Paste filling method for end slope mining roadway

Abstract

The invention provides a paste filling method for an end slope mining roadway. The paste filling method comprises the steps that filling pipeline arrangement information is obtained; the inner diameter Rin of a filling pipe used by the filling pipeline is obtained, and the outer diameter Rout of the filling pipe is determined based on the Rin and the pumping pressure of a filling pump of the filling paste conveying equipment; on the basis of the Rin and the Rout, needed filling pipes are selected and connected to form corresponding filling pipelines, and the outer sides of the filling pipes needing to be laid in the mining tunnel are wrapped with pipeline floating devices; the automatic pipe distribution equipment is controlled to convey the filling pipeline needing to be laid in the mining tunnel to the corresponding position of the mining tunnel; a detachable mining tunnel end plugging device is adopted to plug an outlet of the mining tunnel; and the filling paste conveying equipment is controlled to convey the filling paste to the filling pipeline. According to the invention, automatic filling of the mining tunnel can be realized.

Description

Technical Field

[0001] The invention relates to the technical field of open-pit coal mine end wall paste filling mining, in particular to an end wall mining tunnel paste filling method. Background Art

[0002] End-wall coal mining technology is a type of open-pit coal mining technology. It is currently being gradually promoted in China, but end-wall coal mining has the problem of low recovery rate. As one of the green mining technology systems for coal mines, paste filling technology is mainly aimed at solving the "three down and one up" coal pressure, protecting the mining area environment, improving the coal resource recovery rate, and extending the service life of the mine. The end-wall mining tunnel paste filling technology combines end-wall coal mining technology with paste filling. End-wall coal mining uses continuous mining machines or end-wall coal mining machines to recover the coal covered by the end wall of the open-pit mine to form a mining tunnel. The paste formed by mixing cementitious materials, crushed soil and rock, water and other additives is transported to the mining tunnel through pipelines. After the filling body in the mining tunnel solidifies for a certain period of time and reaches the designed strength, the end-wall coal mining continues to recover the remaining coal pillars to form a new mining tunnel. The paste continues to be filled into the newly formed mining tunnel through the pipeline. Finally, the coal body is replaced by the filling body. The application of paste filling technology can reduce the coal pillars left over from end-wall mining and significantly increase the resource recovery rate. However, the existing end-wall mining tunnel paste filling technology has the following problems: (1) The mining tunnel formed by end-wall mining is in an unsupported state, and personnel cannot enter the mining tunnel to lay pipelines. (2) During the paste filling process, as the paste flows out, the paste accumulates at the pipe mouth, and the pipe mouth is gradually buried by the paste. The pressure at the pipe mouth increases, affecting the smooth outflow of the subsequent paste, and there is a risk of pipeline blockage. (3) Traditional mining tunnels are sealed with brick walls and plaster. The brick wall sealing cost is high, the ability to resist side thrust is poor, the construction efficiency is low, and it cannot be reused. Summary of the invention

[0003] In view of the above technical problems, the technical solution adopted by the present invention is:

[0004] According to a first aspect of the present invention, a method for filling paste in an end-wall mining tunnel is provided, the method comprising the following steps:

[0005] S100, based on the delivery position of the filling paste, the slump of the filling paste, and the width and length of the mining tunnel to be filled, the filling pipeline layout information is obtained, and the filling pipeline layout information at least includes the number of filling pipelines, the layout position of each filling pipeline, the number of curved pipe sections required for the filling pipeline, the distance between the pipeline outlets of any two filling pipelines, the equivalent distance of the straight pipe sections of the filling pipeline, and the distance between the straight pipe sections in the filling pipeline.

[0006] S200, based on the parameter information of the filling paste delivery device, the parameter information of the filling paste and the filling pipeline layout information, obtain the inner diameter R of the filling tube used in the filling pipeline in , and based on R in The outer diameter R of the filling tube is determined by the pumping pressure of the filling pump of the filling paste delivery equipment. out .

[0007] S300, based on R in and R out , select the required filling pipes to connect to form a filling pipeline, wherein the outer side of the filling pipe to be laid in the mining tunnel is wrapped with a pipeline floating device.

