Underground roadway flushing and dust falling robot

Abstract

The utility model provides an underground roadway flushing and dust falling robot which comprises a robot body, a movable chassis is arranged at the bottom of the robot body, a dust monitoring device and an environment monitoring device are arranged on the top of the outer wall of the robot body, and a plurality of automatic adjusting spraying devices are arranged on the peripheral wall of the robot body. The automatic adjusting spraying device comprises a combined spraying assembly and an angle adjusting assembly which are in transmission connection, and the combined spraying assembly comprises a first spraying assembly, a second spraying assembly and a third spraying assembly; a water storage device and a control box are arranged in the robot body, the water storage device is connected with the combined spraying assembly through a connecting branch pipe, and the control box is connected with the dust monitoring device, the environment monitoring device, the water storage device, the automatic adjusting spraying device and the movable chassis. The robot provided by the utility model realizes the functions of autonomous advancing, automatic detection of roadway coal dust amount, self-adaptive setting of dust flushing parameters, environment monitoring and the like, and the working efficiency is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to coal mine dust control technical field relates to a kind of underground roadway flushing dust-settling robot. BACKGROUND

[0002] Coal dust is the general term of various solid fine particles generated in the production process of coal mine, and the harm of coal dust is great, which not only pollutes the working environment, but also affects the health of miners. Long-term inhalation of coal dust can cause pneumoconiosis, and even has the risk of poisoning or carcinogenesis. Moreover, the explosion of high-concentration coal dust can also threaten the life of miners and the safety of equipment. The existing prevention measures for coal dust usually use dust removal equipment to reduce dust concentration, or reduce the generation of coal dust by watering, flushing and spraying.

[0003] CN203374300U discloses a kind of spray dust-settling systems, including roadway dust sensor, set in roadway, for converting the dust concentration in roadway into first electric signal and transmitting to processor;Processor, coupled with roadway dust sensor, for receiving first electric signal, and at least according to the dust concentration indicated by first electric signal, send first control signal, wherein, first control signal is used to control the spray of roadway spray device;Roadway spray device, set in roadway, coupled with processor, for spraying according to control signal;Mine system is connected with underground system, for obtaining and storing at least one of the following data: information of spray device spray, information of dust concentration, improve the effect of dust-settling.

[0004] CN211038725U discloses a kind of coal mine roadway dust flushing device, including bottom plate, the lower end of the bottom plate is equipped with walking wheel, the upper end of the bottom plate is fixedly connected with installation frame, the inner wall of the installation frame is fixedly connected with upper blow cover on upper part, the inner wall of the installation frame is fixedly connected with lower suction cover corresponding to upper blow cover position up and down, and the opening of upper blow cover and lower suction cover is opposite, the lower end of the upper blow cover is fixedly connected with second spray pipe, the bottom plate is equipped with dust filtering mechanism, and the dust filtering mechanism is connected with upper blow cover and lower suction cover, the lower end of the bottom plate is equipped with bottom dust suction mechanism connected with dust filtering mechanism, the upper end of the bottom plate is equipped with water supply mechanism connected with second spray pipe, which can effectively block the dust in coal mine roadway.

[0005] However, the intelligence degree of traditional coal mine dust-settling equipment is not high, and most of them are fixed spray equipment, which cannot move for dust-settling, and the dust-settling mode is extensive, which cannot adjust the dust-settling mode according to different dust states, resulting in low work efficiency and high energy consumption, which seriously affects the safe operation of underground roadway operation. Therefore, it is very important to provide a dust-settling device with intelligent automatic control. UTILITY MODEL CONTENTS

[0006] In view of the deficiencies of the prior art, the utility model discloses a kind of underground roadway flushing dust reduction robot, realizes autonomous travel, roadway coal dust amount automatic detection, self-adaptive setting dust parameter and environmental monitoring etc.

