Gob building solid material regeneration filling slurry preparation and filling integrated system and filling process

Abstract

The present invention relates to the technical field of goaf filling, in particular to an integrated system and filling process for the production and filling of building solid material recycled filling slurry in a goaf, including a chassis frame assembly, a control system, and traveling mechanisms installed on both sides of the bottom of the chassis frame assembly, including a feeding, storage, and mixing unit, a mixing and conveying unit, a slurry batching unit, and a slurry treatment and pumping unit; the control system is respectively in bidirectional signal connection with the feeding, storage, and mixing unit, the mixing and conveying unit, the slurry batching unit, and the slurry treatment and pumping unit, and the control system cooperates with the slurry treatment and pumping unit and is used to control the slurry treatment and pumping unit to fill the goaf with slurry meeting the proportion requirements. This system adopts mobile automated mixing, pulping, and filling, with less human participation, and the filling and grouting process can be precisely controlled. Multiple slurry modes can be set, and the filling mode can be freely switched, with a relatively high overall degree of automation.

Description

Technical Field

[0001] The present invention relates to the technical field of gob area filling treatment, and particularly relates to an efficient mobile automation system integrating batching, pulp making, and filling functions, especially a system and filling process for integrated production and filling of building solid material regenerated filling slurry in a gob area. Background Art

[0002] Gob area treatment is one of the important contents of mine geological environment treatment and ecological restoration. For the filling treatment of gob areas with aggregate slurry, it is mostly achieved by adding an aggregate feeding device on the basis of existing cement fly ash slurry filling equipment, which is difficult to ensure the stability of slurry ratio and properties. Further, in the practical process, the aggregate and slurry are stirred in advance, and the aggregate slurry is transported to the gob area through a slurry pump, which improves the slurry performance and filling efficiency. However, there are still problems such as low aggregate feeding efficiency, unstable slurry properties, and easy occurrence of pipe blockage and hole blockage accidents. Up to now, there is no integrated batching, pulp making, and filling system available for the on-site gob area treatment project, which restricts the use of aggregate slurry in the project of filling and treating gob areas.

[0003] At present, before carrying out a conventional gob area treatment project, a grouting station consisting of functional units such as storage, pulp making, slurry storage, pumping, and management needs to be established. There is a certain construction period before grouting. The filling treatment process is mainly controlled by manual and simple equipment, and it is difficult to accurately control the ratio and concentration of aggregate slurry. The automation of the filling treatment process has not been realized, and it has lagged behind the development level of information technology.

[0004] Currently, the design of the sand casting treatment project in the gob area is mainly based on experience. When using aeolian sand to fill the gob area, the mixing of slurry and aggregate is uneven, the performance of the slurry stone body changes greatly, and quality defect areas are prone to appear, making it difficult to detect the quality of the gob area after treatment.

[0005] In addition, the conventional aggregate slurry filling technology for gob areas has the following defects: A large amount of slurry or water is required to flush the aggregate into the gob area during the filling process, and the sand-carrying rate is generally less than 30%, resulting in low filling efficiency; after the aggregate precipitates, the water stays in the upper layer and is difficult to dissipate in a short time, causing obstacles to secondary grouting to improve the filling rate; pipe blockage accidents often occur, and a drill is required to continuously clear the hole above the gob area.

[0006] The ratio of aggregate to cement-based slurry cannot be accurately controlled, often causing pipe blockage accidents; in low-concentration aggregate slurry (sand casting filling in gob area treatment projects, bottom grouting of aggregate slurry to block water), the aggregate proportion is less than 20%, resulting in low filling efficiency; the lack of integrated automation technology and equipment for batching, pulp making, and filling of aggregate slurry leads to extensive construction management, and accidents such as pipe blockage and hole blockage are likely to occur. These problems limit the large-scale application of aggregate slurry filling technology in the project of filling and treating gob areas.

[0007] Research and optimize the aggregate slurry filling technology and process, design and establish a mobile automated batching, pulping and filling integrated system, and construct an aggregate slurry filling utilization technology system and equipment system, which can provide scientific support for broadening the sources of gob filling materials, optimizing the treatment technology process flow, and reducing the treatment project cost. Form a mobile automated system integrating batching, pulping and filling functions, which can broaden the sources of grouting materials in gobs, improve the construction efficiency of gob treatment projects, and effectively reduce the treatment project cost.

[0008] Therefore, this application has developed an integrated system for producing and filling building solid waste recycled filling slurry in gobs and a process for batching and gob filling using this system to better solve the problems existing in the existing design. Summary of the Invention

[0009] One of the technical solutions adopted by the present invention to solve the above technical problems is: an integrated system for producing and filling building solid waste recycled filling slurry in gobs, including a chassis frame assembly, a control system, walking mechanisms are installed on both sides of the bottom of the chassis frame assembly, and power driving parts are configured on the walking mechanisms, including a feeding, storing and mixing unit, a mixing and conveying unit, a slurry batching unit, and a slurry treatment and pumping unit; the feeding, storing and mixing unit, the mixing and conveying unit, the slurry batching unit, the slurry treatment and pumping unit, and the control system are all installed on the chassis frame assembly, the control system is respectively in bidirectional signal connection with the feeding, storing and mixing unit, the mixing and conveying unit, the slurry batching unit, and the slurry treatment and pumping unit, and the control system cooperates with the slurry treatment and pumping unit and is used to control the slurry treatment and pumping unit to fill the gobs with slurry meeting the proportion requirements.

[0010] In any of the above solutions, preferably, a stable support device is installed at the front bottom of the chassis frame assembly, and the stable support device is used to ensure the stability of the entire chassis frame assembly relative to the ground support during operation, and the stable support device adopts a retractable structure.

[0011] In any of the above solutions, preferably, the stable support device includes two symmetrically and spaced apart outswing support mechanisms fixedly installed on both sides of the front side of the chassis frame assembly, and a front extension support mechanism is fixedly installed at the bottom of the chassis frame assembly in front of each outswing support mechanism, and the two outswing support mechanisms and the two front extension support mechanisms cooperate to support on the ground to achieve stable support at the front bottom of the chassis frame assembly.

[0012] Preferably, in any of the above solutions, the outswing support mechanism includes a horizontally arranged swing crossbeam. The inner end of the swing crossbeam is movably hinged to one side of the corresponding chassis frame assembly through a vertical shaft. A vertical telescopic support cylinder is fixed to the outer end of the swing crossbeam. The bottom of the piston rod of the vertical telescopic support cylinder is supported on the ground through a fixedly connected support plate. An outswing control cylinder for driving the swing crossbeam to rotate around the corresponding vertical shaft is arranged inside the swing crossbeam. The inner end of the cylinder body of the outswing control cylinder is movably hinged to the chassis frame assembly, and the outer end of the piston rod of the outswing control cylinder is movably hinged to the swing crossbeam.

[0013] Preferably, in any of the above solutions, the forward extension support mechanism includes a front swing cylinder with a front end inclined downward. The rear end of the cylinder body of the front swing cylinder is movably hinged to the corresponding chassis frame assembly, and the front end of the piston rod is movably hinged to the middle section at the rear side of a reinforced support leg. The top of the reinforced support leg is movably hinged to the bottom of the chassis frame assembly.

[0014] Preferably, in any of the above solutions, two symmetrically cooperating openable protective front covers are hingedly installed at the front end of the chassis frame assembly.

[0015] Preferably, in any of the above solutions, the mixing and conveying unit is used to receive the solid materials mixed by the upstream feeding, storing and mixing unit and convey them to the downstream slurry batching unit while mixing.

[0016] Preferably, in any of the above solutions, the mixing and conveying unit includes an inclined hopper fixedly installed at the top of the middle section of the chassis frame assembly. The upstream of the inclined hopper is inclined downward and the downstream is inclined upward. A mixing feed port is arranged at the top of the upstream of the inclined hopper, and a mixing discharge port is arranged at the bottom of the downstream of the inclined hopper. The mixing feed port is used to receive the material components output by the feeding, storing and mixing unit, and the mixing discharge port is used to convey the mixed materials to the slurry batching unit.

[0017] Preferably, in any of the above solutions, an integrated spiral conveying and stirring blade is installed inside the inclined hopper. Both ends of the integrated spiral conveying and stirring blade pass through the installation holes at the corresponding ends through the spiral central shaft thereon. A low-speed high-torque hydraulic motor is installed at the end cover of the downstream end of the inclined hopper, and the low-speed high-torque hydraulic motor is used to drive the rotation of the spiral central shaft.

[0018] Preferably, in any of the above solutions, the slurry batching unit includes a horizontal batching bin arranged above the chassis frame assembly. Both sides of the bottom of the horizontal batching bin are movably hinged. One of the hinged ends of the horizontal batching bin is connected to the swing adjustment mechanism below it, and the swing adjustment mechanism is used to drive the upstream end of the horizontal batching bin to swing up and down.

[0019] Preferably, in any of the above solutions, a slurry stirring member is installed in the batching cavity of the horizontal batching bin.

[0020] Preferably, in any of the above solutions, manhole pipes, auxiliary material pipes, and liquid injection and replenishment pipes that are connected to the inside of the horizontal batching bin and have sealed end caps are installed at intervals on the top of the horizontal batching bin.

[0021] Preferably, in any of the above solutions, a solid mixed raw material inlet is provided at the upstream top of the horizontal batching bin, and a slurry finished product discharge pipe with a control valve is provided at the downstream bottom of the horizontal batching bin.

[0022] Preferably, in any of the above solutions, a rotatable transfer discharge hopper is movably installed below the slurry finished product discharge pipe, and the transfer discharge hopper is used to discharge and feed materials to different stations of the slurry treatment pumping unit.

[0023] Preferably, in any of the above solutions, both ends of the slurry stirring member movably pass through the mounting holes on the end covers at both ends of the horizontal batching bin and are inserted and fitted with the inner part of the batching end bearing seats fixed at the corresponding positions. A slurry stirring motor for driving the slurry stirring member to rotate and stir materials is installed on one side of one of the batching end bearing seats.

[0024] Preferably, in any of the above solutions, a first fixed ear is welded on one side of the bottom of the horizontal batching bin, and each fixed ear is movably hinged on the welding ear seat fixed at the corresponding position relative to the chassis frame assembly. A second fixed ear is welded on the other side of the bottom of the horizontal batching bin, and each second fixed ear is movably hinged on the swing adjustment mechanism movably arranged at the corresponding position relative to the chassis frame assembly.

[0025] Preferably, in any of the above solutions, a control handle rod is detachably connected to the outer side wall of the upper part of the transfer discharge hopper by a pin shaft.

[0026] Preferably, in any of the above solutions, an operation protection fence is fixed on the top of the chassis frame assembly outside the horizontal batching bin, and the operation protection fence forms an operation platform for the operator to replenish materials and perform maintenance on the chassis frame assembly.

[0027] Preferably, in any of the above solutions, the slurry stirring member includes two slurry stirring shafts horizontally and spaced apart inside the batching chamber of the horizontal batching bin. A number of stirring blades are fixedly arranged at intervals along the length direction on the outer side walls of the two slurry stirring shafts in a staggered manner. The two ends of the two slurry stirring shafts respectively pass through the end covers at both ends of the horizontal batching bin movably. The upstream ends of the two slurry stirring shafts outside the horizontal batching bin are connected by a belt transmission member, and a slurry stirring motor is fixedly connected to the upstream end of one of the slurry stirring shafts.

