Self-adaptive filling device and method for in-situ cementation filling of underground coal gangue

Abstract

The application discloses a kind of self-adapting filling device and method of in-situ cementation filling of underground coal gangue, including filling hydraulic support, support roof beam, support tail beam, pressure sensor, bottom discharge type scraper conveyor and grouting device, the bottom of bottom discharge type scraper conveyor is provided with multi-angle gangue throwing belt, the lower side of multi-angle gangue throwing belt and the bottom of hydraulic support base are provided with telescopic gangue blocking plate, telescopic gangue blocking plate and the filling area to be set are provided with flexible filling bag, the position of support tail beam is located in the open position of flexible filling bag and is provided with distance measuring device, grouting device is distributed in the upper side of the opening of flexible filling bag;One end surface of flexible filling bag is movable surface and is provided with zipper along height direction, telescopic gangue blocking plate is connected with the ring of zipper, the top of flexible filling bag is provided with hanging hole, and the clamp that can hang the hanging hole is arranged on support tail beam.The movable structure height of flexible filling bag is consistent with the movable end height of telescopic gangue blocking plate, to achieve better sealing and shaping effect.

Description

Technical Field

[0001] The invention relates to an adaptive filling device and method for in-situ cementing filling of underground coal gangue. Background Art

[0002] Most coal seams in my country's mines contain one or more layers of interbedded gangue, with some mines even having interbedded gangue thicknesses of up to 2 meters. From the perspective of the working face, due to the combined effects of the working face's advanced support pressure and the roadway's lateral support pressure, a stress peak region exists in front of the working face. Mining stress generally exhibits a "single peak" state. Mining stress distribution in deep, ultra-long working faces exhibits a "three-peak" state, with dynamic migration characteristics. Related research has shown that filling the goaf can reduce stress concentration and strain energy density in the working face, achieve stress transfer, and prevent coal and rock dynamic disasters such as rock bursts and coal and gas outbursts.

[0003] Therefore, if the stress in the working face stress peak area is controlled within the strength limit of coal gangue by filling the key positions of the goaf, so that the coal reaches the strength limit but the gangue is not yet broken, it can not only prevent the coal rock dynamic disasters and coal wall spalling caused by stress concentration, but also make the cracks in the coal body more relatively with gangue, and the broken pieces after cutting will be smaller. Moreover, when the size of the coal gangue is obviously different, it will be more conducive to the implementation of subsequent coal gangue sorting.

[0004] Existing filling devices lack intelligence and rely heavily on manually operated equipment to compact loose gangue. This ineffective process of compacting, sliding, and recompacting is particularly problematic due to the natural angle of repose of loose gangue. Furthermore, loose gangue has poor load-bearing properties and lacks self-sustaining properties, making it unsuitable for localized filling in goafs. Filling with pastes, paste-like materials, and high-water content materials requires the construction of large-section underground chambers with mixing and storage silos, a complex process. Therefore, there is an urgent need for an adaptive filling device and method for in-situ cemented filling of coal gangue. Summary of the Invention

[0005] In response to the above problems, the present invention provides an adaptive filling device and method for in-situ cementation filling of underground coal gangue. During the filling process, the filling height is judged according to the filling situation of the goaf monitored in real time by a ranging device, and the height of the movable end of the telescopic gangue baffle is adaptively adjusted, thereby adjusting the zipper height of the flexible filling bag so that the height of the movable structure of the flexible filling bag is consistent with the height of the movable end of the telescopic gangue baffle, so as to achieve better sealing and shaping effects, that is, the adaptation of the filling process.

[0006] In order to achieve the above technical objectives and the above technical effects, the present invention is implemented through the following technical solutions:

[0007] An adaptive filling device for in-situ cemented filling of coal gangue in underground mines comprises a filling hydraulic support, wherein a hydraulic support base is provided at the bottom of the filling hydraulic support, a support top beam is provided at the front end of the top, and a support tail beam is provided at the rear end of the top. A hydraulic support column and a hydraulic support four-bar linkage are provided between the hydraulic support base and the support top beam and the support tail beam. A pressure sensor is installed at the center of each of the support top beam and the support tail beam of the filling hydraulic support.