[0008] S400, controlling the automatic pipe laying equipment to transport the filling pipeline to be laid in the mining tunnel to the corresponding position of the mining tunnel, and controlling the automatic pipe laying equipment to exit the mining tunnel after transporting the filling pipeline.

[0009] S500 uses a detachable mining tunnel end plugging device to seal the exit of the mining tunnel.

[0010] S600, controlling the filling paste conveying device to convey the filling paste to the filling pipeline to fill the mining tunnel, and stopping conveying the filling paste when it is detected that the filling paste flows out from the sealing device at the end of the mining tunnel.

[0011] The present invention has at least the following beneficial effects:

[0012] The end-wall mining tunnel paste filling solution provided by the embodiment of the present invention uses automatic pipe laying equipment to lay the filling pipe, so it is possible to lay the pipeline in the mining tunnel without support. In addition, since a pipeline floating device is provided on the outside of the filling pipeline, during the filling process, the filling pipeline mouth in the mining tunnel always floats in the unsolidified paste under the action of the pipeline floating device, and the filling pipeline mouth will not be buried. In addition, the use of detachable plugging equipment to plug the opening of the mining tunnel, rather than using brick walls and plastering for plugging, has the advantages of strong resistance to side thrust, high plugging efficiency, reduced plugging cost and reusability.

[0013] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 A flow chart of a paste filling method for an end-wall mining tunnel provided by an embodiment of the present invention;

[0016] Figure 2a and Figure 2b A schematic diagram of a floating unit of a pipeline floating device provided in an embodiment of the present invention;

[0017] Figure 3 It is a structural schematic diagram of the fixed structure of the pipeline floating device;

[0018] Figure 4 A schematic diagram of a fixing member of a fixing structure of a pipeline floating device;

[0019] Figure 5 It is a side view of the automatic pipe routing equipment;

[0020] Figure 6 It is a top view of the automatic pipe routing equipment;

[0021] Figure 7 is a schematic diagram of a control terminal;

[0022] Figure 8 Schematic diagram of conveying filling pipeline for automatic pipe routing equipment;

[0023] Fig. 9 This is a schematic diagram of using sealing equipment to seal the mining tunnel after the filling pipeline is completed. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] It should be noted that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow charts describe the steps as sequential processes, many of the steps can be implemented in parallel, concurrently or simultaneously. In addition, the order of the steps can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0027] The embodiment of the present invention provides a method for filling paste in an end-wall mining tunnel, which is used to automatically fill the mining tunnel formed by the end-wall mining tunnel. Figure 8 and Fig. 9 As shown, a roof 4 and a bottom plate 6 are arranged in the mining tunnel 1.

[0028] Furthermore, if Figure 1 As shown, an embodiment of the present invention provides a method for filling paste in an end-wall mining tunnel, which may include the following steps:

[0029] S100, based on the conveying position of the filling paste, the slump of the filling paste, and the width and length of the mining tunnel to be filled, the filling pipeline layout information that needs to be arranged is obtained, and the filling pipeline layout information at least includes the number of filling pipelines, the layout positions of the filling pipelines, the number of curved pipe sections required for the filling pipelines, the distance between the pipeline outlets of any two filling pipelines, the equivalent distance of the straight pipe sections of the filling pipelines, and the distance between the straight pipe sections in the filling pipelines.

[0030] In an embodiment of the present invention, the number of filling pipelines to be arranged, the arrangement positions, and the distance between the pipeline outlets of any two filling pipelines can be determined based on the slump of the filling paste, the width and length of the mining tunnel. The slump of the filling paste can be obtained based on field tests. For example, when the slump of the filling paste is 250±20mm and the length of the mining tunnel is 120-150m, the width direction of the mining tunnel can be divided into 4 equal parts, that is, 4 filling pipelines can be arranged, and the pipeline outlets of each filling pipeline are 30-40m apart.

[0031] In an embodiment of the present invention, the number of curved pipe sections required for the filling pipeline, the equivalent distance of the straight pipe sections of the filling pipeline, the distance between the straight pipe sections in the filling pipeline, and the height difference between the inlet and outlet of the filling pipeline can be determined according to the filling pipeline layout plan, and the filling pipeline layout plan can be determined based on actual needs.

