CN115126017A - Mine ecological restoration robot - Google Patents

Abstract

Mine ecological restoration robot, including frame platform, cab, power box, engine, power generation system, hydraulic station system, two lifting arm mechanisms, rotating bucket, vibrating screening conveying system, soil neutralization system and gravel transfer conveying Belt conveyor, the left and right sides of the bottom of the frame platform are fixedly installed with crawler walking assemblies, two arm lift mechanisms are installed on the left and right sides of the front side of the frame platform, and the rotary bucket is rotated and installed on the two lift arms Between the front end of the mechanism, the vibrating screening conveying system is horizontally arranged on the lower side of the middle part of the frame platform along the front and rear directions, the soil neutralization system is fixedly arranged under the rear end of the vibrating screening conveying system, and the gravel transfer conveyor belt The left high right low inclined is arranged on the left side of the rear end of the frame platform, and the power output shaft of the engine drives the rotary bucket to rotate. The invention can dig, sieve and neutralize soil and soil while walking, digging, and neutralize the soil, thereby restoring the mine land containing the rubble into land suitable for planting vegetation.

Description

Mine ecological restoration robot

technical field

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

Background technique

Mineral resources are important material resources. However, mining will cause serious damage to the mine environment, which will not only affect the natural landscape around the mine and cause soil pollution in the mine, but also induce landslides, cause soil erosion and other geological disasters, and cause serious damage to the lives of surrounding residents. Serious harm, environmental problems are related to people's quality of life, so it is necessary to restore the mine ecology after mining. The restoration of the mine ecology is usually replanting vegetation on the mine.

However, a large amount of gravel is often buried in the mine soil after mining, and after the mine soil is polluted, it is not suitable for planting vegetation.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a mine ecological restoration robot, which can walk, dig, screen soil and gravel, neutralize the soil while walking, and then restore the mine land containing gravel to land suitable for planting vegetation , so as to plant vegetation for ecological restoration of mines.

To achieve the above object, the present invention adopts the following technical solutions:

Mine ecological restoration robot, including frame platform, cab, power box, engine, power generation system, hydraulic station system, two lifting arm mechanisms, rotating bucket, vibrating screening conveying system, soil neutralization system and gravel transfer conveying Belt conveyor, the left and right sides of the bottom of the frame platform are fixedly installed with crawler walking assemblies, the cab is set on the upper left side of the frame platform, the power box is set on the upper right side of the frame platform, the engine, power generation system and hydraulic station system are set in the power box, the two arm lift mechanisms are symmetrically installed on the left and right sides of the front side of the frame platform, and the rotating bucket is horizontally rotated along the left and right directions and installed between the front ends of the two lift arm mechanisms. The left and right length of the rotating bucket is greater than the distance between the two crawler walking assemblies and less than the left and right width of the frame platform. The vibrating screening and conveying system is horizontally arranged on the lower side of the middle of the frame platform along the front and rear directions, and the soil neutralization system is fixed. It is arranged at the rear lower part of the frame platform and below the rear end of the vibrating screening conveying system. The crushed stone transfer conveyor belt is arranged on the left side of the rear end of the frame platform along the left and right directions, and the vibrating screening conveys The conveying direction of the system is set from front to back, and the conveying direction of the gravel transfer conveyor belt is set from bottom right to top left. The right side of the machine is arranged under the rear side of the vibrating screening conveying system. The engine provides power to the power generation system and the hydraulic station system respectively. The power output shaft of the engine drives the rotary bucket to rotate through the axle transmission assembly. The screening conveying system and the soil neutralization system are electrically connected, and the hydraulic station system is respectively connected with the two crawler walking assemblies, the hydraulic drive motor of the gravel transfer conveyor belt conveyor and the two arm lift mechanisms through the hydraulic oil circuit.

The structure of the two arm lift mechanisms is the same. The left arm lift mechanism includes a hinged support, a crank arm and a lifting hydraulic cylinder. The hinged support is fixed on the left part of the front side of the frame platform. The front side of the crank arm is bent forward and downward to form a V-shaped arm, the rear end of the crank arm is hinged on the upper part of the hinged support, and the lifting hydraulic cylinder is set at a high front and a low rear, and the The two ends are respectively hinged on the front side of the middle part of the crank arm and the lower part of the hinged support, and the hydraulic station system is connected with the lifting hydraulic cylinder through the hydraulic oil circuit.

The rotating bucket includes a rotating drum, and the rotating drum is horizontally arranged along the left and right directions. The outer circular edge of the left end face and the outer circular edge of the right end face of the rotary drum are integrally formed and fixedly connected with a concentrically arranged inner gear ring. The outer circumference of the left end and the outer circumference of the right end of the inner gear ring on the right are integrally formed and fixedly connected with a ring baffle. The open side faces upward and rearward, and a number of bucket partitions arranged in a circumferential array are fixedly connected to the outer circumference of the rotating drum in the axial direction. The left side of the bucket partition is fixedly connected with the right side of the left ring baffle, the right side of the bucket partition is fixedly connected with the left side of the right ring baffle, and the bucket on the upper side is fixedly connected. The clapboard is set with a low front and a high rear. The middle part of the side of the bucket clapboard facing away from the rotating drum is vertically fixed and connected with an arc-shaped cutting board along the front-rear direction. The left side of the bucket clapboard facing away from the rotating drum and the left A spiral cutting board is fixedly connected between the right side of the side ring baffle and between the right side of the side of the bucket partition facing away from the rotating drum and the left side of the right ring baffle. The spiral cutting plate on the left spirals from left to right along the axis of the rotating drum, and the spiral cutting plate on the right spirals from right to left along the axis of the rotating drum. There are a number of bucket teeth spaced from left to right. The center of the left end face and the center of the right end face of the rotating drum are coaxially fixed with a rotating shaft. The right end of the shaft is rotatably connected to the front end of the left side of the right crank arm.

The axle transmission assembly includes a drive axle, a support beam, a reducer, a transmission shaft and two first bearing supports. The drive axle is horizontally and fixedly connected to the middle rear side of the upper side of the two crank arms along the left and right directions. The support beam It is horizontally and fixedly connected between the middle rear sides of the two crank arms in the left and right direction and is located at the rear and bottom of the drive axle. The reducer is fixedly installed on the support beam and is located on the right rear side of the middle part of the drive axle. The front power output of the reducer The shaft is coaxially connected with the rear power input shaft of the drive axle. The power output shaft of the engine extends forward from the front side of the power case and is connected with the rear power output shaft of the reducer through the transmission shaft. Low-tilt setting, the front end of the power output shaft of the engine and the rear end of the transmission shaft and the rear end of the power output shaft of the reducer and the front end of the transmission shaft are connected by universal joints, and the two first bearing supports are left and right symmetrical They are respectively fixed and installed on the front side of the upper side of the two crank arms, and a first drive shaft horizontally arranged in the left-right direction is rotatably installed on the two first bearing supports, and the first drive shaft is arranged through the first bearing supports. , the right end of the first drive shaft on the left protrudes to the right into the inner hole of the inner gear ring on the left, and the left end of the first drive shaft on the right protrudes into the inner hole of the inner gear ring on the right to the left , the right end of the first drive shaft on the left and the left end of the first drive shaft on the right are fixedly installed with drive gears, the drive gear on the left is meshed with the inner gear on the left, and the drive gear on the right is connected with the right The inner ring gear on the side is meshed and connected, and the left end of the left first drive shaft and the left end of the drive axle and the right end of the right first drive shaft and the right end of the drive axle are all connected through a chain drive mechanism.

The vibrating screening conveyor system includes a screening conveyor belt, a V-shaped guide plate, a left lower guide plate, a right lower guide plate, a soil tiling plate and two vibration mechanisms. , the belt of the screening conveyor belt is evenly opened with a number of screen holes, between the left end of the front side conveyor roller and the left end of the rear side conveyor roller of the screen conveyor belt conveyor and the front side conveyor roller of the screening conveyor belt. A horizontal connecting plate is fixedly connected between the right end and the right end of the rear conveyor roller. The left and right sides of the front end of the frame of the screening conveyor are hinged to the lower part of the front side of the frame platform, and the V-shaped guide plate is horizontal along the front and rear directions. It is set directly below the upper half of the belt of the screening conveyor belt. The front, rear and lower sides of the V-shaped guide plate are open. The gap between the left side of the upper half of the belt of the conveyor belt, the right side of the V-shaped guide plate goes down to the right through the right horizontal connecting plate and the gap between the right side of the upper half of the belt of the screening conveyor belt , the left side plate of the V-shaped guide plate is fixedly connected to the left horizontal connecting plate, the right side plate of the V-shaped guide plate is fixedly connected to the right horizontal connecting plate, and the lower left guide plate is set on the left high and right low slope of the V-shaped guide plate. The lower side of the left side of the left side plate, the lower right guide plate is set on the lower side of the right side of the right side of the V-shaped guide plate, between the lower left guide plate and the left side plate of the V-shaped guide plate, and between the lower right guide plate and the V-shaped guide plate. The right side plates of the type guide plate are fixedly connected with a number of vertical connecting rods arranged at intervals in the front and rear. Just below the lower half of the belt, two vibrating mechanisms are arranged symmetrically on the rear side of the frame platform and are respectively connected with the left and right sides of the rear end of the frame of the screening conveyor belt, and the upper part of the front end of the screening conveyor belt. There is a fixed hopper with a high front and a low slope and is located between the two crawler walking assemblies at the bottom and rear of the middle of the rotating drum. The discharge hopper above the right side of the transfer conveyor belt, the power generation system is electrically connected with the drive motor of the screening conveyor belt.

