CN113236357B

CN113236357B - Remote movable filling system and method

Info

Publication number: CN113236357B
Application number: CN202110670683.1A
Authority: CN
Inventors: 赵瑜; 谭智勇; 王超林; 毕靖
Original assignee: Guizhou University
Current assignee: Guizhou University
Priority date: 2021-06-17
Filing date: 2021-06-17
Publication date: 2022-09-23
Anticipated expiration: 2041-06-17
Also published as: CN113236357A

Abstract

The invention relates to a remote movable filling system and a method, which comprises a movable trolley, a slurry stirrer, a slurry pumping device, a second control chamber and a filling device, wherein the slurry stirrer stirs slurry, after the slurry is stirred, a control valve is opened, the slurry in a drum-type stirring tank is discharged into a storage chamber, the slurry in the storage chamber is discharged into a mixing chamber of a slurry pumping device through a first conduit and a first feeding pump, the slurry and the gas are mixed, after the mixing is finished, the mixed slurry in the mixing chamber is discharged into a slurry storage chamber in a second control chamber through a second conduit and a second feeding pump, and then, the slurry in the slurry storage chamber in the second control chamber is discharged into a pressure pump slurry conveying pipe of the filling device through a third guide pipe and a third feeding pump, the moving trolley moves, and the goaf is filled through a slurry conveying head at the other end of the pressure pump slurry conveying pipe. In the invention, the goaf far away can be filled by transporting the slurry by the movable trolley and treating the slurry.

Description

Remote movable filling system and method

Technical Field

The invention relates to the field of goaf filling, in particular to a remote movable filling system.

Background

With the rapid development of economy in China, the demands of the nation and people on coal and various minerals are higher and higher, mineral resources are limited, and after the mining of the surface layer minerals is almost completed, the mining of shallow layer minerals cannot meet the requirements of social development, and the mining area of the shallow layer minerals is gradually developed from the original shallow layer mining to deep layer mining.

At present, an underground dead zone becomes an important problem for restricting mine development and urbanization development of the upper part of the goaf, collapse accidents are easy to happen along with mining from a mine to a deep part, and due to the influence of the goaf, a plurality of buildings cannot be built, so that inconvenience is brought to life and production of people; a large amount of stopes, chambers and roadways remained in underground mining are not processed in time, so that serious hidden dangers are brought to surface mining, and meanwhile, serious threats are brought to mine workers and equipment. The treatment of the goaf is generally divided into three methods, namely, the goaf is treated by a caving method, the goaf is treated by a sealing method and the goaf is treated by a filling method.

In the case of a goaf treated by the filling method, when the mining distance is long, the goaf left after mining minerals is often a problem. Mineral is transported to the goaf through a pipeline for filling, the pumping power is insufficient, a plurality of power devices need to be erected, the cost is high, the operation mode has the biggest defect that the operation mode cannot be moved, when a certain area is filled, the pumping device needs to be disassembled and assembled in a complicated mode, the operation is redundant, complicated and time-wasting, and when slurry is pumped, the slurry is reduced in flowability due to long-time transportation, and the slurry is not beneficial to filling operation. The traditional manual transportation of mineral filling is not suitable for long-distance and long-time filling operation.

Disclosure of Invention

Aiming at the problems in the prior art, the first technical problem to be solved by the invention is as follows: when the mining distance is long, the goaf left after mining minerals is difficult to fill.

The second technical problem to be solved is: how to fill the goaf conveniently.

In order to solve the first technical problem, the invention adopts the following technical scheme: a remote movable filling system comprises a movable trolley, a slurry stirrer, a slurry pumping device, a second control room and a filling device.

The movable trolley comprises a trolley body, and the slurry stirrer, the slurry pumping device, the second control room and the filling device are all arranged on the trolley body.

The slurry mixer comprises a storage chamber, a drum-type mixing tank, a first mixing rotor and a control valve; an upper end opening of the storage chamber; the drum-type stirring tank is arranged above the storage chamber and is fixedly connected with the storage chamber, a cavity is arranged in the drum-type stirring tank, a feeding hole is formed in the upper end of the drum-type stirring tank, a discharging hole is formed in the lower end of the drum-type stirring tank, a control valve is arranged on the discharging hole, and the discharging hole is opposite to an opening in the upper end of the storage chamber cavity; the first stirring rotor is arranged in a cavity of the drum-type stirring tank, and two ends of the first stirring rotor are rotatably connected with the inner wall of the drum-type stirring tank.

The slurry pumping device comprises a gas tank, a gas pipe, a gas pump and a mixing chamber; the air outlet of the air tank is fixedly communicated with one end of the air pipe, the other end of the air pipe is fixedly communicated with the air inlet of the air pump, and the air outlet of the air pump is fixedly communicated with the mixing chamber; when the air pump operates, gas in the air tank discharges the gas into the slurry in the mixing chamber through the air pipe to form bubbles, the bubbles move to the surface of the slurry from the bottom of the slurry under the action of atmospheric pressure, and in the moving process of the bubbles from top to bottom, the bubbles have certain force on the slurry above, so that the slurry is divided, and the bubbles gather together to play a mixing role in the upward moving process of the slurry below, so that the moisture in the slurry and the filling particles can be fully mixed. But still a few of small bubbles still can not upwards float under the effect of atmospheric pressure, are always in the slurry, separate the slurry always, can play the effect that prevents the slurry and condense.

And a slurry storage chamber is arranged in the second control chamber.

The filling device comprises a first connecting plate, a second connecting plate, a third connecting plate, a damping cylinder, a spring, a fixing pad, an elastic protection pad, a pressure pump pulp conveying pipe, a telescopic corrugated pipe and a pulp conveying head; the fixing pad, the elastic protection pad, the third connecting block, the second connecting plate and the first connecting plate are sequentially connected from bottom to top; the upper end surface of the fixed pad is fixedly connected with the lower end surface of the elastic protection pad; the upper end face of the elastic protection pad is fixedly connected with the lower end face of the third connecting block through a first spring; the upper end face of the third connecting block is fixedly connected with the lower end face of the second connecting plate through a second spring; the upper end face of the second connecting plate is fixedly connected with the lower end face of the first connecting plate through a damping cylinder; the first spring, the second spring and the damping air cylinder can prevent the movable trolley from bumping up and down to cause unknown risks due to overlarge vibration of the head of the movable trolley, and reduce load generated in the pressure slurry conveying process. The starting end of the pressure pump slurry conveying pipe sequentially and vertically penetrates through the third connecting block, the second connecting plate and the first connecting plate; the pressure pump mortar conveying pipe is characterized in that the tail end of the mortar conveying pipe of the pressure pump is communicated with one end of a telescopic corrugated pipe, and the other end of the telescopic corrugated pipe is communicated with a connecting port of the mortar conveying head.

