Gob-side entry retaining filling device and filling method

Abstract

The invention discloses a gob-side entry retaining filling device which comprises a simulation assembly, a working assembly and a basic assembly; a walking mechanism is matched with a rack, so that the simulation assembly and the working assembly can be driven to reciprocate, and the simulation assembly can conveniently scan an underground roadway environment and establish a three-dimensional map; a gob-side entry retaining wall structure is simulated according to the established three-dimensional map; and the working assembly can conduct construction and guniting on a wall. The invention also provides a gob-side entry retaining filling method. The method includes the steps that an underground roadway is scanned by using a SLAM system and the three-dimensional map is established; according to the three-dimensional map, a wall simulation system simulates and obtains the gob-side entry retaining wall construction structure; and according to the obtained gob-side entry retaining wall construction structure, a telescopic arm is used for clamping wall construction materials and building the wall, and a guniting pipe is used for guniting the built wall, so that gob-side entry retaining filling mechanization is achieved, and the gob-side entry retaining filling working cost is reduced.

Description

technical field [0001] The invention relates to the technical field of gob-side entry retention in mines, in particular to a filling device and a filling method for gob-side entry retention. Background technique [0002] The roadway is retained along the goaf, and the original mining roadway is maintained along the edge of the goaf after the coal mining face. In order to recover the protective coal pillars left in the traditional mining method, certain technical means are used to re-support the tunnel in the previous section for the use of the next section. This method of retaining entry along the edge of the goaf at the original position along the goaf is called retaining entry along the gob, which can maximize the recovery of resources and avoid the loss of coal. [0003] In the current period, the application of gob entry technology in various mines accounts for a large proportion. Gob entry retention can greatly save material and financial resources. At present, the fil...

AI Technical Summary

Problems solved by technology

The filling of the gob-side entry has always been carried out manually by workers, which is difficult to operate, has a long construction period, low efficiency, and requires a large amount of manpower, material and financial resources.

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