[0032] S200, based on the parameter information of the filling paste delivery device, the parameter information of the filling paste and the filling pipeline layout information, obtain the inner diameter R of the filling tube used in the filling pipeline in , and based on R inThe outer diameter R of the filling tube is determined by the pumping pressure of the filling pump of the filling paste delivery equipment. out .

[0033] In the embodiment of the present invention, R in The following conditions must be met:

[0034] R in =(P+L E max ) / (2L S max ×(K1+K2×(1+t2 / t1)×v));

[0035] Among them, P is the pumping pressure of the filling pump of the filling paste conveying equipment, Lmax is the equivalent distance of the maximum straight pipe section of the filling pipeline, and L E max =max(L E 1.L E 2, ..., L E i , ..., L E n ), L E i is the equivalent distance of the straight pipe section of the i-th filling pipeline, i ranges from 1 to n, n is the number of filling pipelines, max() represents the maximum value, L S max is the maximum straight pipe distance of the filling pipeline, L S max =max(L S 1.L S 2, ..., L S i , ..., L S n ), L S i is the straight pipe section distance of the i-th filling pipeline, K1 is the adhesion coefficient of the filling paste, K2 is the velocity coefficient of the filling paste, t2 is the switching time of the dispensing valve of the filling pump of the filling paste conveying equipment, t1 is the pushing time of the piston of the filling pump to push the filling paste, and v is the average flow velocity of the filling paste in the filling pipe.

[0036] In the embodiment of the present invention, the straight pipe section distance of the filling pipeline refers to the sum of the distances of all straight pipe sections required on the filling pipeline. In the embodiment of the present invention, the straight pipe section and the curved pipe section are both referred to as filling pipes.

[0037] In the embodiment of the present invention, L E i =L S i +10×N i , N iis the number of elbow segments required for the i-th filling pipeline.

[0038] In the embodiment of the present invention, the wall thickness d of the filling tube can be determined based on the pumping pressure of the filling pump of the filling paste delivery device, and the specific determination method can be the existing technology. After determining the wall thickness d of the filling tube, it can be known that R out =R in +d.

[0039] S300, based on R in and R out , select the required filling pipes and splice them to form a filling pipeline, wherein a pipeline floating device is provided on the outside of each filling pipe that needs to be laid in the mining tunnel.

[0040] S400, controlling the automatic pipe laying equipment to transport the filling pipeline to be laid in the mining tunnel to the corresponding position of the mining tunnel, and controlling the automatic pipe laying equipment to exit the mining tunnel after transporting the filling pipeline.

[0041] S500 uses a detachable mining tunnel end plugging device to seal the exit of the mining tunnel.

[0042] S600, controlling the filling paste conveying device to convey the filling paste to the filling pipeline to fill the mining tunnel, and stopping conveying the filling paste when it is detected that the filling paste flows out from the sealing device at the end of the mining tunnel.

[0043] In the embodiment of the present invention, in S300, based on R in and R out Select the required filling pipe model, and then according to the filling pipeline layout information, the filling pipes required for each filling pipeline can be connected in sequence to form the corresponding filling pipeline. In addition, the length of the floating monomer to be installed and the distance from the floating monomer to the filling pipeline orifice are determined according to the length of the filling pipeline that needs to be extended into the mining tunnel.

[0044] Furthermore, if Figures 2a to 9 As shown, the pipeline floating device 5 may include a first floating unit 501, a second floating unit 502 and a fixed structure that are mutually coupled in structure. A first arc-shaped axial groove is formed on the inner side of the first floating unit 501 along the axial direction, and at least one first arc-shaped groove is formed on the outer side of the first floating unit 501 along the circumferential direction. In the embodiment of the present invention, there are two first arc-shaped grooves, which are respectively arranged on both sides of the axial direction of the first floating unit. A second arc-shaped axial groove is formed on the inner side of the second floating unit 502 along the axial direction, and at least one second arc-shaped groove is formed on the outer side of the second floating unit 502 along the circumferential direction. In the embodiment of the present invention, there are two second arc-shaped grooves, which are respectively arranged on both sides of the axial direction of the second floating unit.