The storage chamber is communicated with the mixing chamber through a first conduit; the mixing chamber is connected with the slurry storage chamber in the second control chamber through a second conduit; the slurry storage chamber in the second control chamber is communicated with the starting end of the slurry conveying pipe of the pressure pump through a third guide pipe; the first conduit, the second conduit and the third conduit are respectively provided with a first feeding pump, a second feeding pump and a third feeding pump.

The slurry is stirred for the first time through a first stirring rotor in a drum-type stirring tank, after the stirring is finished, a control valve is opened, the slurry in the drum-type stirring tank is discharged into a storage chamber, the slurry in the storage chamber is discharged into a mixing chamber of a slurry pumping device through a first guide pipe and a first feeding pump, air in an air tank is pumped out through an air pump, the gas is discharged into the slurry in the mixing chamber through an air pipe, the slurry and the gas are mixed, after the mixing is finished, the mixed slurry in the mixing chamber is discharged into a slurry storage chamber in a second control chamber through a second guide pipe and a second feeding pump, then the slurry in a slurry storage chamber in the second control chamber is discharged into a slurry conveying pipe of a pressure pump of a filling device through a third guide pipe and a third feeding pump, and a slurry conveying head at the other end of the slurry conveying pipe is used for filling a goaf.

Preferably, the first stirring rotor includes a first stirring shaft and a plurality of stirring blades; two ends of the first stirring shaft are respectively rotatably connected with the drum-type stirring tank; one end of the stirring blade is fixedly connected with the first stirring shaft; the stirring blades are divided into two groups, the stirring blades in each group are arranged along the length direction of the first stirring shaft, the distance between every two adjacent stirring blades in the same group is equal, and the connecting parts of the stirring blades in different groups and the first stirring shaft are alternately arranged; the stirring blade and the first stirring shaft form a first stirring rotor structure like a wolf tooth rod, and the stirring blade and the first stirring shaft are arranged mainly for enabling the stirring blades to enter the slurry body more uniformly, so that the slurry body is stirred more fully along with the rotation of the stirring blades.

Preferably, the first stirring rotor includes a first stirring shaft, a plurality of stirring blades, a connecting ring and two connecting rods; the connecting ring is arranged on the first stirring shaft and can slide in the length direction of the first stirring shaft; it should be noted that the connecting ring can only slide on the first stirring shaft, but cannot rotate along the axis of the first stirring shaft; the utility model discloses a mixing shaft, including two connecting rods, connecting ring, go-between, connecting rod and connecting rod.

Preferably, the storage chamber further comprises a guide plate, two second stirring rotors and two stirring tanks; the guide plate is of an inverted structure formed by intersecting two inclined plates, is arranged right below the control valve, and two ends of the guide plate are fixedly connected with the inner wall of the storage chamber respectively; under the action of gravitational potential energy, the slurry slides from the upper part to the lower part of the inclined plate, a certain buffering effect is achieved, the impact of the falling slurry on the bottom surface of the storage chamber is reduced, and the vertically falling slurry is divided into two parts which are respectively conveyed to corresponding positions. The two stirring tanks are arranged in the storage chamber, are respectively and correspondingly positioned below the guide plate, and the openings of the two stirring tanks are positioned right below the bottom ends of the two inclined plates forming the guide plate; the two ends of the stirring tank are spaced from at least one end of the inner wall of the adjacent storage chamber; the second stirring rotor comprises a second stirring shaft and a spiral stirring blade; the second stirring shaft is positioned in the stirring tank, the second stirring shaft is parallel to the length direction of the stirring tank, and two ends of the second stirring shaft are rotatably connected with the inner wall of the storage chamber; the spiral stirring blade is arranged on the second stirring shaft, the second stirring shaft is arranged at the center of the spiral stirring blade and is fixedly connected with the spiral stirring blade, and the spiral stirring blade is a spiral blade. The slurry comes through the deflector direction, and the slurry at first gets into the stirred tank, and the motor drives the rotation of second (mixing) shaft to it is rotatory to drive spiral stirring leaf, and spiral stirring leaf stirs the slurry in the stirred tank, and further mixes the processing to the slurry, and transports the bottom surface to the storeroom with the slurry in the stirred tank from the clearance department between stirred tank tip and the storeroom inner wall.

Preferably, the device also comprises a first control room; a first controller is arranged in the first control chamber; the first control chamber is arranged between the slurry mixer and the slurry pumping device and is fixedly connected with the movable trolley; the first controller is electrically connected with the first feeding pump, the control valve, the driving part of the first stirring shaft, the driving part of the connecting ring and the driving parts of the two second stirring shafts. The controller controls the first feeding pump, the control valve, the first stirring shaft, the connecting ring and the two second stirring shafts, so that the automatic actions of the first feeding pump, the control valve, the first stirring shaft, the connecting ring and the two second stirring shafts can be realized. The drive component of the first agitator shaft and the drive components of the two second agitator shafts may be motors.

Preferably, the device further comprises a pressure measuring instrument, wherein the pressure measuring instrument is arranged on the pressure pump slurry conveying pipe between the second connecting plate and the first connecting plate; a second controller is also arranged in the second control chamber; and the second controller is electrically connected with the air pump, the pressure gauge, the second feeding pump and the third feeding pump. The air pump, the pressure gauge, the second feeding pump and the third feeding pump are controlled by the controller, so that the air pump, the pressure gauge, the second feeding pump and the third feeding pump can automatically act.

Preferably, the drum-type stirring tank has a structure with two small ends and a large middle part, and the control valve is positioned at the lowest part of the drum-type stirring tank. And opening the control valve to enable the slurry in the drum-type stirring tank to be completely discharged into the storage chamber under the action of gravitational potential energy. Preferably, the moving trolley further comprises a plurality of tires and press wheels; the tires are respectively and rotatably connected to the lower end surface of the vehicle body; the tires are connected with an internal motor of the vehicle body; the pinch roller is rotationally connected to the front end of the vehicle body; the width of the pinch roller is larger than or equal to that of the car body. Under the drive of a plurality of tires, the pinch roller rotates on the ground, rolls the ground, guarantees that the bottom surface in the place ahead of the travelling car is compacted completely, prevents that the unevenness of the road section in the place ahead from leading to the travelling car to incline, jolts the emergence of the factor such as the process, has guaranteed the stationarity of the travelling car in the removal process.

