CN115126017A

CN115126017A - Mine ecological restoration robot

Info

Publication number: CN115126017A
Application number: CN202210777432.8A
Authority: CN
Inventors: 王佟; 刘金森; 谢色新; 王皎锋; 饶晓; 廖伟杰; 袁志强; 傅磊; 向慧
Original assignee: Guangdong Zhongmei Geological Ecological Environment Co ltd
Current assignee: Guangdong Zhongmei Geological Ecological Environment Co ltd
Priority date: 2022-07-04
Filing date: 2022-07-04
Publication date: 2022-09-30

Abstract

Mine ecological remediation robot, including the frame platform, the driver's cabin, the engine case, an engine, a power generation system, a hydraulic pressure station system, two lift arm mechanisms, rotatory bucket, vibration screening conveying system, soil neutralization system and rubble are transported and are carried the conveyer belt, the equal fixed mounting in bottom left side and the right side of frame platform has crawler travel assembly, two lift arm mechanisms are installed in the preceding lateral part left and right sides of frame platform, rotatory bucket rotates and installs between the front end of two lift arm mechanisms, vibration screening conveying system sets up the middle part downside at the frame platform along fore-and-aft direction level, soil neutralization system is fixed to be set up in vibration screening conveying system's rear end below, the rubble is transported the conveyer belt high-right side low slope and is set up in the rear end left side of frame platform, the rotatory bucket of power output shaft drive of engine rotates. The invention can sieve soil and broken stones and neutralize the soil while walking, digging and screening, thereby restoring mine land containing broken stones into land suitable for planting vegetation.

Description

Mine ecological restoration robot

Technical Field

The invention relates to the technical field of environmental remediation, in particular to a mine ecological remediation robot.

Background

Mineral resources are important material resources, however, mining causes serious damage to the mine environment, which not only affects the natural landscape around the mine and causes mine soil pollution, but also induces landslide and causes geological disasters such as water and soil loss, which causes serious harm to the life of surrounding residents, and environmental problems related to the quality of life of people, so that the mining ecology needs to be restored, and the restoration of the mine ecology is usually to plant vegetation on the mine again.

However, a large amount of crushed stones are often buried in the mined mine soil, and the mine soil is not suitable for planting vegetation after being polluted.

Disclosure of Invention

The invention aims to provide a mine ecological restoration robot which can screen soil and broken stones and neutralize the soil while walking, digging and screening, and further restore mine land containing broken stones into land suitable for vegetation planting so as to plant the vegetation for mine ecological restoration work.

In order to achieve the purpose, the invention adopts the following technical scheme:

the mine ecological restoration robot comprises a frame platform, a cab, a power chassis, an engine, a power generation system, a hydraulic station system, two arm lifting mechanisms, a rotary bucket, a vibration screening conveying system, a soil neutralization system and a gravel transfer belt conveyor, wherein crawler traveling assemblies are fixedly arranged on the left side and the right side of the bottom of the frame platform, the cab is arranged on the left side of the upper portion of the frame platform, the power chassis is arranged on the right side of the upper portion of the frame platform, the engine, the power generation system and the hydraulic station system are arranged in the power chassis, the two arm lifting mechanisms are symmetrically arranged on the left side and the right side of the front side portion of the frame platform, the rotary bucket is horizontally and rotatably arranged between the front end portions of the two arm lifting mechanisms in the left-right direction, the left-right length of the rotary bucket is larger than the distance between the two crawler traveling assemblies and smaller than the left-right width of the frame platform, the vibration screening conveying system is horizontally arranged on the lower side of the middle of the frame platform in the front-back direction, the soil neutralization system is fixedly arranged at the rear lower part of the frame platform and is positioned below the rear end part of the vibration screening conveying system, the gravel transferring conveying belt conveyor is arranged on the left side of the rear end of the frame platform in a left-right direction high-right low-inclination manner, the conveying direction of the vibration screening conveying system is arranged from front to back, the conveying direction of the gravel transferring conveying belt conveyor is arranged from bottom right to top left, the front side of the vibration screening conveying system is arranged below the middle part of the rotary bucket, the right side of the gravel transferring conveying belt conveyor is arranged below the rear side of the vibration screening conveying system, the engine respectively provides power for the power generation system and the hydraulic station system, the power output shaft of the engine drives the rotary bucket to rotate through the axle transmission assembly, the power generation system is respectively electrically connected with the vibration screening conveying system and the soil neutralization system, and the hydraulic station system is respectively electrically connected with the two crawler traveling assemblies, The hydraulic drive motor of the broken stone transferring and conveying belt conveyor is connected with the two arm lifting mechanisms through a hydraulic oil way.

The two arm lifting mechanisms are identical in structure, the left arm lifting mechanism comprises a hinged support, a crank arm and a lifting hydraulic oil cylinder, the hinged support is fixed to the left portion of the front side of the frame platform, the crank arm is arranged to be inclined forwards and backwards in the front-back direction, the front side portion of the crank arm is bent forwards and downwards to form a V-shaped arm, the rear end portion of the crank arm is hinged to the upper portion of the hinged support, the lifting hydraulic oil cylinder is arranged to be inclined forwards and backwards in a front-high and back-low mode, two ends of the lifting hydraulic oil cylinder are respectively hinged to the front side of the middle of the crank arm and the lower portion of the hinged support, and the hydraulic station system is connected with the lifting hydraulic oil cylinder through a hydraulic oil circuit.

The rotary bucket comprises a rotary roller, the rotary roller is horizontally arranged along the left-right direction, the outer circular edge of the left end surface and the outer circular edge of the right end surface of the rotary roller are uniformly and fixedly connected with inner gear rings which are concentrically arranged, the outer circumference of the left end of the left inner gear ring and the outer circumference of the right end of the right inner gear ring are uniformly and fixedly connected with a circular baffle, the outer circumference of the circular baffle is provided with a plurality of tooth sockets which are arranged in a circumferential array, the opening side of the tooth sockets at the upper side faces to the rear upper part, the outer circumference of the rotary roller is fixedly connected with a plurality of bucket clapboards which are arranged in a circumferential array along the axial direction, the outer side edges of the bucket clapboards are flush with the outer circumference of the circular baffle, the left side edges of the bucket clapboards are fixedly connected with the right side surface of the left circular baffle, the right side edges of the bucket clapboards are fixedly connected with the left side surface of the right circular baffle, and the bucket clapboards at the upper side are arranged in a low front-back high inclination manner, the vertical fixedly connected with arc cutting board of fore-and-aft direction is followed at a side middle part of bucket baffle dorsad rotary drum, equal fixedly connected with spiral cutting board between the right flank of a side left part of bucket baffle dorsad rotary drum and left ring baffle and between the left flank of a side right part of bucket baffle dorsad rotary drum and the ring baffle on right side, left spiral cutting board spirals from left to right along rotary drum's axial, spiral cutting board on right side spirals from right to left along rotary drum's axial, all fixed a plurality of pieces of left and right spaced bucket teeth that are provided with on the outer side of each bucket baffle, rotary drum's left end face center and right end face center are the equal coaxial fixed pivot that is provided with, the left end of left pivot is rotated and is connected the right side front end at left crank arm, the right-hand member of the pivot on right side rotates and connects the left side front end at right side crank arm on right side.

The axle transmission assembly comprises a drive axle, a supporting beam, a speed reducer, a transmission shaft and two first bearing supports, the drive axle horizontally crosses and is fixedly connected with the rear sides of the middle parts of the upper side surfaces of the two crank arms along the left-right direction, the supporting beam is horizontally and fixedly connected between the rear sides of the middle parts of the two crank arms along the left-right direction and is positioned below the rear part of the drive axle, the speed reducer is fixedly arranged on the supporting beam and is positioned on the right rear side of the middle part of the drive axle, a front power output shaft of the speed reducer is coaxially connected with a rear power input shaft of the drive axle in a transmission way, a power output shaft of an engine forwards extends out of the front side of the power case and is connected with the rear power output shaft of the speed reducer in a transmission way through the transmission shaft, the front end of the power output shaft of the engine is obliquely arranged in a high-rear-high-rear way, the rear end of the rear power output shaft of the engine is connected with the rear end of the transmission shaft through universal joints, and the rear end of the rear power output shaft of the speed reducer is connected with the front end of the transmission shaft, the two first bearing supports are respectively and fixedly arranged at the front parts of the upper side surfaces of the two crank arms in a bilateral symmetry manner, a first driving shaft horizontally arranged along the left-right direction is rotatably arranged on each of the two first bearing supports, the first driving shaft penetrates through the first bearing supports, the right end of the first driving shaft at the left side extends into the inner hole of the inner gear ring at the left side rightwards, the left end of the first driving shaft on the right side extends into an inner hole of the inner gear ring on the right side leftwards, the right end of the first driving shaft on the left side and the left end of the first driving shaft on the right side are both fixedly provided with a driving gear, the driving gear on the left side is in meshing transmission connection with the inner gear ring on the left side, the driving gear on the right side is in meshing transmission connection with the inner gear ring on the right side, and the left end of the first driving shaft on the left side is in transmission connection with the left end of a driving axle and the right end of the first driving shaft on the right side is in transmission connection with the right end of the driving axle through a chain transmission mechanism.

The vibrating screening conveying system comprises a screening conveying belt machine, a V-shaped guide plate, a left lower guide plate, a right lower guide plate, a soil paving plate and two vibrating mechanisms, wherein the screening conveying belt machine is horizontally arranged on the lower side of the middle part of a frame platform along the front-back direction, a plurality of sieve holes are uniformly formed in a belt of the screening conveying belt machine, a horizontal connecting plate is fixedly connected between the left end of a front conveying roller and the left end of a rear conveying roller of the screening conveying belt machine and between the right end of the front conveying roller and the right end of the rear conveying roller of the screening conveying belt machine, the left side and the right side of the front end part of a frame of the screening conveying belt machine are both hinged to the lower part of the front side of the frame platform, the V-shaped guide plate is horizontally arranged under the upper half width of the belt of the screening conveying belt machine along the front-back direction, the front side, the rear side and the lower side of the V-shaped guide plate are both open, the left side plate of the V-shaped guide plate penetrates through a gap between the horizontal connecting plate on the left side and the left side edge of the upper half width of the belt of the screening conveying belt machine to the left side of the screening conveying belt machine, the right side plate of the V-shaped guide plate penetrates through a gap between a horizontal connecting plate on the right side and the upper half right side edge of a belt of a screening belt conveyer rightwards and downwards, the left side plate of the V-shaped guide plate is fixedly connected onto a horizontal connecting plate on the left side, the right side plate of the V-shaped guide plate is fixedly connected onto a horizontal connecting plate on the right side, the left lower guide plate is obliquely arranged on the left side edge lower side of the left side plate of the V-shaped guide plate leftwards and rightwards, the left lower guide plate is obliquely arranged on the right side edge lower side of the right side plate of the V-shaped guide plate leftwards and rightwards, a plurality of vertical connecting rods which are arranged at intervals from front to back are fixedly connected between the left lower guide plate and the right lower guide plate of the V-shaped guide plate and between the right lower guide plate and the right lower guide plate of the belt conveyer leftwards, two vibrating mechanisms are symmetrically arranged on the rear side of a frame platform and respectively under the left side end part and the left side part and the right side edge of the frame of the screening belt conveyer leftwards and the left side and the right side edge of the screening belt conveyer belt respectively The front end upper portion of screening conveyor belt is fixed and is provided with preceding high back low slope setting and is located the hopper that connects between two crawler travel assemblies of rotary drum middle part rear below, and the rear end lower part of screening conveyor belt is fixed and is provided with preceding high back low slope setting and is located the play hopper that the rubble was transported conveyor belt right side portion top, and power generation system is connected with the driving motor electricity of screening conveyor belt.