[0045] In an embodiment of the present invention, when the first floating unit 501 and the second floating unit 502 are in a connected state, the first arc-shaped axial groove and the second arc-shaped axial groove cooperate with each other to form a wrapping space that wraps the filling tube, and the first arc-shaped groove and the second arc-shaped groove cooperate with each other to form a fixing groove for installing the fixing structure.

[0046] In an embodiment of the present invention, the fixing structure is used to fix the first floating unit and the second floating unit so that the pipeline floating device is fixedly connected to the filling pipe. In an exemplary embodiment, the fixing structure is a clamp. Figure 3 and Figure 4 As shown, the fixing structure includes a fixing ring 503 and a fixing member. Two pairs of fixing holes are formed at the opening position of the fixing ring 503. The fixing member may include a fixing screw 504, a fixing nut 505 and a gasket (not shown).

[0047] When fixing the pipeline floating device, the two floating units are respectively put on the outside of the corresponding filling pipes, and then the fixing rings are inserted into the fixing grooves, and finally fixed with the fixing parts.

[0048] In the embodiment of the present invention, the pipeline floating device can be made of a light-weight, low-cost, wear-resistant and impact-resistant material. Further, in the embodiment of the present invention, the buoyancy generated by the pipeline floating device per unit length on the filling pipeline is not less than the force exerted by the filling pipeline + filling paste + floating device as a whole on the unsolidified paste when the pipe is full, that is, the inner diameter R of the pipeline floating device satisfies the following conditions:

[0049] ρ1×R in 2 +ρ2×(R out 2 -R in 2 )+ρ3×(R 2 -R in 2 )≤((πR 2 / 180)×arccos((Rh im ) / R)-

[0050] (Rh im )(R 2 -h im 2 ) 1 / 2 ×ρ1).

[0051] Where ρ1 is the density of the filling paste, ρ2 is the density of the filling pipe, ρ3 is the density of the pipeline floating device, and h im The depth of the filling structure immersed in the unsolidified filling paste, h imIt can be obtained through testing. The filling structure is formed by a filling pipeline filled with a filling paste and a pipeline floating device, that is, it is composed of a filling pipeline, a filling paste and a pipeline floating device.

[0052] In the embodiment of the present invention, the buoyancy of the pipeline floating device is used to combine the filling pipeline, the pipeline floating device, and the filling paste into an adaptive pipeline that rises continuously as the level of the unsolidified paste rises. In this way, during the filling process, the filling pipeline mouth in the mining tunnel always floats in the unsolidified paste under the action of the pipeline floating device, and the filling pipeline mouth will not be buried. Figure 5 and Figure 6 As shown, the automatic pipe laying equipment 3 may include a movable chassis 306 , a filling pipe fixing device arranged on the movable chassis 306 , a distance sensor 307 , a lighting and video monitoring device 303 , and a signal receiving controller 308 .

[0053] The filling pipe fixing device may include a filling pipe fixing platform 302, a movable filling pipe fixing member 301 and a driving part. The filling pipe fixing platform 302 is formed with a filling pipe fixing groove 309 extending in a first direction and a mounting opening 310 extending in a second direction. A first inclined portion 311 inclined downward is formed above the first side of the filling pipe fixing platform. The mounting opening is arranged at the middle position in the length direction of the filling pipe fixing platform 302, extending from the first side to the second side of the filling pipe fixing platform and passing through the filling pipe fixing groove and the second side. The first direction is the length direction of the filling pipe fixing platform, and the second direction is the width direction of the filling pipe fixing platform. The first side is the side close to the side of the movable chassis, and the second side is the side opposite to the first side. The filling pipe fixing groove 309 is a circular groove adapted to the filling pipe. The filling pipe fixing platform may be fixed on the movable chassis by welding.

