CN113464136B

CN113464136B - Fluidized coal mining system and method combining ground directional drilling and underground roadway

Info

Publication number: CN113464136B
Application number: CN202110757439.9A
Authority: CN
Inventors: 刘应科; 王青祥; 方飞飞; 周福宝; 蒋名军; 袁满; 陈帅宇; 叶国庆
Original assignee: China University of Mining and Technology CUMT
Current assignee: China University of Mining and Technology CUMT
Priority date: 2021-07-05
Filing date: 2021-07-05
Publication date: 2022-04-01
Anticipated expiration: 2041-07-05
Also published as: CN113464136A

Abstract

The invention discloses a fluidized coal mining system and a method for combining a ground directional drilling well and an underground roadway, wherein the coal mining system comprises a directional drilling hydraulic coal mining part, a grouting filling part and an underground transportation roadway part; the directional drilling hydraulic coal mining part comprises a directional coal mining drilling well, a coal mining directional drill rod and a drilling, mining and filling integrated device; the underground transportation roadway part comprises a bottom roadway, a coal leakage channel and a water filtering sieve plate. The invention is based on the directional drilling technology, utilizes potential energy along the direction of the inclined coal seam, slows down the flow velocity of the coal-rock mixture in the drilling section of the coal seam by adopting a mode of installing the water filtering sieve plate in the hydraulic coal mining process through the drilling, mining and filling integrated device, removes the water filtering sieve plate in the grouting and filling process through the drilling, mining and filling integrated device, can ensure that an integrally coherent gob is not formed in the whole drilling section of the coal seam all the time, further can realize the reduction of the probability of fracture and collapse of the roof of the coal seam, and is particularly suitable for coal mining on the soft coal seam in the inclined direction.

Description

Fluidized coal mining system and method combining ground directional drilling and underground roadway

Technical Field

The invention relates to a fluidized coal mining system and method, in particular to a fluidized coal mining system and method combining ground directional drilling and an underground roadway, and belongs to the technical field of coal mining.

Background

According to the forecast of Chinese engineering institute, the proportion of coal in primary energy consumption in 2050 is kept about 50%, so that the coal still dominates the primary energy consumption in China for a long time in the future. At present, except for a small amount of open-pit coal mining, over 90% of coal mines in China adopt a well mining mode, namely coal mining is carried out by arranging a coal mining roadway underground, and the coal is transported to the ground through a transportation system, wherein the most common mode is a longwall retreat working face coal mining method. However, the defects of the traditional underground coal mining are more and more highlighted, on one hand, along with the depletion of shallow coal resources, coal resources below the buried depth of 1000m account for 53 percent of the explored coal resources, along with the increase of the coal mining depth and the increase of the mining strength, coal-rock conditions are more complex, and various disasters are interwoven and symbiotic, so that the difficulty and the complexity of disaster prevention and control are increased, the safety risk is high, the treatment efficiency is low, and the economic cost is high; on the other hand, the geological conditions of the coal seam in southwest areas of China are complex, coal resources which are difficult to mine are more, resource mining technologies of corner coal, honeycomb coal, small coal fields and the like are difficult, the cost is high, the yield is small, mining is usually abandoned, and the coal resources are seriously wasted.

The prior art utilizes a drilling hydraulic coal mining technology as a method for solving the problems. The surface drilling hydraulic mining refers to a mining method that high-pressure water generated by a high-pressure water pump is subjected to surface drilling penetrating into a coal seam, is gathered into water jet by a spray head, impacts the surface of a coal body to peel, cut and crush the coal body, and then lifts flowing coal slurry formed by crushing the coal seam at the bottom of a well to the ground by using hydraulic lifting equipment and utilizes the flowing coal slurry.

However, due to the influences of the traditional vertical well drilling hydraulic coal mining technology, coal seams and the like, the method still has some defects: on one hand, the coal seam in the mining range is cut by water power and then directly enters a bottom roadway to form a goaf, although grouting filling can be performed after the water power mining is finished, the top plate of the soft coal seam is easy to break and collapse due to the change of surrounding rock pressure along with the expansion of the goaf range in the water power mining process; on the other hand, because the actual coal mining area range of a single coal mining well is limited (the actual coal mining range is a cylindrical area with the diameter of 2-5 m generally), and the coal mining amount of the single well is small, more coal mining wells need to be drilled on the ground within the coal seam trend range, the construction engineering amount is relatively large, and certain coal remains inevitably exist among a plurality of coal mining wells; on the other hand, the thickness and the inclination angle of the coal seam greatly influence the coal mining amount and the coal mining difficulty of a single well, the single well coal mining amount of a thin coal seam is smaller, and in addition, the inclined coal seam greatly improves the difficulty of hydraulic coal mining and reduces the coal mining efficiency; and for a coal seam buried deeply, the depth of a vertical well on the construction ground is greatly increased, so that the mining cost is greatly improved. Therefore, the traditional hydraulic mining method is not suitable for thin coal seams and inclined coal seams, particularly for coal seams with deep burial.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a fluidized coal mining system and method combining ground directional drilling and an underground roadway, which can reduce the coal mining cost on the premise of effectively reducing the fracture and collapse probability of a coal seam roof in the hydraulic coal mining process, and are particularly suitable for coal mining of a soft coal seam in an inclined trend.

In order to achieve the purpose, the fluidized coal mining system combining the local directional drilling and the underground tunnel comprises a directional drilling hydraulic coal mining part, a grouting filling part and an underground transportation tunnel part;

the directional drilling hydraulic coal mining part comprises a drilling and mining directional drilling machine, a directional coal mining drilling well, a coal mining directional drilling rod and a drilling, mining and filling integrated device; the drilling and production directional drilling machine is arranged on the ground; the directional coal mining drilling well is driven from the ground relative to the high-end position of the coal bed inclined direction, and comprises a main coal mining drilling section along the vertical direction, a plurality of coal bed drilling sections extending to the low-end position of the coal bed inclined direction along the coal bed inclined direction, and a coal mining transition drilling section which is arranged between the main coal mining drilling section and the coal bed drilling sections in a deflecting communication manner; the coal mining directional drilling rod comprises a plurality of hollow drilling rod sections which are sealed and coaxially installed and connected into an integral structure, when a construction bottom roadway and hydraulic coal mining are developed, the top end of the coal mining directional drilling rod positioned at the wellhead position of the directional coal mining drilling well is hermetically installed and connected with the output end of the high-pressure water injection pipe, the input end of the high-pressure water injection pipe is hermetically communicated and connected with the water storage tank through the high-pressure water injection pump, and a coherent pressure medium channel is formed in a cavity inside the coal mining directional drilling rod; the drilling, mining and charging integrated device is arranged at the bottom end of the coal mining directional drill rod and comprises a fluid control mechanism, a drilling mechanism and a hydraulic cutting mechanism, wherein the fluid control mechanism is used for controlling the flowing direction of a pressure medium flowing through the coal mining directional drill rod, the drilling mechanism comprises an adjustable bent shell, a hole bottom screw motor and a directional drill bit arranged on the power output end of the hole bottom screw motor through a universal shaft assembly, a drilling nozzle with the spraying direction facing the drilling direction is arranged on the directional drill bit, the hydraulic cutting mechanism comprises a plurality of hydraulic cutting nozzles arranged in the radial direction of the directional drill bit along the spraying direction, the high-pressure input end of the hole bottom screw motor and the hydraulic cutting nozzles are respectively in closed communication connection with the fluid control mechanism, and the low-pressure output end of the hole bottom screw motor is in closed communication connection with the drilling nozzle;

the grouting filling part comprises a slurry stirring station arranged near a drilling wellhead of the directional coal mining drilling and a grouting port arranged on the fluid control mechanism, the output end of the slurry stirring station is communicated and connected with the input end of a grouting pump, and the output end of the grouting pump is hermetically connected with the top end of a pressure medium channel of the coal mining directional drilling rod during grouting filling operation;

the underground transportation roadway part comprises a bottom roadway arranged below a coal seam bottom plate, the bottom roadway is located at the low end position of the coal seam inclined direction relative to the directional coal mining drilling well, the length direction of the bottom roadway is arranged along the width direction of the coal seam, a coal leakage channel which is arranged upwards and runs through the coal seam drilling section is arranged at the position, corresponding to the coal seam drilling section, of the top of the bottom roadway, a flow guide mechanism is arranged at the bottom of the coal leakage channel, and a water filtering sieve plate is arranged in the coal leakage channel during hydraulic coal mining.

