CN112377250A

CN112377250A - Underground filling equipment, underground filling system and underground filling method

Info

Publication number: CN112377250A
Application number: CN202011252893.0A
Authority: CN
Inventors: 周保精; 张栋; 何青源; 董阳; 徐金海; 周子翔
Original assignee: China University of Mining and Technology CUMT; China Energy Investment Corp Ltd; National Institute of Clean and Low Carbon Energy
Current assignee: China University of Mining and Technology CUMT; China Energy Investment Corp Ltd; National Institute of Clean and Low Carbon Energy
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2021-02-19
Anticipated expiration: 2040-11-11
Also published as: CN112377250B

Abstract

The invention discloses an underground filling device, an underground filling system and an underground filling method, which comprise a filling mould frame and an inflatable bag supply device for providing an inflatable bag into the filling mould frame; the rear part of the filling mold frame is provided with a mold frame rear opening, and the front part of the filling mold frame is provided with at least one mold frame front opening for clamping the inflatable bag; the inflatable bag supply device is positioned on the front side of the filling mold frame; the inflatable bag supply device can process an uninflated and continuous bag barrel into an inflatable bag and can push the inflatable bag into the front opening of the die frame, and the inflatable bag can seal the front opening of the die frame. According to the underground filling equipment, the underground filling system and the underground filling method, the inflatable bag can be added into the filling body, so that the filling body is provided with the holes, the filling material is saved, and the filling cost is reduced.

Description

Underground filling equipment, underground filling system and underground filling method

Technical Field

The invention relates to the technical field of coal mine goaf filling, in particular to underground filling equipment, an underground filling system and an underground filling method.

Background

In the coal mining process, a goaf is formed behind a hydraulic support of a working face, so that the goaf is generally backfilled in order to avoid the influence on the ground surface caused by the collapse of the goaf, and a filling body is formed by filling materials and supported between a bottom plate and a top plate of the goaf, so that the collapse of the goaf can be effectively avoided, and the ecological environment of the ground surface can be protected.

In the prior art, when the goaf is backfilled, the filling body is of a solid structure, the required filling material amount is large, and the filling cost is not reduced.

Disclosure of Invention

The invention aims to provide underground filling equipment, an underground filling system and an underground filling method which can save filling materials and are beneficial to reducing filling cost.

The technical scheme of the invention provides underground filling equipment which comprises a filling mould frame and an inflatable bag supply device for supplying an inflatable bag into the filling mould frame;

the rear part of the filling mold frame is provided with a mold frame rear opening, and the front part of the filling mold frame is provided with at least one mold frame front opening for clamping the inflatable bag;

the inflatable bag supply device is positioned on the front side of the filling mold frame;

the inflatable bag supply device can process an uninflated and continuous bag barrel into an inflatable bag and can push the inflatable bag into the front opening of the die frame, and the inflatable bag can seal the front opening of the die frame.

Further, the inflatable bag supply device comprises a base, a support frame fixedly installed on the base, a bag barrel conveying mechanism installed on the support frame, an upper clamping processing mechanism installed on the support frame in a vertically sliding manner, a lower clamping processing mechanism installed on the support frame in a vertically sliding manner, and an inflatable bag pushing mechanism installed on the support frame and used for pushing an inflatable bag into an opening in the front of the mold frame;

the upper clamping processing mechanism can clamp and convey the bag tube downwards, and can seal and cut the bag tube;

the lower clamping processing mechanism can open the bottom opening of the bag cylinder, inflate the bag cylinder and seal the bag cylinder;

the upper clamping processing mechanism and the lower clamping processing mechanism enable the upper end and the lower end to be sealed and form an inflatable bag through the inflated bag barrel.

Furthermore, a first driving component for driving the upper clamping and processing mechanism to move up and down is connected between the support frame and the upper clamping and processing mechanism;

and a second driving component for driving the lower clamping and processing mechanism to move up and down is connected between the support frame and the lower clamping and processing mechanism.

Furthermore, the upper clamping processing mechanism comprises an upper fixing plate, an upper movable plate, a pair of rollers, a cutter and an upper welding gun;

the upper fixing plate is connected with the supporting frame in a sliding manner;

an upper movable plate driving member for driving the upper movable plate to move is connected between the upper movable plate and the upper fixing plate;

one of the rollers is mounted on the upper fixed plate, the other roller is mounted on the upper movable plate, and at least one roller is driven by a motor to rotate;

the cutter is positioned below the roller and is arranged on the upper fixing plate through a cutter driving component;

the upper welding gun is positioned below the cutter and is arranged on the upper fixing plate through an upper welding gun driving component.

Furthermore, the upper fixing plate is connected with the support frame through a first telescopic oil cylinder;

the upper fixing plate is connected to a piston rod of the first telescopic oil cylinder, and a cylinder barrel of the first telescopic oil cylinder is installed on the support frame in a vertically sliding mode.

Further, the lower clamping processing mechanism comprises a lower fixing plate, a lower movable plate, a lower welding gun, a pair of suckers and an inflation pipe head;

the lower fixing plate is connected with the supporting frame in a sliding manner;

a lower movable plate driving member for driving the lower movable plate to move is connected between the lower movable plate and the lower fixed plate;

the lower welding gun is arranged on the lower fixing plate through a lower welding gun driving component;

the two suckers are respectively arranged on the lower fixed plate and the lower movable plate through a sucker driving component;

the inflation pipe head is located the below of sucking disc, the inflation pipe head is installed on the bottom plate, the nozzle of inflation pipe head is up.

Further, the lower fixing plate is connected with the support frame through a second telescopic oil cylinder;

the lower fixing plate is connected to a piston rod of the second telescopic oil cylinder, and a cylinder barrel of the second telescopic oil cylinder is installed on the support frame in a vertically sliding mode.

Furthermore, the inflatable bag pushing mechanism comprises a pushing block with a containing groove for containing the inflatable bag, a third telescopic oil cylinder for driving the pushing block to move back and forth, a push plate for pushing the inflatable bag out of the containing groove and a fourth telescopic oil cylinder for driving the push plate to move back and forth;

the cylinder barrel of the third telescopic oil cylinder is fixedly arranged on the support frame, and the pushing block is arranged on a piston rod of the third telescopic oil cylinder;

the push plate is movably arranged in the accommodating groove, the fourth telescopic oil cylinder is arranged on the pushing block, and the push plate is connected with a piston rod of the fourth telescopic oil cylinder.

Further, the bag barrel conveying mechanism comprises a bag barrel wheel wound with a bag barrel and a plurality of guide conveying wheels used for guiding and conveying the bag barrel from the bag barrel wheel to the upper clamping processing mechanism;

the bag barrel wheel is arranged on the front side of the supporting frame through a support, and the guide conveying wheels are arranged between the bag barrel wheel and the upper clamping processing mechanism at intervals.

Further, two sides of the front opening of the die frame are provided with die frame clamping plates for clamping the inflatable bag.

The technical scheme of the invention also provides an underground filling system which comprises a hydraulic support, grouting equipment and any one of the underground filling equipment;

the filling mold frame is positioned on the rear side of the hydraulic support and is hinged with a support bottom plate of the hydraulic support;

the inflatable bag supply device is connected with the support bottom plate and is positioned on the front side of the filling mold frame;

the inflatable bag supply device and the filling mold frame can integrally move along with the hydraulic support;

the grouting equipment is connected with the filling mould frame through a pipeline.

