A filling device for controlling surface subsidence in coal mines

Abstract

The present invention discloses a filling device for controlling surface subsidence in a coal mine, which can effectively ensure the filling effect and prevent collapse. At the same time, slurries with different viscosities or concentrations are set, which can effectively realize the filling of slurries in gaps. Moreover, slurries with high viscosity or concentration are supplemented with pressurization by a rotating drive mechanism, which can effectively realize the pressurization of slurries with low viscosity, improve the pressurization capacity and filling effect, and realize effective filling of gaps.

Description

Technical Field

[0001] The present invention specifically relates to a filling device for controlling surface subsidence in a coal mine, and relates to the relevant field of filling equipment. Background Art

[0002] At present, in the process of coal mining, with the mining of coal mines, underground goafs will be produced. If the surface above these goafs is not deep enough or is not supported by rock strata, it will easily sink. Once sinking occurs, it will not only lead to the scrapping of the coal mine, but also pose a great threat to the safety of people and property above and below the ground. For this reason, it is necessary to fill these areas prone to sinking in order to ensure the support of the surface above the goaf and prevent the problem of sinking. At present, filling is generally carried out by ordinary high-pressure grouting and other methods. This filling efficiency is not high, and it is difficult to achieve all-round filling of gaps, which affects the reliability and thoroughness of the filling. Summary of the invention

[0003] Therefore, in order to solve the above-mentioned shortcomings, the present invention provides a filling device for controlling surface subsidence in a coal mine.

[0004] The present invention is implemented in this way: a filling device for controlling surface subsidence in a coal mine is constructed, which includes a filling machine base, a high-pressure filling pump group, a feeding filling pump group, a first filling slurry tank, a second filling slurry tank and a plurality of groups of filling machine head assemblies, characterized in that the high-pressure filling pump group, the feeding filling pump group, the first filling slurry tank and the second filling slurry tank are all installed and arranged on the filling machine base, and a plurality of groups of the filling machine head assemblies are arranged underground in an area to be filled at intervals, the input end of the high-pressure filling pump group is communicated with the first filling slurry tank, the output end of the high-pressure filling pump group is connected to each group of the filling machine head assemblies through a filling high-pressure pipeline, the input end of the feeding filling pump group is communicated with the second filling slurry tank, the output end of the feeding filling pump group is connected to each group of the filling machine head assemblies through a feeding pipeline, and each group of the filling machine head assemblies is connected to the feeding pipeline and the filling high-pressure pipeline in parallel;

[0005] It also includes a controller, which controls the filling actions of the high-pressure filling pump group, the material filling pump group and each group of filling head components.

[0006] Further, as a preference, the controller is configured as follows: when performing a filling operation, the filling end of the filling head assembly is first located at the deepest part underground, and then the controller controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling pump group and the feeding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move down one third or one half of the stroke distance, and the high-pressure filling pump group and the feeding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling pump group and the feeding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly reaches the set depth from the ground.

[0007] Further, preferably, the viscosity or concentration of the slurry in the first filling slurry tank is less than the viscosity or concentration of the slurry in the second filling slurry tank.

[0008] Further, preferably, each group of the filling head assembly includes a stroke drive and controller, a lifting seat, and a filling rod, wherein the stroke drive and controller are installed on a vertically arranged frame, and the stroke drive and controller use hydraulics to drive the lifting seat to move up and down on the frame, the lifting seat is connected to the filling rod, and a rotary feeding and pressurizing mechanism is provided between the lifting seat and the filling rod, the rotary feeding and pressurizing mechanism can pressurize and convey the second slurry into the filling rod, the lower end of the filling rod is provided with a plurality of filling holes, and the rotary feeding and pressurizing mechanism is connected to the output end of the feeding and filling pump group through a feeding pipeline.

[0009] Further, as preferably, the rotary drive mechanism includes a rotary drive motor, a transmission belt assembly, a mounting seat, a fixed sleeve, and a rotating shaft, wherein the rotary drive motor is fixed on the lifting seat, the output end of the rotary drive motor is connected to the top end of the rotating shaft through the transmission belt assembly, the upper part of the lifting seat is also fixedly provided with the mounting seat, the middle and lower parts of the lifting seat are fixedly provided with the fixed sleeve, the rotating shaft is rotatably mounted on the mounting seat, and the rotating shaft is drivably arranged through the fixed sleeve, a conveying cavity is arranged between the fixed sleeve and the rotating shaft, and a spiral feeding blade is also fixedly provided on the rotating shaft, the spiral feeding blade is located in the conveying cavity, and the spiral feeding blade can make the slurry inside it move downward when rotating with the rotating shaft, and the upper end of the filling rod is coaxially fixedly connected to the lower end of the fixed sleeve.

