A precise quantitative backfilling system and method after the support in the working face with coordinated mining and backfilling

Abstract

The present invention provides a precise quantitative filling system behind a working face frame with coordinated mining and filling, which comprises a comprehensive mining hydraulic support, a filling unit, an automatic control unit, and a sensor network, a filling metering unit, an electro-hydraulic control unit, and a filling production management unit, which are electrically and communicatively connected to the comprehensive mining hydraulic support respectively. The comprehensive mining hydraulic support comprises a support body, a front top beam arranged at the front end top of the support body and extending out of the support body, and a rear tail beam arranged at the rear end top of the support body and extending out of the support body. The space formed between the front top beam, the support body, and the coal body to be mined is the coal mining working area, and the space formed between the rear tail beam and the support body is the area to be filled. The filling unit is arranged on the support body, and the discharge port points to the area to be filled. The sensor network comprises a plurality of sensors dispersedly arranged on the rear tail beam, and the sensing ends of the plurality of sensors point to the area to be filled, so as to monitor the overall appearance of the area to be filled, the flow rate, density and stacking shape of the filling body.

Description

Technical Field

[0001] The present invention belongs to the technical field of mining engineering, and relates to a gob filling system and method behind hydraulic supports in a coal mine working face, in particular to a precise quantitative filling system and method for collaborative mining and filling behind hydraulic supports in a working face. Background Art

[0002] During the process of coal mining, in order to ensure the stability and safety of the mine, it is usually necessary to fill the gob areas of the mine. In the traditional gob filling project behind fully mechanized hydraulic supports in coal mines, the operations of moving the hydraulic supports and filling are often carried out separately in two processes, and there is a lag in filling. Since the roof of the ore body will sink after mining, traditional mining-first-and-filling-later not only affects the production efficiency of coal mines, but also may pose a threat to the safety of coal mines due to untimely filling and lead to major safety accidents. In addition, using traditional filling systems and methods to fill the gob areas of coal mines often has problems such as uneven filling, insufficient compaction degree, low management efficiency, and difficulty in remote control. It will not only pose potential safety hazards to the mine, but also cause waste of filling paste resources.

[0003] Therefore, it is necessary to provide a filling system and method to fill the gob areas and areas to be filled in coal mines in a timely, quantitative, and accurate manner. Summary of the Invention

[0004] The purpose of the present invention is to provide a precise quantitative filling system and method for collaborative mining and filling behind hydraulic supports in a working face, so as to solve the technical problems existing in the prior art, such as the lag in filling the gob area after excavation affecting the production efficiency of coal mines, potential safety hazards, and problems such as uneven filling, insufficient compaction degree, low management efficiency, and easy waste of paste during the filling process.

[0005] To achieve the above purpose, the specific technical solutions of the present invention are as follows:

[0006] A precise quantitative filling system for collaborative mining and filling behind hydraulic supports in a working face includes a fully mechanized hydraulic support, a filling unit, an automatic control unit, and a sensor network, a filling metering unit, an electro-hydraulic control unit, and a filling production management unit that are electrically connected and communicatively connected thereto respectively. The fully mechanized hydraulic support includes a support body, a front top beam that is arranged at the front top of the support body and extends out of the support body, and a rear tail beam that is arranged at the rear top of the support body and extends out of the support body. The space formed between the front top beam and the support body and the coal body to be mined is the coal mining working area, and the space formed between the rear tail beam and the support body is the area to be filled;

[0007] The filling unit is arranged on the support body, and the discharge port points to the area to be filled;

[0008] The sensor network includes multiple sensors dispersedly arranged on the rear tail beam. The sensing ends of the multiple sensors point to the area to be filled, monitoring the overall view of the area to be filled, the flow rate of the filling material, the compactness and the accumulation shape of the filling material accumulated in the area to be filled;

[0009] The electro-hydraulic control unit is connected to the filling unit. The automatic control unit, the filling metering unit and the filling production management unit are respectively arranged outside the coal mine, and an interactive screen is arranged on the filling production management unit.

