Drilling and blasting robot with efficient dust suppression and falling functions

Abstract

The invention discloses a drilling and blasting robot with efficient dust suppression and falling functions. The drilling and blasting robot comprises a vehicle body, a dust suppression particle manufacturing and conveying system, a drilling, filling and hole sealing system and a centralized electric control system. A walking chassis is arranged at the bottom of the vehicle body; a foam generator, a high-pressure water tank, a high-pressure pump and a universal foam nozzle are arranged on the vehicle body; the dust suppression particle manufacturing and conveying system is arranged on the vehicle body and comprises a foaming agent storage tank, a wrapping agent storage tank, a double-roller extrusion granulation device, a dust suppression particle collecting device and a dust suppression particle storage device; the hole drilling, filling and sealing system comprises a drilling device, an automatic rod replacing device and an explosive filling device. The drilling and blasting robot with the efficient dust suppression and falling functions is high in automation degree, drilling, explosive filling and hole sealing operation can be automatically completed, the dust diffusion range in the drilling and blasting process can be greatly reduced, and the drilling and blasting robot is particularly suitable for drilling and blasting operation.

Description

Technical Field

[0001] The invention relates to a drilling and blasting robot, in particular to a drilling and blasting robot with a high-efficiency dust suppression and reduction function, belonging to the technical field of drilling and blasting dust suppression and reduction. Background Art

[0002] Dust is an inevitable problem in the mining process. It is mainly generated by production activities such as blasting, mechanical chiseling, cutting, friction, and vibration. These dusts include fine particles of solid substances such as rock dust and mineral dust, collectively referred to as mining dust or mineral dust. The generation of mining dust is mainly concentrated in the process of drilling and blasting, crushing, screening, belt transmission, transportation, and reprinting, especially the drilling and blasting process. The drilling and blasting process includes drilling and blasting operations. A certain amount of dust will be generated during the drilling operation. Although the particle size is small, the intensity is high. A large amount of dust will be generated during the blasting operation, with high dust concentration and high dust height.

[0003] In the prior art, the dust suppression measures for drilling and blasting mainly include drilling dust suppression and blasting dust suppression. The traditional drilling dust suppression measures usually include wet dust suppression (water is dispersed into extremely fine water mist through a spray wind-water mixer, entering the bottom of the hole through a drill rod, and replenishing dust to form mud) and dry dust suppression (the powder in the hole discharged by the dust-pressing gas is collected by a dust collecting hood, and the dust-laden airflow after the coarse particles have settled enters a cyclone dust collector for primary purification, and a bag dust collector for final purification). The traditional blasting dust suppression measures usually include water injection (drilling holes and pre-cracking in the pre-blasting area, and injecting high-pressure water into the ore body through the holes, so that water penetrates into the ore body through the cracks in the ore rock) and water sealing (filling the blasthole with a plastic bag filled with water instead of part of the gun mud. When the explosives explode, the water bag ruptures, and the high temperature and high pressure generated by the explosion partially vaporize the water and re-condense into very fine mist particles. After cooling, the smoke and dust generated by the blasting come into contact and collide with a large number of mist particles, and the dust particles are wetted and condensed or captured and settled by mist droplets). In recent years, foam dust suppression, which has the advantages of high dust suppression efficiency, low water consumption, and improved working environment, has been gradually applied to drilling and blasting dust suppression. Foam dust suppression uses underground dust removal water pipes and compressed air pipelines, adds certain additives to the water pipes, and introduces wind pressure through a special foaming device to produce high-multiple foam. These foams act on dust through good coverage, wetting, adhesion, etc., which can effectively reduce dust concentration. Spraying foam can effectively cover and wet dust to prevent it from spreading and flying. At the same time, the adhesion of the foam can also firmly adhere the dust to the ground or equipment, further reducing dust pollution. However, on the one hand, spraying foam requires a special foaming device to introduce wind pressure. Not only is the operation procedure cumbersome, but it is usually only suitable for blasting dust suppression after drilling and filling explosives, and is not suitable for drilling dust suppression. On the other hand, spraying foam is prone to uneven foam distribution, which can easily cause unsatisfactory blasting dust suppression effects. On the other hand, spraying foam only on the outer surface of the pre-blasting area has limited dust suppression effects on blasting dust suppression. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides a drilling and blasting robot with efficient dust suppression and reduction function, which has a high degree of automation and can not only realize automatic drilling, filling of explosives and sealing operations, but also can greatly reduce the diffusion range of dust during the drilling and blasting process, and is particularly suitable for drilling and blasting operations.

[0005] To achieve the above-mentioned purpose, the drilling and blasting robot with high-efficiency dust suppression and dust reduction function includes a vehicle body, a dust suppression particle manufacturing and conveying system, a drilling and filling and sealing system, and a centralized electric control system;

[0006] A walking chassis is provided at the bottom of the vehicle body, a foam generator, a high-pressure water tank, a high-pressure pump and a universal foam nozzle are provided on the vehicle body, a universal foam nozzle including a universal foam nozzle translation driving mechanism and a universal foam nozzle spray direction control mechanism is installed on the top of the vehicle body, an output end of the foam generator and an output end of the high-pressure water tank are respectively connected to an input end of the high-pressure pump through pipelines, and an output end of the high-pressure pump is connected to an input end of the universal foam nozzle through a pipeline;

[0007] The dust suppression particle manufacturing and conveying system is arranged on the vehicle body, and includes a foaming agent storage tank, a wrapping agent storage tank, a roller extrusion granulation device, a dust suppression particle collecting device and a dust suppression particle storage device;

[0008] The roller extrusion granulation device comprises two rollers with synchronous stepping rollers and synchronous driving motors, the central axes of the two rollers are arranged horizontally side by side, and the roller surfaces of the two rollers are arranged butt-jointly, and the roller surfaces of the rollers are provided with granulation cavities evenly spaced and arranged along the circumferential direction of the rollers, the granulation cavities with blind hole structures are arranged along the radial direction of the rollers, and a telescopic extrusion mechanism is provided at the bottom of the granulation cavity, and the telescopic extrusion direction of the telescopic extrusion mechanism is arranged along the radial direction of the rollers, and the granulation cavities of the two rollers form a granulation accommodating cavity of an integral structure at the butt joint position of the two rollers;