[0010] Further, as a preference, a feeding port is provided on the fixed casing, the feeding port is connected to the feeding pipeline, and a slurry port is provided on the upper end of the filling rod, the slurry port is connected to the filling high-pressure pipeline.

[0011] Further, preferably, a one-way valve is provided at the connection between the fixed casing and the filling rod, and the filling rod is a hollow rod structure.

[0012] Furthermore, preferably, a hydraulic expansion seal ring is provided at the lower middle portion of the filling rod, and the hydraulic expansion seal ring is controllably arranged to expand and contract so as to utilize the hydraulic expansion seal ring to fill the area around the rod and the rod hole wall.

[0013] Further, as a preference, during the process in which the filling end of the filling head assembly moves up a travel distance, the controller controls the rotational speed of the rotary drive motor to operate at a speed higher than the rotational speed when the filling end does not move up.

[0014] Furthermore, the present invention also provides a method for surface filling using the filling device for controlling surface subsidence in a coal mine according to the present invention, characterized in that it comprises the following steps:

[0015] (1) Arrange the filling machine base, high-pressure filling pump group, feed filling pump group, first filling slurry tank, and second filling slurry tank, and drill a plurality of filling holes in the filling area, and place each group of filling head components in the corresponding filling holes, so that the filling end of the filling head component is located at the deepest part of the filling hole;

[0016] (2) adding a first filling slurry into a first filling slurry tank, and adding a second filling slurry into a second filling slurry tank, and ensuring that the viscosity or concentration of the slurry in the first filling slurry tank is less than the viscosity or concentration of the slurry in the second filling slurry tank;

[0017] (3) starting the high-pressure filling pump group, the feeding filling pump group, the stroke drive and controller, and the rotation drive mechanism, the controller controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, then controls the filling end of the filling head assembly to move down one third or one half of the stroke distance, and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly reaches a set depth from the ground; wherein, after each up and down movement of the filling end is completed and before filling, the hydraulic expansion sealing ring is required to fill the area around the rod and the rod hole wall;

[0018] (4) After the filling is completed, the filling rod is taken out and the first slurry is filled into the rod hole.

[0019] The present invention has the following advantages: Compared with similar devices, the filling device for controlling surface subsidence in coal mines provided by the present invention has the following advantages:

[0020] The filling device for controlling surface subsidence in a coal mine described in the present invention can effectively ensure the filling effect and prevent collapse. At the same time, slurries with different viscosities or concentrations are set to effectively fill the slurries in the gaps. Moreover, the slurry with high viscosity or concentration is supplemented with pressurization by a rotary drive mechanism, which can effectively pressurize the slurry with low viscosity, improve the pressurization capacity and filling effect, and realize effective filling of the gaps. When performing the filling operation, the filling end of the filling head assembly is first located at the deepest part of the ground. Then, the controller controls the high-pressure filling pump group and the feeding filling pump group to supply the filling slurry to the filling head assembly for a period of time. Then, the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling is controlled. The pump group and the material filling pump group supply filling slurry to the filling head assembly for a period of time, and then control the filling end of the filling head assembly to move down one third or one half of the stroke distance, and control the high-pressure filling pump group and the material filling pump group to supply filling slurry to the filling head assembly for a period of time, and then control the filling end of the filling head assembly to move up a stroke distance and control the high-pressure filling pump group and the material filling pump group to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly reaches the set depth from the ground, which can effectively prevent the thoroughness and comprehensiveness of the filling, prevent the pressure release problem during filling, and ensure the full range of gap filling in each position to prevent the occurrence of collapse problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall main structure of the present invention;

[0022] Figure 2 It is a schematic diagram of the structure of a single filling head assembly of the present invention;

[0023] Figure 3 It is a schematic structural diagram of the filling head assembly of the present invention after removing the filling rod;

[0024] Figure 4 It is a schematic diagram of the relationship between filling depth and time during filling of the present invention. DETAILED DESCRIPTION