[0028] Preferably, in any of the above solutions, a number of electronic hydrometers are installed in the batching chamber of the horizontal batching bin. Each electronic hydrometer is used to monitor the specific gravity of the slurry inside the batching chamber. Each electronic hydrometer is respectively connected to the above control system for signal connection. The control system is used to receive the slurry specific gravity information collected from the electronic hydrometer, compare it with the set standard specific gravity value and display it. The system or the staff observes the currently displayed specific gravity value to supplement the corresponding types of component materials so that the specific gravity value approaches the standard specific gravity value until finally the detection value and the standard specific gravity value are within the allowable error range, and the slurry batching unit can complete the slurry preparation.

[0029] In addition, hydrometers are also configured and installed in the thick slurry hopper and the thin slurry hopper. Here, the thick slurry hopper and the thin slurry hopper are used as temporary slurry storage hoppers.

[0030] Note: A radar material meter is also installed above the slurry hopper to measure the height of the slurry in the hopper, and feedback to the system to adjust the feeding speed of the screw feeder and the stirring speed of the horizontal mixer according to the slurry height.

[0031] Preferably, in any of the above solutions, the swing adjustment mechanism includes an inclined adjustment swing oil cylinder. The top of the piston rod of each adjustment swing oil cylinder is movably hinged to the corresponding second fixed ear, and the bottom of the cylinder body of each adjustment swing oil cylinder is movably hinged to the positioning ear seat at the corresponding position.

[0032] Preferably, in any of the above solutions, the slurry treatment and pumping unit is installed below the middle part of the horizontal batching bin of the slurry batching unit. The slurry treatment and pumping unit realizes the transportation of the slurry through different types of grouting pumps such as mud pumps, mortar pumps, or concrete pumps on it.

[0033] Select the applicable slurry type and filling process according to different working conditions, and start the downstream supporting pipeline system;

[0034] Below the front end of the double-shaft horizontal mixer are the thick slurry hopper and the thin slurry hopper, which can filter the lumps in the aggregate slurry.

[0035] The filling process is to first test the pressure with water, select different filling modes according to the results of the water pressure test, and set parameters such as the type of filling slurry, grouting flow rate, and grouting pressure.

[0036] During filling, the slurry treatment and pumping unit is connected to the filling borehole to directly feed the slurry into the borehole.

[0037] The power driving component uses an electric motor and a diesel engine to achieve dual power drive selection. In addition, the system is equipped with a complete set of hydraulic systems, and the hydraulic system is used to supply oil circuits to each motor or cylinder block;

[0038] For the operation processes of the above-mentioned components, installation personnel install corresponding sensor elements at appropriate positions, and the existing control system sets conventional automatic control logics to achieve the detection of feedback signals and the control of corresponding execution actions. According to the operation data read from the control system, the production mode, the discharge amount, the mixing speed, the amount of water injection and liquid injection, the proportion of the slurry mixture, and the amount of subsequent slurry grouting and other parameters can be intelligently regulated;

[0039] In any of the above solutions, preferably, the slurry treatment and pumping unit includes two thick slurry hoppers and thin slurry hoppers that are symmetrically arranged and fixedly installed at the top of the downstream rear end of the chassis frame assembly. The bottom of the thin slurry hopper is connected to a first thin slurry discharge pipe, and a thin slurry transfer pump is installed on the first thin slurry discharge pipe. The outlet end of the thin slurry transfer pump is connected to a first thin slurry filling pipe for filling; a slurry return mechanism is also installed at the bottom of the thin slurry hopper; a thick slurry pump group is installed at the bottom of the thick slurry hopper, and the thick slurry pump group is used to convey the slurry inside the thick slurry hopper from its thick slurry discharge pipe to the gob for filling.

[0040] In any of the above solutions, preferably, the slurry return mechanism includes a second thin slurry discharge pipe that is spaced on one side of the first thin slurry discharge pipe. A two-way flow control pump is installed on the second thin slurry discharge pipe. An output end of the two-way flow control pump is installed with a commutation and flow diversion structure. Two output ends of the commutation and flow diversion structure are respectively connected to a second thin slurry filling pipe and a thin slurry reflux pipe. The commutation and flow diversion structure is used to control the slurry output by the two-way flow control pump to be conveyed to the second thin slurry filling pipe or the thin slurry reflux pipe, and the thin slurry reflux pipe is used to connect with the slurry inside the upstream pulp making equipment.

[0041] Preferably, in any of the above solutions, the commutation and flow conversion structure includes a three-way connecting pipe valve body, which is respectively connected to the output end of the bidirectional flow control pump, the second thin slurry discharge pipe, and the thin slurry reflux pipe. A conversion inner pipe valve core is inserted into the inner cavity of the three-way connecting pipe valve body. The top of the conversion inner pipe valve core is sealed and the bottom is open. A conversion port for communicating with the second thin slurry discharge pipe or the thin slurry reflux pipe is provided on the outer side wall of the middle part of the conversion inner pipe valve core. A conversion drive cylinder is installed on the mounting seat at the top of the outer side wall of the three-way connecting pipe valve body. One end of the cylinder body of the conversion drive cylinder is hinged on the short column of the top mounting seat, and the end of the piston rod of the conversion drive cylinder is movably hinged on a crank swing arm whose bottom is fixedly connected to the top of the conversion inner pipe valve core. The conversion drive cylinder drives the swing of the crank swing arm through expansion and contraction to control the rotation of the conversion inner pipe valve core, so as to control the conversion port to communicate with the second thin slurry discharge pipe or the thin slurry reflux pipe. Among them, the thin slurry reflux pipe is used to connect with the slurry inside the horizontal batching bin of the upstream slurry batching unit.

[0042] Preferably, in any of the above solutions, a caking filter screen is respectively installed on the top of the thick slurry hopper and the top of the thin slurry hopper. The caking filter screen is used to filter the caking in the aggregate slurry;

[0043] A slurry stirring shaft is installed inside the thick slurry hopper and the thin slurry hopper. The two ends of the slurry stirring shaft sequentially pass through the mounting holes on the end covers of the thick slurry hopper and the thin slurry hopper movably and are connected to a discharge stirring motor fixed on the corresponding end face.

[0044] Preferably, in any of the above solutions, the feeding, storage and mixing unit includes a front mounting frame fixedly installed above the front end of the chassis frame assembly. A double vertical cylinder silo mechanism is arranged at the top of the rear section of the front mounting frame. The double vertical cylinder silo mechanism is in a vertical state during use and in a stable state of being obliquely laid down during the system walking state. The double vertical cylinder silo mechanism includes two mutually independent and symmetrically arranged vertical storage tanks. The interiors of the two vertical storage tanks are respectively used to store fly ash raw materials and cement raw materials. The front bottom sides of the two vertical storage tanks are stably supported on the top edges of the front mounting frame. The rear bottom sides of each vertical storage tank are movably hinged on the stable ear seats fixed on the top of the chassis frame assembly. A position adjustment and laying-down oil cylinder is arranged at the rear of each stable ear seat. The top of the piston rod of the position adjustment and laying-down oil cylinder is movably hinged on the rear welding stand of the corresponding vertical storage tank. The bottom of the cylinder body of the position adjustment and laying-down oil cylinder is movably hinged on the ear seat on the top of the chassis frame assembly. The outer side of the vertical storage tank is abutted against the top of the corresponding front mounting frame through the support stand welded at its bottom.

[0045] In any of the above schemes, it is preferred that the bottom of the vertical storage tank is provided with an inverted cone discharge part, the discharge port at the bottom of the inverted cone discharge part is respectively matched with the feed port of the fine feeder fixed thereunder, and an impeller discharger is installed on the discharge port at the bottom of the inverted cone discharge part.

[0046] In any of the above schemes, it is preferred that the discharge ports of the two fine feeders are matched with a feed mixing hopper of a primary mixing short-axis screw mixer, and the fine feeder controls the delivery amount of the internal material to the feed mixing hopper through its operating speed.

[0047] In any of the above schemes, it is preferred that a powder filling port with a filter screen is provided at the bottom of each vertical storage tank, and the powder filling port is blocked by an end cover when idle.

[0048] In any of the above schemes, preferably, a powder material vibration motor is installed on the lower outer side wall of each of the vertical storage tanks, and the powder material vibration motor is used to assist material discharge through vibration.

[0049] In any of the above schemes, it is preferred that the powder filling port adopts a Φ110mm round tube, the inner end of which is built into the storage tank, and the required powder material is pressure-inputted into the corresponding vertical storage tank by a tank truck through the powder filling port.

[0050] In any of the above schemes, it is preferred that a pulse dust collector and a pressure relief port with a built-in pressure relief valve are provided at the top of each of the two vertical storage tanks.

[0051] The vertical storage tank can store cement, fly ash, and new powdered materials. When the internal pressure of the vertical storage tank is too high, the pressure relief valve automatically detects the pressure and pops up to release the pressure.

[0052] In any of the above schemes, it is preferred that each of the fine feeders is a fine screw feeder.

[0053] In any of the above schemes, preferably, load-bearing pressure sensors are installed on the tops of both sides of the front mounting frame abutting against the bottoms of the two vertical storage tanks, and each of the load-bearing pressure sensors is respectively connected to the control system for signal connection.

[0054] In any of the above schemes, it is preferred that when the two vertical storage tanks are in working state, the two adjustment and lowering cylinders are in a state of maximum telescopic range and at this time, the two vertical storage tanks are supported on the top of the front installation frame by their own weight.

[0055] In any of the above schemes, preferably, each of the load-bearing pressure sensors cooperates with the fine screw feeder under the corresponding vertical storage tank to realize quantitative discharge of raw materials from the corresponding vertical storage tank;

[0056] Powder materials such as cement and fly ash are respectively conveyed to the inside of the downstream mixing material conveying unit through the primary mixing short-axis screw mixer under the two fine screw feeders;

[0057] In any of the above solutions, preferably, the downstream rear end of the screw primary mixing shaft inside the primary mixing short-axis screw mixer is connected with the screw primary mixing blades thereon and movably passes through the through hole on the end cover at the upstream front end of the inclined barrel. The shaft end of the screw primary mixing blade inside the inclined barrel is movably inserted into the central hole on the front end face of the corresponding position of the screw central shaft. A horizontally arranged diameter-expanding blanking barrel is integrally fixed at the front end face of the screw central shaft. The diameter-expanding blanking barrel is sleeved on the outer side wall of the rear section of the screw primary mixing blade. A plurality of powder primary mixing blanking long openings are evenly spaced along the circumference on the outer side wall of the front section of the diameter-expanding blanking barrel. The proportionally pre-mixed powder materials conveyed inside the primary mixing short-axis screw mixer are sequentially scattered into the inner cavity of the inclined barrel through each powder primary mixing blanking long opening.

[0058] In any of the above solutions, preferably, a primary mixing driving hydraulic motor is configured on the primary mixing short-axis screw mixer. The primary mixing driving hydraulic motor is installed on the casing on the right side of the primary mixing short-axis screw mixer and is used to drive the rotation of the screw primary mixing shaft.

[0059] The mixing material conveying unit conveys grouting materials such as cement, fly ash, and recycled aggregates to the next-stage slurry batching unit. At the same time, the mixing material conveying unit synchronously and sufficiently stirs and dry-mixes various grouting solid materials during the process of conveying materials;

[0060] The grouting solid materials pre-mixed and stirred multiple times in advance are mixed with a certain proportion of water at the upstream front end of the horizontal batching bin of the slurry batching unit. The solid-liquid mixed material raw materials are re-stirred to form non-Newtonian fluid slurry or pastes with different concentrations.

[0061] In any of the above solutions, preferably, a slag material hopper is fixedly installed on the installation front frame at the upstream front end of the double vertical barrel bin mechanism. A slag material belt conveyor fixed in the middle of the installation front frame is installed under the slag material hopper. The bottom of the slag material hopper is fixedly installed on the top of the installation frame of the slag material belt conveyor. A load-bearing sensor for detecting the weight of the slag material on it is installed at the bottom of the belt of the slag material belt conveyor at the bottom of the slag material hopper. Each load-bearing sensor is respectively connected with the control system in signal.