[0007] To achieve this purpose, the utility model adopts the following technical solutions:

[0008] The utility model provides a kind of underground roadway flushing dust reduction robot, including robot main body, the bottom of robot main body is provided with mobile chassis, the outer wall top of robot main body is provided with dust monitoring device and environmental monitoring device, the outer peripheral wall of robot main body is also provided with several automatic adjusting sprinkler device;Automatic adjusting sprinkler device includes the combination type sprinkler assembly and angle adjusting assembly of transmission connection, the combination type sprinkler assembly includes first sprinkler assembly, second sprinkler assembly and third sprinkler assembly, the inside of robot main body is provided with water storage device and control box, water storage device is connected combination type sprinkler assembly by connecting branch pipe, control box is connected dust monitoring device, environmental monitoring device, water storage device, automatic adjusting sprinkler device and mobile chassis respectively.

[0009] The utility model can automatically monitor the amount of roadway coal dust, and set the washing parameters according to the amount of coal dust and environmental parameters, switch different types of sprinkler assembly for flushing dust, meet different needs, and can also automatically adjust the spraying range, with high flexibility.

[0010] As a preferred technical scheme of the utility model, the combination type sprinkler assembly further includes a support rod, the support rod is rotatably connected to the robot main body, and the first sprinkler assembly, the second sprinkler assembly and the third sprinkler assembly are sequentially rotatably arranged at one end of the support rod away from the robot main body.

[0011] The first sprinkler assembly, the second sprinkler assembly and the third sprinkler assembly are independently connected to the water storage device through the connecting branch pipe, and a flow regulating valve is arranged on the connecting branch pipe.

[0012] The angle adjusting assembly includes a transmission connecting adjusting screw and a moving slider, the outer wall of the robot main body is provided with a sliding groove, the adjusting screw is rotatably arranged in the sliding groove, the moving slider moves axially along the adjusting screw, and the moving slider is also hinged to the support rod.

[0013] The control box is electrically connected to the flow regulating valve and the adjusting screw respectively.

[0014] The utility model realizes the angle adjustment of the sprinkler assembly during flushing and dust reduction, thereby expanding or reducing the flushing range and improving the flushing effect.

[0015] As one preferred technical scheme of the utility model, the first spraying assembly includes a fog cannon, the second spraying assembly includes a plurality of flushing nozzles, and the third spraying assembly includes a plurality of atomizing nozzles.

[0016] The utility model realizes flexible adjustment of spraying mode for different environmental conditions, realizes the quick and efficient flushing of underground roadway, is convenient to use, and greatly improves work efficiency.

[0017] As one preferred technical scheme of the utility model, the bottom of the mobile chassis is provided with a walking mechanism, a walking driving part is arranged in the mobile chassis, and the walking driving part is drivingly connected with the walking mechanism.

[0018] The robot main body is further provided with a positioning navigation device, and the control box is electrically connected with the positioning navigation device and the walking driving part.

[0019] As one preferred technical scheme of the utility model, the walking mechanism includes a steering wheel group and a driving wheel group.

[0020] As one preferred technical scheme of the utility model, the environmental monitoring device includes a wind speed detection assembly, a temperature and humidity detection assembly, a smoke detection assembly and a gas concentration detection assembly.

[0021] As one preferred technical scheme of the utility model, the control box is provided with an information receiving assembly, a set parameter processor, a controller and an actuator; the information receiving assembly is respectively connected with the dust monitoring device and the environmental monitoring device in communication, the set parameter processor is respectively electrically connected with the information receiving assembly and the controller, and the actuator is respectively electrically connected with the controller, the water storage device, the automatic adjusting spraying device and the walking driving part.

[0022] As one preferred technical scheme of the utility model, the outer peripheral wall of the robot main body is provided with a display screen and an alarm assembly, and the display screen and the alarm assembly are independently electrically connected with the controller.

[0023] As one preferred technical scheme of the utility model, the water storage device is provided with an intelligent water pump, and the intelligent water pump is electrically connected with the actuator.

