A goaf collapse control device and method based on pressure relief-filling combination

Abstract

The present invention discloses a goaf collapse control device and control method based on pressure relief and filling combination, which includes a release agent spraying mechanism, a roof cutting mechanism, a concrete pouring mechanism, a lateral support mechanism, a lateral baffle, a fence mechanism, a fence lifting mechanism, and a walking mechanism. The release agent spraying structure is used to complete the uniform spraying of the release agent, the roof cutting mechanism is used to complete the cutting of the roof, the concrete pouring mechanism is used to complete the construction of the retaining wall, the lateral support mechanism is used to prevent the left and right side fences from moving lateraly, the lateral baffle is used to complete the column side filling, and the fence lifting mechanism is used to lift the fence mechanism to complete the construction of the concrete retaining wall. The present invention isolates the external stress from entering through the top plate slit, which can hinder the spread of disasters and effectively cut off the chain collapse disaster transmission path of the goaf. At the same time, by constructing a retaining wall to share the stress of the pillar and improving the stability of the pillar by filling beside the pillar, the long-term safety of the hidden danger pillar is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of underground mine disaster risk control, and in particular to a goaf collapse control device and method based on pressure relief-filling combination. Background Art

[0002] As a major underground mining method, the empty field goaf has been widely used, but a large number of goafs have been left behind. The stability of these goafs and pillars is not only related to the resource recovery rate of the mine, but also closely related to the life safety of miners and the sustainable development of the mine. Pillars are the main supporting structure of the goaf, and the stability of the goaf depends to a large extent on the stability of the pillars. Due to the complex environment of the goaf and the limitations of pillars of various sizes and shapes, there is currently a lack of effective methods for the management of risky pillars in goafs.

[0003] In the prior art, for example, the invention patent with application number CN117132116A discloses a risk assessment-based goaf area disaster identification system and management method, which defines the disaster risk level of the goaf area of ​​underground mines and proposes corresponding management methods for different disaster levels. When the risk is low, the management method is: anti-movement and anti-deterioration reinforcement method, that is, cement, sand, stone, water, and fiber are mixed and stirred in a certain proportion to obtain fiber-mixed concrete, and the obtained fiber-mixed concrete is evenly sprayed onto the mine pillar vertically on the surface of the rock pillar and solidified, and the mine pillar is reinforced to maintain the mine. The stability of the pillar can provide good support; when the risk is medium, high and extremely high, the management methods are filling method and collapse method, among which the filling method is: the filling method includes dry stone filling method, tailings mortar filling method and cementing filling method. For medium and high risk areas, high-efficiency deep cone thickener + single sand bin can be used to dispose of the whole tailings paste pumping cementing filling process; the collapse method is: fill the empty area with collapsed surrounding rock or form a buffering and protective rock cushion layer to prevent the sudden collapse of a large amount of upper rock, and the air wave impact and mechanical impact of the tunnel, equipment and personnel, alleviate stress concentration, and reduce the support pressure of the rock. Although the patent mentions the management method of the goaf, it does not mention how to fill the goaf and what kind of device to use to achieve the filling. Therefore, how to achieve the management of risky pillars in the goaf is still a difficult problem.

[0004] In view of this, it is necessary to design a goaf collapse control device and method to solve the above problems. Summary of the invention

[0005] The present invention provides a goaf collapse control device and method based on combined pressure relief and filling, aiming to isolate the introduction of external stress through the goaf collapse control device based on combined pressure relief and filling, effectively cut off the chain collapse disaster transmission path of the goaf, build a retaining wall to share the stress of the mine pillar, improve the stability of the mine pillar by filling beside the pillar, and ensure the long-term safety of the mine pillar with hidden dangers.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A goaf collapse control device based on pressure relief-filling combination, characterized in that the device consists of a release agent spraying mechanism, a roof cutting mechanism, a concrete pouring mechanism, a lateral support mechanism, a lateral baffle, a barrier mechanism, a barrier lifting mechanism, and a walking mechanism; the barrier mechanism includes a barrier mechanism formed on four sides of front, back, left and right, which is driven to rise and fall by the barrier lifting mechanism, and the barrier lifting structure includes a pressure pump, a display, a control button, a lifting structure, a limit module, and a distribution box; a toothed track composed of a rack is arranged on the upper end of the left and right side barrier mechanisms, and the release agent spraying mechanism drives the matching gear through the motor on its base to mesh with the rack to realize movement on the left and right side barrier mechanisms. , also includes a nozzle installed on the base, a retractable spraying mechanical arm, a hose and a release agent tank; the top plate cutting mechanism is arranged on the outside of the left enclosure mechanism, including a fixed arm, a rotating mechanism and a cutting component; the concrete pouring mechanism is installed on the right enclosure, including a pouring pipe, a pouring machine, a second motor and a second gear. A toothed structure is provided on one side of the surface of the pouring pipe, and the second motor drives the second gear to engage with the toothed structure to enable the pouring pipe to pass through the left and right enclosures and the lateral baffles; the lateral support structure is fixed to the outside of the left and right enclosures, including a fixed knob, a bracket and a retractable knob; the lateral baffle is fixed on the left enclosure, including a fixed frame and a baffle body.