As a further improvement scheme of the invention, the fluid control mechanism comprises a control valve group with a pressure water input end connected with the bottom end of a pressure medium channel of the coal mining directional drilling rod in a sealing and communicating way and a sliding sleeve sleeved on a hollow drilling rod section at the bottom end of the coal mining directional drilling rod in a sealing and sliding way, a pressure water output end of the control valve group arranged behind the hole bottom screw motor along the drilling direction is connected with a high-pressure input end of the hole bottom screw motor in a communicating way, the sliding sleeve positioned and arranged along the radial direction of the hollow drilling rod section at the bottom end of the coal mining directional drilling rod comprises a sliding driving mechanism, the sliding sleeve is provided with a plurality of hydraulic cutting nozzle mounting holes penetrating through the sliding sleeve along the radial direction, the plurality of hydraulic cutting nozzle mounting holes are uniformly distributed along the circumferential direction of the sliding sleeve, the hydraulic cutting nozzles are arranged in the hydraulic cutting nozzle mounting holes, and grouting ports arranged corresponding to the hydraulic cutting nozzle mounting holes in number are arranged on the hollow drilling rod section at the bottom end of the coal mining directional drilling rod along the radial direction, and the slip casting mouth is matched with the slip stroke of the slip sleeve and is arranged corresponding to the position of the hydraulic cutting nozzle mounting hole, and the slip sleeve can slip back and forth and be positioned on the hollow drill rod section at the bottom end of the coal mining directional drill rod along the axial direction by controlling the action of the slip driving mechanism, so that the hydraulic cutting nozzle is in a state of being communicated with the slip casting mouth or in a state of being blocked in a staggered mode.

As a further improvement scheme of the invention, the hydraulic cutting nozzles are arranged on the directional drill bit, and a plurality of hydraulic cutting nozzles are uniformly distributed along the circumferential direction of the directional drill bit; the fluid control mechanism comprises a control valve group and a sliding sleeve, wherein the pressure water input end of the control valve group is hermetically communicated and connected with the bottom end of a pressure medium channel of the coal mining directional drilling rod, the sliding sleeve is sleeved on a hollow drilling rod section at the bottom end of the coal mining directional drilling rod in a sealing and sliding fit mode, the pressure water output end of the control valve group arranged behind the hole bottom screw motor in the drilling direction comprises a drilling pressure water output end and a hydraulic cutting pressure water output end, the drilling pressure water output end is communicated and connected with a high-pressure input end of the hole bottom screw motor through a throttling control valve, the hydraulic cutting pressure water output end is communicated and connected with a hydraulic cutting nozzle through a sliding ring structure, the sliding sleeve comprises a sliding driving mechanism, a grouting port is arranged on the hollow drilling rod section at the bottom end of the coal mining directional drilling rod in a penetrating mode in the radial direction, the grouting port is arranged in a fit with the sliding stroke of the sliding sleeve, and the sliding sleeve can be positioned by controlling the sliding driving mechanism to move the sliding sleeve back and forth on the hollow drilling rod section at the bottom end of the coal mining directional drilling rod section in the axial direction, The grouting opening is in a state of being communicated with the outside or in a blocking state.

As a further improvement scheme of the invention, the fluidized coal mining system combining the ground directional drilling well and the underground roadway further comprises a gas extraction part, wherein the gas extraction part comprises a gas extraction pump arranged near a drilling wellhead of the directional coal mining drilling well; during gas extraction operation, after slurry in a gap between a drill hole and a coal mining directional drill rod is emptied, the output end of a gas extraction pump is connected with a gas extraction inclined hole which penetrates through the top of a main coal mining drilling section to extract gas; or during gas extraction operation, after water in the pressure medium channel of the coal mining directional drill rod is drained, the output end of the gas extraction pump is connected with the pressure medium channel of the coal mining directional drill rod to extract gas.

As a further improvement scheme of the invention, a rotary stirring device is also arranged in the bottom roadway, the rotary stirring device comprises a rotary stirring shaft capable of penetrating into the coal leakage channel, and the rotary stirring shaft is in transmission connection with the circumferential rotary driving part.

As a further improvement scheme of the invention, the rotary stirring shaft can be also provided with a crushing structure which is arranged in a protruding manner and comprises cutting teeth.

As a further improvement of the invention, the crushing structure is a spiral conveying structure which is spirally arranged along the coal falling direction integrally.

A fluidized coal mining method combining ground directional drilling and an underground roadway specifically comprises the following steps:

a. and (3) well construction: determining the buried depth, the thickness, the inclination angle, the length range and the width range of a coal seam to be mined by adopting a ground penetrating radar detection method, then developing a construction bottom roadway along the width direction of the coal seam below a coal seam bottom plate at the lower end position in the inclination direction of the coal seam, and positioning and installing a water filtering sieve plate in a coal leakage channel after developing the construction coal leakage channel upwards in the planned mining direction of a drilling section corresponding to the coal seam; installing a drilling, mining and filling integrated device at the tail end of a coal mining directional drilling rod, after determining a well mouth drilling position of a directional coal mining drilling well, arranging and connecting a high-pressure water injection pump and a water storage tank near the drilling well mouth position of the directional coal mining drilling well, controlling a fluid control mechanism to enable the coal mining directional drilling rod to be communicated with a drilling mechanism of the drilling, mining and filling integrated device, starting the high-pressure water injection pump to perform drilling construction to develop the directional coal mining drilling well, after drilling of a main coal mining drilling section is completed, deflecting and drilling a coal mining transitional drilling section along the width direction of a coal seam, after drilling the coal mining transitional drilling section to the edge position of the width direction of the coal seam, deflecting and drilling a first coal seam drilling section along the inclination direction of the coal seam according to the hydraulic cutting range of a hydraulic cutting nozzle, and stopping drilling after the first coal seam drilling section drills to the lower end position of the inclination direction of the coal seam;

b. hydraulic coal mining: controlling a fluid control mechanism to enable a coal mining directional drill rod to be communicated with a hydraulic cutting mechanism of the drilling, mining and charging integrated device, then starting a high-pressure water injection pump, spraying high-pressure water jet from a hydraulic cutting nozzle to perform hydraulic cutting on a coal seam in a circumferential range, and simultaneously controlling a drilling, mining and charging integrated device to enable the coal mining directional drill rod to slowly return until the drilling, mining and charging integrated device returns to the top end position of a first coal seam drilling section, thus finishing a primary mining process; repeating the drilling and the hydraulic cutting for multiple times in the first coal seam drilling section;

c. conveying coal rock mixture and filling by grouting: in the hydraulic coal mining process, after the bottom end of the first coal seam drilling section is communicated with the coal leakage channel, the coal-rock mixture cut by hydraulic power moves to the lower end position of the coal seam in the inclined direction in a fluidized manner, the large-particle coal-rock mixture is blocked by the water filtering sieve plate to be accumulated and stayed in the first coal seam drilling section, and the water and small-particle coal-rock mixture enters a bottom roadway through the coal leakage channel and the flow guide mechanism and is conveyed to a well;

converting the goaf volume value of the first coal seam drilling section according to the hydraulic cutting range of the hydraulic cutting nozzle, after the mining of the first coal seam drilling section is finished, stopping the drilling, mining and filling integrated device at the top end of the first coal seam drilling section, removing a water filtering sieve plate, enabling large-particle coal-rock mixture retained in the first coal seam drilling section to enter a bottom roadway through a coal leakage channel and a flow guide mechanism and conveying the mixture to a well, meanwhile, hermetically connecting the output end of a grouting pump with the top end of a pressure medium channel of a coal mining directional drilling rod, controlling a fluid control mechanism to enable the coal mining directional drilling rod to be communicated with a grouting port, starting the grouting pump to fill the goaf of the first coal seam drilling section, closing the grouting pump after the grouting amount reaches a set value set according to the goaf volume value, removing the grouting pump and hermetically installing and connecting the top end of the pressure medium channel of the coal mining directional drilling rod with the output end of a high-pressure water injection pipe, starting a high-pressure water pump to flush a pressure medium channel of the coal mining directional drilling rod, closing the high-pressure water pump after the set flushing time is reached, and controlling a fluid control mechanism to cut off the connection between the coal mining directional drilling rod and a grouting port; when the coal leakage passage discharges filling slurry, the coal leakage passage is blocked;

d. and (3) performing parallel continuous coal mining operation: after the mining and filling of the first coal seam drilling section are finished, firstly controlling a drilling, mining and filling integrated device to retreat to a coal mining transition drilling section by a drilling, mining and filling integrated device, deflecting and drilling a second coal seam drilling section along a direction parallel to the first coal seam drilling section according to the hydraulic cutting range of a hydraulic cutting nozzle, then performing hydraulic coal mining and filling in the second coal seam drilling section, and repeating the steps until all coal resources in the width direction of the coal seam are mined.