[0008] The bottom of the tail beam of the filling hydraulic support is provided with a bottom-discharging scraper conveyor and a grouting device, a multi-angle slag throwing belt is provided below the bottom-discharging scraper conveyor, a telescopic slag baffle is provided between the bottom of the multi-angle slag throwing belt and the base of the hydraulic support, a flexible filling bag is provided between the telescopic slag baffle and the area to be filled, a distance measuring device is provided at the position of the flexible filling bag opening on the tail beam of the support, and the grouting devices are all distributed above the flexible filling bag opening;

[0009] One end surface of the flexible filling bag close to the telescopic baffle plate is a movable surface and a zipper is provided along the height direction. The telescopic baffle plate is connected to the hanging ring of the zipper. A hanging hole is provided on the top of the flexible filling bag, and a clamp for hanging the hanging hole is provided on the tail beam of the bracket.

[0010] Preferably, the grouting device is a plurality of nozzles with a spraying function.

[0011] Preferably, speed-adjustable rollers are provided at both ends of the multi-angle gangue throwing belt, and the rollers are set on the slide rails of the bracket tail beam through four telescopic hydraulic columns, and the slide rails are arranged in a direction parallel to the rollers.

[0012] Preferably, a side limiting iron mesh is provided on the outer side of at least one side of the flexible filling bag.

[0013] Preferably, the number of the zippers is two and they are arranged in parallel, and the distance between the bottom of the zipper and the bottom surface of the flexible filling bag is H 链 , the top of the zipper is flush with the top surface of the flexible filling bag.

[0014] Preferably, the distance measuring device is one or a combination of an infrared rangefinder, a binocular synchronous camera, and a laser scanning device.

[0015] An adaptive filling method for in-situ cemented filling of underground coal gangue comprises the following steps:

[0016] S01. Hang the hanging hole of the flexible filling bag on the clamp of the bracket tail beam, and hang the hanging ring of the zipper on the telescopic column of the telescopic slag baffle;

[0017] S02. According to the height of the flexible filling bag, divide it into φ segments from bottom to top, and the height of each segment is H 模 , respectively recorded as L1, L2...L启 ...L 终 Layer, where L 启 =floor(H 链 / H 模 ), floor is the rounding function, H 链 The distance between the bottom of the zipper and the bottom of the flexible filling bag;

[0018] S03. The excavated waste rock is transported to the working face filling and transfer machine transition bin by the waste rock conveyor belt. The waste rock is screened by the vibrating screen before entering the working face filling and transfer machine transition bin. Large waste rock enters the filling and transfer machine transition bin in the upper layer, and small waste rock enters the filling and transfer machine transition bin in the lower layer.

[0019] S04, initialize Li=1, and proceed to step S05;

[0020] S05, the working face filling transfer machine starts to transfer the large pieces of gangue from the transition bin, and then proceeds to step S06;

[0021] S06, throwing the gangue to the rear end of the flexible filling bag, cyclically throwing from left to right, and gradually reducing the belt speed until the flexible filling bag is filled to the front end, and then proceeding to step S07;

[0022] S07. Determine whether the paving height of the layer is ≥80%*H 模 If it is greater than, then go to step S08, otherwise go to step S06;

[0023] S08, the working face filling transfer machine starts to transfer small pieces of gangue from the transition bin, and then proceeds to step S09;

[0024] S09, throwing the gangue to the rear end of the flexible filling bag, cyclically throwing from left to right, and gradually reducing the belt speed until the flexible filling bag is filled to the front end, and then proceeding to step S10;

[0025] S10, determine whether the paving height of the layer is H 模 If it is equal, then go to step S11, otherwise go to step S09;

[0026] S11, stop transporting and throwing away gangue, start the grouting device to grout until the binder liquid level is ≥ 10% of the filling height of the next layer, then stop grouting, increase the value of Li by 1, and enter step S12;

[0027] S12. Determine whether Li is greater than or equal to L 启 If yes, go to step S13, otherwise go to step S05;

[0028] S13. Determine whether Li is equal to L 终 If yes, then go to step S14, otherwise, the movable end of the telescopic baffle is raised to 30% of the filling height of the next layer and go to step S05;

[0029] S14: The movable end of the telescopic baffle is raised to 70% of the filling height of the current layer, and the working face filling and transferring machine begins to transfer large pieces of gangue from the transition bin, and the process proceeds to step S15;

[0030] S15, throwing the gangue to the rear end of the flexible filling bag, cyclically throwing from left to right, and gradually reducing the belt speed until the flexible filling bag is filled to the front end, and then proceeding to step S16;

[0031] S16: Determine whether the paving height of the layer is ≥50%*H 模 If yes, go to step S17, otherwise go to step 15;

[0032] S17: The working face filling and transferring machine begins transferring small pieces of gangue from the transition bin and dumping the gangue into the flexible filling bag until the paving height at the middle and rear ends reaches 90% of the paving height of the layer and gangue leaks out from the front end. Then, the transportation and dumping of gangue are stopped, the movable end of the telescopic baffle is raised to the top, and the grouting device is started for grouting, and the process proceeds to step S18;

[0033] S18. Stop when the binder liquid level reaches the top.

