CN113153304A - Unmanned filling mining device and mining method for end slope working face of strip mine - Google Patents

Unmanned filling mining device and mining method for end slope working face of strip mine Download PDF

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Publication number
CN113153304A
CN113153304A CN202110412256.3A CN202110412256A CN113153304A CN 113153304 A CN113153304 A CN 113153304A CN 202110412256 A CN202110412256 A CN 202110412256A CN 113153304 A CN113153304 A CN 113153304A
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CN
China
Prior art keywords
filling
mining
unmanned
walking
coal
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Pending
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CN202110412256.3A
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Chinese (zh)
Inventor
马进功
刘金生
魏帅
赵媛媛
梁大海
张小峰
丁永成
马凯
张学瑞
张强
王威
石亮
石晓光
任晓力
刘长龙
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Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
Original Assignee
Taiyuan Institute of China Coal Technology and Engineering Group
Shanxi Tiandi Coal Mining Machinery Co Ltd
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Application filed by Taiyuan Institute of China Coal Technology and Engineering Group, Shanxi Tiandi Coal Mining Machinery Co Ltd filed Critical Taiyuan Institute of China Coal Technology and Engineering Group
Priority to CN202110412256.3A priority Critical patent/CN113153304A/en
Publication of CN113153304A publication Critical patent/CN113153304A/en
Pending legal-status Critical Current

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    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21CMINING OR QUARRYING
    • E21C47/00Machines for obtaining or the removal of materials in open-pit mines
    • E21C47/02Machines for obtaining or the removal of materials in open-pit mines for coal, brown coal, or the like
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F1/00Ventilation of mines or tunnels; Distribution of ventilating currents
    • E21F1/006Ventilation at the working face of galleries or tunnels
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F1/00Ventilation of mines or tunnels; Distribution of ventilating currents
    • E21F1/04Air ducts
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F13/00Transport specially adapted to underground conditions
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F15/00Methods or devices for placing filling-up materials in underground workings
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F15/00Methods or devices for placing filling-up materials in underground workings
    • E21F15/08Filling-up hydraulically or pneumatically
    • EFIXED CONSTRUCTIONS
    • E21EARTH DRILLING; MINING
    • E21FSAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
    • E21F17/00Methods or devices for use in mines or tunnels, not covered elsewhere
    • E21F17/04Distributing means for power supply in mines

Abstract

The invention provides an unmanned filling mining device and method for an end slope working face of a strip mine, wherein the device comprises an unmanned mining device, an unmanned filling device and a mobile control platform; the mobile control platform controls the unmanned mining device and the unmanned filling device; wherein the unmanned mining device comprises a transportation system and a draw-out ventilation system; the unmanned filling device comprises a multifunctional filling robot, a walking filling device and a press-in type ventilation system, the filling operation and the end slope mining procedures are matched and do not interfere with each other by utilizing the device, the mining and filling operation is realized in a manner of spatial separation and time parallelism, and the problems that in the mining and filling process, personnel cannot enter a cave, a filling pipeline is difficult to erect, the filling rate is low, the roof connecting effect is poor, the mining and filling are not coordinated, the resource recovery rate is low, the ecological environment is damaged, and the safety is poor are solved.

Description

Unmanned filling mining device and mining method for end slope working face of strip mine
Technical Field
The invention relates to the technical field of strip mine end slope coal mining, in particular to an unmanned filling mining device and method for an end slope working face of a strip mine.
Background
In recent years, the production and construction of open pit coal mines in China are rapidly developed, the output of the open pit coal mines breaks through 7 hundred million tons, and the proportion of the open pit coal mines in the total coal output is increased from less than 5% to 17%. The open pit coal mine in the easy-to-slide area in China accounts for more than 50% of the total amount, and if the high-steep side slope is adopted on the side slope of the open pit coal mine in the easy-to-slide area, safety accidents such as landslide and the like are easily caused; on the other hand, the mining depth of domestic large open pit coal mines reaches 300m to 600 m. Therefore, the gentle slope and the large mining depth mean that a great amount of side coal pressing resources exist in the open pit coal mine, and according to relevant data statistics, the newly increased side coal pressing amount per year in China exceeds 2000 ten thousand tons. The side coal pressing not only causes resource waste, but also seriously affects the safe production and reduces the resource recovery rate and the economic benefit.
The research of the side mining technology in China is relatively lagged compared with that in China, and the side mining is dependent on the blast mining or the development of a heading machine for a long time. In recent years, the continuous coal mining machine side wall mining process initially realizes hundred-meter-level mining on the basis of reserving protective coal pillars, but still has the problems of poor safety, low resource recovery rate and poor economic benefit. In consideration of the above problems, government authorities in various regions take relevant policy documents out of the mine continuously, and clearly require that the slope mining needs to be combined with a filling technology, so that green mining is realized, the problems of safety production accidents and ecological environment protection such as spontaneous combustion of coal seams and slope landslide of the slope are prevented, and the resource recovery rate and the economic benefit are improved.