The technical scheme of the invention also provides an underground filling method for carrying out underground filling by the underground filling system, which comprises the following steps:

s01: moving the filling mold frame to a specified position of the goaf;

s02: the inflatable bag supply device provides an inflatable bag into the front opening of the mold frame of the filling mold frame, and the inflatable bag seals the front opening of the mold frame;

s03: injecting a filling material into the filling mold frame by using grouting equipment;

s04: after the filling material is initially solidified to form a section of filling body, the filling mold frame is separated from the filling body by demolding, and the inflatable bag is remained in the front end of the section of filling body;

s05: the hydraulic support is moved forwards for a preset distance, the grouting equipment, the inflatable bag supply device and the filling mold frame are driven to move forwards, and the front end of the section of filling body is positioned in an opening at the rear part of the mold frame;

s06: steps S02-S05 are performed in sequence until the goaf filling is completed.

Further, the step S02 includes the following steps:

s021: the bag barrel conveying mechanism upwards clamps the processing mechanism to convey the bag barrel;

s022: the upper clamping processing mechanism clamps the bag barrel and downwards clamps the processing mechanism to convey the bag barrel until the lower clamping processing mechanism clamps the lower end of the bag barrel;

s023: the upper clamping processing mechanism clamps the bag barrel to move upwards to a designated position, and the lower clamping processing mechanism clamps the bag barrel to move downwards to the designated position;

s024: the upper clamping processing mechanism seals the bag barrel;

s025: the lower clamping processing mechanism inflates the bag cylinder, and then the bag cylinder is sealed to form an inflation bag;

s026: the upper clamping processing mechanism cuts the bag barrel, so that the inflatable bag can be separated from the uninflated bag barrel;

s027: the upper clamping processing mechanism and the lower clamping processing mechanism release the inflatable bag;

s028: the inflatable bag pushing mechanism pushes the inflatable bag to the front opening of the die frame for sealing.

Further, step S027 includes the following steps:

the upper clamping processing mechanism and the lower clamping processing mechanism extend out of the side of the filling mold frame firstly, so that the inflatable bag is loosened after the inflatable bag is close to the filling mold frame.

Further, the step S028 includes the following steps:

the third telescopic oil cylinder in the inflating bag pushing mechanism extends out, a notch of the containing groove of the pushing block is butted with the front opening of the die frame, the fourth telescopic oil cylinder in the inflating bag pushing mechanism extends out, and the pushing plate pushes the inflating bag into the front opening of the die frame.

By adopting the technical scheme, the method has the following beneficial effects:

according to the underground filling equipment, the underground filling system and the underground filling method, the inflatable bag can be added into the filling body, so that the filling body is provided with the holes, filling materials are saved, and the filling cost is reduced.

Drawings

FIG. 1 is a schematic diagram of a downhole filling apparatus according to an embodiment of the present invention;

FIG. 2 is a schematic view of an airbag sealed in a mold frame front opening of a filling mold frame;

FIG. 3 is a perspective view of the filling form;

FIG. 4 is a perspective view of the stationary mold frame;

FIG. 5 is a perspective view of the movable mold frame;

FIG. 6 is a schematic view of a filling mold frame for filling;

FIG. 7 is a schematic view showing the construction of the airbag supply apparatus;

FIG. 8 is a side view of the upper clamp machining mechanism;

FIG. 9 is a top view of the upper clamp machining mechanism;

FIG. 10 is a schematic view of the connection of the rollers, roller shafts, motor and bracket;

FIG. 11 is a side view of the lower clamp processing mechanism;

FIG. 12 is a top view of the lower clamp processing mechanism;

FIG. 13 is a schematic connection diagram of a pushing block, a piston rod of a third telescopic cylinder, a push plate and a fourth telescopic cylinder;

FIG. 14 is a schematic view of a downhole filling system according to an embodiment of the present invention;

FIG. 15 is a schematic view showing the connection of the filling form frame, the grouting apparatus and the hydraulic support;

FIG. 16 is a schematic illustration of a filling sequence using a downhole filling system.

Detailed Description

The following further describes embodiments of the present invention with reference to the accompanying drawings. In which like parts are designated by like reference numerals. It should be noted that the terms "front," "back," "left," "right," "upper" and "lower" used in the following description refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

As shown in fig. 1 to 7, a downhole filling apparatus according to an embodiment of the present invention includes a filling mold frame 1 and an airbag supply device 2 for supplying an airbag 200 into the filling mold frame 1.

The rear of the filling form 1 has a form rear opening 14 and the front of the filling form 1 has at least one form front opening 15 for clamping the airbag 200.

The airbag supply device 2 is located at the front side of the filling mold frame 1.

Airbag supply assembly 2 is capable of processing uninflated and continuous bag cartridge 100 into airbag 200 and of pushing airbag 200 into mold frame front opening 15, with airbag 200 being capable of sealing mold frame front opening 15.

In the present invention, the airbag 200 is a plastic or rubber bag, the raw material before forming the airbag 200 is the bag tube 100, the bag tube 100 is not inflated, is in a flat strip shape, and can be wound on a wheel for transportation, when the bag tube 100 is cut into a section, the upper end of the cut section of the bag tube 100 is sealed, then the lower end is inflated, and then the lower end is sealed, thereby forming the airbag 200.

In the invention, the advancing direction of the working face during coal mining is called as front, and the direction towards the goaf is called as rear.

The underground filling equipment provided by the invention is mainly used for filling the goaf formed in coal mining.

The invention provides underground filling equipment which comprises a filling mould frame 1 and an air bag supply device 2. The grouting equipment can input filling materials into the filling mold frame 1, the filling body 300 is formed after the filling materials are condensed, and the filling body 300 is filled between the bottom plate and the top plate of the goaf to play a supporting role and avoid the goaf from collapsing. The airbag supply device 2 is used to supply the airbag 200 to the filling form 1 to form a hole in the filling body 300, which contributes to saving of filling material.

The filling mould frame 1 is of a U-shaped structure integrally, the bottom of the filling mould frame 1 is provided with a mould frame bottom opening, the rear part of the filling mould frame 1 is provided with a mould frame rear opening 14, and the front part of the filling mould frame 1 is provided with a mould frame front opening 15. The top of the filling mould frame 1 is provided with a cover plate, and a pipeline of the grouting equipment can penetrate through a hole on the cover plate to inject filling materials into the filling mould frame 1. The filling material may be concrete or paste, and the concrete and the paste are materials in the prior art and are not separately described here. The filling body 300 is formed after the concrete or the paste is solidified, and the filling body 300 is formed section by section until the goaf is filled. The invention adopts strip filling, and a plurality of filling bodies 300 extending back and forth are arranged at intervals along the width direction of the goaf, so that filling materials can be saved.