[0009] The foaming agent storage tank is arranged correspondingly to the position directly above the docking position of the two rollers, and the foaming agent storage tank stores the foaming agent. The foaming agent filling station of the granulation cavity of the two rollers at the previous station of the granulation accommodating cavity at the bottom of the foaming agent storage tank is provided with a foaming agent automatic injector;

[0010] The encapsulating agent storage tank is symmetrically arranged in two pieces relative to the foaming agent storage tank. The encapsulating agent is stored in the encapsulating agent storage tank. The encapsulating agent filling station at the bottom of the encapsulating agent storage tank corresponding to the granulation cavity of the two rollers in the station before the foaming agent filling station is provided with an encapsulating agent automatic injector;

[0011] The dust suppression particle collecting device is arranged directly below the roller extrusion granulation device, the output end of the dust suppression particle collecting device is docked and connected with the dust suppression particle input port of the dust suppression particle storage device, and the dust suppression particle storage device is provided with a dust suppression particle pumping mechanism;

[0012] The drilling and filling sealing system includes a drilling device, an automatic rod changing device and an explosive filling device;

[0013] The drilling device includes a drill rod, a drill bit and a drilling drive motor; the drilling drive motor is installed on the vehicle body through a drilling guide drive mechanism arranged along the front and rear directions; a quick connection structure is provided between the rear end of the drill rod and the power output end of the drilling drive motor, and the front end of the drill rod is coaxially fixedly connected with the drill bit;

[0014] The automatic rod-changing device comprises a rod-changing mechanical arm and a rod-carrying station platform; the rod-changing mechanical arm including the rod-grabbing mechanical arm at least comprises an X-coordinate driving assembly capable of driving the rod-grabbing mechanical arm to move in the left-right direction, a Y-coordinate driving assembly capable of driving the rod-grabbing mechanical arm to move in the front-back direction, and an opening-closing driving assembly capable of driving the rod-grabbing mechanical arm to open and close; the rod-carrying station platform is provided with a rod-carrying station, and the rod-carrying station comprises a drilling rod station and an explosive loading rod station;

[0015] The explosive filling device comprises an explosive filling rod stacked on an explosive filling rod station at a rod loading station and an elastic sealing capsule sleeved on the explosive filling rod; the front section of the explosive filling rod is a blind hole sleeve structure comprising an explosive roll accommodating chamber, the rear section of the explosive filling rod is a spiral rod structure coaxially connected to the blind hole sleeve structure, and the spiral rod structure is connected to the blind hole sleeve structure in a spiral transmission cooperation manner, a quick connection structure is provided between the rear end of the spiral rod structure and the power output end of the drilling drive motor, a blind hole conveying channel for dust suppression particles penetrating into the sleeve wall along its axial direction is provided on the sleeve wall of the blind hole sleeve structure, and the blind holes for dust suppression particles corresponding to the sleeve wall of the blind hole sleeve structure are provided on the sleeve wall of the blind hole sleeve structure. A dust suppression particle outlet hole penetrating the outer surface of the shaft sleeve wall in a radial direction is provided at the position of the conveying channel, and the rear end of the dust suppression particle blind hole conveying channel is the dust suppression particle inlet hole, and the dust suppression particle inlet hole is connected to the output end of the dust suppression particle pumping mechanism of the dust suppression particle storage device through a hose; the elastic sealing capsule includes an inner wall and an outer wall, and the inner wall and the outer wall form an annular cavity structure, the elastic sealing capsule is sleeved on the rear end of the blind hole shaft sleeve structure through its inner wall, and a dust suppression particle one-way inlet valve communicating with the annular cavity structure is provided on the elastic sealing capsule, and the dust suppression particle one-way inlet valve is connected to the output end of the dust suppression particle pumping mechanism of the dust suppression particle storage device through a hose;

[0016] The centralized electronic control system includes a central controller, a vehicle body control circuit, a dust suppression particle manufacturing control circuit, a drilling control circuit and a filling and sealing control circuit. The central controller is electrically connected to the walking chassis, a high-pressure pump, a universal foam nozzle, a synchronous drive motor of the roller, a telescopic extrusion mechanism, an automatic injector of a foaming agent, an automatic injector of a coating agent, a dust suppression particle pumping mechanism of a dust suppression particle storage device, a drilling drive motor, a drilling guide drive mechanism, and a rod-changing mechanical arm.

[0017] As a further improvement of the present invention, the automatic proportioning and output volume are automatically controlled by calculating the demand for the foaming time of the dust suppression particles. The calculation formula is as follows:

[0018]

[0019] Wherein: K is the proportional constant, A is the activity of the foaming agent, α is the influence index of the activity of the foaming agent on the foaming time, Tenv is the ambient temperature, β is the influence index of the ambient temperature on the foaming time, P is the permeability of the encapsulant, γ is the influence index of the permeability of the encapsulant on the foaming time, d is the thickness of the encapsulant, and δ is the influence index of the thickness of the encapsulant on the foaming time.

[0020] As a further improvement of the present invention, a local temperature control mechanism electrically connected to the central controller is further provided at the docking position of the two rollers on the roller extrusion granulation device.

[0021] As a further improvement of the present invention, a split shaft is further provided directly below the butt joint of the two rollers.

[0022] As a further improvement of the present invention, a spiral cutting chip removal groove and a spiral cutting ridge located at the top of the spiral cutting chip removal groove are provided on the rod body of the drill rod.

[0023] As a further improvement of the present invention, water jet nozzles are evenly distributed on the drill rod body along its axial direction, and the water jet nozzles are connected to the high-pressure water source through a high-pressure water channel located inside the drill rod and a high-pressure water delivery hose.

[0024] As a further improvement of the present invention, the rod-changing robot arm also includes a Z-coordinate drive assembly that can drive the rod-grabbing robot to move in the up and down directions and / or a B-coordinate rotation drive assembly that can drive the rod-grabbing robot to rotate around the Y-coordinate direction.

[0025] As a further improvement of the present invention, a drilling foam spraying device is provided at the position of the drill rod at the front end of the vehicle body, and the drilling foam spraying device includes an annular bracket and a lifting rod. The annular bracket that can be sleeved on the drill rod is installed on the vehicle body through the lifting rod electrically connected to the central controller. Foam spray heads are evenly distributed on the annular bracket along its circumferential direction, and the foam spray heads are connected to the output end of the high-pressure pump through a pipeline.