The structure of the two vibration mechanisms is the same. The vibration mechanism on the left includes a vibration motor, a second bearing support, a driven pulley, an eccentric wheel and a vibration lift rod. The vibration motor is fixedly installed on the upper left of the rear side of the frame platform. The second bearing support is fixedly installed on the lower left part of the rear side of the frame platform, and a second drive shaft horizontally arranged in the left-right direction is rotatably installed on the second bearing support. The second drive shaft is arranged through the second bearing support, from The moving pulley is fixedly installed on the left end of the second drive shaft, the eccentric wheel is fixedly installed on the right end of the second drive shaft, the vibration lifting rod is vertically arranged on the right side of the eccentric wheel, and the upper end of the vibration lifting rod is hinged on the right side of the eccentric wheel The eccentric part of the outer edge of the surface, the lower end of the vibration lifting rod is hinged on the left side of the rear end of the frame of the screening conveyor belt, the right end of the power shaft of the vibration motor is fixedly installed with a driving pulley, and the driving pulley and the driven pulley pass through. The synchronous belt of the frame platform is connected to drive, and the power generation system is electrically connected to the vibration motor.

Soil neutralization system includes acid neutralization tank, alkaline neutralization tank, acid liquid supply pump, alkali liquid supply pump and two nested neutralization liquid sprayers, acid neutralization tank, alkaline neutralization tank, acid liquid The supply pump and the lye supply pump are fixedly installed on the upper part of the frame platform, and the two nested neutralizing liquid sprayers are symmetrically fixed at the lower part of the rear side of the frame platform and below the rear side of the soil tile. The vertical projection of the rear side of the soil tile is located between the two nested fertilizer spreaders. The outlet of the acid neutralization tank is connected to the inlet of the acid supply pump through the acid outlet pipe, and the outlet of the acid supply pump is supplied by the acid solution. The pipes are respectively connected with the acid liquid flow spaces of the two nested neutralization liquid sprayers, the outlet of the alkaline neutralization tank is connected with the inlet of the alkaline liquid supply pump through the alkaline liquid outlet pipe, and the outlet of the alkaline liquid supply pump is connected through the alkaline liquid supply pump. The liquid supply pipes are respectively connected with the lye flow spaces of the two nested neutralizers. and the liquid spraying machine sprays acid liquid or lye liquid forward, and the power generation system is respectively electrically connected with the acid liquid supply pump and the alkaline liquid supply pump.

The nested neutralizing liquid sprayer on the front side includes a swing motor, an outer nozzle, an inner nozzle and a right-angle pipe joint. On the lower side, the outer nozzle is concentrically sleeved outside the inner nozzle, the inner diameter of the outer nozzle is larger than the outer diameter of the inner nozzle, the length of the outer nozzle is less than the length of the inner nozzle, the right and left ends of the outer nozzle and the inner The right ends of the nozzles are all blocked, the left end of the outer nozzle is fixedly connected to the outer circumference of the left side of the inner nozzle, and the right end of the outer nozzle is fixedly connected to the outer circumference of the right end of the inner nozzle. The acid liquid flow space, the annular cavity between the outer nozzle and the inner nozzle constitutes the alkali liquid flow space, the swing motor is fixedly installed on the lower right part of the rear side of the frame platform and is located on the right side of the right end of the inner nozzle, right-angle type The pipe joint is fixedly installed on the lower left part of the rear side of the frame platform and is located on the left side of the inner nozzle. The left end of the power shaft of the swing motor is coaxially connected to the right end of the inner nozzle. The right-angle pipe joint includes a vertical pipe and a horizontal pipe , the horizontal pipe is arranged horizontally along the left and right direction, the lower end of the vertical pipe is integrally formed and fixedly connected to the upper pipe wall of the left end of the horizontal pipe and communicated with the interior of the horizontal pipe, and the left end of the outer nozzle is installed in the horizontal pipe by concentric rotation The upper and lower pipe walls of the left side of the outer nozzle are provided with through holes that are concentric up and down and communicated with the vertical pipe up and down. The left end of the inner nozzle protrudes from the left end of the outer nozzle to the left, A first sealing structure is arranged between the left end of the outer circumference of the nozzle and the left end of the inner circumference of the horizontal pipe, and a second sealing structure is arranged between the left end of the outer circumference of the outer nozzle and the right end of the inner circumference of the horizontal pipe, An arc-shaped plate is fixedly connected to the rear side pipe wall of the outer nozzle through a plurality of first fastening screws, and the front side of the arc-shaped plate is an arc-shaped surface that closely fits with the rear side pipe wall of the outer nozzle. The rear side of the arc-shaped plate is a vertical plane, the rear side pipe wall of the inner nozzle is provided with two rows of upper and lower threaded holes, and the rear side pipe wall of the outer nozzle is provided with two rows of upper and lower spaced circular holes. There are two rows of upper and lower through-flow holes on the shaped plate, and each threaded hole, each circular hole and each through-flow hole are respectively arranged one by one in front and back. The thread is installed with a high-pressure nozzle that communicates with the acid liquid through-flow space. The acid liquid is sprayed backward through the high-pressure nozzle. The rear end of the high-pressure nozzle passes backward through the corresponding circular hole and is located in the corresponding through-flow hole. Smaller than the diameter of the circular hole, a dust-proof ring sleeved on the outer circumference of the rear end of the high-pressure nozzle is fixedly embedded on the inner and rear side of the through-flow hole. The dust-proof ring is provided with a number of nozzle holes arranged in a circular array and transparent to the front and rear. , the alkali liquid is sprayed backward through the annular cavity between the high-pressure nozzle and the through-flow hole, and the corresponding nozzle holes. The upper end of the vertical pipe is fixedly connected with the outlet end of the acid liquid supply pipe, and the left end of the inner nozzle is connected to the alkali through a rotary joint. The liquid outlet end of the liquid supply pipe is connected, and the power generation system is electrically connected with the swing motor.

The first sealing structure includes a first sealing ring, the inner circle of the left end of the horizontal pipe is provided with a first stepped groove, the first sealing ring is fixedly embedded in the bottom of the right groove of the first stepped groove and sleeved on the left side of the outer nozzle, A first bearing and a first isolating tube sleeve sleeved on the left side of the outer nozzle are fixed and embedded in the left slot of the first stepped slot from left to right, and the left end of the horizontal tube is fixed and installed by several second fastening screws. There is a flange end cover sleeved on the left side of the inner nozzle. The flange end cover is connected with the inner nozzle in a rotary and sealing manner. There is a rotation gap between the right end face of the flange end cover and the left end of the outer nozzle. The edge surface of the right end of the cover is fixedly embedded with a first O-ring which is in close contact with the left end surface of the horizontal pipe, and the inner circle of the right end of the flange end cover is integrally formed with a ring extending into the left groove of the first step groove. Flange, the outer circle of the annular flange is closely matched with the inner circle of the left groove of the first step groove, the right end of the annular flange is pressed against the left end face of the outer ring of the first bearing, and the outer circumference of the left end of the outer nozzle is The upper fixed and embedded sleeve is provided with a limit stop ring that presses the left end face of the inner ring of the first bearing, the first bearing presses the first isolation sleeve, and the first isolation sleeve presses the first sealing ring;

The second sealing structure includes a second sealing ring, a sealing spacer, and a sealing pressure ring. The inner circle of the right end of the horizontal pipe is provided with a second stepped groove, and the second sealing ring is fixedly embedded in the bottom of the left groove of the second stepped groove. The second isolation pipe sleeve, the second bearing and the third isolation pipe sleeve sleeved on the left side of the outer nozzle are fixedly embedded in the right side groove of the second step groove from left to right, The sealing spacer and the sealing pressure ring are sleeved on the outer nozzle at the same center at the left and right intervals. The outer circumference of the right end of the sealing spacer is integrally formed with a circular boss, and the left side of the circular boss is pressed against the right end of the horizontal pipe. , the left side of the annular boss is fixedly embedded with a third O-ring that is in tight contact with the right end face of the horizontal pipe, and the sealing pressure ring is concentrically sleeved on the right end of the outer nozzle and tightly pressed on the right end of the annular boss. On the right side, the sealing pressure ring is fixedly connected to the right end of the horizontal pipe through a number of third fastening screws penetrating the annular boss, and the left part of the sealing spacer is embedded in the right groove of the second step groove, The outer circle of the left side of the sealing spacer is gap-fitted with the inner circle of the right groove of the second step groove, the inner circle of the left end of the sealing spacer is provided with a first installation groove, and the inner circle of the right end of the sealing spacer is provided with a second installation groove , the left end of the sealing spacer is pressed against the third spacer sleeve, the third spacer sleeve is pressed against the right end face of the outer ring of the second bearing, the left end face of the outer ring of the second bearing is pressed against the second spacer sleeve, the second spacer pipe Tightly press the second sealing ring, the first installation groove is fixedly embedded with a third sealing ring sleeved on the left side of the outer nozzle, and the second installation groove is fixedly embedded with a fourth seal sleeved on the left side of the outer nozzle The seal pressing ring presses the fourth seal ring tightly, and the first seal ring, the second seal ring, the third seal ring and the fourth seal ring are tightly matched with the outer nozzle and rotate in a sealed manner.