In order to solve the second technical problem, the invention adopts the following technical scheme: a remote movable filling method adopts the remote movable filling system, and comprises the following steps:

s100: the conveying station conveys the slurry into the drum-type stirring tank through a feeding hole in the upper end of the drum-type stirring tank, and then the internal motor of the vehicle body is started to control the movement of the movable trolley.

S200: the drive part work of the first (mixing) shaft of controller control in the control room No. one to control first stirring rotor and rotate, the drive part of controller control go-between drives the go-between and slides on first (mixing) shaft, after the slurry stirring, controller control valve opens No. one, the slurry gets into in the storeroom, the drive part work of controller control second (mixing) shaft, control second stirring rotor rotates, stir the slurry once more, controller control first feed pump with the slurry from the storeroom pump go into the mixing chamber.

S300: a second controller in the second control chamber controls a second feeding pump to act, the second feeding pump pumps the slurry in the mixing chamber into a slurry storage chamber of the second control chamber, and the output quantity of the slurry is recorded; then the second controller controls the air pump to act, and the air in the air tank is pumped into the slurry in the mixing chamber.

S400: the second controller in the second control chamber controls the third feeding pump to act, the third feeding pump pumps the slurry in the mixing chamber into the pressure pump slurry conveying pipe, the pressure measuring instrument measures the pressure on the pressure pump slurry conveying pipe and transmits the pressure to the second controller, and the second controller adjusts the second feeding pump and the third feeding pump according to transmitted data to control the flow rate of the second feeding pump and the third feeding pump.

S500: by controlling the orientation of the slurry conveying head, the slurry is filled into the place needing to be filled.

Preferably, the control method of S400 is that a threshold is set in the second controller, and when the data collected by the load cell is greater than or equal to the threshold, the flow rates of the second feeding pump and the third feeding pump are adjusted to be small.

Compared with the prior art, the invention has at least the following advantages:

1. is suitable for long-distance transportation operation. In the present invention, the slurry does not coagulate due to long distance transportation. In the transportation process, the slurry is stirred and mixed, so that the slurry can not be coagulated for a long time in the long-distance transportation process, and the quality of the slurry is guaranteed. The slurry body is also provided with a slurry pumping device, the slurry body is mixed with gas to form bubbles, the bubbles move from the bottom of the slurry body to the surface of the slurry body under the action of atmospheric pressure, the bubbles have certain force on the slurry body above in the moving process of the bubbles from top to bottom, the slurry body is divided, and the slurry body below the bubbles is gathered together to play a mixing role in the upward moving process of the bubbles, so that the moisture in the slurry body and the filling particles can be fully mixed. But a small part of small bubbles still can not float upwards under the action of atmospheric pressure, are always positioned in the slurry and always separate the slurry, and can play a role in preventing the slurry from being coagulated.

2. Is suitable for the transportation of complex terrains. Because the travelling path of the trolley is very rugged and the common trolley cannot move forwards, the invention adds the pinch roller at the front end of the movable trolley to roll the front of the movable trolley, thereby ensuring that the trolley can move forwards stably. After the pressure slurry conveying device is used, the pressure slurry is filled into the filling device, and the filling device is provided with the spring and the damping cylinder.

3. The mixing is more complete. According to the invention, the first stirring rotor is arranged on the drum-type stirring tank, so that the slurry in the drum-type stirring tank can be stirred in the circumferential direction and the circumferential direction, and the mixing is more uniform. The invention also arranges two second stirring rotors in the storage chamber to stir the slurry falling from the drum-type stirring tank again, thereby further improving the slurry and the mixing degree.

Drawings

Fig. 1 is a schematic structural view of the entire apparatus of embodiment 1.

FIG. 2 is a schematic diagram of a slurry mixer.

Fig. 3 is a schematic structural diagram of a slurry pumping device.

Fig. 4 is a schematic structural view of the filling device.

Fig. 5 is a schematic structural view of the first stirring rotor.

Fig. 6 is a schematic structural view of the second stirring rotor.

Fig. 7 is a control schematic diagram of the controller No. one.

Fig. 8 is a control schematic diagram of the controller No. two.

FIG. 9 is a schematic flow chart of example 2.

In the figure, 11-vehicle body, 12-tire, 13-press wheel, 20-slurry mixer, 21-storage chamber, 22-drum mixing tank, 23-first mixing rotor, 23 a-first mixing shaft, 23 b-mixing blade, 23 c-connecting ring, 23 d-connecting rod, 24-control valve, 25-guide plate, 26-second mixing shaft, 27-spiral mixing blade, 28-mixing tank, 30-slurry pumping device, 31-air tank, 32-air pipe, 33-air pump, 34-mixing chamber, 40-second control chamber, 41-first control chamber, 50-filling device, 51-first connecting plate, 52-second connecting plate, 53-third connecting plate, 54-shock-absorbing air cylinder, 55-pressure measuring instrument, 56-connecting sleeve, 57-spring, 58-fixing pad, 59-elastic protection pad, 60-pressure pump pulp conveying pipe, 61-telescopic bellows, 62-pulp conveying head, 63-handheld ring, 71-first conduit, 72-second conduit, 73-third conduit, 74-first feeding pump, 75-second feeding pump and 76-third feeding pump.

Detailed Description

The present invention is described in further detail below.

In the present invention, 'front', 'rear', 'left', 'right', 'upper' and 'lower' all refer to orientations in actual use, wherein 'left' refers to being out of the plane of the paper in fig. 1 and 'right' refers to being in the plane of the paper in fig. 1. In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Referring to fig. 1-8, the present invention provides an embodiment 1: a remote movable filling system comprises a movable trolley, a slurry stirrer 20, a slurry pumping device 30, a second control room 40 and a filling device 50.

The moving trolley comprises a trolley body 11; the slurry mixer 20, the slurry pumping device 30, the second control chamber 40 and the filling device 50 are all arranged on the vehicle body 11.