[0026] As a further improvement of the present invention, a monitoring radar and an alarm light electrically connected to the central controller are also provided on the vehicle body.

[0027] As a further improvement of the present invention, an infrared thickness gauge electrically connected to the central controller is also provided on the vehicle body.

[0028] Compared with the existing technology, the drilling and blasting robot with high-efficiency dust suppression function has the following advantages:

[0029] 1. The present invention can realize the integration of dust suppression particle production and filling by automatically proportioning dust suppression particles according to different foaming times, and can flexibly produce dust suppression particles with different requirements under different conditions. The dust suppression particles can be produced according to the requirements for the residence time of the elastic plugging capsules and the cracks, and the residence time of the dust suppression particles can be controlled to improve the dust removal efficiency;

[0030] 2. The drilling hole filling and sealing system of the present invention can realize the integration of filling explosives, filling cracks with dust suppression particles, and sealing with dust suppression particles. By continuously filling dust suppression particles into the elastic sealing capsule, the hole pressure can be increased to allow the dust suppression particles to fully fill the cracks, and a dust suppression bag can be formed to seal the blasthole mouth, thereby greatly reducing the dust generated during the blasting operation and achieving effective dust suppression;

[0031] 3. The drill pipe of the present invention is spirally distributed with spiral cutting chip grooves and spiral cutting ridges, and a water jet nozzle is installed between the two. During the drilling process, the arrangement of the spiral cutting chip grooves and the spiral cutting ridges can increase the slag removal speed in the hole, reduce the interruption and cleaning work caused by dust pollution, and improve the working efficiency; the hole wall can be pre-cracked with high-pressure water by the water jet nozzle, effectively controlling the explosion range, reducing the impact of vibration and shock waves, and at the same time, the drill pipe can be assisted in cooling;

[0032] 4. The present invention can realize the intelligence and automation of the processes such as drilling, charging, and filling dust suppressants through the mutual cooperation between the vehicle body, the dust suppression particle manufacturing and transportation system, and the drilling filling and sealing system. It can reduce manpower operations and ensure safety performance while achieving significant dust reduction, reducing environmental pollution, and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0034] Figure 2 It is a structural schematic diagram of the vehicle body of the present invention from the right side perspective;

[0035] Figure 3 It is a structural schematic diagram of the vehicle body of the present invention from the left side perspective;

[0036] Figure 4It is a structural schematic diagram of the dust suppression particle manufacturing and conveying system of the present invention;

[0037] Figure 5 yes Figure 4 A partial enlarged view of the A direction;

[0038] Figure 6 Schematic diagram of the structure of the explosive filling device of the present invention, wherein (a) is the state where the elastic plugging capsule is not expanded, and (b) is the state where the elastic plugging capsule is expanded;

[0039] Figure 7 It is a structural schematic diagram of the automatic rod changing device of the present invention;

[0040] Figure 8 It is a schematic structural diagram of the drilling device of the present invention;

[0041] Fig. 9 yes Figure 8 A local enlarged view in the B direction;

[0042] Fig.10 It is a structural schematic diagram of the drill rod of the present invention;

[0043] Fig.11 It is a structural schematic diagram of the drilling foam spraying device of the present invention;

[0044] Fig.12 Schematic diagram of the structure of the explosive filling device when replacing the explosive filling device of the present invention, wherein (a) is a schematic diagram of the structure of the rod carrying station conveying the explosive filling rod, and (b) is a schematic diagram of the structure of the rod replacement mechanical arm grabbing the explosive filling rod for installation;

[0045] Fig.13 The present invention is a schematic structural diagram of the explosive filling operation, wherein (a) is a schematic structural diagram of the explosive filling rod entering the drill hole, and (b) is a schematic structural diagram of the elastic sealing capsule expanding to seal the hole.

[0046] In the figure: 1. body, 11. headlight, 12. monitoring radar, 13. drilling foam spray device installation groove, 14. sliding boss, 15. foam generator, 16. walking chassis, 17. sliding groove, 18. high-pressure water tank, 19. high-pressure pump, 110. warning light, 111. infrared thickness gauge, 112. universal foam nozzle, 2. dust suppression particle manufacturing and conveying system, 21. double roller extrusion granulation device, 211. granulation chamber, 212. roller, 213. telescopic extrusion mechanism, 22. split shaft, 23. dust suppression particle collection device, 24. dust suppression particle storage device, 241. dust suppression particle input port, 25. foaming agent storage tank, 251. foaming agent automatic injector, 26. wrapping agent Storage tank, 261, automatic injector for coating agent, 3, explosive filling device, 31, elastic sealing capsule, 311, one-way inlet valve for dust suppression particles, 32, outlet hole for dust suppression particles, 33, inlet hole for particles, 34, explosive filling rod, 35, lifting pin, 36, pin groove 4, automatic rod changing device, 41, rod changing mechanical arm, 42, rod carrying station, 43, rod carrying station, 5, drilling device, 51, drill rod, 511, buckle groove, 512, water jet nozzle, 513, spiral cutting chip removal groove, 514, spiral cutting ridge, 52, drilling drive motor, 521, lifting buckle, 53, drill bit, 6, drilling foam spraying device, 61, foam nozzle, 62, lifting rod, 63, ring bracket. DETAILED DESCRIPTION

[0047] The present invention will be further described below in conjunction with the accompanying drawings (hereinafter described with the drilling direction of the drilling operation as the front).

[0048] like Figure 1 As shown, the drilling and blasting robot with efficient dust suppression and reduction function comprises a vehicle body 1, a dust suppression particle manufacturing and conveying system 2, a drilling and filling and sealing system and a centralized electric control system.

