A robot for drilling and blasting with high dust suppression and reduction function

Abstract

The application discloses a drilling and blasting robot with high-efficiency dust suppression and reduction function, which comprises a vehicle body, a dust suppression particle manufacturing and conveying system, a drilling and filling and sealing system and a centralized electric control system; the bottom of the vehicle body is provided with a running chassis, and the vehicle body is provided with a foam generator, a high-pressure water tank, a high-pressure pump and a universal foam spray head; the dust suppression particle manufacturing and conveying system is arranged on the vehicle body and comprises a foaming agent storage tank, a coating agent storage tank, a pair-roller extruding and granulating device, a dust suppression particle collecting device and a dust suppression particle storage device; the drilling and filling and sealing system comprises a drilling device, an automatic rod changing device and an explosive charging device. The drilling and blasting robot with high-efficiency dust suppression and reduction function has high automation degree, can automatically complete drilling, explosive filling and hole sealing operations, can greatly reduce the diffusion range of dust in the drilling and blasting process, and is particularly suitable for drilling and blasting operations.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of robot for drilling and blasting, specifically a kind of robot for drilling and blasting with high-efficiency dust suppression and dust reduction function, belongs to the technical field of drilling and blasting dust suppression and dust reduction. BACKGROUND

[0002] In the process of mining, dust is an unavoidable problem, which is mainly generated by blasting, mechanical drilling, cutting, friction, vibration and other production activities. These dusts, including rock dust, mine dust and other fine particles of solid matter, are collectively referred to as mine dust or mine dust. The generation of mine dust mainly occurs in the processes of drilling and blasting, crushing, screening, belt conveying, transportation and reloading, especially in the process of drilling and blasting. The drilling and blasting process includes drilling operation and blasting operation. A certain amount of dust is generated during the drilling operation process, although the particle size is small but the intensity is large, and a large amount of dust is generated during the blasting operation process, with high dust concentration and high dust height.

[0003] The existing drilling and blasting dust suppression measures mainly include drilling dust suppression and blasting dust suppression. The traditional drilling dust suppression measures usually include wet dust suppression (water is dispersed into fine mist by a spray air-water mixer, enters the hole bottom through the drill rod, and supplies dust to form mud) and dry dust suppression (dust discharged from the hole by dust suppression gas is collected by a dust collector, the dust-containing gas stream after the coarse particles settle is subjected to primary purification in a cyclone dust collector, and final purification in a bag-type dust collector). The traditional blasting dust suppression measures usually include water injection (drilling holes are drilled in the pre-blasting area and pre-fractured, high-pressure water is injected into the mine body through the drilling holes, and the water penetrates into the mine body through the fractures of the mine rock) and water sealing (water-filled plastic bags are used to replace part of the stemming to fill the blast hole, when the explosive is detonated, the water bags are broken, the high temperature and high pressure generated by the explosion cause the water to partially vaporize, and the fine mist particles are re-condensed, when the cold is encountered, the smoke and dust generated by the explosion are contacted and collided with a large amount of mist particles, the dust particles are condensed or captured by the mist droplets and settle). In recent years, the foam dust suppression method, 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 the underground dust removal water pipe and compressed air pipeline, adds a certain additive to the water pipe, introduces air pressure through a special foaming device, generates high-multiple foam, and the foam can effectively reduce the dust concentration through good coverage, wetting and adhesion. By spraying foam, the dust can be effectively covered and wetted to prevent its diffusion and flying, and the adhesion of the foam can also firmly adhere the dust to the ground or equipment, further reducing dust pollution. On the one hand, the spraying of foam requires a special foaming device to introduce air pressure, which not only has a complicated operation procedure, but also 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, the spraying of foam is prone to uneven distribution of foam, which may further lead to unsatisfactory blasting dust suppression effect. On the other hand, spraying foam only on the surface of the pre-blasting area has limited dust suppression effect on blasting. SUMMARY

[0004] In order to solve the above problems of the prior art, the present application provides a drilling and blasting robot with high-efficiency dust suppression and reduction function, which has high automation degree, can realize automatic drilling, explosive filling and hole sealing operations, and can greatly reduce the diffusion range of dust in the drilling and blasting process, and is particularly suitable for drilling and blasting operations.

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

[0006] The bottom of the vehicle body is provided with a running chassis, and the vehicle body is provided with a foam generator, a high-pressure water tank, a high-pressure pump and a universal foam spray head.

[0007] The dust suppression particle manufacturing and conveying system is arranged on the vehicle body and comprises a foaming agent storage tank, a coating 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 roller discs provided with synchronous stepping counter-rollers with synchronous driving motors.

[0009] The middle axes of the two roller discs are arranged horizontally and side by side, and the roller surfaces of the two roller discs are arranged in abutment.

[0010] The foaming agent storage tank is arranged above the abutment position of the two roller discs.

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

[0012] The drilling and filling sealing system comprises a drilling device, an automatic rod changing device and an explosive loading device.