In order to facilitate the separation of the filling mold frame 1 from the initially solidified filling body 300, the filling mold frame 1 is configured to be composed of a fixed mold frame 11 and a movable mold frame 12. The fixed mould frame 11 and the movable mould frame 12 are respectively in a U shape, and the top cover covers the top of the movable mould frame 12. The fixed die frame 11 is positioned at the bottom, and the fixed die frame 11 is connected with a support bottom plate of the hydraulic support. The movable mold frame 12 is located on the inner side of the fixed mold frame 11, and the movable mold frame 12 is connected with the fixed mold frame 11 in a sliding mode. A mold frame driving oil cylinder 13 is connected between the fixed mold frame 11 and the movable mold frame 12 and is used for driving the movable mold frame 12 to move up and down relative to the fixed mold frame 11. The rear portions of the fixed mold frame 11 and the movable mold frame 12 have mold frame rear openings 14, respectively, and the front portions of the fixed mold frame 11 and the movable mold frame 12 have mold frame front openings 15, respectively. The inner surface of the fixed mold frame 11 is provided with a guide groove 18, the outer surface of the movable mold frame 12 is provided with a guide convex rail 17, and the guide convex rail 17 is in clearance fit with the guide groove 18 to provide guidance for the up-and-down movement of the movable mold frame 12.

When the filling is needed, the fixed template 11 is located on the bottom plate of the goaf, the mold frame driving oil cylinder 13 extends out to drive the movable mold frame 12 to move upwards for a designated height, and the top or the top cover of the movable mold frame 12 is in contact with the top plate of the goaf. After filling the filling material, when the filling material needs to be demolded after initial setting, the mold frame driving cylinder 13 contracts to drive the movable mold frame 12 to move downwards to separate the filling body 300 from the fixed mold frame 11, so that the filling mold frame 1 is conveniently separated from the filling body 300, demolding is realized, and filling in the next cycle is carried out.

The inflatable bag supply device 2 is arranged on the front side of the filling mould frame 1, and the fixed mould frame 11 of the filling mould frame 1 can be connected with the inflatable bag supply device 2 to realize synchronous movement along with the hydraulic support.

The airbag supply device 2 may process the bag cartridge 100 into the airbag 200 and may push the airbag 200 into the mold frame front opening 15, and the airbag 200 seals the mold frame front opening 15, so that the filling space is formed by the filling mold frame 1. The lower end of the air bag 200 is in contact with the bottom plate of the goaf, and the top end thereof is in contact with the top plate of the goaf or the top cover of the filling mold frame 1. The diameter of the airbag 200 is larger than the width of the front opening 15 of the mold frame, and the front opening 15 of the mold frame can be sealed by inserting the airbag 200 into the front opening 15 of the mold frame, and the airbag 200 is firmly seated in the front opening 15 of the mold frame and is not pushed out by the filling material.

When the filling material is injected into the filling mold 1, the mold rear opening 14 is closed by contacting with the object or the already formed filling body 300, the mold front opening 15 is closed by the air bag 200, and the filling material does not flow out from the mold front opening 15, thereby forming a filling space. When demolded, the airbag 200 remains at the front end of the segment of the packing 300, and after the lower segment of the packing 300 is molded, the airbag 200 is located in the end portions of the two segments of the packing 300, so that a hole is formed in the packing 300, and the packing material can be saved.

The following operation mode is adopted during filling:

the first step is as follows: and moving the filling mold frame 1 to a specified goaf position.

The second step is that: the airbag supply device 2 supplies the airbag 200 into the mold frame front opening 15 of the filling mold frame 1, and the airbag 200 seals the mold frame front opening 15.

The third step: and the grouting equipment injects filling materials into the filling mold frame 1.

The fourth step: after the filling material is initially solidified to form a section of filling body 300, the filling mold frame 1 is separated from the filling body 300 by demolding, and the airbag 200 is retained in the front end of the section of filling body 300.

The fifth step: the hydraulic bracket is moved forwards for a preset distance, and the grouting equipment, the air bag supply device 2 and the filling mold frame 1 are driven to move forwards, and the front end of the section of filling body 300 is positioned in the rear opening 14 of the mold frame.

And then, sequentially and circularly executing the steps until the goaf filling is completed.

In one embodiment, as shown in fig. 7, the airbag supply device 2 includes a base 21, a support frame 22 fixedly mounted on the base 21, a bag cartridge transfer mechanism 23 mounted on the support frame 22, an upper clamping mechanism 24 slidably mounted on the support frame 22 up and down, a lower clamping mechanism 25 slidably mounted on the support frame 22 up and down, and an airbag pushing mechanism 26 mounted on the support frame 22 for pushing the airbag 200 into the front opening 15 of the mold frame.

Wherein the upper clamp processing mechanism 24 can clamp and transfer the cartridge 100 downward, and can seal and cut the cartridge 100.

The lower clamp processing mechanism 25 can open the bottom opening of the bag cartridge 100 and inflate the bag cartridge 100, and can seal the bag cartridge 100.

The upper and

lower clamping mechanisms

24 and 25 form the inflatable bag 200 from a section of the bag tube 100 whose upper and lower ends are sealed and inflated.

The airbag supply device 2 provided in this embodiment includes a base 21, a support frame 22, a bag tube conveying mechanism 23, an upper clamping mechanism 24, a lower clamping mechanism 25, and an airbag pushing mechanism 26.

The base 21 may be connected to the frame bottom plate of the hydraulic frame. The support frame 22 is fixedly mounted on the base 21, and extends upward. The support frame 22 is provided with a support frame rail 221, and the support frame rail 221 extends up and down. The bag tube conveying mechanism 23 is mounted on the support frame 22 through a bracket. The upper clamping mechanism 24 may be directly or indirectly slidably connected to the support rail 221, and thus may be slidably adjusted on the support frame 22 in the up-down direction. The lower clamping mechanism 25 may be directly or indirectly slidably connected to the support rail 221, and thus may be slidably adjusted in the up-down direction on the support frame 22. The airbag pushing mechanism 26 is fixedly mounted on the support frame 22.

The airbag pushing mechanism 26 is located between the upper clamping mechanism 24 and the lower clamping mechanism 25, and a plurality of airbag pushing mechanisms 26 may be arranged between the upper clamping mechanism 24 and the lower clamping mechanism 25. The upper clamping mechanism 24, the lower clamping mechanism 25 and the airbag pushing mechanism 26 are all positioned on one side of the support frame 22 facing the filling mold frame 1.

The cartridge transfer mechanism 23 is used to transfer the cartridge 100 to the upper clamp processing mechanism 24.

The upper clamp processing mechanism 24, after receiving the cartridge 100, can clamp the cartridge 100 and transfer the cartridge 100 to the lower clamp processing mechanism 25. The upper clamp mechanism 24 also seals and cuts the cartridge 100 as needed.

The lower clamp processing mechanism 25, after receiving the cartridge 100, can open the bottom opening of the cartridge 100, then inflate the cartridge 100, and can also seal the cartridge 100.

The upper and

lower clamping mechanisms

24 and 25 seal and inflate the upper and lower ends of a section of the bag cartridge 100 to form the airbag 200.

After the upper clamping mechanism 24 and the lower clamping mechanism 2 release the airbag 200, the airbag pushing mechanism 26 pushes the airbag 200 into the mold frame front opening 15 to seal the mold frame front opening 15 by the airbag 200.

The operation of the airbag supply unit 2 is as follows:

step 1: the bag cartridge conveying mechanism 23 conveys the bag cartridge 100 upward from the holding processing mechanism 24.

