge fitting groove. The ball joint is movably inserted into the ball hinge fitting groove, so that the injection mechanism can rotate along at least two mutually orthogonal rotation axes of the transmission mechanism. Through the ball hinge engagement between the ball joint and the ball hinge fitting groove, the injection mechanism can rotate freely along at least two mutually orthogonal rotation axes (such as the pitch axis and yaw axis) of the transmission mechanism, and can even achieve slight rotation around its own axis. Compared with the traditional structure that uses two independent hinges (such as a horizontal rotation axis + a vertical rotation axis), the ball hinge structure integrates two rotational degrees of freedom into the same connection point, resulting in a more compact structure and smaller footprint, making it particularly suitable for the space-constrained working environment on steep slopes in mines. In addition, the ball joint and the ball hinge fitting groove form a surface contact fit, with a large contact area and uniform stress distribution, providing better vibration and impact resistance compared to point contact or line contact hinge structures. During the hydroseeding process, the recoil force generated by the spraying of the loam-like substrate and the vibration of the slope operation platform can be effectively absorbed and dispersed by the ball joint structure, reducing fatigue damage to the connection parts of the transmission mechanism and the spraying mechanism.
[0042] See Figures 2-4 Preferably, the injection mechanism includes a mounting base, a drive housing, and a matrix injection structure; the mounting base is provided with the ball joint fitting groove; the drive housing is disposed on the mounting base; the matrix injection structure is disposed on the drive housing; the ball joint is provided with a matrix outlet; the ball joint fitting groove is provided with a matrix injection port; the drive housing is provided with a matrix temporary storage cavity; the matrix outlet, the matrix injection port, the matrix temporary storage cavity, and the matrix injection structure are sequentially connected along the matrix flow direction; the movable drive mechanism drives and connects to the drive housing; the tilt angle monitoring mechanism is disposed on... The spraying mechanism, as understood, involves the matrix outlet and the matrix inlet mating at a ball joint. When the spraying mechanism rotates around the ball joint, the matrix inlet remains connected to the matrix outlet. By rationally designing the aperture of the matrix outlet and the sealing structure of the mating surfaces (such as an embedded sealing ring), the continuous and stable delivery of the loam-like matrix to the matrix spraying structure can be ensured regardless of the spraying mechanism's orientation. Furthermore, the entire flow path is completely integrated within the mating structure of the ball joint and the spraying mechanism, eliminating the need for external hoses. This avoids the problems of entanglement, bending, wear, or breakage of hoses caused by the movement of the spraying mechanism in traditional hydroseeding devices, thus improving the reliability of the hydroseeding device for ecological restoration of steep mine slopes based on loam-like matrix.
[0043] See Figure 3Preferably, the active drive mechanism includes multiple linear drive mechanisms, one end of which is hinged to the transmission mechanism and the other end of which is hinged to the drive housing; each linear drive mechanism is signal-connected to the CNC system; it can be understood that the linear drive mechanism can be a trapezoidal lead screw electric actuator, a ball screw electric actuator, a planetary roller lead screw electric actuator, or a hydraulic cylinder, etc.; more importantly, by hinged one end of the multiple linear drive mechanisms to the transmission mechanism and the other end to the drive housing, a spatial parallel drive layout is formed, enabling each linear drive mechanism to form different combinations of elongation, thereby driving the injection mechanism to achieve arbitrary attitude adjustment in pitch, yaw, and even roll directions around the center of the ball joint, theoretically obtaining three complete rotational degrees of freedom.
[0044] See Figure 1 and Figure 2 Preferably, the mounting body includes a mounting sleeve and a mounting base connected sequentially along the direction of gravity; one end of the mounting sleeve away from the mounting base is rotatably sleeved on the transmission mechanism; the transmission mechanism is provided with a matrix flow channel; the mounting sleeve is provided with a matrix inlet and a liquid storage chamber; the matrix inlet, the liquid storage chamber, the matrix flow channel, and the matrix outlet are sequentially connected along the direction of matrix flow; the movable drive mechanism is installed on the mounting sleeve; it can be understood that the soil-like matrix flows sequentially through the matrix inlet, the liquid storage chamber, the matrix flow channel, the matrix outlet, the matrix injection port, and the matrix temporary storage chamber, finally reaching the matrix spraying structure, so that the entire flow path is completely built into the mounting body and the transmission mechanism, without the need for any external hoses. This avoids the problems of entanglement, wear, and breakage that occur when traditional hoses rotate with the transmission mechanism, and is suitable for high and steep slope spraying scenarios that require continuous rotation operations.