[0062] The two fine screw feeders, the primary mixing short-axis screw mixer, and the slag material belt conveyor are all controlled by the control system in the prior art to coordinate the relative speeds to achieve synchronous proportional feeding as required.

[0063] Preferably, in any of the above solutions, a slag shield is provided above the slag belt conveyor in the discharging direction at the rear side of the slag hopper.

[0064] Preferably, in any of the above solutions, a slag screw discharger is installed in the slag hopper. The two shaft ends of the slag screw discharger respectively pass through the through holes on the side walls of the slag hopper in a movable manner, and a slag discharging motor for driving the slag screw discharger to rotate is fixed on the rear side wall of the slag hopper.

[0065] Preferably, in any of the above solutions, a slag baffle is movably hinged to the top of the side walls at the rear side, inside and outside of the slag hopper. A receiving cylinder is provided outside each slag baffle. The top of the piston rod of each receiving cylinder abuts against the outer bottom wall of the corresponding slag baffle, and the top of the piston rod of each receiving cylinder is hinged to the hinge seat on the outer side wall of the corresponding slag hopper.

[0066] Preferably, in any of the above solutions, a slag vibration motor is fixedly installed on the front side wall of the slag hopper.

[0067] The present invention also provides a process for filling a goaf by using a goaf building solid material regeneration filling slurry preparation and filling integrated system, which includes the following steps:

[0068] S1: Move the goaf building solid material regeneration filling slurry preparation and filling integrated system to the ground near the goaf to be filled and get it ready;

[0069] S2: Align the double vertical silo mechanism to be in an upright state;

[0070] S3: Start the system, supply slag into the slag hopper by using a loading forklift, and simultaneously discharge the powder in the double vertical silo mechanism in proportion;

[0071] S4: After the powder is initially mixed, it enters the inside of the mixing and conveying unit together with the slag to realize the final mixing and conveying of the solid materials, and form the final mixed solid materials;

[0072] S5: Send the liquid material, auxiliary materials and the above-mentioned final mixed solid materials into the slurry batching unit in proportion to prepare the slurry;

[0073] S6: The hydrometer inside the slurry batching unit continuously monitors the specific gravity of the current slurry and compares it with the set standard value;

[0074] S7: After the slurry in the slurry batching unit meets the standard, control the slurry batching unit to discharge the slurry;

[0075] S8: Before discharging the slurry, select the discharging direction according to the type of slurry and use the slurry treatment and pumping unit to fill the current slurry into the goaf;

[0076] S9: Monitor the filling situation while filling and maintain stable filling until the filling is completed.

[0077] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0078] 1. This system adopts mobile automated mixing, pulping, and filling, with less human participation. The filling and grouting process can be precisely controlled, multiple slurry modes can be set, and the filling mode can be freely switched, with a relatively high overall degree of automation.

[0079] 2. The system uses the method of carrying the powder by the vehicle itself, which is convenient for mobile operation, eliminates the need to build temporary powder storage equipment in the goaf, reduces the construction volume associated with building the equipment, reduces the generation of construction waste during the overall operation and construction, reduces the input cost, and the mobile powder storage method can ensure that the powder can be used at multiple workstations and construction sites, with better reusability.

[0080] 3. This system is an on-vehicle automated crawler-type mobile system integrating functions of feeding and batching, mixing, pulping, and filling, with relatively high overall flexibility, and can be transferred at any time according to changes in the construction site.

[0081] 4. The integrated system for producing and filling the building solid material regenerated filling slurry in the goaf solves the problems of the cumbersome procedures, personnel costs, low pulping efficiency, and extensive grouting management in the initial construction and later relocation of traditional fixed grouting stations; greatly improves production efficiency, reduces treatment costs; realizes precise pulping and refined management, and improves the scientific and technological level of treatment construction.

[0082] 5. This set of systems can be widely applied to sudden geological disasters in coal mines, rescue and disaster relief for mine water inrush treatment, goaf filling treatment, municipal grouting reinforcement projects, etc. It provides an integrated batching, pulping, and filling integrated equipment system, which is flexible and suitable for different working conditions and complex construction conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0083] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or components are generally identified by similar reference numerals. In the drawings, the elements or components are not necessarily drawn to scale.

[0084] Figure 1 It is a schematic structural diagram of the main view state of the present invention.

[0085] Figure 2Schematic diagram of the top view state of the present invention.

[0086] Figure 3 Schematic diagram of the internal sectional view structure of the present invention.

[0087] Figure 4 Schematic diagram of the left view state structure of the present invention.

[0088] Figure 5 Schematic diagram of the three - dimensional working state structure of the present invention.

[0089] Figure 6 Schematic diagram of the three - dimensional transportation state structure of the present invention.

[0090] Figure 7 Schematic diagram of the front view structure in the transportation state of the present invention.

[0091] Figure 8 Schematic diagram of the structure of the slurry batching unit and the slurry treatment and pumping unit of the present invention.

[0092] Figure 9 Schematic diagram of the three - dimensional structure of the first state of the slurry treatment and pumping unit of the present invention.

[0093] Figure 10 For the present invention Figure 9 Schematic diagram of the partial sectional view structure.

[0094] Figure 11 Schematic diagram of the three - dimensional structure of the second state of the slurry treatment and pumping unit of the present invention.

[0095] Figure 12 Schematic diagram of the three - dimensional structure of the thick slurry hopper of the present invention.

[0096] Figure 13 Schematic diagram of the top view state structure of the slurry treatment and pumping unit of the present invention.

[0097] Figure 14 Schematic diagram of the top view structure of the slurry batching unit of the present invention.

[0098] Figure 15 Schematic diagram of the three - dimensional structure of the lower part of the slurry batching unit of the present invention.

[0099] Figure 16 Schematic diagram of the three - dimensional structure of the upper part of the slurry batching unit of the present invention.

[0100] Figure 17 Schematic diagram of the internal sectional view structure of the feeding, storing and mixing unit and the mixing and conveying unit of the present invention.

[0101] Figure 18 Schematic diagram of the top view structure of the feeding, storing and mixing unit and the mixing and conveying unit of the present invention.

[0102] Figure 19 It is a schematic bottom view structure diagram of the feeding, storing and mixing unit and the mixing and conveying unit of the present invention.

[0103] Figure 20 It is a schematic front view structure diagram of the feeding, storing and mixing unit of the present invention.

[0104] Figure 21 It is a schematic right view structure diagram of the feeding, storing and mixing unit of the present invention.

[0105] Figure 22 It is a schematic three-dimensional structure diagram of the slag hopper of the present invention.

[0106] Figure 23 It is a schematic three-dimensional structure diagram of the feeding, storing and mixing unit of the present invention.

[0107] Figure 24 It is a schematic partial front view structure diagram of the feeding, storing and mixing unit of the present invention.

[0108] Figure 25 For the present invention Figure 24 schematic top view structure diagram.

[0109] Figure 26 For the present invention Figure 24 schematic bottom view structure diagram.

[0110] Figure 27 For the present invention Figure 24 schematic right view structure diagram.

[0111] Figure 28 For the present invention Figure 24 schematic three-dimensional structure diagram.

[0112] Figure 29 For the present invention Figure 24 schematic enlarged structure diagram of the partial connection part.

[0113] Figure 30 For the present invention Figure 24 schematic partial three-dimensional structure diagram.

[0114] Figure 31 It is a schematic partial internal structure diagram of the mixing and conveying unit of the present invention.

[0115] Figure 32 It is a schematic partial top view structure diagram of the mixing and conveying unit of the present invention.

[0116] In the figure, 1 is the traveling mechanism; 2 is the power driving part; 3 is the feeding, storing and mixing unit; 4 is the mixing and conveying unit; 5 is the slurry batching unit; 6 is the slurry treatment and pumping unit; 7 is the swing cross beam; 8 is the vertical telescopic support cylinder; 9 is the support disc; 10 is the outer swing control cylinder; 11 is the front swing cylinder; 12 is the reinforced support leg; 13 is the protective front cover; 14 is the inclined hopper; 15 is the mixing feed inlet; 16 is the mixing discharge outlet; 17 is the integrated spiral conveying and stirring blade; 18 is the spiral central shaft; 19 is the horizontal batching bin; 20 is the position adjusting swing oil cylinder; 21 is the manhole pipe; 22 is the auxiliary material pipe; 23 is the liquid injection and replenishment pipe; 24 is the solid mixed raw material inlet; 25 is the slurry finished product discharge pipe; 26 is the transposition discharge hopper; 27 is the slurry stirring motor; 28 is the operation protection fence; 29 is the operation platform; 30 is the slurry stirring shaft;

[0117] 31 is the thick slurry hopper; 32 is the thin slurry hopper; 33 is the first thin slurry discharge pipe; 34 is the thin slurry transfer pump; 35 is the first thin slurry filling pipe; 36 is the thick slurry transfer pump group; 37 is the second thin slurry discharge pipe; 38 is the two-way flow control pump; 39 is the second thin slurry filling pipe; 40 is the thin slurry reflux pipe; 41 is the three-way connection pipe valve body; 42 is the conversion inner pipe valve core; 43 is the conversion port; 44 is the conversion driving cylinder; 45 is the crank swing arm; 46 is the caking filter screen; 47 is the slurry stirring shaft; 48 is the discharge stirring motor; A is the pulp making equipment; B is the mixing equipment;

[0118] 49 is the pre-installation front frame; 50 is the vertical storage tank; 51 is the stable ear seat; 52 is the position adjusting and folding down oil cylinder; 53 is the rear side welded vertical frame; 54 is the support vertical seat; 55 is the inverted cone discharging part; 56 is the fine spiral feeder; 57 is the impeller discharger; 58 is the primary mixing short shaft spiral mixer; 59 is the feeding and mixing hopper; 60 is the powder feeding port; 61 is the powder vibrating motor; 62 is the pulse dust collector; 63 is the pressure relief port; B is the mixing equipment;

[0119] 64 is the spiral primary mixing shaft; 65 is the spiral primary mixing blade; 66 is the diameter-expanded blanking cylinder; 67 is the long powder primary mixing blanking port; 68 is the primary mixing driving hydraulic motor; 69 is the slag hopper; 70 is the slag belt conveyor; 71 is the slag guard; 72 is the slag spiral discharger; 73 is the slag discharging motor; 74 is the slag baffle; 75 is the receiving cylinder; 76 is the slag vibrating motor; 77 is the stirring and mixing blade; 78 is the low-speed high-torque hydraulic motor; 79 is the chassis frame assembly. Detailed implementation manners

[0120] Hereinafter, embodiments of the technical solution of the present invention will be described in detail with reference to the accompanying drawings. The following embodiments are only used to illustrate the technical solution of the present invention more clearly, and thus are only examples and cannot be used to limit the protection scope of the present invention. The specific structure of the present invention is as Figures 1 - 32 shown in the figure.

[0121] Embodiment:

[0122] The goaf building solid material regeneration filling slurry preparation and filling integrated system includes a chassis frame assembly 74, a control system. On both sides of the bottom of the chassis frame assembly 74, a traveling mechanism 1 is installed, and a power driving member 2 is configured on the traveling mechanism 1, including a feeding, storing and mixing unit 3, a mixing and conveying unit 4, a slurry batching unit 5, and a slurry treatment and pumping unit 6; the feeding, storing and mixing unit 3, the mixing and conveying unit 4, the slurry batching unit 5, the slurry treatment and pumping unit 6, and the control system are all installed on the chassis frame assembly 74. The control system is respectively in bidirectional signal connection with the feeding, storing and mixing unit 3, the mixing and conveying unit 4, the slurry batching unit 5, and the slurry treatment and pumping unit 6. The control system cooperates with the slurry treatment and pumping unit 6 and is used to control the slurry treatment and pumping unit 6 to fill the goaf with slurry meeting the proportion requirements.