Step 2: the upper holding processing mechanism 24 holds the bag cartridge 100 and conveys the bag cartridge 100 toward the lower holding processing mechanism 25 until the lower holding processing mechanism 25 holds the lower end of the bag cartridge 100.

And 3, step 3: upper clamp mechanism 24 holds bag cartridge 100 and moves up to a designated position (upper clamp mechanism 24 is substantially flush with the top of mold frame front opening 15) and lower clamp mechanism 25 holds bag cartridge 100 and moves down to a designated position (lower clamp mechanism 25 is substantially flush with the bottom of mold frame front opening 15).

And 4, step 4: the upper clamping mechanism 24 seals the bag tube 100, i.e. the upper end of the section of the bag tube 100 between the upper clamping mechanism 24 and the lower clamping mechanism 25.

And 5, step 5: the lower clamping mechanism 25 opens the lower end of the section of bag tube 100 and inflates the section of bag tube 100, and then seals the lower end of the section of bag tube 100, thereby forming the airbag 200.

And 6, step 6: the upper clamp processing mechanism 24 cuts the upper end of the length of the tube 100 so that the airbag 200 can be separated from the uninflated tube 100.

And 7, step 7: the upper and

lower clamping mechanisms

24 and 25 release the airbag 200.

And 8, step 8: airbag pushing mechanism 26 pushes airbag 200 to mold frame front opening 15 for sealing.

In one embodiment, as shown in fig. 7, a first driving member 222 for driving the upper clamping mechanism 24 to move up and down is connected between the supporting frame 22 and the upper clamping mechanism 24.

A second driving member 223 for driving the lower clamping mechanism 25 to move up and down is connected between the supporting frame 22 and the lower clamping mechanism 25.

The first and second driving

members

222 and 223 may be telescopic cylinders. The first driving member 222 is used for driving the upper clamping mechanism 24 to move up and down, and the second driving member 223 is used for driving the lower clamping mechanism 25 to move up and down, so as to adjust the length of the bag tube 100 between the upper clamping mechanism 24 and the lower clamping mechanism 25, so that the formed inflatable bag 200 meets the height requirement of the front opening 15 of the mold frame.

In one embodiment, as shown in fig. 7-10, the upper clamping mechanism 24 includes an upper stationary plate 241, an upper movable plate 242, a pair of rollers 243, a cutting knife 244, and an upper welding gun 245.

The upper fixing plate 241 is slidably connected to the supporting frame 22.

An upper plate driving member 2411 for driving the upper plate 242 to move is connected between the upper plate 242 and the upper fixing plate 241.

One roller 243 is mounted on the upper fixing plate 241, the other roller 243 is mounted on the upper movable plate 242, and at least one roller 243 is driven to rotate by a motor 2432.

The cutter 244 is positioned below the roller 243, and the cutter 244 is mounted on the upper fixing plate 241 by a cutter driving member 2441.

The upper torch 245 is positioned below the cutting blade 244, and the upper torch 245 is mounted on the upper fixing plate 241 by an upper torch driving member 2451.

The upper clamping mechanism 24 is mainly composed of an upper fixing plate 241, an upper movable plate 242, a pair of rollers 243, a cutter 244 and an upper welding gun 245.

The upper fixing plate 241 may be directly or indirectly slidably connected to the support rail 221 of the support frame 22. An upper plate driving member 2411 is connected between the upper plate 242 and the upper fixing plate 241, and the upper plate driving member 2411 may be a telescopic cylinder. The upper movable plate driving member 2411 is used for driving the upper movable plate 242 to move relative to the upper fixed plate 241 so as to adjust the distance or gap between the upper movable plate 242 and the upper fixed plate 241.

A pair of rollers 243 are mounted on the upper fixed plate 241 and the upper movable plate 242 through brackets 2431, respectively, the two rollers 243 are arranged to be opposite to each other, the bag cartridge 100 passes between the two rollers 243, and the two rollers 243 nip the bag cartridge 100 and can transfer the bag cartridge 100 downward. One end of the roller shaft 2433 is connected with the motor 2432, the motor 2432 is fixedly installed on the bracket 2431, and the other end of the roller shaft 2433 is installed on the bracket 2431 through a bearing. The motor 2432 can drive the roller shaft 2433 to rotate, and the roller shaft 2433 drives the roller 243 to rotate. The rotation of one roller 243 will drive the other roller 243 to rotate, but it is also possible to drive the two rollers 243 to rotate by two motors 2432.

In fig. 8, the left roller 243 rotates clockwise, and the right roller 243 rotates counterclockwise, so that the cartridge 100 can be transferred downward.

The gap between the two rollers 243 can be adjusted by the movable plate driving member 2411, or the bracket 2431 can be a telescopic bracket to automatically adjust the gap between the two rollers 243.

A cutter 244 is positioned below the roller 243 for cutting the cartridge 100. A cutter driving member 2441 is installed at one side of the upper fixing plate 241 facing the upper movable plate 242, and the cutter driving member 2441 may be a telescopic cylinder. The cutter 244 is mounted on a cutter driving member 2441, and the cutter 244 is moved back and forth by the cutter driving member 2441 to cut the cartridge 100. A cutter backing plate 2442 is installed on the upper movable plate 242 at a position corresponding to the cutter 244, so as to facilitate cutting of the bag cartridge 100.

When it is desired to cut the upper end of a section of the tube 100, the cutter driving member 2441 extends to drive the cutter 242 to move backward to cut the tube 100.

The upper welding torch 245 may be an ultrasonic welding torch, which may heat seal the pouch cartridge 100, thereby sealing. An ultrasonic generator 27 is provided on the base 21, and an upper welding torch 245 is connected to the ultrasonic generator 27 through a lead. The upper welding torch 245 is located below the cutting knife 244. An upper welding torch driving member 2451 is installed on one side of the upper fixing plate 241 facing the upper movable plate 242, and the upper welding torch driving member 2451 may be a telescopic cylinder. The upper welding gun 245 is mounted on the upper welding gun driving member 2451, and the upper welding gun 245 is driven by the upper welding gun driving member 2451 to move back and forth so as to seal the upper end of the section of the bag tube 100. An upper welding gun backing plate 2452 is mounted on the upper movable plate 242 at a position corresponding to the upper welding gun 245, so as to facilitate the heating, welding and sealing of the bag tube 100.

When the upper end of a section of the bag tube 100 needs to be sealed, the upper welding gun driving member 2451 extends out to drive the upper welding gun 245 to move the heating bag tube 100 backwards so as to seal the upper end of the bag tube 100.

The bottom of the upper fixing plate 241 has a positioning protrusion 2412, and as shown in fig. 11-12, the top of the lower fixing plate 251 has a positioning recess 2512. When the upper clamping mechanism 24 transfers the bag tube 100 to the lower clamping mechanism 25, the upper clamping mechanism 24 and the lower clamping mechanism 25 may be moved closer to each other by the first driving member 222 and the second driving member 223, and the positioning protrusion 2412 may be inserted into the positioning groove 2512 and be kept stable. The length of the positioning projection 2412 can be set as desired. When the upper and lower

clamp processing mechanisms

24 and 25 are close to each other, the airbag pushing mechanism 26 is in the contracted state without interference.

In the step 2: a pair of rollers 243 in the upper nip processing mechanism 24 nip the bag tube 100 and convey the bag tube 100 toward the lower nip processing mechanism 25.