And d, as a further improvement scheme of the invention, a mode of sequentially mining and filling the coal seam well drilling sections at intervals along the width direction of the coal seam is adopted in the step d.

As a further improvement of the invention, in step c, the rotary stirring shaft is positioned and penetrated into the coal leakage channel, the water filtering sieve plate is removed, and then the circumferential rotary driving component is started.

Compared with the prior art, the fluidized coal mining system combining the local directional drilling and the underground roadway is based on the directional drilling technology and utilizes potential energy along the trend of an inclined coal seam, the flow velocity of the coal-rock mixture in the coal seam drilling section is slowed down in a mode of installing the water filtering sieve plate in the hydraulic coal mining process through the drilling, mining and filling integrated device, so that the large-particle coal-rock mixture is blocked by the water filtering sieve plate and accumulated in the coal seam drilling section, the water and small-particle coal-rock mixture enters the bottom roadway and is conveyed to the upper well through the bottom roadway, and as an integrally coherent goaf is not formed in the whole coal seam drilling section in the hydraulic coal mining process, the coal-rock mixture remained in the coal seam drilling section still has a supporting effect on the coal seam roof, thereby effectively reducing the probability of fracture and collapse of the coal seam roof in the hydraulic coal mining process, and simultaneously, in the processes of multiple drilling and multiple hydraulic cutting are carried out in the coal seam drilling section, the large coal rock mixture retained in the coal seam drilling section can be pulverized by hydraulic cutting again; the water filtering sieve plate is removed in the grouting and filling process through the drilling, mining and filling integrated device, the flow rate of the coal-rock mixture in the coal seam drilling section is recovered, meanwhile, filling slurry paved at the top of the coal-rock mixture can apply pressure to the coal-rock mixture retained in the coal seam drilling section, the coal-rock mixture is forced to smoothly move to the low end position of the coal seam inclined direction to enter a bottom roadway for conveying to a well, an integrally coherent goaf is not formed in the whole coal seam drilling section all the time, and the probability of fracture and collapse of a coal seam roof is reduced. The directional drilling hydraulic coal mining part and the directional drilling coal-rock mixture conveying part which are separately arranged can work independently without influencing each other, so that the reliability and the mining efficiency of a hydraulic coal mining process are greatly improved; the output end of the gas extraction pump can be connected with a gas extraction inclined hole which is arranged at the top of the main coal mining drilling section in a penetrating manner to extract gas after slurry in a gap between the drilling hole and the coal mining directional drilling rod is emptied, or the output end of the gas extraction pump can be connected with the coal mining directional drilling rod to extract gas after water in a pressure medium channel of the coal mining directional drilling rod is emptied; the continuous parallel coal mining operation can be realized along the width direction of the coal seam, the residual coal quantity is reduced to the maximum extent, and the method is particularly suitable for coal mining of soft coal seams in the inclined direction.

Drawings

FIG. 1 is a schematic three-dimensional structure of the present invention;

FIG. 2 is a schematic structural view of the present invention taken in cross section across the width of a coal seam;

FIG. 3 is a schematic diagram of the drilling, production and charging integrated device of the present invention using a hydraulic cutting nozzle and a grouting port to share a communication channel;

FIG. 4 is a schematic structural diagram of a state of developing directional coal mining and drilling when the drilling, mining and filling integrated device of the present invention employs a hydraulic cutting nozzle and a grouting port to share a communication channel;

FIG. 5 is a schematic structural diagram of a hydraulic coal mining state when the drilling, mining and filling integrated device of the invention adopts a hydraulic cutting nozzle and a grouting port to share a communication channel;

FIG. 6 is a schematic structural diagram of a filling state of the drilling, mining and filling integrated device of the invention when a hydraulic cutting nozzle and a grouting port share a communication channel;

FIG. 7 is a schematic diagram of the drilling, production and charging integrated device of the present invention employing a hydraulic cutting nozzle disposed on the directional drill bit;

FIG. 8 is a schematic structural diagram of the drilling, mining and charging integrated device of the present invention for developing a directional coal mining drilling state and a hydraulic cutting state when a hydraulic cutting nozzle is disposed on a directional drill head;

FIG. 9 is a schematic structural diagram of a filling state of the drilling, mining and filling integrated device provided by the invention when a hydraulic cutting nozzle is arranged on a directional drill bit;

FIG. 10 is a schematic illustration of the configuration of the present invention during hydraulic coal mining operations;

FIG. 11 is a schematic structural diagram of a coal-rock mixture retained in a drilling section of a coal seam when hydraulic coal mining of the drilling section of the coal seam is completed and a roof of the coal seam is still supported by the coal-rock mixture;

FIG. 12 is a schematic diagram of a structure of the grouting filling operation of the invention, wherein the filling slurry presses the coal-rock mixture retained in the drilling section of the coal seam.

In the figure: 1. directional coal mining and well drilling; 11. a main coal mining well drilling section; 12. drilling a well section of a coal seam; 13. coal mining transitional drilling sections; 2. coal mining directional drilling rods; 3. drilling, mining and charging integrated device; 31. a fluid control mechanism; 311. a control valve group; 312. a sliding sleeve; 32. a hole bottom screw motor; 33. a pilot bit; 34. a hydraulic cutting nozzle; 35. a grouting port; 4. a bottom roadway; 41. a coal leakage passage; 42. a water filtering sieve plate; 43. the stirring shaft is rotated.

Detailed Description

The present invention will be further described with reference to the drawings (hereinafter, the coal seam width direction will be described with the coal seam inclination direction as the front-rear direction and the left-right direction with respect to the front-rear direction as the width direction of the coal seam).

As shown in fig. 1 and 2, the fluidized coal mining system for local directional drilling and underground roadway combination comprises a directional drilling hydraulic coal mining part, a grouting filling part and an underground transportation roadway part.

The directional drilling hydraulic coal mining part comprises a drilling and mining directional drilling machine, a directional coal mining drilling well 1, a coal mining directional drilling rod 2 and a drilling, mining and filling integrated device 3; the drilling and production directional drilling machine is arranged on the ground; the directional coal mining drilling well 1 is driven from the ground relative to the high-end position of the coal seam inclination direction, the directional coal mining drilling well 1 comprises a main coal mining drilling section 11 along the vertical direction, a plurality of coal seam drilling sections 12 extending towards the low-end position of the coal seam inclination direction along the coal seam inclination direction and a coal mining transition drilling section 13 communicated with a deflection and arranged between the main coal mining drilling section 11 and the coal seam drilling sections 12, and aiming at the coal seam with relatively large coal seam width, the main coal mining drilling section 11 can be located at the middle position of a set mining width range relative to the coal seam width direction (namely, the coal mining transition drilling section 13 can form a bilateral symmetry structure relative to the main coal mining drilling section 11 along the coal seam width direction); the coal mining directional drilling rod 2 comprises a plurality of hollow drilling rod sections which are sealed and coaxially installed and connected into an integral structure, when a construction bottom roadway 4 and hydraulic coal mining are developed, the top end of the coal mining directional drilling rod 2 positioned at the wellhead position of the directional coal mining drilling well 1 is hermetically installed and connected with the output end of a high-pressure water injection pipe through a water feeder, the input end of the high-pressure water injection pipe is hermetically communicated and connected with a water storage tank through a high-pressure water injection pump, a coherent pressure medium channel is formed in a cavity inside the coal mining directional drilling rod 2, and the coal mining directional drilling rod 2 can be of a cable-through directional drilling rod structure so as to conveniently and accurately control the drilling direction; as shown in fig. 4 to 6 and 8 to 9, the drilling, mining and charging integrated device 3 is installed at the bottom end of the coal mining directional drilling rod 2, and includes a fluid control mechanism 31, a drilling mechanism and a hydraulic cutting mechanism, the fluid control mechanism 31 is used for controlling the flow direction of the pressure medium flowing through the coal mining directional drilling rod 2, the drilling mechanism includes an adjustable bending shell, a hole bottom screw motor 32 and a directional drill bit 33 installed on the power output end of the hole bottom screw motor 32 through a cardan shaft assembly and a transmission shaft assembly, the directional drill bit 33 is provided with a drilling nozzle with a spraying direction facing the drilling direction, the hydraulic cutting mechanism includes a plurality of hydraulic cutting nozzles 34 with a spraying direction arranged along the radial direction of the directional drill bit 33, the hydraulic cutting nozzles 34 can be inclined towards the drilling direction, the high-pressure input end of the hole bottom screw motor 32 and the hydraulic cutting nozzles 34 are respectively connected with the fluid control mechanism 31 in a sealing and communicating manner, the low pressure output of the bottom hole screw motor 32 is connected in a closed communication with the drilling nozzle by a slip ring structure.