The slurry mixer 20 comprises a storage chamber 21, a drum-type mixing tank 22, a first mixing rotor 23 and a control valve 24; the upper end of the storage chamber 21 is opened; drum-type agitator tank 22 is located storeroom 21 top, just drum-type agitator tank 22 and storeroom 21 fixed connection, during concrete implementation, the outer both sides of storeroom 21 are vertical two fixed plates that are equipped with respectively, and what the both ends of drum-type agitator tank 22 correspond fixes the top at two fixed plates. A cavity is arranged in the drum-type stirring tank 22, a feeding hole is formed in the upper end of the drum-type stirring tank 22, a discharging hole is formed in the lower end of the drum-type stirring tank 22, a control valve 24 is arranged on the discharging hole, and the discharging hole is opposite to an opening in the upper end of the cavity of the storage chamber 21; in specific implementation, when the slurry in the drum-type mixing tank 22 is mixed, the control valve 24 is in a closed state, and when the slurry is mixed, the control valve 24 is opened, and the slurry in the drum-type mixing tank 22 is discharged into the storage chamber 21 due to gravitational potential energy.

The first stirring rotor 23 is arranged in the cavity of the drum-type stirring tank 22, and two ends of the first stirring rotor 23 are rotatably connected with the inner wall of the drum-type stirring tank 22; in specific implementation, the axial center of the drum-type stirring tank 22 coincides with the axial center of the first stirring rotor 23, and the radial length of the first stirring rotor 23 is slightly smaller than the diameter of the drum-type stirring tank 22, so that the first stirring rotor 23 can stir the slurry in the drum-type stirring tank 22 to the maximum extent, and the slurry is prevented from being coagulated without being stirred.

The slurry pumping device 30 comprises an air tank 31, an air pipe 32, an air pump 33 and a mixing chamber 34; the air outlet of the air tank 31 is fixedly communicated with one end of an air pipe 32, the other end of the air pipe 32 is fixedly communicated with the air inlet of an air pump 33, and the air outlet of the air pump 33 is fixedly communicated with a mixing chamber 34; during specific implementation, in order to ensure sufficient gas, the gas tank 31 and the gas pipe 32 may be multiple, when the gas pump 33 operates, gas in the gas tank 31 is discharged into slurry in the mixing chamber 34 through the gas pipe 32 to form bubbles, the bubbles move to the surface of the slurry from the bottom of the slurry under the action of atmospheric pressure, and in the moving process of the bubbles from top to bottom, the bubbles have a certain force on the slurry above to separate the slurry, and in the upward moving process, the slurry below the bubbles is gathered together to play a mixing role, so that moisture in the slurry and filled particles can be fully mixed. But a small part of small bubbles still can not float upwards under the action of atmospheric pressure, are always positioned in the slurry and always separate the slurry, and can play a role in preventing the slurry from being coagulated.

And a slurry storage chamber is arranged in the second control chamber 40.

The filling device 50 comprises a first connecting plate 51, a second connecting plate 52, a third connecting plate 53, a damping cylinder 54, a spring 57, a fixing pad 58, an elastic protection pad 59, a pressure pump slurry conveying pipe 60, a telescopic corrugated pipe 61 and a slurry conveying head 62; the fixing pad 58, the elastic protection pad 59, the third connecting block 53, the second connecting plate 52 and the first connecting plate 51 are sequentially connected from bottom to top; the upper end surface of the fixing pad 58 is fixedly connected with the lower end surface of the elastic protection pad 59; the upper end surface of the elastic protection pad 59 is fixedly connected with the lower end surface of the third connecting block 53 through a first spring 57 a; the upper end surface of the third connecting block 53 is fixedly connected with the lower end surface of the second connecting plate 52 through a second spring 57 b; the upper end surface of the second connecting plate 52 is fixedly connected with the lower end surface of the first connecting plate 51 through a damping cylinder 54; the first spring 57a, the second spring 57b and the damping cylinder 54 can prevent the unknown risk caused by the up-and-down bumping of the moving trolley due to the overlarge vibration of the head of the moving trolley, and reduce the load generated in the pressure slurry conveying process.

The starting end of the pressure pump slurry conveying pipe 60 sequentially and vertically penetrates through the third connecting block 53, the second connecting plate 52 and the first connecting plate 51, in the specific implementation, connecting sleeves 56 are respectively arranged at the connecting positions of the pressure pump slurry conveying pipe 60 and the first connecting plate 51 and the third connecting block 53, the pressure pump slurry conveying pipe 60 is tightly matched with the first connecting plate 51 and the third connecting block 53 through the connecting sleeves 56, and the pressure pump slurry conveying pipe 60 is fixed with the first connecting plate 51 and the third connecting block 53; the tail end of the pressure pump slurry conveying pipe 60 is communicated with one end of a telescopic corrugated pipe 61, and the other end of the telescopic corrugated pipe 61 is communicated with a connecting port of a slurry conveying head 62; in specific implementation, the slurry conveying head 62 is connected with a handheld ring 63, so that a worker can conveniently hold the slurry conveying head 62.

The storage chamber 21 is communicated with the mixing chamber 34 through a first conduit 71; the mixing chamber 34 is connected with the slurry storage chamber in the second control chamber 40 through a second conduit 72; the slurry storage chamber in the second control chamber 40 is communicated with the starting end of the pressure pump slurry conveying pipe 60 through a third guide pipe 73; the first conduit 71, the second conduit 72 and the third conduit 73 are respectively provided with a first feeding pump 74, a second feeding pump 75 and a third feeding pump 76.

Further, the first stirring rotor 23 includes a first stirring shaft 23a and a plurality of stirring blades 23 b; two ends of the first stirring shaft 23a are respectively and rotatably connected with the drum-type stirring tank 22; one end of the stirring blade 23b is fixedly connected with the first stirring shaft 23 a; the stirring blades 23b are divided into two groups, the stirring blades 23b in each group are arranged along the length direction of the first stirring shaft 23a, the distance between every two adjacent stirring blades 23b in the same group is equal, and the connecting parts of the stirring blades in different groups and the first stirring shaft 23a are alternately arranged; the stirring blades 23b and the first stirring shaft 23a form a stirring structure of the first stirring rotor 23 like a "wolf tooth bar", and the arrangement is mainly to enable the stirring blades 23b to enter the slurry more uniformly, so that the slurry is stirred more fully along with the rotation of the stirring blades 23 b.