In the above step 3: the first driving member 222 drives the upper clamping mechanism 24 to move upward to a designated position, and the second driving member 223 drives the lower clamping mechanism 25 to move downward to a designated position.

In the above step 4: the upper welding gun 245 seals the upper end of the length of the bag tube 100 between the upper clamping mechanism 24 and the lower clamping mechanism 25.

In the above step 6: the cutter 244 cuts the upper end of the length of tube 100 at a location above the upper end seal.

In the above step 7: the upper movable plate driving means 2411 drives the upper movable plate 242 to be spaced apart from the upper fixed plate 241, thereby separating the pair of rollers 243, thereby releasing the upper end of the airbag 200.

In one embodiment, as shown in fig. 7, the upper fixing plate 241 is connected to the supporting frame 22 via a first telescopic cylinder 246.

The upper fixing plate 241 is connected to a piston rod 2462 of the first telescopic cylinder 246, and a cylinder 2461 of the first telescopic cylinder 246 is vertically slidably mounted on the support frame 22.

The upper fixing plate 241 can be driven by the first telescopic cylinder 246 to move towards the filling mold frame 1, so that the inflatable bag 200 is as close to the filling mold frame 1 as possible, which is beneficial for the inflatable bag pushing mechanism 26 to push the inflatable bag 200 into the front opening 15 of the mold frame quickly.

The output end of the first driving member 222 is connected to the cylinder 2461, so as to drive the first telescopic cylinder 246 to slide on the supporting frame 22.

In one embodiment, as shown in fig. 7 and 11-12, the lower clamping mechanism 25 includes a lower stationary plate 251, a lower movable plate 252, a lower welding gun 253, a pair of suction cups 254, and a gas-filled nipple 255.

The lower fixing plate 251 is slidably connected to the supporting frame 22.

A lower movable plate driving member 2511 for driving the lower movable plate 252 to move is connected between the lower movable plate 252 and the lower fixed plate 251.

The lower welding torch 253 is mounted on the lower fixing plate 251 by a lower welding torch driving member 2531.

Suction cups 254 are located below the lower welding gun 253, wherein the two suction cups 254 are mounted on the lower fixing plate 251 and the lower movable plate 252 by suction cup driving members 2541, respectively.

The inflation pipe head 255 is positioned below the suction cup 254, the inflation pipe head 255 is mounted on the lower fixing plate 251, and the nozzle 2551 of the inflation pipe head 255 faces upward.

The lower clamping mechanism 25 is mainly composed of a lower fixing plate 251, a lower movable plate 252, a lower welding gun 253, a pair of suction cups 254 and an inflation pipe head 255.

The lower fixing plate 251 may be directly or indirectly slidably connected to the support rail 221 of the support frame 22. A lower movable plate driving member 2511 is connected between the lower movable plate 252 and the lower fixed plate 251, and the lower movable plate driving member 2511 may be a telescopic cylinder. The lower movable plate driving member 2511 serves to drive the lower movable plate 252 to move relative to the lower fixed plate 251 to adjust the distance or gap between the lower movable plate 252 and the lower fixed plate 251.

The lower welding gun 253 may be an ultrasonic welding gun, which may heat seal the pouch cartridge 100, thereby sealing the same. The lower welding torch 253 is connected to the ultrasonic generator 27 through a wire. A lower torch driving member 2531 is mounted on a side of the lower fixing plate 251 facing the lower movable plate 252, and the lower torch driving member 2531 may be a telescopic cylinder. The lower welding gun 253 is mounted on the lower welding gun driving member 2531, and the lower welding gun 253 is moved forward and backward by the lower welding gun driving member 2531 to seal the lower end of the length of the bag tube 100. A lower welding gun backing plate 2532 is arranged on the lower movable plate 252 at a position corresponding to the lower welding gun 253, so that the bag tube 100 can be conveniently heated, welded and sealed.

The suction cups 254 are located below the lower welding gun 253, one suction cup 254 is mounted on the lower fixing plate 251 by a suction cup driving member 2541, and the other suction cup 254 is mounted on the lower movable plate 252 by a suction cup driving member 2541. The two suction cups 254 are disposed opposite to each other to suck the lower end of the bag cylinder 100 and to open the lower end opening of the bag cylinder 100 when the suction cup driving member 2541 is contracted or the lower movable plate driving member 2511 is opened, so as to facilitate the subsequent inflation of the bag cylinder 100.

The suction cup driving member 2541 may be a telescopic cylinder, and the suction cup 254 is mounted on a piston rod of the suction cup driving member 2541.

When the upper clamping mechanism 24 transfers the bag cartridge 100 to the lower clamping mechanism 25, the lower movable plate driving member 2511 is expanded, the suction cup driving member 2541 is contracted, and the lower end of the bag cartridge 100 can enter between the two suction cups 254. A sensor may be provided on the lower fixing plate 251 and/or the lower movable plate 252 under the suction cups 254, and when the sensor detects the cartridge 100, the lower movable plate driving member 2511 is contracted and the suction cup driving member 2541 is extended, thereby clamping the lower end of the cartridge 100 by the two suction cups 254.

When inflation is desired, the suction cup drive member 2541 contracts and/or the lower movable plate drive member 2511 expands, i.e., the lower end opening of the cartridge 100 can be opened.

An inflation tube head 255 is mounted on the lower fixing plate 251, below the suction cup 254. The base 21 is provided with a fan 28, and the air charging pipe head 255 is connected with the fan 28 through a pipeline. The nozzle 2551 of the inflation tube head 255 faces upward. When the lower end opening of the cartridge 100 is opened, the nozzle 2551 may inflate the cartridge 100.

After the inflation is completed, the lower movable plate driving member 2511 is contracted, the lower torch driving member 2531 is extended, and the lower end of the pouch tube 100 is sealed.

In the step 2: the lower holding/processing mechanism 25 holds the lower end of the cartridge 100 by two suction cups 254.

In the above step 5: the two suction cups 254 in the lower clamping mechanism 25 open the lower end opening of the section of the bag tube 100, then the section of the bag tube 100 is inflated by the inflation pipe head 255, and then the lower end of the section of the bag tube 100 is sealed by the lower welding gun 253.

In the above step 7: the lower fixing plate 251 and the lower movable plate 252 of the lower clamping mechanism 25 are separated to release the airbag 200, and the two suction cups 254 can be brought to be retracted and separated from the lower end of the airbag 200. Of course, suction cup 254 may not be separated from the lower end of airbag 200, and airbag 200 is separated from suction cup 254 when airbag 200 is finally pushed by airbag pushing mechanism 26.

In one embodiment, as shown in fig. 7, the lower fixing plate 251 is connected to the supporting frame 22 through a second telescopic cylinder 256.

The lower fixing plate 251 is connected to a piston rod 2562 of the second telescopic cylinder 256, and a cylinder 2561 of the second telescopic cylinder 256 is vertically slidably mounted on the support frame 22.

The second telescopic cylinder 256 can drive the lower fixing plate 251 to move towards the filling mold frame 1 side, so that the inflatable bag 200 is as close to the filling mold frame 1 as possible, and the inflatable bag pushing mechanism 26 can be used for pushing the inflatable bag 200 into the front opening 15 of the mold frame quickly.