Therefore, how to provide a new method suitable for open pit coal mine end slope filling mining to meet the requirements of new end slope mining potential and technical development is a problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The invention aims to solve at least one of the technical problems in the related technology to a certain extent, and provides an unmanned filling mining method for an end slope working face of an open-pit mine, which does not need personnel to enter and is based on a fluid medium post-mining filling method. The unmanned filling device for the working face of the end slope of the strip mine provided by the invention realizes operation through the synergistic effect of the multifunctional support robot and the self-moving equipment train, and solves the problems that personnel cannot enter the underground chamber in the process of mining and filling, filling pipelines are difficult to erect, the filling rate is low, the roof connecting effect is poor, mining and filling are not coordinated, the resource recovery rate is low, the ecological environment is damaged, and the safety is poor; the invention matches the filling operation and the end slope mining process in the process, and realizes the separation in space and the parallel in time of the mining and filling operation. The invention has advanced equipment, novel process and reasonable technology, and is a novel filling mining method which can completely match the end slope exploratory mining requirement of the open pit coal mine and realize remote and unmanned operation.
In view of the above, according to a first object of the invention, an unmanned mining and filling device for an end slope working face of a strip mine is provided, which comprises an unmanned mining device, an unmanned filling device and a mobile control platform; the mobile control platform controls the unmanned mining device and the unmanned filling device; wherein the unmanned mining device comprises a transportation system and a draw-out ventilation system;
the unmanned filling device comprises a multifunctional filling robot, a walking filling device and a press-in type ventilation system; under the control of the mobile control platform, the unmanned mining device finishes the mining of the coal pillar; and (5) the multi-functional filling robot is used for dragging the walking filling equipment to complete the underground mining filling.
Further, the multifunctional filling robot comprises a filling walking support, a support top plate, a hydraulic support, a pushing oil cylinder, a baffle plate, a sealing air bag and a high-definition visual device; the pushing oil cylinder is arranged on the filling walking bracket and is connected with the baffle; the sealing air bag is arranged around the baffle; the hydraulic prop is arranged on the filling walking support, and the upper end of the hydraulic prop is connected with a support top plate; the high-definition visual device arranged on the filling walking bracket comprises a camera and an illuminating lamp; the cameras are respectively a front camera, a rear camera and a telescopic probe; the front camera is arranged at the end part of the filling walking bracket; the rear camera is arranged at the tail part of the top plate of the bracket; the telescopic probe is arranged at the end part of the top plate of the bracket.
Preferably, the filling walking support is a filling self-walking support and is a crawler belt or rubber wheel type filling self-walking support.
Preferably, the multi-function machine further comprises a plurality of positioning devices for fixing the pipes, cables, etc., respectively.
Preferably, the pushing oil cylinder is connected with the baffle, the pushing oil cylinder is a telescopic hydraulic oil cylinder, and provides forward supporting force for the baffle, and the supporting range and the supporting area of the pushing oil cylinder can be changed according to the change of the section of the underground mining.
Preferably, the illuminating lamps are arranged at the front end and the rear end of the top plate of the bracket; wherein the front end and the rear end of the top plate of the bracket are also provided with a gas sensor and a dust sensor; can be lifted along with the lifting of the top plate of the bracket, and has the functions of walking guide, monitoring the slurry leakage condition of the front top and the two sides, controlling the filling distance and the like.
Preferably, the front camera and the rear camera are high-definition cameras and are used for observing a front bottom plate and leakage of slurry, and the distance between the rear part and the self-moving train is controlled.
Preferably, the sealed air bag is an air bag with a variable arbitrary shape, has certain elasticity and wear resistance, and can control the air in the air bag to be inflated and exhausted in real time according to the working condition of the contact surface. According to the invention, the sealing air bag is embedded around the baffle, and the pushing oil cylinder is combined to be a telescopic hydraulic oil cylinder, so that the slurry is prevented from running during filling and grouting.
Furthermore, the baffle is provided with a material injection hole and an exhaust hole; the material injection hole is arranged at the upper part of the baffle; the number of the exhaust holes is not less than two, and the exhaust holes are symmetrically arranged on two sides of the material injection hole; hole plugs matched with the material injection holes and the exhaust holes are respectively arranged outside the material injection holes and the exhaust holes; the retractable probe passes through the vent hole.
Preferably, but telescopic probe is preceding spy rotation type high definition digtal camera, can realize stretching into and withdraw from the exhaust hole by oneself, and the material condition is annotated in the observation of accessible telescopic probe stretching into the exhaust hole.
Furthermore, a sealing ring is arranged outside the material injection hole.
The invention is provided with a sealing ring outside the material injection hole to prevent the slurry leakage from the top.
Furthermore, monitoring strips are arranged on two sides of the inner side and the outer side of the baffle at intervals; and stress sensors and temperature sensors are arranged on the monitoring strips at intervals.