[0049] like Figure 2 , Figure 3As shown, a walking chassis 16 is provided at the bottom of the vehicle body 1, and the walking chassis 16 can be a wheeled structure or a crawler structure. A headlight 11 for illumination is provided at the front end of the vehicle body 1. A foam generator 15, a high-pressure water tank 18, a high-pressure pump 19 and a universal foam nozzle 112 are provided on the vehicle body 1. The universal foam nozzle 112 including a universal foam nozzle translation drive mechanism and a universal foam nozzle injection direction control mechanism can be installed on the top of the vehicle body 1 through a sliding groove 17. The universal foam nozzle translation drive mechanism can be a translation control structure driven by a motor, or a translation control structure driven by a telescopic cylinder, or other translation drive control structures. By controlling the translation drive mechanism of the universal foam nozzle The action can realize adjustment of the position of the universal foam nozzle 112 at the top of the vehicle body 1. The universal foam nozzle spraying direction control mechanism can be a rotation angle control structure and a pitch angle control structure controlled by a motor, or a rotation angle control structure and a pitch angle control structure controlled by a hydraulic pressure. By controlling the action of the universal foam nozzle spraying direction control mechanism, the spraying direction and angle of the universal foam nozzle 112 can be adjusted. The output end of the foam generator 15 including the foam output pump and the output end of the high-pressure water tank 18 including the water pump are respectively connected to the input end of the high-pressure pump 19 through pipelines, and the output end of the high-pressure pump 19 is connected to the input end of the universal foam nozzle 112 through a pipeline.

[0050] The dust suppression particle manufacturing and conveying system 2 is fixedly arranged on the vehicle body 1, such as Figure 4 As shown, it includes a foaming agent storage tank 25, a wrapping agent storage tank 26, a double-roller extrusion granulation device 21, a dust suppression particle collection device 23 and a dust suppression particle storage device 24;

[0051] The roller extrusion granulation device 21 comprises two rollers 212 with synchronous stepping rolling arrangement and a synchronous driving motor, the central axes of the two rollers 212 are arranged horizontally side by side, and the roller surfaces of the two rollers 212 are arranged butt-to-face, and the roller surfaces of the rollers 212 are arranged uniformly and spaced along the circumferential direction of the rollers 212. The granulation cavities 211 with blind hole structures are arranged along the radial direction of the rollers 212, and the bottom of the granulation cavities 211 is provided with a telescopic extrusion mechanism 213, such as Figure 5 As shown, the telescopic extrusion direction of the telescopic extrusion mechanism 213 is set along the radial direction of the roller 212. The telescopic extrusion mechanism 213 can be a telescopic cylinder control structure or an electromagnetic control structure. The granulation chamber 211 of the two rollers 212 forms a granulation accommodating chamber of an integral structure at the docking position of the two rollers 212. At the docking position of the two rollers 212, the actions of the two telescopic extrusion mechanisms 213 in the granulation accommodating chamber are synchronously controlled to realize the synchronization of the two telescopic extrusion mechanisms 213 to the middle position of the docking.

[0052] The foaming agent storage tank 25 is correspondingly arranged at a position just above the docking position of the two rollers 212. The foaming agent storage tank 25 stores the foaming agent. The foaming agent filling station of the granulation cavity 211 of the two rollers 212 at the bottom of the foaming agent storage tank 25 corresponding to the previous station of the granulation accommodating cavity is provided with a foaming agent automatic injector 251. When the granulation cavity 211 on the two rollers 212 rotates synchronously to the foaming agent filling station, the foaming agent automatic injector 251 can be controlled to inject the foaming agent into the corresponding granulation cavity 211 of the two rollers 212.

[0053] The wrapping agent storage tank 26 is symmetrically arranged in two pieces relative to the foaming agent storage tank 25. The wrapping agent storage tank 26 stores the wrapping agent for wrapping the foaming agent. The wrapping agent can be selected from polylactic acid (PLA), polyglycolic acid (PGA), sodium alginate, etc., preferably sodium alginate. The wrapping agent filling station at the bottom of the wrapping agent storage tank 26 corresponding to the granulation cavity 211 of the two rollers 212 at the station before the foaming agent filling station is provided with an wrapping agent automatic injector 261. When the granulation cavity 211 on the two rollers 212 rotates synchronously to the wrapping agent filling station, the wrapping agent automatic injector 261 can be controlled to inject the wrapping agent into the corresponding granulation cavity 211 of the two rollers 212;

[0054] The dust suppression particle collecting device 23 is arranged directly below the double-roller extrusion granulation device 21, and is used to receive and transport the dust suppression particles prepared by the double-roller extrusion granulation device 21. The dust suppression particle collecting device 23 can be a belt conveying structure, or it can be other particle conveying structures such as a guide groove conveying structure. The output end of the dust suppression particle collecting device 23 is connected to the dust suppression particle input port 241 of the dust suppression particle storage device 24. The dust suppression particles prepared by the double-roller extrusion granulation device 21 can be transported to the dust suppression particle storage device 24 for storage through the dust suppression particle collecting device 23. The dust suppression particle storage device 24 is provided with a dust suppression particle pumping mechanism, which can be a spiral conveying structure or a pneumatic conveying structure including a pressure air source.

[0055] The drilling and filling sealing system includes a drilling device 5, an automatic rod changing device 4 and an explosive filling device 3;

[0056] like Figure 8As shown, the drilling device 5 includes a drill rod 51, a drill bit 53 and a drilling drive motor 52; the drilling drive motor 52 is installed on the sliding boss 14 of the vehicle body 1 through a drilling guide drive mechanism arranged along the front-rear direction, and the drilling guide drive mechanism can be a linear reciprocating drive structure driven by a telescopic cylinder, or a spiral-driven linear reciprocating structure including a matching lead screw and nut, or other linear reciprocating drive structures. By controlling the action of the drilling guide drive mechanism, the drilling drive motor 52 can be controlled to move in the front-rear direction; a quick connection structure is provided between the rear end of the drill rod 51 and the power output end of the drilling drive motor 52, and the quick connection structure can be a spline connection structure arranged in a matching manner, or can be a spline connection structure including a matching lead screw and nut. Fig. 9 The front end of the drill rod 51 is coaxially fixedly connected to the drill bit 53 by means of other quick connection structures such as the lifting buckle 521 and the buckle groove 511 connection structure arranged in a radial direction;