The output end of the second driving member 223 is connected to the cylinder 2561, so as to drive the second telescopic cylinder 256 to slide on the supporting frame 22.

In one embodiment, as shown in fig. 7 and 13, the airbag pushing mechanism 26 includes a pushing block 261 having a receiving groove 2611 for receiving the airbag 200, a third telescopic cylinder 262 for driving the pushing block 261 to move forward and backward, a push plate 263 for pushing out the airbag 200 in the receiving groove 2611, and a fourth telescopic cylinder 264 for driving the push plate 263 to move forward and backward.

The cylinder 2621 of the third telescopic cylinder 262 is fixedly mounted on the supporting frame 22, and the pushing block 261 is mounted on the piston rod 2622 of the third telescopic cylinder 262.

The push plate 263 is movably disposed in the receiving groove 2611, the fourth telescopic cylinder 264 is mounted on the push block 261, and the push plate 263 is connected to a piston rod 2641 of the fourth telescopic cylinder 264.

The airbag pushing mechanism 26 includes a pushing block 261, a third telescopic cylinder 262, a push plate 263 and a fourth telescopic cylinder 264.

The pusher block 261 has a receiving groove 2611 for receiving the airbag 200, the receiving groove 2611 opens toward the front opening 15 of the mold frame, and the width of the receiving groove 2611 is slightly larger than the diameter of the airbag 200.

The cylinder 2621 of the third telescopic cylinder 262 is mounted on the supporting frame 22, and the piston rod 2622 thereof faces the filling mold frame 1. The push block 261 is fixedly mounted on the end of the piston rod 2622.

The cylinder 2641 of the fourth telescopic cylinder 264 is fixedly installed in the pushing block 261 with its piston rod 2642 facing the opening of the receiving groove 2611.

The push plate 263 is loosely fitted in a receiving groove 2611, which is fixedly installed at an end of the piston rod 2642.

Before the upper clamping mechanism 24 and the lower clamping mechanism 25 release the airbag 200, the piston rod 2622 of the third telescopic cylinder 262 extends rearward, the pushing block 261 moves rearward and inserts the airbag 200 into the receiving groove 2611. After the upper clamping mechanism 24 and the lower clamping mechanism 25 release the airbag 200, the piston rod 2622 of the third telescopic cylinder 262 continues to extend backward until the opening of the receiving groove 2611 is in contact with the front opening 15 of the mold frame. Then, the piston rod 2642 of the fourth telescopic cylinder 264 is extended to drive the push plate 263 to push the airbag 200 to move backward and enter the front opening 15 of the mold frame. The pusher 263 has a width less than the width of the front opening 15 of the mold frame and is movable into and out of the front opening 15 of the mold frame.

In one embodiment, as shown in fig. 1 and 7, the bag drum transfer mechanism 23 includes a bag drum wheel 231 around which the bag drum 100 is wound and a plurality of guide conveying wheels 232 for guiding and conveying the bag drum 100 from the bag drum wheel 231 to the holding processing mechanism 24.

The bag drum wheel 231 is mounted on the front side of the support frame 22 via a bracket 233, and a plurality of guide feed wheels 232 are arranged at intervals between the bag drum wheel 231 and the upper clamp processing mechanism 24.

The bag drum wheel 231 is located at the front side of the support frame 22, and is mounted on the bracket 233, and the bracket 233 is mounted on the support frame 22. Guide feed wheels 232 may be provided at designated locations as desired for providing guidance to the conveyed cartridge 100.

A guide conveying wheel 232 is provided on the top of the upper fixing plate 241. It is advantageous to make the bag cartridge 100 enter between the upper fixing plate 241 and the upper movable plate 242.

In one embodiment, as shown in fig. 2 and 15, the sides of the front opening 15 of the mold frame are provided with mold frame clamps 16 for clamping the airbag 200. The frame clamp 16 extends toward the frame rear opening 14, which may increase the area available for holding the airbag 200, so long as the airbag 200 is positioned between the two frame clamps 16 to seal the frame front opening 15.

The driving components, the oil cylinders and the like in the invention can be controlled in a centralized way through a control system to realize automatic operation, and are not described again.

As shown in fig. 14 to 16, an embodiment of the present invention provides a downhole filling system, which includes a hydraulic support 3, a grouting apparatus 4, and the downhole filling apparatus described in any of the foregoing embodiments.

The filling mould frame 1 is positioned at the rear side of the hydraulic support 3, and the filling mould frame 1 is hinged with a support bottom plate 31 of the hydraulic support 3.

The airbag supply device 2 is connected to the support bottom plate 31, and the airbag supply device 2 is located at the front side of the filling form frame 1.

The air bag supply device 2 and the filling mold frame 1 can integrally move along with the hydraulic support 3.

The grouting equipment 4 is connected with the filling mould frame 1 through a pipeline.

The filling mold frame 1 is hinged with the support bottom plate 31, and can adapt to the inclination angle of the bottom plate of the goaf and adjust the angle in a self-adaptive manner. The base 21 of the airbag supply device 2 is connected to the frame bottom plate 31 and can move in accordance with the movement of the hydraulic frame 3.

The grouting device 4 may be installed below the carrier top plate 32 of the hydraulic carrier 3, and may be movable in accordance with the movement of the hydraulic carrier 3. The grouting equipment 4 is connected with the filling mould frame 1 through a pipeline and is used for grouting into the filling mould frame 1 and injecting concrete grout or filling paste.

The coal face and the hydraulic support 3 move towards the coal seam 400 side for mining, a goaf is formed at the rear side of the hydraulic support 3, and strip filling can be realized on the goaf through the underground filling system during coal mining.

A set of underground filling equipment and grouting equipment 4 can be hung at intervals of a certain number of hydraulic supports 3, and strip filling can be achieved in the goaf.

The filling method is as follows:

after the filling mold 1 reaches the designated position, the two rollers 243 feed the bag roll 100 downward. In which one end of the cartridge 100 is inserted between the two rollers 243 manually by a worker for the first time, and then automatically transported by the two rollers 243 without manual operation.

The lower movable plate driving member 2511 spreads the lower fixed plate 251 and the lower movable plate 252 apart from each other, and the lower end of the cartridge 100 is inserted between the two suction cups 254.

The suction cup driving member 2541 drives the suction cups 254 to extend, and the lower movable plate driving member 2511 closes the lower fixed plate 251 and the lower movable plate 252.

The first driving member 222 drives the first telescopic cylinder 246 and the upper clamping mechanism 24 to move upwards, and the second driving member 223 drives the second telescopic cylinder 256 and the lower clamping mechanism 25 to move downwards, so as to adjust the length of the bag tube 100 between the upper clamping mechanism 24 and the lower clamping mechanism 25, so that the formed inflatable bag 200 meets the height requirement of the front opening 15 of the mold frame.

The upper welding torch driving member 2451 drives the upper welding torch 245 to extend, and seals the upper end of the bag cylinder 100.

The suction cup driving member 2541 retracts the suction cups 254, and the lower movable plate driving member 2511 separates the lower fixing plate 251 and the lower movable plate 252, and opens the lower end opening of the pouch 100 by the two suction cups 253.

The inflation tube head 255 inflates the section of the bag cartridge 100.