The two vibrating mechanisms have the same structure, the left vibrating mechanism comprises a vibrating motor, a second bearing support, a driven belt wheel, an eccentric wheel and a vibrating lifting rod, the vibrating motor is fixedly arranged at the left upper part of the rear side of the frame platform, the second bearing support is fixedly arranged at the left lower part of the rear side of the frame platform, a second driving shaft horizontally arranged along the left-right direction is rotatably arranged on the second bearing support, the second driving shaft penetrates through the second bearing support, the driven belt wheel is fixedly arranged at the left end of the second driving shaft, the eccentric wheel is fixedly arranged at the right end of the second driving shaft, the vibrating lifting rod is vertically arranged at the right side of the eccentric wheel, the upper end of the vibrating lifting rod is hinged at the outer edge eccentric part of the right side surface of the eccentric wheel, the lower end of the vibrating lifting rod is hinged at the left side of the rear end part of the frame of the screening conveyor belt, and a driving belt wheel is fixedly arranged at the right end of a power shaft of the vibrating motor, the driving belt wheel is in transmission connection with the driven belt wheel through a synchronous belt penetrating through the frame platform, and the power generation system is electrically connected with the vibration motor.

The soil neutralization system comprises an acid neutralization tank, an alkaline neutralization tank, an acid liquid supply pump, an alkaline liquid supply pump and two nested neutralization liquid sprayers, wherein the acid neutralization tank, the alkaline neutralization tank, the acid liquid supply pump and the alkaline liquid supply pump are all fixedly arranged on the upper part of a frame platform, the two nested neutralization liquid sprayers are symmetrically and fixedly arranged on the lower part of the rear side of the frame platform in front and at the back and are positioned below the rear side edge of a soil flat plate, the vertical projection of the rear side edge of the soil flat plate is positioned between the two nested fertilizer sprayers, the outlet of the acid neutralization tank is connected with the inlet of the acid liquid supply pump through an acid liquid outlet pipe, the outlet of the acid liquid supply pump is respectively connected with acid liquid through-flow spaces of the two nested neutralization liquid sprayers through an acid liquid supply pipe, the outlet of the alkaline neutralization tank is connected with the inlet of the alkaline liquid supply pump through an alkaline liquid outlet pipe, the outlet of the alkaline liquid supply pump is respectively connected with the alkaline liquid through-flow spaces of the two nested neutralization liquid sprayers through an alkaline liquid supply pipe, the nested neutralization liquid spraying machine on the front side sprays acid liquid or alkali liquid backwards, the nested neutralization liquid spraying machine on the rear side sprays the acid liquid or the alkali liquid forwards, and the power generation system is electrically connected with the acid liquid supply pump and the alkali liquid supply pump respectively.

The nested neutralizing liquid sprayer on the front side comprises a swing motor, an outer spray pipe, an inner spray pipe and a right-angle pipe joint, wherein the outer spray pipe and the inner spray pipe are horizontally arranged on the front lower side of the rear side edge of the soil floor plate along the left-right direction, the outer spray pipe is concentrically sleeved outside the inner spray pipe, the inner diameter of the outer spray pipe is larger than the outer diameter of the inner spray pipe, the length of the outer spray pipe is smaller than that of the inner spray pipe, the right end and the left end of the outer spray pipe and the right end of the inner spray pipe are blocked, the left end of the outer spray pipe is fixedly connected to the outer circumference of the left side part of the inner spray pipe, the right end of the outer spray pipe is fixedly connected to the outer circumference of the right end part of the inner spray pipe, an acid liquid through-flow space is formed inside the inner spray pipe, an alkali liquid through-flow space is formed by a ring cavity between the outer spray pipe and the inner spray pipe, the swing motor is fixedly arranged on the right lower part of the rear side of a frame platform and is positioned on the right side of the inner spray pipe, the right-angle pipe joint is fixedly arranged on the left lower part of the rear side of the frame platform and is positioned on the left side of the inner spray pipe, the left end of a power shaft of the swing motor is coaxially connected with the right end of the inner spray pipe in a transmission manner, the right-angle pipe joint comprises a vertical pipe and a horizontal pipe, the horizontal pipe is horizontally arranged along the left-right direction, the lower end of the vertical pipe is integrally and fixedly connected to the upper side pipe wall of the left end part of the horizontal pipe and is communicated with the inside of the horizontal pipe, the left end part of the outer spray pipe is concentrically and rotatably arranged in the horizontal pipe, through holes which are concentric up and down and are communicated with the vertical pipe up and down are respectively arranged on the upper side pipe wall and the lower side pipe wall of the left side part of the outer spray pipe, the left end of the inner spray pipe extends out of the left end of the outer spray pipe leftwards, a first sealing structure is arranged between the left end part of the outer circumference of the outer spray pipe and the left end part of the inner circumference of the horizontal pipe, a second sealing structure is arranged between the left side part of the outer circumference of the outer spray pipe and the right end part of the inner circumference of the horizontal pipe, and an arc-shaped plate is fixedly connected to the pipe wall of the rear side part of the outer spray pipe through a plurality of first fastening screws, the front side surface of the arc-shaped plate is an arc-shaped surface tightly attached to the pipe wall of the rear side part of the outer spray pipe, the rear side surface of the arc-shaped plate is a vertical plane, the pipe wall of the rear side of the inner spray pipe is provided with two rows of threaded holes which are spaced up and down, the pipe wall of the rear side of the outer spray pipe is provided with two rows of round holes which are spaced up and down, the arc-shaped plate is provided with two rows of through-flow holes which are spaced up and down, each threaded hole, each round hole and each through-flow hole are respectively arranged in a one-to-one correspondence manner, the aperture of each round hole is the same as that of the through-flow hole, each threaded hole is internally provided with a high-pressure spray nozzle communicated with an acid liquor through-flow space, acid liquor is sprayed backwards through the high-pressure spray nozzle, the rear end of the high-pressure spray nozzle backwards penetrates through the corresponding round hole and is positioned in the corresponding through-flow hole, the outer diameter of the high-pressure spray nozzle is smaller than that of the round hole, and a dustproof ring sleeved on the outer circumference of the rear end of the high-pressure spray nozzle is fixedly embedded in the rear side part of the through-flow hole, the dustproof ring is provided with a plurality of spray holes which are arranged in a circumferential array and are through from front to back, alkali liquor is sprayed backwards through the annular cavity between the high-pressure spray head and the through-flow holes and the corresponding spray holes, the upper end of the vertical pipe is fixedly connected with the water outlet end of the acid liquor supply pipe, the left end of the inner spray pipe is connected with the liquid outlet end of the alkali liquor supply pipe through a rotary joint, and the power generation system is electrically connected with the swing motor.

The first sealing structure comprises a first sealing ring, a first step groove is formed in the inner circle of the left end of the horizontal pipe, the first sealing ring is fixedly embedded in the bottom of the right side groove of the first step groove and sleeved on the left side part of the outer spray pipe, a first bearing and a first isolating pipe sleeve sleeved on the left side part of the outer spray pipe are fixedly embedded in the left side groove of the first step groove from left to right in sequence, a flange end cover sleeved on the left side part of the inner spray pipe is fixedly installed at the left end of the horizontal pipe through a plurality of second fastening screws and is in rotary sealing connection with the inner spray pipe, a rotary gap is reserved between the right end surface of the flange end cover and the left end of the outer spray pipe, a first O-shaped ring tightly contacted with the left end surface of the horizontal pipe is fixedly embedded in the edge surface of the right end of the flange end cover, an annular flange extending into the left side groove of the first step groove is integrally formed in the inner circle of the right end of the flange end cover, and the excircle of the annular flange is tightly matched with the inner circle of the left side groove of the first step groove, the right end of the circular flange is tightly pressed on the left end face of the outer ring of the first bearing, a limiting baffle ring tightly pressing the left end face of the inner ring of the first bearing is fixedly embedded and sleeved on the outer circumference of the left end of the outer spray pipe, the first bearing tightly presses the first isolating pipe sleeve, and the first isolating pipe sleeve tightly presses the first sealing ring;

the second sealing structure comprises a second sealing ring, a sealing spacer bush and a sealing compression ring, a second step groove is formed in the inner circle of the right end of the horizontal pipe, the second sealing ring is fixedly embedded in the bottom of the left side groove of the second step groove and sleeved on the left side part of the outer spray pipe, a second isolation pipe sleeve, a second bearing and a third isolation pipe sleeve which are sleeved on the left side part of the outer spray pipe are sequentially fixedly embedded in the right side groove of the second step groove from left to right, the sealing spacer bush and the sealing compression ring are sleeved on the outer spray pipe at the same center at intervals left and right, a circular boss is integrally formed on the outer circumference of the right end part of the sealing spacer bush, the left side surface of the circular boss is tightly pressed on the right end surface of the horizontal pipe, a third O-shaped ring which is tightly pressed and contacted with the right end surface of the horizontal pipe is fixedly embedded on the left side surface of the circular boss, the sealing compression ring is sleeved at the right end part of the outer spray pipe at the same center and tightly pressed on the right side surface of the circular boss, and the sealing compression ring is fixedly connected to the right end of the horizontal pipe through a plurality of third fastening screws which penetrate through the circular boss, the left side part of the sealing spacer sleeve is embedded in the right side groove of the second step groove, the excircle of the left side part of the sealing spacer sleeve is in clearance fit with the inner circle of the right side groove of the second step groove, the inner circle of the left end of the sealing spacer sleeve is provided with a first mounting groove, the inner circle of the right end of the sealing spacer sleeve is provided with a second mounting groove, the left end of the sealing spacer sleeve is tightly pressed against the third isolation pipe sleeve, the third isolation pipe sleeve is tightly pressed against the right end surface of the outer ring of the second bearing, the left end surface of the outer ring of the second bearing is tightly pressed against the second isolation pipe sleeve, the second isolation pipe sleeve is tightly pressed against the second sealing ring, the third sealing ring sleeved on the left side part of the outer spray pipe is fixedly embedded in the first mounting groove, the fourth sealing ring sleeved on the left side part of the outer spray pipe is fixedly embedded in the second mounting groove, the sealing ring is tightly pressed against the fourth sealing ring, the first sealing ring and the second sealing ring, the third sealing ring and the fourth sealing ring are both tightly matched with the outer spray pipe and rotate in a sealing mode.