[0025] The following will be combined with the attached Figure 1-4 The present invention is described in detail, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] The present invention provides a filling device for controlling surface subsidence in a coal mine through improvement, which comprises a filling machine base 1, a high-pressure filling pump group 10, a feeding filling pump group 3, a first filling slurry tank 11, a second filling slurry tank 2 and a plurality of filling machine head assemblies 5, wherein the high-pressure filling pump group 10, the feeding filling pump group 3, the first filling slurry tank 11, and the second filling slurry tank 2 are all installed and arranged on the filling machine base 1, and the plurality of filling machine head assemblies are arranged in intervals and extend into the ground of the area to be filled, and the input end of the high-pressure filling pump group 10 is connected to the first The filling slurry tank 11 is connected, the output end of the high-pressure filling pump group 10 is connected to each group of the filling head components through the filling high-pressure pipeline 4, the input end of the feeding filling pump group 3 is connected to the second filling slurry tank 2, and the output end of the feeding filling pump group 3 is connected to each group of the filling head components 5 through the main feeding pipeline 9 and each branch feeding pipeline 8, and each group of the filling head components 5 is connected to the feeding pipeline and the filling high-pressure pipeline in parallel, and the main feeding pipeline 9 and each branch feeding pipeline 8 together constitute the feeding pipeline;

[0027] It also includes a controller, which controls the filling actions of the high-pressure filling pump group, the material filling pump group and each group of filling head components.

[0028] In this embodiment, the controller is configured as follows: when performing a filling operation, the filling end of the filling head assembly 5 is first located at the deepest part of the underground, and then the controller controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move down one third or one half of the stroke distance, and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly 5 for a period of time, and then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly 5 for a period of time, and so on, until the filling end of the filling head assembly reaches the set depth from the ground.

[0029] The viscosity or concentration of the slurry in the first filling slurry tank 11 is less than the viscosity or concentration of the slurry in the second filling slurry tank 2 .

[0030] Each group of the filling head assembly includes a stroke drive and controller (not shown in the figure), a lifting seat 12, and a filling rod 6, wherein the stroke drive and controller are installed on a vertically arranged frame (not shown in the figure), and the stroke drive and controller uses hydraulics to drive the lifting seat to move up and down on the frame, and the lifting seat is connected to the filling rod 6, and a rotary feeding and pressurizing mechanism is arranged between the lifting seat 12 and the filling rod 6, and the rotary feeding and pressurizing mechanism can pressurize and convey the second slurry into the filling rod, and a plurality of filling holes 7 are arranged at the lower end of the filling rod, and the rotary feeding and pressurizing mechanism is connected to the output end of the feeding and filling pump group through a feeding pipeline.

[0031] The rotary drive mechanism comprises a rotary drive motor 15, a transmission belt assembly 14, a mounting seat 16, a fixed sleeve 19, and a rotary shaft, wherein the rotary drive motor 15 is fixed on the lifting seat 12, and the output end of the rotary drive motor 15 is connected to the top of the rotary shaft through the transmission belt assembly 14, the mounting seat 16 is also fixedly provided on the upper part of the lifting seat, and the fixed sleeve 19 is fixedly provided on the middle and lower part of the lifting seat, the rotary shaft is rotatably mounted on the mounting seat 16, and the rotary shaft is drivably arranged through the fixed sleeve, and the fixed sleeve 19 is mounted on the lifting seat using the connecting card seat 13.

[0032] A conveying cavity is provided between the fixed sleeve 19 and the rotating shaft, and a spiral feeding blade 18 is fixedly provided on the rotating shaft. The spiral feeding blade 18 is located in the conveying cavity. When the spiral feeding blade rotates with the rotating shaft, the slurry inside the spiral feeding blade can move downward. The upper end of the filling rod is coaxially fixedly connected to the lower end of the fixed sleeve.

[0033] The fixed casing is provided with a feeding port 17, and the feeding port 17 is connected to the branch feeding pipeline 8 of the feeding pipeline. The upper end of the filling rod 6 is provided with a slurry port, and the slurry port is connected to the filling high-pressure pipeline.

[0034] A one-way valve is provided at the connection between the fixed sleeve and the filling rod, and the filling rod is a hollow rod structure.

[0035] A hydraulic expansion seal ring 20 is also provided at the middle and lower part of the filling rod. The hydraulic expansion seal ring 20 can be controlled to expand and contract so that the hydraulic expansion seal ring can be used to fill the area around the rod and the rod hole wall.