[0008] Furthermore, the front enclosure mechanism is fixedly connected to the left and right enclosure mechanisms, and the rear enclosure mechanism is movably connected to the right enclosure through opening and closing blades, and is fixed to the left enclosure through a limiter, so that when the enclosure lifting mechanism drives the lifting, it can be lifted and lowered as a whole.

[0009] Furthermore, the distribution box is installed on the left and right side enclosures, and the two ends of the lifting structure are respectively fixed on the distribution box and the walking mechanism, including a piston rod and a telescopic bracket, wherein the piston rod is sleeved on the telescopic bracket so that the telescopic bracket moves with the piston rod, and a limit module is installed at the bottom of the telescopic bracket. The pressure pump is installed in the distribution box to provide power for the extension or contraction of the piston rod, and the display and control buttons are installed on the distribution box.

[0010] Furthermore, the retractable spraying robot arm is fixed on the base and can be freely retracted. The spray head is installed at the end of the retractable spraying robot arm and can move with the extension and retraction of the robot arm to evenly spray the release agent on the inner side of the enclosure to facilitate the demoulding of the concrete. The release agent tank is installed on the base and is connected to the retractable robot arm through the hose after the warp wheel is bundled to transmit the release agent to the spray head; the motor drives the gear below to rotate and move on the toothed track, and the gear above rotates with the movement without the need for additional drive; buffer blocks are installed at both ends of the toothed track to provide buffering and limiting effects when the release agent spraying mechanism moves to both ends of the track.

[0011] Furthermore, the interior of the retractable spraying robot arm is hollow.

[0012] Furthermore, the fixed arm of the top plate cutting mechanism is fixed on the left side enclosure, the rotating mechanism is installed at the end of the fixed arm, the cutting component is connected to the fixed arm through the rotating mechanism, and the cutting component can be selected according to the cutting depth. When the cutting depth is shallow, the cutting blade can be selected. When the cutting depth is deep, the cutting blade can be replaced with a drill, and drilling by the drill can achieve a similar cutting effect.

[0013] Furthermore, the casting machine is fixed under the right side enclosure to provide power for transporting concrete. The casting pipe is installed above the casting machine to transport concrete. Motor 2 is fixed on the right side enclosure and is located on one side of the casting pipe. Gear 2 is installed on Motor 2 and meshes with the toothed structure on the surface of the casting pipe, thereby providing power for gear 2 and driving the casting pipe to move. Through holes for the casting pipe to pass through are provided on the left and right side enclosures and the side baffles, wherein a circular baffle is provided on the through hole of the left side enclosure, and the switch of the circular baffle is controlled by opening and closing the leaf piece.

[0014] Furthermore, the bracket of the lateral support mechanism is fixed to the middle part of the left and right side enclosure mechanisms through a fixing knob, and the telescopic knob is installed on the bracket to control the telescopic movement of the bracket. There are multiple lateral support mechanisms, which are evenly installed on the outer sides of the left and right side enclosure mechanisms to support the enclosure mechanism and prevent the enclosure mechanism from lateral movement.

[0015] A method for controlling goaf collapse based on pressure relief and filling combination is implemented by adopting the above-mentioned goaf collapse control device based on pressure relief and filling combination, and is characterized by comprising the following steps:

[0016] 1) Determine the distribution of pillars, measure the initial stress value around the pillars, determine the strength of the pillars and the size of the stress value, evaluate the instability probability of the pillars and the consequences of instability disasters, and then calculate the instability risk value of each pillar (instability risk value = instability probability * instability disaster consequences). According to the instability risk value, the instability risk of the pillars is divided into three levels: high, medium and low;

[0017] 2) If the risk of pillar instability is high or medium, fences are built around the pillars and a reasonable fence path is planned. The fence path is determined by first determining the maximum stress value that the pillars can bear, then measuring the initial stress value around the pillars, and then determining how much stress the fence should withstand. Finally, the hydraulic radius of the fence is determined according to the formula, so as to plan a reasonable fence path.

[0018] 3) Move the device to the planned enclosure path, use the roof cutting mechanism to cut the roof, and release the stress around the pillars;

[0019] 4) After the top plate is cut, the retaining wall is poured. The pouring process is as follows: first, the enclosure lifting mechanism is started, the left and right enclosures are lowered to contact the ground, and the lateral support mechanism is opened. Next, the release agent spraying mechanism is started, and the release agent is evenly sprayed on the inner side of the enclosure using the retractable spraying mechanical arm. Then, the retractable spraying mechanical arm is recovered to pour concrete. The first layer of the wall is poured using the concrete pouring mechanism. After the first layer is poured, the enclosure lifting mechanism is started to move the enclosure upwards, and the second layer of the retaining wall is poured. This process is repeated until it is connected to the top plate, thereby completing the subsequent retaining wall pouring work.