[0034] The beneficial effects of the present invention are:

[0035] The present invention aims to realize the in-situ intelligent sorting and filling of gangue underground. The underground gangue is sorted on site and filled in situ in the goaf as a stable support body, reducing the impact of the support pressure of the mining area on the working face and the tunnel, and realizing the organic combination of gangue processing and mine pressure regulation. During the filling process, the filling height is judged according to the filling situation of the goaf monitored in real time by the ranging device, and the height of the movable end of the telescopic gangue baffle is adaptively adjusted, thereby adjusting the zipper height of the flexible filling bag so that the height of the movable structure of the flexible filling bag is consistent with the height of the movable end of the telescopic gangue baffle to achieve better sealing and shaping effects. The present invention has a simple process and is easy to operate. There is no need to excavate a large-section chamber underground, and no environmental pollution or water pollution is generated. This method can be used to process the gangue associated with raw coal in situ at the coal mining face. It can not only reduce the energy consumption of long-distance ineffective transportation during the gangue ground sorting and returning to the well for filling, and reduce the carbon dioxide emissions caused by ground gangue accumulation and spontaneous combustion of gangue mountains, but also form an effective carbon emission control valve at the source of production. At the same time, gangue filling can also be used to eliminate stress concentration on the working face, prevent coal rock dynamic disasters, and realize green, low-carbon and intelligent coal mining. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a schematic diagram of the overall arrangement of the present invention;

[0037] Figure 2 It is a structural schematic diagram of the adaptive filling device for in-situ cementing and filling of underground coal gangue of the present invention;

[0038] Figure 3 It is a schematic structural diagram of the flexible filling bag of the present invention;

[0039] Figure 4 is a flow chart of the adaptive filling method of the present invention;

[0040] The meanings of the symbols in the accompanying drawings are as follows:

[0041] 1. Coal mining machine; 2. Filling hydraulic support; 3. Goaf; 4. Filling body; 5. Grouting device; 6. Bottom-discharge scraper conveyor; 7. Multi-angle gangue throwing belt; 8. Telescopic gangue baffle; 9. Support tail beam; 10. Distance measuring device; 11. Working face filling transfer machine transition bin; 12. Flexible filling bag; 13. Pressure sensor; 14. Support top beam; 15. Hydraulic support column; 16. Hydraulic support base; 17. Hydraulic support four-bar linkage; 18. Telescopic column; 19. Side limit iron mesh; 20. Hanging hole; 21. Clamp; 22. Roller; 23. Zipper; 24. Hanging ring; 25. Coal gangue intelligent sorting machine. DETAILED DESCRIPTION

[0042] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it, but the embodiments are not intended to limit the present invention.

[0043] like Figure 2 As shown, an adaptive filling device for in-situ cementation filling of underground coal gangue includes a filling hydraulic support 2, a hydraulic support base 16 is provided at the bottom of the filling hydraulic support 2, a support top beam 14 is provided at the front end of the top, and a support tail beam 9 is provided at the tail end of the top, a hydraulic support column 15 and a hydraulic support four-bar linkage 17 are provided between the hydraulic support base 16 and the support top beam 14 and the support tail beam 9, a pressure sensor 13 is installed at the center of each of the support top beam 14 and the support tail beam 9 of the filling hydraulic support 2, and the average of the two is taken as the stress value above the filling hydraulic support 2.

[0044] A bottom-discharging scraper conveyor 6 and a grouting device 5 are provided at the bottom of the support tail beam 9 of the filling hydraulic support 2. A multi-angle slag throwing belt 7 is provided below the bottom-discharging scraper conveyor 6. A telescopic slag baffle 8 is provided between the bottom of the multi-angle slag throwing belt 7 and the hydraulic support base 16. A flexible filling bag 12 is provided between the telescopic slag baffle 8 and the area to be filled. A distance measuring device 10 is provided at the position where the flexible filling bag 12 is opened on the support tail beam 9. The distance measuring device 10 can be one or a combination of an infrared rangefinder, a binocular synchronous camera, a laser scanning device, etc., which is used to measure the filling height during the filling process.

