Fully mechanized coal mining face frame rear dense column type filling method

Abstract

The invention discloses a fully mechanized coal mining face frame rear dense column type filling method, and belongs to the technical field of coal mining. A plurality of filling robots behind the support are arranged in a goaf behind a fully-mechanized mining hydraulic support for filling operation; a walking mechanism is arranged at the bottom of the after-frame filling robot; the filling robot behind the support is adjacent to the fully-mechanized mining hydraulic support; after the fully-mechanized mining hydraulic support moves forwards, filling columns are manufactured through a filling robot behind the support, the multiple filling columns are evenly distributed and supported in a goaf in a matrix mode, the goaf at the corresponding position after the support is moved is filled, and finally dense filling supporting on the whole goaf is achieved. The column body height of the filling column body is the same as that of the fully mechanized coal mining face; a professional filling support does not need to be adopted, the filling speed is high, roof contact can be achieved in time, the final strength is formed, the mining and filling connection problem is solved, and mining and filling speed matching is achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mining, and relates to a dense column filling method behind a fully mechanized mining working face. Background Art

[0002] The long-arm backfill mining technology for fully-mechanized coal mining faces is a technology that simultaneously fills the goaf during the coal mining process. Its main purpose is to reduce surface subsidence, improve the recovery rate of coal resources, and reduce the impact of coal mining on the environment. This technology usually uses solid waste such as gangue and fly ash as filling materials, which are transported to the goaf through pipelines for filling. At present, the backfilling of fully-mechanized coal mining faces mainly includes two filling schemes: backfilling solid filling and backfilling paste filling.

[0003] 1. Solid filling behind the fully mechanized mining face in coal mines This filling scheme refers to a method of coal mining in which solid materials such as gangue are transported underground by mechanical means, and filled into the goaf in a timely manner. The solid material filling supports and controls the structure of the overlying rock layer in the goaf during the sinking and compaction of the roof. Since the compression rate of the solid gangue filling body is relatively large and it is not connected to the roof, the movement and deformation of the ground rock layer is difficult to control, and the protection level requirements of surface buildings (structures) cannot be met. Generally, the disposal of gangue is the main solution. For the "three-down" compressed coal mining, a special self-ramming filling bracket is required, which has a large investment and poor adaptability. The surface subsidence and deformation are difficult to meet the protection level requirements of buildings (structures).

[0004] 2. Paste filling behind the fully mechanized mining face frame The filling scheme uses the filling support to provide space for coal mining and filling. While the regular working face is being mined, the filling pipe and the slurry retaining plate behind the support are used to fill the goaf behind. The filling paste is made by mixing crushed coal gangue, fly ash, cement and some additives with water. The filling hydraulic support is different from the conventional fully mechanized mining support. In addition to supporting the roof, the filling support also provides a filling operation space. It is a special hydraulic support used for the coal mining working face using the filling method. The filling support can be a newly installed special hydraulic support, or it can be a hydraulic support with rear support that is processed and modified from an existing support.

[0005] 3. Problems with the existing fully mechanized mining face backfill mining technology 1) Whether it is solid filling or paste filling, special filling brackets are required to complete the filling operation. For most coal mines, the existing fully mechanized mining brackets are basically ordinary brackets. It costs a lot to purchase new filling brackets or transform existing brackets (sometimes close to hundreds of millions of yuan).

[0006] 2) For solid filling, the compression rate of the gangue filling body is relatively large, and without top contact, the movement and deformation of the ground rock strata are difficult to control, and the protection level requirements of surface buildings (structures) cannot be met.

[0007] 3) For paste filling, although the surface deformation effect is better than that of solid filling, the preparation cost of paste is high (a large amount of cement or other gelling materials is required). In addition, post-frame paste filling has the following disadvantages: ① The filling and coal mining processes are intertwined, and many people are involved in the working face. Since it takes some time for the paste to solidify and reach a certain strength, the fully mechanized mining support cannot be moved during this period. Therefore, the advancement speed of the working face is seriously affected, which in turn limits the production capacity of the working face, which can only reach 30%~40% of the original production capacity.