[0010] The rear tail beam is box-shaped. The sensor network is arranged inside the box of the rear tail beam, and the sensing end points to the area to be filled below the rear tail beam, using image + THZ recognition (terahertz wave recognition) to detect the changes in the area to be filled and the filling paste.

[0011] It further includes a support control valve arranged on the fully-mechanized caving hydraulic support. The electro-hydraulic control unit includes a filling control valve. The support control valve and the filling control valve are respectively electrically connected and communicatively connected to the automatic control unit.

[0012] The filling unit includes a filling pipe arranged on the fully-mechanized caving hydraulic support, and the discharge port of the filling pipe points to the lower part of the area to be filled.

[0013] The filling unit further includes an additive injection mechanism. The pipeline of the additive injection mechanism is arranged on the fully-mechanized caving hydraulic support, and the discharge port of the pipeline is located below the discharge port of the filling pipe. The sprayed additive is automatically mixed with the paste sprayed from the filling pipe and then falls into the area to be filled for quick setting;

[0014] The electro-hydraulic control unit further includes an additive control valve. The additive control valve is arranged on the pipeline of the additive injection mechanism, is electrically connected to the automatic control unit, and is linked with the filling control valve.

[0015] A method for precise quantitative filling behind the support in a working face with coordinated mining and filling uses a precise quantitative filling system for coordinated mining and filling behind the support in a working face, and includes the following steps:

[0016] S1. According to the requirements of strata deformation control, mine pressure manifestation control, gangue treatment volume, as well as factors such as the mining progress of the mine and the demand and supply of filling materials, the management personnel design the partition filling volume parameters, input the partition filling volume parameters into the filling production management unit through the interactive screen. The filling production management system generates a filling plan and a production scheduling management plan, and transmits the filling plan to the automatic control system;

[0017] S2. Set multiple fully-mechanized hydraulic supports in the coal mining face. Use the fully-mechanized hydraulic supports to divide the coal mining face into a coal mining working area and a filling area to be filled. During the process of the support control valve of the fully-mechanized hydraulic support controlling the forward movement of the support, a new filling area to be filled will appear behind the fully-mechanized hydraulic support. The sensor network arranged on the rear tail beam of the fully-mechanized hydraulic support detects the filling space to be filled and sends the detected signal to the automatic control unit in real time. The automatic control unit calculates the equivalent mining height based on the ore body mining height and the allowable subsidence amount designed. When the data of the equivalent mining height meets the requirements of the filling plan, the automatic control unit calculates the amount of paste to be filled according to the equivalent mining height;

[0018] S3. While the support control valve controls the movement of the fully-mechanized hydraulic support, the automatic control unit calculates the start ratio and opening time of the electro-hydraulic control units of the filling units at different positions according to the space signals detected by the sensor network, and controls the electro-hydraulic control units to start, so as to control the filling pipes and additive filling mechanisms at different positions to start quantitative and fixed-point filling operations with corresponding flow rates and times;

[0019] S4. During the filling process, the sensor network monitors the stacking shape, position change, density of stacking in the filling area to be filled, and filling time of the filling material in real time by means of image + THz recognition (terahertz wave recognition), and transmits the signal to the automatic control unit. The automatic control unit transmits the received signal to the filling metering unit. The filling metering unit calculates the flow rate and actual filling amount of the filling body according to the signal, and feeds back the calculated data to the automatic control unit in real time. The automatic control unit adjusts the filling parameters in real time according to the calculated data, and feeds back the actual filling amount and real-time filling parameters to the filling production management unit for storage;

[0020] S5. The automatic control unit compares the actual filling amount and the amount to be filled in real time. When the actual filling amount is equal to the amount to be filled, the automatic control unit controls the electro-hydraulic control unit to close and stop filling;

[0021] S6. The sensor network monitors the deformation, stress distribution of the ore body and filling paste, and the flow condition and solidification form of the filling paste, and feeds back the monitored signal to the automatic control unit. The automatic control unit transmits the data transmitted by the sensor network and the filling metering unit, as well as the parameters compared and adjusted by itself to the production management unit in real time;

[0022] S7. The filling production management unit analyzes and processes the received data, and presents the data and possible problems during the filling process to the management personnel through the interactive screen. The management personnel remotely control and adjust the parameters and plans of the movement of the fully-mechanized hydraulic support and filling according to the obtained information.