[0054] like Figure 5 and Figure 6 As shown, the movable filling tube fixture 301 is connected to the driving part, and under the action of the driving part, it slides up and down along the installation opening to fix the filling tube and unload the filling tube. The movable tube fixture 301 may include a fixing body, and the fixing body includes a first end and a second end. The first end is connected to the driving part, and the second end is formed with a recessed portion 312 connected to the top of the movable filling fixture and a second inclined portion 313 connected to the recessed portion and inclined downward along the recessed portion 312. The recessed portion 312 and the second inclined portion 313 form a placement groove for placing the filling tube. The recessed portion 312 may include an arc segment and a straight segment connected in sequence, and the arc segment is connected to the top of the movable filling fixture.

[0055] The projection length of the recessed part in the horizontal direction is smaller than the projection length of the second inclined part in the horizontal direction. When the movable filling tube fixing part on which the filling tube is placed moves downward to contact with the movable chassis, the second inclined part contacts with the first side part, and the recessed part does not contact with the first side part. The distance between the top of the movable filling tube fixing part and the first side part is smaller than the outer diameter of the pipeline floating device, so that the filling tube is fixed in the fixing groove. When the movable filling tube fixing part moves upward to the second inclined part and the first inclined part are in the same straight line, the filling tube slides down along the slide formed by the second inclined part and the first inclined part by its own weight, so that the filling tube is unloaded.

[0056] In the embodiment of the present invention, the driving unit may include a driving motor 304 and a gearbox 305. The driving motor 304 is connected to the gearbox 305, and the gearbox 305 is connected to the movable filling tube fixing member 301 through a transmission structure, and the transmission structure may be any existing structure that can realize the upward and downward movement of the movable filling tube fixing member 301, and the present invention does not specifically limit this.

[0057] In the embodiment of the present invention, two filling tube fixing devices may be included, which are respectively arranged on the left and right sides of the mobile chassis 306.

[0058] In the embodiment of the present invention, the movable chassis 306 may be a chassis structure driven by a motor and moved on tracks.

[0059] In the embodiment of the present invention, the distance sensor 307 may include two, which are respectively arranged at the middle position of the front and rear ends of the movable chassis. The distance sensor may be a high-precision sensor that can be embedded in the movable chassis. The distance sensor is used to obtain the relative position of the pipe laying equipment in the mining tunnel.

[0060] In an embodiment of the present invention, the lighting and video monitoring device 303 is used to provide lighting and image acquisition functions, and may be composed of a high-brightness gas-proof lamp tube and a high-definition night vision camera lens, and may include two lighting and video monitoring devices 303, which are respectively arranged on the front and rear sides of the movable chassis.

[0061] In the embodiment of the present invention, the signal receiving controller 308 is used to receive signals sent by the distance sensor and the lighting and video monitoring device, specifically receiving the distance acquisition signal sent by the distance sensor 307 and the video signal sent by the lighting and video monitoring device 303.

[0062] Furthermore, in the embodiment of the present invention, the automatic pipe arrangement device 3 is connected to the control terminal for communication. Figure 7As shown, the control terminal 8 may include an operation console 801 and a display 802. The operation console 801 is provided with a pipe laying equipment switch 803, a pipe loading and unloading control switch 804, a driving control switch 805, a lighting and video monitoring switch 806, a pipe loading and unloading control 807, and a driving control rocker 808. In the embodiment of the present invention, each type of switch is a button type with an indicator light, red for off and green for on. Among them, the pipe loading and unloading control is controlled by two control groups 809 in addition to the switch control. Each control group includes three gears, which respectively control the three positions of the pipe, including the upward, locked and downward gears. The upward control can electrically adjust the sliding adaptive pipe fixing and unloading piece to slide upward, and the downward control can electrically adjust the sliding adaptive pipe fixing and unloading piece to slide downward, and lock the relative position and loading and unloading of the adaptive pipes respectively in the upward and downward joint control. The driving control rocker is used to control the walking posture of the automatic pipe laying equipment, including left turn, forward, backward and right turn.

[0063] In the embodiment of the present invention, the signal receiving controller 308 is also used to send the received signal to the control terminal 8. The video signal is converted into a real-time picture in the mining tunnel that can be displayed on the monitor. The signal sent by the distance sensor is converted and displayed on the monitor in the form of a digital display. The control personnel observes the real-time picture and distance display on the monitor and operates the joystick on the operating table to complete the forward, backward, left turn, and right turn of the automatic pipe laying equipment.