[0057] like Figure 7 As shown, the automatic rod-changing device 4 includes a rod-changing mechanical arm 41 and a rod-carrying station 42; the rod-changing mechanical arm 41 including the rod-grabbing mechanical arm at least includes an X-coordinate driving assembly that can drive the rod-grabbing mechanical arm to move in the left-right direction, a Y-coordinate driving assembly that can drive the rod-grabbing mechanical arm to move in the front-back direction, and an opening-closing driving assembly that can drive the rod-grabbing mechanical arm to open and close. The mechanical arm driving assembly is a prior art and will not be described in detail here. In order to realize the accurate and flexible grasping and stacking control of the rod-grabbing mechanical arm, the rod-changing mechanical arm 41 can also include a Z-coordinate driving assembly that can drive the rod-grabbing mechanical arm to move in the up-down direction and / or a Y-coordinate driving assembly that can drive the rod-grabbing mechanical arm to move in the up-down direction. A B-coordinate rotation drive assembly drives the grabbing manipulator to rotate around the Y-coordinate direction; a rod loading station 43 is provided on the rod loading station platform 42, and the rod loading station 43 includes a drill rod station and an explosive loading rod station. In order to facilitate the grabbing manipulator to grab and stack, the rod loading station platform 42 can be set to an inclined structure, and a conveyor belt arranged along the inclined surface is provided on the inclined structure. The rod loading station 43 arranged on the conveyor belt can convey the drill rod 53 or the explosive loading rod 34 to the top of the rod loading station platform 42, so as to facilitate the grabbing or stacking of the rod grabbing manipulator; the automatic rod changing device 4 can be set to two sets symmetrically relative to the drilling device 5;

[0058] like Figure 6 As shown, the explosive loading device 3 includes an explosive loading rod 34 stacked on the explosive loading rod station of the rod loading station 43 and an elastic plugging capsule 31 sleeved on the explosive loading rod 34; the front section of the explosive loading rod 34 is a blind hole sleeve structure including an explosive roll accommodating chamber, and the rear section of the explosive loading rod 34 is a spiral rod structure coaxially connected to the blind hole sleeve structure, and the spiral rod structure is spirally connected to the blind hole sleeve structure, and a quick connection structure is provided between the drill rod 51 and the rear end of the spiral rod structure and the power output end of the drilling drive motor 52. The quick connection structure can be a spline connection structure arranged in a matching manner, or can be a structure including a plurality of splines. Figure 6(a) shows other quick connection structures such as the lifting pin 35 and the pin groove 36 connection structure arranged in a radial direction, the blind hole sleeve structure is provided with a dust suppression particle blind hole conveying channel penetrating into the sleeve wall along its axial direction, and the position of the blind hole sleeve structure corresponding to the dust suppression particle blind hole conveying channel is provided with a dust suppression particle outlet hole 32 penetrating the outer surface of the sleeve wall along the radial direction, the rear end of the dust suppression particle blind hole conveying channel is a dust suppression particle inlet hole 33, and the dust suppression particle inlet hole 33 is connected to the output end of the dust suppression particle pumping mechanism of the dust suppression particle storage device 24 through a hose, so that the dust suppression particles can be filled in the explosive filling process. Evenly arranged around the blind hole sleeve structure, the dust suppression particle outlet holes 32 can be evenly arranged in a plurality along the axial direction of the blind hole sleeve structure, and the dust suppression particle blind hole conveying channels can be evenly arranged in a plurality along the circumferential direction of the blind hole sleeve structure; the elastic sealing capsule 31 includes an inner wall and an outer wall, and the inner wall and the outer wall form an annular cavity structure, the elastic sealing capsule 31 is sleeved on the rear end of the blind hole sleeve structure through its inner wall, and a dust suppression particle one-way inlet valve 311 connected to the annular cavity structure is provided on the elastic sealing capsule 31, and the dust suppression particle one-way inlet valve 311 is connected to the output end of the dust suppression particle pumping mechanism of the dust suppression particle storage device 24 through a hose.

[0059] The centralized electronic control system includes a central controller, a vehicle body control circuit, a dust suppression particle manufacturing control circuit, a drilling control circuit and a filling and sealing control circuit. The central controller is electrically connected to the walking chassis 16, the high-pressure pump 19, the universal foam nozzle 112, the synchronous drive motor of the roller 212, the telescopic extrusion mechanism 213, the foaming agent automatic injector 251, the encapsulating agent automatic injector 261, the dust suppression particle pumping mechanism of the dust suppression particle storage device 24, the drilling drive motor 52, the drilling guide drive mechanism, and the rod changing mechanical arm 41.

[0060] In the initial state, the telescopic extrusion mechanism 213 is retracted at the bottom of the granulation chamber 211; the drill rod 51 is connected to the power output end of the drilling drive motor 52 through a quick connection structure; the explosive loading rod 34 is positioned on the explosive loading rod station of the rod carrying station 43, and the elastic sealing capsule 31 in a deflated state is sleeved on the rear end of the blind hole sleeve structure through its inner wall.

[0061] Before using the drilling and blasting robot with high-efficiency dust suppression function to perform drilling and filling explosives, the dust suppression particle manufacturing control loop can be started through the central controller, and the two rollers 212 rotate synchronously in step and opposite directions. When a pair of granulation cavities 211 on the two rollers 212 rotate synchronously to the coating agent filling station, the central controller controls the coating agent automatic injector 261 to first inject the coating agent into the corresponding granulation cavities 211 of the two rollers 212, and then the two rollers 212 rotate synchronously in step by one step, and the granulation cavity 211 injected with the coating agent rotates to the foaming agent filling station, and then the central controller controls the foaming agent automatic injector 251 to inject the foaming agent into the granulation cavity 211 injected with the coating agent, and then the two rollers 212 continue to rotate synchronously in step by one step, and the granulation cavity 211 injected with the coating agent and the foaming agent rotates to the docking position to form a whole. The granulation accommodating chamber of the body structure, at this time, the central controller controls the telescopic extrusion mechanism 213 in the granulation chamber 211 injected with the encapsulating agent and the foaming agent to extend, and the two telescopic extrusion mechanisms 213 are synchronously squeezed toward the middle position of the docking, so that the encapsulating agent is completely wrapped around the outside of the foaming agent to form dust suppression particles, and the molding operation of one dust suppression particle is completed. The two rollers 212 continue to step and rotate synchronously, and the telescopic extrusion mechanism 213 in the granulation chamber 211 that completes the molding of the dust suppression particles continues to extend, then the molded dust suppression particles can be separated from the granulation chamber 211 under their own gravity and the pushing action of the telescopic extrusion mechanism 213, and enter the dust suppression particle storage device 24 through the dust suppression particle collecting device 23, and the telescopic extrusion mechanism 213 can be reset, and so on, the rollers 212 continue to step and rotate, so that the dust suppression particles can be continuously manufactured and sent into the dust suppression particle storage device 24.