The lower movable plate driving member 2511 closes the lower fixing plate 251 and the lower movable plate 252, and the lower welding gun driving member 2531 drives the lower welding gun 253 to extend out, so as to seal the lower end of the bag cylinder 100, thereby forming the inflatable bag 200.

The cutter driving member 2441 extends to drive the cutter 242 to move backward, and the cutter 244 cuts the upper end of the section of the bag tube 100 at a position above the upper end sealing opening.

The piston rod 2622 of the third telescopic cylinder 262 extends backward, pushing the block 261 to move backward and insert the airbag 200 into the receiving groove 2611.

The upper movable plate driving member 2411 separates the upper fixing plate 241 and the upper movable plate 242, thereby loosening the upper end of the airbag 200. The lower movable plate driving member 2511 separates the lower fixing plate 251 and the lower movable plate 252, thereby releasing the lower end of the airbag 200.

The piston rod 2622 of the third telescopic cylinder 262 continues to extend backward until the opening of the receiving groove 2611 is in butt joint with the front opening 15 of the mold frame. Then, the piston rod 2642 of the fourth telescopic cylinder 264 is extended to drive the push plate 263 to push the airbag 200 to move backward and enter the front opening 15 of the mold frame.

The grouting equipment 4 injects the filling material into the filling mold frame 1, and after the filling material is initially solidified to form a section of filling body 300, the hydraulic support 3 is pulled forward to drive the filling mold frame 1 to move, so that the filling mold frame 1 and the filling body 300 are separated from each other in a demolding manner, and the inflatable bag 200 is retained in the front end of the section of filling body 300.

The hydraulic support 3 is continuously moved forwards for a preset distance (the distance of each cycle of the forward movement of the hydraulic support 3 is less than the length of the filling mold frame 1), and the grouting equipment 4, the air bag supply device 2 and the filling mold frame 1 are driven to move forwards, and the front end of the section of filling body 300 is positioned in the rear opening 14 of the mold frame.

And then the operations are sequentially executed until the goaf filling is finished.

An embodiment of the present invention provides an underground filling method for performing underground filling by using the underground filling system in the foregoing embodiment, including the following steps:

s01: and moving the filling mold frame 1 to a specified goaf position.

S02: the airbag supply device 2 supplies the airbag 200 into the mold frame front opening 15 of the filling mold frame 1, and the airbag 200 seals the mold frame front opening 15.

S03: the grouting apparatus 4 injects a filling material into the filling mold frame 1.

S04: after the filling material is initially solidified to form a section of filling body 300, the filling mold frame 1 is separated from the filling body 300 by demolding, and the airbag 200 is retained in the front end of the section of filling body 300.

S05: the hydraulic bracket 3 is moved forward for a preset distance, and the grouting device 4, the air bag supply device 2 and the filling mold frame 1 are driven to move forward, and the front end of the section of filling body 300 is positioned in the rear opening 14 of the mold frame.

In one embodiment, step S02 includes the following steps:

s021: the bag cartridge conveying mechanism 23 conveys the bag cartridge 100 upward from the holding processing mechanism 24.

S022: the upper holding processing mechanism 24 holds the bag cartridge 100 and conveys the bag cartridge 100 toward the lower holding processing mechanism 25 until the lower holding processing mechanism 25 holds the lower end of the bag cartridge 100.

S023: the upper holding/processing mechanism 24 holds the bag tube 100 and moves up to a predetermined position, and the lower holding/processing mechanism 25 holds the bag tube 100 and moves down to a predetermined position.

S024: the upper clamp processing mechanism 24 seals the bag cartridge 100.

S025: the lower clamping mechanism 25 inflates the bag tube 100, and then seals the bag tube 100 to form the air bag 200.

S026: the upper clamp processing mechanism 24 cuts the bag cartridge 100 so that the airbag 200 can be separated from the uninflated bag cartridge 100.

S027: the upper and

lower clamping mechanisms

24 and 25 release the airbag 200.

S028: airbag pushing mechanism 26 pushes airbag 200 to mold frame front opening 15 for sealing.

In one embodiment, step S027 includes the following steps:

the upper clamping mechanism 24 and the lower clamping mechanism 25 extend to the side of the filling mold frame 1, so that the airbag 200 is close to the filling mold frame 1 and then the airbag 200 is released.

In one embodiment, step S028 includes the following steps:

the third telescopic cylinder 262 in the air bag pushing mechanism 26 extends out, the notch of the accommodating groove 2611 of the pushing block 261 is firstly butted with the front opening 15 of the mold frame, the fourth telescopic cylinder 264 in the air bag pushing mechanism 26 extends out, and the push plate 263 pushes the air bag 200 into the front opening 15 of the mold frame.

In summary, the downhole filling equipment, the downhole filling system and the downhole filling method provided by the invention can add the inflatable bag into the filling body, so that the filling body is provided with the holes, the filling material is saved, and the filling cost is reduced.

According to the needs, the above technical schemes can be combined to achieve the best technical effect.

The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.

Claims

1. A downhole filling apparatus, comprising a filling form (1) and an airbag supply device (2) for supplying an airbag (200) into the filling form (1);

the rear part of the filling mold frame (1) is provided with a mold frame rear opening (14), and the front part of the filling mold frame (1) is provided with at least one mold frame front opening (15) for clamping the inflatable bag (200);

the inflatable bag supply device (2) is positioned on the front side of the filling mould frame (1);

the inflatable bag supply device (2) can process an uninflated and continuous bag tube (100) into an inflatable bag (200), can push the inflatable bag (200) into the front opening (15) of the mold frame, and can seal the front opening (15) of the mold frame by the inflatable bag (200).

2. The downhole filling apparatus of claim 1,

the inflatable bag supply device (2) comprises a base (21), a support frame (22) fixedly installed on the base (21), a bag tube conveying mechanism (23) installed on the support frame (22), an upper clamping processing mechanism (24) installed on the support frame (22) in a vertically sliding mode, a lower clamping processing mechanism (25) installed on the support frame (22) in a vertically sliding mode, and an inflatable bag pushing mechanism (26) installed on the support frame (22) and used for pushing an inflatable bag (200) into the front opening (15) of the mold frame;

wherein the upper clamping mechanism (24) is capable of clamping and conveying the bag tube (100) downwards and sealing and cutting the bag tube (100);

the lower clamping processing mechanism (25) can open the bottom opening of the bag barrel (100), inflate the bag barrel (100) and seal the bag barrel (100);

the upper clamping processing mechanism (24) and the lower clamping processing mechanism (25) enable the upper end and the lower end of the section of bag tube (100) to be sealed and inflated to form an inflatable bag (200).

3. The downhole filling apparatus of claim 2,

a first driving component (222) for driving the upper clamping machining mechanism (24) to move up and down is connected between the support frame (22) and the upper clamping machining mechanism (24);

and a second driving component (223) for driving the lower clamping machining mechanism (25) to move up and down is connected between the support frame (22) and the lower clamping machining mechanism (25).