[0013] The drilling device comprises a drill rod, a drill bit and a drilling drive motor, the drilling drive motor is mounted on the vehicle body through a drilling guide driving mechanism arranged in the front-rear direction, a quick connection structure is arranged 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 loading station table, the rod changing mechanical arm comprising a rod grabbing mechanical hand comprises an X coordinate driving assembly capable of driving the rod grabbing mechanical hand to move in the left-right direction, a Y coordinate driving assembly capable of driving the rod grabbing mechanical hand to move in the front-rear direction and a clamping driving assembly capable of driving the rod grabbing mechanical hand to open and close, and the rod loading station table is provided with a rod loading station comprising a drill rod station and an explosive loading rod station.

[0015] The explosive loading device comprises an explosive loading rod arranged on the explosive loading rod station of the rod loading station and an elastic sealing capsule sleeved on the explosive loading rod, the front section of the explosive loading rod is a blind hole shaft sleeve structure comprising an explosive roll accommodating cavity, the rear section of the explosive loading rod is a spiral rod structure coaxially connected with the blind hole shaft sleeve structure, the spiral rod structure is in screw transmission and cooperation connection with the blind hole shaft sleeve structure, a quick connection structure is arranged between the rear end of the spiral rod structure and the power output end of the drilling drive motor, a dust suppression particle blind hole conveying channel penetrating through the sleeve wall in the axial direction of the sleeve wall is arranged on the sleeve wall of the blind hole shaft sleeve structure, a dust suppression particle outlet pipe hole penetrating through the outer surface of the sleeve wall in the radial direction is arranged on the sleeve wall of the blind hole shaft sleeve structure at a position corresponding to the dust suppression particle blind hole conveying channel, the rear end of the dust suppression particle blind hole conveying channel is a dust suppression particle inlet pipe hole, and the dust suppression particle inlet pipe 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 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 is sleeved on the rear end of the blind hole shaft sleeve structure through the inner wall, a dust suppression particle one-way inlet valve in communication with the annular cavity structure is arranged 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 electric control system comprises a central controller, a vehicle body control loop, a dust suppression particle manufacturing control loop, a drilling control loop and a filling and hole sealing control loop, the central controller is electrically connected with the traveling chassis, the high-pressure pump, the universal foam nozzle, the synchronous driving motor of the roller disc, the telescopic extrusion mechanism, the automatic foaming agent injector, the automatic wrapping agent injector, the dust suppression particle pumping mechanism of the dust suppression particle storage device, the drilling driving motor, the drilling guide driving mechanism and the rod changing mechanical arm.

[0017] As a further improved scheme of the present application, the output amount is automatically controlled by automatically matching according to the requirement calculation of the foaming time of the dust suppression particles, and the calculation formula is as follows:

[0018]

[0019] In the formula, K is a proportional constant, A is the activity of the foaming agent, a is the influence index of the activity of the foaming agent on the foaming time, Tenv is the environmental temperature, β is the influence index of the environmental temperature on the foaming time, P is the permeability of the wrapping agent, γ is the influence index of the permeability of the wrapping agent on the foaming time, d is the thickness of the wrapping agent, and δ is the influence index of the thickness of the wrapping agent on the foaming time.

[0020] As a further improved scheme of the present application, a local temperature control mechanism electrically connected with the central controller is further arranged at the butt joint position of the two roller discs of the roller extrusion granulating device.

[0021] As a further improved scheme of the present application, a split shaft is further arranged at a position directly below the butt joint position of the two roller discs.

[0022] As a further improved scheme of the present application, a spiral cutting chip removal groove and a spiral cutting convex rib located at the top of the spiral cutting chip removal groove are arranged on the rod body of the drill rod.

[0023] As a further improved scheme of the present application, a water jet nozzle is further arranged on the rod body of the drill rod in the axial direction of the rod body, and the water jet nozzle is connected with a high-pressure water source through a high-pressure water channel and a high-pressure water delivery hose located inside the drill rod.

[0024] As a further improved scheme of the present application, the rod changing mechanical arm further comprises a Z coordinate driving assembly capable of driving the rod grabbing mechanical hand to move in the up-down direction and / or a B coordinate rotary driving assembly capable of driving the rod grabbing mechanical hand to rotate around the Y coordinate direction.

[0025] As a further improved scheme of the present application, a drilling foam spraying device is arranged at a position corresponding to the drill rod at the front end of the vehicle body, the drilling foam spraying device comprises a ring-shaped support and a lifting rod, the ring-shaped support capable of being sleeved on the drill rod is installed on the vehicle body through the lifting rod electrically connected with the central controller, and foam nozzles are uniformly arranged on the ring-shaped support in the circumferential direction of the ring-shaped support and connected with the output end of the high-pressure pump through pipelines.

[0026] As a further improved scheme of the present application, the vehicle body is further provided with a monitoring radar and an alarm lamp electrically connected with the central controller.

[0027] As a further improved scheme of the present application, the vehicle body is further provided with an infrared thickness gauge electrically connected with the central controller.

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

[0029] 1. The dust suppression particles are automatically proportioned according to different foaming time requirements, the production and filling of the dust suppression particles are integrated, the dust suppression particles with different requirements in different situations can be flexibly produced, the dust suppression particles can be produced according to the requirements of the residence time of the elastic plugging capsule and the dust suppression particles in the fissure, the residence time of the dust suppression particles is controlled, and the dust removal efficiency is improved.