According to the invention, the stress sensor and the temperature sensor can be arranged at intervals on each monitoring strip, and the stress sensor and the temperature sensor are used for determining the liquid level height and initial setting of the filling body in the pressure and temperature filling process.
Preferably, the filling walking support is provided with a telescopic stable boot for positioning and fixing the filling walking support.
Furthermore, the walking filling equipment comprises equipment trains, a movable winch and a filling pump station which are sequentially arranged from inside to outside, wherein the equipment trains are sequentially connected in an end-to-end manner, the front end of each equipment train is connected with the multifunctional filling robot, and the tail end of each equipment train is connected with the movable winch; the filling pump station is used for filling materials through a filling steel pipe of which the front end is provided with a material filling pipe; the material injection pipe penetrates through the material injection hole; the front end of the filling steel pipe is arranged on the walking bracket device; the middle part is arranged on the equipment train, and the tail part is connected with the filling pump station.
Preferably, the material injection pipe is a telescopic material injection pipe; can realize self-extending in and out from the material injection hole.
Preferably, the filling steel pipes are sequentially connected end to end by adopting high-pressure hoses, so that the filling steel pipes are convenient to disassemble, assemble and move; the first section of filling steel pipe is suspended on the top plate of the bracket through a pipeline suspension device; the last section of filling steel pipe is connected with a pipeline of a filling pump station.
Preferably, the forced draft ventilation system comprises a local ventilator and an air duct; the air ducts are connected by air duct quick connectors; the last segment of air duct is connected with a local ventilator and arranged on the equipment train; the first section of air duct is suspended on the top plate of the bracket through a pipeline hanging device; form the forced ventilation system of wind barrel air intake and collecting cave air return.
Preferably, a plurality of equipment trains are fixed by using plug-in connecting pin shafts, are provided with walking drives, are provided with rotatable high-definition cameras and illuminating lamps at intervals, and are provided with fixed filling steel pipes, air ducts, equipment cables, signal transmission cables, high-pressure air pipes and other devices.
The multifunctional filling robot and the self-moving equipment train can be controlled by the mobile control platform, so that personnel can remotely intervene and control outside the underground, and the underground is unmanned.
Further, the transportation system comprises a continuous miner, a quick-connecting rubber belt transportation unit, a stepping walking platform and a movable unloading part which are sequentially arranged from inside to outside; the quick-connecting rubber belt conveying units are sequentially connected in an end-to-end manner, the head ends of the quick-connecting rubber belt conveying units are connected with the continuous miner, and the tail ends of the quick-connecting rubber belt conveying units straddle the stepping type walking platform; the tail part of the stepping type walking platform is in lap joint with the movable discharging part.
Preferably, the extraction type ventilation system is an air duct; the air ducts are connected by air duct quick connectors; the first section of air duct is connected with an air outlet of an airborne dust removal fan of the continuous miner; the front end of the air duct is hung on the quick-connecting adhesive tape transportation unit, and the tail air duct is hung on the stepping walking platform to form a draw-out ventilation system for air intake along the drift and air return of the air duct.
According to a second aspect of the present invention, there is provided a method of pack mining an end slope face of a strip mine, comprising the steps of:
(1) planning a plurality of mining caves and a plurality of coal pillars in the end slope mining area, and enabling the end slope mining area to be in a shape of 'primary mining cave-coal pillar-primary mining cave' by primary mining through exploding type cave stoping; the width of the coal pillar is not less than that of the initial mining chamber;
(2) simultaneously filling fluid medium into the plurality of initial mining wells and continuing end slope mining, wherein the number ratio of mining working faces to filling working faces is 1: 2-3; the advancing distance of the mining working face in unit time is equal to the sum of the filling steps of the filling working faces; the initial mining and initial filling is in a shape of 'filling body-coal column-filling body';
(3) re-mining and re-charging; stoping and filling the coal pillar mining cave between the filling bodies to form a shape of 'filling body-filling body';
(4) and (4) repeating the steps (1) to (3) until all the end slope coal is completely recovered.
According to the invention, the filling step pitch, the length of the material injection pipe and the number of filling working faces are determined according to the mining advancing speed and depth, the filling capacity of a pump station, the initial setting time of filling materials and the like, so that the mining speed is matched with the filling speed in time, namely the mining advancing distance in unit time is equal to the sum of the filling step pitches of a plurality of filling working faces. The mining method and the filling method specifically comprise the following steps:
mining method
Arranging mining, transporting and ventilating facilities such as a continuous miner and the like in an industrial wide field, completing connection, and advancing the continuous miner to the deep part of the edge under the guidance of navigation to complete the working procedures of breaking and loading coal; no support is needed in the underground mining; the quick-connecting rubber belt conveying unit conveys the mined coal out, and conveys the coal to a designated area through the stepping type walking platform and the movable discharging part to complete a coal conveying process; and in the mining process, after the quick-connecting rubber belt conveying unit advances for a certain length along with the advance of the continuous coal mining machine, the quick-connecting rubber belt conveying unit is conveyed by a forklift, the conveying length is prolonged by increasing the number of the rubber belt conveying units, and meanwhile, the air duct is increased to prolong the length of the ventilation system, so that all mining equipment in the mining cave is withdrawn after the specified mining depth is reached, and the steps are repeated to mine the next mining cave.