The left and right sides of the upper half of the belt and the left and right sides of the lower half of the belt of the screening conveyor belt are fixed with long baffles. The long baffles on the left and right have the same structure and the same left and right. The middle part of the long baffle is integrally formed with a C-shaped groove plate with open front, rear and right sides, and the left side of the belt of the screening conveyor belt is slidingly embedded in the groove of the C-shaped groove plate. There are two rows of rollers spaced up and down in the groove of the groove plate. The left side of the belt of the screening conveyor belt slides between the corresponding two rows of rollers, and the left side and the right side of the belt of the screening conveyor belt are both. pasted with wear strips;

The left side of the upper left strip baffle and the right side of the upper right side strip baffle are fixedly installed with several distribution mechanisms arranged at intervals in the front and rear, each distribution mechanism on the left side and each distribution mechanism on the right side. The structure is the same and the left and right are symmetrical; a distribution mechanism on the left includes a distribution hydraulic cylinder, and the cylinder of the distribution hydraulic cylinder is fixedly installed on the upper part of the long baffle on the upper left side and is higher than the belt of the screening conveyor belt. Half-width, the piston rod of the distribution hydraulic cylinder extends horizontally to the right through the long baffle on the upper left side and is located above the upper half of the belt of the screening conveyor belt. The right end of the piston rod of the distribution hydraulic cylinder is fixedly installed with a distribution Rake, the lower end of the distribution harrow is 1-5mm higher than the upper half of the belt of the screening conveyor belt, and the hydraulic station system is connected with the distribution hydraulic cylinder through the hydraulic oil circuit;

The piston rods of the two corresponding distribution hydraulic cylinders on the left and right extend synchronously in the same cycle, and the piston rods of the two adjacent distribution hydraulic cylinders in the front and rear are staggered and retracted in the same cycle;

The upper left side of the rear left side of the frame platform is fixedly provided with a door frame type bracket which is open on the left side, the right side and the lower side. The beam of the type bracket is fixedly connected with a C-type support rod, and the middle of the front and rear sides of the frame of the crushed stone transfer conveyor belt is connected with the C-type support rod through a pulling rope;

The front ends of the left crank arm and the right crank arm are fixedly connected with a circular arc baffle through several bolts. The two arc baffles have the same structure and are symmetrically arranged. The inner gear ring on the left The left edge of the inner circle and the right edge of the inner circle of the right inner ring are smooth surfaces, the left circular arc baffle is located at the left end of the inner lower side of the left inner ring, and the left circle The left side of the arc baffle is flush with the left end face of the left inner gear ring, the lower side of the left arc baffle is an arc edge, and the center of the left arc baffle is the same as the left The center of the inner gear ring on the side coincides, and there is a gap between the lower side edge of the arc-shaped baffle on the left side and the inner circle of the lower side portion of the inner gear ring on the left side.

Compared with the prior art, the present invention has outstanding substantive features and significant progress. Specifically, the working principle of the present invention is as follows: the driver drives the mine ecological restoration robot in the cab, and the mine ecological restoration is carried out through the crawler walking assembly. The robot travels to the area to be repaired in the mine, and controls the two lifting hydraulic cylinders to shrink, so that the two crank arms fall down, and then the rotating bucket falls down to contact the ground. At the same time, the engine drives the drive axle through the drive shaft, and the two ends of the drive axle The two first drive shafts are respectively driven to rotate by the chain transmission mechanism, then the two drive gears mesh and drive the corresponding inner gear ring respectively, and then drive the rotating drum to rotate, then the soil and soil debris are removed through the bucket teeth and bucket partitions. The stone is dug out at the same time and moved backward and downward under the rotation of the rotating drum. The setting of the circular arc baffle can prevent the soil and gravel from entering the inner gear ring during this process, and the soil and gravel are in the arc cutting board. Under the action of the spiral cutting board, the soil and gravel fall back to the hopper from the lower part of the rotating drum, and the soil and gravel slide back along the hopper to the screen of the conveyor belt. When the upper half of the belt is on, the upper half of the belt of the screening conveyor continuously transports the soil and gravel backwards, and controls the two vibration motors to start synchronously, and the active pulleys on the two vibration motors drive the corresponding When the two driven pulleys rotate, the driven pulley drives the corresponding eccentric to rotate through the second drive shaft, and the eccentric drives the corresponding vibration lifting rod to reciprocate up and down. The rear end of the frame swings up and down, so that the screening conveyor belt vibrates up and down, and at the same time, the piston rod of each distribution hydraulic cylinder is controlled to reciprocate left and right. The soil and gravel on the upper half of the belt are spread out, and the soil and small particles of gravel pass through the upper half of the belt of the screening conveyor belt under the toggle of each distributing rake and the up and down vibration of the screening conveyor belt. The sieve hole is sieved downward, and the soil and small particles of gravel fall down onto the V-shaped guide plate and slide down to the left and right sides along the left and right plates of the V-shaped guide plate, respectively. Soil and small-grained gravel slide to the right on the soil tile along the lower left guide plate. The soil and small-grained gravel on the ground will slide down from the front to the back along the soil tile, and the soil and small-grained gravel will fall back to the ground from the back side of the soil tile. During the whole process, start Soil Neutralization System, two nested Neutralizers spray acid or lye at the same time towards soil and small gravel falling from the back side of soil tile to neutralize soil and small gravel , and the large particles of gravel are transported backwards and dropped onto the discharge hopper driven by the upper half of the belt of the screening conveyor belt, and then fall backwards along the discharge hopper to the right side of the gravel transfer conveyor belt. On the side, the gravel transfer conveyor belt conveys the large gravel from the lower right to the upper left, and at the same time arranges a truck on the left side of the mine ecological restoration robot. Walking and catching the large-grained gravel output from the left end of the gravel transfer conveyor belt can realize the separation of the soil and the gravel in the area to be rehabilitated in the mine, as well as the neutralization of the soil acidity and alkalinity. Driven by the crawler walking assembly, the robot walks all the way forward, and it can walk, dig, screen soil and gravel, neutralize the soil while walking, and then restore the mine land containing gravel to suitable for planting vegetation. On the land, the large particles of gravel screened out are pulled away by the above-mentioned trucks, and the whole repair is completed, and the soil repair treatment of the area to be repaired in the mine can be completed, so that the repaired soil is suitable for planting vegetation. When the soil is neutralized for a period of time, it will be Vegetation can be planted to realize the ecological restoration of the mine. When the soil is neutralized, the acidity and alkalinity of the soil in the area to be restored is tested in advance. If the soil in the area to be restored is alkaline, two nested neutralization The liquid sprayer sprays acid liquid. If the soil in the area to be rehabilitated in the mine is acidic, the two nested neutralization liquid sprayers spray the lye liquid. Taking the spraying acid liquid as an example to illustrate the working principle of the soil neutralization system: start the acid liquid Supply pump, the acid liquid supply pump draws out the acid liquid in the acid neutralization tank through the acid liquid outlet pipe, and then injects the acid liquid into the acid liquid flow space of the two nested neutralization liquid sprayers respectively through the acid liquid supply pipe In the middle, the power shafts of the two oscillating motors reciprocate synchronously at a small angle, and the two oscillating motors drive the corresponding inner nozzles to reciprocate at a small angle respectively, then the front and rear outer nozzles rotate synchronously at a small angle, and the acid liquid passes through Each high-pressure nozzle on the front side sprays backward in a waterfall shape to mix with soil and small-grained gravel for neutralization, and the acid liquid is sprayed forward in a waterfall-like shape through each high-pressure nozzle on the rear side to be fully mixed with soil and small-grained gravel. And; after the restoration of the mine land in this area is completed, the two lifting hydraulic cylinders are controlled to extend, so that the two crank arms are lifted upward, so that the rotating bucket is moved upward and separated from the ground, and then the mine ecological restoration robot is driven to another waiting area. Repair the area, and then repair the mine land in the area to be repaired.

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

In the present invention, the piston rods of the two corresponding distribution hydraulic cylinders on the left and right expand and contract synchronously in the same period, and the piston rods of the two adjacent distribution hydraulic cylinders in the front and rear are staggered and expanded in the same period. During the backward movement of the upper half of the belt, the two distribution harrows located on the front side and the left and right corresponding to the middle move synchronously to the middle, and then squeeze the large pieces of soil and gravel toward the middle, so that the large pieces of soil and gravel are squeezed against each other. And then broken into small particles, and then the two distribution rakes corresponding to the left and right of the adjacent rear side move to both sides synchronously, and then the soil and gravel gathered in the middle are divided to the two sides respectively, so that the soil and the small particles of gravel are divided. Under the distribution action of each distribution rake, it can pass down through the sieve hole, and the sieving is more sufficient.

To sum up, the invention can walk, dig, sieve soil and gravel, and neutralize soil while walking, and then restore the mine land containing gravel to land suitable for planting vegetation, so as to plant vegetation for mine ecological restoration. Work.

Description of drawings

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

Figure 2 is a plan view of the present invention.

Figure 3 is a front view of the present invention.

Fig. 4 is a plan view of the screening conveyor belt of the present invention.

5 is a left side view of the vibrating screening and conveying system of the present invention after removing two vibrating mechanisms.

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.

8 is a schematic structural diagram of the nested neutralization liquid sprayer of the present invention.

FIG. 9 is a partial enlarged view of part A in FIG. 1 .

FIG. 10 is a sectional view taken along the line B-B in FIG. 8 .

11 is a schematic view of the assembly between the left side of the upper half of the belt and the long baffle on the upper left side of the screening conveyor belt conveyor of the present invention.

FIG. 12 is a partial enlarged view of C in FIG. 8 .

Detailed ways

Embodiments of the present invention are further described below with reference to the accompanying drawings.

As shown in Figure 1-12, the mine ecological restoration robot includes a frame platform 1, a cab 2, a power case 3, an engine, a power generation system, a hydraulic station system, two arm lift mechanisms, a rotating bucket, and vibrating screening and conveying. The system, the soil neutralization system and the gravel transfer conveyor 4, the bottom left and right sides of the frame platform 1 are fixedly installed with crawler walking assemblies 5, and the cab 2 is arranged on the upper left side of the frame platform 1, The power case 3 is arranged on the upper right side of the frame platform 1 , the engine, the power generation system and the hydraulic station system are all arranged in the power case 3 , and the two arm lift mechanisms are symmetrically installed on the left and right sides of the front side of the frame platform 1 . , the rotating bucket is installed horizontally between the front ends of the two lifting arm mechanisms along the left and right directions. The left and right length of the rotating bucket is greater than the distance between the two crawler walking assemblies 5 and less than the left and right width of the frame platform 1. The vibrating screen The sub-conveying system is horizontally arranged on the lower side of the middle of the frame platform 1 along the front-rear direction, the soil neutralization system is fixedly arranged at the rear lower part of the frame platform 1 and is located below the rear end of the vibrating screen conveying system, and the gravel transfer conveyor belt The machine 4 is set on the left side of the rear end of the frame platform 1 along the left and right directions, and the conveying direction of the vibrating screening conveying system is set from front to back, and the conveying direction of the crushed stone transfer conveyor belt 4 is from the bottom right Set up to the left, the front side of the vibrating screening conveying system is set at the rear and bottom of the middle of the rotating bucket, the right side of the crushed stone transfer conveyor 4 is set below the rear side of the vibrating screening conveying system, and the engines respectively provide power to generate electricity system and 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 electrically connected with the vibrating screening conveying system and the soil neutralization system, and the hydraulic station system is respectively connected with the two crawler walking systems. 5. The hydraulic drive motor of the gravel transfer conveyor 4 and the two lift arm mechanisms are connected by hydraulic oil circuits.