The grouting filling part comprises a slurry stirring station arranged near the drilling wellhead of the directional coal mining drilling well 1 and a grouting port 35 arranged on the fluid control mechanism 31, the output end of the slurry stirring station is communicated and connected with the input end of a grouting pump, and the output end of the grouting pump is hermetically connected with the top end of a pressure medium channel of the directional coal mining drilling rod 2 during grouting filling operation.

The underground transportation roadway part comprises a bottom roadway 4 arranged below a coal seam bottom plate, the bottom roadway 4 is located at the low end position of the coal seam inclined direction relative to the directional coal mining drilling well 1, the length direction of the bottom roadway 4 is arranged along the width direction of the coal seam, a coal leakage channel 41 which is arranged upwards and runs through the coal seam drilling section 12 is arranged at the position, corresponding to the coal seam drilling section 12, of the top of the bottom roadway 4, a flow guide mechanism for guiding the coal rock mixture is arranged at the bottom of the coal leakage channel 41, and a water filter screen plate 42 is arranged in the coal leakage channel 41 during hydraulic coal mining.

Before carrying out mining operation by utilizing a fluidized coal mining system combining local directional drilling and an underground roadway, firstly carrying out well construction: as shown in fig. 1 and fig. 2, a ground penetrating radar detection method is adopted to determine the burial depth, thickness, inclination angle, length range and width range of a coal seam to be mined, then a construction bottom roadway 4 is developed along the width direction of the coal seam below a coal seam bottom plate at the lower end position of the coal seam inclination direction, and after a coal leaking channel 41 is developed upwards in the planned mining direction of a corresponding coal seam drilling section 12, a water filtering sieve plate 42 is positioned and installed in the coal leaking channel 41; installing the drilling, mining and filling integrated device 3 at the tail end of the coal mining directional drilling rod 2, determining the well mouth drilling position of the directional coal mining drilling 1 according to the length range and the width range of the coal seam, arranging and connecting a high-pressure water injection pump and a water storage tank near the drilling well mouth drilling position of the directional coal mining drilling 1, controlling a fluid control mechanism 31 to enable the coal mining directional drilling rod 2 to be communicated with a drilling mechanism of the drilling, mining and filling integrated device 3, starting the high-pressure water injection pump to drill, adopting a drilling, mining and filling integrated device 3 and a water feeder to construct and develop the directional coal mining drilling 1 by connecting and pushing the coal mining directional drilling rod 2 step by step on the ground, enabling high-pressure water to enter a hole bottom screw rod motor 32 through a pressure medium channel of the water feeder and the coal mining directional drilling rod 2 to push a screw rod to do work and then to be ejected through a drilling nozzle of the directional drill bit 33, and simultaneously driving the directional drill bit 33 to rotate through a power output end of the hole bottom screw rod motor 32, the debris generated in the drilling process is washed by pressure water sprayed by a drilling nozzle of the directional drill bit 33, and is discharged from the drilling wellhead position of the directional coal mining drilling well 1 through a gap between the drilling hole and the coal mining directional drill rod 2, after the drilling of the main coal mining drilling section 11 is completed, the deflecting and drilling are performed along the coal seam width direction to the coal mining transitional drilling section 13, after the drilling is performed to the edge position of the coal seam width direction, the deflecting and drilling are performed to the lower end position of the coal seam inclined direction along the coal seam inclined direction according to the hydraulic cutting range of the hydraulic cutting nozzle 34, the drilling is stopped after the first coal seam drilling section 12 is drilled to the lower end position of the coal seam inclined direction, and the mode of controlling the drilling direction in the drilling process is the prior art, and detailed description is omitted.

Hydraulic coal mining: as shown in fig. 10, after the fluid control mechanism 31 is controlled to communicate the coal mining directional drilling rod 2 with the hydraulic cutting mechanism of the drilling, mining and charging integrated device 3, water in the water storage tank is pressurized by the high-pressure water pump and then is ejected from the hydraulic cutting nozzle 34 through the water feeder and the pressure medium channel of the coal mining directional drilling rod 2 in a high-pressure and large-flow state to form high-pressure water jet to perform hydraulic cutting on the coal seam in the circumferential range, after the coal seam at the bottom end position of the first coal seam drilling section 12 is broken, the bottom end position of the first coal seam drilling section 12 is communicated with the coal leakage channel 41, and the drilling, mining and directional drilling machine is controlled to slowly retract the coal mining directional drilling rod 2 until the drilling, mining and charging integrated device 3 retracts to the top end position of the first coal seam drilling section 12, so as to complete a mining process; in order to ensure the hydraulic coal mining effect, the fluid control mechanism 31 can be controlled again to enable the coal mining directional drilling rod 2 to be communicated with the drilling mechanism of the drilling, mining and charging integrated device 3 after the drilling, mining and charging integrated device 3 retracts to the top end position of the coal seam drilling section 12, then the drilling, mining and charging integrated device 3 is controlled again to push the coal mining directional drilling rod 2 to enable the drilling, mining and charging integrated device 3 to drill to the bottom end position of the coal seam drilling section 12 for secondary drilling, the fluid control mechanism 31 is controlled again to enable the coal mining directional drilling rod 2 to be communicated with the hydraulic cutting mechanism of the drilling, mining and charging integrated device 3, the drilling, mining and charging integrated device 2 is controlled to retract slowly until the drilling, mining and charging integrated device 3 retracts to the top end position of the first coal seam drilling section 12 for secondary hydraulic cutting, and the like, multiple times of drilling and multiple times of hydraulic cutting can be performed in the coal seam drilling section 12, so that all coal mining resources in the coal seam drilling section 12 are completely completed by hydraulic mining, And the hydraulic crushing effect is ensured.

Conveying coal rock mixture and filling by grouting: as shown in fig. 11, in the hydraulic coal mining process, the coal rock mixture cut by hydraulic power is fluidized under the scouring action of high-pressure water and the self gravity action and moves to the low end position of the coal seam in the inclined direction, under the blocking action of the water filtering sieve plate 42, the large-particle coal rock mixture is blocked by the water filtering sieve plate 42 and is accumulated and retained in the first coal seam drilling section 12, while the water and small-particle coal rock mixture enters the bottom roadway 4 through the coal leaking channel 41 and the flow guiding mechanism and can be conveyed to the upper well after being subjected to primary coal rock separation by the coal rock separation equipment arranged in the bottom roadway 4, because an integrally continuous goaf is not formed in the whole first coal seam drilling section 12 in the hydraulic coal mining process, the coal rock mixture retained in the first coal seam drilling section 12 still has a supporting effect on the coal seam roof, so that the fracture collapse probability of the coal seam roof can be effectively reduced in the hydraulic coal mining process, meanwhile, during multiple drilling and multiple hydraulic cutting processes of the coal seam drilling section 12, the large coal rock mixture retained in the coal seam drilling section 12 can be pulverized by hydraulic cutting again.