[0030] 2. The drilling filling and sealing system can realize the integration of filling explosives, fissure filling dust suppression particles and dust suppression particle sealing, the dust suppression particles are continuously filled into the elastic plugging capsule, the hole pressure is increased, the dust suppression particles are fully filled into the fissure, the dust suppression bag is formed to seal the blast hole, and the dust generated in the blasting operation process is greatly reduced, and effective dust suppression is achieved.

[0031] 3. The spiral cutting and chip removal grooves and the spiral cutting convex edges are spirally distributed on the drill rod, and the water jet nozzle is installed between the spiral cutting and chip removal grooves and the spiral cutting convex edges, in the drilling process, the spiral cutting and chip removal grooves and the spiral cutting convex edges can increase the deslagging speed in the hole, reduce the interruption and cleaning work caused by dust pollution, and improve the operation efficiency; the water jet nozzle can be used for high-pressure water pre-cracking of the hole wall surface, effective control of the explosion range, reduction of the influence of vibration and shock wave, and auxiliary cooling of the drill rod.

[0032] 4. The vehicle body, the dust suppression particle manufacturing and conveying system and the drilling filling and sealing system can be cooperated with each other, the processes such as punching, charging and filling dust suppression agent can be intelligentized and automated, the dust can be obviously reduced, the environmental pollution can be reduced, and the production efficiency can be improved while the labor operation is reduced and the safety performance is ensured. BRIEF DESCRIPTION OF DRAWINGS

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

[0034] Figure 2 is a schematic diagram of the structure of the right side of the vehicle body of the present application;

[0035] Figure 3 is a schematic diagram of the structure of the left side of the vehicle body of the present application;

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

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

[0038] Figure 6 is the structural schematic diagram of the explosive charging device of the present application, wherein (a) is the state of the elastic sealing capsule not being inflated, and (b) is the state of the elastic sealing capsule being inflated;

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

[0040] Figure 8 is the structural schematic diagram of the drilling device of the present application;

[0041] Figure 9 is the B direction partial enlarged view of Figure 8

[0042] Figure 10 is the structural schematic diagram of the drill rod of the present application;

[0043] Figure 11 is the structural schematic diagram of the drilling foam spraying device of the present application;

[0044] Figure 12 is the structural schematic diagram of the explosive charging device of the present application, wherein (a) is the structural schematic diagram of the rod loading station table conveying the explosive charging rod, and (b) is the structural schematic diagram of the rod changing mechanical arm grabbing the explosive charging rod for installation;

[0045] Figure 13 is the structural schematic diagram of the explosive charging operation of the present application, wherein (a) is the structural schematic diagram of the explosive charging rod entering the drill hole, and (b) is the structural schematic diagram of the elastic sealing capsule inflating to seal the hole.

[0046] ​​In the figure: 1, vehicle body, 11, vehicle light, 12, monitoring radar, 13, drilling foam spraying 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, alarm light, 111, infrared thickness gauge, 112, universal foam spray head, 2, dust suppression particle manufacturing and conveying system, 21, roller extrusion granulation device, 211, granulation cavity, 212, roller disc, 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, wrapping agent automatic injector, 3, explosive loading device, 31, elastic sealing capsule, 311, dust suppression particle one-way inlet valve, 32, dust suppression particle outlet pipe hole, 33, particle inlet pipe hole, 34, explosive loading rod, 35, lifting pin, 36, pin groove 4, automatic rod changing device, 41, rod changing mechanical arm, 42, rod carrying station table, 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 convex rib, 52, drilling drive motor, 521, lifting buckle, 53, drill bit, 6, drilling foam spraying device, 61, foam spray head, 62, lifting rod, 63, annular support. DETAILED DESCRIPTION

[0047] The application will be further described below in conjunction with the drawings (the drilling direction of the drilling operation is described as the front direction).

[0048] As Figure 1 shown, the robot for drilling and blasting with high-efficiency dust suppression and reduction function 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.

[0049] As Figure 2 , Figure 3As shown, the bottom of the vehicle body 1 is provided with a running chassis 16, which can be a wheel structure or a track structure. The front end of the vehicle body 1 is provided with a vehicle lamp 11 for lighting. The vehicle body 1 is provided with a foam generator 15, a high-pressure water tank 18, a high-pressure pump 19, and a universal foam spray head 112. The universal foam spray head 112, including a universal foam spray head translation drive mechanism and a universal foam spray head spray direction control mechanism, can be installed on the top of the vehicle body 1 through a sliding groove 17. The universal foam spray head translation drive mechanism can be a motor-driven translation control structure, a telescopic cylinder-driven translation control structure, or other translation drive control structures. By controlling the action of the universal foam spray head translation drive mechanism, the position of the universal foam spray head 112 on the top of the vehicle body 1 can be adjusted. The universal foam spray head spray direction control mechanism can be a motor-controlled rotation angle control structure and a pitch angle control structure, or a hydraulic-controlled rotation angle control structure and a pitch angle control structure. By controlling the action of the universal foam spray head spray direction control mechanism, the spray direction and angle of the universal foam spray head 112 can be adjusted. The output end of the foam generator 15, including a foam output pump, and the output end of the high-pressure water tank 18, including a water pump, are connected to the input end of the high-pressure pump 19 through pipelines. The output end of the high-pressure pump 19 is connected to the input end of the universal foam spray head 112 through a pipeline.