[0024] The water storage device is further provided with a liquid level detection assembly, and the liquid level detection assembly is electrically connected with the controller.

[0025] As one preferred technical scheme of the utility model, the opposite ends of the robot main body are further provided with a front camera and a rear camera, and the front camera and the rear camera are independently connected with the controller in communication.

[0026] The utility model discloses realize the image collection before and after the robot inspection path, in order to master the environmental state and the barrier condition of the underground roadway, guarantee the safe progress of robot.

[0027] Compared with the prior art, the utility model has the beneficial effects that:

[0028] The underground roadway flushing dust-reducing robot can autonomously travel, and automatically flushes and reduces dust in the underground roadway instead of manual operation; by monitoring dust and environmental parameters in the roadway, dust-reducing parameters are self-adaptively set, and the spraying mode is switched to cope with different flushing requirements; meanwhile, the angle of the spraying assembly can be adjusted, the flushing range can be flexibly adjusted, and the working efficiency is greatly improved. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 The utility model provides the structure schematic diagram of underground roadway flushing dust-reducing robot of embodiment 1.

[0030] Figure 2 The utility model provides the structure schematic diagram of robot main body for embodiment 1.

[0031] Figure 3 The utility model provides the structure schematic diagram of angle adjusting subassembly for embodiment 1.

[0032] Wherein, 1-robot main body;101-slideway;2-water storage device;201-intelligent water pump;202-liquid level detection subassembly;3-control box;31-information receiving component;32-set parameter processor;33-controller;34-actuator;4-mobile chassis;41-steering wheel group;42-driving wheel group;5-positioning navigation device;6-dust monitoring device;71-wind speed detection component;72-temperature and humidity detection component;73-smoke detection component;74-gas concentration detection component;81-supporting rod;82-first spraying assembly;83-second spraying assembly;84-third spraying assembly;85-flow regulating valve;86-adjusting lead screw;87-moving slider;9-display screen;10-alarm component;11-front camera;12-rear camera. DETAILED DESCRIPTION

[0033] It should be understood that, in the description of the present application, the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only for the purpose of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited by "first", "second" and the like can explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0034] It should be noted that, in the description of the present application, unless otherwise specified and limited, the terms "set", "connected", "connected" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be connected inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0035] Those skilled in the art should understand that the present application must include necessary pipelines, conventional valves and general pump equipment for realizing the complete process, but the above content does not belong to the main improvement point of the present application, those skilled in the art can add layout by themselves based on process flow and equipment structure selection, and the present application does not make special requirements and specific limitations on this.

[0036] The technical scheme of the present application will be further illustrated by specific embodiments in conjunction with the drawings.

[0037] In one specific embodiment, the utility model provides a kind of underground roadway flushing dust-reducing robot, including robot main body, mobile chassis is provided at the bottom of the robot main body, can automatically travel along the inspection path.The outer wall top of the robot main body is provided with dust monitoring device and environmental monitoring device, the dust monitoring device is used to detect the coal dust amount in underground roadway in real time, and the environmental monitoring device is used to monitor the various environmental parameters of underground roadway in real time.The outer peripheral wall of the robot main body is also provided with several automatic adjusting spray devices, the automatic adjusting spray device includes combination type spray assembly and angle adjusting assembly connected in transmission, the angle adjusting assembly is used to adjust the angle of combination type spray assembly, to adjust flushing range in turn.The combination type spray assembly includes first spray assembly, second spray assembly and third spray assembly, and the spray mode of first spray assembly, second spray assembly and third spray assembly is different from each other.The inside of the robot main body is provided with water storage device and control box, the water storage device is connected with the combination type spray assembly by connecting branch pipe to provide flushing liquid.The control box is connected with the dust monitoring device, environmental monitoring device, water storage device, automatic adjusting spray device and mobile chassis respectively, is used to set flushing parameter according to coal dust amount and various environmental parameters, to control automatic adjusting spray device to flush using different spray mode in turn, can also control robot to automatically walk or stagnate along the inspection path.