[0123] The overall goaf building solid material regeneration filling slurry preparation and filling integrated system uses the feeding, storing and mixing unit 3 to realize the pre-storage and use of powder materials. At the same time, it is combined with the on-site dumping and feeding of slag materials. This method can realize the initial precise feeding of two pre-stored powder materials for initial mixing, and then the pre-mixed materials are scattered into the slurry batching unit 5 in the form of bulk materials. At the same time, the slag materials transported by weight in proportion will fall from the feed inlet of the mixing and conveying unit 4 and be re-mixed with the pre-mixed powder materials. The mixed solid powder materials are subjected to spiral multi-mixing of the solid powder materials through the mixing and conveying unit 4. Finally, the fully mixed solid powder materials will enter the slurry batching unit 5 and be double-axis stirred with the simultaneously entering liquid water, etc. to form slurry meeting the requirements. When the solid powder materials, slag materials, liquid water, and various auxiliary materials are put in, the control system controls the overall proportion to achieve the purpose of precisely controlling the slurry specific gravity.

[0124] The specific process of slurry preparation for the process of using the goaf building solid material regeneration filling slurry preparation and filling integrated system to fill the goaf involved in the present invention is as follows:

[0125] The end of the goaf building solid material regeneration filling slurry preparation and filling integrated system is an inverted square cone-shaped slag hopper 69, which is used for the feeding of recycled aggregates such as building waste, slag, gangue powder, and ultrafine stone powder with different particle sizes. Multi-layer sieves with different particle sizes can be set at about 20 - 50 cm below the cone opening. The sieves can be automatically installed and removed by the system with different particle size models, and their function is to strictly control the material particle size and screen out the materials that do not meet the requirements again.

[0126] An auxiliary slag screw discharger is provided at the bottom layer of the slag hopper 69. The slag screw discharger is one of a single-axis or double-axis screw mixer and a screw feeder, and the rotation speed can be controlled by the automatic control system of the system.

[0127] When the pressure sensor at the bottom of the slag hopper 69 can sense that the pressure is greater than the set value (or the radar material meter installed at the top of the slag hopper 69 shows that the hopper is full), it indicates that there is too much aggregate accumulation in the hopper. At this time, the control system inside the system judges according to the production situation to increase the rotation speed of the slag screw discharger or alarm to prompt to reduce the feeding speed.

[0128] Similarly, the gob area building solid material regeneration filling slurry preparation and filling integrated system can automatically slow down the rotation speed or increase the feeding speed, so as to evenly feed the recycled aggregate into the next-stage mixing and conveying unit 4 for aggregate transmission.

[0129] The lower part of the slag material is connected to the next-stage slag belt conveyor 70, and a pressure sensor element for real-time weighing of the conveyed aggregate weight is configured on the belt. When feeding the slag, automatic spraying systems are configured on the inner, outer, and rear sides above the slag hopper 69. When the dust detection system set at the slag feeding port detects excessive dust, different flow rates of spraying can be adjusted through the system to reduce dust and haze.

[0130] At the same time, the purpose of adjusting the moisture content of the aggregate can be achieved, and the amount of water sprayed into the slag is counted by the control system and included in the total water consumption. Adjacent to the slag hopper 69 are two vertical storage tanks 50. The two vertical storage tanks 50 can be controlled by a hydraulic system in the prior art configured by the system to be in an inclined transportation state or a vertical working state after lifting. When the system needs to move forward, the vertical storage tanks 50 are inverted and placed obliquely through system operation to increase the traveling stability. When in normal production, the vertical storage tanks 50 can be adjusted to an upright state.

[0131] The mixing and conveying unit 4 transports grouting materials such as cement, fly ash, and recycled aggregate to the next-stage slurry batching unit 5. At the same time, the mixing and conveying unit 4 fully stirs and dry mixes various grouting solid materials again synchronously during the process of transporting materials;

[0132] The grouting solid materials that have been stirred and mixed multiple times in advance are mixed with a certain proportion of water at the upstream front end of the horizontal batching bin 19 of the slurry batching unit 5. The solid-liquid mixed material raw materials are stirred again to form non-Newtonian fluid slurry or pastes with different concentrations.

[0133] In any of the above solutions, preferably, a stable support device is installed at the front bottom of the chassis frame assembly 74. The stable support device is used to ensure the stability of the entire chassis frame assembly 74 relative to the ground support during operation, and the stable support device adopts a retractable structure.

[0134] The stable support device can be deployed when the whole system is in the pulping working state, so as to achieve the function of maintaining the stable support at the front end of the whole system. When the system is moving forward, the stable support device can be retracted to ensure the passability during the forward movement of the whole system.

[0135] In any of the above solutions, preferably, the stable support device includes two symmetric and spaced-out outer swing support mechanisms fixedly installed on both sides of the front side of the chassis frame assembly 74. At the bottom of the chassis frame assembly 74 in front of each outer swing support mechanism, a front extension support mechanism is fixedly installed. The two outer swing support mechanisms and the two front extension support mechanisms cooperate to support on the ground to achieve stable support at the bottom of the front end of the chassis frame assembly 74.

[0136] In any of the above solutions, preferably, the outer swing support mechanism includes a horizontally arranged swing crossbeam 7. The inner end of the swing crossbeam 7 is movably hinged to one side of the corresponding chassis frame assembly 74 through a vertical shaft. At the outer end of the swing crossbeam 7, a vertical telescopic support cylinder 8 is fixed. The bottom of the piston rod of the vertical telescopic support cylinder 8 is supported on the ground through a fixedly connected support disc 9. Inside the swing crossbeam 7, an outer swing control cylinder 10 is provided for driving it to rotate around the corresponding vertical shaft. The inner end of the cylinder body of the outer swing control cylinder 10 is movably hinged to the chassis frame assembly 74, and the outer end of the piston rod of the outer swing control cylinder 10 is movably hinged to the swing crossbeam 7.

[0137] The front extension support mechanisms and outer swing support mechanisms on both sides can cooperate with the track support at the bottom to achieve stable support for the entire chassis frame assembly 74, ensuring the stability during the operation of each unit on the system.

[0138] In any of the above solutions, preferably, the front extension support mechanism includes a front swing cylinder 11 with a downward inclination at the front end. The rear end of the cylinder body of the front swing cylinder 11 is movably hinged to the corresponding chassis frame assembly 74, and the front end of the piston rod is movably hinged to the middle section at the rear side of a strengthened support leg 12. The top of the strengthened support leg 12 is movably hinged to the bottom of the chassis frame assembly 74.

[0139] In any of the above solutions, preferably, two symmetrically cooperating openable protective front covers 13 are hingedly installed at the front end of the chassis frame assembly 74.

[0140] By opening the protective front cover 13, the power equipment at the powder mixing part can be repaired, and at the same time, it is convenient for the heat dissipation of components after opening.

[0141] In any of the above solutions, preferably, the mixing and conveying unit 4 is used to receive the solid materials mixed by the upstream feeding, storing and mixing unit 3 and convey them downstream to the slurry batching unit 5 while mixing.

[0142] Preferably, in any of the above solutions, the mixed material conveying unit 4 includes an inclined hopper 14 fixedly installed at the middle top of the chassis frame assembly 74. The upstream of the inclined hopper 14 is inclined downward, and the downstream is inclined upward. A mixed material inlet 15 is provided at the top of the upstream of the inclined hopper 14, and a mixed material outlet 16 is provided at the bottom of the downstream of the inclined hopper 14. The mixed material inlet 15 is used to receive the material components output from the feeding, storage and mixing unit 3, and the mixed material outlet 16 is used to convey the mixed material to the slurry batching unit 5.

[0143] The mixed material conveying unit 4 receives slag from the upstream and two kinds of powder materials that have been preliminarily mixed from the upstream, and uses the integrated spiral conveying and stirring blade 17 in the inclined hopper 14 to quickly convey them downstream. Finally, the solid powder materials are fully mixed and then enter the pulping process.

[0144] Preferably, in any of the above solutions, an integrated spiral conveying and stirring blade 17 is installed inside the inclined hopper 14. Both ends of the integrated spiral conveying and stirring blade 17 pass through the mounting holes at the corresponding ends through the spiral central shaft 18 thereon. A low-speed high-torque hydraulic motor 73 is installed at the end cover of the downstream end of the inclined hopper 14. The low-speed high-torque hydraulic motor 73 is used to drive the rotation of the spiral central shaft 18.

[0145] The low-speed high-torque hydraulic motor 73 is driven by a hydraulic system, which can better ensure the silence and stability during the overall operation and ensure the smoothness of the solid material conveying.

[0146] Preferably, in any of the above solutions, the slurry batching unit 5 includes a horizontal batching bin 19 arranged above the chassis frame assembly 74. Both sides of the bottom of the horizontal batching bin 19 are movably hinged. One of the hinged ends of the horizontal batching bin 19 is connected to the swing adjustment mechanism below it. The swing adjustment mechanism is used to drive the upstream end of the horizontal batching bin 19 to swing up and down.

[0147] Preferably, in any of the above solutions, a first fixed ear is welded on one side of the bottom of the horizontal batching bin 19. Each fixed ear is movably hinged on the welding ear seat fixedly arranged at the corresponding position relative to the chassis frame assembly 74. A second fixed ear is welded on the other side of the bottom of the horizontal batching bin 19. Each second fixed ear is movably hinged on the swing adjustment mechanism movably arranged at the corresponding position relative to the chassis frame assembly 74.

[0148] Preferably, in any of the above solutions, the swing adjustment mechanism includes a swing adjustment oil cylinder 20 arranged obliquely. The top of the piston rod of each swing adjustment oil cylinder 20 is movably hinged to the corresponding second fixed ear, and the bottom of the cylinder body of each swing adjustment oil cylinder 20 is movably hinged to the positioning ear seat at the corresponding position.

[0149] When making pulp, the liquid and solid powder inside the horizontal batching bin 19 of the slurry batching unit 5 are mainly made into pulp through two methods. One is to use the slurry stirring member to achieve full double-axis stirring inside the horizontal batching bin 19 to fully stir and mix the solid powder and liquid water; the other is to control the entire horizontal batching bin 19 and the slurry inside it to swing left and right through the operation of the swing adjustment mechanism, so as to cooperate with the internal stirring to achieve full mixing and pulping, and finally improve the effect and efficiency of pulping.

[0150] Preferably, in any of the above solutions, a slurry stirring member is installed in the batching cavity of the horizontal batching bin 19.

[0151] Preferably, in any of the above solutions, manhole pipes 21, auxiliary material pipes 22 and liquid injection and replenishment pipes 23, which are connected to the inside and are provided with sealed end covers, are installed at intervals on the top of the horizontal batching bin 19.

[0152] The manhole pipe 21 is convenient for overhauling and maintaining the inside of the horizontal batching bin 19; the auxiliary material pipe 22 and the liquid injection and replenishment pipe 23 are convenient for injecting auxiliary materials, liquid water and other reaction liquids into the inside.

[0153] Preferably, in any of the above solutions, a solid mixed raw material inlet 24 is arranged at the upstream top of the horizontal batching bin 19, and a slurry finished product discharge pipe 25 with a control valve is arranged at the downstream bottom of the horizontal batching bin 19.

[0154] Preferably, in any of the above solutions, a rotatable transfer discharge hopper 26 is movably installed below the slurry finished product discharge pipe 25, and the transfer discharge hopper 26 is used to discharge and feed materials to different stations of the slurry treatment pumping unit 6.