[0023] The beneficial effects of the present invention are as follows: By providing a precise quantitative filling system and method for the back of the working face with coordinated mining and filling, a front top beam and a rear tail beam are respectively added to the front end and the rear end between the fully-mechanized hydraulic supports, dividing the area in the mine into two areas: a coal mining working area (i.e., the coal mining area) and an area to be filled (i.e., the filling area). A filling unit and an electro-hydraulic control unit are set on the fully-mechanized hydraulic support, and the electro-hydraulic control unit is linked with the support control valve. When there is a moving space or a fillable space during support moving, the system calculates the filling volume according to the designed equivalent mining height, and precisely and quantitatively controls the filling unit to carry out filling work behind the fully-mechanized hydraulic support, realizing the parallel and synchronous actions of support moving and paste filling in the coal mining working face, achieving coordinated mining and filling, and reasonably using the way of filling the goaf to reduce the height of roof caving. This not only improves the production efficiency of the coal mine but also enhances the overall stability of the strata and the ground surface in the goaf.

[0024] In addition, the present invention also sets an additive injection mechanism, so that the ejected paste thickens immediately after leaving the pipe, which can effectively reduce the diffusibility and creepability of the filling body (i.e., the filling paste). It is easy to pile up after spraying, and the piling angle is large. It can coagulate quickly after falling into the area to be filled, and the initial setting strength can be formed within 30 minutes. Therefore, by setting the additive injection mechanism, the fencing process for the area to be filled can be omitted, and open filling can be directly carried out during the process of coal mining or moving the fully-mechanized hydraulic support, simplifying the filling process, further improving the coordination degree of coordinated mining and filling, reducing the potential safety hazards in the goaf in the mine body, and enhancing the production efficiency of the coal mine.

[0025] The technical solution provided by the present invention also sets a filling production management unit, which generates a filling plan and a production scheduling management plan by using the filling production management unit, can effectively improve the management level of coal mine production. At the same time, it can also realize the coordinated remote control of mining and filling; by setting the electro-hydraulic control unit, precise control of the filling flow rate can be carried out quantitatively and at a fixed point; by reasonably arranging the sensor network, the space to be filled and the compactness of the paste piled up in the area to be filled, the stacking form of the paste in the filling area and the filling time can be closely monitored; a filling metering unit is set to accurately measure the flow rate, usage and time of the filling paste; by setting an automatic control unit to receive, exchange, count and calculate the information data sent by all the above units, the start and stop of the filling equipment can be controlled, the running state of the filling process can be monitored, and the filling parameters can be adjusted in a timely manner. With the comprehensive cooperation of the above units, the uniformity, compaction degree and utilization rate of the paste filled in the space during the filling process are significantly improved, the waste of the paste is reduced, the potential safety hazards are lowered, the management efficiency is improved, and the economic benefits of mine exploitation are further enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a system block diagram of the present invention;

[0027] Figure 2 This is a schematic structural diagram of the fully-mechanized hydraulic support in the application in coal mines in the present invention.

[0028] Marking description in the figure: 1. Coal body to be mined, 2. Support body, 3. Front roof beam, 4. Rear tail beam, 5. Filling pipe, 6. Coal mining working area, 7. Area to be filled, 8. Filling body, 9. Roof. Specific embodiments

[0029] In order to better understand the purpose, structure and function of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

[0030] As Figure 1 、 Figure 2 shown, a precise quantitative filling system for post-mining filling in a mining and filling collaborative working face includes a fully-mechanized hydraulic support, a filling unit, an automatic control unit, and a sensor network, a filling metering unit, an electro-hydraulic control unit, and a filling production management unit that are electrically connected and communicatively connected thereto respectively. The fully-mechanized hydraulic support includes a support body 2, a front roof beam 3 provided at the front top of the support body 2 and extending out of the support body 2, and a rear tail beam 4 provided at the rear top of the support body 2 and extending out of the support body 2. The fully-mechanized hydraulic support is erected between the roof 9 in the ore body and the ground to support the roof 9. The space formed between the front roof beam 3 and the support body 2 and the coal body 1 to be mined below is the coal mining working area 6, where workers mine the coal body in this space. The space formed between the rear tail beam 4 and the support body 2 below is the area to be filled 7. The filling unit is provided on the support body 2 with the discharge port pointing to the area to be filled 7, and the filling unit fills the paste into this area to be filled 7, so as to realize the coordination of mining and filling work in the ore body;