[0008] ② The pipeline is prone to blockage during paste transportation. If not handled in time, the pipeline will be scrapped, resulting in repeated investment and affecting production. At present, blockage is mostly reduced by flushing the front and rear pipelines, which increases the filling preparation time and the collection and cleaning of pipeline flushing wastewater.

[0009] In summary, the existing coal mine comprehensive mining face backfill mining technology still has many defects. How to achieve safe, efficient, economical, energy-saving and environmentally friendly backfill mining of the comprehensive mining face still requires more advanced backfill mining technology. Summary of the invention

[0010] The present invention overcomes the shortcomings of the prior art and proposes a dense column filling method behind a fully mechanized mining face frame; the present invention is achieved through the following technical solutions: A dense column filling method behind a fully-mechanized mining face, wherein a plurality of fully-mechanized mining hydraulic supports are arranged along the fully-mechanized mining face, and a plurality of behind-the-frame filling robots are arranged in the goaf behind the fully-mechanized mining hydraulic supports for filling operations; a walking mechanism is provided at the bottom of the behind-the-frame filling robot; the behind-the-frame filling robot is adjacent to the fully-mechanized mining hydraulic support; after the fully-mechanized mining hydraulic support is moved forward, the behind-the-frame filling robot is used to make a filling column, and a plurality of filling columns are evenly distributed and supported in the goaf in a matrix manner, and the goaf at the corresponding position after the frame is moved is filled, and finally dense filling support is realized for the entire goaf; The filling column is made by firstly expanding the soft film bag with a filling robot behind the frame, and then filling the bag with gangue powder by controlling the compressed air; after the gangue powder is filled up, it reaches the height of the top; then the binder is injected into the soft film bag for bonding and solidification to form a filling column.

[0011] Furthermore, 5 to 12 comprehensive mining hydraulic supports are divided into one group, and each group is equipped with a post-support filling robot.

[0012] Furthermore, a gangue crushing station is built on the surface or underground of the mine to prepare gangue powder by multi-stage crushing of the gangue; the gangue powder is transported to the chute of the working face, waiting to be filled and used.

[0013] Furthermore, the gangue crushing station is connected to a vertical dropping pipe, and a gangue finished product bin is arranged underground. The bottom end of the vertical dropping pipe is connected to the gangue finished product bin, and the crushed gangue is stored in the gangue finished product bin through the vertical dropping pipe; the gangue finished product bin is connected to the feeding port of the belt conveyor; and the dropping port of the belt conveyor is arranged at the slot mouth of the working surface.

[0014] Furthermore, the particle size of the gangue powder is less than 3 mm.

[0015] Furthermore, the column diameter of the filling column is 1.0m~1.2m.

[0016] Furthermore, a track is arranged at the rear of the comprehensive mining hydraulic support; the track is connected to the base of the comprehensive mining hydraulic support, and the bottom of the rear filling robot is slidably connected to the track.

[0017] Furthermore, the post-rack filling robot is a vertical packaging machine.