[0155] The main function of the slurry finished product discharge pipe 25 is to discharge the slurry outward by opening the control valve. At the same time, the additional rotatable transfer discharge hopper 26 can guide the material to the thick slurry hopper 31 or the thin slurry hopper 32 below through its own rotation.

[0156] Preferably, in any of the above solutions, both ends of the slurry stirring member pass through the mounting holes on the end covers at both ends of the horizontal batching bin 19 movably and are inserted and fitted with the inner part of the batching end bearing seats fixed at the corresponding positions. A slurry stirring motor 27 for driving the slurry stirring member to rotate and stir the material is installed on one side of one of the batching end bearing seats.

[0157] Preferably, in any of the above solutions, a control handle rod is detachably connected to the outer side wall of the upper part of the position-changing discharge hopper 26 by a pin shaft.

[0158] When operating the position-changing discharge hopper 26 to rotate and adjust the position, the control handle rod can be operated to achieve the purpose of labor saving.

[0159] Preferably, in any of the above solutions, an operation protection fence 28 is fixed on the top of the chassis frame assembly 74 outside the horizontal batching bin 19. The operation protection fence 28 encloses an operation platform 29 for the operator to replenish materials and perform maintenance on the chassis frame assembly 74.

[0160] Preferably, in any of the above solutions, the slurry stirring member includes two slurry stirring shafts 30 horizontally and spaced apart and installed inside the batching cavity of the horizontal batching bin 19. A number of stirring blades 72 are fixedly arranged at intervals along the length direction on the outer side walls of the two slurry stirring shafts 30 and are arranged in a staggered manner. The two ends of the two slurry stirring shafts 30 pass through the end covers at both ends of the horizontal batching bin 19 movably. The upstream ends of the two slurry stirring shafts 30 outside the horizontal batching bin 19 are connected by a belt transmission member. The slurry stirring motor 27 is fixedly connected to the upstream end of one of the slurry stirring shafts 30.

[0161] The cooperation of the two slurry stirring shafts 30 can better ensure the high efficiency and smoothness of double-shaft stirring, and can also achieve efficient stirring treatment for relatively thick concrete.

[0162] Preferably, in any of the above solutions, a number of electronic hydrometers are installed in the batching cavity of the horizontal batching bin 19. Each electronic hydrometer is used to monitor the slurry specific gravity inside the batching cavity. Each electronic hydrometer is respectively connected to the above control system to realize signal connection. The control system is used to receive the slurry specific gravity information collected from the electronic hydrometer, compare it with the set standard specific gravity value and display it. The system or the staff observes the currently displayed specific gravity value and replenishes the corresponding types of component materials so that the specific gravity value approaches the standard specific gravity value until finally the detection value and the standard specific gravity value are within the allowable error range, and the slurry batching unit 5 can complete the slurry preparation.

[0163] Setting up multiple electronic hydrometers can better ensure the real-time monitoring of the slurry specific gravity inside the horizontal batching bin 19, and feed the monitoring results back to the control system for comparison with the standard specific gravity value. Based on the comparison results, it is decided whether to add corresponding material components, so as to ensure the standardized slurry preparation.

[0164] In addition, hydrometers are also installed in the thick slurry hopper 31 and the thin slurry hopper 32. Here, the thick slurry hopper 31 and the thin slurry hopper 32 serve as temporary slurry storage hoppers.

[0165] Note: A radar material meter is also installed above the slurry hopper to measure the height of the slurry in the hopper, and the system is fed back according to the slurry height to adjust the feeding speed of the screw feeder and the stirring speed of the horizontal mixer.

[0166] In any of the above solutions, preferably, the slurry treatment and pumping unit 6 is installed below the middle part of the horizontal batching bin 19 of the slurry batching unit 5. The slurry treatment and pumping unit 6 realizes the transportation of the slurry through different types of grouting pumps such as mud pumps, mortar pumps, or concrete pumps on it.

[0167] Select the applicable slurry type and filling process according to different working conditions, and start the downstream supporting pipeline system;

[0168] Below the front end of the twin-shaft horizontal mixer are the thick slurry hopper 31 and the thin slurry hopper 32, which can filter the lumps in the aggregate slurry.

[0169] The filling process is to first test the water pressure. According to the test water pressure results, different filling modes are selected, and parameters such as the filling slurry type, grouting flow rate, and grouting pressure are set.

[0170] During filling, the slurry treatment and pumping unit 6 is connected to the filling borehole to directly feed the slurry into the borehole.

[0171] The power driving member 2 adopts an electric motor and a diesel engine to achieve dual power drive. In addition, the system is equipped with a complete set of hydraulic systems, and the hydraulic system is used to supply oil circuits to each motor or cylinder block;

[0172] For the operation processes of the above-mentioned components, installation personnel install corresponding sensor elements at appropriate positions, and the existing control system sets conventional automatic control logics to realize the detection and feedback signals and the control of corresponding execution actions. According to the operation data read from the control system, the production mode, the discharge amount, the mixing speed, and the flow rates of water injection, grouting, and the specific gravity of slurry batching and other parameters can be intelligently regulated.

[0173] Preferably, in any of the above solutions, the slurry treatment and pumping unit 6 includes two thick slurry hoppers 31 and thin slurry hoppers 32 that are symmetrically arranged and fixedly installed at the top of the downstream rear end of the chassis frame assembly 74. The bottom of the thin slurry hopper 32 is connected to a first thin slurry discharge pipe 33. A thin slurry transfer pump 34 is installed on the first thin slurry discharge pipe 33. The outlet end of the thin slurry transfer pump 34 is connected to a plurality of first thin slurry filling pipes 35 for filling. A slurry return mechanism is also installed at the bottom of the thin slurry hopper 32. A thick slurry transfer pump group 36 is installed at the bottom of the thick slurry hopper 31. The thick slurry transfer pump group 36 is used to convey the slurry inside the thick slurry hopper 31 to the goaf for filling through the thick slurry discharge pipe on it.

[0174] The slurry treatment and pumping unit 6 can quickly pump thick slurry (such as viscous mortar or concrete slurry) and thin slurry (Newtonian fluid), and at the same time can perform slurry return treatment on unqualified thin slurry, so as to ensure that the slurry can meet the filling requirements.

[0175] The thick slurry transfer pump group 36 is used for the conveying and filling power structure of thick slurry, the thin slurry transfer pump 34 is used to convey and fill thin slurry, and the slurry return mechanism can convey and return the slurry that fails to meet the detection standard to the inside of the slurry batching unit 5 for re-mixing and pulping to ensure the quality of the slurry.

[0176] Preferably, in any of the above solutions, the slurry return mechanism includes a second thin slurry discharge pipe 37 arranged at intervals on one side of the first thin slurry discharge pipe 33. A two-way flow control pump 38 is installed on the second thin slurry discharge pipe 37. A reversing flow structure is installed at the output end of the two-way flow control pump 38. The two output ends of the reversing flow structure are respectively connected to a second thin slurry filling pipe 39 and a thin slurry reflux pipe 40. The reversing flow structure is used to control the slurry output by the two-way flow control pump 38 to be conveyed to the second thin slurry filling pipe 39 or the thin slurry reflux pipe 40. The thin slurry reflux pipe 40 is used to connect to the slurry inside the upstream slurry treatment and pumping unit 6.

[0177] The slurry return mechanism mainly controls whether to return the slurry to the filling direction or to the inside of the slurry treatment and pumping unit 6 by the output direction of the two-way flow control pump 38, so as to achieve the purpose of controlling the qualification rate of the slurry and ensure the filling quality.

[0178] Preferably, in any of the above solutions, the commutation and flow conversion structure includes a three-way connecting pipe valve body 41, which is respectively connected to the output end of the bidirectional flow control pump 38, the second thin slurry discharge pipe 37, and the thin slurry reflux pipe 40. A conversion inner pipe valve core 42 is inserted into the inner cavity of the three-way connecting pipe valve body 41. The top of the conversion inner pipe valve core 42 is sealed and the bottom is open. A conversion port 43 for communicating with the second thin slurry discharge pipe 37 or the thin slurry reflux pipe 40 is provided on the outer side wall of the middle part of the conversion inner pipe valve core 42. A conversion driving cylinder 44 is installed on the mounting seat at the top of the outer side wall of the three-way connecting pipe valve body 41. One end of the cylinder body of the conversion driving cylinder 44 is hinged to the short column of the top mounting seat, and the end of the piston rod of the conversion driving cylinder 44 is movably hinged to a crank swing arm 45 whose bottom is fixedly connected to the top of the conversion inner pipe valve core 42. The conversion driving cylinder 44 drives the swing of the crank swing arm 45 through expansion and contraction to control the rotation of the conversion inner pipe valve core 42, so as to control the conversion port 43 to communicate with the second thin slurry discharge pipe 37 or the thin slurry reflux pipe 40. Among them, the thin slurry reflux pipe 40 is used to connect with the slurry inside the horizontal batching bin 19 of the upstream slurry batching unit 5.

[0179] The commutation and flow conversion structure drives the swing of the crank swing arm 45 by controlling the expansion and contraction of the conversion driving cylinder 44 here, so as to drive the rotation of the conversion inner pipe valve core 42, and finally make the conversion port 43 of the conversion inner pipe valve core 42 face the second thin slurry discharge pipe 37 or the thin slurry reflux pipe 40, thereby achieving the purpose of controlling the flow direction of the thin slurry.

[0180] Preferably, in any of the above solutions, a caking filter screen 46 is respectively installed on the top of the thick slurry hopper 31 and the top of the thin slurry hopper 32. The caking filter screen 46 is used to filter the caking in the aggregate slurry.

[0181] Preferably, in any of the above solutions, a slurry stirring shaft 47 is installed inside the thick slurry hopper 31 and the thin slurry hopper 32. The two ends of the slurry stirring shaft 47 sequentially pass through the mounting holes on the end covers of the thick slurry hopper 31 and the thin slurry hopper and are connected to a discharge stirring motor 48 fixed on the corresponding end face.

[0182] Preferably, in any of the above solutions, the feeding, storing and mixing unit 3 includes a front mounting frame 49 fixedly installed above the front end of the chassis frame assembly 74. A double vertical silo mechanism is provided at the top of the rear section of the front mounting frame 49. The double vertical silo mechanism is in a vertical state during use and in a stable state of being obliquely laid down during the system's traveling state. The double vertical silo mechanism includes two independent and symmetrically arranged vertical storage tanks 50 that abut against each other. The interiors of the two vertical storage tanks 50 are respectively used to store fly ash raw materials and cement raw materials. The front bottom sides of the two vertical storage tanks 50 are stably supported on the top edges of the front mounting frame 49. The rear bottom sides of each of the vertical storage tanks 50 are movably hinged to the stable ear seats 51 fixed on the top of the chassis frame assembly 74. A position-adjusting and laying-down oil cylinder 52 is provided at the rear side of each of the stable ear seats 51. The top of the piston rod of the position-adjusting and laying-down oil cylinder 52 is movably hinged to the rear welded stand 53 of the corresponding vertical storage tank 50. The bottom of the cylinder body of the position-adjusting and laying-down oil cylinder 52 is movably hinged to the ear seat on the top of the chassis frame assembly 74. The outer side of the vertical storage tank 50 is pressed tightly against the top of the corresponding front mounting frame 49 through the support stand 54 welded to its bottom.

[0183] The double vertical silo mechanism can be controlled by a hydraulic system in the prior art configured in the system to be in an inclined transportation state or a vertical working state after its lifting. When the system needs to travel, the vertical storage tank 50 is inverted and obliquely placed through system operation to increase the traveling stability. When in normal production, the vertical storage tank 50 can be adjusted to an upright state.