[0050] The dust suppression particle manufacturing and conveying system 2 is fixedly arranged on the vehicle body 1, as shown in the figure. Figure 4 As shown, the dust suppression particle manufacturing and conveying system 2 includes a foaming agent storage tank 25, a wrapping agent storage tank 26, a pair of roller extrusion granulation devices 21, a dust suppression particle collection device 23, and a dust suppression particle storage device 24.

[0051] The pair of roller extrusion granulation devices 21 include a pair of roller discs 212 with synchronous drive motors. The center axes of the two roller discs 212 are arranged horizontally side by side, and the roller surfaces of the two roller discs 212 are arranged in abutment. The roller surfaces of the roller discs 212 are provided with granulation cavities 211 arranged uniformly and spaced apart in the circumferential direction of the roller discs 212. The granulation cavities 211 are arranged in the radial direction of the roller discs 212 in a blind hole structure, and the hole bottoms of the granulation cavities 211 are provided with telescopic extrusion mechanisms 213, as shown in the figure. Figure 5 As shown, the telescopic extrusion direction of the telescopic extrusion mechanisms 213 is arranged in the radial direction of the roller discs 212. The telescopic extrusion mechanisms 213 can be telescopic cylinder control structures or electromagnetic control structures. The granulation cavities 211 of the two roller discs 212 form a whole granulation containing cavity at the abutment position of the two roller discs 212. By synchronously controlling the actions of the two telescopic extrusion mechanisms 213 in the granulation containing cavity, the two telescopic extrusion mechanisms 213 can be synchronously extruded to the middle position of the abutment.

[0052] The foaming agent storage tank 25 is arranged above the abutting position of the two roller plates 212, and the foaming agent is stored in the foaming agent storage tank 25. The foaming agent automatic injector 251 is arranged at the foaming agent filling position corresponding to the granulation cavities 211 of the two roller plates 212 at the previous position of the granulation cavity 211. When the two roller plates 212 rotate synchronously to the foaming agent filling position, the foaming agent automatic injector 251 can be controlled to inject the foaming agent into the corresponding granulation cavities 211 of the two roller plates 212.

[0053] The wrapping agent storage tank 26 is arranged symmetrically with respect to the foaming agent storage tank 25, and the wrapping agent storage tank 26 is arranged in two parts. The wrapping agent used to wrap the foaming agent is stored in the wrapping agent storage tank 26. The wrapping agent can be polylactic acid (PLA), polyglycolic acid (PGA), sodium alginate, etc., and the preferred wrapping agent is sodium alginate. The wrapping agent automatic injector 261 is arranged at the wrapping agent filling position corresponding to the granulation cavities 211 of the two roller plates 212 at the previous position of the foaming agent filling position. When the two roller plates 212 rotate synchronously to the wrapping agent filling position, the wrapping agent automatic injector 261 can be controlled to inject the wrapping agent into the corresponding granulation cavities 211 of the two roller plates 212.

[0054] The dust suppression particle collecting device 23 is arranged below the roller extrusion granulation device 21, and is used to collect and transport the dust suppression particles prepared by the roller extrusion granulation device 21. The dust suppression particle collecting device 23 can be a belt conveying structure, a guide groove conveying structure, or other particle conveying structures. 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 roller extrusion granulation device 21 can be transported to the dust suppression particle storage device 24 through the dust suppression particle collecting device 23 for storage. The dust suppression particle storage device 24 is provided with a dust suppression particle pumping mechanism, which can be a screw conveying structure or a pneumatic conveying structure including a pressure air source.

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

[0056] As 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 mounted on a sliding boss 14 of the vehicle body 1 via a drilling guide drive mechanism arranged in the front-to-back direction. The drilling guide drive mechanism can be a linear reciprocating drive structure driven by a telescopic cylinder, or a spiral drive linear reciprocating structure including a screw and nut, or other linear reciprocating drive structures. By controlling the movement of the drilling guide drive mechanism, the drilling drive motor 52 can be controlled to move in the front-to-back direction. A quick-connect structure is provided between the rear end of the drill rod 51 and the power output end of the drilling drive motor 52. The quick-connect structure can be a spline connection structure or a structure including... Figure 9 The lifting buckle 521 and buckle groove 511 connected structure and other quick connection structures arranged in the radial direction are shown. The front end of the drill rod 51 is coaxially and fixedly connected to the drill bit 53.