[0038] The dust monitoring device can collect coal dust amount information in underground roadway in real time, and upload to control box, so as to analyze and process dust condition.The structure of dust monitoring device is not specifically limited in the utility model, and common optical scattering type dust detection device, beta ray absorption type dust detection device, electrostatic induction type dust detection device, infrared absorption type dust detection device, laser dust detection device or ultrasonic dust detection device can be used.

[0039] The environmental monitoring device includes wind speed detection component, temperature and humidity detection component, smoke detection component and gas concentration detection component, can collect wind speed information, temperature and humidity information, smoke concentration information and gas concentration information in underground roadway respectively, and upload to control box, so as to set flushing parameter in combination with dust condition, and select flushing mode.The gas concentration can be oxygen concentration, carbon dioxide concentration, hydrogen sulfide concentration or methane concentration, and different gas monitoring objects can be selected by those skilled in the art according to different coal mine types, and the utility model is not specifically limited.

[0040] The intelligent water pump is electrically connected with the control box, and the opening and closing of the intelligent water pump can be remotely controlled. Further, a liquid level detection assembly is arranged in the water storage device, which is used for monitoring the liquid level information of the flushing liquid in the water storage device, and the liquid level detection assembly is electrically connected with the control box, so as to upload the liquid level information to the control box. It should be understood by those skilled in the art that the water storage device must include a water tank, necessary pipelines, conventional valves and general pump equipment for realizing the complete process, and those skilled in the art can add layout by themselves based on the process flow and equipment structure selection, and the utility model does not specially require and specifically limit this.

[0041] In the utility model, the automatic adjusting spraying devices are evenly arranged along the outer peripheral wall of the robot main body, for example, four automatic adjusting spraying devices are symmetrically arranged on the left and right side walls of the robot main body, and multi-angle and large-range flushing operation is realized.

[0042] In some embodiments, the combined spraying assembly further comprises a supporting rod, the supporting rod is rotationally connected with the robot main body, and the first spraying assembly, the second spraying assembly and the third spraying assembly are rotationally arranged on one end of the supporting rod away from the robot main body from top to bottom. The angle adjusting assembly comprises a transmissionally connected adjusting lead screw and a moving slider, a sliding groove is formed in the outer wall of the robot main body, the adjusting lead screw is rotationally arranged in the sliding groove, the moving slider moves axially along the adjusting lead screw, and the moving slider is hingedly connected with the supporting rod. The bottom of the sliding groove is further provided with a driving assembly, which is used for driving the adjusting lead screw to rotate, moving the moving slider axially upward along the adjusting lead screw, then pushing the supporting rod, increasing the opening angle of the supporting rod, expanding the flushing range, or moving the moving slider axially downward along the adjusting lead screw, then pulling the supporting rod, reducing the opening angle of the supporting rod, and reducing the flushing range. Further, the control box is electrically connected with the driving assembly, and the adjusting lead screw can be automatically controlled to rotate.

[0043] Specifically, the first spraying assembly comprises a fog gun machine, which is used for precise dust setting operation for a large amount of high concentration dust. The second spraying assembly comprises a plurality of flushing nozzles, which are used for watering operation for a large amount of scattered dust. The third spraying assembly comprises a plurality of atomizing nozzles, which are used for spraying dust setting operation for a small amount of dust. And the fog gun machine, the flushing nozzle and the atomizing nozzle are rotationally arranged on the supporting rod, so as to further adjust the spraying angle.

[0044] In addition, the first spray assembly, the second spray assembly and the third spray assembly are independently connected to the water storage device through the connecting branch pipe, a flow regulating valve is arranged on the connecting branch pipe, and the flow regulating valve is electrically connected to the control box, so as to independently and automatically control the flow of the flushing liquid of the first spray assembly, the second spray assembly and the third spray assembly.