[0036] During the process of the filling end of the filling head assembly moving up a travel distance, the controller controls the rotation speed of the rotary drive motor to operate at a speed higher than the rotation speed when the filling end does not move up.

[0037] The present invention also provides a method for surface filling using the filling device for controlling surface subsidence in a coal mine according to the present invention, characterized in that it comprises the following steps:

[0038] (1) Arrange the filling machine base 1, the high-pressure filling pump group 10, the feed filling pump group 3, the first filling slurry tank 11, and the second filling slurry tank 2, and drill a plurality of filling holes in the filling area, and place each group of filling head components in the corresponding filling holes, so that the filling end of the filling head component is located at the deepest part of the filling hole;

[0039] (2) adding a first filling slurry into the first filling slurry tank 11, and adding a second filling slurry into the second filling slurry tank 2, and ensuring that the viscosity or concentration of the slurry in the first filling slurry tank is less than the viscosity or concentration of the slurry in the second filling slurry tank;

[0040] (3) Start the high-pressure filling pump group, the feeding filling pump group, the stroke drive and controller, and the rotation drive mechanism. The controller controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly 5 for a period of time, and then controls the filling end of the filling head assembly to move down one third or one half of the stroke distance, and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly 5 reaches the set depth from the ground; wherein, after each up and down movement of the filling end is completed and before filling, the hydraulic expansion sealing ring is required to fill the area around the rod and the rod hole wall;

[0041] (4) After the filling is completed, the filling rod is taken out and the first slurry is filled into the rod hole.

[0042] The present invention can effectively ensure the filling effect and prevent collapse. At the same time, slurries with different viscosities or concentrations are set to effectively fill the slurry in the gaps. Moreover, the slurry with high viscosity or concentration is supplemented with pressurization by a rotary drive mechanism, which can effectively pressurize the slurry with low viscosity, improve the pressurization capacity and filling effect, and realize effective filling of the gaps. When performing the filling operation, the present invention first makes the filling end of the filling head assembly located at the deepest part of the ground. Then, the controller controls the high-pressure filling pump group and the feeding filling pump group to supply the filling slurry to the filling head assembly for a period of time. After that, the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling pump group and the feeding filling pump group are controlled to move to The filling head assembly supplies filling slurry for a period of time, and then the filling end of the filling head assembly is controlled to move down one third or one half of the stroke distance, and the high-pressure filling pump group and the feeding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling pump group and the feeding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly reaches the set depth from the ground, which can effectively prevent the thoroughness and comprehensiveness of the filling, prevent the pressure release problem during filling, and ensure the full range of gap filling in each position to prevent the occurrence of collapse problems.

[0043] The above shows and describes the basic principle, main features and advantages of the present invention, and the standard parts used in the present invention can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and the drawings. The specific connection methods of each part adopt the conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here.

[0044] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A filling device for controlling surface subsidence in a coal mine, comprising a filling machine base, a high-pressure filling pump group, a feed filling pump group, a first filling slurry tank, a second filling slurry tank and a plurality of filling machine head assemblies, characterized in that: The high-pressure filling pump group, the feeding filling pump group, the first filling slurry tank, and the second filling slurry tank are all installed and arranged on the filling machine base, and multiple groups of the filling head assemblies are arranged underground in the area to be filled at intervals. The input end of the high-pressure filling pump group is connected to the first filling slurry tank, and the output end of the high-pressure filling pump group is connected to each group of the filling head assemblies through a filling high-pressure pipeline. The input end of the feeding filling pump group is connected to the second filling slurry tank, and the output end of the feeding filling pump group is connected to each group of the filling head assemblies through a feeding pipeline. Each group of the filling head assemblies is connected to the feeding pipeline and the filling high-pressure pipeline in parallel. It also includes a controller, which controls the filling actions of the high-pressure filling pump group, the material filling pump group, and each group of filling head components; The controller is configured such that, when performing a filling operation, the filling end of the filling head assembly is first located at the deepest part of the ground, and then the controller controls the high-pressure filling pump group and the material adding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling pump group and the material adding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move down one third or one half of the stroke distance, and the high-pressure filling pump group and the material adding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and then the filling end of the filling head assembly is controlled to move up a stroke distance and the high-pressure filling pump group and the material adding filling pump group are controlled to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly reaches the set depth from the ground.