The left side and the right side of the upper half of a belt of the screening and conveying belt conveyor and the left side and the right side of the lower half of the belt are both fixedly provided with strip baffles, the strip baffles on the left side and the right side are identical in structure and the left side and the right side are identical, a C-shaped groove plate with openings in the front side, the rear side and the right side is integrally formed in the middle of the strip baffle on the left side, the left side of the belt of the screening and conveying belt conveyor is slidably embedded in a groove of the C-shaped groove plate, two rows of rollers which are spaced up and down are arranged in the groove of the C-shaped groove plate, the left side of the belt of the screening and conveying belt conveyor slides between the corresponding two rows of rollers, and wear-resistant strips are adhered to the left side and the right side of the belt of the screening and conveying belt conveyor;

a plurality of distributing mechanisms which are arranged at intervals are fixedly arranged on the left side of the strip baffle on the left upper side and the right side of the strip baffle on the right upper side, and each distributing mechanism on the left side and each distributing mechanism on the right side have the same structure and are arranged symmetrically left and right; the left distribution mechanism comprises a distribution hydraulic oil cylinder, a cylinder body of the distribution hydraulic oil cylinder is fixedly arranged on the upper portion of the strip baffle on the upper left side and is higher than the upper half of the belt of the screening and conveying belt conveyor, a piston rod of the distribution hydraulic oil cylinder horizontally extends rightwards to penetrate through the strip baffle on the upper left side and is positioned above the upper half of the belt of the screening and conveying belt conveyor, a distribution rake is fixedly arranged at the right end of the piston rod of the distribution hydraulic oil cylinder, the lower end of the distribution rake is 1-5mm higher than the upper half of the belt of the screening and conveying belt conveyor, and the hydraulic station system is connected with the distribution hydraulic oil cylinder through a hydraulic oil circuit;

piston rods of two corresponding left and right distributed hydraulic oil cylinders synchronously extend and retract in the same period, and piston rods of two adjacent front and back distributed hydraulic oil cylinders alternately extend and retract in the same period;

the upper part of the rear left side of the frame platform is fixedly provided with a doorframe-type support with an opening on the left side, the right side and the lower side, the right end of the gravel transferring and conveying belt conveyor extends rightwards to the right lower part of the middle part of the rear side of the frame platform, a C-shaped support rod is fixedly connected to a cross beam of the doorframe-type support, and the middle parts of the front side and the rear side of a frame of the gravel transferring and conveying belt conveyor are connected with the C-shaped support rod through a pull rope;

the front end parts of the left crank arm and the right crank arm are fixedly connected with an arc baffle through a plurality of bolts, the two arc baffles are identical in structure and are arranged in a bilateral symmetry mode, the left end edge part of the inner circle of the left inner gear ring and the right end edge part of the inner circle of the right inner gear ring are polished surfaces, the left arc baffle is located at the left end part of the inner lower side of the left inner gear ring, the left side surface of the left arc baffle is flush with the left end surface of the left inner gear ring, the lower side edge of the left arc baffle is an arc edge, the circle center of the left arc baffle coincides with the circle center of the left inner gear ring, and a gap is formed between the lower side edge of the left arc baffle and the inner circle of the lower side part of the left inner gear ring.

Compared with the prior art, the invention has prominent substantive features and remarkable progress, and particularly, the working principle of the invention is as follows: a driver drives the mine ecological restoration robot in a cab, the mine ecological restoration robot runs to a region to be restored of a mine through a crawler belt walking assembly, two lifting hydraulic oil cylinders are controlled to contract, two crank arms fall downwards, a rotary bucket falls downwards to be contacted with the ground, an engine drives a drive axle through a transmission shaft, two ends of the drive axle respectively drive two first drive shafts to rotate through a chain transmission mechanism, two drive gears are respectively meshed with and drive corresponding inner gear rings, and further drive a rotary drum to rotate, soil and gravels in the soil are simultaneously dug out through bucket teeth and bucket baffles and are rotationally moved backwards and downwards under the rotation action of the rotary drum, the arrangement of an arc-shaped baffle plate can prevent the soil and the gravels from entering the inner gear rings in the process, and the soil and the gravels are gathered towards the middle under the action of an arc-shaped cutting plate and a spiral cutting plate, soil and gravels fall backwards and downwards into a receiving hopper from the lower back part of a rotary drum, the soil and gravels slide backwards and downwards along the receiving hopper to the upper half part of a belt of a screening belt conveyer, then the upper half part of the belt of the screening belt conveyer continuously conveys the soil and gravels backwards, two vibrating motors are simultaneously controlled to be synchronously started, driving pulleys on the two vibrating motors respectively and synchronously drive two corresponding driven pulleys to rotate through synchronous belts, the driven pulleys drive corresponding eccentric wheels to rotate through a second driving shaft, the eccentric wheels drive corresponding vibrating lifting rods to reciprocate upwards and downwards, the two vibrating lifting rods synchronously drive the rear end part of a rack of the screening belt conveyer to swing upwards and downwards so as to make the screening belt conveyer vibrate upwards and downwards, and piston rods of all distribution hydraulic cylinders are simultaneously controlled to reciprocate leftwards and rightwards so as to distribute and backwards and stretch out soil and gravels accumulated on the upper half part of the belt of the screening belt conveyer by the left and right reciprocating motion of all distribution harrows, soil and small-particle crushed stones are downwards screened out through sieve holes on the upper half width of a belt of the screening conveyor belt under the stirring of each distributing harrow and the vertical vibration of the screening conveyor belt, the soil and the small-particle crushed stones fall downwards onto a V-shaped guide plate and respectively slide to the left side and the right side along a left side plate and a right side plate of the V-shaped guide plate, the soil and the small-particle crushed stones which slide from the left side of the V-shaped guide plate slide to the right side along a left lower guide plate and slide to the soil paving plate rightwards along a left lower guide plate, the soil and the small-particle crushed stones which slide from the right side of the V-shaped guide plate slide to the soil paving plate leftwards along a right lower guide plate, the soil and the small-particle crushed stones on the soil paving plate slide from front to back along the soil paving plate, the soil and the small-particle crushed stones fall to the ground from the back side edge of the soil paving plate, and in the whole process, a soil neutralization system is started, and two nested medium-alkali liquor spraying machines simultaneously spray acid liquor or small-particle crushed stones which fall from the soil and the back side edge of the soil paving plate And then neutralizing soil and small-particle crushed stone, large-particle crushed stone is driven by the upper half width of the belt of the screening conveyor belt to be conveyed backwards and fall onto the discharge hopper, and then falls backwards along the discharge hopper to the right side part of the crushed stone transferring conveyor belt, the crushed stone transferring conveyor belt conveys the large-particle crushed stone from the right lower part to the left upper part, simultaneously a truck is arranged to run on the left side of the mine ecological restoration robot and receives the large-particle crushed stone falling from the left end of the crushed stone transferring conveyor belt, so that the separation of the soil and the crushed stone in the area to be restored of the mine can be realized, the acid-base neutralization of the soil can be realized, the mine ecological restoration robot runs forwards under the driving of the track running assembly, the walking, the digging and the screening of the soil and the crushed stone as well as the neutralizing of the soil in the edge can be realized, and the land containing the crushed stone can be restored into the land suitable for planting vegetation, the large granule rubble of sifting out is pulled away by foretell truck, and whole restoration gets off, can accomplish the soil restoration treatment to the mine area of waiting to restore, makes the soil after the restoration be fit for planting the vegetation, and after soil neutralization period, alright carry out the vegetation and plant, and then realize mine ecological remediation, wherein during soil neutralization: the method comprises the following steps of detecting the acidity and alkalinity of soil in an area to be repaired of a mine in advance, if the soil in the area to be repaired of the mine is alkaline, spraying acid liquor by using two nested neutralization liquid spraying machines, and if the soil in the area to be repaired of the mine is acidic, spraying alkali liquor by using the two nested neutralization liquid spraying machines, wherein the working principle of a soil neutralization system is described by taking the sprayed acid liquor as an example: starting an acid liquid supply pump, pumping acid liquid in an acid neutralization tank out through an acid liquid outlet pipe by the acid liquid supply pump, respectively injecting the acid liquid into acid liquid through-flow spaces of two nested neutralization liquid spraying machines through an acid liquid supply pipe, synchronously performing small-angle reciprocating rotation on power shafts of two swing motors, respectively driving corresponding inner spray pipes to perform small-angle reciprocating rotation by the two swing motors, synchronously performing small-angle reciprocating rotation on outer spray pipes on the front side and the rear side, spraying the acid liquid backwards in a waterfall shape through each high-pressure spray head on the front side to be mixed and neutralized with soil and small-particle crushed stones, and spraying the acid liquid forwards in a waterfall shape through each high-pressure spray head on the rear side to be fully mixed and neutralized with the soil and the small-particle crushed stones; after the mine land in the area is repaired, the two lifting hydraulic cylinders are controlled to extend, the two crank arms are lifted upwards, the rotary bucket is moved upwards to be separated from the ground surface, the mine ecological repairing robot is driven to another area to be repaired, and the mine land in the area to be repaired is repaired.

The screening and conveying belt conveyor integrates conveying and screening, so that conveying, screening and broken stone of the screening and conveying belt conveyor are synchronously carried out, the structure is more compact, the size is small, and energy consumption is reduced.

The piston rods of the two distribution hydraulic cylinders corresponding to the left side and the right side of the screening conveyor belt synchronously extend and retract in the same period, and the piston rods of the two distribution hydraulic cylinders adjacent to the front side and the rear side synchronously extend and retract in the same period in a staggered manner, so that the two distribution rakes corresponding to the left side and the right side of the front side move towards the middle in the process that soil and gravel move backwards on the upper half width of the belt of the screening conveyor belt, then the large soil and the gravel are squeezed towards the middle to be crushed into small particles, then the two distribution rakes corresponding to the left side and the right side of the adjacent rear side move towards the two sides synchronously, and further the soil and the gravel gathered in the middle are respectively distributed towards the two sides, so that the soil and the small particles of gravel can downwards pass through sieve holes under the distribution action of the distribution rakes, and screening is more sufficient.

In conclusion, the invention can sieve soil and broken stones and neutralize soil while walking, digging and screening, and further restore mine land containing broken stones to land suitable for planting vegetation so as to plant vegetation for mine ecological restoration work.

Drawings

Fig. 1 is a left side view of the present invention.

Fig. 2 is a top view of the present invention.

Fig. 3 is a front view of the present invention.

Figure 4 is a top view of the screening conveyor of the present invention.

Figure 5 is a left side view of the vibratory screening conveyor system of the present invention with two vibratory mechanisms removed.

Figure 6 is a front view of the vibratory screening conveyor system of the present invention.

Figure 7 is a rear view of the vibratory screening conveyor system of the present invention.

FIG. 8 is a schematic structural diagram of the nested neutralization spraying machine of the invention.

Fig. 9 is a partially enlarged view of a portion a in fig. 1.