[0062] When the drilling and blasting robot with high-efficiency dust suppression and dust reduction function is used to perform drilling and filling explosives, the central controller can control the walking chassis 16 to make the drilling and blasting robot with high-efficiency dust suppression and dust reduction function move to the set position in front of the wall to be drilled and position it, and then the central controller starts the drilling control circuit, and the central controller controls the drilling drive motor 52 to drive the drill rod 51 to rotate, and at the same time drives the drilling drive motor 52 to move forward through the drilling guide drive mechanism to drill. While drilling, the central controller first controls the universal foam nozzle 112 to align the drill hole, and then controls the high-pressure pump 19 to start, and the universal foam nozzle 112 can spray foam to suppress dust during the drilling process. After drilling to the set depth, the central controller first controls the universal foam nozzle 112 to stop spraying foam, then controls the drilling drive motor 52 to stop rotating, and finally controls the drilling guide drive mechanism to drive the drilling drive motor 52 to move backward to withdraw the drill rod 51 for reset;

[0063] After the explosive roll is loaded into the explosive roll receiving chamber of the explosive loading rod 34, the central controller starts the filling and sealing control circuit. The central controller first controls the rod changing mechanical arm 41 to remove the drill rod 51 through the quick connection structure and place it on the drill rod station of the rod carrying station 43. Fig.12 As shown, the rod-changing mechanical arm 41 is controlled to grab and install the explosive loading rod 34 on the power output end of the drilling drive motor 52 through the quick connection structure; then the central controller first controls the drilling guide drive mechanism to drive the drilling drive motor 52 to move forward to send the explosive loading rod 34 into the borehole, as shown in FIG. Fig.13As shown, the dust suppression particle pumping mechanism of the dust suppression particle storage device 24 is controlled to transport the dust suppression particles. The dust suppression particles stored in the dust suppression particle storage device 24 enter the elastic sealing capsule 31 and the dust suppression particle blind hole transporting channel of the explosive filling rod 34 through the hose respectively. Under the continuous transporting action of the dust suppression particle pumping mechanism of the dust suppression particle storage device 24, the dust suppression particles entering the elastic sealing capsule 31 gradually prop up the elastic sealing capsule 31, so that the elastic sealing capsule 31 expands and seals at the orifice position, while the dust suppression particles in the dust suppression particle blind hole transporting channel enter the drill hole through the dust suppression particle outlet hole 32 and are continuously transported by the dust suppression particles. The central controller then controls the drilling drive motor 52 to rotate slowly. As the elastic plugging capsule 31 expands, it applies a certain clamping force to the blind hole sleeve structure at the front section of the explosive loading rod 34. Therefore, the blind hole sleeve structure moves backward relative to the spiral rod structure through the spiral matching transmission. While the spiral rod structure rotates, it is in a stationary state in the axial direction relative to the blind hole sleeve structure. The blind hole sleeve structure gradually withdraws from the borehole, and the explosive roll in the explosive roll accommodating chamber is retained in the borehole under the blocking effect of the spiral rod structure. When the front end of the blind hole sleeve structure gradually separates from the elastic plugging capsule 31, Under the continuous pushing force of the dust suppression particles, the elastic blocking capsule 31 continues to expand to fill the gap caused by the detachment of the blind hole sleeve structure and gradually wraps around the spiral rod structure. At the same time, the dust suppression particles in the blind hole conveying channel fill the gap caused by the detachment of the blind hole sleeve structure under the continuous pushing force of the dust suppression particles, and maintain a dense filling state in the borehole until the front end of the blind hole sleeve structure is completely detached from the elastic blocking capsule 31 and the elastic blocking capsule 31 is wrapped around the spiral rod structure. Then the central controller first controls the drilling drive motor 52 to stop rotating, and then controls the drilling guide drive mechanism to drive the drilling drive motor 52 moves backward slowly, the spiral rod structure gradually withdraws from the borehole, and the elastic sealing capsule 31 continues to expand under the continuous pushing force of the dust suppression particles to fill the vacancy caused by the detachment of the spiral rod structure, until the spiral rod structure completely withdraws from the borehole, the elastic sealing capsule 31 is completely opened and sealed at the hole mouth, and the borehole is in a state of being densely filled with dust suppression particles, realizing the self-sealing of the elastic sealing capsule 31, and the central controller controls the dust suppression particle pumping mechanism of the dust suppression particle storage device 24 to stop conveying dust suppression particles, and the operator removes the hose on the dust suppression particle one-way inlet valve 311, and the filling and sealing operation of the borehole is completed;

[0064] The central controller controls the universal foam nozzle 112 to spray foam of a set thickness on the wall surface within a set range around the drill hole, and then controls the drilling and blasting robot with high-efficiency dust suppression function to withdraw from the blasting site, and the operator can carry out subsequent blasting operations.

[0065] During the manufacturing process of dust suppression particles, the automatic proportioning and output volume can be automatically controlled by calculating the demand for the foaming time of the dust suppression particles. The calculation formula is as follows:

[0066]

[0067] Wherein: K is the proportional constant, A is the activity of the foaming agent, α is the influence index of the activity of the foaming agent on the foaming time, Tenv is the ambient temperature, β is the influence index of the ambient temperature on the foaming time, P is the permeability of the encapsulant, γ is the influence index of the permeability of the encapsulant on the foaming time, d is the thickness of the encapsulant, and δ is the influence index of the thickness of the encapsulant on the foaming time.

[0068] In order to further enable the dust suppression particles to be formed quickly and facilitate their subsequent shedding, as a further improvement scheme of the present invention, a local temperature control mechanism electrically connected to the central controller is also provided at the docking position corresponding to the two roller discs 212 on the roller extrusion granulation device 21. The local temperature control mechanism can perform local temperature control during the extrusion molding process of the dust suppression particles, thereby promoting the rapid molding of the dust suppression particles and facilitating the molded dust suppression particles to separate from the granulation chamber 211.

[0069] To ensure that the formed dust suppression particles accurately fall into the dust suppression particle collecting device 23, as a further improvement of the present invention, a deflection shaft 22 for guiding the dust suppression particles is further provided directly below the docking position of the two rollers 212.