[0045] The grouting device 5 is evenly distributed above the opening of the flexible filling bag 12. The grouting device 5 can be a plurality of nozzles with a spraying function, for example, 4 nozzles with a spraying function are evenly distributed above the opening of the flexible filling bag 12 to perform uniform grouting.

[0046] like Figure 3 As shown, one end face of the flexible filling bag 12 (the end face close to the telescopic baffle 8) is a movable surface, and a zipper 23 is provided along the height direction. Preferably, there are two zippers 23 and they are arranged in parallel. The bottom of the zipper 23 is not located at the bottom of the flexible filling bag 12, but the distance between the bottom of the zipper 23 and the bottom of the flexible filling bag 12 is H. 链 , the top of the zipper 23 is flush with the top surface of the flexible filling bag 12. That is, only the upper part of the movable surface of the flexible filling bag 12 is provided with a zipper, and the lower part remains an integrated structure.

[0047] The telescopic baffle 8 is a plate-like structure that can rise or fall, and is moved up and down by the telescopic column 18. When the telescopic column 18 is connected to the hanging ring 24 of the zipper 23, the telescopic column 18 can drive the zipper 23 to move upward, thereby realizing the adaptive adjustment of the height of the movable surface of the flexible filling bag 12, so that the height of the movable structure of the flexible filling bag 12 is consistent with the height of the movable end of the telescopic baffle, so as to achieve better sealing and shaping effects.

[0048] The top of the flexible filling bag 12 is provided with a hanging hole 20, and the bracket tail beam 9 is provided with a clamp 21 for hanging the hanging hole 20. Preferably, a side limit iron mesh 19 is provided on the outer side of at least one side of the flexible filling bag 12. The flexible filling bag 12 is made of flexible material and is used to limit the outflow of the binder in the space to be filled and to shape the filling body 4 so as to Figure 2 Taking the direction in as the reference, the telescopic baffle plate 8 is located on the left side of the flexible filling bag 12, the left side of the filling body 4 is restricted by the telescopic baffle plate 8, the front and rear sides are restricted by the side limit iron mesh 19, and the right side is restricted by the previous step distance filling body, so that accurate filling can be achieved.

[0049] Preferably, adjustable speed rollers 22 are provided at both ends of the multi-angle waste disposal belt 7. The speed of the multi-angle waste disposal belt 7 is adjusted by the rollers 22. The rollers 22 are arranged on the slide rails of the support tail beam 9 via four telescopic hydraulic columns. The slide rails are arranged in a direction parallel to the rollers 22. This allows: the vertical position of the multi-angle waste disposal belt 7 to be adjusted by adjusting the height of each telescopic hydraulic column, and the left and right position of the multi-angle waste disposal belt 7 to be adjusted by adjusting the position of each telescopic hydraulic column on the slide rail. The diameter of most mine waste rocks is concentrated between 10 and 20 centimeters. Through experiments, the corresponding relationship between the speed of the multi-angle waste disposal belt 7 and the position of the waste disposal can be measured.

[0050] like Figure 1As shown, after raw coal is mined from the working face, it is transported by the working face scraper conveyor to the coal gangue intelligent sorter 25 located in the working face transport lane for on-site coal gangue sorting. The sorted gangue enters the working face filling and transfer machine transition bin 11. Thereafter, the adaptive filling device of the present invention implements in-situ intelligent filling to ensure a safe, efficient, and intelligent filling process.

[0051] like Figure 4 As shown, an adaptive filling method for in-situ cemented filling of underground coal gangue includes the following steps:

[0052] S01, hang the hanging hole 20 of the flexible filling bag 12 on the clamp 21 of the bracket tail beam 9, and hang the hanging ring 24 of the zipper 23 on the telescopic column 18 of the telescopic slag baffle 8;

[0053] S02, according to the height of the flexible filling bag 12, it is evenly divided into φ segments from bottom to top, and the height of each segment is H 模 , respectively recorded as L1, L2...L 启 ...L 终 Layer, where L 启 =floor(H 链 / H 模 ), floor is the rounding function, H 链 is the distance between the bottom of the zipper 23 and the bottom surface of the flexible filling bag 12;

[0054] S03. The excavated waste rock is transported to the working face filling and transfer machine transition bin 11 by a waste rock conveyor belt. Before the waste rock enters the working face filling and transfer machine transition bin 11, it is screened by a vibrating screen. Large waste rock enters the filling and transfer machine transition bin in the upper layer, and small waste rock enters the filling and transfer machine transition bin in the lower layer.