Fig. 10 is a sectional view taken along line B-B in fig. 8.

Fig. 11 is a schematic view of the assembly between the left side edge of the upper belt half and the upper left strip stop of the screening conveyor of the present invention.

Fig. 12 is a partial enlarged view of fig. 8 at C.

Detailed Description

The embodiments of the present invention are further described below with reference to the drawings.

As shown in fig. 1-12, the mine ecological restoration robot comprises a frame platform 1, a cab 2, a power chassis 3, an engine, a power generation system, a hydraulic station system, two arm lifting mechanisms, a rotary bucket, a vibration screening conveying system, a soil neutralization system and a gravel transferring and conveying belt conveyor 4, wherein crawler traveling assemblies 5 are fixedly arranged on the left side and the right side of the bottom of the frame platform 1, the cab 2 is arranged on the left side of the upper part of the frame platform 1, the power chassis 3 is arranged on the right side of the upper part of the frame platform 1, the engine, the power generation system and the hydraulic station system are arranged in the power chassis 3, the two arm lifting mechanisms are symmetrically arranged on the left side and the right side of the front side part of the frame platform 1, the rotary bucket is horizontally and rotatably arranged between the front end parts of the two arm lifting mechanisms along the left-right direction, the left-right length of the rotary bucket is greater than the distance between the two crawler traveling assemblies 5 and less than the left-right width of the frame platform 1, the vibration screening and conveying system is horizontally arranged on the lower side of the middle part of the frame platform 1 along the front-back direction, the soil neutralization system is fixedly arranged on the lower back part of the frame platform 1 and is positioned below the back end part of the vibration screening and conveying system, the gravel transferring and conveying belt machine 4 is obliquely arranged on the left side of the back end of the frame platform 1 along the left-right direction, the conveying direction of the vibration screening and conveying system is arranged from front to back, the conveying direction of the gravel transferring and conveying belt machine 4 is arranged from bottom to top, the front side of the vibration screening and conveying system is arranged on the lower back of the middle part of the rotary bucket, the right side of the gravel transferring and conveying belt machine 4 is arranged below the back side of the vibration screening and conveying system, the engine respectively provides power for the power generation system and the hydraulic station system, the power output shaft of the engine drives the rotary bucket to rotate through the axle transmission assembly, and the power generation system is respectively and is electrically connected with the vibration screening and conveying system and the soil neutralization system, the hydraulic station system is respectively connected with the two crawler walking assemblies 5, the hydraulic driving motor of the gravel transferring and conveying belt machine 4 and the two arm lifting mechanisms through hydraulic oil ways.

The two arm lifting mechanisms are identical in structure, the left arm lifting mechanism comprises an articulated support 6, a crank arm 7 and a lifting hydraulic oil cylinder 8, the articulated support 6 is fixed at the left part of the front side of the frame platform 1, the crank arm 7 is arranged in a manner of inclining forwards and backwards along the front-back direction, the front side part of the crank arm 7 is bent forwards and downwards to form a V-shaped arm, the rear end part of the crank arm 7 is hinged to the upper part of the articulated support 6, the front part of the lifting hydraulic oil cylinder 8 is arranged in a manner of inclining forwards and backwards, two ends of the lifting hydraulic oil cylinder 8 are respectively hinged to the front side of the middle part of the crank arm 7 and the lower part of the articulated support 6, and the hydraulic station system is connected with the lifting hydraulic oil cylinder 8 through a hydraulic oil circuit.

The rotary bucket comprises a rotary roller 9, the rotary roller 9 is horizontally arranged along the left-right direction, the outer circle edge of the left end surface and the outer circle edge of the right end surface of the rotary roller 9 are uniformly and fixedly connected with inner gear rings 10 which are concentrically arranged, the outer circle edge of the left end surface of the rotary roller 10 and the outer circle edge of the right end surface of the rotary roller are both integrally and fixedly connected with a circular baffle 11, the outer circle of the circular baffle 11 is provided with a plurality of tooth sockets 12 which are arranged in a circular array, the opening side of the tooth socket 12 at the upper side faces to the rear upper side, the outer circle of the rotary roller 9 is fixedly connected with a plurality of bucket clapboards 13 which are arranged in a circular array along the axial direction, the outer side edge of each bucket clapboard 13 is flush with the outer circle of the circular baffle 11, the left side edge of each bucket clapboard 13 is fixedly connected with the right side surface of the circular baffle 11 at the left side, the right side edge of each bucket clapboard 13 is fixedly connected with the left side surface of the circular baffle 11 at the right side, the upper bucket partition plate 13 is obliquely arranged from front to back, the middle part of one side surface of the bucket partition plate 13, which is back to the rotary drum 9, is vertically and fixedly connected with an arc-shaped cutting plate 14 along the front-back direction, a spiral cutting plate 15 is fixedly connected between the left side part of one side surface of the bucket partition plate 13, which is back to the rotary drum 9, and the right side surface of the left ring baffle 11, and a spiral cutting plate 15 is fixedly connected between the right side part of one side surface of the bucket partition plate 13, which is back to the rotary drum 9, and the left ring baffle 11, which is back to the rotary drum 9, respectively, the spiral cutting plate 15 on the right side is spirally wound along the axial direction of the rotary drum 9 from left to right, the spiral cutting plate 15 on the right side is spirally wound along the axial direction of the rotary drum 9, a plurality of bucket teeth 16 which are spaced from left to right are fixedly arranged on the outer side edge of each bucket partition plate 13, a rotating shaft 17 is coaxially and fixedly arranged on the center of the left end surface and the center of the right end surface of the rotary drum 9, the left rotating shaft 17 is rotatably connected to the front end part of the right side surface of the left crank arm 7, the right end of the right rotary shaft 17 is rotatably connected to the left front end of the right crank arm 7.

The axle transmission assembly comprises a drive axle 18, a support beam 19, a speed reducer 20, a transmission shaft 21 and two first bearing supports 22, the drive axle 18 horizontally crosses and is fixedly connected to the rear sides of the middle parts of the upper side surfaces of the two crank arms 7 along the left-right direction, the support beam 19 is horizontally and fixedly connected between the rear sides of the middle parts of the two crank arms 7 along the left-right direction and is positioned below the rear part of the drive axle 18, the speed reducer 20 is fixedly arranged on the support beam 19 and is positioned at the right rear side of the middle part of the drive axle 18, a front power output shaft of the speed reducer 20 is coaxially connected with a rear power input shaft of the drive axle 18 in a transmission way, a power output shaft of an engine extends forwards out of the front side of the power case 3 and is connected with the rear power output shaft of the speed reducer 20 in a transmission way through the transmission shaft 21, the transmission shaft 21 is arranged in a high-low-rear-tilting way, the front end of the power output shaft of the engine is connected with the rear end of the transmission shaft 21 and the rear end of the rear power output shaft of the speed reducer 20 is connected with the front end of the transmission shaft 21 through universal joints, the two first bearing supports 22 are respectively and fixedly arranged at the front side parts of the upper sides of the two crank arms 7 in a left-right symmetrical mode, a first driving shaft 23 horizontally arranged along the left-right direction is rotatably arranged on each of the two first bearing supports 22, the first driving shaft 23 penetrates through the first bearing supports 22, the right end of the first driving shaft 23 on the left side extends into the inner hole of the inner gear ring 10 on the left side rightwards, the left end of the right first driving shaft 23 extends into the inner hole of the right inner gear ring 10 leftwards, the right end of the left first driving shaft 23 and the left end of the right first driving shaft 23 are both fixedly provided with a driving gear 24, the left driving gear 24 is in meshing transmission connection with the left inner gear ring 10, the right driving gear 24 is in meshing transmission connection with the right inner gear ring 10, and the left end of the left first driving shaft 23 is in transmission connection with the left end of the driving axle 18 and the right end of the right first driving shaft 23 is in transmission connection with the right end of the driving axle 18 through a chain transmission mechanism 25.

The vibration screening conveying system comprises a screening conveying belt machine 26, a V-shaped guide plate 27, a left lower guide plate 28, a right lower guide plate 29, a soil flat plate 30 and two vibration mechanisms, wherein the screening conveying belt machine 26 is horizontally arranged on the lower side of the middle part of the frame platform 1 along the front-back direction, a plurality of sieve holes 31 are uniformly formed in the belt of the screening conveying belt machine 26, a horizontal connecting plate 32 is fixedly connected between the left end of a front conveying roller and the left end of a rear conveying roller of the screening conveying belt machine 26 and between the right end of the front conveying roller and the right end of the rear conveying roller of the screening conveying belt machine 26, the left side and the right side of the front end part of the frame of the screening conveying belt machine 26 are both hinged to the lower part of the front side of the frame platform 1, the V-shaped guide plate 27 is horizontally arranged under the upper half width of the belt of the screening conveying belt machine 26 along the front-back direction, the front side, the rear side and the lower side of the V-shaped guide plate 27 are both open, the left side plate of the V-shaped guide plate 27 passes through a gap between the left horizontal connecting plate 32 and the upper left side edge of the belt of the screening conveyor belt 26 leftwards and downwards, the right side plate of the V-shaped guide plate 27 passes through a gap between the right horizontal connecting plate 32 and the upper right side edge of the belt of the screening conveyor belt 26 rightwards and downwards, the left side plate of the V-shaped guide plate 27 is fixedly connected to the left horizontal connecting plate 32, the right side plate of the V-shaped guide plate 27 is fixedly connected to the right horizontal connecting plate 32 on the right side, the left lower guide plate 28 is obliquely arranged on the lower side of the left side edge of the left side plate of the V-shaped guide plate 27 in a left-high and right-high manner, the right lower guide plate 29 is obliquely arranged on the lower side of the right side plate of the V-shaped guide plate 27 in a left-low and right-high manner, a plurality of vertical connecting rods 33 which are arranged at intervals are fixedly connected between the left lower guide plate 28 and the left side plate of the V-shaped guide plate 27 and between the right lower guide plate 29 and the right side plate of the V-shaped guide plate 27, the front high and rear low inclined soil paving plate 30 is fixedly connected between the left lower guide plate 28 and the right lower guide plate 29 and is located under the lower half width of a belt of the screening conveyor belt 26, the two vibrating mechanisms are arranged on the rear side portion of the frame platform 1 in an bilateral symmetry mode and are respectively located on the left side and the right side of the rear end portion of a frame of the screening conveyor belt 26, the upper portion of the front end of the screening conveyor belt 26 is fixedly provided with a material receiving hopper 34 which is arranged in a front high and rear low inclined mode and is located between the two crawler traveling assemblies 5 on the rear lower portion of the middle portion of the rotary drum 9, the lower portion of the rear end of the screening conveyor belt 26 is fixedly provided with a material discharging hopper 35 which is arranged in a front high and rear low inclined mode and is located above the right side portion of the broken stone transferring conveyor belt 4, and a power generation system is electrically connected with a driving motor of the screening conveyor belt 26.