Converting the goaf volume value of the first coal seam drilling section 12 according to the hydraulic cutting range of the hydraulic cutting nozzle 34, after the mining of the first coal seam drilling section 12 is finished, stopping the drilling, mining and filling integrated device 3 at the top end of the first coal seam drilling section 12, removing the water filtering screen plate 42, enabling the large-particle coal-rock mixture retained in the first coal seam drilling section 12 to enter the bottom roadway 4 through the coal leakage channel 41 and the flow guide mechanism, conveying the large-particle coal-rock mixture to the upper well, meanwhile, hermetically connecting the output end of the grouting pump with the top end of the pressure medium channel of the coal mining directional drilling rod 2, controlling the fluid control mechanism 31 to enable the coal mining directional drilling rod 2 to be communicated with the grouting port 35, and then starting the grouting pump, wherein as shown in fig. 12, filling slurry is flushed from the grouting port 35 through the pressure medium channel of the coal seam directional drilling rod 2 to fill the goaf of the first coal seam drilling section 12, and the filling slurry paved at the top of the coal-rock mixture simultaneously applies pressure to the coal-rock mixture in the coal seam drilling section 12, Forcing the coal-rock mixture to smoothly move towards the lower end position of the coal seam in the inclined direction to enter the coal leakage channel 41, after the grouting amount reaches a set value set according to the volume value of the goaf, closing the grouting pump, removing the grouting pump, and hermetically installing and connecting the top end of the pressure medium channel of the coal mining directional drilling rod 2 with the output end of the high-pressure water injection pipe, starting the high-pressure water pump to enable water in the water storage tank to enter the coal mining directional drilling rod 2 through the high-pressure water pump, flushing the pressure medium channel of the coal mining directional drilling rod 2, flushing filling slurry retained in the pressure medium channel of the coal mining directional drilling rod 2 into the goaf, avoiding the slurry solidification phenomenon in the pressure medium channel of the coal mining directional drilling rod 2, closing the high-pressure water pump after the set flushing time, and controlling the fluid control mechanism 31 to cut off the connection between the coal mining directional drilling rod 2 and the grouting port 35; when the coal leakage passage 41 discharges the filling slurry, the coal leakage passage 41 is blocked. The goaf filling mode is a goaf filling mode which is used for grouting and filling the coal seam drilling section 12 after the mining of the coal seam drilling section 12 is finished, so that the influence of the goaf on surface buildings can be greatly reduced; the method of sequentially exploiting the coal seam drilling sections 12 at intervals along the width direction of the coal seam and mining can also be adopted, namely taking the example that a first coal seam drilling section 12, a second coal seam drilling section 12 and a third coal seam drilling section 12 and … … are sequentially arranged from one end edge position to the other end edge position along the width direction of the coal seam, grouting and filling the mined-out area of the first coal seam drilling section 12 after the first coal seam drilling section 12 is exploited and the coal mining operation of the first coal seam drilling section 12 is completed, then grouting and filling the mined-out area of the fourth coal seam drilling section 12 without waiting for the slurry solidification in the mined-out area of the first coal seam drilling section 12, and conducting the slurry solidification in the mined-out area of the first coal seam drilling section 12 during the coal mining operation and filling operation of the fourth coal seam drilling section 12, the second coal seam drilling section 12 can be developed and coal mining operation can be carried out, and by analogy, continuous mining operation without waiting for slurry solidification in the goaf can be realized by adopting a mode of mining and filling at intervals along the width direction of the coal seam.

And (3) performing parallel continuous coal mining operation: after the mining and filling of the first coal seam drilling section 12 are completed, as shown in fig. 1, the drilling, mining and filling integrated device 3 is controlled to retract to the coal mining transition drilling section 13, then the drilling, mining and filling integrated device is inclined and drilled into the second coal seam drilling section 12 along the direction parallel to the first coal seam drilling section 12 according to the hydraulic cutting range of the hydraulic cutting nozzle 34, then hydraulic coal mining and filling are performed in the second coal seam drilling section 12, and the rest is done in the same way until all coal resources in the width direction of the coal seam are mined, the coal resources can be mined and filled sequentially along the width direction of the coal seam, or the coal resources can be mined and filled sequentially along the width direction of the coal seam at intervals as described above.

In order to simplify the mechanism arrangement and facilitate the realization of injecting high-pressure water and filling slurry through the coal mining directional drilling rod 2, as a further improvement scheme of the invention, a mode that the hydraulic cutting nozzle 34 and the grouting port 35 share a communication channel is adopted, that is, as shown in fig. 3 to 6, the fluid control mechanism 31 comprises a control valve group 311 with a pressure water input end hermetically communicated and connected with the bottom end of a pressure medium channel of the coal mining directional drilling rod 2 and a sliding sleeve 312 sleeved on a hollow drilling rod section at the bottom end of the coal mining directional drilling rod 2 in a sealing and sliding fit manner, the pressure water output end of the control valve group 311 arranged behind the hole bottom screw motor 32 along the drilling direction is communicated and connected with the high-pressure input end of the hole bottom screw motor 32, the sliding sleeve 312 positioned in the radial direction relative to the hollow drilling rod section at the bottom end of the coal mining directional drilling rod 2 comprises a sliding driving mechanism, and the sliding driving mechanism can be a hollow hydraulic cylinder structure or a hollow electric cylinder structure and the like, The telescopic control structure can be sleeved and installed on the hollow drill rod section, the sliding sleeve 312 is provided with a plurality of hydraulic cutting nozzle installation holes which penetrate through the sliding sleeve 312 along the radial direction, the plurality of hydraulic cutting nozzle installation holes are uniformly distributed along the circumferential direction of the sliding sleeve 312, the hydraulic cutting nozzles 34 are installed in the hydraulic cutting nozzle installation holes, the grouting ports 35 with the number corresponding to the hydraulic cutting nozzle installation holes are arranged on the hollow drill rod section at the bottom end of the coal mining directional drill rod 2 in a penetrating way along the radial direction, and the grouting port 35 is matched with the sliding stroke of the sliding sleeve 312 and is arranged corresponding to the position of the hydraulic cutting nozzle mounting hole, the sliding sleeve 312 can slide back and forth and be positioned on the hollow drill rod section at the bottom end of the coal mining directional drill rod 2 along the axial direction by controlling the action of the sliding driving mechanism, so that the hydraulic cutting nozzle 34 is in a state of being communicated with the grouting opening 35 or in a staggered plugging state. When the directional coal mining drilling well 1 is developed, the sliding sleeve 312 is controlled to slide and position, the hydraulic cutting nozzle 34 is in a state of being blocked with the grouting port 35 in a staggered mode, the pressure water input end of the control valve group 311 is in an open state, and at the moment, high-pressure water can enter the hole bottom screw motor 32 through the water feeder and a pressure medium channel of the coal mining directional drilling rod 2 to realize drilling; when hydraulic coal mining is carried out, the sliding sleeve 312 is controlled to slide and position, the hydraulic cutting nozzle 34 is in a state of being communicated with the grouting port 35, the pressure water input end of the control valve group 311 is in a closed state, and at the moment, high-pressure water can enter the grouting port 35 through a water feeder and a pressure medium channel of the coal mining directional drilling rod 2 and is sprayed out through the hydraulic cutting nozzle 34 to realize hydraulic cutting; during filling operation, the sliding sleeve 312 is controlled to slide and position, so that the hydraulic cutting nozzle 34 is in a state of being staggered with the grouting opening 35, the grouting opening 35 is in a state of being communicated with the outside, the pressure water input end of the control valve group 311 is in a closed state, and filling slurry can flow out from the grouting opening 35 through a pressure medium channel of the coal mining directional drilling rod 2 to realize filling.