[0031] The sensor network includes a plurality of sensors dispersedly arranged on the rear tail beam 4, and the sensing ends of the plurality of sensors point to the area to be filled 7 to monitor the overall view of the area to be filled 7, the flow rate of the filling body 8, the density and accumulation shape in the area to be filled. In this embodiment, the rear tail beam 4 is arranged in a box shape, and the sensor network is arranged in the box of the rear tail beam 4 with the sensing end pointing to the area to be filled 7 below the rear tail beam 4. The sensor network in this embodiment uses the technology of image + THZ recognition (terahertz wave recognition) to detect the overall space view of the area to be filled 7, the accumulation shape, position change, filling time of the filling material, and the density after the filling body 8 is accumulated, judge whether there are large voids left unfilled after the filling body is accumulated, and transmit the signal to the automatic control unit, so as to accurately calculate the actual filling flow rate and actual filling volume, which is convenient for the automatic control unit to control the filling;

[0032] The electro-hydraulic control unit is connected to the filling unit and used to control the filling speed. The automatic control unit, the filling metering unit, and the filling production management unit are respectively arranged outside the coal mine. An interactive screen is arranged on the filling production management unit, which is used to statistically calculate, compare, and store the real-time information of mining and filling in the ore body and present it to the staff.

[0033] Specifically, in order to facilitate the control of the hydraulic support movement of the fully mechanized coal mining face, it further includes a support control valve arranged on the hydraulic support of the fully mechanized coal mining face. The electro-hydraulic control unit includes a filling control valve. The support control valve and the filling control valve are respectively electrically connected and communicatively connected to the automatic control unit.

[0034] Furthermore, the filling unit includes a filling pipe 5 arranged on the hydraulic support of the fully mechanized coal mining face. The discharge port of the filling pipe 5 points to the lower part of the area 7 to be filled. In order to reduce the diffusibility and creepability of the filling body 8, make the filling body 8 thicken and quickly solidify immediately after spraying, shorten the time for the paste to form early strength, and make it easy to accumulate in the area 7 to be filled, so as to facilitate the open filling of the area 7 to be filled. The filling unit in this embodiment further includes an additive injection mechanism. The pipeline of the additive injection mechanism is arranged on the hydraulic support of the fully mechanized coal mining face, and the discharge port of the pipeline is located below the discharge port of the filling pipe 5. The sprayed additive is automatically mixed with the paste sprayed from the filling pipe 5 and then falls into the area 7 to be filled for quick setting. At the same time, the electro-hydraulic control unit further includes an additive control valve. The additive control valve is arranged on the pipeline of the additive injection mechanism, is electrically connected to the automatic control unit, and is linked with the filling control valve.

[0035] Furthermore, by using the above-mentioned precise quantitative filling system for post-mining and filling cooperation in the working face, this embodiment also provides a precise quantitative filling method for post-mining and filling cooperation in the working face, which includes the following steps:

[0036] S1. According to the requirements of strata deformation control, mine pressure manifestation control, gangue treatment volume, as well as factors such as the mining progress of the mine and the demand and supply of filling materials, the management personnel design the partition filling volume parameters, input the partition filling volume parameters into the filling production management unit through the interactive screen. The filling production management system generates a filling plan and a production scheduling management plan, and transmits the filling plan to the automatic control system;