[0018] Furthermore, the post-stack filling robot includes a base and a frame column vertically connected to the base; a roll storage bracket is connected to one side of the frame column, and a cutting bag support assembly and a mold cylinder structure are provided on the other side of the frame column, wherein the cutting bag support assembly is located at the top of the frame column, and the cutting bag support assembly includes a horizontal bracket, a transmission roller, an edge banding machine, a retractable cutter head, a hydraulic pull rod, a hydraulic push rod, an upper bonding steel bar and a lower bonding steel bar; the transmission roller is rotatably connected to the horizontal bracket, and a flexible film bag storage roll is rotatably sleeved on the storage roll bracket, and the flexible film bags on the flexible film bag storage roll are transported to the other side of the frame column by the transmission roller during the rotation process; Slide rails are arranged on both sides of the horizontal bracket. The edge banding machine is slidably connected to the slide rail close to the flexible film bag storage roll, and the retractable knife head is slidably connected to the slide rail away from the flexible film bag storage roll. The horizontal bracket is fixedly connected to a laser distance measuring sensor. During the transmission process, when the flexible film bag reaches the set position, the laser distance measuring sensor transmits a signal to the edge banding machine through the controller to seal the flexible film bag at this position. The flexible film bag continues to move forward, and one end of the edge sealing extends all the way to the bottom of the frame column. The upper bonding steel bar and the lower bonding steel bar are located at the rear side of the retractable cutter head, and glue liquid spraying outlets are distributed on the upper bonding steel bar and the lower bonding steel bar. A glue storage box is connected to the bottom of the horizontal bracket, and the glue storage box is connected to the glue liquid spraying outlet through a pipeline, a pump, and the upper bonding steel bar is located at the upper part of the horizontally driven soft film bag, and the lower bonding steel bar is located at the lower part of the horizontally driven soft film bag; and the upper bonding steel bar and the lower bonding steel bar are respectively arranged at both ends of the hydraulic pull rod; the hydraulic pull rod is hinged with the vertical rod, and the vertical rod is connected with the hydraulic push rod; in the process of moving the soft film bag, the hydraulic pull rod will open the upper bonding steel bar and the lower bonding steel bar, and the pump will not work. When the flexible film bag moves to the corresponding position, the hydraulic pull rod fits the upper bonding steel bar with the lower bonding steel bar, the pump starts working, the upper bonding steel bar and the lower bonding steel bar bond the two sides of the flexible film bag, and when the bonding steel bar is firmly bonded to the pulled-out part of the flexible film tape, the retractable cutter head installed behind the transmission roller moves along the slide rail to separate the pulled-out part of the flexible film from the flexible film tape storage roll; the hydraulic push rod pushes the vertical rod forward, and under the action of the gravity of the flexible film bag, the hydraulic pull rod rotates from the vertical state to the horizontal state, and the hydraulic pull rod pulls the upper bonding steel bar and the lower bonding steel bar apart from each other, thereby opening the flexible film bag; The mold barrel structure includes two movable semicircular metal barrels and a horizontal hydraulic push rod; one end of the two movable semicircular metal barrels is hinged by a rotating shaft, and one side of the two movable semicircular metal barrels is hinged with a horizontal hydraulic push rod, and the horizontal hydraulic push rod is connected to the frame column; the horizontal hydraulic push rod installed on the frame column pushes out the two movable semicircular metal barrels, and the opened soft film bag is wrapped in a closed state from an open state. At this time, the post-frame filling robot is in a waiting state for filling, and the gangue powder is filled into the soft film bag, and then the A / B double-liquid bonding material is filled into the gap between the gangue powder in the soft film bag, and finally a bonding state is formed; when the filling body in the soft film bag is bonded and solidified, the horizontal hydraulic push rod contracts to pull back the two movable semicircular metal barrels.

[0019] The beneficial effects of the present invention compared with the prior art are as follows: 1. It solves the dependence of post-stent filling work on professional filling brackets and saves filling costs.

[0020] 2. The filling speed is fast, and the top can be connected in time to form the final strength, which solves the problem of mining and filling connection and realizes the matching of mining and filling speeds.

[0021] 3. No pipeline transportation structure is required, which solves the problems of pipeline blocking and cleaning in the existing filling pipeline transportation method, as well as the problem that pipeline transportation is limited by the capacity of the filling industrial pump.

[0022] 4. By adopting the back-filling robot operation, the back-filling operation is unmanned and automated, which greatly improves the filling safety and reduces the work intensity and filling operation cost of the filling personnel. It solves the problems of the existing coal mine fully-mechanized mining face back-filling mining process being complicated, the preparation and auxiliary operation time being long, and the working face having the safety risk of filling body leakage.