In order to achieve a better hydraulic cutting effect, as a further improvement of the present invention, a mode that the hydraulic cutting nozzles 34 are arranged on the pilot bit 33 is adopted, that is, as shown in fig. 7 to 9, the hydraulic cutting nozzles 34 are arranged on the pilot bit 33, and a plurality of hydraulic cutting nozzles 34 are uniformly arranged along the circumferential direction of the pilot bit 33; the fluid control mechanism 31 comprises a control valve group 311 with a pressure water input end hermetically communicated and connected with the bottom end of a pressure medium channel of the coal mining directional drilling rod 2 and a sliding sleeve 312 sleeved on a hollow drilling rod section at the bottom end of the coal mining directional drilling rod 2 in a sealing and sliding fit manner, a pressure water output end of the control valve group 311 arranged behind the hole bottom screw motor 32 along the drilling direction comprises a drilling pressure water output end and a hydraulic cutting pressure water output end, the drilling pressure water output end is communicated and connected with a high-pressure input end of the hole bottom screw motor 32 through a throttling control valve, the hydraulic cutting pressure water output end is communicated and connected with the hydraulic cutting nozzle 34 through a sliding ring structure, the sliding sleeve 312 comprises a sliding driving mechanism, the sliding driving mechanism is a telescopic control structure with a hollow structure such as a hollow hydraulic cylinder structure or a hollow electric cylinder structure, and the like, a grouting port 35 is arranged on the hollow drilling rod section at the bottom end of the coal mining directional drilling rod 2 along the radial direction, and the slip stroke setting of slip cover 312 is cooperated with the slip port 35, the slip cover 312 can slip back and forth and be positioned on the hollow drill rod section at the bottom end of the coal mining directional drill rod 2 along the axial direction by controlling the action of the slip driving mechanism, so that the slip port 35 is in a state of being communicated with the outside or in a blocking state. When the directional coal mining drilling well 1 is developed, the sliding sleeve 312 is controlled to slide and position, the grouting port 35 is in a state of being blocked with the outside, the pressure water input end of the control valve group 311 is in an open state, the throttling control valve on the drilling pressure water output end is in a fully open state, and the hydraulic cutting pressure water output end is in a closed state, and at the moment, high-pressure water can enter the hole bottom screw motor 32 through a water feeder and a pressure medium channel of the coal mining directional drilling rod 2 to realize drilling; when hydraulic coal mining is carried out, the control sliding sleeve 312 slides and is positioned, the grouting port 35 is in a state of being blocked with the outside, the pressure water input end of the control valve group 311 is in an open state, the throttling control valve on the drilling pressure water output end is in a throttling state, and the hydraulic cutting pressure water output end is in a completely open state, at the moment, high-pressure water can enter the control valve group 311 through a pressure medium channel of the water feeder and the coal mining directional drilling rod 2 and is sprayed out through the hydraulic cutting nozzle 34 to realize hydraulic cutting, meanwhile, part of pressure water enters the hole bottom screw motor 32 and pushes the directional drill bit 33 to rotate at a low speed, so that the hydraulic cutting nozzle 34 rotates around the axis of the directional drill bit 33 and performs hydraulic cutting at the same time, and further a better hydraulic cutting effect is realized; during filling operation, the sliding sleeve 312 is controlled to slide and position, the grouting port 35 is in a state of being communicated with the outside, the pressure water input end of the control valve group 311 is in a closed state, and filling slurry can flow out from the grouting port 35 through a pressure medium channel of the coal mining directional drilling rod 2 to realize filling.

Aiming at a soft coal seam with easily-protruded coal and gas, in order to extract the gas of the protruded coal seam, as a further improvement scheme of the invention, the fluidized coal mining system for combining the local directional drilling and the underground roadway further comprises a gas extraction part, wherein the gas extraction part comprises a gas extraction pump and a high-pressure gas injection pump which are arranged near the drilling wellhead position of the directional coal mining drilling 1. The method of simultaneously extracting gas in the hydraulic coal mining process by adopting the gas extraction inclined hole can be adopted, namely, as shown in fig. 1, a gas extraction inclined hole communicated with the main coal mining drilling section 11 is arranged at the top of the main coal mining drilling section, when a directional coal mining drilling 1 is developed, debris generated in the drilling process can be discharged from the gas extraction inclined hole through a gap between the drilling hole and the coal mining directional drilling rod 2, so that the gas extraction inclined hole is used as a slurry return port, in the hydraulic coal mining process, the orifice position of the main coal mining drilling section 11 is sealed, then the gas extraction inclined hole is hermetically connected with a high-pressure gas injection pump through a pipeline, then starting a high-pressure gas injection pump to inject high-pressure gas into the gas extraction inclined hole, emptying slurry in a gap between the drill hole and the coal mining directional drill rod 2 to a coal seam drilling section 12, then, the gas extraction inclined hole is hermetically connected with a gas extraction pump through a pipeline, and the gas extraction pump is started to realize simultaneous gas extraction in the hydraulic coal mining process; or a mode of intermittently performing hydraulic coal mining and gas extraction can be adopted, namely, in the hydraulic coal mining process, after the drilling, mining and filling integrated device 3 is retreated to the top end position of the coal seam drilling section 12, the pressure medium channel of the coal mining directional drilling rod 2 is hermetically connected with a high-pressure gas injection pump through a pipeline, then the high-pressure gas injection pump is started to inject high-pressure gas into the pressure medium channel of the coal mining directional drilling rod 2, water in the pressure medium channel of the coal mining directional drilling rod 2 is emptied to the coal seam drilling section 12, then the pressure medium channel of the coal mining directional drilling rod 2 is hermetically connected with a gas extraction pump through a pipeline, the gas extraction pump is started to extract gas, when the concentration of the extracted gas is obviously reduced, the gas extraction pump is removed, the connection between the pressure medium channel of the coal mining directional drilling rod 2 and a pressure water input pipeline is recovered, and hydraulic coal mining is continuously performed, and the rest is done in sequence, so that the hydraulic coal mining and the gas extraction are carried out intermittently.

In order to avoid the blockage of the coal leakage channel 41 caused by the deposition of the coal rock mixture, as a further improvement scheme of the invention, a rotary stirring device is further arranged in the roadway 4, the rotary stirring device comprises a rotary stirring shaft 43 capable of penetrating into the coal leakage channel 41, the rotary stirring shaft 43 is in transmission connection with a circumferential rotary driving part, the rotary stirring shaft 43 can be controlled to perform rotary motion along the circumferential direction by controlling the action of the circumferential rotary driving part, so that the coal rock mixture can be stirred, and the blockage of the coal leakage channel 41 caused by the large coal rock mixture can be prevented. As shown in fig. 12, when the filling operation is performed after the mining of the coal seam drilling section 12 is completed, the rotary stirring shaft 43 can be positioned and penetrated into the coal leakage passage 41 after the water filtering sieve plate 42 is removed, and the circumferential rotary driving part is started, so that the coal rock mixture can be stirred. In order to further avoid the blockage of the coal leakage channel 41 by the massive coal-rock mixture, a crushing structure which is arranged in a protruding mode and comprises cutting teeth can be further arranged on the rotary stirring shaft 43, and the rotary stirring shaft 43 is controlled to rotate in the circumferential direction, so that the crushing structure can further crush the coal-rock mixture and prevent the massive coal-rock mixture from blocking the coal leakage channel 41. For realizing better anti-blocking effect, the crushing structure that the protrusion set up can also be the spiral delivery structure that wholly sets up along coal breakage direction spiral, and rotatory (mixing) shaft 43 stirs the in-process of gyration action and can realize carrying out the transportation to the coal breakage direction when broken to the coal rock mixture through spiral delivery structure.