4. The downhole filling apparatus of claim 2,

the upper clamping machining mechanism (24) comprises an upper fixing plate (241), an upper movable plate (242), a pair of rollers (243), a cutter (244) and an upper welding gun (245);

the upper fixing plate (241) is connected with the supporting frame (22) in a sliding manner;

an upper movable plate driving member (2411) for driving the upper movable plate (242) to move is connected between the upper movable plate (242) and the upper fixing plate (241);

one of the rollers (243) is installed on the upper fixing plate (241), the other roller (243) is installed on the upper movable plate (242), and at least one of the rollers (243) is driven to rotate by a motor (2432);

the cutter (244) is located below the roller (243), and the cutter (244) is mounted on the upper fixing plate (241) by a cutter driving member (2441);

the upper welding torch (245) is positioned below the cutting knife (244), and the upper welding torch (245) is mounted on the upper fixing plate (241) by an upper welding torch driving member (2451).

5. The downhole filling apparatus of claim 4,

the upper fixing plate (241) is connected with the supporting frame (22) through a first telescopic oil cylinder (246);

the upper fixing plate (241) is connected to a piston rod (2462) of the first telescopic cylinder (246), and a cylinder (2461) of the first telescopic cylinder (246) is mounted on the support frame (22) in a vertically sliding manner.

6. The downhole filling apparatus of any one of claims 2 to 5,

the lower clamping machining mechanism (25) comprises a lower fixing plate (251), a lower movable plate (252), a lower welding gun (253), a pair of suckers (254) and an inflation pipe head (255);

the lower fixing plate (251) is connected with the support frame (22) in a sliding manner;

a lower movable plate driving member (2511) for driving the lower movable plate (252) to move is connected between the lower movable plate (252) and the lower fixed plate (251);

the lower welding gun (253) is mounted on the lower fixing plate (251) by a lower welding gun driving member (2531);

the suction cups (254) are positioned below the lower welding gun (253), wherein two suction cups (254) are respectively mounted on the lower fixing plate (251) and the lower movable plate (252) through suction cup driving means (2541);

the inflation pipe head (255) is positioned below the suction cup (254), the inflation pipe head (255) is installed on the lower fixing plate (251), and a nozzle (2551) of the inflation pipe head (255) faces upwards.

7. The downhole filling apparatus of claim 6,

the lower fixing plate (251) is connected with the support frame (22) through a second telescopic oil cylinder (256);

the lower fixing plate (251) is connected to a piston rod (2562) of the second telescopic oil cylinder (256), and a cylinder barrel (2561) of the second telescopic oil cylinder (256) is mounted on the support frame (22) in a vertically sliding manner.

8. The downhole filling apparatus of claim 2,

the inflatable bag pushing mechanism (26) comprises a pushing block (261) with a containing groove (2611) for containing the inflatable bag (200), a third telescopic oil cylinder (262) for driving the pushing block (261) to move back and forth, a push plate (263) for pushing out the inflatable bag (200) in the containing groove (2611) and a fourth telescopic oil cylinder (264) for driving the push plate (263) to move back and forth;

a cylinder barrel (2621) of the third telescopic oil cylinder (262) is fixedly arranged on the support frame (22), and the pushing block (261) is arranged on a piston rod (2622) of the third telescopic oil cylinder (262);

the push plate (263) is movably arranged in the accommodating groove (2611), the fourth telescopic oil cylinder (264) is installed on the push block (261), and the push plate (263) is connected with a piston rod (2642) of the fourth telescopic oil cylinder (264).

9. The downhole filling apparatus of claim 2,

the bag barrel conveying mechanism (23) comprises a bag barrel wheel (231) wound with a bag barrel (100) and a plurality of guide conveying wheels (232) used for guiding and conveying the bag barrel (100) from the bag barrel wheel (231) to the upper clamping processing mechanism (24);

the bag barrel wheel (231) is arranged on the front side of the supporting frame (22) through a bracket (233), and the guide conveying wheels (232) are arranged between the bag barrel wheel (231) and the upper clamping processing mechanism (24) at intervals.

10. Downhole filling apparatus according to claim 1, wherein the sides of the frame front opening (15) are provided with frame clamps (16) for clamping the airbag (200).

11. A downhole filling system, comprising a hydraulic prop (3), a grouting device (4) and a downhole filling device according to any of claims 1-10;

the filling mold frame (1) is positioned at the rear side of the hydraulic support (3), and the filling mold frame (1) is hinged with a support bottom plate (31) of the hydraulic support (3);

the inflatable bag supply device (2) is connected with the support bottom plate (31), and the inflatable bag supply device (2) is positioned on the front side of the filling mold frame (1);

the inflatable bag supply device (2) and the filling mould frame (1) can integrally move along with the hydraulic support (3);

the grouting equipment (4) is connected with the filling mould frame (1) through a pipeline.

12. A downhole filling method for performing downhole filling using the downhole filling system of claim 11, comprising the steps of:

s01: moving the filling mold frame (1) to a specified position of the goaf;

s02: the inflatable bag supply device (2) provides an inflatable bag (200) into the front opening (15) of the mold frame of the filling mold frame (1), and the inflatable bag (200) seals the front opening (15) of the mold frame;

s03: the grouting equipment (4) injects filling materials into the filling mould frame (1);

s04: after the filling material is initially solidified to form a section of filling body (300), the filling mold frame (1) and the filling body (300) are separated by demolding, and the inflatable bag (200) is reserved in the front end of the section of filling body (300);

s05: the hydraulic support (3) is moved forwards for a preset distance, the grouting equipment (4), the inflatable bag supply device (2) and the filling mold frame (1) are driven to move forwards, and the front end of the section of filling body (300) is positioned in an opening (14) at the rear part of the mold frame;

13. The downhole filling method of claim 12,

the step S02 includes the following steps:

s021: the bag tube conveying mechanism (23) upwards clamps the processing mechanism (24) to convey the bag tube (100);

s022: the upper clamping processing mechanism (24) clamps the bag barrel (100) and conveys the bag barrel (100) to the lower clamping processing mechanism (25) until the lower clamping processing mechanism (25) clamps the lower end of the bag barrel (100);

s023: the upper clamping processing mechanism (24) clamps the bag barrel (100) to move upwards to a designated position, and the lower clamping processing mechanism (25) clamps the bag barrel (100) to move downwards to the designated position;

s024: the upper clamping processing mechanism (24) seals the bag barrel (100);

s025: the lower clamping processing mechanism (25) inflates the bag tube (100), and then the bag tube (100) is sealed to form an inflation bag (200);

s026: the upper clamping processing mechanism (24) cuts the bag barrel (100) so that the inflatable bag (200) can be separated from the uninflated bag barrel (100);

s027: the upper clamping processing mechanism (24) and the lower clamping processing mechanism (25) release the inflatable bag (200);

s028: the inflatable bag pushing mechanism (26) pushes the inflatable bag (200) to the front opening (15) of the mould frame for sealing.

14. The downhole filling method of claim 13,

the step S027 includes the following steps:

the upper clamping processing mechanism (24) and the lower clamping processing mechanism (25) firstly extend out to the side of the filling mould frame (1), so that the inflatable bag (200) is loosened after the inflatable bag (200) is close to the filling mould frame (1).

15. The downhole filling method of claim 13,

the step S028 includes the following steps:

a third telescopic oil cylinder (262) in the inflatable bag pushing mechanism (26) extends out, a notch of an accommodating groove (2611) of the pushing block (261) is firstly butted with a front opening (15) of the die frame, a fourth telescopic oil cylinder (264) in the inflatable bag pushing mechanism (26) extends out, and a push plate (263) pushes the inflatable bag (200) into the front opening (15) of the die frame.