[0023] 5. By filling the space between the two rows of filling columns along the side of the drift, the operation of retaining lanes along the goaf can be achieved simultaneously, greatly saving the cost of retaining lanes along the goaf. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structural connection of the equipment in the gangue crushing process; Figure 2 It is a schematic diagram of the filling process behind the fully mechanized hydraulic support; Figure 3 This is a schematic diagram of the plane distribution of dense column filling behind the fully mechanized mining face; Figure 4 This is a schematic structural diagram of the post-rack filling robot described in Example 3; Figure 5 The working state of the cutting bag support assembly described in Example 3 is shown in FIG. Figure 1 ; Figure 6 The working state of the cutting bag support assembly described in Example 3 is shown in FIG. Figure 2 ; Figure 7 Schematic diagram of the working state of the mold barrel structure described in Example 3 Figure 1 ; Figure 8 Schematic diagram of the working state of the mold barrel structure described in Example 3 Figure 2 ; Numbers in the figure: 1- Gangue crushing station; 2- vertical drop pipe; 3- finished gangue warehouse; 4- belt conveyor; 5- working face slot; 6- fully mechanized mining hydraulic support; 7- back-filling robot; 9- filling column; 10- track; 11- bottom plate; 12- top plate; 13- coal mining machine; 14- coal wall; 15- soft film bag storage roll; 16- soft film bag; 701-base; 702-frame column; 703-roll storage bracket; 704-drive roller; 705-edge banding machine; 706-retractable knife head; 707-hydraulic pull rod; 708-hydraulic push rod; 709-upper bonding steel bar; 710-lower bonding steel bar; 711-horizontal bracket; 712-slide rail; 713-laser distance sensor; 714-pole; 715-glue storage box; 716-movable semicircular metal barrel; 717-horizontal hydraulic push rod. DETAILED DESCRIPTION

[0025] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer, the present invention is further described in detail in conjunction with the embodiments and the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. The technical solutions of the present invention are described in detail below in conjunction with the embodiments and the accompanying drawings, but the scope of protection is not limited thereto.

[0026] See also Figure 1-Figure 3 This embodiment proposes a dense column filling method behind a fully mechanized mining face frame, which specifically includes the following steps: Step 1, crushing of gangue: a gangue crushing station 1 is built on the surface of the mine. The gangue is crushed to less than 3 mm after multi-stage crushing. The gangue crushing station 1 is connected to a vertical drop pipe 2. A gangue finished product bin 3 is set underground. The bottom end of the vertical drop pipe 2 is connected to the gangue finished product bin 3. The crushed gangue is stored in the gangue finished product bin 3 through the vertical drop pipe 2. The gangue finished product bin 3 is connected to the feeding port of the belt conveyor 4; the dropping port of the belt conveyor 4 is set at the slot 5 of the working face; the crushed gangue is transported to the slot 5 of the working face through the gangue finished product bin 3 and the belt conveyor 4.

[0027] Step 2, dense column filling process: a number of comprehensive mining hydraulic supports 6 are arranged along the comprehensive mining working face, the bottom of the comprehensive mining hydraulic support 6 is the bottom plate 11, and the top of the comprehensive mining hydraulic support 6 is supported under the roof 12; the front side of the comprehensive mining hydraulic support 6 is the coal mining machine 13, and the coal mining machine 13 performs coal mining operations on the coal wall 14; a number of post-frame filling robots 7 are arranged in the goaf behind the comprehensive mining hydraulic support 6 to perform filling operations, and the post-frame filling robot 7 is next to the comprehensive mining hydraulic support 6; after the comprehensive mining hydraulic support 6 moves forward, the post-frame filling robot 7 quickly fills the goaf at the corresponding position, and the filled several filling columns 9 realize dense filling of the entire goaf.

[0028] The post-rack filling robot 7 is also called a vertical bag filling machine, which is an existing packaging equipment that can be purchased. The post-rack filling robot 7 used in this embodiment adopts the existing model VS-600LC vertical packaging machine produced by Shenzhen Shengfeng Packaging Machinery Co., Ltd. The height of the post-rack filling robot 7 is specifically determined according to the underground height. The post-rack filling robot 7 can realize the functions of supporting bags and sealing after filling. A walking mechanism is provided at the bottom of the post-rack filling robot 7, and the walking mechanism can move under the drive of a motor.

[0029] According to the column solidification time (10~30min), coal cutting speed (generally 2.5m / min to 4m / min) and working face length, several comprehensive mining hydraulic supports 6 are divided into a group, and each group is equipped with a post-frame filling robot 7. In this embodiment, one post-frame filling robot 7 is equipped for every 10 comprehensive mining hydraulic supports 6.