[0057] like Figure 7 As shown, the automatic pole changing device 4 includes a pole changing robotic arm 41 and a pole-carrying workstation 42. The pole changing robotic arm 41, including a gripping robot, includes at least an X-axis drive assembly that can drive the gripping robot to move in the left-right direction, a Y-axis drive assembly that can drive the gripping robot to move in the front-back direction, and an opening and closing drive assembly that can drive the gripping robot to open and close. The robotic arm drive assembly is existing technology and will not be described in detail here. To achieve accurate and flexible gripping and stacking control of the gripping robot, the pole changing robotic arm 41 may also include a Z-axis drive assembly that can drive the gripping robot to move in the up-down direction and / or a... A B-axis rotary drive assembly drives the gripper to rotate around the Y-axis; a gripper station 43 is provided on the gripper station 42, which includes a drill rod station and an explosive loading rod station. To facilitate gripping and stacking by the gripper, the gripper station 42 can be configured as an inclined structure, and a conveyor belt is provided on the inclined structure along the inclined direction. The gripper station 43 on the conveyor belt can transport the drill rod 53 or the explosive loading rod 34 to the top of the gripper station 42 for gripping or stacking by the gripper; two sets of automatic rod changing devices 4 can be symmetrically configured on the left and right sides of 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 carrier station 43 and an elastic sealing capsule 31 sleeved on the explosive loading rod 34; the front section of the explosive loading rod 34 is a blind hole bushing structure including an explosive roll receiving cavity, and the rear section of the explosive loading rod 34 is a spiral rod structure coaxially connected to the blind hole bushing structure, and the spiral rod structure and the blind hole bushing structure are connected in a spiral drive engagement. Similar to the drill rod 51, a quick-connect structure is provided between the rear end of the spiral rod structure and the power output end of the drilling drive motor 52. The quick-connect structure can be a spline connection structure that fits together, or it can include, for example, a spline connection structure. Figure 6(a) The lifting pin 35 and pin slot 36 connection structure and other quick connection structures shown arranged in the radial direction, the blind hole sleeve structure sleeve wall is provided with a dust suppression particle blind hole conveying channel penetrating the sleeve wall in the axial direction, and the sleeve wall of the blind hole sleeve structure is provided with a dust suppression particle outlet pipe hole 32 penetrating the outer surface of the sleeve wall in the radial direction at a position corresponding to the dust suppression particle blind hole conveying channel. The rear end of the dust suppression particle blind hole conveying channel is a dust suppression particle inlet pipe hole 33, and the dust suppression particle inlet pipe 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. In order to uniformly distribute the dust suppression particles around the blind hole sleeve structure during explosive filling, the dust suppression particle outlet pipe holes 32 can be uniformly arranged in the axial direction of the blind hole sleeve structure, and the dust suppression particle blind hole conveying channels can be uniformly arranged in 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. The elastic sealing capsule 31 is provided with a dust suppression particle one-way inlet valve 311 communicating with the annular cavity structure, 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 electric 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 disc 212, the telescopic extrusion mechanism 213, the foaming agent automatic injector 251, the wrapping 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 in the position of being retracted into the hole bottom of the granulating cavity 211; the drill rod 51 is connected to the power output end of the drilling drive motor 52 through the quick connection structure; the explosive filling rod 34 is positioned on the explosive filling rod station of the rod loading station 43, and the dry elastic sealing capsule 31 is sleeved on the rear end of the blind hole sleeve structure through its inner wall.

[0061] Before the drilling and explosive filling operation is performed by the drilling and blasting robot with high-efficiency dust suppression and reduction function, the central controller can first start the dust suppression particle manufacturing control loop, and the two roller discs 212 are synchronously stepped and rotated. When a pair of the particle manufacturing cavities 211 on the two roller discs 212 are synchronously rotated to the coating agent filling station, the central controller controls the automatic coating agent injector 261 to first inject the coating agent into the corresponding particle manufacturing cavities 211 of the two roller discs 212, and then the two roller discs 212 are synchronously stepped and rotated by one step. The particle manufacturing cavities 211 filled with the coating agent are rotated to the foaming agent filling station. Then the central controller controls the automatic foaming agent injector 251 to inject the foaming agent into the particle manufacturing cavities 211 filled with the coating agent. Then the two roller discs 212 are continuously synchronously stepped and rotated by one step. The particle manufacturing cavities 211 filled with the coating agent and the foaming agent are rotated to the docking position to form the particle manufacturing cavities with an overall structure. At this time, the central controller controls the telescopic extrusion mechanism 213 in the particle manufacturing cavities 211 filled with the coating agent and the foaming agent to extend. The two telescopic extrusion mechanisms 213 synchronously extrude to the middle docking position, so that the coating agent completely wraps the foaming agent to form dust suppression particles. One dust suppression particle forming operation is completed. The two roller discs 212 are continuously synchronously stepped and rotated. The telescopic extrusion mechanism 213 in the particle manufacturing cavity 211 where the dust suppression particle is formed continuously extends. The formed dust suppression particle can be separated from the particle manufacturing cavity 211 under the action of its own gravity and the pushing action of the telescopic extrusion mechanism 213, and enters the dust suppression particle storage device 24 through the dust suppression particle collecting device 23. The telescopic extrusion mechanism 213 is reset. In succession, the roller disc 212 is continuously stepped and rotated, so that the dust suppression particles can be continuously manufactured and sent to the dust suppression particle storage device 24.