Filling method
In order to arrange filling pipelines such as filling walking supports and the like and ventilation facilities in an industrial field and complete connection, the filling walking supports reach a designated position under navigation guidance, then hydraulic supports are supported, stabilizing shoes are extended out, and a sealed air bag is inflated and pressurized, so that a filling space sealing process is rapidly completed; the equipment train advances under the traction of the filling travelling support, and a filling pipeline, an air duct, a cable, a signal transmission line, a high-pressure air pipe and the like are arranged on the equipment train; and starting a local ventilator and a filling pump station to perform a filling process, and monitoring working conditions through a stress sensor, a temperature sensor, a camera and the like in the filling process. And finally, compacting the filling body by pushing the oil cylinder to complete all filling processes of the current working face, and sequentially completing the 2 nd and 3 rd filling working faces. And cleaning the filling pipeline of the previous working face while filling the current working face, preparing the next working face to fill the closed space until the underground mining is completely filled, and performing the next group of filling work.
In the invention
Further, the method for stoping the coal pillar mining chamber between the filling bodies in the step (3) comprises the following steps of; dividing the coal pillars between the filling bodies into a re-mining planning excavation and re-mining planning narrow coal pillars symmetrically distributed on two sides of the re-mining planning excavation; and after the re-mining planning underground mining is completely recovered, sequentially recovering the re-mining planning narrow coal pillars.
Further, the fluid medium in the step (2) is paste-like body, paste body or high-water material which is formed by taking the stripping matter as aggregate and cementing with low-grade cement material.
Through the technical scheme, the invention provides an unmanned filling mining device and method for an end slope working face of a strip mine, and the device and method have the following technical effects: aiming at the problems that personnel cannot enter the cave in the side wall mining process, the filling pipeline is difficult to erect, the filling rate is low, the roof-contacting effect is poor, the mining and filling are not coordinated, the resource recovery rate is low, the ecological environment of a mining area is damaged, and the safety of a side slope is poor, the invention provides the open pit mine side wall unmanned filling mining method, which improves the resource recovery rate, the economic benefit and the safety, realizes safe, efficient and green mining, and provides a solution for the open pit mine side wall filling mining.
Drawings
The foregoing and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a layout diagram of a side-entry type initial mining and initial charging system of an open-pit coal mine;
FIG. 2 is a layout diagram of a highwall-penetrating type re-mining and re-charging system of an open-pit coal mine;
FIG. 3 is a schematic view of the mining system layout at location A-A of FIGS. 1 and 2;
FIG. 4 is a view of the filling system layout at position B-B of FIGS. 1 and 2;
FIG. 5 is a schematic view of a filling face equipment arrangement;
FIG. 6 is a schematic view of a filling baffle;
in the figure: 1-mining cave, 2-coal pillar, 3-coal bed, 4-overlying rock stratum, 5-filling body, 6-narrow coal pillar, 7-re-mining planning mining cave, 8-re-mining planning narrow coal pillar, 9-continuous miner, 10-rapid connecting adhesive tape transportation unit, 11-stepping walking platform, 12-air duct, 13-local ventilator, 14-movable unloading part, 15-mining coal, 16-forklift, 17-movable control platform, 18-filling walking bracket, 19-equipment train, 20-filling steel pipe, 21-movable winch, 22-filling pump station, 23-baffle, 24-telescopic filling pipe, 25-pushing cylinder, 26-front camera, 27-rear camera, 28-bracket top plate, 29-telescopic stable boots, 30-hydraulic supports, 31-pipeline hanging devices, 32-high-pressure hoses, 33-air duct quick connectors, 34-pin shafts, 35-sealing air bags, 36-stress sensors, 37-temperature sensors, 38-material injection holes, 39-sealing rings, 40-exhaust holes and 41-telescopic probes.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments of the present invention and features of the embodiments may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
The invention provides an unmanned filling mining device and method for an end slope working face of a strip mine, which realize operation through the synergistic action of a multifunctional support robot and a self-moving equipment train, solve the problems of incapability of entering a cave by personnel, difficult erection of filling pipelines, low filling rate, poor roof-contacting effect, inconsistent mining and filling, low resource recovery rate, damage to ecological environment and poor safety in the mining and filling process, firstly 'mining cave-coal pillar-mining cave' to a corresponding 'filling body-mining cave-filling body' to a final 'filling body-filling body' to complete filling replacement by utilizing the filling mining device without personnel entry and based on a fluid medium in a post-mining cave filling method, and solve the problems of low resource recovery rate, low cost, high cost, low cost and the like caused by permanent coal pillars left between exploratory end slope mining caves, The coal pillar is unreasonably reserved, so that the problem of unstable highwall is solved.