[0070] In order to facilitate drilling and slag removal and to achieve fracturing of the inner surface of the borehole, as a further improvement of the present invention, Fig.10 As shown, the rod body of the drill rod 51 is provided with a spiral cutting chip groove 513 and a spiral cutting ridge 514 located at the top of the spiral cutting chip groove 513. The rod body of the drill rod 51 is also evenly provided with water jet nozzles 512 along its axial direction. The water jet nozzles 512 are connected to a high-pressure water source through a high-pressure water channel located inside the drill rod 51 and a high-pressure water delivery hose. The arrangement of the spiral cutting chip groove 513 and the spiral cutting ridge 514 can increase the slag discharge amount and slag discharge speed of the drill rod 51. The water jet nozzle 512 can spray high-pressure water during the drilling process to hydraulically cut and fracture the inner surface of the borehole, thereby increasing the fracture opening and range while also cooling the drill rod 51.

[0071] In order to carry out targeted dust reduction for drilling during the drilling process, as a further improvement of the present invention, a drilling foam spraying device 6 is provided at the position of the front end of the vehicle body 1 corresponding to the drill rod 51, such as Fig.11As shown, the drilling foam spraying device 6 includes an annular bracket 63 and a lifting rod 62. The annular bracket 63, which can be sleeved on the drill rod 51, is installed on the vehicle body 1 through the lifting rod 62 electrically connected to the central controller. The lifting rod 62 can be inserted into the vehicle body 1 through the drilling foam spraying device installation slot 13. Foam spray heads 61 are evenly distributed along the circumferential direction of the annular bracket 63, and the foam spray heads 61 are connected to the output end of the high-pressure pump 19 through a pipeline. Before drilling, the annular bracket 63 can be raised first, and then the drill rod 51 can be installed. During the drilling process, the central controller can control the high-pressure pump 19 to start the foam spray head 61 alone, so as to achieve targeted dust reduction for the drilling and improve the dust reduction effect of the drilling.

[0072] In order to monitor the pressure inside the borehole wall during the drilling process and thereby improve the safety of the drilling operation, as a further improvement scheme of the present invention, a monitoring radar 12 and an alarm light 110 electrically connected to the central controller are also provided on the vehicle body 1. Before the drilling operation, a monitoring hole can be drilled within a set range around the position of the hole to be drilled on the wall to be drilled, and a pressure sensor can be inserted into the monitoring hole. During the drilling of the blasting hole, the pressure sensor can provide real-time feedback of the pressure value of the wall. When the monitoring radar 12 detects that the wall pressure change exceeds the set threshold, the alarm light 110 can be lit to alert the operator to take corresponding measures.

[0073] After completing the filling and sealing operation of the drill hole, when the foam of the set thickness is sprayed on the wall surface within the set range around the drill hole by the universal foam nozzle 112, in order to accurately determine the thickness of the sprayed foam, as a further improvement scheme of the present invention, the vehicle body 1 is also provided with an infrared thickness gauge 111 electrically connected to the central controller. In the process of spraying foam on the wall surface within the set range around the drill hole by the universal foam nozzle 112, the infrared thickness gauge 111 can emit infrared irradiation light of a specific wavelength to the foam surface. The intensity of the infrared light changes after being reflected or transmitted by the foam. The thickness of the foam sprayed on the tunnel wall is automatically calculated based on the functional relationship between the reflection signal intensity and the thickness. The thickness measurement calculation by the infrared thickness gauge 111 is a prior art and will not be described in detail here.

[0074] The drilling and blasting robot with efficient dust suppression and reduction function has a high degree of automation and can not only realize automatic drilling, explosive filling and hole sealing operations, but also can greatly reduce the diffusion range of dust during the drilling and blasting process, and is particularly suitable for drilling and blasting operations.