Further, the first stirring rotor 23 includes a first stirring shaft 23a, a plurality of stirring blades 23b, a connecting ring 23c, and two connecting rods 23 d; the connecting ring 23c is arranged on the first agitating shaft 23a, and the connecting ring 23c can slide in the length direction of the first agitating shaft 23 a; it should be noted that the connecting ring 23c can only slide on the first stirring shaft 23a, but can not rotate along the axis of the first stirring shaft 23 a; two connecting rods 23d comprise interconnect's down tube and horizontal pole, and down tube and horizontal pole have the contained angle, two connecting rods 23 d's down tube respectively with go-between 23c fixed connection, two connecting rods 23 d's horizontal pole all is parallel with first (mixing) shaft 23a, and two connecting rods 23 d's horizontal pole is located the radial both sides of first (mixing) shaft 23a, is connected with a plurality of stirring leaves 23b on two connecting rods 23 d's the horizontal pole.

During specific implementation, the first stirring shaft 23a can be driven by the motor to rotate, and the first stirring shaft 23a rotates to drive the plurality of stirring blades 23b to rotate circumferentially, so that the slurry is stirred circumferentially. During specific implementation, the connecting ring 23c can be driven by the motor through the slider-crank mechanism to slide on the first stirring shaft 23a, the connecting ring 23c slides back and forth on the first stirring shaft 23a, and the two connecting rods 23d are driven to move back and forth in the axial direction of the first stirring shaft 23a, so that the plurality of stirring blades 23b are driven to slide back and forth, and the slurry is stirred in the axial direction.

Further, the storage chamber 21 further includes a guide plate 25, two second stirring rotors and two stirring grooves 28; the guide plate 25 is an inverted V-shaped structure formed by intersecting two inclined plates, the guide plate 25 is arranged right below the control valve 24, and two V-shaped ends of the guide plate 25 are respectively fixedly connected with the inner wall of the storage chamber 21; under the action of gravitational potential energy, the slurry slides from the upper part to the lower part of the inclined plate, a certain buffering effect is achieved, the impact of the falling slurry on the bottom surface of the storage chamber 21 is reduced, and the vertically falling slurry is divided into two parts which are respectively conveyed to corresponding positions. The two stirring tanks 28 are arranged in the storage chamber 21, the two stirring tanks 28 are respectively and correspondingly positioned below the guide plate 25, and the openings of the two stirring tanks 28 are positioned right below the bottom ends of the two inclined plates forming the guide plate 25; the two ends of the stirring tank 28 are spaced from at least one end of the inner wall of the adjacent storage chamber 21;

in a specific implementation, one end of the stirring tank 28 may be fixed to an inner wall of the adjacent storage chamber 21, and the other end of the stirring tank may be supported by the bottom surface of the storage chamber 21 through a fixing frame, with a distance from the inner wall of the storage chamber 21. The two ends of the stirring tank 28 may have a distance from the inner wall of the storage chamber 21, and the two ends of the stirring tank 28 are supported by the bottom surface of the storage chamber 21 through the fixing frame. The stability of the stirring tank 28 is guaranteed; for the stirring of the second stirring rotor, the stirring tank is of an arc structure.

The second stirring rotor comprises a second stirring shaft 26 and a spiral stirring blade 27, the second stirring shaft 26 is positioned in the stirring tank 28, the second stirring shaft 26 is parallel to the length direction of the stirring tank 28, and two ends of the second stirring shaft 26 are rotatably connected with the inner wall of the storage chamber 21; the second stirring shaft 26 is provided with a spiral stirring blade 27, the second stirring shaft 26 is arranged at the center of the spiral stirring blade 27, the second stirring shaft 26 is fixedly connected with the spiral stirring blade 27, and the spiral stirring blade 27 is a spiral blade. During specific implementation, the slurry is guided by the guide plate 25, the slurry firstly enters the stirring tank 28, the motor drives the second stirring shaft 26 to rotate, so as to drive the spiral stirring blade 27 to rotate, the spiral stirring blade 27 stirs the slurry in the stirring tank 28, further performs mixing treatment on the slurry, and conveys the slurry in the stirring tank 28 to the bottom surface of the storage chamber 21 from a gap between the end part of the stirring tank 28 and the inner wall of the storage chamber 21.

Further, a first control room 41 is also included; a first controller is arranged in the first control room 41; the first control chamber 41 is arranged between the slurry stirrer 20 and the slurry pumping device 30 and is fixedly connected with the movable trolley; the controller No. one is electrically connected with the first feeding pump 74, the control valve 24, the driving part of the first stirring shaft 23a, the driving part of the connecting ring 23c and the driving parts of the two second stirring shafts 26. The first feeding pump 74, the control valve 24, the first stirring shaft 23a and the connecting ring 23c, and the two second stirring shafts 26 are controlled by the controller, so that the automatic operation of the first feeding pump 74, the control valve 24, the first stirring shaft 23a and the connecting ring 23c, and the two second stirring shafts 26 can be realized. The driving part of the first agitating shaft 23a and the driving parts of the two second agitating shafts 26 may be motors.

Further, the device also comprises a pressure measuring instrument 55, wherein the pressure measuring instrument 55 is arranged on a pressure pump slurry conveying pipe 60 between the second connecting plate 52 and the first connecting plate 51; a second controller is also arranged in the second control room 40; the second controller is electrically connected with the air pump 33, the load cell 55, the second feeding pump 75 and the third feeding pump 76. The air pump 33, the pressure gauge 55, the second feeding pump 75 and the third feeding pump 76 are controlled by the controller, so that the air pump 33, the pressure gauge 55, the second feeding pump 75 and the third feeding pump 76 can automatically operate.

Further, the drum-type agitation tank 22 has a structure in which both ends are small and the middle is large, and the control valve 24 is located at the lowermost portion of the drum-type agitation tank 22. In specific implementation, the control valve 24 is opened, so that the slurry in the drum-type stirring tank 22 is completely discharged into the storage chamber 21 under the action of gravitational potential energy.

Further, the moving trolley also comprises a plurality of tires 12 and pressing wheels 13; the tires 12 are respectively connected to the lower end surface of the vehicle body 11 in a rotating manner; the plurality of tires 12 are connected with an internal motor of the vehicle body 11; the pinch roller 13 is rotatably connected to the front end of the vehicle body 11; the width of the pinch roller 13 is larger than or equal to the width of the vehicle body 11. During the concrete implementation, pinch roller 13 and ground contact, under the drive of a plurality of tires 12, pinch roller 13 rotates on subaerial, rolls ground, guarantees that the bottom surface in place ahead of the travelling car is totally compacted, prevents that the unevenness of the highway section in place ahead from leading to the travelling car to take place the slope, and the emergence of factors such as jolt has guaranteed the stationarity of travelling car at the removal in-process.