The structures of the two arm lift mechanisms are the same. The lift arm mechanism on the left includes a hinged support 6, a crank arm 7 and a lifting hydraulic cylinder 8. The hinge support 6 is fixed on the left part of the front side of the frame platform 1, and the crank arm 7 The front side part of the crank arm 7 is bent forward and downward to form a V-shaped arm, and the rear end part of the crank arm 7 is hinged on the upper part of the hinged support 6, and the front height of the hydraulic cylinder 8 is lifted. The rear is set at a low inclination, the two ends of the lifting hydraulic cylinder 8 are hinged on the front side of the middle of the crank arm 7 and the lower part of the hinged support 6 respectively, and the hydraulic station system is connected with the lifting hydraulic cylinder 8 through the hydraulic oil circuit.

The rotating bucket includes a rotating drum 9, and the rotating drum 9 is arranged horizontally along the left and right directions. The outer circular edge of the left end face and the outer circular edge of the right end face of the rotary drum 9 are integrally formed and fixedly connected with a concentrically arranged inner gear 10. The outer circumference of the left end of the inner gear ring 10 and the outer circumference of the right end of the inner gear ring 10 on the right side are integrally formed and fixedly connected with a ring baffle 11 , and the outer circumference of the annular baffle 11 is provided with a number of teeth arranged in a circular array. In the groove 12, the open side of the upper tooth groove 12 faces the rear and upward, and the outer circumference of the rotating drum 9 is fixedly connected with a number of bucket partitions 13 arranged in a circumferential array along the axial direction. The outer side of the bucket partition 13 The side is flush with the outer circumference of the annular baffle 11, the left side of the bucket baffle 13 is fixedly connected with the right side of the left annular baffle 11, and the right side of the bucket baffle 13 is connected to the right side. The left side of the annular baffle 11 is fixedly connected, the bucket partition 13 on the upper side is inclined at a low front and a high rear, and the middle of the side of the bucket partition 13 facing away from the rotating drum 9 is vertically fixedly connected along the front-rear direction. Arc-shaped cutting plate 14 , between the left side of the side of the bucket partition 13 facing away from the rotating drum 9 and the right side of the left circular baffle 11 , and the one side of the bucket partition 13 facing away from the rotating drum 9 . A spiral cutting plate 15 is fixedly connected between the right side of the side surface and the left side of the right circular baffle plate 11. The spiral cutting plate 15 on the left spirals from left to right along the axial direction of the rotating drum The spiral cutting plate 15 on the side spirals from right to left along the axial direction of the rotating drum 9 , and a number of bucket teeth 16 spaced left and right are fixed on the outer edge of each bucket partition 13 . The left end face of the rotating drum 9 The center and the center of the right end face are coaxially fixed with a rotating shaft 17, the left end of the left rotating shaft 17 is rotatably connected to the front end of the right side of the left crank arm 7, and the right end of the right rotating shaft 17 is rotatably connected to the right side. The front end portion of the left side surface of the crank arm 7 .

The axle transmission assembly includes a drive axle 18, a support beam 19, a reducer 20, a transmission shaft 21 and two first bearing supports 22. The drive axle 18 is horizontally and fixedly connected to the two crank arms 7 along the left and right directions. On the rear side of the middle of the side, the support beam 19 is horizontally and fixedly connected between the middle rear sides of the two crank arms 7 in the left-right direction and is located behind the drive axle 18. The reducer 20 is fixedly installed on the support beam 19 and located on the drive axle 18. On the right rear side of the middle part, the front power output shaft of the reducer 20 is coaxially connected to the rear power input shaft of the drive axle 18, and the power output shaft of the engine extends forward from the front side of the power case 3 and is connected with the reducer 20. The rear PTO shaft is connected through the transmission shaft 21, and the transmission shaft 21 is inclined at a high front and a low rear. The front end of the transmission shaft 21 is connected by a universal joint, the two first bearing supports 22 are symmetrically fixed on the front side of the upper side of the two crank arms 7 respectively, and the two first bearing supports 22 are both rotated. A first drive shaft 23 is installed horizontally along the left-right direction, the first drive shaft 23 is arranged through the first bearing support 22, and the right end of the left first drive shaft 23 extends rightward into the left inner gear ring In the inner hole of The left end of the shaft 23 is fixedly installed with a drive gear 24, the left drive gear 24 is meshed and connected with the left inner gear 10, the right drive gear 24 is meshed with the right inner gear 10, and the left The left end of the first drive shaft 23 and the left end of the drive axle 18 and the right end of the first drive shaft 23 on the right side and the right end of the drive axle 18 are all connected through a chain transmission mechanism 25 .

The vibrating screening conveyor system includes a screening conveyor belt 26, a V-shaped guide plate 27, a left lower guide plate 28, a right lower guide plate 29, a soil tiling plate 30 and two vibration mechanisms. On the lower side of the middle part of the frame platform 1, a number of screen holes 31 are evenly opened on the belt of the screening conveyor belt 26. A horizontal connecting plate 32 is fixedly connected between the right end of the front side conveyor roller and the right end of the rear side conveyor roller of the sub-conveyor belt 26, and the left and right sides of the front end of the frame of the screening conveyor belt 26 are hinged on the frame. In the lower part of the front side of the platform 1, the V-shaped guide plate 27 is horizontally arranged in the front-rear direction just below the upper half of the belt of the screening conveyor belt 26. The front side, the rear side and the lower side of the V-shaped guide plate 27 are open. The left side plate of 27 passes through the gap between the left horizontal connecting plate 32 and the left side of the upper half of the belt of the screening conveyor belt 26, and the right side plate of the V-shaped guide plate 27 passes through the right side down to the right The gap between the horizontal connecting plate 32 and the right side of the upper half of the belt of the screening conveyor belt 26, the left plate of the V-shaped guide plate 27 is fixedly connected to the left horizontal connecting plate 32, and the right side of the V-shaped guide plate 27 The side plate is fixedly connected to the horizontal connecting plate 32 on the right side. The lower side of the right side of the right side plate of the V-shaped guide plate 27, 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 are fixedly connected with a number of front and rear. The vertical connecting rods 33 arranged at intervals, the soil tiling plate 30 is fixedly connected between the left lower guide plate 28 and the right lower guide plate 29 and is located directly below the lower half of the belt of the screening conveyor belt 26, and the two vibrate The mechanism is symmetrically arranged on the rear side of the frame platform 1 and is respectively connected with the left and right sides of the rear end of the frame of the screening conveyor belt 26. The hopper 34 is inclined and is located between the two crawler walking assemblies 5 at the rear and lower part of the middle of the rotating drum 9. The lower part of the rear end of the screening conveyor belt 26 is fixedly arranged with a high front and a low rear and is located on the gravel transfer conveyor belt. The discharge hopper 35 above the right side of the machine 4, the power generation system is electrically connected to the drive motor of the screening conveyor belt 26.

The structure of the two vibration mechanisms is the same. The vibration mechanism on the left side includes a vibration motor 36, a second bearing support 37, a driven pulley 38, an eccentric wheel 39 and a vibration lift rod 40. The vibration motor 36 is fixedly installed on the frame platform 1. The second bearing support 37 is fixedly installed on the left lower part of the rear side of the frame platform 1, and a second drive shaft horizontally arranged in the left and right direction is rotatably installed on the second bearing support 37. The second drive shaft The shaft is arranged through the second bearing support 37, the driven pulley 38 is fixedly installed at the left end of the second drive shaft, the eccentric wheel 39 is fixedly installed at the right end of the second drive shaft, and the vibration lifting rod 40 is vertically arranged on the eccentric wheel 39. On the right side, the upper end of the vibration lifting rod 40 is hinged on the eccentric part of the outer edge of the right side of the eccentric wheel 39, and the lower end of the vibration lifting rod 40 is hinged on the left side of the rear end of the frame of the screening conveyor belt 26. A driving pulley 41 is fixedly installed on the right end of the power shaft. The driving pulley 41 is connected with the driven pulley 38 through a synchronous belt passing through the frame platform 1 , and the power generation system is electrically connected with the vibration motor 36 .

The soil neutralization system includes 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 sprayers 46, an acid neutralization tank 42, an alkaline liquid supply pump 45, The neutralization tank 43 , the acid liquid supply pump 44 and the alkali liquid supply pump 45 are all fixedly installed on the upper part of the frame platform 1 , and two nested neutralization liquid sprayers 46 are symmetrically fixed in the front and rear sides of the frame platform 1 . The lower part is located under the rear side of the soil tile 30, the vertical projection of the rear side of the soil tile 30 is located between the two nested fertilizer spreaders 46, the outlet of the acid neutralization tank 42 and the inlet of the acid supply pump 44 It is connected through the acid liquid outlet pipe 47, the outlet of the acid liquid supply pump 44 is respectively connected with the acid liquid flow space 85 of the two nested neutralization liquid sprayers 46 through the acid liquid supply pipe, and the outlet of the alkaline neutralization tank 43 is connected. The inlet of the lye supply pump 45 is connected through the lye outlet pipe 48, and the outlet of the lye supply pump 45 is respectively connected with the lye flow space 86 of the two nested neutralization liquid sprayers 46 through the lye supply pipe, The nested neutralizing liquid sprayer 46 on the front side sprays acid or lye to the rear, and the nested neutralizing liquid sprayer 46 on the rear side sprays acid or lye forward. The power generation system is connected to the acid liquid supply pump respectively 44 is electrically connected to the lye supply pump 45 .