[0055] S04, initialize Li=1, and proceed to step S05;

[0056] S05, the working face filling transfer machine starts to transfer the large pieces of gangue from the transition bin, and then proceeds to step S06;

[0057] S06, throwing the gangue to the rear end of the flexible filling bag 12, cyclically throwing from left to right, and gradually reducing the belt speed until the flexible filling bag 12 is filled to the front end, and then proceeding to step S07;

[0058] S07. Determine whether the paving height of the layer is ≥80%*H 模 If it is greater than, then go to step S08, otherwise go to step S06;

[0059] S08, the working face filling transfer machine starts to transfer small pieces of gangue from the transition bin, and then proceeds to step S09;

[0060] S09, throwing the gangue to the rear end of the flexible filling bag 12, cyclically throwing from left to right, and gradually reducing the belt speed until the flexible filling bag 12 is filled to the front end, and then proceeding to step S10;

[0061] S10, determine whether the paving height of the layer is H 模 If it is equal, then go to step S11, otherwise go to step S09;

[0062] S11, stop transporting and throwing away gangue, start the grouting device 5 to grout until the binder liquid level is ≥ 10% of the filling height of the next layer, then stop grouting, increase the value of Li by 1, and enter step S12;

[0063] S12. Determine whether Li is greater than or equal to L 启 If yes, go to step S13, otherwise go to step S05;

[0064] S13. Determine whether Li is equal to L 终 If yes, then go to step S14, otherwise, the movable end of the telescopic baffle is raised to 30% of the filling height of the next layer and go to step S05;

[0065] S14: The movable end of the telescopic baffle is raised to 70% of the filling height of the current layer, and the working face filling and transferring machine begins to transfer large pieces of gangue from the transition bin, and the process proceeds to step S15;

[0066] S15, throwing the gangue to the rear end of the flexible filling bag 12, cyclically throwing from left to right, and gradually reducing the belt speed until the flexible filling bag 12 is filled to the front end, and then proceeding to step S16;

[0067] S16: Determine whether the paving height of the layer is ≥50%*H 模 If yes, go to step S17, otherwise go to step 15;

[0068] S17, the working face filling transfer machine starts to transfer small pieces of gangue from the transition bin and throws the gangue into the flexible filling bag 12 until the paving height at the middle and rear ends reaches 90% of the paving height of the layer and gangue leaks out from the front end. Then, the transportation and gangue throwing are stopped, the movable end of the telescopic baffle is raised to the top, the grouting device 5 is started to perform grouting, and the process proceeds to step S18;

[0069] S18. Stop when the binder liquid level reaches the top.

[0070] As shown in the above method: the present invention judges the filling height based on the filling situation of the goaf monitored in real time by the ranging device, and adaptively adjusts the height of the movable end of the telescopic goaf plate, thereby adjusting the zipper height of the flexible filling bag, so that the height of the movable structure of the flexible filling bag is consistent with the height of the movable end of the telescopic goaf plate, so as to achieve better sealing and shaping effects, that is, self-adaptation of the filling process.

[0071] Preferably, the present invention can also make further improvements to the filling method. It can determine the key filling positions of the goaf based on the working face mine pressure, and then perform specific filling based on the above method. It aims to reduce stress concentration in front of the working face, prevent coal rock dynamic disasters, and break coal without breaking gangue. It can accurately and intelligently fill underground gangue at key positions in the goaf, and realize the organic combination of gangue processing and mine pressure control. This method can realize in-situ green intelligent filling of coal gangue, which can not only reduce carbon dioxide emissions caused by spontaneous combustion of ground gangue mountains, reduce energy and resource consumption per unit output, and form an effective carbon emission control valve at the source of production, but also can use gangue filling to eliminate stress concentration of the working face, prevent coal rock dynamic disasters, and realize green, low-carbon and intelligent mining of coal. The specific decision-making steps include:

[0072] Step 1: In order to invert the ore pressure distribution in front of the working face in real time and provide a decision-making basis for intelligent filling of waste rock, the FLAC3D numerical simulation software is used to obtain the stress distribution data above the filling hydraulic support 2 and in front of the working face during the mining process, and a nonlinear relationship between the stress above the filling hydraulic support 2 and the stress in front of the working face is established, so that the ore pressure distribution in front of the working face can be inverted by inputting the support load.