[0062] When the drilling and explosive filling operation is performed by the drilling and blasting robot with high-efficiency dust suppression and reduction function, the central controller can control the walking chassis 16 to make the drilling and blasting robot with high-efficiency dust suppression and reduction function travel to the set position in front of the wall surface to be drilled and positioned. Then the central controller starts the drilling control loop. The central controller controls the drilling drive motor 52 to rotate the drill rod 51, and at the same time, drives the drilling drive motor 52 to move forward through the drilling guide drive mechanism to drill. At the same time of drilling, the central controller first controls the universal foam nozzle 112 to be aligned with the drilling, and then controls the high-pressure pump 19 to be started. The universal foam nozzle 112 can spray foam to reduce dust during drilling. After drilling to the set depth, the central controller first controls the universal foam nozzle 112 to stop spraying foam, and 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 resetting;

[0063] After the explosive charge is placed into the explosive charge containing cavity of the explosive charge loading rod 34, the central controller starts the filling and sealing control loop. The central controller first controls the rod changing mechanical arm 41 to act to remove the drill rod 51 through the quick connection structure and place it on the drill rod station of the rod loading station 43, and then controls the rod changing mechanical arm 41 to act to pick up the explosive charge loading rod 34 and install it on the power output end of the drilling driving motor 52 through the quick connection structure; then the central controller first controls the drilling guide driving mechanism to drive the drilling driving motor 52 to move forward to send the explosive charge loading rod 34 into the drill hole, and then controls the rod changing mechanical arm 41 to act to pick up the drill rod 51 through the quick connection structure and install it on the power output end of the drilling driving motor 52. Figure 12 The central controller first controls the rod changing mechanical arm 41 to act to pick up the explosive charge loading rod 34 and install it on the power output end of the drilling driving motor 52 through the quick connection structure; then the central controller first controls the drilling guide driving mechanism to drive the drilling driving motor 52 to move forward to send the explosive charge loading rod 34 into the drill hole, and then controls the rod changing mechanical arm 41 to act to pick up the drill rod 51 through the quick connection structure and install it on the power output end of the drilling driving motor 52. Figure 13As shown, the dust suppression particle pump mechanism of the dust suppression particle storage device 24 is controlled to deliver dust suppression particles, and the dust suppression particles stored in the dust suppression particle storage device 24 are delivered into the dust suppression particle blind hole delivery channel of the elastic sealing capsule 31 and the explosive charging rod 34 through the hose, respectively. Under the continuous delivery of the dust suppression particle pump mechanism of the dust suppression particle storage device 24, the dust suppression particles entering the elastic sealing capsule 31 gradually lift the elastic sealing capsule 31, and the elastic sealing capsule 31 is inflated and sealed at the hole position. The dust suppression particles in the dust suppression particle blind hole delivery channel enter the borehole through the dust suppression particle outlet hole 32, and are pushed into the fissure in the borehole under the continuous pushing force of the dust suppression particles. Then, the central controller controls the drilling drive motor 52 to rotate slowly. Since the elastic sealing capsule 31 exerts a certain clamping force on the blind hole shaft sleeve structure at the front end of the explosive charging rod 34 after inflation, the blind hole shaft sleeve structure moves backward relative to the spiral rod structure through spiral transmission, and the spiral rod structure rotates relative to the blind hole shaft sleeve structure in the state of axial static. The blind hole shaft sleeve structure gradually exits the borehole, and the explosive roll in the explosive roll accommodating cavity is retained in the borehole under the blocking action of the spiral rod structure. When the front end of the blind hole shaft sleeve structure gradually separates from the elastic sealing capsule 31, the elastic sealing capsule 31 continues to expand to fill the gap caused by the separation of the blind hole shaft sleeve structure under the continuous pushing force of the dust suppression particles, and gradually wraps around the spiral rod structure. The dust suppression particles in the dust suppression particle blind hole delivery channel fill the gap caused by the separation of the blind hole shaft sleeve structure under the continuous pushing force of the dust suppression particles, and maintain the dense filling state in the borehole. Until the front end of the blind hole shaft sleeve structure completely separates from the elastic sealing capsule 31, and the elastic sealing capsule 31 wraps around the spiral rod structure. Then, the central controller controls the drilling drive motor 52 to stop rotating, and then controls the drilling guide driving mechanism to move the drilling drive motor 52 backward at a slow speed. The spiral rod structure gradually exits the borehole, and the elastic sealing capsule 31 continues to expand to fill the gap caused by the separation of the spiral rod structure under the continuous pushing force of the dust suppression particles. Until the spiral rod structure completely exits the borehole, the elastic sealing capsule 31 is completely opened and sealed at the hole position, and the borehole is in a state of being densely filled with dust suppression particles. The self-hole sealing of the elastic sealing capsule 31 is realized. The central controller controls the dust suppression particle pump mechanism of the dust suppression particle storage device 24 to stop delivering dust suppression particles, and the operator removes the hose on the dust suppression particle one-way inlet valve 311. The filling and sealing of the borehole are completed.

[0064] After the central controller controls the universal foam nozzle 112 to spray foam of a certain thickness on the wall surface within a certain range around the borehole, the robot with high-efficiency dust suppression and dust reduction function for borehole blasting can be withdrawn from the blasting site, and the operator can perform subsequent blasting operations.