The nested neutralizing liquid sprayer 46 on the front side includes a swing motor 49, an outer nozzle 50, an inner nozzle 51 and a right-angle pipe joint 52. Both the outer nozzle 50 and the inner nozzle 51 are horizontally arranged in the soil along the left-right direction. On the front and lower sides of the rear side of the tiled plate 30, the outer nozzle 50 is concentrically sleeved outside the inner nozzle 51, the inner diameter of the outer nozzle 50 is larger than the outer diameter of the inner nozzle 51, and the length of the outer nozzle 50 is smaller than that of the inner nozzle The length of the pipe 51, the right and left ends of the outer nozzle 50 and the right end of the inner nozzle 51 are all blocked, and the left end of the outer nozzle 50 is fixedly connected to the outer circumference of the left side of the inner nozzle 51. The right end is fixedly connected to the outer circumference of the right end of the inner nozzle 51, the interior of the inner nozzle 51 constitutes an acid liquid flow space 85, and the annular cavity between the outer nozzle 50 and the inner nozzle 51 constitutes an alkali liquid flow space 86, The swing motor 49 is fixedly installed on the lower right rear side of the frame platform 1 and is located on the right side of the right end of the inner nozzle 51 , and the right-angle pipe joint 52 is fixedly installed on the lower left side of the rear side of the frame platform 1 and is located at the inner nozzle 51 . On the left side, the left end of the power shaft of the swing motor 49 is coaxially connected to the right end of the inner nozzle 51. The right-angle pipe joint 52 includes a vertical pipe and a horizontal pipe. The horizontal pipe is arranged horizontally along the left-right direction, and the lower end of the vertical pipe is integrally formed It is fixedly connected to the upper pipe wall of the left end of the horizontal pipe and communicates with the interior of the horizontal pipe. The side pipe walls are provided with through holes 53 that are concentric up and down and communicated with the vertical pipe. The left end of the inner nozzle 51 extends to the left of the left end of the outer nozzle 50. A first sealing structure is arranged between the left end of the inner circumference of the outer nozzle 50, a second sealing structure is arranged between the left end of the outer circumference of the outer nozzle 50 and the right end of the inner circumference of the horizontal pipe, and the rear side of the outer nozzle 50 The wall is fixedly connected with an arc-shaped plate 54 through a number of first fastening screws. The rear side is a vertical plane, the rear side pipe wall of the inner nozzle 51 is provided with two rows of threaded holes spaced up and down, and the rear side pipe wall of the outer nozzle pipe 50 is provided with two rows of circular holes spaced up and down. 54 is provided with two rows of through-flow holes 55 spaced up and down, each threaded hole, each circular hole and each through-flow hole 55 are respectively arranged one by one in front and back. The middle thread is installed with a high-pressure spray head 56 that communicates with the acid liquid through-flow space 85, the acid liquid is sprayed backward through the high-pressure spray head 56, and the rear end of the high-pressure spray head 56 passes through the corresponding circular hole backward and is located in the corresponding through-flow hole 55. Inside, the outer diameter of the high-pressure spray head 56 is smaller than the diameter of the circular hole, and a dust-proof ring 57 sleeved on the outer circumference of the rear end of the high-pressure spray head 56 is fixedly embedded in the inner and rear side of the through-flow hole 55, and the dust-proof ring 57 is provided with a There are several nozzle holes arranged in a circular array and transparent to the front and back. The alkali liquid is sprayed backward through the annular cavity between the high-pressure nozzle 56 and the through-flow hole 55 and the corresponding nozzle holes. The upper end of the vertical pipe and the outlet of the acid liquid supply pipe End fixed connection, inner nozzle 51 The left end is connected with the liquid outlet end of the lye supply pipe through the rotary joint 58 , and the power generation system is electrically connected with the swing motor 49 .

The first sealing structure includes a first sealing ring 59. The inner circle of the left end of the horizontal pipe is provided with a first stepped groove. The first sealing ring 59 is fixedly embedded in the bottom of the right groove of the first stepped groove and is sleeved on the left side of the outer nozzle On the side, a first bearing 60 and a first isolation tube sleeve 61 sleeved on the left side of the outer nozzle 50 are fixed and embedded in the left groove of the first step groove in sequence from left to right, and the left end of the horizontal tube passes through several Two fastening screws are fixedly installed with a flange end cover 62 sleeved on the left side of the inner nozzle 51 , the flange end cover 62 is connected with the inner nozzle 51 in a rotational and sealing manner, and the right end surface of the flange end cover 62 is connected with the outer nozzle 50 There is a rotation gap between the left ends of the flange end cover 62, the first O-ring 63 in close contact with the left end surface of the horizontal pipe is fixedly embedded on the edge surface of the right end of the flange end cover 62, and the inner circle of the right end of the flange end cover 62 is integrally formed with The annular flange that extends into the left groove of the first stepped groove, the outer circle of the annular flange is closely matched with the inner circle of the left groove of the first stepped groove, and the right end of the annular flange is tightly pressed against the first stepped groove. On the left end face of the outer ring of the bearing 60, the outer circumference of the left end of the outer nozzle 50 is fixedly embedded with a limit stop ring 64 that presses the left end face of the inner ring of the first bearing 60, and the first bearing 60 presses the first isolation pipe tightly. Sleeve 61, the first isolation tube sleeve 61 is pressed against the first sealing ring 59;

The second sealing structure includes a second sealing ring 65 , a sealing spacer 66 and a sealing pressure ring 67 , a second stepped groove is formed on the inner circle of the right end of the horizontal pipe, and the second sealing ring 65 is fixedly embedded in the left side of the second stepped groove The bottom of the groove is sleeved on the left side of the outer nozzle 50, and the right groove of the second stepped groove is sequentially fixed and embedded from left to right with a second isolation tube sleeve 68 and a second bearing sleeved on the left side of the outer nozzle 50. 69 and the third isolation tube sleeve 70, the sealing spacer 66 and the sealing pressure ring 67 are sleeved on the outer nozzle 50 at the left and right intervals and concentrically, and the outer circumference of the right end of the sealing spacer 66 is integrally formed with a circular ring boss 71, and the circular ring convex The left side of the table 71 is pressed against the right end face of the horizontal pipe, and the left side of the annular boss 71 is fixedly embedded with a third O-ring 72 which is in tight contact with the right end face of the horizontal pipe. 67 is concentrically sleeved on the right end of the outer nozzle 50 and pressed against the right side of the annular boss 71. The sealing pressure ring 67 is fixedly connected to the horizontal pipe through a number of third tightening screws penetrating the annular boss 71. At the right end, the left part of the sealing spacer 66 is embedded in the right groove of the second stepped groove, the outer circle of the left part of the sealing spacer 66 is gap-fitted with the inner circle of the right groove of the second stepped groove, and the sealing spacer The inner circle of the left end of 66 is provided with a first installation groove, the inner circle of the right end of the sealing spacer 66 is provided with a second installation groove, the left end of the sealing spacer 66 is pressed against the third isolation sleeve 70, and the third isolation pipe sleeve 70 is tightly pressed The right end face of the outer ring of the second bearing 69, the left end face of the outer ring of the second bearing 69 presses the second isolation sleeve 68, the second isolation sleeve 68 presses the second sealing ring 65, and the first installation groove is fixedly embedded There is a third sealing ring 73 sleeved on the left side of the outer nozzle 50, a fourth sealing ring 74 sleeved on the left side of the outer nozzle 50 is fixedly embedded in the second installation groove, and the sealing pressure ring 67 is pressed against the fourth sealing ring 74. The first sealing ring 59, the second sealing ring 65, the third sealing ring 73 and the fourth sealing ring 74 are all tightly fitted with the outer nozzle 50 and rotate in a sealed manner. The arrangement of the first sealing structure and the second sealing structure can improve the rotational sealing performance of the outer nozzle 50 and prevent the leakage of lye.

The left and right sides of the upper half of the belt and the left and right sides of the lower half of the belt of the screening conveyor belt 26 are fixedly provided with long baffles 75, and the long baffles 75 on the left and right have the same structure and the same left and right. , the middle part of the long baffle plate 75 on the left is integrally formed with a C-shaped groove plate 76 which is open on the front side, the rear side and the right side, and the left side of the belt of the screening conveyor belt 26 is slidingly embedded in the C-shaped groove plate. In the groove of 76, the groove of the C-shaped groove plate 76 is provided with two rows of rollers 77 spaced up and down, the left side of the belt of the screening conveyor belt 26 slides between the corresponding two rows of rollers 77, Wear strips 78 are pasted on the left and right sides of the belt of the machine 26;

The left side of the upper left long baffle 75 and the right side of the upper right side of the elongated baffle 75 are fixedly installed with a number of distribution mechanisms arranged at intervals in the front and rear, each distribution mechanism on the left side and each distribution mechanism on the right side. The structure of the dialing mechanism is the same and the left and right are symmetrically arranged; a distribution mechanism on the left includes a distribution hydraulic cylinder 79, and the cylinder body of the distribution hydraulic cylinder 79 is fixedly installed on the upper left side of the long baffle 75 and is higher than the screening conveying The upper half of the belt of the belt conveyor 26, the piston rod of the distribution hydraulic cylinder 79 extends horizontally to the right through the long baffle 75 on the upper left side and is located above the upper half of the belt of the screening conveyor belt 26, and the distribution hydraulic cylinder 79 The right end of the piston rod is fixedly installed with a distribution harrow 80, the lower end of the distribution harrow 80 is 1-5mm higher than the upper half of the belt of the screening conveyor belt 26, and the hydraulic station system is connected with the distribution hydraulic cylinder 79 through the hydraulic oil circuit;

The piston rods of the two corresponding distribution hydraulic cylinders 79 on the left and right are synchronously expanded and contracted in the same period, and the piston rods of the two adjacent distribution hydraulic cylinders 79 in the front and rear are staggered and expanded in the same period;

The upper left side of the frame platform 1 is fixedly provided with a door frame type bracket 81 which is open on the left side, the right side and the lower side. In the lower right, the beam of the door frame type bracket 81 is fixedly connected with a C-type support rod 82, and the middle parts of the front and rear sides of the frame of the gravel transfer conveyor 4 are connected to the C-type support rod 82 through a pulling rope 83;

The front ends of the left crank arm 7 and the right crank arm 7 are fixedly connected with a circular arc baffle 84 through several bolts. The two arc baffles 84 have the same structure and are arranged symmetrically on the left The left end edge of the inner circle of the inner ring gear 10 and the right end edge of the inner circle of the inner ring gear 10 on the right side are both smooth surfaces, and the arc-shaped baffle 84 on the left side is located in the inner and lower parts of the inner gear ring 10 on the left side. At the left end of the left side, the left side of the left circular arc baffle 84 is flush with the left end surface of the left inner gear ring 10, the lower side of the left circular arc baffle 84 is an arc edge, and the left The center of the arc-shaped baffle 84 on the side coincides with the center of the inner gear ring 10 on the left. with gaps.