[0045] In some embodiments, the opposite ends of the robot body are further provided with front and rear cameras for collecting image information of the front end and the rear end of the robot inspection path respectively, so as to master the dust picture, environmental state and obstacle situation of the underground tunnel, and to accurately plan the inspection path and flushing operation of the robot.

[0046] In some embodiments, the bottom of the mobile chassis is provided with a walking mechanism, and the mobile chassis is provided with a walking driving part, and the walking driving part is drivingly connected to the walking mechanism. Specifically, the walking mechanism includes a steering wheel group and a driving wheel group, and the walking driving part independently controls the steering wheel group and the driving wheel group to automatically control the walking, stasis and steering actions. The robot body is further provided with a positioning navigation device, and the control box is electrically connected to the positioning navigation device and the walking driving part respectively. The robot of the utility model can walk according to the set inspection route, and when deviating from the set route, it can be quickly adjusted to ensure the safe operation of the robot.

[0047] In some embodiments, the control box is provided with an information receiving assembly, a set parameter processor, a controller and an actuator; the information receiving assembly is respectively connected to the dust monitoring device and the environment monitoring device, and the set parameter processor is electrically connected to the information receiving assembly and the controller. The information receiving assembly is used for receiving the coal dust amount information and the environmental parameter information collected by the dust monitoring device and the environment monitoring device, and uploading to the set parameter processor. The set parameter processor analyzes and processes the coal dust amount information and the environmental parameter information, autonomously plans the flushing mode, sets the flushing parameters to obtain the flushing scheme, and then transmits to the controller. The controller is electrically connected to the actuator, and the controller sends the action instruction to the actuator according to the flushing scheme. The actuator is respectively electrically connected to the water storage device, the automatic adjusting spray device and the walking driving part, and the action instruction is executed by using the software and hardware commonly used by those skilled in the art and the electromechanical control technology, so as to realize the automatic control of the water storage device, the automatic adjusting spray device and the walking driving part.

[0048] Specifically, the actuator is electrically connected with the intelligent water pump of the water storage device, and is configured to automatically control the opening and closing of the intelligent water pump. The controller is electrically connected with the liquid level detection assembly in the water storage device. When the liquid level in the water storage device is lower than a limit value, the controller controls the intelligent water pump to automatically stop by the actuator, and then a worker replenishes the flushing liquid.

[0049] The actuator is also electrically connected with the flow regulating valve on the connecting branch pipe of the first, second and third spraying assemblies, and can select the flow of the connecting branch pipe of different spraying assemblies and adjust the flow of the flushing liquid according to the instruction of the controller.

[0050] The actuator is also electrically connected with the walking driving part on the mobile chassis, and is configured to automatically control the robot to move or stop, and can also adjust the moving speed.

[0051] Further, the outer peripheral wall of the robot body is provided with a display screen which is electrically connected with the controller and is configured to display the flushing parameters and the flushing scheme. In addition, the controller can be independently connected with the front camera and the rear camera to display the image information collected by the front camera and the rear camera on the display screen.

[0052] Further, the outer peripheral wall of the robot body is provided with an alarm assembly which is electrically connected with the controller and is configured to send a prompt alarm. The alarm assembly can be an audible and visual alarm.