The fluidized coal mining system combining the local surface directional drilling and the underground roadway is based on the directional drilling technology, utilizes potential energy along the trend of an inclined coal seam, slows down the flow velocity of a coal-rock mixture in the coal seam drilling section 12 in the mode of installing a water filtering sieve plate 42 in the hydraulic coal mining process through the drilling, mining and filling integrated device 3, enables large-particle coal-rock mixtures to be blocked by the water filtering sieve plate 42 to be accumulated and retained in the coal seam drilling section 12, enables water and small-particle coal-rock mixtures to enter the bottom roadway 4 through the coal leakage channel 41 and the flow guide mechanism and to be conveyed to a well through the bottom roadway 4, and can effectively reduce the probability of fracture and collapse of the coal seam roof in the hydraulic coal mining process because the whole coal seam drilling section 12 does not form an integrally coherent mining area in the hydraulic coal mining process, meanwhile, in the process of multiple drilling and multiple hydraulic cutting of the coal seam drilling section 12, the large coal rock mixture retained in the coal seam drilling section 12 can be pulverized by hydraulic cutting again; the water filtering sieve plate 42 is removed in the grouting and filling process through the drilling, mining and filling integrated device 3, the flow rate of the coal-rock mixture in the coal seam drilling section 12 is recovered, meanwhile, filling slurry paved at the top of the coal-rock mixture can apply pressure to the coal-rock mixture retained in the coal seam drilling section 12, the coal-rock mixture is forced to smoothly move to the low end position of the coal seam inclined direction to enter the bottom roadway 4 for conveying to the well, an integral continuous goaf is not formed in the whole coal seam drilling section 12 all the time, and the probability of fracture and collapse of a coal seam roof is reduced. The directional drilling hydraulic coal mining part and the directional drilling coal rock mixture conveying part which are separately arranged can work and do not influence each other, so that the reliability and the mining efficiency of a hydraulic coal mining process are greatly improved, on one hand, the directional coal mining drilling 1 can realize a relatively smaller set aperture compared with a traditional hydraulic coal mining vertical shaft, and on the other hand, a mode that a plurality of coal seam drilling sections 12 share the same main coal mining drilling section 11 is adopted, so that relatively lower coal mining cost can be realized; the output end of the gas extraction pump can be connected with a gas extraction inclined hole which is arranged at the top of the main coal mining drilling section 11 in a penetrating manner to extract gas after slurry in a gap between the drilling hole and the coal mining directional drilling rod 2 can be emptied, or the output end of the gas extraction pump can be connected with the coal mining directional drilling rod 2 to extract gas after water in a pressure medium channel of the coal mining directional drilling rod 2 can be emptied; the continuous parallel coal mining operation can be realized along the width direction of the coal seam, the residual coal quantity is reduced to the maximum extent, and the method is particularly suitable for coal mining of soft coal seams in the inclined direction.

Claims

1. A fluidized coal mining system combining a ground directional drilling well and an underground roadway is characterized by comprising a directional drilling hydraulic coal mining part, a grouting filling part and an underground transportation roadway part;

the directional drilling hydraulic coal mining part comprises a drilling and mining directional drilling machine, a directional coal mining drilling well (1), a coal mining directional drilling rod (2) and a drilling, mining and charging integrated device (3); the drilling and production directional drilling machine is arranged on the ground; the directional coal mining drilling well (1) is driven from the ground relative to the high-end position of the coal bed inclined direction, and the directional coal mining drilling well (1) comprises a main coal mining drilling well section (11) which runs up and down, a plurality of coal bed drilling well sections (12) which extend to the low-end position of the coal bed inclined direction along the coal bed inclined direction, and a coal mining transition drilling well section (13) which is obliquely communicated and arranged between the main coal mining drilling well section (11) and the coal bed drilling well sections (12); the coal mining directional drilling rod (2) comprises a plurality of hollow drilling rod sections which are sealed and coaxially installed and connected into an integral structure, when a construction bottom roadway (4) is developed and hydraulic coal mining is carried out, the top end of the coal mining directional drilling rod (2) positioned at the wellhead position of the directional coal mining drilling well (1) is hermetically installed and connected with the output end of the high-pressure water injection pipe, the input end of the high-pressure water injection pipe is hermetically communicated and connected with the water storage tank through the high-pressure water injection pump, and a coherent pressure medium channel is formed in a cavity inside the coal mining directional drilling rod (2); the drilling, mining and charging integrated device (3) is arranged at the bottom end of the coal mining directional drilling rod (2) and comprises a fluid control mechanism (31), a drilling mechanism and a hydraulic cutting mechanism, the fluid control mechanism (31) is used for controlling the circulation direction of a pressure medium flowing through the coal mining directional drilling rod (2), the drilling mechanism comprises an adjustable bent shell, the hydraulic cutting device comprises a hole bottom screw motor (32) and a directional drill bit (33) which is arranged on the power output end of the hole bottom screw motor (32) through a cardan shaft assembly, wherein a drilling nozzle with the spraying direction facing the drilling direction is arranged on the directional drill bit (33), a plurality of hydraulic cutting nozzles (34) are arranged in the radial direction of the directional drill bit (33) along the spraying direction, the high-pressure input end of the hole bottom screw motor (32) and the hydraulic cutting nozzles (34) are respectively connected with a fluid control mechanism (31) in a sealing and communicating manner, and the low-pressure output end of the hole bottom screw motor (32) is connected with the drilling nozzle in a sealing and communicating manner;

the grouting filling part comprises a slurry stirring station arranged near the drilling wellhead of the directional coal mining drilling well (1) and a grouting port (35) arranged on the fluid control mechanism (31), the output end of the slurry stirring station is communicated and connected with the input end of a grouting pump, and the output end of the grouting pump is hermetically connected with the top end of a pressure medium channel of the directional coal mining drilling rod (2) during grouting filling operation;

the underground transportation roadway part comprises a bottom roadway (4) arranged below a coal seam bottom plate, the bottom roadway (4) is located at the low end position of the coal seam inclined direction relative to the directional coal mining drilling well (1), the length direction of the bottom roadway (4) is arranged along the width direction of the coal seam, a coal leakage channel (41) which is arranged upwards and is communicated with the coal seam drilling section (12) is arranged at the position, corresponding to the coal seam drilling section (12), of the top of the bottom roadway (4), a flow guide mechanism is arranged at the bottom of the coal leakage channel (41), and a water filtering sieve plate (42) is arranged in the coal leakage channel (41) during hydraulic coal mining.

2. The fluidized coal mining system for the combination of the ground directional drilling and the underground roadway according to claim 1, wherein the fluid control mechanism (31) comprises a control valve group (311) with a pressure water input end connected with the bottom end of a pressure medium channel of the coal mining directional drilling rod (2) in a sealing and communicating manner and a sliding sleeve (312) sleeved on a hollow drilling rod section at the bottom end of the coal mining directional drilling rod (2) in a sealing and sliding fit manner, the pressure water output end of the control valve group (311) arranged behind the hole bottom screw motor (32) along the drilling direction is connected with a high pressure input end of the hole bottom screw motor (32) in a communicating manner, the sliding sleeve (312) arranged in a radial positioning manner relative to the hollow drilling rod section at the bottom end of the coal mining directional drilling rod (2) comprises a sliding driving mechanism, and the sliding sleeve (312) is provided with a plurality of hydraulic cutting nozzle mounting holes penetrating through the sliding sleeve (312) along the radial direction, And a plurality of hydraulic cutting nozzle mounting holes are uniformly distributed along the circumferential direction of the sliding sleeve (312), the hydraulic cutting nozzles (34) are mounted in the hydraulic cutting nozzle mounting holes, grouting ports (35) with the number corresponding to the hydraulic cutting nozzle mounting holes are arranged on the hollow drill rod section at the bottom end of the coal mining directional drill rod (2) in a penetrating manner along the radial direction, the grouting ports (35) are matched with the sliding stroke of the sliding sleeve (312) and are arranged corresponding to the positions of the hydraulic cutting nozzle mounting holes, and the sliding sleeve (312) can slide back and forth and be positioned on the hollow drill rod section at the bottom end of the coal mining directional drill rod (2) along the axial direction by controlling the action of the sliding driving mechanism, so that the hydraulic cutting nozzles (34) are in a penetrating state or a staggered plugging state with the grouting ports (35).