Engine, power generation system, hydraulic station system are not shown in the picture, crawler walking assembly 5, cab 2, engine, power generation system, hydraulic station system, lifting hydraulic cylinder 8, drive axle 18, universal joint, acid solution The supply pump 44, the lye supply pump 45, the vibration motor 36, the swing motor 49, the distribution hydraulic cylinder 79 and the distribution rake 80 are all existing conventional technologies, and the specific structure and working principle will not be repeated. The distribution rake 80 is similar to Agricultural tools rake.

The working principle of the present invention is as follows: the driver drives the mine ecological restoration robot in the cab 2, drives the mine ecological restoration robot to the area to be restored in the mine through the crawler walking assembly 5, and controls the two lifting hydraulic cylinders 8 to shrink, so that the The two crank arms 7 fall down, so that the rotary bucket falls down and contacts the ground. At the same time, the engine drives the drive axle 18 through the transmission shaft 21 , and the two ends of the drive axle 18 respectively drive the two first drive shafts 23 through the chain transmission mechanism 25 . Rotating, the two driving gears 24 mesh and drive the corresponding inner gear 10 respectively, and then drive the rotating drum 9 to rotate, then the soil and the gravel in the soil are dug out through the bucket teeth 16 and the bucket partition 13 at the same time and rotate. The drum 9 rotates and moves backwards and downwards. The setting of the circular arc baffle 84 can prevent soil and gravel from entering the ring gear 10 during this process, and the soil and gravel are cut by the arc cutting plate 14 and the spiral cutting. Under the action of the plate 15, the soil and gravel fall back to the receiving hopper 34 from the rear lower part of the rotating drum 9, and the soil and gravel slide backward along the receiving hopper 34 to the screening conveyor belt The upper half of the belt of 26 is on the upper half of the belt of the screening conveyor 26, and the soil and gravel are continuously conveyed backward, and the two vibration motors 36 are controlled to start synchronously, and the driving pulleys 41 on the two vibration motors 36 pass through. The synchronous belt drives the corresponding two driven pulleys 38 to rotate synchronously, then the driven pulley 38 drives the corresponding eccentric wheel 39 to rotate through the second drive shaft, and the eccentric wheel 39 drives the corresponding vibration lifting rod 40 to reciprocate up and down, then the two vibration The pulling rod 40 synchronously drives the rear end of the frame of the screening conveyor belt 26 to swing up and down, thereby causing the screening conveyor belt 26 to vibrate up and down, and at the same time controls the piston rod of each distribution hydraulic cylinder 79 to reciprocate and extend left and right, then the The reciprocating movement of the rake 80 will spread the soil and gravel accumulated on the upper half of the belt of the screening conveyor belt 26, and the soil and small-grained gravel will be sieved and conveyed under the movement of each distribution rake 80. Under the up and down vibration of the belt conveyor 26, it is screened downward through the screen holes 31 on the upper half of the belt of the screening conveyor belt 26, and the soil and small particles of gravel fall down on the V-shaped guide plate 27 and follow the V-shaped guide plate 27. The left side plate and the right side plate of the V-shaped guide plate 27 slide down to the left and right sides, respectively, and the soil and small-grained gravel that slides off the left side of the V-shaped guide plate 27 slide to the right on the soil tile 30 along the left lower guide plate 28, and from the V-shaped guide plate 27 The soil and small-grained gravel sliding down from the right side slide to the left on the soil tile 30 along the lower right guide plate 29, and the soil and small-grained gravel on the soil tile 30 will follow the soil tile 30 from front to back. Sliding, soil and small particles of gravel fall backwards from the rear side of the soil tile 30 to the ground, during the whole process, the soil neutralization system is activated, so that the two nested neutralization sprayers 46 are simultaneously The acid or lye is sprayed toward the soil and small gravel falling from the rear side of the soil tile 30 to neutralize the soil and the small gravel, while the large gravel is screened on the belt of the conveyor belt 26 Driven by the upper half, it is transported backward and dropped to the discharge hopper 35 , and then fall backwards along the discharge hopper 35 to the right side of the gravel transfer conveyor 4, and the gravel transfer conveyor 4 transports the large particles of gravel from the lower right to the upper left, and arranges a truck at the same time. Walking together on the left side of the mine ecological restoration robot and catching the large-grained gravel output from the left end of the gravel transfer conveyor 4, the soil and gravel in the area to be rehabilitated can be separated, and the The soil acidity and alkalinity are neutralized, and the mine ecological restoration robot is driven by the crawler walking assembly 5 to move forward, so as to realize walking, digging, screening of soil and gravel, and neutralization of soil, and then the The mine land containing gravel is rehabilitated into land suitable for planting vegetation. The large-grained gravel screened out is pulled away by the above-mentioned trucks. After the whole restoration is completed, the soil remediation treatment of the area to be rehabilitated in the mine can be completed, so that the rehabilitated soil is suitable for Planting vegetation, when the soil is neutralized for a period of time, vegetation can be planted, and then the ecological restoration of the mine can be realized. When the soil is neutralized: the soil acidity and alkalinity of the area to be restored in the mine are tested in advance. If the soil is alkaline, the two nested neutralizing liquid sprayers 46 spray acid liquid. If the soil in the area to be repaired in the mine is acidic, the two nested neutralizing liquid sprayers 46 spray alkaline liquid to spray acid liquid. Taking an example to illustrate the working principle of the soil neutralization system: start the acid liquid supply pump 44, the acid liquid supply pump 44 draws out the acid liquid in the acid neutralization tank 42 through the acid liquid outlet pipe 47, and then sends the acid liquid through the acid liquid supply pipe They are respectively injected into the acid liquid flow space 85 of the two nested neutralization liquid sprayers 46, the power shafts of the two swing motors 49 reciprocate synchronously at a small angle, and the two swing motors 49 drive the corresponding inner nozzles 51 respectively. If the angle reciprocates, the outer nozzles 50 on the front side and the rear side reciprocate synchronously at a small angle, and the acid liquid is sprayed backward through each high-pressure nozzle 56 on the front side in a waterfall shape, mixed with the soil and small particles of gravel to neutralize the acid. The liquid is sprayed forward in a waterfall shape through the high-pressure nozzles 56 on the rear side, and is fully mixed and neutralized with the soil and small-grained gravel; The arm 7 is lifted upward, so that the rotating bucket is moved upward and separated from the ground surface, and then the mine ecological restoration robot is driven to another area to be restored, and then the mine land in the area to be restored is restored.

The screening conveyor belt 26 of the present invention integrates conveying and screening, and the screening conveyor belt 26 conveys, screens soil and gravel simultaneously, and has a more compact structure, small volume, and reduced energy consumption.

The piston rods of the two corresponding distribution hydraulic cylinders 79 on the left and right of the present invention expand and contract synchronously in the same period, and the piston rods of the two adjacent distribution hydraulic cylinders 79 in the front and rear are staggered and expand in the same period. During the upward and backward movement of the upper half of the belt of the belt conveyor 26, the two distribution rakes 80 corresponding to the left and right of the front side move to the middle synchronously, and then squeeze the large pieces of soil and gravel toward the middle, so that the large pieces of soil and broken stones are moved toward the middle. The stones are crushed into small particles by squeezing each other, and then the two distributing rakes 80 corresponding to the left and right of the adjacent rear side move to both sides synchronously, and then the soil and gravel gathered in the middle are divided to the two sides respectively, so that the soil Under the distribution action of each distribution rake 80, the crushed stone and small particles can pass downward through the screen holes, and the screening is more sufficient.

It should be noted that the cab 2 is provided with a driving position, a directional control mechanism, a driving control mechanism and a control system for controlling the movement of each component, and the corresponding mechanical transmission mechanism will also be installed on the frame platform 1. Conventional technology in the field, similar to large tracked vehicles such as large excavators and agricultural harvesters.