The working principle of the remote movable filling system is as follows:

slurry mixer 20: the filling slurry is transmitted into the drum-type stirring tank 22 through a slurry stirring or transmitting station through a feed inlet at the upper end of the drum-type stirring tank 22, a corresponding motor drives the first stirring rotor 23 to rotate and stir and mix the slurry, after the slurry is uniformly mixed, the control valve 24 is opened, the slurry in the drum-type stirring tank 22 enters the guide plate 25 consisting of two inclined plates in the storage chamber 21 through the control valve 24 due to gravitational potential energy, under the action of the gravitational potential energy, the slurry is slid from the upper part to the lower part above the inclined plates to play a certain buffering role, the impact of the falling slurry on the bottom surface of the storage chamber 21 is reduced, the vertically falling slurry is divided into two parts which are respectively conveyed into the stirring tank 28, then the corresponding motor drives the second stirring shaft 26 to rotate, so as to drive the spiral stirring blade 27 to rotate, the spiral stirring blade 27 is used for stirring the slurry in the stirring tank 28, and the slurry is further mixed and processed, and the slurry in the agitation tank 28 is carried to the bottom surface of the storage chamber 21 from the gap between the end of the agitation tank 28 and the inner wall of the storage chamber 21.

The slurry pumping device 30: the first feed pump 74 transports the slurry in the storage chamber 21 to the mixing chamber 34 of the slurry pumping arrangement 30 via the first conduit 71; when the air pump 33 is operated, the air in the air tank 31 is discharged into the slurry in the mixing chamber 34 through the air pipe 32 to form air bubbles, the air bubbles move from the bottom of the slurry to the surface of the slurry under the action of atmospheric pressure, the air bubbles have certain force on the slurry above in the moving process of the air bubbles from top to bottom to divide the slurry, and the slurry below the air bubbles is gathered together to play a mixing role in the upward moving process of the air bubbles, so that the moisture in the slurry and the filling particles can be fully mixed. But a small part of small bubbles still can not float upwards under the action of atmospheric pressure, are always positioned in the slurry and always separate the slurry, and can play a role in preventing the slurry from being coagulated. After mixing is complete, a second feed pump 75 transports the slurry from mixing chamber 34 through a second conduit 72 to a slurry storage chamber in control chamber number two 40.

The filling device 50: the third feeding pump 76 conveys the slurry in the slurry storage chamber in the control chamber No. two 40 to the pressure pump slurry conveying pipe 60 through the third conduit 73, the slurry reaches the telescopic corrugated pipe 61 through the pressure pump slurry conveying pipe 60 and then is discharged into the goaf from the outlet of the slurry conveying head 62 to fill the goaf. First connecting plate 51, second connecting plate 52, third connecting block 53 are fixed to the force pump thick liquid pipe 60, and first connecting plate 51, second connecting plate 52, third connecting block 53 can prevent to be located the vibration of travelling car head too big to the first spring 57a, second spring 57b and the shock attenuation cylinder 54 between the force pump thick liquid pipe 60, lead to the travelling car to jolt from top to bottom and the unknown risk appears, reduce the load that produces among the pressure thick liquid transportation process.

Referring to fig. 9, the present invention provides an embodiment 2: a method of remote mobile filling using the remote mobile filling system of embodiment 1, the method comprising the steps of:

s100: the conveying station conveys the slurry into the drum-type stirring tank 22 through a feeding hole at the upper end of the drum-type stirring tank 22, and then the internal motor of the vehicle body 11 is started to control the movement of the movable trolley.

S200: the first controller in the first control chamber 41 controls the driving part of the first stirring shaft 23a to work, so as to control the first stirring rotor 23 to rotate, the first controller controls the driving part of the connecting ring 23c to drive the connecting ring 23c to slide on the first stirring shaft 23a, after the slurry is uniformly stirred, the first controller controls the control valve 24 to open, the slurry enters the storage chamber 21, the first controller controls the driving part of the second stirring shaft 26 to work, controls the second stirring rotor to rotate, and after the slurry is stirred again, the first controller controls the first feeding pump 74 to pump the slurry into the mixing chamber 34 from the storage chamber 21.

S300: the second controller in the second control chamber 40 controls the second feeding pump 75 to operate, the second feeding pump 75 pumps the slurry in the mixing chamber 34 into the slurry storage chamber of the second control chamber 40, and the output quantity of the slurry is recorded; then, the second controller controls the air pump 33 to pump the air in the air tank 31 into the slurry in the mixing chamber 34.

S400: the second controller in the second control chamber 40 controls the third feeding pump 76 to operate, the third feeding pump 76 pumps the slurry in the mixing chamber 34 into the pressure pump slurry conveying pipe 60, the pressure measuring instrument 55 measures the pressure on the pressure pump slurry conveying pipe 60 and transmits the measured pressure to the second controller, and the second controller adjusts the second feeding pump 75 and the third feeding pump 76 according to the transmitted data to control the flow rate of the second feeding pump 75 and the third feeding pump 76.

S500: by controlling the orientation of the slurry delivery head 62, the slurry will be poured into the area to be filled. Specifically, a worker is arranged at the head of the mobile trolley, and the direction of the pressure slurry conveying pipe 60 is controlled through the hand-held ring 63 to fill the filling area.

Further, the control method in S400 is that a threshold is set in the second controller, and when the data collected by the load cell 55 is greater than or equal to the threshold, the flow rates of the second feeding pump 75 and the third feeding pump 76 are adjusted to be smaller.

The working principle of the remote movable filling method is as follows:

s100: carry the station to the drum-type agitator tank 22 in with the slurry through the feed inlet of drum-type agitator tank 22 upper end, then start automobile body 11's inside motor, the motor drives a plurality of tires 12 and rotates, drive automobile body 11 forward movement, pinch roller 13 and ground contact, under the drive of a plurality of tires 12, pinch roller 13 rotates subaerial, roll ground, guarantee that travelling car the place ahead bottom surface is totally by the compaction, prevent that the place ahead highway section unevenness from leading to the travelling car to take place the slope, jolt the emergence of isogenic factor, the stationarity of travelling car at the removal in-process has been guaranteed.