[0030] The finished gangue powder is transported by the underground belt conveyor 4 to the slot 5 of the working face, where a powder buffer bin is set. The post-frame filling robot 7 opens the soft film bag 16, and then uses the pneumatic feeding technology to control the compressed air to add the gangue powder into the soft film bag 16. The soft film bag 16 is a PVC bag for holding slurry. After it is opened, the gangue powder is injected and filled. The filled PVC bag is filled into a column. And the gangue powder is injected and filled to the top; then the binder is injected inward for bonding and solidification. The A / B double-liquid binder is filled into the gap between the gangue powder in the soft film bag 16, and finally a bonding state is formed.

[0031] The binder is composed of two components, A / B, which are injected into the flexible film bag 16 through different liquid inlets. The two liquids A / B solidify within 10 to 30 minutes after mixing. After the filling column solidifies, the back-end filling robot 7 moves to the next location for filling. The A / B components of the binder are prior art.

[0032] After filling, several filling columns 9 are arranged in a matrix in the goaf behind the fully mechanized hydraulic support 6. According to the width of the support (generally 1.5m wide), the column diameter of the filling column 9 is preferably 1.0~1.2m, and the height is the same as the mining height of the fully mechanized working face. The secondary filling between the two rows of filling columns 9 on the side can simultaneously realize the goaf-side lane retention.

[0033] The filling method of this embodiment has a fast filling speed, can connect the top in time and form the final strength, solves the problem of mining and filling connection, and realizes mining and filling speed matching.

[0034] Example 2 This embodiment also proposes a method for dense column filling behind the fully-mechanized working face, which is different from the embodiment 1 in two points: first, the gangue crushing station 1 can be directly set underground, so that the structure of the vertical drop pipe 2 can be omitted; instead, a track 10 is set at the rear of the fully-mechanized hydraulic support 6; the track 10 is connected to the rear of the base of the fully-mechanized hydraulic support 6 of the same group, and the bottom of the post-frame filling robot 7 is slidably connected to the track 10, so that the post-frame filling robot 7 can be driven to move at the same time by moving the fully-mechanized hydraulic support 6. The other steps are the same as those in the embodiment 1.

[0035] Example 3 This embodiment also proposes a dense column filling method behind the frame of a comprehensive mining working face. The difference from Embodiment 1 lies in the structure of the filling robot 7 behind the frame, and the rest is the same as Embodiment 1.

[0036] For details, see Figures 4 to 8In this embodiment, the back-loading filling robot 7 includes a base 701 and a frame column 702 vertically connected to the base 701; one side of the frame column 702 is connected to a roll storage bracket 703, and the other side of the frame column 702 is provided with a cutting bag support assembly and a mold cylinder structure, the cutting bag support assembly is located on the top of the frame column 702, and the cutting bag support assembly includes a horizontal bracket 711, a transmission roller 704, an edge banding machine 705, a retractable cutter head 706, a hydraulic pull rod 707, a hydraulic The push rod 708, the upper bonding steel bar 709 and the lower bonding steel bar 710; the driving roller 704 is an existing conventional structure, which is rotatably connected to the horizontal bracket 711, and the flexible film bag storage roll 15 is rotatably sleeved on the storage roll bracket 703. The flexible film bag 16 on the flexible film bag storage roll 15 is transported to the other side of the frame column 702 by the driving roller 704 during the rotation process; when the driving roller 704 rotates, the flexible film bag 16 is pulled out from the flexible film bag storage roll 15 to the rear of the driving roller 704 through friction.