[0064] In the embodiment of the present invention, the automatic pipe laying equipment is used to lay the pipeline, which can realize the laying of pipeline in the mining tunnel without support. Figure 8 As shown, the automatic pipe laying equipment transports the spliced ​​filling pipeline 2 into the mining tunnel 1.

[0065] Furthermore, if Figure 8 and Fig. 9 As shown, the mining tunnel end sealing device 7 may include a sealing baffle 701, a horizontal support plate 702, a vertical support plate 703, a retractable inclined support plate 704, a fixed pile 705 and an inflatable pipeline fixing sleeve 708.

[0066] In the embodiment of the present invention, the blocking baffle 701 is provided with an observation window 706 and a through hole 709 for the filling pipe to pass through, and the blocking baffle is used to block the opening of the mining tunnel. The transverse support plate 7-2 and the vertical support plate 703 are respectively fixedly connected to the blocking baffle, for example, by bolts, to provide support force for the blocking baffle.

[0067] One end of the retractable inclined support plate 704 abuts against the blocking baffle 701, and the other end abuts against the fixing pile 705, and the fixing pile 705 is fixed on the ground. The inflatable pipeline fixing sleeve 708 is located in the through hole and sleeved on the corresponding filling pipe. When the inflatable pipeline fixing sleeve is in an inflated state, the filling pipeline is fixed on the blocking baffle by the inflation pressure.

[0068] Specifically, a forklift can be used to transport the plugging equipment to a designated location, and a down-the-hole drill can be used to drill holes for installing fixed piles at appropriate locations. The telescopic mechanism in the telescopic tilting support plate is controlled by a cylinder. The inner diameter of the inflatable pipeline road fixing sleeve is the same as the outer diameter of the filling pipeline, can be mainly made of rubber, and can be supplied with air by a small air compressor.

[0069] In the embodiment of the present invention, the end plugging equipment of the mining tunnel needs to provide the force generated by the overflow of the short-term unsolidified paste slurry filled in the mining tunnel on the plugging equipment. In the embodiment of the present invention, the total pressure P provided by the end plugging equipment of the mining tunnel meets the following conditions:

[0070] P=((γ / 2×h×tan(π / 4-φ / 2)-2C)×h×tan(π / 4-φ / 2)+2C 2 / γ)×W;

[0071] Wherein, C is the bonding force of the filling paste, φ is the internal friction angle of the filling paste, h is the height of the filling paste in the mining tunnel, W is the mining width of the mining tunnel, and γ is the bulk density of the filling paste. C is the bonding force of the filling paste after solidification, and φ is the internal friction angle of the filling paste after solidification. h>(2C / (γ×tan(π / 4-φ / 2))).

[0072] In another embodiment of the present invention, if h≤(2C / (γ×tan(π / 4-φ / 2))), no plugging equipment is required, and the filling paste can be solidified by relying on its own solidification ability.

[0073] In an embodiment of the present invention, in S600, the filling pump is turned on to transport the filling paste into the mining tunnel. The filling pipeline mouth in the mining tunnel always floats in the unsolidified paste under the action of the pipeline floating device, and the filling pipeline mouth will not be buried. Grouting is continued until the paste flows out from the exhaust hole of the mining tunnel sealing equipment, indicating that the paste has filled the entire mining tunnel, and the transportation of the paste is stopped.

[0074] Furthermore, the method provided by the embodiment of the present invention also includes the following steps:

[0075] S700, when it is determined that the solidification strength of the filling paste in the mining tunnel is greater than or equal to the set solidification strength, the mining tunnel end plugging device is removed.

[0076] The set solidification strength may be the design strength. When it is determined that the solidification strength of the filling paste in the mining tunnel is greater than or equal to the set solidification strength, the fixed pile of the mining tunnel port plugging device is pulled out, the retractable inclined support plate is moved, the side thrust of the mining tunnel plugging device is removed, and the vertical support plate and the horizontal support plate are moved to the initial state, that is, the vertical support plate and the horizontal support plate are removed from the plugging baffle. Then, a forklift is used to move the plugging device to the next mining tunnel entrance to perform the next plugging operation. It should be understood that various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in the present invention can be executed in parallel, sequentially, or in different orders. As long as the desired results of the technical solution disclosed in the present invention can be achieved, this document is not limited here.