Example 1
An unmanned filling mining device for an end slope working face of a strip mine comprises an unmanned mining device, an unmanned filling device and a mobile control platform 17; wherein the mobile control platform 17 controls the unmanned mining device and the unmanned filling device; wherein the unmanned mining device comprises a transportation system and a draw-out ventilation system;
the unmanned filling device comprises a multifunctional filling robot, a walking filling device and a press-in type ventilation system; under the control of the mobile control platform 17, the unmanned mining device finishes mining the coal pillar 2; and (5) finishing the filling of the underground mining 1 by using a multifunctional filling robot to pull a walking filling device.
The multifunctional filling robot comprises a crawler type filling self-walking support, a support top plate 28, a hydraulic support 30, a telescopic hydraulic oil cylinder, a baffle plate 23, a sealed air bag 35, a gas sensor, a dust sensor and a high-definition visual device; the pushing oil cylinder 25 is arranged on the filling walking bracket 18 and is connected with the baffle 23; the sealing air bag 35 is arranged around the baffle plate 23; the hydraulic prop 30 is arranged on the filling walking bracket 18, and the upper end of the hydraulic prop is connected with the bracket top plate 28; a telescopic stable boot 29 is arranged below the filling walking bracket 18; the filling walking bracket 18 is provided with a high-definition visual device which comprises a high-definition camera and a lighting lamp; the gas sensor, the dust sensor and the illuminating lamp are arranged at the front end and the rear end of the support top plate 28; can be lifted and lowered along with the lifting and lowering of the support top plate 28; the cameras are respectively a front camera 26, a rear camera 27 and a forward-exploring rotary high-definition camera; the front camera 26 is arranged at the end part of the filling walking bracket 18; the rear camera 27 is arranged at the tail part of the support top plate 28; a retractable probe 41 is provided at the end of the carrier top plate 28. The baffle 23 is provided with a material injection hole 38 and an exhaust hole 40, a sealing ring 39 is additionally arranged outside the material injection hole 38, and the material injection hole 38 is arranged at the upper part of the baffle 23; the number of the exhaust holes 40 is not less than two, and the exhaust holes are symmetrically arranged on two sides of the material injection hole 38; hole plugs matched with the material injection holes 38 and the exhaust holes 40 are arranged outside the material injection holes and the exhaust holes respectively; the rotary high-definition camera capable of advancing can automatically extend into and withdraw from the exhaust hole 40. Monitoring strips are arranged at intervals on the two sides of the inner side and the outer side of the baffle 23; the monitoring strip is provided with a stress sensor 36 and a temperature sensor 37 at intervals.
The walking filling equipment comprises equipment trains 19, a movable winch 21 and a filling pump station 22 which are arranged from inside to outside in sequence, wherein the equipment trains 19 are sequentially connected in an end-to-end mode by using a plug-in connecting pin shaft 34 for fixing, the self-walking driving is carried out, the front end of the first equipment train 19 is connected with a multifunctional filling robot, the last equipment train 19 is connected with the movable winch 21 and is provided with a rotatable high-definition camera and a lighting lamp at intervals, and devices such as a fixed filling steel pipe 20, an air duct 12, an equipment cable, a signal transmission cable and a high-pressure air pipe are arranged; wherein, the filling pump station 22 injects materials through a filling steel pipe 20 provided with a telescopic material injection pipe 24 at the front end; the telescopic material injection pipe 24 passes through the material injection hole 38; the filling steel pipes 20 are sequentially connected end to end by adopting high-pressure hoses 32, and the first section of filling steel pipe 20 is suspended on the support top plate 28 through a pipeline hanging device 31; the last section of filling steel pipe 20 is connected with the pipeline of a filling pump station 22.
The press-in ventilation system comprises a local ventilator 13 and an air duct 12; the plurality of air ducts 12 are connected by air duct quick connectors 33; the last section of air duct 12 is connected with a local ventilator 13 and arranged on an equipment train 19; the first section of air duct 12 is suspended on the support top plate 28 through a pipeline hanging device 31; form a press-in ventilation system for air inlet of the air duct 12 and air return of the chamber 1.
The transportation system comprises a continuous miner 9, a quick-connecting rubber belt transportation unit 10, a stepping type walking platform 11 and a movable unloading part 14 which are arranged from inside to outside in sequence; the quick-connecting rubber belt conveying units 10 are sequentially connected in an end-to-end manner, the head ends of the quick-connecting rubber belt conveying units are connected with the continuous miner 9, and the tail ends of the quick-connecting rubber belt conveying units straddle the stepping walking platform 11; the tail part of the stepping walking platform 11 is overlapped with the movable discharging part 14.