[0045] See Figure 2 and Figure 3 Preferably, the transmission mechanism includes a mounting ring; one of the mounting ring and the mounting sleeve has an annular moving structure, and the other has an annular guide groove, with the annular moving structure slidably embedded in the annular guide groove; the output end of the movable drive mechanism drives and connects to the mounting ring; the annular moving structure slidably embedded in the annular guide groove forms a sliding guide pair with a large diameter and a long contact surface between the two. It can be understood that, compared to traditional single-point or small-diameter rotary support structures, this annular mating structure significantly improves the rotational coaxiality and angular stability of the transmission mechanism relative to the mounting sleeve, effectively suppressing radial sway and axial movement during rotation, thereby improving the smoothness of rotation of the transmission mechanism.
[0046] See Figure 2and Figure 3 Preferably, the mounting ring is provided with a driven gear; the mounting sleeve is provided with a mounting platform; the rotary drive mechanism includes a driving gear and a rotary drive motor; the driving gear is pivotally connected to the mounting platform; the rotary drive motor is mounted on the mounting platform, and the output end of the rotary drive motor drives the driving gear; it can be understood that the driving gear and the driven gear form a gear pair, and the rotary drive motor drives the driving gear to rotate, thereby driving the mounting ring and the entire transmission mechanism to rotate. Obviously, gear transmission has a constant transmission ratio and no slippage characteristics, which enables the CNC system to accurately control the rotation angle of the transmission mechanism, thereby improving the positioning accuracy of the horizontal jet direction of the spray mechanism.
[0047] See Figure 2 and Figure 3 Preferably, the transmission mechanism is provided with multiple anti-adhesion shear structures; each of the anti-adhesion shear structures is located within the matrix flow channel, and the multiple anti-adhesion shear structures are distributed at intervals along the length direction of the transmission mechanism. It is understood that since the loam-like matrix often contains cemented agglomerates, fiber clumps, or insufficiently stirred dry powder lumps, these agglomerates easily accumulate and block the channel when flowing through it. Therefore, by applying shear force to the agglomerates during matrix flow through each of the anti-adhesion shear structures, they are broken into fine particles, ensuring that the matrix can smoothly pass through the matrix flow channel, the matrix outlet, and the subsequent matrix spraying structure.
[0048] See Figure 4 Preferably, the hydroseeding device for ecological restoration of steep mine slopes based on loam-like matrix further includes a guide rail; the mounting base is slidably inserted into the guide rail to slide along its length; a connecting stake is provided on the end face of the guide rail away from the spraying mechanism, the connecting stake being used to insert into the ground surface; it can be understood that after the guide rail is fixed to the slope surface by the connecting stake, the mounting base can slide along the length of the guide rail, driving the entire device to move within the coverage area of the rail. Obviously, compared with traditional hydroseeding devices that require repeated disassembly and anchoring, this device only requires one anchoring fixation to cover the entire spraying area along the length of the rail, greatly improving work efficiency and continuity. The sliding movement of the mounting base provides linear movement freedom along the slope direction, and the rotational movement of the transmission mechanism provides rotational freedom in the horizontal direction. The superposition of the two movements enables the spraying mechanism to perform scanning spraying on a large area on both sides and in front of the rail, significantly expanding the effective working area of a single anchoring.
[0049] See Figure 4Preferably, the guide rail is provided with a guide groove and a drive groove; the guide groove and the drive groove are distributed at intervals along the direction of gravity; the mounting body also includes a pulley and a sliding drive mechanism; the pulley is pivotally connected to the mounting base and abuts against the guide groove; the sliding drive mechanism is disposed on the mounting base, and the output end of the sliding drive mechanism drives and connects to the drive groove; the sliding drive mechanism is signal-connected to the CNC system; obviously, by forming a precision rolling guide pair with the pulley through the guide groove, the sliding friction resistance can be reduced; and the double groove structure distributed at intervals along the direction of gravity provides anti-overturning moment capability; more importantly, the CNC system controls the sliding drive mechanism to drive the mounting base to move along the drive groove according to the preset spraying path or real-time operation command, thereby realizing adaptive compensation to the terrain.
[0050] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of those different embodiments or examples.
[0051] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "a plurality of" means two or more, unless otherwise explicitly specified.
[0052] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various variations or substitutions within the technical scope disclosed in this application, and these should all be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
Claims
1. A hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate, characterized in that, include: Mounting body (1); Transmission mechanism (2), which is pivotally connected to the mounting body (1); A rotary drive mechanism (3) is mounted on the mounting body (1), and the output end of the rotary drive mechanism (3) is connected to the transmission mechanism (2). The injection mechanism (4) is movably mounted on the transmission mechanism (2). An active drive mechanism (5) is installed on the transmission mechanism (2); the output end of the active drive mechanism (5) drives the jetting mechanism (4) to change the jet orientation relative to the loam-like substrate. An angle monitoring mechanism is provided on the spraying mechanism (4); the angle monitoring mechanism is used to detect the angle between the spraying mechanism (4) and the ground surface; The numerical control system is installed on the mounting body (1); the numerical control system is signal connected to the rotary drive mechanism (3), the injection mechanism (4), the movable drive mechanism (5) and the tilt angle monitoring mechanism; the numerical control system is used to adjust the attitude of the injection mechanism (4) according to the tilt angle information collected by the tilt angle monitoring mechanism, so as to change its jet direction.