The two vibrating mechanisms have the same structure, the left vibrating mechanism comprises a vibrating motor 36, a second bearing support 37, a driven belt wheel 38, an eccentric wheel 39 and a vibrating lifting rod 40, the vibrating motor 36 is fixedly installed at the left upper part of the rear side of the frame platform 1, the second bearing support 37 is fixedly installed at the left lower part of the rear side of the frame platform 1, a second driving shaft horizontally arranged along the left-right direction is rotatably installed on the second bearing support 37, the second driving shaft penetrates through the second bearing support 37, the driven belt wheel 38 is fixedly installed at the left end of the second driving shaft, the eccentric wheel 39 is fixedly installed at the right end of the second driving shaft, the vibrating lifting rod 40 is vertically arranged at the right side of the eccentric wheel 39, the upper end of the vibrating lifting rod 40 is hinged at the outer edge eccentric part of the right side surface of the eccentric wheel 39, and the lower end of the vibrating lifting rod 40 is hinged at the left side of the rear end part of the rack of the conveying belt conveyor 26, a driving belt wheel 41 is fixedly installed at the right end of a power shaft of the vibration motor 36, the driving belt wheel 41 is in transmission connection with the driven belt wheel 38 through a synchronous belt penetrating through the frame platform 1, and a power generation system is electrically connected with the vibration motor 36.

The soil neutralization system comprises an acid neutralization tank 42, an alkaline neutralization tank 43, an acid liquid supply pump 44, an alkaline liquid supply pump 45 and two nested neutralization liquid spraying machines 46, wherein the acid neutralization tank 42, the alkaline neutralization tank 43, the acid liquid supply pump 44 and the alkaline liquid supply pump 45 are all fixedly arranged at the upper part of the frame platform 1, the two nested neutralization liquid spraying machines 46 are symmetrically and fixedly arranged at the lower part of the rear side of the frame platform 1 in a front-back manner and are positioned below the rear side of the soil flat plate 30, the vertical projection of the rear side of the soil flat plate 30 is positioned between the two nested fertilizer spraying machines 46, the outlet of the acid neutralization tank 42 is connected with the inlet of the acid liquid supply pump 44 through an acid liquid outlet pipe 47, the outlet of the acid liquid supply pump 44 is respectively connected with the acid liquid flowing spaces 85 of the two nested neutralization liquid spraying machines 46 through an acid liquid supply pipe, the outlet of the alkaline neutralization tank 43 is connected with the inlet of the alkaline liquid supply pump 45 through an alkaline liquid outlet pipe 48, the outlet of the lye supply pump 45 is respectively connected with the lye through-flow spaces 86 of the two nested neutralization sprayers 46 through lye supply pipes, the nested neutralization sprayer 46 at the front side sprays acid liquid or lye backwards, the nested neutralization sprayer 46 at the rear side sprays acid liquid or lye forwards, and the power generation system is respectively and electrically connected with the acid liquid supply pump 44 and the lye supply pump 45.

The nested neutralizing liquid spraying machine 46 at the front side comprises a swing motor 49, an outer spray pipe 50, an inner spray pipe 51 and a right-angle pipe joint 52, wherein the outer spray pipe 50 and the inner spray pipe 51 are horizontally arranged at the front lower side of the rear side edge of the soil paving plate 30 along the left-right direction, the outer spray pipe 50 is concentrically sleeved outside the inner spray pipe 51, the inner diameter of the outer spray pipe 50 is larger than the outer diameter of the inner spray pipe 51, the length of the outer spray pipe 50 is smaller than that of the inner spray pipe 51, the right end and the left end of the outer spray pipe 50 and the right end of the inner spray pipe 51 are blocked, the left end of the outer spray pipe 50 is fixedly connected to the outer circumference of the left side part of the inner spray pipe 51, the right end of the outer spray pipe 50 is fixedly connected to the outer circumference of the right end of the inner spray pipe 51, an acid liquid through-flow space 85 is formed inside the inner spray pipe 51, an alkali liquid through-flow space 86 is formed by an annular cavity between the outer spray pipe 50 and the inner spray pipe 51, the swing motor 49 is fixedly arranged at the right lower part of the rear side of the frame platform 1 and is positioned at the right side of the inner spray pipe 51, the right-angle pipe joint 52 is fixedly arranged at the left lower part of the rear side of the frame platform 1 and is positioned at the left side part of the inner spray pipe 51, the left end of a power shaft of the swing motor 49 is coaxially connected with the right end of the inner spray pipe 51 in a transmission way, the right-angle pipe joint 52 comprises a vertical pipe and a horizontal pipe, the horizontal pipe is horizontally arranged along the left and right directions, the lower end of the vertical pipe is integrally formed and fixedly connected on the upper side pipe wall of the left end part of the horizontal pipe and is communicated with the inside of the horizontal pipe, the left end part of the outer spray pipe 50 is concentrically and rotatably arranged in the horizontal pipe, through holes 53 which are concentric up and down and are correspondingly communicated with the vertical pipe are respectively arranged on the upper side pipe wall and the lower side pipe wall of the left side part of the outer spray pipe 50, the left end of the inner spray pipe 51 extends out of the left end of the outer spray pipe 50 leftwards, a first sealing structure is arranged between the left end part of the outer circumference of the outer spray pipe 50 and the right end part of the inner circumference of the horizontal pipe, an arc-shaped plate 54 is fixedly connected to the rear side pipe wall of the outer spray pipe 50 through a plurality of first fastening screws, the front side surface of the arc-shaped plate 54 is an arc-shaped surface tightly attached to the rear side pipe wall of the outer spray pipe 50, the rear side surface of the arc-shaped plate 54 is a vertical plane, two rows of threaded holes spaced up and down are formed in the rear side pipe wall of the inner spray pipe 51, two rows of round holes spaced up and down are formed in the rear side pipe wall of the outer spray pipe 50, two rows of through-flow holes 55 spaced up and down are formed in the arc-shaped plate 54, each threaded hole, each round hole and each through-flow hole 55 are arranged in a one-to-one correspondence manner, the aperture of each round hole is the same as the aperture of the through-flow hole 55, a high-pressure spray nozzle 56 communicated with the acid liquor through-flow space 85 is installed in each threaded hole, the acid liquor is sprayed backwards through the high-pressure spray nozzle 56, the rear end of the high-pressure spray nozzle 56 backwards penetrates through the corresponding round hole and is positioned in the corresponding through-flow hole 55, the outer diameter of the high-pressure spray nozzle 56 is smaller than the aperture of the circular hole, a dustproof ring 57 sleeved on the outer circumference of the rear end of the high-pressure spray nozzle 56 is fixedly embedded in the rear side part in the through-flow hole 55, a plurality of spray holes which are circumferentially arrayed and are through front and back are formed in the dustproof ring 57, alkali liquor is sprayed backwards through the annular cavity between the high-pressure spray nozzle 56 and the through-flow hole 55 and the corresponding spray holes, the upper end of the vertical pipe is fixedly connected with the water outlet end of the acid liquor supply pipe, the left end of the inner spray pipe 51 is connected with the liquid outlet end of the alkali liquor supply pipe through the rotary joint 58, and the power generation system is electrically connected with the swing motor 49.

The first sealing structure comprises a first sealing ring 59, a first step groove is arranged on the inner circle at the left end of the horizontal pipe, the first sealing ring 59 is fixedly embedded in the bottom of the right groove of the first step groove and sleeved on the left side part of the outer spray pipe 50, a first bearing 60 and a first isolating pipe sleeve 61 sleeved on the left side part of the outer spray pipe 50 are fixedly embedded in the left groove of the first step groove from left to right in sequence, a flange end cover 62 sleeved on the left side part of the inner spray pipe 51 is fixedly installed at the left end of the horizontal pipe through a plurality of second fastening screws, the flange end cover 62 is connected with the inner spray pipe 51 in a rotating and sealing manner, a rotating gap is reserved between the right end surface of the flange end cover 62 and the left end of the outer spray pipe 50, a first O-shaped ring 63 tightly contacted with the left end surface of the horizontal pipe is fixedly embedded on the edge surface of the right end surface of the flange end cover 62, a circular ring flange extending into the left groove of the first step groove is integrally formed on the inner circle at the right end surface of the flange end cover 62, the outer circle of the circular ring flange is tightly matched with the inner circle of the left side groove of the first step groove, the right end of the circular ring flange is tightly pressed on the left end face of the outer ring of the first bearing 60, a limit baffle ring 64 tightly pressing the left end face of the inner ring of the first bearing 60 is fixedly embedded and sleeved on the outer circumference of the left end part of the outer spray pipe 50, the first bearing 60 tightly presses the first isolation pipe sleeve 61, and the first isolation pipe sleeve 61 tightly presses the first sealing ring 59;

the second sealing structure comprises a second sealing ring 65, a sealing spacer sleeve 66 and a sealing press ring 67, a second step groove is arranged on the inner circle of the right end of the horizontal pipe, the second sealing ring 65 is fixedly embedded in the bottom of the left side groove of the second step groove and sleeved on the left side part of the outer spray pipe 50, a second isolation pipe sleeve 68, a second bearing 69 and a third isolation pipe sleeve 70 which are sleeved on the left side part of the outer spray pipe 50 are fixedly embedded in the right side groove of the second step groove from left to right in sequence, the sealing spacer sleeve 66 and the sealing press ring 67 are sleeved on the outer spray pipe 50 at the same center at intervals from left to right, a circular boss 71 is integrally formed on the outer circumference of the right end part of the sealing spacer sleeve 66, the left side surface of the circular boss 71 is tightly pressed on the right end surface of the horizontal pipe, a third O-shaped ring 72 which is tightly pressed and contacted with the right end surface of the horizontal pipe is fixedly embedded on the left side surface of the circular boss 71, the sealing press ring 67 is concentrically sleeved on the right end part of the outer spray pipe 50 and tightly pressed on the right side surface of the circular boss 71, the sealing press ring 67 is fixedly connected to the right end of the horizontal pipe through a plurality of third fastening screws penetrating through the circular boss 71, the left side part of the sealing spacer 66 is embedded in the right side groove of the second step groove, the left side part excircle of the sealing spacer 66 is in clearance fit with the right side groove inner circle of the second step groove, the left end inner circle of the sealing spacer 66 is provided with a first mounting groove, the right end inner circle of the sealing spacer 66 is provided with a second mounting groove, the left end of the sealing spacer 66 tightly presses the third isolation pipe sleeve 70, the third isolation pipe sleeve 70 tightly presses the outer ring right end surface of the second bearing 69, the outer ring left end surface of the second bearing 69 tightly presses the second isolation pipe sleeve 68, the second isolation pipe sleeve 68 tightly presses the second sealing ring 65, the third sealing ring 73 sleeved on the left side part of the outer spray pipe 50 is fixedly embedded in the first mounting groove, the fourth sealing ring 74 sleeved on the left side part of the outer spray pipe 50 is fixedly embedded in the second mounting groove, the sealing press ring 67 tightly presses the fourth sealing ring 74, and the first sealing ring 59, the second sealing ring 65, the third sealing ring 73 and the fourth sealing ring 74 are tightly matched with the outer nozzle 50 and rotate in a sealing mode. The arrangement of the first sealing structure and the second sealing structure can improve the rotary sealing performance of the outer spray pipe 50, and prevent alkali liquor from leaking.