Claims

1. A drilling and blasting robot with high-efficiency dust suppression function, characterized in that: It includes a vehicle body (1), a dust suppression particle manufacturing and conveying system (2), a drilling and filling sealing system and a centralized electric control system; A walking chassis (16) is provided at the bottom of the vehicle body (1), and a foam generator (15), a high-pressure water tank (18), a high-pressure pump (19) and a universal foam nozzle (112) are provided on the vehicle body (1). The universal foam nozzle (112) including a universal foam nozzle translation drive mechanism and a universal foam nozzle spray direction control mechanism is installed on the top of the vehicle body (1), and the output end of the foam generator (15) and the output end of the high-pressure water tank (18) are respectively connected to the input end of the high-pressure pump (19) through pipelines, and the output end of the high-pressure pump (19) is connected to the input end of the universal foam nozzle (112) through a pipeline; The dust suppression particle manufacturing and conveying system (2) is arranged on the vehicle body (1), and comprises a foaming agent storage tank (25), a coating agent storage tank (26), a double-roller extrusion granulation device (21), a dust suppression particle collecting device (23) and a dust suppression particle storage device (24); The roller extrusion granulation device (21) comprises two rollers (212) which are synchronously stepped and arranged in opposite directions and have synchronous drive motors. The central axes of the two rollers (212) are arranged horizontally side by side, and the roller surfaces of the two rollers (212) are arranged butt-jointly. The roller surfaces of the rollers (212) are provided with granulation cavities (211) which are evenly spaced and arranged along the circumferential direction of the rollers (212). The granulation cavities (211) with blind hole structures are arranged along the radial direction of the rollers (212), and a telescopic extrusion mechanism (213) is provided at the bottom of the granulation cavities (211). The telescopic extrusion direction of the telescopic extrusion mechanism (213) is arranged along the radial direction of the rollers (212). The granulation cavities (211) of the two rollers (212) form a granulation accommodating cavity of an integral structure at the butt joint position of the two rollers (212). The foaming agent storage tank (25) is arranged correspondingly at a position directly above the docking position of the two rollers (212), and the foaming agent storage tank (25) stores the foaming agent. The foaming agent filling station of the granulation cavity (211) of the two rollers (212) at the bottom of the foaming agent storage tank (25) corresponding to the previous station of the granulation accommodating cavity is provided with a foaming agent automatic injector (251); The wrapping agent storage tank (26) is symmetrically arranged in two pieces relative to the foaming agent storage tank (25), the wrapping agent storage tank (26) stores the wrapping agent, and the wrapping agent filling station of the granulation cavity (211) of the two rollers (212) at the bottom of the wrapping agent storage tank (26) corresponding to the station before the foaming agent filling station is provided with an wrapping agent automatic injector (261); The dust suppression particle collecting device (23) is arranged directly below the roller extrusion granulation device (21); the output end of the dust suppression particle collecting device (23) is docked with the dust suppression particle input port (241) of the dust suppression particle storage device (24); and the dust suppression particle storage device (24) is provided with a dust suppression particle pumping mechanism; The drilling and filling sealing system comprises a drilling device (5), an automatic rod changing device (4) and an explosive filling device (3); The drilling device (5) comprises a drill rod (51), a drill bit (53) and a drilling drive motor (52); the drilling drive motor (52) is mounted on the vehicle body (1) via a drilling guide drive mechanism arranged in the front-rear direction; a quick connection structure is provided between the rear end of the drill rod (51) and the power output end of the drilling drive motor (52), and the front end of the drill rod (51) is coaxially fixedly connected to the drill bit (53); The automatic rod-changing device (4) comprises a rod-changing mechanical arm (41) and a rod-carrying station platform (42); the rod-changing mechanical arm (41) comprising a rod-grabbing mechanical arm comprises at least an X-coordinate driving assembly capable of driving the rod-grabbing mechanical arm to move in the left-right direction, a Y-coordinate driving assembly capable of driving the rod-grabbing mechanical arm to move in the front-back direction, and an opening-closing driving assembly capable of driving the rod-grabbing mechanical arm to open and close; a rod-carrying station (43) is provided on the rod-carrying station platform (42), and the rod-carrying station (43) comprises a drilling rod station and an explosive loading rod station; The explosive loading device (3) comprises an explosive loading rod (34) stacked on an explosive loading rod station at a rod loading station (43) and an elastic plugging capsule (31) sleeved on the explosive loading rod (34); the front section of the explosive loading rod (34) is a blind hole sleeve structure including an explosive roll accommodating chamber, the rear section of the explosive loading rod (34) is a spiral rod structure coaxially connected to the blind hole sleeve structure, and the spiral rod structure is connected to the blind hole sleeve structure by spiral transmission, a quick connection structure is provided between the rear end of the spiral rod structure and the power output end of the drilling drive motor (52), a blind hole conveying channel for dust suppression particles is provided on the sleeve wall of the blind hole sleeve structure and penetrates into the sleeve wall along its axial direction, and a corresponding blind hole conveying channel for dust suppression particles is provided on the sleeve wall of the blind hole sleeve structure. A dust suppression particle outlet hole (32) is provided at the position and penetrates the outer surface of the shaft sleeve wall in the radial direction; the rear end of the dust suppression particle blind hole conveying channel is a dust suppression particle inlet hole (33), and the dust suppression particle inlet hole (33) is connected to the output end of the dust suppression particle pumping mechanism of the dust suppression particle storage device (24) through a hose; the elastic sealing capsule (31) comprises an inner wall and an outer wall, and the inner wall and the outer wall form an annular cavity structure; the elastic sealing capsule (31) is sleeved on the rear end of the blind hole shaft sleeve structure through its inner wall; a dust suppression particle one-way inlet valve (311) connected to the annular cavity structure is provided on the elastic sealing capsule (31), and the dust suppression particle one-way inlet valve (311) is connected to the output end of the dust suppression particle pumping mechanism of the dust suppression particle storage device (24) through a hose; The centralized electric control system comprises a central controller, a vehicle body control circuit, a dust suppression particle manufacturing control circuit, a drilling control circuit and a filling and sealing control circuit. The central controller is respectively electrically connected to a walking chassis (16), a high-pressure pump (19), a universal foam nozzle (112), a synchronous drive motor of a roller (212), a telescopic squeezing mechanism (213), an automatic foaming agent injector (251), an automatic encapsulating agent injector (261), a dust suppression particle pumping mechanism of a dust suppression particle storage device (24), a drilling drive motor (52), a drilling guide drive mechanism and a rod changing mechanical arm (41).

2. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1 is characterized in that: The automatic proportioning and output volume are automatically controlled by calculating the demand for the foaming time of the dust suppression particles. The calculation formula is as follows: Wherein: K is the proportional constant, A is the activity of the foaming agent, α is the influence index of the activity of the foaming agent on the foaming time, Tenv is the ambient temperature, β is the influence index of the ambient temperature on the foaming time, P is the permeability of the encapsulant, γ is the influence index of the permeability of the encapsulant on the foaming time, d is the thickness of the encapsulant, and δ is the influence index of the thickness of the encapsulant on the foaming time.

3. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1 is characterized in that: A local temperature control mechanism electrically connected to the central controller is also provided at the docking position of the two roller discs (212) on the roller extrusion granulation device (21).

4. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1 is characterized in that: A split shaft (22) is also provided directly below the butt joint of the two rollers (212).

5. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1 is characterized in that: The rod body of the drill rod (51) is provided with a spiral cutting chip removal groove (513) and a spiral cutting ridge (514) located at the top of the spiral cutting chip removal groove (513).

6. The drilling and blasting robot with high-efficiency dust suppression function according to claim 5 is characterized in that: Water jet nozzles (512) are evenly distributed on the rod body of the drill rod (51) along its axial direction, and the water jet nozzles (512) are connected to a high-pressure water source through a high-pressure water channel located inside the drill rod (51) and a high-pressure water delivery hose.

7. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1 is characterized in that: The rod-changing mechanical arm (41) further comprises a Z-coordinate driving assembly capable of driving the rod-grabbing mechanical arm to move in the up-down direction and / or a B-coordinate rotation driving assembly capable of driving the rod-grabbing mechanical arm to rotate around the Y-coordinate direction.

8. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1 is characterized in that: A drilling foam spraying device (6) is provided at a position corresponding to the drill rod (51) at the front end of the vehicle body (1). The drilling foam spraying device (6) comprises an annular bracket (63) and a lifting rod (62). The annular bracket (63) which can be sleeved on the drill rod (51) is installed on the vehicle body (1) via the lifting rod (62) which is electrically connected to the central controller. Foam spray heads (61) are evenly distributed on the annular bracket (63) along its circumferential direction, and the foam spray heads (61) are connected to the output end of the high-pressure pump (19) via a pipeline.

9. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1, characterized in that: The vehicle body (1) is also provided with a monitoring radar (12) and an alarm light (110) which are electrically connected to the central controller.

10. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1, characterized in that: The vehicle body (1) is also provided with an infrared thickness gauge (111) electrically connected to the central controller.

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