Fully automatic column filling mining control method and control device

Abstract

The invention discloses a fully automatic column filling mining control method and control device. The control method includes: before the coal shearer starts to cut coal, control the manipulator arranged on the hydraulic support to grab the prefabricated hollow air bag support column to the hydraulic The preset position at the rear of the support; after the shearer starts to cut coal, the hydraulic support moves to the coal mining face with the shearer, the prefabricated hollow airbag support column is separated from the preset position, and the manipulator is controlled to support the prefabricated hollow airbag support column The inner airbag is arched according to the preset shape, so that the airbag is in contact with the roof of the coal seam to form a support. The full-automatic column filling mining control method of the embodiment of the present invention can realize full-automatic filling of goafs while coal mining, and greatly improves the efficiency of mining of coal mining faces and filling of goafs.

Description

technical field [0001] The invention relates to the technical field of goaf treatment in coal mines, in particular to a fully automatic column filling mining control method and a fully automatic column filling mining control device. Background technique [0002] At present, my country's coal mining mainly adopts the caving method, that is, after the coal mining is completed, no human intervention is made on the overlying rock strata, so that it naturally collapses. The fall will inevitably cause a series of environmental problems such as surface subsidence, building (structure) instability and damage, and groundwater system imbalance and damage. With the increasing demand for environmental protection, the filling mining method to reduce surface subsidence and environmental damage has gradually become the development trend of coal mining in the future. The existing coal filling mining methods are mainly divided into two categories, one is full mining and full filling filling ...

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Problems solved by technology

[0003] Among them, although the method of full mining and full filling coal mining can have a good control effect on surface subsidence and environmental damage, it is affected by the large amount of filling space and the large demand for filling materials, and the filling cost is relatively high; partial filling coal mining Although the method can reduce the filling workload and filling material usage, reduce the filling cost, and improve the production efficiency, structural filling mining belongs to the partial filling method of goaf. At present, the research on structural filling mining mainly focuses on the form of filling structure and filling materials. , and the filling body itself still needs to be artificially placed

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