[0037] Slide rails 712 are provided on both sides of the horizontal bracket 711, the edge banding machine 705 is slidably connected to the slide rail 712 on the side close to the flexible film bag storage roll 15, and the retractable cutter head 706 is slidably connected to the slide rail 712 on the side away from the flexible film bag storage roll 15; the horizontal bracket 711 is fixedly connected to the laser distance measuring sensor 713; during the transmission process, the flexible film bag 16 reaches the set position, and the laser distance measuring sensor 713 transmits a signal to the edge banding machine 705 through the controller to seal the flexible film bag 16 at this position, and the flexible film bag 16 continues to move forward, and one end of the edge sealing extends to the bottom of the frame column 702. At this time, the laser distance measuring sensor 713 transmits a signal to the retractable cutter head 706 through the controller, and the retractable cutter head 706 cuts the flexible film bag 16 along the direction of the slide rail 712; the length of the flexible film bag 16 pulled out is determined by the distance between the top and bottom plates of the coal seam measured by the laser distance measuring sensor 713 installed on the top of the robot. When the flexible film bag 16 is pulled out to a required distance, the transmission roller 704 stops rotating.

[0038] The upper bonding steel bar 709 and the lower bonding steel bar 710 are located at the rear side of the retractable blade head 706, and glue liquid spraying outlets are distributed on the upper bonding steel bar 709 and the lower bonding steel bar 710. The glue liquid is provided by a glue storage box 715, and the glue storage box 715 is located at the bottom of the horizontal bracket 711. The glue storage box 715 is connected to the glue liquid spraying outlet through a pipeline, a pump, and the upper bonding steel bar 709 is located at the upper part of the horizontally driven soft film bag 16, and the lower bonding steel bar 710 is located at the lower part of the horizontally driven soft film bag 16; and the upper bonding steel bar 709 and the lower bonding steel bar 710 are respectively arranged at both ends of the hydraulic pull rod 707; the hydraulic pull rod 707 is hinged to the vertical rod 714 , the vertical rod 714 is connected to the hydraulic push rod 708; during the movement of the soft film bag 16, the hydraulic pull rod 707 opens the upper bonding steel bar 709 and the lower bonding steel bar 710, and the pump does not work. When the soft film bag 16 moves to the corresponding position, the hydraulic pull rod 707 fits the upper bonding steel bar 709 and the lower bonding steel bar 710, and the pump starts to work. The upper bonding steel bar 709 and the lower bonding steel bar 710 bond the two sides of the soft film bag 16. When the bonding steel bar is firmly attached to the pulled-out part of the soft film tape, the retractable knife head 706 installed behind the transmission roller 704 moves along the slide rail to separate the pulled-out part of the soft film from the soft film tape storage roll. The edge banding machine installed in front of the transmission roller moves along the slide rail to seal the soft film tape (waiting for the next cycle of filling). Afterwards, the hydraulic push rod 708 pushes the vertical rod 714 forward, and under the action of the gravity of the flexible film bag 16, the hydraulic pull rod 707 rotates from a vertical state to a horizontal state, and the hydraulic pull rod 707 then pulls the upper bonding steel bar 709 and the lower bonding steel bar 710 apart from each other, thereby expanding the flexible film bag 16.

[0039] The mold barrel structure includes two movable semicircular metal barrels 716 and a horizontal hydraulic push rod 717; one end of the two movable semicircular metal barrels 716 is hinged by a rotating shaft, and one side of the two movable semicircular metal barrels 716 is hinged with a horizontal hydraulic push rod 717, and the horizontal hydraulic push rod 717 is connected to the frame column 702; the horizontal hydraulic push rod 717 installed on the frame column 702 pushes the two movable semicircular metal barrels 716 out, and forms a closed state from an open state to wrap the stretched soft film bag 16. At this time, the post-frame filling robot 7 is in a waiting state for filling, and the gangue powder is filled into the soft film bag 16 through a pneumatic conveying pipeline until it is full, and then the A / B double-liquid bonding material is filled into the gap between the gangue powder in the soft film belt to finally form a bonding state.

[0040] When the filling body in the flexible film bag 16 is cemented and solidified, the horizontal hydraulic push rod 717 shrinks, pulls back the two movable semicircular metal barrels 716, and is in an open state (waiting for the next cycle of filling). At the same time, the bonding steel strip on the hydraulic pull rod 707 is separated from the flexible film, and the hydraulic pull rod 707 is retracted to the initial state by the hydraulic push rod 708 (waiting for the next cycle of filling).

[0041] The filling robot moves along the bendable track 10 to the next filling position, and can complete the filling work of the columns one by one by repeating the above actions.