The draw-out type ventilation system is an air duct 12; the plurality of air ducts 12 are connected by air duct quick connectors 33; the first section of air duct 12 is connected with an air outlet of an airborne dust removal fan of the continuous miner 9; the front end of an air duct 12 is hung on the quick-connecting rubber belt conveying unit 10, and the tail air duct 12 is hung on the stepping type walking platform 11 to form a draw-out type ventilation system for air intake along the drift 1 and air return of the air duct 12.
The method for filling and mining the end slope working face of the strip mine by using the device comprises the following steps:
(1) planning a plurality of mining caves 1 and a plurality of coal pillars 2 in the end slope mining area, and performing mining by using the exploring mining cave 1 in the initial mining to enable the end slope mining area to be in a shape of 'initial mining cave-coal pillar 2-initial mining cave'; the width of the coal pillar 2 is not less than that of the initial mining cave;
(2) simultaneously filling fluid medium into the plurality of initial mining wells and continuing end slope mining, wherein the number ratio of mining working faces to filling working faces is 1: 2-3; the advancing distance of the mining working face in unit time is equal to the sum of the filling steps of the filling working faces; the initial mining and initial filling is in the shape of a filler 5-a coal pillar 2-a filler 5;
(3) re-mining and re-charging; dividing the coal pillars 2 between the filling bodies 5 into a re-mining planning excavation 7 and re-mining planning narrow coal pillars 8 symmetrically distributed on two sides of the re-mining planning excavation 7; after the re-mining planning excavation 7 is recovered, sequentially recovering re-mining planning narrow coal pillars 8, and performing re-mining and filling on the excavation 1 of the coal pillar 2 between the filling bodies 5 to form a filling body 5-a filling body 5;
(4) and (4) repeating the steps (1) to (3) until all the end slope coal is completely recovered.
The embodiments of the present invention will be further described with reference to the accompanying drawings 1 to 6.
Planning a working surface and coordinating the mining and charging relation: as shown in fig. 1, the highwall mining area is divided into a plurality of sections, and the sections are planned according to geological conditions, cutting width of a continuous miner 9, width of a narrow coal pillar 6 reserved during re-mining and other factors, and are covered with an overlying rock layer 4, a mining cave 1 and a coal pillar 2. After the mining planning is finished, the length of the filling bodies 5, the length of the telescopic filling pipe 24 and the number of filling working faces are determined according to the mining propelling speed and depth, the filling capacity of a pump station, the initial setting time of filling materials and the like, and the matching of the mining speed and the filling speed is ensured, namely the mining propelling distance in unit time is equal to the sum of the lengths of the filling bodies 5 of a plurality of filling working faces. As shown in fig. 2, after the initial mining in the section is completed, the mining equipment immediately returns to the position of the first mining cave of the section left coal pillar 2 for re-mining work, the coal pillars 2 are sequentially recovered, at the moment, the re-mining planning cave 7 is reserved, the re-mining planning narrow coal pillars 8 are reserved on two sides, the filling working face immediately returns to the starting position of the section after the initial filling work is completed, and the re-filling work is sequentially completed.
The mining method and the filling method of the invention are as follows:
as shown in fig. 3, the mining equipment is installed in the industrial square on the periphery of the side wall, and the continuous miner 9, the rapid adhesive tape transportation unit 10, the stepping walking platform 11, the wind barrel 12, the movable discharging part 14 and the movable control platform 17 are arranged from the mining working face to the outside in sequence. The front end of the first section of the quick connecting rubber belt conveying unit 10 is connected with the tail part of the conveying part of the continuous miner 9, the middle section of the quick connecting rubber belt conveying unit 10 is connected end to end, the last section of the quick connecting rubber belt conveying unit 10 straddles on a track of the conveying part of the stepping type walking platform 11, and the tail part of the conveying part of the stepping type walking platform 11 is in lap joint with the movable discharging part 14, so that a complete conveying system is formed. The wind cylinders 12 are hung on the quick-connecting rubber belt conveying unit 10, the wind cylinders 12 are connected with each other, the front end of the first wind cylinder 12 is connected with the air outlet of the airborne dust removal fan 9 of the continuous miner, and the rear end of the last wind cylinder 12 is hung on the stepping type traveling platform 11, so that a draw-out type ventilation system for air intake along the mining cave 1 and air return of the wind cylinders 12 is formed.