The left side and the right side of the upper half of the belt of the screening and conveying belt conveyor 26 and the left side and the right side of the lower half of the belt are both fixedly provided with strip baffles 75, the strip baffles 75 on the left side and the right side are the same in structure and the left side and the right side are the same, the middle part of the strip baffle 75 on the left side is integrally formed with a C-shaped groove plate 76 with openings on the front side, the rear side and the right side, the left side of the belt of the screening and conveying belt conveyor 26 is embedded in a groove of the C-shaped groove plate 76 in a sliding manner, two rows of rollers 77 which are spaced up and down are arranged in the groove of the C-shaped groove plate 76, the left side of the belt of the screening and conveying belt conveyor 26 slides between the corresponding two rows of rollers 77, and wear-resistant strips 78 are adhered to the left side and the right side of the belt of the screening and conveying belt conveyor 26;

a plurality of distributing mechanisms which are arranged at intervals are fixedly arranged on the left side of the strip baffle plate 75 on the left upper side and the right side of the strip baffle plate 75 on the right upper side, and the distributing mechanisms on the left side and the distributing mechanisms on the right side are identical in structure and are arranged in a bilateral symmetry manner; the left allocating mechanism comprises an allocating hydraulic oil cylinder 79, a cylinder body of the allocating hydraulic oil cylinder 79 is fixedly installed on the upper portion of the strip baffle 75 on the upper left side and is higher than the upper half of the belt of the screening and conveying belt conveyor 26, a piston rod of the allocating hydraulic oil cylinder 79 horizontally extends rightwards to penetrate through the strip baffle 75 on the upper left side and is located above the upper half of the belt of the screening and conveying belt conveyor 26, an allocating rake 80 is fixedly installed at the right end of the piston rod of the allocating hydraulic oil cylinder 79, the lower end of the allocating rake 80 is 1-5mm higher than the upper half of the belt of the screening and conveying belt conveyor 26, and the hydraulic station system is connected with the allocating hydraulic oil cylinder 79 through a hydraulic oil circuit;

the piston rods of the two corresponding left and right distributed hydraulic oil cylinders 79 extend synchronously in the same period, and the piston rods of the two adjacent front and rear distributed hydraulic oil cylinders 79 extend alternately in the same period;

a doorframe-type support 81 with openings on the left side, the right side and the lower side is fixedly arranged on the upper part of the rear left side of the frame platform 1, the right end of the gravel transferring and conveying belt conveyor 4 extends rightwards to the right lower part of the middle part of the rear side of the frame platform 1, a C-type support rod 82 is fixedly connected to a cross beam of the doorframe-type support 81, and the middle parts of the front side and the rear side of a frame of the gravel transferring and conveying belt conveyor 4 are connected with the C-type support rod 82 through a pull rope 83;

the front end parts of the left crank arm 7 and the right crank arm 7 are fixedly connected with an arc baffle 84 through a plurality of bolts, the two arc baffles 84 are identical in structure and are arranged in bilateral symmetry, the left end edge part of the inner circle of the left inner gear ring 10 and the right end edge part of the inner circle of the right inner gear ring 10 are smooth surfaces, the left arc baffle 84 is located at the left end part of the inner lower side of the left inner gear ring 10, the left side surface of the left arc baffle 84 is flush with the left end surface of the left inner gear ring 10, the lower side edge of the left arc baffle 84 is an arc edge, the circle center of the left arc baffle 84 is coincident with the circle center of the left inner gear ring 10, and a gap is formed between the lower side edge of the left arc baffle 84 and the inner circle of the lower side part of the left inner gear ring 10.

The engine, the power generation system and the hydraulic station system are not shown in the figure, the crawler walking assembly 5, the cab 2, the engine, the power generation system, the hydraulic station system, the lifting hydraulic oil cylinder 8, the drive axle 18, the universal joint, the acid liquid supply pump 44, the alkali liquid supply pump 45, the vibrating motor 36, the swing motor 49, the distribution hydraulic oil cylinder 79 and the distribution rake 80 are all conventional technologies, specific construction and working principle are not repeated, and the distribution rake 80 is similar to an agricultural tool rake.

The working principle of the invention is as follows: a driver drives the mine ecological restoration robot in a cab 2, the mine ecological restoration robot is driven to a region to be restored of a mine through a crawler belt traveling assembly 5, two lifting hydraulic oil cylinders 8 are controlled to contract, two crank arms 7 fall downwards, a rotary bucket falls downwards to be contacted with the ground, an engine drives a drive axle 18 through a drive shaft 21, two ends of the drive axle 18 respectively drive two first drive shafts 23 to rotate through chain drive mechanisms 25, two drive gears 24 respectively engage and drive corresponding inner gear rings 10, and further drive a rotary drum 9 to rotate, soil and gravels in the soil are simultaneously dug out through bucket teeth 16 and bucket partition plates 13 and are moved backwards and downwards under the rotation action of the rotary drum 9, an arc-shaped baffle 84 is arranged to prevent the soil and the gravels from entering the inner gear rings 10 in the process, the soil and the gravels are gathered towards the middle under the action of an arc-shaped cutting plate 14 and a spiral cutting plate 15, soil and gravels fall backwards and downwards into the material receiving hopper 34 from the lower rear part of the rotary drum 9, the soil and gravels slide backwards and downwards onto the upper half of the belt of the screening and conveying belt conveyor 26 along the material receiving hopper 34, then the soil and gravels are continuously conveyed backwards by the upper half of the belt of the screening and conveying belt conveyor 26, simultaneously the two vibrating motors 36 are controlled to be synchronously started, the driving pulleys 41 on the two vibrating motors 36 respectively and synchronously drive the corresponding two driven pulleys 38 to rotate through synchronous belts, the driven pulleys 38 drive the corresponding eccentric wheels 39 to rotate through second driving shafts, the eccentric wheels 39 drive the corresponding vibrating lifting rods 40 to do up-and-down reciprocating motion, then the two vibrating lifting rods 40 synchronously drive the rear end part of the frame of the screening and conveying belt conveyor 26 to do up-and-down vibration, and simultaneously the piston rods of the distributing hydraulic cylinders 79 are controlled to do left-and-right reciprocating expansion, the distributing rakes 80 reciprocate left and right to distribute and spread the soil and crushed stones accumulated on the upper half of the belt of the screening and conveying belt machine 26, the soil and small crushed stones are sifted downwards through the sieve holes 31 on the upper half of the belt of the screening and conveying belt machine 26 under the stirring of the distributing rakes 80 and the vertical vibration of the screening and conveying belt machine 26, the soil and small crushed stones fall downwards onto the V-shaped guide plate 27 and slide to the left and right along the left side plate and the right side plate of the V-shaped guide plate 27, the soil and small crushed stones sliding from the left side of the V-shaped guide plate 27 slide to the right side along the left lower guide plate 28 and fall onto the soil leveling plate 30, the soil and small crushed stones sliding from the right side of the V-shaped guide plate 27 slide to the left side along the right lower guide plate 29 and fall onto the soil leveling plate 30, the soil and small crushed stones on the soil leveling plate 30 slide from the front to the back along the soil leveling plate 30, soil and small crushed stone fall backwards and downwards onto the ground from the rear side edge of the soil flat plate 30, in the whole process, a soil neutralization system is started, two nested neutralization liquid spraying machines 46 spray acid liquor or alkali liquor towards the soil and small crushed stone falling from the rear side edge of the soil flat plate 30 simultaneously to neutralize the soil and small crushed stone, large crushed stone is driven by the upper half width of a belt of a screening belt conveyor 26 to be conveyed backwards and fall onto a discharge hopper 35 and then falls backwards along the discharge hopper 35 to the right side part of a crushed stone transferring belt conveyor 4, the crushed stone transferring belt conveyor 4 conveys the large crushed stone from the right lower part to the left upper part, a truck is arranged to run on the left side of the mine ecological restoration robot and to catch the large crushed stone falling from the left end of the crushed stone transferring belt conveyor 4, and the soil and crushed stone in an area to be restored of a mine can be separated, and the realization is to the neutralization of soil acid-base nature, this mine ecological remediation robot walks forward under the drive of crawler travel assembly 5 always, alright realize the limit and walk, the limit is dug, limit screening soil and rubble, limit and soil, and then the mine land that contains the rubble is restoreed the soil that is fit for planting the vegetation, the large granule rubble of screening out is pulled away by foretell truck, whole restoration gets off, can accomplish the soil remediation treatment to the region of repairing of waiting to restore the mine, make the soil after the restoration be fit for planting the vegetation, after soil neutralization a period, alright carry out the vegetation and plant, and then realize mine ecological remediation, wherein during the soil neutralization: the acid-base property of the soil in the area to be repaired of the mine is detected in advance, if the soil in the area to be repaired of the mine is alkaline, the two nested neutralization liquid spraying machines 46 spray acid liquor, if the soil in the area to be repaired of the mine is acidic, the two nested neutralization liquid spraying machines 46 spray alkali liquor, and the working principle of the soil neutralization system is explained by taking the acid liquor spraying as an example: starting an acid liquid supply pump 44, pumping acid liquid in an acid neutralization tank 42 through an acid liquid outlet pipe 47 by the acid liquid supply pump 44, respectively injecting the acid liquid into acid liquid through-flow spaces 85 of two nested neutralization liquid spraying machines 46 through the acid liquid supply pipe, synchronously reciprocating the power shafts of two swing motors 49 at small angles, respectively driving corresponding inner spray pipes 51 to reciprocate at small angles by the two swing motors 49, synchronously reciprocating the outer spray pipes 50 at the front side and the rear side at small angles, spraying the acid liquid backwards in a waterfall shape through each high-pressure spray nozzle 56 at the front side to be mixed and neutralized with soil and small-particle crushed stones, and spraying the acid liquid forwards in a waterfall shape through each high-pressure spray nozzle 56 at the rear side to be fully mixed and neutralized with the soil and the small-particle crushed stones; after the mine land in the area is repaired, the two lifting hydraulic cylinders 8 are controlled to extend, the two crank arms 7 are lifted upwards, the rotary excavator bucket is moved upwards to be separated from the ground surface, the mine ecological repairing robot is driven to another area to be repaired, and the mine land in the area to be repaired is repaired.

The screening and conveying belt conveyor 26 integrates conveying and screening, so that conveying, soil screening and gravel screening of the screening and conveying belt conveyor 26 are carried out synchronously, the structure is more compact, the size is small, and energy consumption is reduced.