[0184] Inverting and obliquely placing can reduce shaking during the driving of the entire system and ensure the stability of the transportation process; when work is required, the upright state can better ensure the smoothness of discharging.

[0185] Preferably, in any of the above solutions, the bottom of the vertical storage tank 50 is provided with an inverted cone discharging part 55. The discharging ports at the bottom of the inverted cone discharging part 55 are respectively matched with the feeding ports of the fine feeders fixedly arranged below it. An impeller discharging machine 57 is installed at the discharging port at the bottom of the inverted cone discharging part 55.

[0186] The impeller discharging machine 57 can cooperate with a load sensor to achieve accurate downward discharging of materials.

[0187] Preferably, in any of the above solutions, the discharging ports of the two fine feeders are both matched with the feeding and mixing hopper 59 of a primary mixing short shaft screw mixer 58. The fine feeders control the conveying amount of the materials inside them to the feeding and mixing hopper 59 through their operating speeds.

[0188] Preferably, in any of the above solutions, a powder charging port 60 with a filter screen is provided at the bottom of each of the vertical storage tanks 50, and the powder charging port 60 is blocked by an end cover when not in use.

[0189] The powder charging port 60 is a Φ110mm round pipe, the inner end of which is placed inside the storage tank, and the required powder material is pressure-fed into the corresponding vertical storage tank 50 by a tanker through this powder charging port 60.

[0190] Preferably, in any of the above solutions, a powder vibrating motor 61 is installed on the outer side wall of the lower part of each of the vertical storage tanks 50, and the powder vibrating motor 61 is used to assist in discharging materials by vibration.

[0191] Preferably, in any of the above solutions, a pulse dust collector 62 and a pressure relief port 63 with a built-in pressure relief valve are provided at the top of each of the two vertical storage tanks 50.

[0192] The vertical storage tank 50 can store cement, fly ash, and new powder materials. When the internal pressure of the vertical storage tank 50 is too high, the pressure relief valve automatically detects the pressure and pops up to release the pressure;

[0193] Preferably, in any of the above solutions, each of the fine feeders is a fine screw feeder 56, which can improve the accuracy of conveying and feeding.

[0194] Preferably, in any of the above solutions, load-bearing pressure sensors are installed on both top sides of the installation front frame 49 that abuts against the bottom of the two vertical storage tanks 50, and each of the load-bearing pressure sensors is signal-connected to the existing control system.

[0195] Preferably, when the two vertical storage tanks 50 are in the working state, the two position-adjusting and folding cylinders 52 are in the maximum telescopic amplitude state, and at this time, the two vertical storage tanks 50 rely on their own weight to support on the top of the installation front frame 49.

[0196] Preferably, each of the load-bearing pressure sensors cooperates with the operation of the fine screw feeder 56 below the corresponding vertical storage tank 50 to achieve quantitative discharge of the raw materials of the corresponding vertical storage tank 50;

[0197] Powder materials such as cement and fly ash are first conveyed to the inside of the downstream mixing and conveying unit 4 through the initial mixing short-axis screw mixer 58 below the two fine screw feeders 56.

[0198] Preferably, in any of the above solutions, the downstream rear end of the spiral primary mixing shaft 64 inside the primary mixing short-axis spiral mixer 58 drives the spiral primary mixing blades 65 thereon to movably pass through the through hole on the end cover at the upstream front end of the inclined barrel 14, and the shaft end of the spiral primary mixing blades 65 penetrating into the inclined barrel 14 is movably inserted into the central hole on the front end face of the spiral central shaft 18 at the corresponding position. A horizontally arranged diameter-expanding blanking barrel 66 is integrally fixed to the front end face of the spiral central shaft 18. The diameter-expanding blanking barrel 66 is sleeved on the outer side wall of the rear section of the spiral primary mixing blades 65. A plurality of powder primary mixing blanking long openings 67 are evenly spaced along the circumference on the outer side wall of the front section of the diameter-expanding blanking barrel 66. The proportionally pre-mixed powder conveyed inside the primary mixing short-axis spiral mixer 58 is scattered into the inner cavity of the inclined barrel 14 in sequence through each powder primary mixing blanking long opening 67.

[0199] The rotation and conveyance of the spiral primary mixing shaft 64 and the spiral primary mixing blades 65 inside the primary mixing short-axis spiral mixer 58 can achieve the purpose of spiral mixing of the two pre-mixed powders inside. At the same time, it is conveyed downstream. When reaching the end during the conveying process, it will extend into the inner cavity of the inclined barrel 14 for conveying. Since there is relative rotational movement between the diameter-expanding blanking barrel 66 at the end of the integrated spiral conveying and mixing blade 17 and the spiral primary mixing shaft 64, each powder primary mixing blanking long opening 67 on the diameter-expanding blanking barrel 66 will have relative rotation with the spiral primary mixing shaft 64 and the spiral primary mixing blades 65. Finally, the powder is scattered into the inner cavity of the inclined barrel 14 through each powder primary mixing blanking long opening 67. At the same time, the slag material from the feed inlet of the inclined barrel 14 will also fall into its interior. The falling slag material will be mixed with the pre-mixed powder scattered in the rotating state during the falling process, and finally continue to follow the rotation and conveyance of the spiral primary mixing shaft 64 and the spiral primary mixing blades 65 to achieve spiral mixing.

[0200] It is scattered into the slurry batching unit 5 in the form of bulk materials. At the same time, the proportionally weight-conveyed slag material will fall from the feed inlet of the mixing and conveying unit 4 and be re-mixed with the pre-mixed powder. The mixed solid powder undergoes spiral multi-mixing of the solid powder through the mixing and conveying unit 4. Finally, the fully mixed solid powder will enter the slurry batching unit 5 and be double-axis stirred with the simultaneously entering liquid water, etc. to form a qualified slurry. When the solid powder, slag material, liquid water, and various auxiliary materials are put in, the control system controls the overall proportion to achieve the purpose of accurately controlling the specific gravity of the slurry or the slurry.

[0201] Preferably, in any of the above solutions, a primary mixing driving hydraulic motor 68 is configured on the primary mixing short-axis spiral mixer 58. The primary mixing driving hydraulic motor 68 is installed on the casing on the right side of the primary mixing short-axis spiral mixer 58 and is used to drive the rotation of the spiral primary mixing shaft 64.

[0202] The mixing and conveying unit 4 conveys grouting materials such as cement, fly ash, and recycled aggregates to the next-level slurry batching unit 5 via it. Meanwhile, during the process of conveying materials, the mixing and conveying unit 4 fully stirs and dry-mixes various grouting solid materials again synchronously.

[0203] The grouting solid materials that have been stirred and mixed multiple times in advance are mixed with a certain proportion of water at the upstream front end of the horizontal batching bin 19 of the slurry batching unit 5. The solid-liquid mixed material raw materials are stirred again to form non-Newtonian fluid slurry or pastes with different concentrations.

[0204] Preferably, in any of the above solutions, a slag hopper 69 is fixedly installed on the installation front frame 49 at the upstream front end of the double vertical silo mechanism. A slag belt conveyor 70 fixed to the middle of the installation front frame 49 is installed below the slag hopper 69. The bottom of the slag hopper 69 is fixedly installed on the top of the installation frame of the slag belt conveyor 70.

[0205] Load sensors for detecting the weight of the slag on it are installed on the belt bottom frame of the slag belt conveyor 70 at the bottom of the slag hopper 69. Each of the load sensors is signal-connected to the control system.

[0206] The two fine screw feeders 56, the primary mixing short-axis screw mixer 58, and the slag belt conveyor 70 are all controlled by the control system in the prior art to coordinate the relative speeds to achieve synchronous feeding in the required proportion.

[0207] Preferably, in any of the above solutions, a slag shield 71 is provided above the slag belt conveyor 70 in the discharging direction at the rear side of the slag hopper 69.

[0208] Preferably, in any of the above solutions, a slag screw discharger is installed in the slag hopper 69. The two shaft ends of the slag screw discharger respectively pass through the through holes on the side walls of the slag hopper 69 movably. A slag discharging motor for driving the slag screw discharger to rotate is fixed on the rear side wall of the slag hopper 69.

[0209] Preferably, in any of the above solutions, slag baffle plates are movably hinged to the top of the side walls at the rear side, inside and outside of the slag hopper 69. A receiving cylinder is provided outside each of the slag baffle plates. The top of the piston rod of each receiving cylinder abuts against the outer bottom wall of the corresponding slag baffle plate respectively. The top of the piston rod of each receiving cylinder is hinged to the hinge seat on the outer side wall of the corresponding slag hopper 69 respectively.

[0210] The three slag baffles can be erected or lowered under the control of the corresponding storage cylinders, so as to increase the slag storage capacity inside the slag hopper 69 and reduce dust emission, and can be lifted, lowered and gathered as required.

[0211] In any of the above solutions, preferably, a slag vibrating motor is fixedly installed on the front side wall of the slag hopper 69, and the slag vibrating motor can be used to achieve the purpose of rapid discharging.

[0212] The present invention also provides a process for realizing gob filling by using a gob building solid material regeneration filling slurry preparation and filling integrated system, including the following steps:

[0213] S1: Move the gob building solid material regeneration filling slurry preparation and filling integrated system to the ground near the gob to be filled and get it ready;

[0214] S2: Align the double vertical silo mechanism to a vertical state;

[0215] S3: Start the system, use a loading forklift to supply slag into the slag hopper 69, and simultaneously discharge the powder in the double vertical silo mechanism in proportion;

[0216] S4: After the powder is initially mixed, it enters the inside of the mixing and conveying unit 4 together with the slag to realize the final mixing and conveying of the solid material and form the final mixed solid material;

[0217] S5: Send the liquid material, auxiliary material and the above-mentioned final mixed solid material into the slurry batching unit 5 in proportion for slurry preparation;

[0218] S6: The hydrometer inside the slurry batching unit 5 continuously monitors the specific gravity of the current slurry and compares it with the set standard value;

[0219] S7: After the slurry inside the slurry batching unit 5 meets the standard, control the slurry batching unit 5 to discharge the slurry;

[0220] S8: Select the slurry discharge direction according to the slurry type before discharging the slurry, and use the slurry treatment and pumping unit 6 to fill the current slurry into the gob;

[0221] S9: Monitor the filling situation while filling, and keep the filling stable until the filling is completed.

[0222] For the above vertical storage tank 50, the discharging amount can be complementarily controlled in two ways:

[0223] Method 1: Preset the control system to multiply the discharging amount per second of the fine screw feeder 56 by the corresponding time to obtain the total discharging amount;

[0224] Mode 2 is the real-time display of load cells installed on two support legs at the bottom of the vertical storage tank 50. The weight displayed by the sensors is the total weight of each vertical storage tank 50 and its attached equipment. Each time material is discharged, the total weight will decrease, and the amount of decrease is the amount of discharged material. When controlling precise material discharge, the above two modes are used complementarily for calibration to increase the accuracy of material discharge and ensure the accuracy of the slurry ratio provided for subsequent pulping.

[0225] Before the mixture in the mixing and conveying unit 4 reaches its downstream and enters the slurry batching unit 5, after the sensor configured at the front end contacts the incoming dry material, the control system automatically calculates the total amount of water flowing out of the water supply system during this time. An electromagnetic flowmeter is installed on the water supply pipeline, and the water flow is measured in real time through the electromagnetic flowmeter.

[0226] The water supply volume in the slurry batching unit 5 realizes automatic water supply according to the preset ratio.