And (3) carrying out side mining: when mining, after the mobile control platform 17, the mobile unloading part 14, the stepping type walking platform 11, the quick-connecting rubber belt conveying unit 10 and the dust removal fan of the continuous miner 9 are sequentially started, the continuous miner 9 raises the cutting drum to cut the coal seam 3 from top to bottom, and the mining cave 1 is not supported. After the cutting cycle is completed, the continuous miner 9 advances forward, the quick-connecting rubber belt conveying unit 10 advances synchronously, after a certain distance is explored, when the quick-connecting rubber belt conveying unit 10 can be accommodated on the conveying part of the stepping type traveling platform 11, the coal mining operation is stopped, the quick-connecting rubber belt conveying unit 10 is placed on the conveying part track of the stepping type traveling platform 11 by the forklift 16 and is connected with the front quick-connecting rubber belt conveying unit 10, and the conveying system is prolonged. Meanwhile, an air duct 12 is hung on the quick-connection adhesive tape transportation unit 10 and is quickly connected with the front air duct 12 and the rear air duct 12, so that a ventilation system is prolonged. The produced coal 15 is transported to a designated storage location by auxiliary transportation equipment such as a truck or a loader. And stopping mining after the specified mining depth is reached, withdrawing mining equipment, and mining the next mining cave 1.
As shown in fig. 4, the filling equipment is installed: from the filling working face to the outside, a filling travelling support 18, an equipment train 19, a local ventilator 13, a movable winch 21 and a filling pump station 22 are arranged in sequence. The front end of the first equipment train 19 is connected with the tail part of the continuous miner 9, the middle equipment train 19 is connected end to end and fixed by a pin shaft 34, and the last equipment train 19 is connected with a movable winch 21. The filling steel pipe 20, the air duct 12, the equipment cable, the signal transmission line and the high-pressure air pipe are arranged on the equipment train 19. The filling steel pipes 20 are connected through a high-pressure hose 32, so that the disassembly, the assembly and the movement are convenient, the first section of filling steel pipe 20 is suspended on the support top plate 28 through a pipeline hanging device 31, the front end of the first section of filling steel pipe is provided with a telescopic filling pipe 24, and the last section of filling steel pipe 20 is connected with a pipeline 22 of a filling pump station 22. The air cylinders 12 are connected by the air cylinder quick connector 33, so that the air cylinders are convenient to disassemble and assemble, the first air cylinder 12 is suspended on the support top plate 28 through the pipeline hanging device 31, and the last air cylinder 12 is connected with the local ventilator 13, so that a press-in ventilation system for air intake of the air cylinders and air return of the drift 1 is formed.
And (3) carrying out underground mining 1 filling: according to the mining and charging coordination plan, filling working faces are arranged in the industrial square, and 3 filling working faces are taken as 1 group for explanation. As shown in fig. 5 and 6, the filling traveling support 18 travels in a crawler type, enters the underground mining 1 under the guidance of navigation, is connected with the equipment train 1918, the filling pipeline 20 and the air duct 12 one by one in the traveling process, supports the hydraulic prop 30 and the telescopic stabilizing shoe 29 after reaching a designated position, adjusts the baffle 23 through the pushing oil cylinder 25, and inflates and pressurizes the sealed air bag 35 to quickly form a closed filling space. The filling pump station 22 injects the filling material into the closed space through the filling steel pipe 20, the high-pressure hose 32 and the telescopic filling pipe 24. The telescopic material injection pipe 24 passes through the material injection hole 38, and a sealing ring 39 is added between the telescopic material injection pipe and the baffle plate 23 to prevent slurry leakage from a top connection. The telescopic material injection pipe 24 slowly extends and retracts in the filling process, so that the filling material is uniformly distributed. Monitoring strips are arranged on two sides of the baffle 23, a stress sensor 36 and a temperature sensor 37 are arranged on each monitoring strip at intervals, the monitoring strips are used for determining the liquid level height of the filling body 5 in the filling process according to pressure and temperature, and the monitoring strips are used for determining the initial setting condition of the material after the filling is finished. In the whole process, the local ventilator 13 is always in the air supply state, the running condition of the equipment is monitored through the front camera 26 and the rear camera 27, and all monitoring images and data are sent to the mobile control platform 17 through signal transmission lines. After the filling is completed, the filling operation is stopped, and the filling body 5 is compacted by the pushing cylinder 25. And after the filling work of the current underground mining 1 is finished, sequentially finishing the 2 nd and 3 rd filling working faces. While the 2 nd filling face is being filled, the first 1 face filling lines are cleaned. And (3) cleaning the filling pipeline of the 2 nd working surface while filling the 3 rd filling working surface, preparing the next circulation filling work, namely withdrawing the traveling filling support 18 of the 1 st filling working surface by using a movable winch 21, disassembling the equipment train 19, the filling steel pipe 20 and the air duct 12, and preparing to fill the closed space. The operation steps are repeated in the group until 3 drift chambers 1 are completely filled, and then the next group is filled.
And repeating the slope mining and the mining and cave 1 filling work until the mining and filling work of all sections of the whole slope is completed.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. An unmanned mining and filling device for an end slope working face of a strip mine comprises an unmanned mining device, an unmanned filling device and a mobile control platform; wherein the mobile control platform controls the unmanned mining device and the unmanned filling device; it is characterized in that the preparation method is characterized in that,
wherein the unmanned mining device comprises a transportation system and a drawout ventilation system;
the unmanned filling device comprises a multifunctional filling robot, a walking filling device and a press-in type ventilation system; under the control of the mobile control platform, the unmanned mining device finishes the mining of the coal pillar; and the multifunctional filling robot is utilized to pull the walking filling equipment to finish the underground mining filling.