[0042] The above content is a further detailed description of the present invention in combination with a specific preferred embodiment. It cannot be determined that the specific embodiments of the present invention are limited to this. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the present invention, which should be regarded as belonging to the present invention and the scope of patent protection determined by the submitted claims.

Claims

1. A dense column filling method behind the fully mechanized mining face frame, It is characterized in that A plurality of fully mechanized mining hydraulic supports (6) are arranged along the fully mechanized mining working face, and a plurality of post-frame filling robots (7) are arranged in the goaf behind the fully mechanized mining hydraulic supports (6) to perform filling operations; a walking mechanism is provided at the bottom of the post-frame filling robot (7); the post-frame filling robot (7) is adjacent to the fully mechanized mining hydraulic support (6); after the fully mechanized mining hydraulic support (6) is moved forward, the post-frame filling robot (7) is used to make a filling column (9), and a plurality of filling columns (9) are evenly distributed and supported in the goaf in a matrix manner, and the goaf at the corresponding position after the moving of the frame is filled, and finally dense filling support is realized for the entire goaf; the column height of the filling column (9) is the same as the height of the fully mechanized mining working face; The filling column (9) is manufactured by firstly opening the soft film bag (16) with the back-end filling robot (7), and then injecting the gangue powder into the soft film bag (16) by controlling the compressed air; after the gangue powder is injected and filled to the top, the height reaches the top; and then injecting the binder into the soft film bag (16) for bonding and solidification to form the filling column (9).

2. A dense column filling method behind a fully mechanized mining face frame according to claim 1, It is characterized in that 5 to 12 fully mechanized hydraulic supports (6) are divided into a group, and each group is equipped with a post-support filling robot (7).

3. A dense column filling method behind a fully mechanized mining face frame according to claim 1, It is characterized in that A gangue crushing station (1) is constructed on the surface or underground of the mine to crush the gangue in multiple stages to prepare gangue powder; the gangue powder is transported to the working face slot (5) to wait for filling and use.

4. A dense column filling method behind a fully mechanized mining face frame according to claim 3, It is characterized in that The gangue crushing station (1) is connected to a vertical drop pipe (2); a gangue finished product bin (3) is arranged underground; the bottom end of the vertical drop pipe (2) is connected to the gangue finished product bin (3); the crushed gangue is stored in the gangue finished product bin (3) through the vertical drop pipe (2); the gangue finished product bin (3) is connected to the feeding port of a belt conveyor (4); and the dropping port of the belt conveyor (4) is arranged at a slot opening (5) of the working surface.

5. A dense column filling method behind a fully mechanized mining face frame according to claim 1, It is characterized in that The particle size of gangue powder is less than 3mm.

6. A dense column filling method behind a fully mechanized mining face frame according to claim 1, It is characterized in that The diameter of the filling column (9) is 1.0m~1.2m.

7. A dense column filling method behind a fully mechanized mining face according to claim 1, It is characterized in that Secondary filling is performed between the two rows of filling columns (9) on the outermost sides to achieve gob-side tunnel retention.

8. A dense column filling method behind a fully mechanized mining face according to claim 1, It is characterized in that A track (10) is arranged at the rear of the comprehensive mining hydraulic support (6); the track (10) is connected to the base of the comprehensive mining hydraulic support (6), and the bottom of the rear filling robot (7) is slidably connected to the track (10).

9. A dense column filling method behind a fully mechanized mining face frame according to claim 1 or 8, It is characterized in that The post-rack filling robot (7) is a vertical packaging machine.