[0073] FLAC 3D (Fast Lagrangian Analysis of Continua) is a simulation software developed by ITASCA, a US company. It can simulate the three-dimensional structural stress characteristics and plastic flow analysis of soil, rock, and other materials. Specifically, step one includes the following steps:

[0074] Step 101: establishing a FLAC 3D three-dimensional numerical calculation model according to the mining mine engineering geological conditions;

[0075] Step 102: Estimate the mine boundary load parameter range based on the measured stress value above the filling hydraulic support 2. There are five boundary load parameters: gravity acceleration correction coefficient a g , the boundary normal stress parameters a1 and b1 perpendicular to the length direction of the model (a1 and b1 correspond to the two sides perpendicular to the length direction of the model respectively), and the boundary normal stress parameters a2 and b2 perpendicular to the width direction of the model (a2 and b2 correspond to the two sides perpendicular to the width direction of the model respectively); 5 values ​​are selected at equal intervals from the estimated boundary load parameter range, and the orthogonal experimental design method is used to construct the boundary load parameter combination. A 5-factor 5-level orthogonal experiment is used, and a total of 25 groups are formed.

[0076] Step 103, set the boundary load stress values ​​to σ1 and σ2, where σ1 = a1h + b1, σ2 = a2h + b2; h is the burial depth; gThe numerical simulation software FLAC3D was used to perform numerical simulation calculations, and the calculation results of the stress above τ filled hydraulic supports 2 under different parameters were obtained.

[0077] Preferably, the filling hydraulic supports 2 are 10 filling hydraulic supports 2 selected at equal intervals on the working face. Since the number of filling hydraulic supports 2 is too large, the data calculation will be huge and the efficiency will be low if all are sampled. Therefore, τ filling hydraulic supports 2 can be selected at equal intervals for sampling according to the actual situation of the mine, and the preferred value of τ is 10.

[0078] Step 104 : Based on the numerical calculation results of the geostress field, the calculated stress values ​​above the filling hydraulic support 2 under each set of boundary load parameters are extracted, and a learning sample library is constructed that inputs boundary load parameters and outputs τ calculated stress values ​​above the filling hydraulic support 2 .

[0079] Step 105: Use a deep neural network to learn and train the learning sample library obtained in step 104, and establish a nonlinear mapping relationship between the input boundary load parameters and the output stress values ​​above the τ filling hydraulic supports 2. The present invention utilizes a three-dimensional mine pressure intelligent inversion system based on a deep neural network algorithm to invert the mine pressure distribution ahead of the working face in real time. Pressure sensors arranged above the filling hydraulic supports on the working face monitor the stress above the hydraulic supports in real time. By inverting the complex nonlinear relationship between the working resistance of the filling hydraulic supports and the mine pressure ahead of the working face, the real-time distribution of the mine pressure ahead of the working face is inverted, the location of the stress concentration area is warned, the stress peak value is determined, and a basis for adjusting the filling plan is provided.

[0080] Step 106 , convert the input and output so that the input is τ stress values ​​above the filling hydraulic support 2 and the output is the boundary load parameter, and the preferred value of τ is 10.

[0081] Step 107: The stress values ​​above the τ filling hydraulic supports 2 monitored on-site (monitored by the pressure sensor 13, Figure 2 A pressure sensor 13 is installed at the center of the top beam and the tail beam of the filling hydraulic support 2, and the average of the two is taken. The deep neural network is input and the output optimal boundary load parameters are loaded into the FLAC 3D three-dimensional numerical calculation model for calculation to obtain the mine pressure distribution data in front of the working face under the stress combination of the filling hydraulic support 2. Therefore, the measured data of the filling hydraulic support 2 can be used to invert the real-time mine pressure distribution in front of the working face.