[0077] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for filling paste in an end-wall mining tunnel, characterized in that: The method comprises the following steps: S100, based on the conveying position of the filling paste, the slump of the filling paste, and the width and length of the mining tunnel to be filled, the filling pipeline layout information is obtained, wherein the filling pipeline layout information at least includes the number of filling pipelines, the layout position of each filling pipeline, the number of curved pipe sections required for the filling pipeline, the distance between the pipeline outlets of any two filling pipelines, the equivalent distance of the straight pipe sections of the filling pipeline, and the distance between the straight pipe sections in the filling pipeline; S200, based on the parameter information of the filling paste delivery device, the parameter information of the filling paste and the filling pipeline layout information, obtain the inner diameter R of the filling tube used in the filling pipeline in , and based on R in The outer diameter R of the filling tube is determined by the pumping pressure of the filling pump of the filling paste delivery equipment. out ; S300, based on R in and R out , select the required filling pipes to connect to form a filling pipeline, wherein the outer side of the filling pipe to be laid in the mining tunnel is wrapped with a pipeline floating device; S400, controlling the automatic pipe laying equipment to transport the filling pipeline to be laid in the mining tunnel to the corresponding position of the mining tunnel, and controlling the automatic pipe laying equipment to exit the mining tunnel after transporting the filling pipeline; S500, uses detachable tunnel end plugging equipment to plug the exit of the tunnel; S600, controlling the filling paste conveying device to convey the filling paste to the filling pipeline to fill the mining tunnel, and stopping conveying the filling paste when it is detected that the filling paste flows out from the sealing device at the end of the mining tunnel.

2. The method according to claim 1, characterized in that R in The following conditions must be met: R in =(P+L E max ) / (2L S max ×(K1+K2×(1+t2 / t1)×v)); Among them, P is the pumping pressure of the filling pump of the filling paste conveying equipment, Lmax is the equivalent distance of the maximum straight pipe section of the filling pipeline, and L E max =max(L E 1.L E 2, ..., L E i , ..., L E n ), L E i is the equivalent distance of the straight pipe section of the i-th filling pipeline, i ranges from 1 to n, n is the number of filling pipelines, max() represents the maximum value, L S max is the maximum straight pipe distance of the filling pipeline, L S max =max(L S 1.L S 2, ..., L S i , ..., L S n ), L S i is the straight pipe section distance of the i-th filling pipeline, K1 is the adhesion coefficient of the filling paste, K2 is the velocity coefficient of the filling paste, t2 is the switching time of the dispensing valve of the filling pump of the filling paste conveying equipment, t1 is the pushing time of the piston of the filling pump to push the filling paste, and v is the average flow velocity of the filling paste in the filling pipe.

3. The method according to claim 1, characterized in that The pipeline floating device includes a first floating monomer, a second floating monomer and a fixed structure that are structurally coupled to each other. A first arc-shaped axial groove is formed on the inner side of the first floating monomer along the axial direction, and at least one first arc-shaped groove is formed on the outer side of the first floating monomer along the circumferential direction. A second arc-shaped axial groove is formed on the inner side of the second floating monomer along the axial direction, and at least one second arc-shaped groove is formed on the outer side of the second floating monomer along the circumferential direction. When the first floating monomer and the second floating monomer are in a connected state, the first arc-shaped axial groove and the second arc-shaped axial groove cooperate with each other to form a wrapping space that wraps a filling pipe, and the first arc-shaped groove and the second arc-shaped groove cooperate with each other to form a fixing groove for installing the fixing structure. The fixing structure is used to fix the first floating monomer and the second floating monomer so that the pipeline floating device is fixedly connected to the filling pipe.