[0037] S2. Set multiple fully-mechanized hydraulic supports in the coal mining face. Use the fully-mechanized hydraulic supports to divide the coal mining face into a coal mining work area 6 and a waiting-to-be-filled area 7. During the process of the support control valve of the fully-mechanized hydraulic support controlling the forward movement of the support, a new waiting-to-be-filled area 7 will appear behind the fully-mechanized hydraulic support. The sensor network arranged on the rear tail beam 4 of the fully-mechanized hydraulic support detects the waiting-to-be-filled space and sends the detected signal to the automatic control unit in real time. The automatic control unit calculates the equivalent mining height based on the ore body mining height and the allowable subsidence amount designed. When the data of the equivalent mining height meets the requirements of the filling plan, the automatic control unit calculates the amount of paste to be filled according to the equivalent mining height;

[0038] S3. While the support control valve controls the movement of the fully-mechanized hydraulic support, the automatic control unit calculates the start ratio and opening time of the electro-hydraulic control units of the filling units at different positions according to the space signals detected by the sensor network, and controls the electro-hydraulic control units to start, so as to control the filling pipes 5 and the additive filling mechanism on the fully-mechanized hydraulic supports at different positions to start the timely, quantitative and fixed-point filling operation with corresponding flow rates and times;

[0039] S4. During the filling process, the sensor network monitors the stacking shape, position change, filling time and stacking density of the filling material in real time by means of image + THz recognition, and transmits the signal to the automatic control unit. The automatic control unit transmits the received signal to the filling metering unit. The filling metering unit calculates the flow rate and actual filling amount of the filling body 8 according to the signal, and feeds back the calculated data to the automatic control unit in real time. The automatic control unit adjusts the filling parameters in real time according to the calculated data, and feeds back the actual filling amount and real-time filling parameters to the filling production management unit for storage;

[0040] S5. The automatic control unit compares the actual filling amount and the amount to be filled in real time. When the actual filling amount is equal to the amount to be filled, the automatic control unit controls the electro-hydraulic control unit to close and stop filling;

[0041] S6. The sensor network monitors the deformation, stress distribution of the ore body and filling paste, and the flow condition and solidification form of the filling paste, and feeds back the monitored signal to the automatic control unit. The automatic control unit transmits the data transmitted by the sensor network and the filling metering unit, as well as the parameters compared and adjusted by itself to the production management unit in real time;

[0042] S7. The filling production management unit analyzes and processes the received data, and presents the data and possible problems during the filling process to the management personnel through the interactive screen. The management personnel remotely control and adjust the parameters and schemes of the movement and filling of the fully-mechanized hydraulic support according to the obtained information.