[0065] In the manufacturing process of the dust suppression particles, the output can be automatically matched and automatically controlled according to the demand calculation of the foaming time of the dust suppression particles, and the calculation formula is as follows:

[0066]

[0067] In the formula, K is a proportional constant, A is the activity of the foaming agent, a is the influence index of the activity of the foaming agent on the foaming time, Tenv is the environmental temperature, beta is the influence index of the environmental temperature on the foaming time, P is the permeability of the coating agent, gamma is the influence index of the permeability of the coating agent on the foaming time, d is the thickness of the coating agent, and delta is the influence index of the thickness of the coating agent on the foaming time.

[0068] In order to further make the dust suppression particles quickly form and facilitate subsequent shedding, as a further improved scheme of the present application, a local temperature control mechanism electrically connected with the central controller is further arranged at the butt joint position of the two roller discs 212 of the roller extrusion granulating device 21, and the local temperature control mechanism can locally control the temperature during the extrusion forming of the dust suppression particles, so that the dust suppression particles can be quickly formed, and the formed dust suppression particles can be easily separated from the granulating cavity 211.

[0069] In order to ensure that the formed dust suppression particles accurately fall into the dust suppression particle collecting device 23, as a further improved scheme of the present application, a split shaft 22 for guiding the dust suppression particles is further arranged at a position directly below the butt joint position of the two roller discs 212.

[0070] In order to facilitate drilling and deslagging, and to realize the fracturing of the inner surface of the drill hole, as a further improved scheme of the present application, as shown in Figure 10 , a spiral cutting and chip removal groove 513 and a spiral cutting protrusion 514 located at the top of the spiral cutting and chip removal groove 513 are arranged on the rod body of the drill rod 51, and a water jet nozzle 512 is uniformly arranged on the rod body of the drill rod 51 along the axial direction of the drill rod 51, the water jet nozzle 512 is connected with a high-pressure water source through a high-pressure water channel and a high-pressure water delivery hose located inside the drill rod 51, the arrangement of the spiral cutting and chip removal groove 513 and the spiral cutting protrusion 514 can increase the deslagging amount and speed of the drill rod 51, and the water jet nozzle 512 can spray high-pressure water to hydraulically cut and fracture the inner surface of the drill hole during drilling, which can increase the opening degree and range of the fractures and also cool the drill rod 51.

[0071] In order to reduce dust in the drill hole during drilling, as a further improved scheme of the present application, a drill hole foam spraying device 6 is arranged at a position corresponding to the drill rod 51 at the front end of the vehicle body 1, as shown in Figure 11As shown, the drilling foam spraying device 6 comprises a ring-shaped support 63 and a lifting rod 62, the ring-shaped support 63 which can be sleeved on the drill rod 51 is installed on the vehicle body 1 through the lifting rod 62 which is electrically connected with the central controller, the lifting rod 62 can pass through the drilling foam spraying device installation groove 13 and be installed inside the vehicle body 1, the foam spray heads 61 are uniformly arranged on the ring-shaped support 63 along the circumferential direction thereof, and the foam spray heads 61 are connected with the output end of the high-pressure pump 19 through pipelines. Before drilling, the ring-shaped support 63 can be lifted first, and then the drill rod 51 is connected, during the drilling process, the central controller can control the high-pressure pump 19 to start to supply the foam spray heads 61 alone, so that targeted dust suppression for drilling is realized, and the drilling dust suppression effect is improved.

[0072] In order to realize the monitoring of the pressure in the drilling wall during the drilling process, and further improve the safety of the drilling operation, as a further improved scheme of the present application, the vehicle body 1 is further provided with a monitoring radar 12 and an alarm lamp 110 which are electrically connected with the central controller. Before the drilling operation, a monitoring hole can be drilled around the to-be-drilled position of the to-be-drilled wall surface, and a pressure sensor can be inserted into the monitoring hole. During the drilling and blasting process, the pressure sensor can feed back the pressure value of the wall surface in real time. When the monitoring radar 12 monitors that the wall surface pressure changes exceed the set threshold value, the alarm lamp 110 can be lit to alert the operator to take corresponding measures.

[0073] After the filling and sealing operation of the drilling is completed, when the universal foam spray head 112 sprays the foam of a set thickness on the wall surface in the set range around the drilling, in order to accurately determine the thickness of the sprayed foam, as a further improved scheme of the present application, the vehicle body 1 is further provided with an infrared thickness gauge 111 which is electrically connected with the central controller. During the process of spraying the foam on the wall surface in the set range around the drilling through the universal foam spray head 112, the infrared thickness gauge 111 can emit infrared irradiation light of a specific wavelength to the surface of the foam. After the infrared light is reflected or transmitted by the foam, the intensity changes, and the foam thickness sprayed on the roadway wall surface is automatically calculated according to the functional relationship between the reflected signal intensity and the thickness. The thickness calculation through the infrared thickness gauge 111 is the prior art, and will not be described in detail here.