4. The method according to claim 1, characterized in that: The fixing structure is a clamp.

5. The method according to claim 1, characterized in that The inner diameter R of the pipeline floating device meets the following conditions: ρ1×R in 2 +ρ2×(R out 2 -R in 2 )+ρ3×(R 2 -R in 2 )≤((πR 2 / 180)×arccos((R-h im ) / R) -(R-h im )(R 2 -h im 2 ) 1 / 2 ×ρ1); Where ρ1 is the density of the filling paste, ρ2 is the density of the filling pipe, ρ3 is the density of the pipeline floating device, and h im The depth is the depth at which the filling structure is immersed in the unsolidified filling paste as a whole, and the filling structure is composed of the filling paste, the filling pipeline and the pipeline floating device.

6. The method according to claim 1, characterized in that The automatic pipe laying equipment includes a movable chassis, a filling pipe fixing device arranged on the movable chassis, a distance sensor, a lighting and video monitoring device, and a signal receiving controller; The filling pipe fixing device comprises a filling pipe fixing platform, a movable filling pipe fixing member and a driving part, the filling pipe fixing platform is formed with a filling pipe fixing groove extending in a first direction and a mounting opening extending in a second direction, a first inclined portion inclined downward is formed above a first side portion of the filling pipe fixing platform, the first direction is a length direction of the filling pipe fixing platform, the second direction is a width direction of the filling pipe fixing platform, the first side portion is a side close to the side portion of the movable chassis, and the second side portion is a side opposite to the first side portion; The movable filling tube fixing piece is connected to the driving part, and under the action of the driving part, slides up and down along the installation opening to fix the filling tube and unload the filling tube; the movable tube fixing piece includes a fixing body, and the fixing body includes a first end and a second end, the first end is connected to the driving part, and the second end is formed with a recessed part connected to the top of the movable filling fixing piece and a second inclined part connected to the recessed part and inclined downward along the recessed part, and the recessed part and the second inclined part form a placement groove for placing the filling tube; Wherein, when the movable filling tube fixing member on which the filling tube is placed moves downward to contact with the movable chassis, the second inclined portion contacts with the first side portion, the recessed portion does not contact with the first side portion, and the distance between the top of the movable filling tube fixing member and the first side portion is smaller than the outer diameter of the pipeline floating device, so that the filling tube is fixed in the fixing groove, and when the movable filling tube fixing member moves upward to the second inclined portion and the first inclined portion are in the same straight line, the filling tube slides downward along the slideway formed by the second inclined portion and the first inclined portion by its own gravity, so that the filling tube is unloaded; The signal receiving controller is used to receive signals sent by the distance sensor and the lighting and video monitoring devices.

7. The method according to claim 1, characterized in that The mining tunnel end plugging equipment includes a plugging baffle, a horizontal support plate, a vertical support plate, a telescopic inclined support plate, a fixed pile and an inflatable pipeline fixing sleeve; The blocking baffle is provided with an observation window and a through hole for a filling pipe to pass through, the blocking baffle is used to block the entrance of the mining tunnel, the transverse support plate and the vertical support plate are respectively fixedly connected to the blocking baffle, one end of the retractable inclined support plate abuts against the blocking baffle, and the other end abuts against the fixed pile, the fixed pile is fixed on the ground, the inflatable pipeline fixing sleeve is located in the through hole and is sleeved on the corresponding filling pipe, and when the inflatable pipeline fixing sleeve is in an inflated state, the filling pipeline is fixed on the blocking baffle by the inflation pressure.

8. The method according to claim 1, characterized in that: The total pressure P provided by the mining tunnel end plugging equipment meets the following conditions: P=((γ / 2×h×tan(π / 4-φ / 2)-2C)×h×tan(π / 4-φ / 2)+2C 2 / c)×W; Among them, C is the bonding force of the filling paste, φ is the internal friction angle of the filling paste, h is the height of the filling paste in the mining tunnel, W is the mining width of the mining tunnel, and γ is the bulk density of the filling paste.

9. The method according to claim 1, characterized in that: The following steps are also included: S700, when it is determined that the solidification strength of the filling paste in the mining tunnel is greater than or equal to the set solidification strength, the mining tunnel end plugging device is removed.

10. The method according to claim 6, characterized in that The automatic pipe laying equipment is connected to a control terminal, and the signal receiving controller is further used to send the received signal to the control terminal.

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