S200, a first controller in the first control chamber 41 controls a driving part of a first stirring shaft 23a to work so as to control the first stirring rotor 23 to rotate, and a plurality of stirring blades 23b on the first stirring rotor 23 rotate circumferentially so as to stir the slurry circumferentially; the first controller controls the driving component of the connecting ring 23c to drive the connecting ring 23c to slide on the first stirring shaft 23a, and drives the two connecting rods 23d to move back and forth in the axial direction of the first stirring shaft 23a, so as to drive the stirring blades 23b to slide back and forth, and thus, the slurry is stirred in the axial direction; after the slurry is uniformly stirred, the first controller controls the control valve 24 to be opened, the slurry enters the storage chamber 21, the first controller controls the driving part of the second stirring shaft 26 to work, the second stirring rotor is controlled to rotate, so that the spiral stirring blade 27 is driven to rotate, the spiral stirring blade 27 is used for stirring the slurry in the stirring tank 28, the slurry is further mixed, the slurry in the stirring tank 28 is conveyed to the bottom surface of the storage chamber 21 from a gap between the end part of the stirring tank 28 and the inner wall of the storage chamber 21, and after the slurry is stirred again, the first controller controls the first feeding pump 74 to pump the slurry into the mixing chamber 34 from the storage chamber 21 through the first conduit 71.

S300, the second controller in the second control chamber 40 controls the second feeding pump 75 to act, the second feeding pump 75 pumps the slurry in the mixing chamber 34 into the slurry storage chamber of the second control chamber 40 through the second conduit 72, and the output quantity of the slurry is recorded; then the second controller controls the action of the air pump 33, air in the air tank 31 is pumped into the slurry in the mixing chamber 34 to form air bubbles, the air bubbles move from the bottom of the slurry to the surface of the slurry under the action of atmospheric pressure, the air bubbles have certain force on the slurry above in the moving process of the air bubbles from top to bottom to divide the slurry, and the slurry below the air bubbles is gathered together to play a mixing role in the upward moving process of the air bubbles, so that moisture in the slurry and filling particles can be fully mixed. But a small part of small bubbles still can not float upwards under the action of atmospheric pressure, are always positioned in the slurry and always separate the slurry, and can play a role in preventing the slurry from being coagulated.

S400: the second controller in the second control chamber 40 controls the third feeding pump 76 to operate, the third feeding pump 76 pumps the slurry in the mixing chamber 34 into the pressure pump slurry conveying pipe 60 through the third conduit 73, the pressure measuring instrument 55 measures the pressure on the pressure pump slurry conveying pipe 60 and transmits the measured pressure to the second controller, a threshold value is arranged in the second controller, and when the data collected by the pressure measuring instrument 55 is larger than or equal to the threshold value, the flow rates of the second feeding pump 75 and the third feeding pump 76 are reduced.

Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.

Claims

1. A remotely movable filling system, characterized by: comprises a mobile trolley, a slurry mixer (20), a slurry pumping device (30), a second control room (40) and a filling device (50);

the mobile trolley comprises a trolley body (11);

the slurry mixer (20), the slurry pumping device (30), the second control chamber (40) and the filling device (50) are all arranged on the vehicle body (11);

the slurry mixer (20) comprises a storage chamber (21), a drum-type mixing tank (22), a first mixing rotor (23) and a control valve (24);

the upper end of the storage chamber (21) is open;

the drum-type stirring tank (22) is arranged above the storage chamber (21), and the drum-type stirring tank (22) is fixedly connected with the storage chamber (21);

the first stirring rotor (23) is arranged in a cavity of the drum-type stirring tank (22), and two ends of the first stirring rotor (23) are rotatably connected with the inner wall of the drum-type stirring tank (22);

the slurry pumping device (30) comprises a gas tank (31), a gas pipe (32), a gas pump (33) and a mixing chamber (34);

the air outlet of the air tank (31) is fixedly communicated with one end of an air pipe (32), the other end of the air pipe (32) is fixedly communicated with the air inlet of an air pump (33), and the air outlet of the air pump (33) is fixedly communicated with a mixing chamber (34);

a slurry storage chamber is arranged in the second control chamber (40);

the filling device (50) comprises a first connecting plate (51), a second connecting plate (52), a third connecting plate (53), a damping cylinder (54), a spring (57), a fixing pad (58), an elastic protection pad (59), a pressure pump slurry conveying pipe (60), a telescopic corrugated pipe (61) and a slurry conveying head (62);

the fixing pad (58), the elastic protection pad (59), the third connecting block (53), the second connecting plate (52) and the first connecting plate (51) are sequentially connected from bottom to top;

the upper end surface of the fixing pad (58) is fixedly connected with the lower end surface of the elastic protection pad (59);

the upper end face of the elastic protection pad (59) is fixedly connected with the lower end face of the third connecting block (53) through a first spring (57 a);

the upper end face of the third connecting block (53) is fixedly connected with the lower end face of the second connecting plate (52) through a second spring (57 b);

the upper end face of the second connecting plate (52) is fixedly connected with the lower end face of the first connecting plate (51) through a damping cylinder (54);

the starting end of the pressure pump slurry conveying pipe (60) sequentially and vertically penetrates through the third connecting block (53), the second connecting plate (52) and the first connecting plate (51);

the tail end of the pressure pump slurry conveying pipe (60) is communicated with one end of a telescopic corrugated pipe (61), and the other end of the telescopic corrugated pipe (61) is communicated with a connecting port of a slurry conveying head (62);

the storage chamber (21) is communicated with the mixing chamber (34) through a first conduit (71);

the mixing chamber (34) is connected with a slurry storage chamber in the second control chamber (40) through a second conduit (72);

a slurry storage chamber in the second control chamber (40) is communicated with the initial end of the pressure pump slurry conveying pipe (60) through a third guide pipe (73);

a first feeding pump (74), a second feeding pump (75) and a third feeding pump (76) are respectively arranged on the first conduit (71), the second conduit (72) and the third conduit (73);

the first stirring rotor (23) includes a first stirring shaft (23 a) and a plurality of stirring vanes (23 b);

two ends of the first stirring shaft (23 a) are respectively and rotatably connected with the drum-type stirring tank (22);

one end of the stirring blade (23 b) is fixedly connected with the first stirring shaft (23 a);