3. The fluidized coal mining system for ground directional drilling and underground roadway according to claim 1, characterized in that the hydraulic cutting nozzles (34) are arranged on the directional drill bit (33), and a plurality of hydraulic cutting nozzles (34) are uniformly distributed along the circumferential direction of the directional drill bit (33); the fluid control mechanism (31) comprises a control valve group (311) with a pressure water input end connected with the bottom end of a pressure medium channel of the coal mining directional drilling rod (2) in a sealing and communicating manner and a sliding sleeve (312) sleeved on a hollow drilling rod section at the bottom end of the coal mining directional drilling rod (2) in a sealing and sliding fit manner, the pressure water output end of the control valve group (311) arranged behind the hole bottom screw motor (32) along the drilling direction comprises a drilling pressure water output end and a hydraulic cutting pressure water output end, the drilling pressure water output end is connected with a high-pressure input end of the hole bottom screw motor (32) through a throttling control valve in a communicating manner, the hydraulic cutting pressure water output end is connected with a hydraulic cutting nozzle (34) through a sliding ring structure, the sliding sleeve (312) comprises a sliding driving mechanism, a grouting port (35) is arranged on the hollow drilling rod section at the bottom end of the coal mining directional drilling rod (2) along the radial direction in a communicating manner, and the slip stroke setting that slip cover (312) is cooperated to slip pouring spout (35), can realize that slip cover (312) slides and fixes a position along the axial direction on the coal mining directional drilling rod (2) bottom hollow drilling rod section, make the state or the shutoff state that slip pouring spout (35) link up with the external world through controlling the action of the actuating mechanism that slides.

4. The fluidized coal mining system combining the ground directional drilling and the underground roadway according to claim 1, 2 or 3, characterized in that the fluidized coal mining system combining the ground directional drilling and the underground roadway further comprises a gas extraction part, wherein the gas extraction part comprises a gas extraction pump arranged near a drilling wellhead of the directional coal mining drilling well (1); during gas extraction operation, after slurry in a gap between a drill hole and the coal mining directional drill rod (2) is emptied, the output end of a gas extraction pump is connected with a gas extraction inclined hole which is arranged at the top of the main coal mining drill section (11) in a penetrating manner to extract gas; or during gas extraction operation, after water in the pressure medium channel of the coal mining directional drilling rod (2) is drained, the output end of the gas extraction pump is connected with the pressure medium channel of the coal mining directional drilling rod (2) to extract gas.

5. The fluidized coal mining system for ground directional drilling and underground roadway combination according to claim 1, 2 or 3, characterized in that a rotary stirring device is further arranged in the underground roadway (4), the rotary stirring device comprises a rotary stirring shaft (43) capable of penetrating into the coal leakage channel (41), and the rotary stirring shaft (43) is in transmission connection with a circumferential rotary driving component.

6. The fluidized coal mining system for the ground directional drilling and the underground roadway according to claim 5, characterized in that the rotary stirring shaft (43) is further provided with a protruding crushing structure comprising cutting teeth.

7. A fluidized coal mining system for ground directional drilling and underground roadway use according to claim 6, characterized in that the crushing structure is a spiral conveying structure which is integrally arranged spirally along the coal falling direction.

8. The fluidized coal mining method based on the fluidized coal mining system combining the ground directional drilling and the underground roadway, which is disclosed by the claim 1, is characterized by comprising the following steps of:

a. and (3) well construction: determining the buried depth, the thickness, the dip angle, the length range and the width range of a coal seam to be mined by adopting a ground penetrating radar detection method, then developing a construction bottom roadway (4) along the width direction of the coal seam below a coal seam bottom plate at the lower end position of the coal seam in the inclined direction of the coal seam, and positioning and installing a water filtering sieve plate (42) in a coal leakage channel (41) after developing a construction coal leakage channel (41) upwards in the planned mining direction of a corresponding coal seam drilling section (12); the drilling, mining and charging integrated device (3) is arranged at the tail end of the coal mining directional drilling rod (2), after the well mouth drilling position of the directional coal mining drilling well (1) is determined, arranging and connecting a high-pressure water injection pump and a water storage tank near the position of a drilling wellhead of the directional coal mining drilling well (1), controlling a fluid control mechanism (31) to enable a coal mining directional drilling rod (2) to be communicated with a drilling mechanism of a drilling, mining and filling integrated device (3), starting the high-pressure water injection pump to carry out drilling construction to develop the directional coal mining drilling well (1), completing drilling of a main coal mining drilling section (11), deflecting and drilling a coal mining transition drilling section (13) along the width direction of the coal seam, after drilling the coal mining transition drilling section (13) to the edge position of the width direction of the coal seam, deflecting and drilling a first coal seam drilling section (12) along the coal seam inclination direction according to the hydraulic cutting range of the hydraulic cutting nozzle (34), and stopping drilling after the first coal seam drilling section (12) drills to the lower end position of the coal seam inclination direction;

b. hydraulic coal mining: controlling a fluid control mechanism (31) to enable a coal mining directional drill rod (2) to be communicated with a hydraulic cutting mechanism of a drilling, mining and charging integrated device (3) and then starting a high-pressure water injection pump, spraying high-pressure water jet from a hydraulic cutting nozzle (34) to perform hydraulic cutting on a coal seam in a circumferential range, and simultaneously controlling a drilling, mining and charging integrated machine to enable the coal mining directional drill rod (2) to slowly retreat until the drilling, mining and charging integrated device (3) retreats to the top end position of a first coal seam drilling section (12), namely completing a primary mining process; by analogy, multiple drilling and multiple hydraulic cutting are carried out in the first coal seam drilling section (12);

c. conveying coal rock mixture and filling by grouting: in the hydraulic coal mining process, after the bottom end of the first coal seam drilling section (12) is communicated with the coal leakage channel (41), the coal rock mixture cut by hydraulic power moves to the lower end position of the coal seam in the inclined direction in a fluidized manner, the large-particle coal rock mixture is blocked by the water filtering sieve plate (42) and accumulated in the first coal seam drilling section (12), and the water and small-particle coal rock mixture enters the bottom roadway (4) through the coal leakage channel (41) and the flow guide mechanism and is conveyed to the upper well;

converting the goaf volume value of the first coal seam drilling section (12) according to the hydraulic cutting range of a hydraulic cutting nozzle (34), stopping the drilling, mining and filling integrated device (3) at the top end position of the first coal seam drilling section (12) after the mining of the first coal seam drilling section (12) is finished, removing a water filtering screen plate (42), enabling large-particle coal-rock mixture retained in the first coal seam drilling section (12) to enter a bottom roadway (4) through a coal leakage channel (41) and a flow guide mechanism and conveying the mixture to a top well, meanwhile, hermetically connecting the output end of a grouting pump with the top end of a pressure medium channel of a coal mining directional drilling rod (2), controlling a fluid control mechanism (31) to enable a coal mining directional drilling rod (2) to be communicated with a grouting port (35), starting a grouting pump to fill the goaf of the first coal seam drilling section (12), and closing the grouting pump after the grouting amount reaches a set value set according to the volume value of the goaf, removing the grouting pump, sealing and installing the top end of a pressure medium channel of the coal mining directional drilling rod (2) and the output end of the high-pressure water injection pipe, starting the high-pressure water pump to flush the pressure medium channel of the coal mining directional drilling rod (2), closing the high-pressure water pump after the set flushing time is up, and controlling the fluid control mechanism (31) to cut off the connection between the coal mining directional drilling rod (2) and the grouting port (35); when the coal leakage passage (41) discharges filling slurry, the coal leakage passage (41) is blocked;

d. and (3) performing parallel continuous coal mining operation: after the mining and filling of the first coal seam drilling section (12) are finished, firstly, controlling a drilling, mining and filling directional drilling machine to enable the drilling, mining and filling integrated device (3) to retreat to a coal mining transition drilling section (13), deflecting and drilling a second coal seam drilling section (12) along a direction parallel to the first coal seam drilling section (12) according to the hydraulic cutting range of a hydraulic cutting nozzle (34), then, performing hydraulic coal mining and filling in the second coal seam drilling section (12), and repeating the steps until all coal resources in the width direction of the coal seam are mined.

9. The fluidized coal mining method by combining surface directional drilling and underground roadway according to claim 8, characterized in that step d is implemented by sequentially mining and filling the coal seam drilling sections (12) at intervals along the width direction of the coal seam.

10. The fluidized coal mining method by combining the ground directional drilling and the underground roadway according to the claim 8, characterized in that a rotary stirring device is further arranged in the underground roadway (4), the rotary stirring device comprises a rotary stirring shaft (43) which can penetrate into the coal leakage channel (41), and the rotary stirring shaft (43) is in transmission connection with a circumferential rotary driving part;

in the step c, the rotary stirring shaft (43) is positioned and penetrates into the coal leakage channel (41) to remove the water filtering sieve plate (42), and then the circumferential rotary driving component is started.