2. The unmanned mining and filling device for the end slope working surface of the strip mine according to claim 1, wherein the multifunctional filling robot comprises a filling walking support, a support top plate, a hydraulic support, a pushing cylinder, a baffle plate, a sealing air bag and a high-definition visual device; the pushing oil cylinder is arranged on the filling walking bracket and is connected with the baffle; the sealing air bag is arranged around the baffle; the hydraulic prop is arranged on the filling walking support, and the upper end of the hydraulic prop is connected with the support top plate; the high-definition visual device arranged on the filling walking support comprises a camera and an illuminating lamp; the cameras are respectively a front camera, a rear camera and a telescopic probe; the front camera is arranged at the end part of the filling walking bracket; the rear camera is arranged at the tail part of the top plate of the bracket; the telescopic probe is arranged at the end part of the top plate of the bracket.
3. The unmanned mining and filling device for the end slope working surface of the strip mine according to claim 2, wherein the baffle is provided with a material injection hole and an exhaust hole; the material injection hole is arranged at the upper part of the baffle; the number of the exhaust holes is not less than two, and the exhaust holes are symmetrically arranged on two sides of the material injection hole; hole plugs matched with the material injection holes and the exhaust holes are respectively arranged outside the material injection holes and the exhaust holes; the retractable probe penetrates through the exhaust hole.
4. The unmanned filling device for the working surface of the end slope of the open-pit mine according to claim 3, wherein a sealing ring is additionally arranged on the material injection hole.
5. The unmanned open pit mine end slope working surface filling device according to any one of claims 2 to 4, wherein monitoring strips are arranged at intervals on both sides of the inner side and the outer side of the baffle; and stress sensors and temperature sensors are arranged on the monitoring strips at intervals.
6. The unmanned filling device for the working surface of the end slope of the open pit mine according to any one of claims 1 to 5, wherein the walking filling equipment comprises an equipment train, a movable winch and a filling pump station which are sequentially arranged from inside to outside, wherein a plurality of the equipment trains are sequentially connected in an end-to-end manner, the front end of each equipment train is connected with the multifunctional filling robot, and the tail end of each equipment train is connected with the movable winch; the filling pump station injects materials through a filling steel pipe of which the front end is provided with a telescopic material injection pipe; the material injection pipe penetrates through the material injection hole; the front end of the filling steel pipe is arranged on the walking bracket device; the middle part is arranged on the equipment train, and the tail part is connected with the filling pump station.
7. The unmanned open pit end slope face filling device according to any one of claims 1 to 6, wherein the transportation system comprises a continuous miner, a fast-joint tape transportation unit, a stepping walking platform and a movable unloading part which are arranged in sequence from inside to outside; the quick-connecting rubber belt conveying units are sequentially connected in an end-to-end manner, the head ends of the quick-connecting rubber belt conveying units are connected with the continuous miner, and the tail ends of the quick-connecting rubber belt conveying units straddle the stepping type walking platform; the tail part of the stepping type walking platform is in lap joint with the movable discharging part.
8. A method of cut-and-fill mining an end slope face of a strip mine using the apparatus defined in any one of claims 1 to 7, comprising the steps of:
(1) planning a plurality of mining caves and a plurality of coal pillars in the end slope mining area, and enabling the end slope mining area to be in a shape of 'primary mining cave-coal pillar-primary mining cave' by primary mining through exploding type cave stoping; the width of the coal pillar is not less than that of the initial mining chamber;
(2) simultaneously filling fluid medium into the initial mining pits and continuing end slope mining, wherein the number ratio of mining working faces to filling working faces is 1: 2-3; the advancing distance of the mining working face in unit time is equal to the sum of the filling steps of the filling working faces; the initial mining and initial filling is in a shape of 'filling body-coal column-filling body';
(3) re-mining and re-charging; stoping and filling the coal pillar mining cave between the filling bodies to form a shape of 'filling body-filling body';
(4) and (4) repeating the steps (1) to (3) until all the end slope coal is completely recovered.
9. The method of claim 8 wherein said pillar extraction between said packs in step (3) is by; dividing the coal pillars among the filling bodies into a re-mining planning excavation and re-mining planning narrow coal pillars symmetrically distributed on two sides of the re-mining planning excavation; and after the re-mining planning underground mining is completely recovered, sequentially recovering the re-mining planning narrow coal pillars.
10. The method according to claim 8, wherein the fluid medium in the fluid medium filling in step (2) is paste-like, paste-like or high-water material formed by using a stripper as an aggregate and cementing with a low-grade cement material.
CN202110412256.3A 2021-04-16 2021-04-16 Unmanned filling mining device and mining method for end slope working face of strip mine Pending CN113153304A (en)

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