[0053] Embodiment 1

[0054] The embodiment provides a flushing and dust-reducing robot for underground roadway, which comprises a robot body 1. As shown in the drawings, Figure 1 With Figure 2 The robot body 1 is internally provided with a water storage device 2 and a control box 3. The bottom of the robot body 1 is provided with a mobile chassis 4, and the bottom of the mobile chassis 4 is provided with a walking mechanism including a steering wheel group 41 and a driving wheel group 42. The mobile chassis 4 is internally provided with a walking driving part which is drivingly connected with the walking mechanism to realize the automatic walking of the robot. The outer wall of the robot body 1 is further provided with a positioning and navigation device 5 to provide navigation for the inspection path of the robot. The outer wall of the robot body 1 is provided at the top with a dust monitoring device 6 and an environmental monitoring device. The dust monitoring device 6 is configured to monitor the amount of coal dust in the underground roadway. The environmental monitoring device includes a wind speed detection assembly 71, a temperature and humidity detection assembly 72, a smoke detection assembly 73 and a gas concentration detection assembly 74, and is configured to monitor environmental parameters such as wind speed information, temperature and humidity information, smoke information and methane concentration information in the underground roadway. The outer walls on the left and right sides of the robot body 1 are respectively provided with two automatic adjusting spraying devices, and the automatic adjusting spraying devices each include a combined spraying assembly and an angle adjusting assembly which are drivingly connected.Figure 1 With Figure 3 As shown in the figure, the combined spray assembly further comprises a support rod 81, a first spray assembly 82, a second spray assembly 83 and a third spray assembly 84. One end of the support rod 81 is rotatably connected to the robot body 1. The first spray assembly 82, the second spray assembly 83 and the third spray assembly 84 are sequentially rotatably arranged at the other end of the support rod 81 from top to bottom. The first spray assembly 82 comprises a fog gun, the second spray assembly 83 comprises three flush nozzles arranged side by side, and the third spray assembly 84 comprises three atomizing nozzles arranged side by side. The first spray assembly 82, the second spray assembly 83 and the third spray assembly 84 are independently connected to the water storage device 2 through a connecting branch pipe, and a flow regulating valve 85 is arranged on the connecting branch pipe. An intelligent water pump 201 is arranged on the water storage device 2, and a liquid level detection assembly 202 is further arranged inside. The angle adjusting assembly comprises a transmission connected adjusting lead screw 86 and a moving slider 87. Four sliding grooves 101 are formed in the outer wall of the robot body 1. The adjusting lead screw 86 is rotatably arranged in the sliding groove 101. The moving slider 87 moves axially along the adjusting lead screw 86. The moving slider 87 is also hingedly connected to the support rod 81, for adjusting the opening angle of the support rod 81. The control box 3 is provided with an information receiving assembly 31, a set parameter processor 32, a controller 33 and an actuator 34. The information receiving assembly 31 is connected to the dust monitoring device 6, the environmental monitoring device and the set parameter processor 32 respectively, for receiving the coal dust amount and environmental parameter information, and transmitting them to the set parameter processor 32. The set parameter processor 32 is electrically connected to the controller 33, for analyzing and processing the coal dust amount information and environmental parameter information, autonomously planning the flushing mode, and setting the flushing parameters to obtain the flushing scheme and then transmitting it to the controller 33. The controller 33 is electrically connected to the actuator 34, for issuing action instructions to the actuator 34 according to the flushing scheme. The actuator 34 is electrically connected to the intelligent water pump 201 on the water storage device 2, the flow regulating valve 85 on the connecting branch pipe, the adjusting lead screw 86 of the automatic adjusting spray device, and the walking driving part respectively, for executing the action instructions, and realizing the automatic control of the flushing liquid amount, the flushing mode, the opening angle of the support rod 81 and the automatic walking of the robot. The sidewall of the robot body 1 is provided with a display screen 9 and an alarm assembly 10. The front and rear outer walls of the robot body 1 are further provided with a front camera 11 and a rear camera 12. The display screen 9, the alarm assembly 10, the front camera 11 and the rear camera 12 are independently communicatively connected to the controller 33. The controller 33 is further electrically connected to the liquid level detection assembly 202 in the water storage device 2. When the liquid level in the water storage device 2 is insufficient, the alarm assembly 10 is triggered to issue an alarm. The controller 33 is further electrically connected to the positioning navigation device 5. When the robot deviates from the patrol path, the alarm assembly 10 is triggered to issue an alarm.

[0055] The applicant declares that the above description is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto, and it should be understood by those skilled in the art that any changes or replacements within the technical scope disclosed by the present application can be easily thought out by any person skilled in the art, and all of them fall within the protection scope and disclosure scope of the present application.