[0227] Several hydrometers are installed inside the slurry batching unit 5 to feedback the specific gravity of the slurry inside to the control system in real time; in addition, the following selection operation is carried out: after the slurry in the slurry batching unit 5 is stirred, it can also enter the temporary slurry storage tank installed on the chassis frame assembly 74 where a hydrometer is installed to automatically detect the specific gravity of the slurry and feedback the specific gravity of the slurry in real time.

[0228] Pressure sensors are installed on the thick slurry transfer pump group 36, the two-way flow control pump 38, and the thin slurry transfer pump 34, and are linked with the wireless pressure sensor at the orifice of the borehole in the goaf. The pressure situation can be transmitted to the control system in real time.

[0229] When there is no pressure at the orifice and there is pressure at the pressure sensor at the outlet of the pump, the system will determine that it may be due to situations such as too large or thick slurry specific gravity, and feedback to the operating system interface to prompt whether it is necessary to change the slurry ratio and reduce the specific gravity.

[0230] When the pressure sensor at the borehole orifice is pressurized, it will feedback to the system interface with prompt information such as whether it is necessary to change the slurry type, reduce the specific gravity or inject clear water, etc. Technicians will confirm and set according to the actual situation. If no confirmation feedback information is obtained within 5 minutes, the system will automatically change the slurry ratio according to the situation and reduce the slurry specific gravity.

[0231] Electromagnetic flowmeters are installed outside the slurry outlets of the thin slurry hopper 32 and the thick slurry hopper 31 to measure the grouting volume in real time and cross-check with the grouting volume calculated by material back-calculation. When the grouting volume exceeds the preset threshold and the pressure sensor does not detect pressure, the system will prompt to change the slurry type, ratio, etc. In this way, the intelligent control of feeding, pulping, and filling is realized.

[0232] Advantages of the slurry in this invention patent: The filling material in the present invention mainly consists of cement, fly ash, new powdery materials, and recycled aggregates such as construction solid waste, slag, gangue powder, and ultrafine stone powder. The characteristics of the slurry mainly include:

[0233] 1. According to different application conditions, different types of raw material ratios can be selected, which can meet various occasions such as filling, water plugging, foundation treatment, and curtain grouting. Under the condition of meeting the engineering requirements, the optimal economic value can be achieved.

[0234] 2. Various recycled aggregates are processed into fine aggregates, which can replace part of the cement and fly ash for gob grouting, solve the shortage of fly ash in some areas of our country, reduce the treatment cost, and the parameters such as the fluidity, specific gravity, stone formation rate, and compressive strength of the stone formation body of the slurry meet the requirements of national specifications (GB51180 - 2016).

[0235] 3. Implement the national energy conservation, emission reduction, and low - carbon policies, make full use of solid waste, realize economic value, and reduce a large amount of carbon emissions.

[0236] 4. The filling slurry made of fine aggregate, cement, fly ash, and additives has physical and mechanical properties that meet the treatment requirements. Under some ratios and application conditions, the stone formation body of the slurry has a greater compressive strength than the traditional filling slurry, far exceeding the required value of the specification (GB51180 - 2016).

[0237] When the whole system is running, it includes the following operation processes:

[0238] Power - on self - check → Start each subsystem of batching, slurry preparation, and grouting filling → Automatically switch multiple filling modes under different working conditions → Clean up after completion. Specifically as follows:

[0239] After power - on, it automatically detects the no - load situation of the equipment and each subsystem, and feeds back the detection results. If the self - check system is in good condition, it first conducts pressure testing on the borehole with water, selects a suitable grouting filling mode according to the borehole water - pressure results, and realizes automatic active control during the grouting process to ensure the grouting filling quality and the safety of equipment and personnel during the filling process. After the grouting filling is completed, it automatically starts the cleaning function to clean the equipment. In addition, during the whole operation process, a one - key emergency braking function is set. The specific operation process is as shown in the figure.

[0240] Using this integrated gob building solid material recycled filling slurry system can achieve efficient filling of aggregate slurry: By experimentally determining the influence laws of the grouting process flow, filling flow rate, filling pressure, and slurry properties on the filling effect of gob areas with different fracture scales under water - filled conditions, and determining the material performance, filling pressure, and filling flow rate design according to the characteristics of different filling stages, a filling plan for aggregate slurry in water - filled gob areas is formed.

[0241] The control system part of this integrated system for making and filling goaf building solid material recycled filling slurry adopts the PLC control system network structure in the existing technology. According to the conventional technical means, the system function composition, key control parameters and monitoring equipment layout, combined with the system process flow, determine the preset values, allowable value ranges, warning thresholds and emergency braking thresholds of the control parameters, optimize the process control algorithm, develop an automated management and control platform, and realize the automated control of the filling treatment process.

[0242] Adopt SCADA as the monitoring and configuration software, study the preset values, allowable value ranges, warning thresholds, emergency braking thresholds of various control parameters and the process control algorithm, and design a mobile intelligent integrated making and filling system. Determine the key processes and control parameters of the filling treatment, establish a parametric process database for the filling treatment, determine the monitoring and control methods for the control parameters of the key process links, establish an automated control loop for the system, realize the automated control of the filling treatment process, and develop a production control mode of "one-key production".

[0243] At the same time, considering the mobile characteristics, operation safety and convenience of production data monitoring of the integrated system for making and filling goaf building solid material recycled filling slurry, the automated management platform of this integrated system has multiple control methods: on-site control of the integrated device beside the control cabinet, and remote centralized production monitoring and control of the computer in the centralized control room using the WINCC monitoring software. At the same time, the integrated system develops monitoring and management software for the mobile terminal. During the production process, personnel can monitor the production process, status monitoring, alarm management, equipment management, etc. through mobile terminals such as mobile phones.

[0244] Each sub-unit part of the integrated system for making and filling goaf building solid material recycled filling slurry extracts the operation data of each component of the equipment through different sensors installed at the corresponding positions and transmits it to the control system. The control system adjusts the production parameters in a timely manner according to the operation status of each component, so that the whole system always maintains the coordinated operation and autonomous regulation of each component during the operation process.

[0245] Before the integrated system for making and filling goaf building solid material recycled filling slurry operates, combined with experimental research and production practice, preset the grouting filling parameters in advance, including slurry type, ratio, and grouting pump type, pressure, flow rate, etc. During the operation process, detect slurry specific gravity, feeding weight of various materials, water supply flow rate, aggregate moisture content and other indicators to inversely calculate and verify whether each subsystem performs work according to the predetermined parameters. If a certain indicator is abnormal, the system prompts the operator to perform corresponding inspections and adjustments.

[0246] Realize the integration and intelligence of batching, slurry making and grouting, and keep track of various situations that occur during grouting in real time, so as to discover problems in advance and solve them. In case of sudden problems, the slurry making can be stopped immediately or switched to clean water to avoid waste of grouting materials and reduce the filling cost.

[0247] The use of a crawler structure (the crawler can widely adapt to different complex terrains, effectively expanding the working range of the equipment in the unleveled coal mining subsidence area) facilitates moving into place, can significantly shorten the distance between the equipment and the orifice, greatly reduce the length of the slurry conveying pipeline, thereby reducing the pressure loss during grouting, eliminating the need to repeatedly lay long-distance slurry conveying pipelines, and streamlining a large number of operating personnel.

[0248] During the grouting filling process of the integrated system for making and filling the recycled filling slurry of gob building solid materials, the slurry mixing ratio and grouting volume are recorded in real time, realizing the automatic recording of grouting construction data and the automatic generation of construction reports, which is helpful for project settlement and grouting quality analysis.

[0249] A mobile transparent cover plate can also be installed above one side of the slag hopper 69 of the recycled aggregate. A water mist dust removal device is added to the cover plate to prevent excessive dust at the feeding port and ensure that the equipment meets environmental protection requirements.

[0250] While China's economy is developing rapidly, the consumption of natural resources has also increased significantly. Along with resource waste and environmental pressure cannot be underestimated. To solve the limitations of traditional fixed grouting equipment where resources cannot be recycled and regional relocation is difficult, this integrated system for making and filling the recycled filling slurry of gob building solid materials is developed in line with the principles of resource conservation and recycling. The integrated system for making and filling the recycled filling slurry of gob building solid materials integrates batching, slurry making, stirring, and pumping filling in one design.

[0251] In the slurry pumping unit, various types of pump structures can be configured according to the working conditions. For example:

[0252] 1. The thick slurry pump can be equipped with a concrete pump, a high and low pressure variable frequency slurry pump, which can pump cement-based slurries and high and low concentration recycled aggregate slurries, achieving the recycling of industrial solid wastes and saving social resources (such as pumping recycled construction waste, coal gangue, quarry waste, solid waste combustion dust, etc.), and can significantly reduce the filling treatment cost by more than 20%.

[0253] 2. Multiple models of grouting pumps are set, including high-pressure and static-pressure slurry pumps. Different models of grouting pumps can be automatically switched according to different working conditions to pump cement-based composite slurries with different ratios, meeting the construction requirements of different working conditions and having wide applicability. After switching, the grouting pump that is no longer used automatically starts the task of flushing with clean water and quickly completes the cleaning for the next use.

[0254] 3. A two-way switching power system is configured on the chassis frame assembly 74 of the system: it can provide power output for equipment movement and production, enabling the equipment to operate continuously as a whole (both oil and electricity are available). There is a one-key switching device to handle emergencies and ensure the continuity of engineering construction (under normal operating conditions, the production system preferably uses electric power, and the traveling system preferably uses gasoline or diesel power).

[0255] 4. This system can also achieve remote operation by configuring the corresponding transmitter and network side. To meet different proportions of slurry, an independent weighing system is designed, an LED display screen is installed, and one-key calibration is available. Real-time online specific gravity monitoring can timely adjust the slurry ratio to ensure the project quality. The screw feeder is equipped with an infrared anti-touch alarm, and a voice reminder and alarm device are installed at the top to prevent accidents during the normal operation of the equipment. The tail pressure setting has an online data transmission and recording function, and an electromagnetic flowmeter is equipped to monitor and statistically record the unit flow rate of slurry output and the total slurry injection volume during grouting in real time, and immediately export the project quantity statistics and construction reports. A lighting system is equipped above the storage tank to ensure that the equipment has the ability to continuously produce day and night. A spraying device is equipped at the feeding port of the slag hopper 69 to reduce dust pollution during the feeding process of recycled aggregates.

[0256] 5. Dust removal, fine particle, and wind direction monitoring equipment are installed on the top of the storage tank to promptly respond to construction in bad weather. A diesel engine exhaust gas purification and dust removal device reduces exhaust gas pollution such as CO, CO 2 and so on. The body is treated with integrated sound insulation, and shock-absorbing devices are installed at the bases of each mixing system, greatly reducing noise pollution. It can be applied to large-scale construction sites in the suburbs and rural areas, improving the construction efficiency of large-area gob treatment and reducing the filling treatment cost of coal mining subsidence areas.

[0257] 6. The whole machine and the tank body are equipped with a level gauge to facilitate the operator to ensure the stability of the equipment. The body is equipped with a one-key shutdown function to prevent safety production accidents caused by emergencies.

[0258] 7. The whole machine adopts a full hydraulic control system, and the hydraulic storage pipe has an integrated design of retraction and extension, which is convenient for transportation and greatly improves the safety of long-distance transportation equipment.

[0259] In addition, the system has the intelligence of feedback regulation and process control:

[0260] The production data monitored in each unit such as batching, pulping, and filling are transmitted and fed back to the control system in real time. The control system automatically determines whether the production is normal according to the production data and dynamically adjusts the system operation parameters as needed.