The piston rods of the two distributing hydraulic cylinders 79 corresponding to the left and the right of the invention synchronously extend and retract in the same period, and the piston rods of the two distributing hydraulic cylinders 79 adjacent to the front and the back synchronously extend and retract in the same period in a staggered manner, so that the two distributing harrows 80 corresponding to the left and the right of the front side synchronously move towards the middle in the process that soil and gravels move backwards on the upper half width of the belt of the screening and conveying belt conveyor 26, and then the large soil and gravels are squeezed to be crushed into small particles, and then the two distributing harrows 80 corresponding to the left and the right of the adjacent back side synchronously move towards the two sides, so that the soil and the gravels gathered in the middle are respectively distributed towards the two sides, and thus the soil and the small particles of gravels can downwards pass through the sieve holes under the distributing action of each distributing harrow 80, and screening is more sufficient.

It should be noted that a driving position, a direction control mechanism, a driving control mechanism, a control system for controlling the movement of each component, and the like are arranged in the cab 2, and corresponding mechanical transmission mechanisms are correspondingly mounted on the frame platform 1, which are conventional technologies in the field and are similar to large-scale tracked vehicles such as large excavators and agricultural harvesters.

The above embodiments are merely to illustrate rather than to limit the technical solutions of the present invention, and although the present invention has been described in detail with reference to the above embodiments, those of ordinary skill in the art should understand that; modifications and equivalents may be made thereto without departing from the spirit and scope of the invention and it is intended to cover in the claims the invention any modifications and equivalents.

Claims

1. Mine ecological remediation robot, its characterized in that: the system comprises a frame platform, a cab, a power machine case, an engine, a power generation system, a hydraulic station system, two arm lifting mechanisms, a rotary bucket, a vibration screening and conveying system, a soil neutralization system and a broken stone transferring and conveying belt conveyor, wherein crawler traveling assemblies are fixedly arranged on the left side and the right side of the bottom of the frame platform, the cab is arranged on the left side of the upper part of the frame platform, the power machine case is arranged on the right side of the upper part of the frame platform, the engine, the power generation system and the hydraulic station system are arranged in the power machine case, the two arm lifting mechanisms are symmetrically arranged on the left side and the right side of the front side part of the frame platform, the rotary bucket is horizontally and rotatably arranged between the front end parts of the two arm lifting mechanisms in the left-right direction, the left-right length of the rotary bucket is greater than the distance between the two crawler traveling assemblies and smaller than the left-right width of the frame platform, the vibration screening and conveying system is horizontally arranged on the lower side of the middle part of the frame platform in the front-back direction, the soil neutralization system is fixedly arranged at the rear lower part of the frame platform and is positioned below the rear end part of the vibration screening conveying system, the gravel transferring conveying belt conveyor is arranged on the left side of the rear end of the frame platform in a left-right direction high-right low-inclination manner, the conveying direction of the vibration screening conveying system is arranged from front to back, the conveying direction of the gravel transferring conveying belt conveyor is arranged from bottom right to top left, the front side of the vibration screening conveying system is arranged below the middle part of the rotary bucket, the right side of the gravel transferring conveying belt conveyor is arranged below the rear side of the vibration screening conveying system, the engine respectively provides power for the power generation system and the hydraulic station system, the power output shaft of the engine drives the rotary bucket to rotate through the axle transmission assembly, the power generation system is respectively electrically connected with the vibration screening conveying system and the soil neutralization system, and the hydraulic station system is respectively electrically connected with the two crawler traveling assemblies, The hydraulic drive motor of the broken stone transferring and conveying belt conveyor is connected with the two arm lifting mechanisms through a hydraulic oil way.

2. The mine ecological restoration robot of claim 1, characterized in that: the two arm lifting mechanisms are identical in structure, the left arm lifting mechanism comprises a hinged support, a crank arm and a lifting hydraulic oil cylinder, the hinged support is fixed to the left portion of the front side of the frame platform, the crank arm is arranged to be inclined forwards and backwards in the front-back direction, the front side portion of the crank arm is bent forwards and downwards to form a V-shaped arm, the rear end portion of the crank arm is hinged to the upper portion of the hinged support, the lifting hydraulic oil cylinder is arranged to be inclined forwards and backwards in a front-high and back-low mode, two ends of the lifting hydraulic oil cylinder are respectively hinged to the front side of the middle of the crank arm and the lower portion of the hinged support, and the hydraulic station system is connected with the lifting hydraulic oil cylinder through a hydraulic oil circuit.

3. The mine ecological restoration robot of claim 2, characterized in that: the rotary bucket comprises a rotary drum, the rotary drum is horizontally arranged along the left-right direction, the outer circle edge of the left end surface and the outer circle edge of the right end surface of the rotary drum are integrally and fixedly connected with inner gear rings which are concentrically arranged, the outer circle edge of the left end of the left inner gear ring and the outer circle edge of the right end of the right inner gear ring are integrally and fixedly connected with a circular baffle, the outer circumference of the circular baffle is provided with a plurality of tooth sockets which are arranged in a circumferential array, the opening side of the tooth sockets at the upper side faces to the rear upper part, the outer circumference of the rotary drum is fixedly connected with a plurality of bucket clapboards which are arranged in a circumferential array along the axial direction, the outer side edge of each bucket clapboard is flush with the outer circumference of the circular baffle, the left side edge of each bucket clapboard is fixedly connected with the right side face of the left circular baffle, the right side edge of each bucket clapboard is fixedly connected with the left side face of the circular baffle at the right side, and the bucket clapboard at the upper side is arranged in a low front and high back inclination, the vertical fixedly connected with arc cutting board of fore-and-aft direction is followed at a side middle part of bucket baffle dorsad rotary drum, equal fixedly connected with spiral cutting board between a side left side portion of bucket baffle dorsad rotary drum and the right flank of left ring baffle and between a side right side portion of bucket baffle dorsad rotary drum and the left flank of right ring baffle on right side, left spiral cutting board spirals from left to right along rotary drum's axial, spiral cutting board on right side spirals from right to left along rotary drum's axial, interval bucket tooth about a plurality of blocks is all fixed to be provided with on the outside edge of each bucket baffle, rotary drum's left end face center and right end face center are the equal coaxial fixed pivot that is provided with, the left end of left pivot is rotated and is connected at the front end of the right flank of left crank arm, the right-hand member of the pivot on right side is rotated and is connected at the front end of the left side of crank arm on right side.

4. The mine ecological restoration robot of claim 3, wherein: the axle transmission assembly comprises a drive axle, a supporting beam, a speed reducer, a transmission shaft and two first bearing supports, the drive axle horizontally crosses and is fixedly connected with the rear sides of the middle parts of the upper side surfaces of the two crank arms along the left-right direction, the supporting beam is horizontally and fixedly connected between the rear sides of the middle parts of the two crank arms along the left-right direction and is positioned below the rear part of the drive axle, the speed reducer is fixedly arranged on the supporting beam and is positioned on the right rear side of the middle part of the drive axle, a front power output shaft of the speed reducer is coaxially connected with a rear power input shaft of the drive axle in a transmission way, a power output shaft of an engine forwards extends out of the front side of the power case and is connected with the rear power output shaft of the speed reducer in a transmission way through the transmission shaft, the front end of the power output shaft of the engine is obliquely arranged in a high-rear-high-rear way, the rear end of the rear power output shaft of the engine is connected with the rear end of the transmission shaft through universal joints, and the rear end of the rear power output shaft of the speed reducer is connected with the front end of the transmission shaft, the two first bearing supports are respectively and fixedly arranged at the front side parts of the upper side surfaces of the two crank arms in a left-right symmetrical mode, a first driving shaft horizontally arranged along the left-right direction is rotatably arranged on each of the two first bearing supports, the first driving shaft penetrates through the first bearing supports, the right end of the first driving shaft on the left side extends rightwards into an inner hole of the inner gear ring on the left side, the left end of the first driving shaft on the right side extends into an inner hole of the inner gear ring on the right side leftwards, the right end of the first driving shaft on the left side and the left end of the first driving shaft on the right side are both fixedly provided with a driving gear, the driving gear on the left side is in meshing transmission connection with the inner gear ring on the left side, the driving gear on the right side is in meshing transmission connection with the inner gear ring on the right side, and the left end of the first driving shaft on the left side is in transmission connection with the left end of a driving axle and the right end of the first driving shaft on the right side is in transmission connection with the right end of the driving axle through a chain transmission mechanism.

5. The mine ecological restoration robot of claim 3, wherein: the vibration screening conveying system comprises a screening conveyor belt, a V-shaped guide plate, a left lower guide plate, a right lower guide plate, a soil flat plate and two vibration mechanisms, wherein the screening conveyor belt is horizontally arranged on the lower side of the middle part of a frame platform along the front-back direction, a plurality of sieve holes are uniformly formed in a belt of the screening conveyor belt, a horizontal connecting plate is fixedly connected between the left end of a front-side conveying roller and the left end of a rear-side conveying roller of the screening conveyor belt and between the right end of the front-side conveying roller and the right end of the rear-side conveying roller of the screening conveyor belt, the left side and the right side of the front end part of a rack of the screening conveyor belt are both hinged to the lower part of the front side of the frame platform, the V-shaped guide plate is horizontally arranged right below the upper half width of the belt of the screening conveyor belt along the front-back direction, the front side, the rear side and the lower side of the V-shaped guide plate are both open, the left side plate of the V-shaped guide plate penetrates through a gap between the left horizontal connecting plate and the upper half left side edge of the belt of the screening conveyor belt to the left side of the left side plate to the left side of the screening conveyor belt to the left side of the V-side guide plate to the left side of the left side guide plate to the left side of the screening conveyor belt, the right side plate of V type baffle passes the space between the horizontal connection board on right side and the first half right side limit of belt of screening conveyer belt right side down to the right side, the left side board fixed connection of V type baffle is on left horizontal connection board, the right side board fixed connection of V type baffle is on the horizontal connection board on right side, the high low slope in left side of left side baffle sets up the left side limit downside at the left side board of V type baffle down to the left side, the low slope in left side of right side baffle sets up the right side board right side limit downside at V type baffle down to the right side, equal fixedly connected with a plurality of vertical connecting rods that the interval set up around between the left side board of left side baffle and V type baffle and between the right side board of right side baffle and V type baffle down to the left side board, the high low slope fixed connection in back before soil tiling board just lies in the screening conveyer belt under the first half width of belt between left side baffle and right side board, two vibrating mechanism bilateral symmetry set up the rear portion of frame platform and respectively with the frame rear end portion of screening conveyer belt and right side left side board The front end upper portion of screening conveyor belt is fixed and is provided with preceding high back low slope setting and is located the hopper that connects between two crawler travel assemblies of rotary drum middle part rear below, and the rear end lower part of screening conveyor belt is fixed and is provided with preceding high back low slope setting and is located the play hopper that the rubble was transported conveyor belt right side portion top, and power generation system is connected with the driving motor electricity of screening conveyor belt.