Claims

1. A mine roadway flushing dust-reducing robot, characterized in that, The utility model provides a robot for dust and environment monitoring and spraying, comprising a robot body, a moving chassis arranged at the bottom of the robot body, a dust monitoring device and an environment monitoring device arranged at the top of the outer wall of the robot body, and a plurality of automatic adjusting spraying devices arranged on the outer peripheral wall of the robot body.

2. The borehole tunnel flushing dust-reducing robot according to claim 1, characterized in that, The automatic adjusting spraying device comprises a combined spraying assembly and an angle adjusting assembly connected in transmission, the combined spraying assembly comprises a first spraying assembly, a second spraying assembly and a third spraying assembly, the inside of the robot body is provided with a water storage device and a control box, the water storage device is connected to the combined spraying assembly through a connecting branch pipe, and the control box is connected to the dust monitoring device, the environment monitoring device, the water storage device, the automatic adjusting spraying device and the moving chassis respectively. The combined spraying assembly further comprises a support rod, the support rod is rotationally connected to the robot body, and the first spraying assembly, the second spraying assembly and the third spraying assembly are rotationally arranged in sequence from top to bottom at one end of the support rod away from the robot body. The first spraying assembly, the second spraying assembly and the third spraying assembly are independently connected to the water storage device through the connecting branch pipe, and a flow regulating valve is arranged on the connecting branch pipe. The angle adjusting assembly comprises a regulating lead screw and a moving slider connected in transmission, a sliding groove is formed in the outer wall of the robot body, the regulating lead screw is rotationally arranged in the sliding groove, the moving slider moves axially along the regulating lead screw, and the moving slider is further hinged to the support rod.

3. The mine roadway flushing dust-reducing robot according to claim 1 or 2, characterized in that, The control box is electrically connected to the flow regulating valve and the regulating lead screw respectively.

4. The mine roadway flushing dust-reducing robot according to claim 1, characterized in that, The first spraying assembly comprises a fog cannon, the second spraying assembly comprises a plurality of flushing nozzles, and the third spraying assembly comprises a plurality of atomizing nozzles. The bottom of the moving chassis is provided with a walking mechanism, and the moving chassis is provided with a walking driving part, and the walking driving part is connected to the walking mechanism in transmission.

5. The borehole tunnel flushing dust suppression robot of claim 4, wherein, The robot body is further provided with a positioning navigation device, and the control box is electrically connected to the positioning navigation device and the walking driving part respectively.

6. The mine roadway flushing dust-reducing robot according to claim 1, characterized in that, The walking mechanism comprises a steering wheel group and a driving wheel group.

7. The borehole tunnel flushing dust suppression robot of claim 4, wherein, The environment monitoring device comprises a wind speed detection assembly, a temperature and humidity detection assembly, a smoke detection assembly and a gas concentration detection assembly. The control box is provided with an information receiving assembly, a set parameter processor, a controller and an actuator.

8. The borehole tunnel flushing dust suppression robot of claim 7, wherein, The information receiving assembly is communicatively connected to the dust monitoring device and the environment monitoring device respectively, the set parameter processor is electrically connected to the information receiving assembly and the controller respectively, and the actuator is electrically connected to the controller, the water storage device, the automatic adjusting spraying device and the walking driving part respectively.

9. The borehole tunnel flushing dust suppression robot of claim 7, wherein, The outer peripheral wall of the robot body is provided with a display screen and an alarm assembly, and the display screen and the alarm assembly are electrically connected to the controller independently. The water storage device is provided with an intelligent water pump, and the intelligent water pump is electrically connected to the actuator. The water storage device is further provided with a liquid level detection assembly, and the liquid level detection assembly is electrically connected to the controller.

10. The borehole tunnel flushing dust suppression robot of claim 7, wherein, The robot body is also provided with a front camera and a rear camera at opposite ends, and the front camera and the rear camera are independently connected in communication with the controller.

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