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

Claims

1. A drilling and blasting robot with efficient dust suppression and reduction function, characterized in that, Includes vehicle body (1), dust suppression particle manufacturing and conveying system (2), drilling, filling and sealing system and centralized electrical control system; The bottom of the vehicle body (1) is provided with a walking chassis (16), and the vehicle body (1) is provided with a foam generator (15), a high-pressure water tank (18), a high-pressure pump (19) and a universal foam nozzle (112). 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). 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. The output end of the high-pressure pump (19) is connected to the input end of the universal foam nozzle (112) through pipelines. The dust suppression particle manufacturing and conveying system (2) is installed on the vehicle body (1) and includes a foaming agent storage tank (25), a coating agent storage tank (26), a roller extrusion granulation device (21), a dust suppression particle collection device (23) and a dust suppression particle storage device (24). The roller extrusion granulation device (21) includes two synchronously stepping rollers (212) with 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 connected. The roller surfaces of the rollers (212) are provided with granulation cavities (211) that are evenly distributed and spaced along the circumferential direction of the rollers (212). The granulation cavities (211) with blind holes are arranged along the radial direction of the rollers (212), and the bottom of the holes of the granulation cavities (211) is provided with a telescopic extrusion mechanism (213). 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 an integral granulation receiving cavity at the docking position of the two rollers (212). The foaming agent storage tank (25) is positioned directly above the docking position of the two roller discs (212). The foaming agent storage tank (25) contains foaming agent. The bottom of the foaming agent storage tank (25) is equipped with an automatic foaming agent injector (251) at the foaming agent filling station of the granulation chamber (211) of the two roller discs (212) in front of the granulation chamber. The coating agent storage tank (26) is symmetrically set as two pieces relative to the foaming agent storage tank (25). The coating agent storage tank (26) stores the coating agent. The bottom of the coating agent storage tank (26) is equipped with an automatic coating agent injector (261) at the granulation chamber (211) of the two roller discs (212) of the previous foaming agent filling station. The dust suppression particle collection device (23) is located directly below the roller extrusion granulation device (21). The output end of the dust suppression particle collection device (23) is connected to the dust suppression particle input port (241) of the dust suppression particle storage device (24). The dust suppression particle storage device (24) is equipped with a dust suppression particle pumping mechanism. The borehole filling and sealing system includes a drilling device (5), an automatic rod changing device (4), and an explosive loading device (3); 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 mounted on the vehicle body (1) through 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) includes a rod changing robot arm (41) and a rod carrying station (42); the rod changing robot arm (41) including the rod gripping robot includes at least an X-axis drive assembly that can drive the rod gripping robot to move in the left and right direction, a Y-axis drive assembly that can drive the rod gripping robot to move in the front and back direction, and an opening and closing drive assembly that can drive the rod gripping robot to open and close; the rod carrying station (42) is provided with a rod carrying station (43), which includes a drill rod station and an explosive loading rod station; The explosive loading device (3) includes an explosive loading rod (34) stacked on the explosive loading rod station (43) and an elastic sealing capsule (31) sleeved on the explosive loading rod (34); the front section of the explosive loading rod (34) is a blind hole bushing structure including an explosive roll receiving cavity, and the rear section of the explosive loading rod (34) is a spiral rod structure coaxially connected to the blind hole bushing structure, and the spiral rod structure and the blind hole bushing structure are connected in a spiral drive cooperation. 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). The bushing wall of the blind hole bushing structure is provided with a dust suppression particle blind hole conveying channel that penetrates into the bushing wall along its axial direction, and the bushing wall of the blind hole bushing structure is provided with a corresponding dust suppression particle blind hole conveying channel. The location is provided with a dust suppression particle outlet hole (32) that penetrates the outer surface of the bushing 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) 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 bushing structure through its inner wall. The elastic sealing capsule (31) is provided with a dust suppression particle one-way inlet valve (311) that communicates with the annular cavity structure, 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 electrical control system includes a central controller, a vehicle 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 synchronous drive motors of the walking chassis (16), the high-pressure pump (19), the universal foam nozzle (112), the roller disc (212), the telescopic extrusion mechanism (213), the foaming agent automatic injector (251), the coating 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 robotic arm (41).

2. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1, characterized in that, The automatic proportioning and output are automatically controlled by calculating the required foaming time of dust suppression particles. The calculation formula is as follows: In the formula: K is a proportionality constant, A is the activity of the foaming agent, α is the influence index of the foaming agent activity 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 coating agent, γ is the influence index of the permeability of the coating agent on the foaming time, d is the thickness of the coating agent, and δ is the influence index of the thickness of the coating agent on the foaming time.

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

4. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1, characterized in that, A directional shaft (22) is also provided directly below the docking position of the two roller discs (212).

5. The drilling and blasting robot with high-efficiency dust suppression function according to claim 1, characterized in that, The drill rod (51) has 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, characterized in that, Water jet nozzles (512) are evenly distributed along the axial direction on the body of the drill rod (51). The water jet nozzles (512) are connected to the 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, characterized in that, The lever-changing robotic arm (41) also includes a Z-coordinate drive assembly that can drive the gripper to move in the up-down direction and / or a B-coordinate rotation drive assembly that can drive the gripper to rotate around the Y-coordinate direction.

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

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 equipped with a monitoring radar (12) and an alarm light (110) that 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 equipped with an infrared thickness gauge (111) that is electrically connected to the central controller.

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