the stirring blades (23 b) are divided into two groups, the stirring blades (23 b) in each group are arranged along the length direction of the first stirring shaft (23 a), the distance between every two adjacent stirring blades (23 b) in the same group is equal, and the connecting parts of the stirring blades in different groups and the first stirring shaft (23 a) are alternately arranged;

the first stirring rotor (23) comprises a first stirring shaft (23 a), a plurality of stirring blades (23 b), a connecting ring (23 c) and two connecting rods (23 d); the connecting ring (23 c) is arranged on the first stirring shaft (23 a), and the connecting ring (23 c) can slide in the length direction of the first stirring shaft (23 a);

two connecting rods (23 d) comprise interconnect's down tube and horizontal pole, and down tube and horizontal pole have the contained angle, the down tube of two connecting rods (23 d) respectively with go-between (23 c) fixed connection, the horizontal pole of two connecting rods (23 d) all is parallel with first (mixing) shaft (23 a), and the horizontal pole of two connecting rods (23 d) is located the radial both sides of first (mixing) shaft (23 a), is connected with a plurality of stirring leaves (23 b) on the horizontal pole of two connecting rods (23 d).

2. A remote mobile filling system as recited in claim 1 wherein: the storage chamber (21) also comprises a guide plate (25), two second stirring rotors and two stirring tanks (28);

the guide plate (25) is of an inverted V-shaped structure formed by intersecting two inclined plates, the guide plate (25) is arranged right below the control valve (24), and the V-shaped two ends of the guide plate (25) are respectively fixedly connected with the inner wall of the storage chamber (21);

the two stirring tanks (28) are arranged in the storage chamber (21), the two stirring tanks (28) are respectively and correspondingly positioned below the guide plate (25), and the openings of the two stirring tanks (28) are positioned right below the bottom ends of the two inclined plates forming the guide plate (25);

the two ends of the stirring tank (28) are spaced from at least one end of the inner wall of the adjacent storage chamber (21);

the second stirring rotor comprises a second stirring shaft (26) and a spiral stirring blade (27);

the second stirring shaft (26) is positioned in the stirring tank (28), the second stirring shaft (26) is parallel to the length direction of the stirring tank (28), and two ends of the second stirring shaft (26) are rotatably connected with the inner wall of the storage chamber (21);

be equipped with spiral stirring leaf (27) on second (mixing) shaft (26), the center of spiral stirring leaf (27) is located in second (mixing) shaft (26), and second (mixing) shaft (26) and spiral stirring leaf (27) fixed connection, spiral stirring leaf (27) are the heliciform blade.

3. A remote mobile filling system as defined in claim 2 wherein: the device also comprises a first control room (41); a first controller is arranged in the first control room (41);

the first control chamber (41) is arranged between the slurry mixer (20) and the slurry pumping device (30) and is fixedly connected with the movable trolley;

the first controller is electrically connected with the first feeding pump (74), the control valve (24), the driving part of the first stirring shaft (23 a), the driving part of the connecting ring (23 c) and the driving parts of the two second stirring shafts (26).

4. A remote mobile filling system as defined in claim 3 wherein: the device also comprises a pressure measuring instrument (55), wherein the pressure measuring instrument (55) is arranged on a pressure pump slurry conveying pipe (60) between the second connecting plate (52) and the first connecting plate (51);

a second controller is also arranged in the second control room (40);

the second controller is electrically connected with the air pump (33), the pressure measuring instrument (55), the second feeding pump (75) and the third feeding pump (76).

5. A remote mobile filling system as recited in claim 4 wherein: the drum-type stirring tank (22) is of a structure with two small ends and a large middle part, and the control valve (24) is positioned at the lowest part of the drum-type stirring tank (22).

6. A remote mobile filling system as recited in claim 5 wherein: the mobile trolley also comprises a plurality of tires (12) and press wheels (13);

the tires (12) are respectively connected to the lower end surface of the vehicle body (11) in a rotating way; the plurality of tires (12) are connected with an internal motor of the vehicle body (11);

the pinch roller (13) is rotatably connected to the front end of the vehicle body (11); the width of the pinch roller (13) is larger than or equal to that of the vehicle body (11).

7. A method of remotely mobile filling, characterized by: a remote mobile filling system using the method of claim 6, said remote mobile filling method comprising the steps of:

s100: the conveying station conveys the slurry into the drum-type stirring tank (22) through a feeding hole at the upper end of the drum-type stirring tank (22), and then an internal motor of the vehicle body (11) is started to control the movement of the movable trolley;

s200: the first controller in the first control chamber (41) controls the driving part of the first stirring shaft (23 a) to work, so that the first stirring rotor (23) is controlled to rotate, the first controller controls the driving part of the connecting ring (23 c) to drive the connecting ring (23 c) to slide on the first stirring shaft (23 a), after slurry is uniformly stirred, the first controller controls the control valve (24) to be opened, the slurry enters the storage chamber (21), the first controller controls the driving part of the second stirring shaft (26) to work, the second stirring rotor is controlled to rotate, and after the slurry is stirred again, the first controller controls the first feeding pump (74) to pump the slurry into the mixing chamber (34) from the storage chamber (21);

s300: a second controller in the second control chamber (40) controls a second feeding pump (75) to act, the second feeding pump (75) pumps the slurry in the mixing chamber (34) into a slurry storage chamber of the second control chamber (40), and the output quantity of the slurry is recorded; then the second controller controls the air pump (33) to act, so that the air in the air tank (31) is pumped into the slurry in the mixing chamber (34);

s400: a second controller in the second control chamber (40) controls a third feeding pump (76) to act, the third feeding pump (76) pumps the slurry in the mixing chamber (34) into a pressure pump slurry conveying pipe (60), a pressure measuring instrument (55) measures the pressure on the pressure pump slurry conveying pipe (60) and transmits the pressure to the second controller, and the second controller adjusts the second feeding pump (75) and the third feeding pump (76) according to transmitted data and controls the flow of the second feeding pump (75) and the third feeding pump (76);

s500: by controlling the orientation of the slurry delivery head (62), the slurry is filled into the place to be filled.

8. A remote mobile filling method as claimed in claim 7, wherein: the control method of the S400 is that a threshold value is arranged in the second controller, and when the data collected by the pressure measuring instrument (55) is larger than or equal to the threshold value, the flow rates of the second feeding pump (75) and the third feeding pump (76) are adjusted to be small.