[0082] Step 2: Determine the stress peak value based on the inversely generated rock pressure distribution data in front of the working face, and warn of the location of the stress concentration area, providing a basis for adjusting the coal mining process and filling plan. That is, adjust the coal mining and filling plan in real time according to the different rock pressure distribution. The specific steps are as follows:

[0083] Step 201: Search for the maximum stress value M from the calculated rock pressure distribution data in front of the working face. The value M is the stress peak value. The position of M is recorded as (x m ,y m );

[0084] Step 202: Search for the calculated rock pressure distribution data in front of the working face that is greater than σ b1 The stress values ​​are recorded as N1, N2, N3, etc., and their positions are recorded as (x1, y1), (x2, y2), (x3, y3), etc.;

[0085] Among them, σ b1 is the critical stress value of the slow crack development stage and stable crack expansion in the uniaxial compression test of coal; when the stress in the coal body is less than σ b1 When the coal body is in a state of no impact danger, new cracks are generated inside the coal body.

[0086] Step 203: Alert the locations of M, N1, N2, N3, etc.

[0087] Step 3: Based on the location of the stress concentration area in the early warning, determine the key filling position of the goaf 3; after filling at this position, the advance support pressure can be controlled to a range that neither produces coal rock dynamic disasters nor breaks the coal but not the gangue, thereby using the filling to control the advance support pressure to pre-crack the coal body (experiments have shown that cracks in coal-rock combinations first appear in the coal), so that the coal body after cutting by the coal mining machine 1 is smaller than the thick layer of interbedded gangue, which facilitates the subsequent underground separation of coal and gangue, relieves the separation pressure, and improves the separation efficiency. The specific steps are:

[0088] Step 301: Using the orthogonal combination of filling positions L1, L2, L3, ... as input, the data is loaded into the FLAC 3D three-dimensional numerical calculation model under the optimal boundary load parameters in step 107 to calculate and obtain the rock pressure distribution data ahead of the working face under the filling position combination, thereby establishing an empirical knowledge base;

[0089] The working surface is divided into multiple filling areas from the end to the end. For example, every three adjacent filling hydraulic supports 2 form a filling area, which are recorded as L1, L2, L3...;

[0090] Step 302: Based on the positions and sizes of M, N1, N2, N3, etc. warned in step 203, find the position where the stress is lower than σ from the experience knowledge base. b1 Filling position combination scheme L 充 ;

[0091] Step 303: Using the filling position, filling height, and filling body 4 strength in the filling position combination scheme as input, the data are loaded into the FLAC 3D three-dimensional numerical calculation model under the optimal boundary load parameters in step 107 to perform calculations to obtain new rock pressure distribution data M', N1', N2', N3', etc. at positions M, N1, N2, N3, etc. in front of the working face;

[0092] The filling height and filling body strength are fixed values. The filling height is equal to the coal seam mining height, and the filling body strength is a characteristic of the material itself. Because the precise adaptive filling method requires the filling position to be adjusted synchronously with the migration of the stress peak, the filling body must be self-supporting in a short time and have a certain strength to support the roof. After comprehensive consideration, the filling method is adopted for bulk gangue cementation. The filling material is a cement-water glass solution or a mixture of water glass solution and calcium chloride solution, which has the characteristics of high bonding strength, good heat resistance, strong acid resistance, and short setting time.

[0093] Step 304: When M', N1', N2', N3'... are all less than σ b1 When , the filling position combination scheme L 充 If the optimal filling solution is not obtained, the process re-enters step 302 to obtain a new filling position combination solution until the optimal filling solution is obtained.

[0094] Step 4: Figure 1 As shown, according to the key filling positions of the goaf 3 decided, the above-mentioned coal gangue filling device can be used to implement filling, and the various filling processes can be coordinated intelligently, so that the time used for the entire filling process from the start of filling to the filling body reaching self-support is less than the frame moving cycle of the filling hydraulic support, so that the front coal mining and the rear filling do not affect each other, and the purpose of coordinated mining and filling and efficient filling is achieved.