[0261] (1) When the hydrometer tests that the specific gravity of the slurry is unqualified, after feedback to the system, the water supply flow rate is automatically adjusted to control the water addition amount. (2) When the pressure of the pressure sensor in the head aggregate hopper is too high, the system automatically increases the vibration sieve frequency and gives an alarm to prompt the outside to reduce the feeding speed. (3) When the liquid level of the tail slurry hopper is too high, after feedback to the system, the feeding speed and the rotation speed of the horizontal double-shaft mixer are automatically adjusted. (4) When the pressure of the grouting pump abnormally increases while the pressure at the borehole orifice is normal, the system determines that the grouting pipeline is blocked and replaces the clear water to flush the pipeline until the pump pressure returns to normal. (5) When the pressure at the borehole orifice is too high, it is fed back to the system to automatically adjust parameters such as the specific gravity and flow rate of the slurry. (6) When the pressure of the grouting pump rapidly drops to the lower limit value, it is fed back to the system to automatically switch to the clear water mode. After the operators check the pipeline, the normal grouting mode is restored. (7) When the moisture content of the aggregate monitored by the sensor is too low, the system automatically turns on the spray humidification mode until the moisture content of the aggregate reaches the standard. One is to reduce dust, and the other is to make the moisture content of the aggregate reach the preset value. At the same time, the intelligence of this system is not limited to the above examples. The core technology lies in the process of grouting and filling. For different monitored data, the system parameters are adjusted in real time by feedback.

[0262] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and the description of the present invention; for those skilled in the art of this technology, any alternative improvement or transformation made to the embodiments of the present invention falls within the protection scope of the present invention.

[0263] Those parts not detailed in the present invention are all well-known technologies to those skilled in the art of this technology.

Claims

1. A goaf building solid material regeneration filling slurry making and filling integrated system, including a chassis frame assembly, a control system, with traveling mechanisms installed on both sides of the bottom of the chassis frame assembly, and power driving components configured on the traveling mechanisms. It is characterized in that: It further includes a feeding, storing and mixing unit, a mixing and conveying unit, a slurry batching unit, and a slurry processing and pumping unit; the feeding, storing and mixing unit, the mixing and conveying unit, the slurry batching unit, the slurry processing and pumping unit, and the control system are all installed on the chassis frame assembly, and the control system realizes two-way signal connection with the feeding, storing and mixing unit, the mixing and conveying unit, the slurry batching unit, and the slurry processing and pumping unit respectively. The control system cooperates with the slurry processing and pumping unit and is used to control the slurry processing and pumping unit to fill the goaf with slurry meeting the proportion requirements. The slurry batching unit includes a horizontal batching bin arranged above the chassis frame assembly, and the slurry processing and pumping unit is installed below the middle part of the horizontal batching bin. The slurry processing and pumping unit includes two symmetrically arranged thick slurry hoppers and thin slurry hoppers fixed on the top of the downstream rear end of the chassis frame assembly. The bottom of the thin slurry hopper is connected to a first thin slurry discharge pipe, and a thin slurry transfer pump is installed on the first thin slurry discharge pipe. The outlet end of the thin slurry transfer pump is connected to a first thin slurry filling pipe; a slurry return mechanism is also installed at the bottom of the thin slurry hopper; a thick slurry transfer pump group is installed at the bottom of the thick slurry hopper, and the thick slurry transfer pump group conveys the slurry inside the thick slurry hopper to the goaf for filling. The slurry return mechanism includes a second thin slurry discharge pipe arranged at intervals on one side of the first thin slurry discharge pipe, a two-way flow control pump is installed on the second thin slurry discharge pipe, a reversing flow diversion structure is installed at the output end of the two-way flow control pump, and the two output ends of the reversing flow diversion structure are respectively connected to a second thin slurry filling pipe and a thin slurry reflux pipe. The reversing flow diversion structure controls the slurry output by the two-way flow control pump to be conveyed to the second thin slurry filling pipe or the thin slurry reflux pipe. A slurry stirring shaft is installed in the thick slurry hopper and the thin slurry hopper. The two ends of the slurry stirring shaft sequentially pass through the mounting holes on the end covers of the thick slurry hopper and the thin slurry hopper and are connected to a discharge stirring motor fixed on the corresponding end faces.

2. The goaf building solid material regeneration filling slurry making and filling integrated system according to claim 1, It is characterized in that: A stable support device is installed at the bottom of the front end of the chassis frame assembly. The stable support device is used to ensure the stability of the entire chassis frame assembly during operation relative to the ground support, and the stable support device adopts a retractable structure.

3. The goaf building solid material regeneration filling slurry making and filling integrated system according to claim 2, It is characterized in that: The stable support device includes swing support mechanisms symmetrically and fixedly installed at intervals on both sides of the front side frame of the chassis frame assembly. A front extension support mechanism is fixedly installed at the bottom of the chassis frame assembly in front of each swing support mechanism. The two swing support mechanisms and the two front extension support mechanisms cooperate to support on the ground and achieve stable support for the bottom of the front end of the chassis frame assembly.

4. The gob area building solid material recycling and filling slurry making and filling integrated system according to claim 3, characterized in that: The mixing and conveying unit includes an inclined hopper fixedly installed at the top of the middle section of the chassis frame assembly. The upstream of the inclined hopper is inclined downward and the downstream is inclined upward. A mixing feed port is arranged at the top of the upstream of the inclined hopper, and a mixing discharge port is arranged at the bottom of the downstream of the inclined hopper. The mixing feed port is used to receive the material components output from the feeding, storage and mixing unit, and the mixing discharge port is used to convey the mixed material to the slurry batching unit; An integrated spiral conveying and stirring blade is installed inside the inclined hopper. Both ends of the integrated spiral conveying and stirring blade pass through the mounting holes at their corresponding ends through the spiral central shaft thereon. A low-speed and high-torque hydraulic motor is installed at the end cover of the downstream end of the inclined hopper, and the low-speed and high-torque hydraulic motor is used to drive the spiral central shaft to rotate.

5. The gob area building solid material recycling and filling slurry making and filling integrated system according to claim 4, characterized in that: Both sides of the bottom of the horizontal batching bin are movably hinged. One of the hinged ends of the horizontal batching bin is connected to the swing adjustment mechanism below it, and the swing adjustment mechanism is used to drive the upstream end of the horizontal batching bin to swing up and down; A slurry stirring member is installed in the batching cavity of the horizontal batching bin.

6. The gob area building solid material recycling and filling slurry making and filling integrated system according to claim 5, characterized in that: Both ends of the slurry stirring member pass through the mounting holes on the end covers at both ends of the horizontal batching bin and are inserted and fitted with the inside of the batching end bearing seats fixed at their respective corresponding positions. A slurry stirring motor for driving the slurry stirring member to rotate and stir the material is installed on one side of one of the batching end bearing seats; A first fixed ear is welded on one side of the bottom of the horizontal batching bin, and the first fixed ear is movably hinged on the welding ear seat fixedly arranged at its corresponding position relative to the chassis frame assembly. A second fixed ear is welded on the other side of the bottom of the horizontal batching bin, and the second fixed ear is movably hinged on the swing adjustment mechanism movably arranged at its corresponding position relative to the chassis frame assembly.

7. The gob area building solid material recycling and filling slurry making and filling integrated system according to claim 6, characterized in that: The slurry stirring member includes two slurry stirring shafts horizontally and spacedly installed inside the batching chamber of the horizontal batching bin. A number of stirring blades arranged in a staggered manner are fixedly spaced along the length direction on the outer side walls of the two slurry stirring shafts. The two ends of the two slurry stirring shafts respectively pass through the end covers at both ends of the horizontal batching bin movably. The upstream ends of the two slurry stirring shafts outside the horizontal batching bin are connected by a belt transmission member. A slurry stirring motor is fixedly connected to the upstream end of one of the slurry stirring shafts.

8. The gob area building solid material regeneration filling slurry making and filling integrated system according to claim 7, characterized in that: The feeding, storing and mixing unit includes a front mounting frame fixedly installed above the front end of the chassis frame assembly. A double vertical cylinder bin mechanism is arranged at the top of the rear section of the front mounting frame. The double vertical cylinder bin mechanism is in a vertical state during use and in a stable state of being obliquely laid down when the gob area building solid material regeneration filling slurry making and filling integrated system is in a traveling state. The double vertical cylinder bin mechanism includes two independent and symmetrically arranged vertical storage tanks. The interiors of the two vertical storage tanks are respectively used for storing fly ash raw materials and cement raw materials. The front bottom sides of the two vertical storage tanks are stably supported on the top edges of the front mounting frame. The rear bottom sides of each vertical storage tank are movably hinged to the stable ear seats fixed on the top of the chassis frame assembly. A position-adjusting and laying-down oil cylinder is arranged at the rear side of each stable ear seat. The top of the piston rod of the position-adjusting and laying-down oil cylinder is movably hinged to the welding upright on the rear side of the corresponding vertical storage tank. The bottom of the cylinder body of the position-adjusting and laying-down oil cylinder is movably hinged to the ear seat on the top of the chassis frame assembly. The outside of the vertical storage tank is tightly abutted against the top of the corresponding front mounting frame through the support upright seat welded at its bottom; The bottom of the vertical storage tank is provided with an inverted cone discharging part. The discharging ports at the bottom of the inverted cone discharging part are respectively matched with the feeding ports of the fine feeders fixedly arranged below. An impeller discharging machine is installed at the discharging port at the bottom of the inverted cone discharging part; The discharging ports of the two fine feeders are both matched with the feeding and mixing hopper of a primary mixing short shaft screw mixer. The fine feeder controls the conveying amount of the internal material to the feeding and mixing hopper through its operating speed; Each of the fine feeders is a fine screw feeder; The downstream rear end of the spiral primary mixing shaft arranged inside the primary mixing short-axis spiral mixer drives the spiral primary mixing blades thereon to movably pass through the through hole on the end cover at the upstream front end of the inclined barrel, and the shaft end of the spiral primary mixing blades inside the inclined barrel is movably inserted into the central hole on the front end face of the spiral central shaft at the corresponding position. A horizontally arranged diameter-expanded blanking barrel is integrally fixed and connected at the front end face of the spiral central shaft. The diameter-expanded blanking barrel sleeves the outer side wall of the rear section of the spiral primary mixing blades. A plurality of powder primary mixing powder dropping long openings are evenly spaced along the circumference on the outer side wall of the front section of the diameter-expanded blanking barrel. The proportionally pre-mixed powder conveyed inside the primary mixing short-axis spiral mixer is sequentially scattered into the inner cavity of the inclined barrel through each powder primary mixing powder dropping long opening.

9. The process for realizing gob filling by using the gob building solid material regeneration filling slurry making and filling integrated system, wherein the gob building solid material regeneration filling slurry making and filling integrated system adopts the gob building solid material regeneration filling slurry making and filling integrated system as described in claim 8. Characterized in that: The process includes the following steps: S1: Move the gob building solid material regeneration filling slurry making and filling integrated system to the ground near the gob to be filled and get it ready; S2: Set the double vertical barrel bin mechanism upright; S3: Start the system, supply slag to the slag hopper by using a loading forklift, and simultaneously discharge the powder in the double vertical barrel bin mechanism proportionally; S4: After the powder is premixed, it enters the inside of the mixing and conveying unit together with the slag, realizes the final mixing and conveying of the solid material, and forms the final mixed solid material; S5: Send the liquid material, auxiliary materials and the above-mentioned final mixed solid material proportionally into the slurry batching unit for slurry making; S6: The hydrometer inside the slurry batching unit monitors the specific gravity of the current slurry at all times and compares it with the set standard value; S7: After the slurry in the slurry batching unit meets the standard, control the slurry batching unit to discharge the slurry outward; S8: Select the slurry discharge direction according to the slurry type before discharging the slurry, and use the slurry treatment and pumping unit to fill the current slurry into the gob; S9: Monitor the filling situation while filling, and keep the filling stable until the filling is completed.

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