2. The hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate as described in claim 1, characterized in that, The transmission mechanism (2) is provided with a ball joint (21), and the spraying mechanism (4) is provided with a ball hinge fitting groove (411). The ball joint (21) is movably inserted into the ball hinge fitting groove (411) so that the spraying mechanism (4) can rotate along at least two mutually orthogonal rotation axes of the transmission mechanism (2).
3. The hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate according to claim 2, characterized in that, The injection mechanism (4) includes a mounting base (41), a drive housing (42), and a matrix injection structure (43); the mounting base (41) is provided with the ball joint groove (411); the drive housing (42) is disposed on the mounting base (41); the matrix injection structure (43) is disposed on the drive housing (42); the ball joint (21) is provided with a matrix outlet (22); the ball joint groove (411) is provided with a matrix injection port (4111); the drive housing (42) is provided with a matrix temporary storage cavity (421); the matrix outlet (22), the matrix injection port (4111), the matrix temporary storage cavity (421), and the matrix injection structure (43) are sequentially connected along the direction of matrix flow; the movable drive mechanism (5) drives and connects to the drive housing (42); the tilt angle monitoring mechanism is disposed on the injection mechanism (4).
4. The hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate according to claim 3, characterized in that, The active drive mechanism (5) includes multiple linear drive mechanisms (51), one end of each of the multiple linear drive mechanisms (51) is hinged to the transmission mechanism (2), and the other end is hinged to the drive housing (42); each of the linear drive mechanisms (51) is signal connected to the CNC system.
5. A hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate as described in claim 3, characterized in that, The mounting body (1) includes a mounting sleeve (11) and a mounting base (12) connected sequentially along the direction of gravity; one end of the mounting sleeve (11) away from the mounting base (12) is rotatably sleeved on the transmission mechanism (2); the transmission mechanism (2) is provided with a matrix flow channel (24); the mounting sleeve (11) is provided with a matrix input hole (111) and a liquid storage chamber (112); the matrix input hole (111), the liquid storage chamber (112), the matrix flow channel (24) and the matrix outlet (22) are connected sequentially along the direction of matrix flow; the movable drive mechanism (5) is installed on the mounting sleeve (11).
6. The hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate according to claim 5, characterized in that, The transmission mechanism (2) is provided with a mounting ring (23); one of the mounting ring (23) and the mounting sleeve (11) is provided with an annular moving structure, and the other is provided with an annular guide groove. The annular moving structure is slidably embedded in the annular guide groove. The output end of the active drive mechanism (5) is driven to connect to the mounting ring (23).
7. The hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate according to claim 6, characterized in that, The mounting ring (23) is provided with a driven gear (231); the mounting sleeve (11) is provided with a mounting platform (113); the rotary drive mechanism (3) includes a drive gear (31) and a rotary drive motor (32); the drive gear (31) is pivotally connected to the mounting platform (113); the rotary drive motor (32) is mounted on the mounting platform (113), and the output end of the rotary drive motor (32) drives and connects to the drive gear (31).
8. The hydroseeding device for ecological restoration of steep mine slopes based on loam-like substrate according to claim 5, characterized in that, The transmission mechanism (2) is provided with a plurality of anti-adhesion shear structures (25); each of the anti-adhesion shear structures (25) is located in the matrix flow channel (24), and the plurality of anti-adhesion shear structures (25) are distributed at intervals along the length direction of the transmission mechanism (2).
9. A hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate, as described in claim 5, is characterized in that... The above-mentioned ecological restoration spraying device for steep mine slopes based on loam-like matrix also includes a guide rail (6); the mounting base (12) is slidably inserted into the guide rail (6) so as to be able to slide along the length direction of the guide rail (6); the guide rail (6) has a plug on one end face away from the spraying mechanism (4), and the plug is used to insert into the ground surface.
10. A hydroseeding device for ecological restoration of steep mine slopes based on a loam-like substrate as described in claim 6, characterized in that, The guide rail (6) is provided with a guide groove (61) and a drive groove (62); the guide groove (61) and the drive groove (62) are distributed at intervals along the direction of gravity; the mounting body (1) also includes a pulley (13) and a sliding drive mechanism (14); the pulley (13) is pivotally connected to the mounting base (12), and the pulley (13) abuts against the guide groove (61); the sliding drive mechanism (14) is disposed on the mounting base (12), and the output end of the sliding drive mechanism (14) drives and connects to the drive groove (62); the sliding drive mechanism (14) is signal connected to the CNC system.