6. The mine ecological restoration robot of claim 5, wherein: the two vibrating mechanisms have the same structure, the left vibrating mechanism comprises a vibrating motor, a second bearing support, a driven belt wheel, an eccentric wheel and a vibrating lifting rod, the vibrating motor is fixedly arranged at the left upper part of the rear side of the frame platform, the second bearing support is fixedly arranged at the left lower part of the rear side of the frame platform, a second driving shaft horizontally arranged along the left-right direction is rotatably arranged on the second bearing support, the second driving shaft penetrates through the second bearing support, the driven belt wheel is fixedly arranged at the left end of the second driving shaft, the eccentric wheel is fixedly arranged at the right end of the second driving shaft, the vibrating lifting rod is vertically arranged at the right side of the eccentric wheel, the upper end of the vibrating lifting rod is hinged at the outer edge eccentric part of the right side surface of the eccentric wheel, the lower end of the vibrating lifting rod is hinged at the left side of the rear end part of the frame of the screening conveyor belt, and a driving belt wheel is fixedly arranged at the right end of a power shaft of the vibrating motor, the driving belt wheel is connected with the driven belt wheel in a transmission way through a synchronous belt penetrating through the frame platform, and the power generation system is electrically connected with the vibrating motor.

7. The mine ecological restoration robot of claim 5, wherein: the soil neutralization system comprises an acid neutralization tank, an alkaline neutralization tank, an acid liquid supply pump, an alkaline liquid supply pump and two nested neutralization liquid sprayers, wherein the acid neutralization tank, the alkaline neutralization tank, the acid liquid supply pump and the alkaline liquid supply pump are all fixedly arranged on the upper part of a frame platform, the two nested neutralization liquid sprayers are symmetrically and fixedly arranged on the lower part of the rear side of the frame platform in front and at the back and are positioned below the rear side edge of a soil flat plate, the vertical projection of the rear side edge of the soil flat plate is positioned between the two nested fertilizer sprayers, the outlet of the acid neutralization tank is connected with the inlet of the acid liquid supply pump through an acid liquid outlet pipe, the outlet of the acid liquid supply pump is respectively connected with acid liquid through-flow spaces of the two nested neutralization liquid sprayers through an acid liquid supply pipe, the outlet of the alkaline neutralization tank is connected with the inlet of the alkaline liquid supply pump through an alkaline liquid outlet pipe, the outlet of the alkaline liquid supply pump is respectively connected with the alkaline liquid through-flow spaces of the two nested neutralization liquid sprayers through an alkaline liquid supply pipe, the nested neutralization liquid spraying machine on the front side sprays acid liquid or alkali liquid backwards, the nested neutralization liquid spraying machine on the rear side sprays the acid liquid or the alkali liquid forwards, and the power generation system is electrically connected with the acid liquid supply pump and the alkali liquid supply pump respectively.

8. The mine ecological restoration robot of claim 7, characterized in that: the nested neutralizing liquid sprayer on the front side comprises a swing motor, an outer spray pipe, an inner spray pipe and a right-angle pipe joint, wherein the outer spray pipe and the inner spray pipe are horizontally arranged on the front lower side of the rear side edge of the soil floor plate along the left-right direction, the outer spray pipe is concentrically sleeved outside the inner spray pipe, the inner diameter of the outer spray pipe is larger than the outer diameter of the inner spray pipe, the length of the outer spray pipe is smaller than that of the inner spray pipe, the right end and the left end of the outer spray pipe and the right end of the inner spray pipe are blocked, the left end of the outer spray pipe is fixedly connected to the outer circumference of the left side part of the inner spray pipe, the right end of the outer spray pipe is fixedly connected to the outer circumference of the right end part of the inner spray pipe, an acid liquid through-flow space is formed inside the inner spray pipe, an alkali liquid through-flow space is formed by a ring cavity between the outer spray pipe and the inner spray pipe, the swing motor is fixedly arranged on the right lower part of the rear side of a frame platform and is positioned on the right side of the inner spray pipe, the right-angle pipe joint is fixedly arranged on the left lower part of the rear side of the frame platform and is positioned on the left side of the inner spray pipe, the left end of a power shaft of the swing motor is coaxially connected with the right end of the inner spray pipe in a transmission manner, the right-angle pipe joint comprises a vertical pipe and a horizontal pipe, the horizontal pipe is horizontally arranged along the left-right direction, the lower end of the vertical pipe is integrally and fixedly connected to the upper side pipe wall of the left end part of the horizontal pipe and is communicated with the inside of the horizontal pipe, the left end part of the outer spray pipe is concentrically and rotatably arranged in the horizontal pipe, through holes which are concentric up and down and are communicated with the vertical pipe up and down are respectively arranged on the upper side pipe wall and the lower side pipe wall of the left side part of the outer spray pipe, the left end of the inner spray pipe extends out of the left end of the outer spray pipe leftwards, a first sealing structure is arranged between the left end part of the outer circumference of the outer spray pipe and the left end part of the inner circumference of the horizontal pipe, a second sealing structure is arranged between the left side part of the outer circumference of the outer spray pipe and the right end part of the inner circumference of the horizontal pipe, and an arc-shaped plate is fixedly connected to the pipe wall of the rear side part of the outer spray pipe through a plurality of first fastening screws, the front side surface of the arc-shaped plate is an arc-shaped surface tightly attached to the pipe wall of the rear side part of the outer spray pipe, the rear side surface of the arc-shaped plate is a vertical plane, the pipe wall of the rear side of the inner spray pipe is provided with two rows of threaded holes which are spaced up and down, the pipe wall of the rear side of the outer spray pipe is provided with two rows of round holes which are spaced up and down, the arc-shaped plate is provided with two rows of through-flow holes which are spaced up and down, each threaded hole, each round hole and each through-flow hole are respectively arranged in a one-to-one correspondence manner, the aperture of each round hole is the same as that of the through-flow hole, each threaded hole is internally provided with a high-pressure spray nozzle communicated with an acid liquor through-flow space, acid liquor is sprayed backwards through the high-pressure spray nozzle, the rear end of the high-pressure spray nozzle backwards penetrates through the corresponding round hole and is positioned in the corresponding through-flow hole, the outer diameter of the high-pressure spray nozzle is smaller than that of the round hole, and a dustproof ring sleeved on the outer circumference of the rear end of the high-pressure spray nozzle is fixedly embedded in the rear side part of the through-flow hole, the dustproof ring is provided with a plurality of spray holes which are arranged in a circumferential array and are through from front to back, alkali liquor is sprayed backwards through the annular cavity between the high-pressure spray head and the through-flow holes and the corresponding spray holes, the upper end of the vertical pipe is fixedly connected with the water outlet end of the acid liquor supply pipe, the left end of the inner spray pipe is connected with the liquid outlet end of the alkali liquor supply pipe through a rotary joint, and the power generation system is electrically connected with the swing motor.

9. The mine ecological restoration robot of claim 8, characterized in that: the first sealing structure comprises a first sealing ring, a first step groove is formed in the inner circle of the left end of the horizontal pipe, the first sealing ring is fixedly embedded in the bottom of the right side groove of the first step groove and sleeved on the left side part of the outer spray pipe, a first bearing and a first isolating pipe sleeve sleeved on the left side part of the outer spray pipe are fixedly embedded in the left side groove of the first step groove from left to right in sequence, a flange end cover sleeved on the left side part of the inner spray pipe is fixedly installed at the left end of the horizontal pipe through a plurality of second fastening screws and is in rotary sealing connection with the inner spray pipe, a rotary gap is reserved between the right end surface of the flange end cover and the left end of the outer spray pipe, a first O-shaped ring tightly contacted with the left end surface of the horizontal pipe is fixedly embedded in the edge surface of the right end of the flange end cover, an annular flange extending into the left side groove of the first step groove is integrally formed in the inner circle of the right end of the flange end cover, and the excircle of the annular flange is tightly matched with the inner circle of the left side groove of the first step groove, the right end of the circular flange is tightly pressed on the left end face of the outer ring of the first bearing, a limiting baffle ring tightly pressing the left end face of the inner ring of the first bearing is fixedly embedded and sleeved on the outer circumference of the left end of the outer spray pipe, the first bearing tightly presses the first isolating pipe sleeve, and the first isolating pipe sleeve tightly presses the first sealing ring;

the second sealing structure comprises a second sealing ring, a sealing spacer bush and a sealing press ring, wherein a second step groove is formed in the inner circle of the right end of the horizontal pipe, the second sealing ring is fixedly embedded in the bottom of the left side groove of the second step groove and sleeved on the left side part of the outer spray pipe, a second isolation pipe sleeve, a second bearing and a third isolation pipe sleeve which are sleeved on the left side part of the outer spray pipe are fixedly embedded in the right side groove of the second step groove from left to right in sequence, the sealing spacer bush and the sealing press ring are sleeved on the outer spray pipe at the same center at intervals left and right, a circular boss is integrally formed on the outer circumference of the right end part of the sealing spacer bush, the left side surface of the circular boss is tightly pressed on the right end surface of the horizontal pipe, a third O-shaped ring which is tightly pressed and contacted with the right end surface of the horizontal pipe is fixedly embedded on the left side surface of the circular boss, the sealing press ring is sleeved on the right end part of the outer spray pipe at the same center and tightly pressed on the right side surface of the circular boss, and the sealing press ring is fixedly connected to the right end of the horizontal pipe through a plurality of third fastening screws which penetrate through the circular boss, the left side part of the sealing spacer sleeve is embedded in the right side groove of the second step groove, the excircle of the left side part of the sealing spacer sleeve is in clearance fit with the inner circle of the right side groove of the second step groove, the inner circle of the left end of the sealing spacer sleeve is provided with a first mounting groove, the inner circle of the right end of the sealing spacer sleeve is provided with a second mounting groove, the left end of the sealing spacer sleeve is tightly pressed against a third isolation pipe sleeve, the third isolation pipe sleeve is tightly pressed against the right end surface of the outer ring of the second bearing, the left end surface of the outer ring of the second bearing is tightly pressed against a second isolation pipe sleeve, the second isolation pipe sleeve is tightly pressed against a second sealing ring, a third sealing ring sleeved on the left side part of the outer spray pipe is fixedly embedded in the first mounting groove, a fourth sealing ring sleeved on the left side part of the outer spray pipe is fixedly embedded in the second mounting groove, and the fourth sealing ring, the first sealing ring and the second sealing ring are tightly pressed, the third sealing ring and the fourth sealing ring are both in close fit with the outer spray pipe and rotate in a sealing manner.

10. The mine ecological restoration robot of claim 5, wherein: the left side and the right side of the upper half of a belt of the screening and conveying belt conveyor and the left side and the right side of the lower half of the belt are both fixedly provided with long strip baffles, the long strip baffles on the left side and the right side are identical in structure and the left side and the right side are identical, a C-shaped groove plate with openings in the front side, the rear side and the right side is integrally formed in the middle of the long strip baffle on the left side, the left side of the belt of the screening and conveying belt conveyor is slidably embedded in a groove of the C-shaped groove plate, two rows of rollers which are spaced up and down are arranged in the groove of the C-shaped groove plate, the left side of the belt of the screening and conveying belt conveyor slides between the two corresponding rows of rollers, and wear-resistant strips are adhered to the left side and the right side of the belt of the screening and conveying belt conveyor;