The above embodiments are only used to illustrate rather than limit the technical solutions of the present invention. 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 the present invention can still be modified or equivalently replaced without departing from the Any modification or partial replacement of the spirit and scope of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. The mine ecological restoration robot is characterized in that: it includes a frame platform, a cab, a power case, an engine, a power generation system, a hydraulic station system, two arm lift mechanisms, a rotating bucket, a vibrating screening conveying system, a soil neutralization System and gravel transfer conveyor belt, the bottom left and right sides of the frame platform are fixedly installed with crawler walking assemblies, the cab is set on the upper left side of the frame platform, and the power box is set on the upper right side of the frame platform. On the side, the engine, power generation system and hydraulic station system are all set in the power box. The two lifting arm mechanisms are symmetrically installed on the left and right sides of the front side of the frame platform, and the rotating bucket rotates horizontally along the left and right directions. Between the front end of the arm mechanism, the left and right length of the rotating bucket is greater than the distance between the two crawler walking assemblies and less than the left and right width of the frame platform. The vibrating screening conveying system is horizontally arranged on the lower side of the middle part of the frame platform along the front and rear directions. , the soil neutralization system is fixedly arranged at the rear lower part of the frame platform and below the rear end of the vibrating screening conveying system, and the gravel transfer conveyor belt is arranged at the rear end of the frame platform along the left-right direction with a left-high, right-low inclination. side, the conveying direction of the vibrating screening conveying system is set from front to back, the conveying direction of the crushed stone transfer conveyor belt is set from the bottom right to the top left, and the front side of the vibrating screening conveying system is set in the middle, rear and bottom of the rotating bucket. , The right side of the crushed stone transfer conveyor belt is arranged below the rear side of the vibrating screening conveyor system. The engine provides power to the power generation system and the hydraulic station system respectively. The power output shaft of the engine drives the rotating bucket to rotate through the axle drive assembly. , the power generation system is electrically connected with the vibrating screening conveying system and the soil neutralization system respectively, and the hydraulic station system is respectively connected with the two crawler walking assemblies, the hydraulic drive motor of the gravel transfer conveyor belt and the two arm lift mechanisms through the hydraulic oil circuit. connect. 2. The mine ecological restoration robot according to claim 1, characterized in that: the structures of the two arm lift mechanisms are the same, and the lift arm mechanism on the left side comprises a hinged support, a crank arm and a lifting hydraulic cylinder, and the hinged support is fixed On the left part of the front side of the frame platform, the crank arm is inclined in the front-rear direction, and the front side of the crank arm is bent forward and downward into a V-shaped arm, and the rear end of the crank arm is hinged on the hinged support In the upper part, the lifting hydraulic cylinder is inclined at a high front and a low rear. The two ends of the lifting hydraulic cylinder are respectively hinged on the front side of the middle of the crank arm and the lower part of the hinged support. The hydraulic station system is connected with the lifting hydraulic cylinder through the hydraulic oil circuit. 3. The mine ecological restoration robot according to claim 2, characterized in that: the rotating bucket comprises a rotating drum, the rotating drum is horizontally arranged along the left and right directions, and the outer circular edge of the left end face and the outer circular edge of the right end face of the rotary drum are integrally formed A concentrically arranged inner gear ring is fixedly connected, the left outer circumference of the left inner gear ring and the right outer circumference of the right inner gear ring are integrally formed and fixedly connected with a ring baffle, and the outer circumference of the annular baffle is integrally formed. There are a number of tooth slots arranged in a circular array on the upper side, the open side of the upper tooth slot is facing the rear and upper side, and a number of bucket partitions arranged in a circular array are fixedly connected to the outer circumference of the rotating drum along the axial direction. The outer side of the partition is flush with the outer circumference of the ring baffle, the left side of the bucket partition is fixedly connected with the right side of the left ring baffle, and the right side of the bucket partition is connected to the right side of the bucket partition. The left side of the side ring baffle is fixedly connected, the bucket partition on the upper side is inclined at a low front and a high rear, and the middle of the side of the bucket partition facing away from the rotating drum is vertically fixed and connected with an arc cut in the front and rear directions. plate, between the left side of the side of the bucket partition facing away from the rotating drum and the right side of the left circular baffle plate, and the circle between the right side and the right side of the side of the bucket partition facing away from the rotating drum A spiral cutting plate is fixedly connected between the left sides of the ring baffle. The spiral cutting plate on the left spirals from left to right along the axis of the rotating drum, and the spiral cutting plate on the right spirals from the right along the axis of the rotating drum. Spiral to the left, a number of bucket teeth spaced left and right are fixed on the outer side of each bucket partition, and the center of the left end face and the center of the right end face of the rotating drum are coaxially fixed with a rotating shaft. The left end is rotatably connected to the front end portion of the right side surface of the left crank arm, and the right end of the right shaft is rotationally connected to the front end portion of the left side surface of the right crank arm. 4. The mine ecological restoration robot according to claim 3, characterized in that: the axle drive assembly comprises a drive axle, a support beam, a reducer, a transmission shaft and two first bearing supports, and the drive axle is horizontal along the left and right directions It is fixedly connected across the middle and rear of the upper side of the two crank arms, and the support beam is horizontally fixed and connected between the middle and rear sides of the two crank arms along the left and right directions and is located at the rear and bottom of the drive axle. The reducer is fixedly installed on the support beam. It is located on the right rear side of the middle of the drive axle. The front power output shaft of the reducer is coaxially connected to the rear power input shaft of the drive axle. The rear PTO shaft of the engine is connected through the transmission shaft, and the transmission shaft is inclined in the front and rear. The front ends are connected by universal joints, the two first bearing supports are symmetrically fixed on the front side of the upper side of the two crank arms, and two first bearing supports are rotatably installed with a horizontal axis along the left and right directions. The first drive shaft is provided, the first drive shaft is arranged through the first bearing support, the right end of the first drive shaft on the left extends rightward into the inner hole of the inner gear ring on the left, and the first drive shaft on the right The left end of the shaft extends to the left into the inner hole of the inner gear ring on the right, the right end of the first drive shaft on the left and the left end of the first drive shaft on the right are fixedly installed with drive gears, and the drive gear on the left It is meshed and connected with the inner gear on the left, the drive gear on the right is meshed and connected with the inner ring on the right, and the left end of the first drive shaft on the left is connected with the left end of the drive axle and the first drive shaft on the right. The right end and the right end of the drive axle are all connected through a chain transmission mechanism. 5. The mine ecological restoration robot according to claim 3, characterized in that: the vibrating screening conveying system comprises a screening conveying belt conveyor, a V-shaped guide plate, a lower left guide plate, a lower right guide plate, a soil tile and two vibration mechanisms, The screening conveyor belt is horizontally arranged on the lower side of the middle part of the frame platform along the front and rear directions. Several screen holes are evenly opened on the belt of the screening conveyor belt. Horizontal connecting plates are fixedly connected between the left ends of the conveying rollers and between the right end of the front conveying roller of the screening conveyor and the right end of the rear conveying roller, and the left and right sides of the front end of the frame of the screening conveyor belt Both are hinged on the lower part of the front side of the frame platform, and the V-shaped guide plate is horizontally arranged in the front and rear direction just below the upper half of the belt of the screening conveyor belt. The front, rear and lower sides of the V-shaped guide plate are open. The left side plate of the guide plate goes down to the left through the gap between the left horizontal connection plate and the left side of the upper half of the belt of the screening conveyor belt, and the right side plate of the V-shaped guide plate goes down to the right through the right horizontal connection The gap between the plate and the right side of the upper half of the belt of the screening conveyor belt, the left plate of the V-shaped guide plate is fixedly connected to the left horizontal connecting plate, and the right plate of the V-shaped guide plate is fixedly connected to the right side. On the horizontal connecting plate, the lower left guide plate is set on the lower side of the left side of the left side plate of the V-shaped guide plate, and the lower left guide plate is inclined at the lower side of the right side of the right plate of the V-shaped guide plate. Between the left lower guide plate and the left side plate of the V-shaped guide plate and between the right lower guide plate and the right side plate of the V-shaped guide plate are fixedly connected with a number of vertical connecting rods arranged at intervals in the front and rear, and the soil tiling plate is fixed at a high front and a low slope. Connected between the lower left guide plate and the lower right guide plate and located just below the lower half of the belt of the screening conveyor belt, the two vibration mechanisms are symmetrically arranged on the rear side of the frame platform and are respectively connected with the screen conveyor belt conveyor. The left and right sides of the rear end of the frame, the upper front end of the screening conveyor belt conveyor is fixedly provided with a hopper with a front high and a rear low inclined setting and located between the two crawler walking assemblies at the rear and bottom of the middle of the rotating drum, and the screening conveyor belt The lower part of the rear end of the machine is fixedly provided with a discharge hopper which is inclined at the front high and low at the rear and is located above the right side of the gravel transfer conveyor belt. The power generation system is electrically connected to the drive motor of the screening conveyor belt. 6. The mine ecological restoration robot according to claim 5, characterized in that: the structures of the two vibration mechanisms are the same, and the vibration mechanism on the left side comprises a vibration motor, a second bearing support, a driven pulley, an eccentric wheel and a vibration Lifting rod, the vibration motor is fixedly installed on the upper left of the rear side of the frame platform, the second bearing support is fixedly installed on the lower left side of the rear side of the frame platform, and a second bearing support is rotatably installed with a horizontally arranged in the left and right direction. The second drive shaft, the second drive shaft is arranged through the second bearing support, the driven pulley is fixedly installed on the left end of the second drive shaft, the eccentric wheel is fixedly installed on the right end of the second drive shaft, and the vibration lifting rod is vertically arranged on the On the right side of the eccentric wheel, the upper end of the vibration lifting rod is hinged on the eccentric part of the outer edge of the right side of the eccentric wheel, and the lower end of the vibration lifting rod is hinged on the left side of the rear end of the frame of the screening conveyor belt, and the power shaft of the vibration motor A driving pulley is fixedly installed at the right end, the driving pulley and the driven pulley are connected through a synchronous belt passing through the frame platform, and the power generation system is electrically connected with the vibration motor. 