10. A dense column filling method behind a fully mechanized mining face according to claim 8, It is characterized in that The post-stack filling robot (7) comprises a base (701) and a frame column (702) vertically connected to the base (701); a roll storage support (703) is connected to one side of the frame column (702); a cutting bag support assembly and a mold cylinder structure are provided on the other side of the frame column (702); the cutting bag support assembly is located on the top of the frame column (702); the cutting bag support assembly comprises a horizontal support (711), a transmission roller (704), an edge banding machine (705), a retractable knife head (706), a hydraulic pull rod (707), a hydraulic push rod (708), an upper bonding steel bar (709) and a lower bonding steel bar (710); the transmission roller (704) is rotatably connected to the horizontal support (711); a flexible film bag storage roll (15) is rotatably sleeved on the roll storage support (703); and the flexible film bags (16) on the flexible film bag storage roll (15) are transported to the other side of the frame column (702) by the transmission roller (704) during the rotation process; Slide rails (712) are provided on both sides of the horizontal support (711); the edge banding machine (705) is slidably connected to the slide rail (712) on the side close to the flexible film bag storage roll (15); the retractable blade head (706) is slidably connected to the slide rail (712) on the side away from the flexible film bag storage roll (15); the horizontal support (711) is fixedly connected to a laser distance measuring sensor (713); during the transmission process, the flexible film bag (16) reaches a set position, and the laser distance measuring sensor (713) transmits a signal to the edge banding machine (705) through the controller to seal the flexible film bag (16) at this position, and the flexible film bag (16) continues to move forward, and one end of the edge sealing extends all the way to the bottom of the frame column (702); The upper bonding steel bar (709) and the lower bonding steel bar (710) are located at the rear side of the retractable blade head (706), and glue liquid spraying outlets are distributed on the upper bonding steel bar (709) and the lower bonding steel bar (710). The bottom of the horizontal support (711) is connected to a glue storage box (715), and the glue storage box (715) is connected to the glue liquid spraying outlet through a pipeline and a pump; the upper bonding steel bar (709) is located at the upper part of the horizontally driven soft film bag (16), and the lower bonding steel bar (709) is located at the upper part of the horizontally driven soft film bag (16). The steel bar (710) is located at the lower part of the horizontally driven flexible film bag (16); and the upper bonding steel bar (709) and the lower bonding steel bar (710) are respectively arranged at the two ends of the hydraulic pull rod (707); the hydraulic pull rod (707) is hinged to the vertical rod (714), and the vertical rod (714) is connected to the hydraulic push rod (708); during the movement of the flexible film bag (16), the hydraulic pull rod (707) moves the upper bonding steel bar (709) and the lower bonding steel bar (710) to the horizontally driven flexible film bag (16). The strip (710) is stretched open and the pump does not work. When the flexible film bag (16) moves to the corresponding position, the hydraulic pull rod (707) fits the upper bonding steel strip (709) and the lower bonding steel strip (710), and the pump starts to work. The upper bonding steel strip (709) and the lower bonding steel strip (710) bond the two sides of the flexible film bag (16). When the bonding steel strip is firmly bonded to the pulled-out part of the flexible film strip, the retractable cutter head (709) installed behind the driving roller (704) 706) moves along the slide rail (712) to separate the pulled-out part of the soft film from the soft film tape storage roll; the hydraulic push rod (708) pushes the vertical rod (714) to extend forward, and under the action of the gravity of the soft film bag (16), the hydraulic pull rod (707) rotates from a vertical state to a horizontal state, and the hydraulic pull rod (707) then pulls the upper bonding steel bar (709) and the lower bonding steel bar (710) apart from each other, thereby opening the soft film bag (16); The mold barrel structure comprises two movable semicircular metal barrels (716) and a horizontal hydraulic push rod (717); one end of the two movable semicircular metal barrels (716) is hinged via a rotating shaft, one side of the two movable semicircular metal barrels (716) is hinged with a horizontal hydraulic push rod (717), and the horizontal hydraulic push rod (717) is connected to the frame column (702); the horizontal hydraulic push rod (717) installed on the frame column (702) moves the two movable semicircular metal barrels (716) ) is pushed out, and the opened state is formed into a closed state to wrap the stretched soft film bag (16). At this time, the rear-end filling robot (7) is in a waiting state for filling. The gangue powder is filled into the soft film bag (16), and then the A / B double liquid cementing material is filled into the gap between the gangue powder in the soft film bag (16), and finally a cemented state is formed; when the filling body in the soft film bag (16) is cemented and solidified, the horizontal hydraulic push rod (717) contracts to pull back the two movable semicircular metal barrels (716).

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