[0095] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structures or equivalent process changes made using the contents of the present invention's description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An adaptive filling method for in-situ cementing filling of underground coal gangue, using an adaptive filling device for in-situ cementing filling of underground coal gangue, the adaptive filling device comprising a filling hydraulic support (2), the bottom of the filling hydraulic support (2) is provided with a hydraulic support base (16), the front end of the top is provided with a support top beam (14), the tail end of the top is provided with a support tail beam (9), a hydraulic support column (15) and a hydraulic support four-bar linkage (17) are provided between the hydraulic support base (16) and the support top beam (14) and the support tail beam (9), and the characteristics are: A pressure sensor (13) is installed at the center of each of the support top beam (14) and the support tail beam (9) of the filling hydraulic support (2); A bottom-discharging scraper conveyor (6) and a grouting device (5) are provided at the bottom of the support tail beam (9) of the filling hydraulic support (2); a multi-angle slag throwing belt (7) is provided below the bottom-discharging scraper conveyor (6); a telescopic slag baffle (8) is provided between the bottom of the multi-angle slag throwing belt (7) and the hydraulic support base (16); a flexible filling bag (12) is provided between the telescopic slag baffle (8) and the area to be filled; a distance measuring device (10) is provided on the support tail beam (9) at the position where the flexible filling bag (12) is opened; and the grouting devices (5) are uniformly distributed above the opening of the flexible filling bag (12); One end surface of the flexible filling bag (12) close to the telescopic baffle plate (8) is a movable surface and is provided with a zipper (23) along the height direction; the telescopic baffle plate (8) is connected to a hanging ring (24) of the zipper (23); a hanging hole (20) is provided on the top of the flexible filling bag (12); and a clamp (21) capable of hanging the hanging hole (20) is provided on the bracket tail beam (9); The method is characterized in that the adaptive filling method comprises the following steps: S01, hang the hanging hole (20) of the flexible filling bag (12) on the clamp (21) of the bracket tail beam (9), and hang the hanging ring (24) of the zipper (23) on the telescopic column (18) of the telescopic slag baffle (8); S02, according to the height of the flexible filling bag (12), it is evenly divided into φ segments from bottom to top, and the height of each segment is H 模 , respectively recorded as L1, L2...L 启 ...L 终 Layer, where L 启 =floor(H 链 / H 模 ), floor is the rounding function, H 链 is the distance between the bottom of the zipper (23) and the bottom surface of the flexible filling bag (12); S03, the excavated gangue is transported to the working face filling transfer machine transition bin (11) by the gangue conveyor belt, and the gangue is screened by a vibrating screen before entering the working face filling transfer machine transition bin (11), and the large gangue enters the filling transfer machine transition bin to be layered, and the small gangue enters the filling transfer machine transition bin to be layered; S04, initialize Li=1, and proceed to step S05; S05, the working face filling transfer machine starts to transfer the large pieces of gangue from the transition bin, and then proceeds to step S06; S06, throwing the gangue to the rear end of the flexible filling bag (12), cyclically throwing from left to right, and gradually reducing the belt speed until the front end of the flexible filling bag (12) is filled, and then entering step S07; S07. Determine whether the paving height of the layer is ≥80%*H 模 If it is greater than, then go to step S08, otherwise go to step S06; S08, the working face filling transfer machine starts to transfer small pieces of gangue from the transition bin, and then proceeds to step S09; S09, throwing the gangue to the rear end of the flexible filling bag (12), cyclically throwing from left to right, and gradually reducing the belt speed until the front end of the flexible filling bag (12) is filled, and then entering step S10; S10, determine whether the paving height of the layer is H 模 If it is equal, then go to step S11, otherwise go to step S09; S11, stop transporting and throwing away gangue, start the grouting device (5) to grout until the binder liquid level is ≥ 10% of the filling height of the next layer, then stop grouting, the value of Li is +1, and enter step S12; S12. Determine whether Li is greater than or equal to L 启 If yes, go to step S13, otherwise go to step S05; S13. Determine whether Li is equal to L 终 If yes, then go to step S14, otherwise, the movable end of the telescopic baffle is raised to 30% of the filling height of the next layer and go to step S05; S14: The movable end of the telescopic baffle is raised to 70% of the filling height of the current layer, and the working face filling and transferring machine begins to transfer large pieces of gangue from the transition bin, and the process proceeds to step S15; S15, throwing the gangue to the rear end of the flexible filling bag (12), cyclically throwing from left to right, and gradually reducing the belt speed until the front end of the flexible filling bag (12) is filled, and then entering step S16; S16: Determine whether the paving height of the layer is ≥50%*H 模 If yes, go to step S17, otherwise go to step 15; S17, the working face filling transfer machine starts to transfer small pieces of gangue from the transition bin and throws the gangue into the flexible filling bag (12) until the paving height at the middle and rear end reaches 90% of the paving height of the layer and gangue leaks out from the front end, stops transporting and throwing gangue, lifts the movable end of the telescopic baffle to the top, starts the grouting device (5) to perform grouting, and enters step S18; S18. Stop when the binder liquid level reaches the top.

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