2. A filling device for controlling surface subsidence in a coal mine according to claim 1, characterized in that: The viscosity or concentration of the slurry in the first filling slurry tank is less than the viscosity or concentration of the slurry in the second filling slurry tank.

3. A filling device for controlling surface subsidence in a coal mine according to claim 1, characterized in that: Each group of the filling head assembly includes a stroke drive and controller, a lifting seat, and a filling rod, wherein the stroke drive and controller are installed on a vertically arranged frame, and the stroke drive and controller use hydraulics to drive the lifting seat to move up and down on the frame, the lifting seat is connected to the filling rod, and a rotary feeding and pressurizing mechanism is arranged between the lifting seat and the filling rod, the rotary feeding and pressurizing mechanism can pressurize and convey the second slurry into the filling rod, and a plurality of filling holes are arranged at the lower end of the filling rod, and the rotary feeding and pressurizing mechanism is connected to the output end of the feeding and filling pump group through a feeding pipeline.

4. A filling device for controlling surface subsidence in a coal mine according to claim 3, characterized in that: The rotary feeding and pressurizing mechanism comprises a rotary driving motor, a transmission belt assembly, a mounting seat, a fixed sleeve, and a rotating shaft, wherein the rotary driving motor is fixed on the lifting seat, the output end of the rotary driving motor is connected to the top end of the rotating shaft through the transmission belt assembly, the mounting seat is also fixedly provided on the upper part of the lifting seat, the fixed sleeve is fixedly provided on the middle and lower parts of the lifting seat, the rotating shaft is rotatably sleeved and installed on the mounting seat, and the rotating shaft can be transmitted through the fixed sleeve, a conveying cavity is provided between the fixed sleeve and the rotating shaft, a spiral feeding blade is also fixedly provided on the rotating shaft, the spiral feeding blade is located in the conveying cavity, and the spiral feeding blade can make the slurry inside it move downward when rotating with the rotating shaft, and the upper end of the filling rod is coaxially fixedly connected to the lower end of the fixed sleeve.

5. A filling device for controlling surface subsidence in a coal mine according to claim 4, characterized in that: The fixed casing is provided with a feeding port, which is connected to the feeding pipeline; the upper end of the filling rod is provided with a slurry port, which is connected to the filling high-pressure pipeline.

6. A filling device for controlling surface subsidence in a coal mine according to claim 4, characterized in that: A one-way valve is provided at the connection between the fixed sleeve and the filling rod, and the filling rod is a hollow rod structure.

7. A filling device for controlling surface subsidence in a coal mine according to claim 4, characterized in that: A hydraulic expansion seal ring is also arranged at the middle and lower part of the filling rod, and the hydraulic expansion seal ring can be controlled to expand and contract so as to utilize the hydraulic expansion seal ring to fill the area around the rod and the rod hole wall.

8. A filling device for controlling surface subsidence in a coal mine according to claim 7, characterized in that: During the process of the filling end of the filling head assembly moving up a travel distance, the controller controls the rotation speed of the rotary drive motor to operate at a speed higher than the rotation speed when the filling end does not move up.

9. A method for surface filling using the filling device for controlling surface subsidence in a coal mine according to any one of claims 7 to 8, characterized in that: It includes the following steps: (1) Arrange the filling machine base, high-pressure filling pump group, feed filling pump group, first filling slurry tank, and second filling slurry tank, and drill a plurality of filling holes in the filling area, and place each group of filling head components in the corresponding filling holes, so that the filling end of the filling head component is located at the deepest part of the filling hole; (2) adding a first filling slurry into a first filling slurry tank, and adding a second filling slurry into a second filling slurry tank, and ensuring that the viscosity or concentration of the slurry in the first filling slurry tank is less than the viscosity or concentration of the slurry in the second filling slurry tank; (3) Start the high-pressure filling pump group, the feeding filling pump group, the stroke drive and controller, and the rotating feeding and pressurizing mechanism. The controller controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move down one third or one half of the stroke distance, and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and then controls the filling end of the filling head assembly to move up a stroke distance and controls the high-pressure filling pump group and the feeding filling pump group to supply filling slurry to the filling head assembly for a period of time, and so on, until the filling end of the filling head assembly reaches a set depth from the ground; wherein, after each up and down movement of the filling end is completed and before filling, the hydraulic expansion sealing ring is required to fill the area around the rod and the rod hole wall; (4) After the filling is completed, the filling rod is taken out and the first slurry is filled into the rod hole.

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