7. The mine ecological restoration robot according to claim 5, wherein the soil neutralization system comprises an acid neutralization tank, an alkaline neutralization tank, an acid liquid supply pump, an alkali liquid supply pump and two nested neutralization tanks. And the liquid sprayer, the acid neutralization tank, the alkaline neutralization tank, the acid liquid supply pump and the alkali liquid supply pump are all fixedly installed on the upper part of the frame platform, and the two nested neutralization liquid sprayers are symmetrically fixed in the front and rear. The lower rear side of the frame platform is located below the rear side of the soil tile, the vertical projection of the rear side of the soil tile is located between the two nested fertilizer spreaders, the outlet of the acid neutralization tank and the outlet of the acid supply pump. The inlet is connected through the acid liquid outlet pipe, the outlet of the acid liquid supply pump is respectively connected with the acid liquid flow space of the two nested neutralization liquid sprayers through the acid liquid supply pipe, and the outlet of the alkaline neutralization tank is supplied with the lye liquid. The inlet of the pump is connected through the lye outlet pipe, and the outlet of the lye supply pump is respectively connected with the lye flow space of the two nested neutralizing sprayers through the lye supply pipe. The liquid machine sprays acid or lye to the rear, the nested neutralizing liquid sprayer on the rear side sprays the acid or lye forward, and the power generation system is electrically connected to the acid and lye supply pumps respectively. 8. The mine ecological restoration robot according to claim 7, characterized in that: the nested neutralizing liquid sprayer on the front side comprises a swing motor, an outer nozzle, an inner nozzle and a right-angle pipe joint, and the outer nozzle and the The inner nozzles are horizontally arranged on the front and lower sides of the rear side of the soil tile along the left and right directions. The outer nozzles are concentrically sleeved outside the inner nozzles. The length of the outer nozzle is less than the length of the inner nozzle, the right and left ends of the outer nozzle and the right end of the inner nozzle are blocked, the left end of the outer nozzle is fixedly connected to the outer circumference of the left side of the inner nozzle, and the right end of the outer nozzle is fixed It is fixedly connected to the outer circumference of the right end of the inner nozzle. The interior of the inner nozzle constitutes an acid liquid flow space, and the annular cavity between the outer nozzle and the inner nozzle constitutes an alkali liquid flow space. The swing motor is fixedly installed on the frame. The lower right part of the rear side of the platform is located on the right side of the right end of the inner nozzle, the right-angle pipe joint is fixedly installed on the lower left part of the rear side of the frame platform and located on the left side of the inner nozzle pipe, and the left end of the power shaft of the swing motor is coaxially driven Connecting the right end of the inner nozzle, the right-angle pipe joint includes a vertical pipe and a horizontal pipe. The inside of the pipe is communicated, the left end of the outer nozzle is concentrically installed in the horizontal pipe, and the upper and lower pipe walls of the left side of the outer nozzle are provided with upper and lower concentric and vertical pipes correspondingly connected up and down. Through holes, the left end of the inner nozzle extends to the left of the left end of the outer nozzle, a first sealing structure is arranged between the left end of the outer circumference of the outer nozzle and the left end of the inner circumference of the horizontal pipe, and the left end of the outer circumference of the outer nozzle is provided with a first sealing structure. A second sealing structure is arranged between the inner circumference of the horizontal pipe and the right end of the inner circumference of the horizontal pipe. An arc-shaped plate is fixedly connected to the pipe wall of the rear side of the outer nozzle through a number of first fastening screws. The front side of the arc-shaped plate is The arc surface closely fits with the rear side wall of the outer nozzle, the rear side of the arc plate is a vertical plane, and the rear side wall of the inner nozzle is provided with two rows of upper and lower threaded holes. There are two rows of circular holes spaced up and down on the back wall of the pipe, and two rows of upper and lower spaced flow holes are opened on the arc-shaped plate. The diameter of the circular hole is the same as that of the through-flow hole. Each threaded hole is threadedly installed with a high-pressure nozzle connected to the acid liquid through-flow space. The acid liquid is sprayed backward through the high-pressure nozzle, and the rear end of the high-pressure nozzle passes through backward The corresponding round holes are located in the corresponding flow holes, the outer diameter of the high-pressure nozzle is smaller than the diameter of the round hole, and a dust-proof ring sleeved on the outer circumference of the rear end of the high-pressure nozzle is fixedly embedded in the rear side of the flow hole. The dust-proof ring is provided with a number of nozzle holes arranged in a circular array and transparent to the front and rear. The alkali liquid is sprayed backward through the ring cavity between the high-pressure nozzle and the through-flow hole and the corresponding nozzle holes. The upper end of the vertical pipe is connected to the acid liquid. The water outlet end of the supply pipe is fixedly connected, the left end of the inner nozzle is connected with the liquid outlet end of the lye supply pipe through a rotary joint, and the power generation system is electrically connected with the swing motor. 9 . The mine ecological restoration robot according to claim 8 , wherein the first sealing structure comprises a first sealing ring, the inner circle of the left end of the horizontal pipe is provided with a first stepped groove, and the first sealing ring is fixedly embedded in the first sealing ring. 10 . The bottom of the right side of a stepped groove is sleeved on the left side of the outer nozzle, and the left groove of the first step groove is fixed and embedded in sequence from left to right with a first bearing and a first bearing sleeved on the left side of the outer nozzle. Isolate the pipe sleeve, the left end of the horizontal pipe is fixedly installed with a flange end cover sleeved on the left side of the inner nozzle through a number of second fastening screws. There is a rotation gap between the right end face and the left end of the outer nozzle. The right edge of the flange end cover is fixedly embedded with a first O-ring that is in close contact with the left end face of the horizontal pipe. The inner circle at the right end of the flange end cover An annular flange extending into the left groove of the first stepped groove is integrally formed, the outer circle of the annular flange is closely matched with the inner circle of the left groove of the first stepped groove, and the right end of the annular flange is pressed tightly On the left end face of the outer ring of the first bearing, the outer circumference of the left end of the outer nozzle is fixedly embedded with a limit stop ring that presses the left end face of the inner ring of the first bearing, and the first bearing presses the first isolation tube sleeve tightly. The first isolation tube sleeve is pressed against the first sealing ring; The second sealing structure includes a second sealing ring, a sealing spacer, and a sealing pressure ring. The inner circle of the right end of the horizontal pipe is provided with a second stepped groove, and the second sealing ring is fixedly embedded in the bottom of the left groove of the second stepped groove. The second isolation pipe sleeve, the second bearing and the third isolation pipe sleeve sleeved on the left side of the outer nozzle are fixedly embedded in the right side groove of the second step groove from left to right, The sealing spacer and the sealing pressure ring are sleeved on the outer nozzle at the same center at the left and right intervals. The outer circumference of the right end of the sealing spacer is integrally formed with a circular boss, and the left side of the circular boss is pressed against the right end of the horizontal pipe. , the left side of the annular boss is fixedly embedded with a third O-ring that is in tight contact with the right end face of the horizontal pipe, and the sealing pressure ring is concentrically sleeved on the right end of the outer nozzle and tightly pressed on the right end of the annular boss. On the right side, the sealing pressure ring is fixedly connected to the right end of the horizontal pipe through a number of third fastening screws penetrating the annular boss, and the left part of the sealing spacer is embedded in the right groove of the second step groove, The outer circle of the left side of the sealing spacer is gap-fitted with the inner circle of the right groove of the second step groove, the inner circle of the left end of the sealing spacer is provided with a first installation groove, and the inner circle of the right end of the sealing spacer is provided with a second installation groove , the left end of the sealing spacer is pressed against the third spacer sleeve, the third spacer sleeve is pressed against the right end face of the outer ring of the second bearing, the left end face of the outer ring of the second bearing is pressed against the second spacer sleeve, the second spacer pipe Tightly press the second sealing ring, the first installation groove is fixedly embedded with a third sealing ring sleeved on the left side of the outer nozzle, and the second installation groove is fixedly embedded with a fourth seal sleeved on the left side of the outer nozzle The seal pressing ring presses the fourth seal ring tightly, and the first seal ring, the second seal ring, the third seal ring and the fourth seal ring are tightly matched with the outer nozzle and rotate in a sealed manner. 10. The mine ecological restoration robot according to claim 5, characterized in that: the left and right sides of the upper half of the belt of the screening conveyor belt and the left and right sides of the lower half of the belt are fixedly provided with long baffles, The long baffles on the left and right have the same structure and the same left and right. The left side of the belt is slidingly embedded in the groove of the C-shaped groove plate, and the groove of the C-shaped groove plate is provided with two rows of upper and lower spaced rollers, and the left side of the belt of the screening conveyor belt slides on the corresponding two rows of rollers In between, the left and right sides of the belt of the screening conveyor belt are pasted with wear-resistant strips; The left side of the upper left strip baffle and the right side of the upper right side strip baffle are fixedly installed with several distribution mechanisms arranged at intervals in the front and rear, each distribution mechanism on the left side and each distribution mechanism on the right side. The structure is the same and the left and right are symmetrical; a distribution mechanism on the left includes a distribution hydraulic cylinder, and the cylinder of the distribution hydraulic cylinder is fixedly installed on the upper part of the long baffle on the upper left side and is higher than the belt of the screening conveyor belt. Half-width, the piston rod of the distribution hydraulic cylinder extends horizontally to the right through the long baffle on the upper left side and is located above the upper half of the belt of the screening conveyor belt. The right end of the piston rod of the distribution hydraulic cylinder is fixedly installed with a distribution Rake, the lower end of the distribution harrow is 1-5mm higher than the upper half of the belt of the screening conveyor belt, and the hydraulic station system is connected with the distribution hydraulic cylinder through the hydraulic oil circuit; The piston rods of the two corresponding distribution hydraulic cylinders on the left and right extend synchronously in the same cycle, and the piston rods of the two adjacent distribution hydraulic cylinders in the front and rear are staggered and retracted in the same cycle; The upper left side of the rear left side of the frame platform is fixedly provided with a door frame type bracket which is open on the left side, the right side and the lower side. The beam of the type bracket is fixedly connected with a C-type support rod, and the middle of the front and rear sides of the frame of the crushed stone transfer conveyor belt is connected with the C-type support rod through a pulling rope; The front ends of the left crank arm and the right crank arm are fixedly connected with a circular arc baffle through several bolts. The two arc baffles have the same structure and are symmetrically arranged. The inner gear ring on the left The left edge of the inner circle and the right edge of the inner circle of the right inner ring are smooth surfaces, the left circular arc baffle is located at the left end of the inner lower side of the left inner ring, and the left circle The left side of the arc baffle is flush with the left end face of the left inner gear ring, the lower side of the left arc baffle is an arc edge, and the center of the left arc baffle is the same as the left The center of the inner gear ring on the side coincides, and there is a gap between the lower side edge of the arc-shaped baffle on the left side and the inner circle of the lower side portion of the inner gear ring on the left side.

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