[0043] It will be understood that the present invention is described by way of some embodiments, and those skilled in the art will appreciate that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of the present invention. Additionally, under the teachings of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. A method for accurate quantitative filling of a working face frame with coordinated mining and filling, characterized in that: It adopts a mining and filling coordinated working face rear frame precise quantitative filling system, comprising a fully-mechanized hydraulic support, a filling unit, an automatic control unit, and a sensor network electrically and communicatively connected thereto, a filling metering unit, an electro-hydraulic control unit, and a filling production management unit, wherein the fully-mechanized hydraulic support comprises a support body (2), a front top beam (3) arranged at the front end top of the support body (2) and extending out of the support body (2), and a rear tail beam (4) arranged at the rear end top of the support body (2) and extending out of the support body (2), the space formed between the front top beam (3) and the support body (2) and the coal body (1) to be mined is a coal mining working area (6), and the space formed between the rear tail beam (4) and the support body (2) is a to-be-filled area (7); The filling unit is arranged on the support body (2), and the discharge port is directed toward the area to be filled (7); The sensor network comprises a plurality of sensors dispersedly arranged on the rear tail beam (4), wherein the sensing ends of the plurality of sensors point to the area to be filled (7), and monitor the overall appearance of the area to be filled (7), the flow rate of the filling body (8), and the density and stacking shape in the area to be filled (7); The electro-hydraulic control unit is connected to the filling unit, the automatic control unit, the filling metering unit and the filling production management unit are respectively arranged outside the coal mine, and the filling production management unit is provided with an interactive screen; It also includes a support control valve arranged on the fully mechanized mining hydraulic support, the electro-hydraulic control unit includes a filling control valve, and the support control valve and the filling control valve are respectively electrically connected and communicatively connected to the automatic control unit; The filling unit comprises a filling pipe (5) arranged on the fully mechanized mining hydraulic support, wherein the discharge port of the filling pipe (5) points to the bottom of the area to be filled (7); The filling unit further comprises an additive filling mechanism, the pipeline of the additive filling mechanism being arranged on the fully mechanized hydraulic support, the discharge port of the pipeline being located below the discharge port of the filling pipe (5), the sprayed additive and the paste sprayed from the filling pipe (5) being automatically mixed and then falling into the to-be-filled area (7) for rapid solidification; The method comprises the following steps: S1, the management personnel design the partition filling volume parameters according to the requirements of stratum deformation control, mine pressure manifestation control, waste rock processing volume, mining progress, demand and supply of filling materials, and input the partition filling volume parameters into the filling production management unit through the interactive screen. The filling production management system generates the filling plan and production scheduling management plan, and transmits the filling plan to the automatic control system; S2, multiple fully mechanized hydraulic supports are arranged in the coal mining face, and the coal mining face is divided into a coal mining work area (6) and a waiting filling area (7) by using the fully mechanized hydraulic supports. When the fully mechanized hydraulic supports are moved forward by the support control valve of the fully mechanized hydraulic supports, a new waiting filling area (7) appears behind the fully mechanized hydraulic supports. The sensor network arranged on the rear tail beam (4) of the fully mechanized hydraulic supports detects the waiting filling space and sends the detected signal to the automatic control unit in real time. The automatic control unit calculates the equivalent mining height according to the mining height of the ore body and the designed allowable sinking amount. When the data of the equivalent mining height meets the requirements of the filling plan, the automatic control unit calculates the filling amount of the paste according to the equivalent mining height. S3, while the support control valve controls the fully mechanized hydraulic support frame movement, the automatic control unit calculates the start-up ratio and start-up time of the electro-hydraulic control units of the filling units at different positions according to the spatial signal detected by the sensor network, and controls the electro-hydraulic control unit to start, thereby controlling the filling pipes (5) and the additive filling mechanism at different positions to start quantitative and fixed-point filling operations at corresponding flow rates and time; S4, during the filling process, the sensor network monitors the stacking shape, position change, density of stacking in the area to be filled and filling time of the filling material in real time by means of image + THz recognition, and transmits the signal to the automatic control unit, which forwards the transmitted signal to the filling metering unit, which calculates the flow rate and actual filling amount of the filling body (8) according to the signal, and feeds back the calculated data to the automatic control unit in real time, and the automatic control unit adjusts the filling parameters in real time according to the calculated data, and feeds back the actual filling amount and real-time filling parameters to the filling production management unit for storage; S5, the automatic control unit compares the actual filling amount with the required filling amount in real time. When the actual filling amount is equal to the required filling amount, the automatic control unit controls the electro-hydraulic control unit to shut down and stop filling; S6, the sensor network monitors the deformation, stress distribution, flow and solidification morphology of the ore body and filling paste, and feeds back the monitored signals to the automatic control unit, which transmits the data from the sensor network and the filling metering unit, as well as its own comparison and adjustment parameters to the production management unit in real time; S7, the filling production management unit analyzes and processes the received data, and presents the data and possible problems in the filling process to the management personnel through the interactive screen. The management personnel remotely controls and adjusts the parameters and plans of the comprehensive mining hydraulic support moving and filling according to the information obtained.

2. According to claim 1, a method for accurate quantitative filling of a working face frame with coordinated mining and filling, characterized in that: The rear tail beam (4) is box-shaped, the sensor network is arranged in the box of the rear tail beam (4), the sensing end is directed to the area to be filled (7) below the rear tail beam (4), and image + THZ recognition is used to detect changes in the area to be filled (7) and the filling paste.

3. According to claim 1, a method for accurate quantitative filling of a working face frame with coordinated mining and filling, characterized in that: The electro-hydraulic control unit further comprises an additive control valve, which is arranged on a pipeline of the additive filling mechanism, electrically connected to the automatic control unit, and linked to the filling control valve.

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