[0020] 5) When there is only one gap left after the retaining wall is cast, measure the stress values ​​around the pillars and the retaining wall to evaluate the risk of pillar instability; if the risk of pillar instability after enclosure is low, use a disposable baffle to cast the gap, or directly use manual casting to cast the gap; if the risk of pillar instability after enclosure is high or medium, fill the goaf between risky pillars.

[0021] Furthermore, when it is necessary to fill the pillars behind the enclosure, when the enclosure is about to be poured, the side baffle is used to block the gap in the enclosure, the motor 2 is started to extend the pouring pipe, the opening and closing leaves are opened to allow the pouring pipe to pass through the left and right side enclosure mechanisms and the side baffles, and then the pouring machine is started to start filling the goaf until the pouring is completed.

[0022] Beneficial Effects

[0023] The present invention proposes a device and method for controlling goaf collapse based on pressure relief and filling combination, which has the following main outstanding advantages:

[0024] (1) The goaf collapse control device and method proposed in the present invention can, on the one hand, pre-cut the roof to release the stress around the pillars and isolate the pillars, thereby achieving the purpose of pressure relief. On the other hand, a retaining wall can be constructed around the pillars according to the planned enclosure path through a casting mechanism to bear the stress around the pillars, thereby reducing the risk of pillar collapse and improving the stability of the pillars. Furthermore, after the retaining wall is constructed, the stability of the pillars is re-evaluated. If the stability of the pillars after enclosure is still at risk, the goaf between the risky pillars is filled to further reduce the risk of goaf collapse. The scheme of the present invention can greatly improve the stability of the pillars through the combined advancement of three measures, thereby reducing the risk of goaf collapse and ensuring safe underground operations.

[0025] (2) Before constructing the fence around the pillar, the present application will predetermine the maximum stress value that the pillar can bear, then measure the initial stress value around the pillar, thereby determining how much stress the fence should bear, and finally determine the hydraulic radius of the fence according to the formula, thereby planning a reasonable enclosure path. In this way, the pillar stress that the fence needs to share can be accurately determined, avoiding blind construction of the fence, resulting in ineffective enclosure and waste of grouting materials, which can effectively improve the working efficiency of the device and reduce economic costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is a schematic diagram of the overall top view of the device of the present invention;

[0027] Figure 2 It is a schematic diagram of the three-dimensional structure of the device of the present invention;

[0028] Figure 3 It is a schematic diagram of the left side enclosure structure of the device of the present invention;

[0029] Figure 4 It is a schematic diagram of the right side enclosure structure of the device of the present invention;

[0030] Figure 5 It is a schematic diagram of the release agent spraying structure of the device of the present invention;

[0031] Figure 6 Schematic diagram of the driving structure of the release agent spraying structure of the device of the present invention;

[0032] Figure 7 It is a front overall schematic diagram of the device of the present invention;

[0033] Figure 8 It is a schematic diagram of the enclosure lifting structure of the present invention;

[0034] Fig. 9 is a schematic diagram of a concrete pouring mechanism of the device of the present invention;

[0035] Fig.10It is a schematic diagram of concrete pouring for constructing a wall using the device of the present invention;

[0036] Fig.11 It is a schematic diagram of the concrete filling of the goaf area beside the pillar by the device of the present invention;

[0037] Fig.12 It is a schematic diagram of the construction of the column side enclosure of the present invention;

[0038] Fig.13 This is a schematic diagram of the filling construction of the goaf area beside the column of the present invention;

[0039] The symbols and corresponding names in the accompanying drawings are as follows:

[0040] 1. Release agent spraying mechanism; 2. Top plate cutting mechanism; 3. Concrete pouring mechanism; 4. Lateral support mechanism; 5. Lateral baffle; 6. Retaining wall lifting mechanism; 7. Walking mechanism; 8. Left retaining wall; 9. Right retaining wall; 10. Top plate; 11. Concrete; 12. Pillar; 101. Spray head; 102. Retractable spraying robot arm; 103. Motor 1; 104. Hose; 105. Release agent tank; 106. Buffer block; 107. Toothed track; 108. Gear 1; 109. Base; 131. Stopper; 132 Opening and closing blades; 201. Fixed arm; 202, rotating mechanism; 203, cutting component; 301, casting pipe; 302, casting machine; 303, motor 2; 304, circular baffle; 305, opening and closing leaf; 306, tooth structure; 307, gear 2; 401, fixed knob; 402, bracket; 403, telescopic knob; 501, fixed frame; 502, baffle body; 601, pressure pump; 602, display; 603, control button; 604, lifting structure; 605, limit module; 606, distribution box; 607 piston rod; 608, telescopic bracket. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0042] It should also be noted that, in order to avoid obscuring the present invention due to unnecessary details, only structures and processing steps closely related to the scheme of the present invention are shown in the drawings, while other details that are not closely related to the present invention are omitted.

[0043] Embodiment 1

[0044] like Figures 1 to 11As shown, the first embodiment of the present invention provides a goaf collapse control device based on pressure relief-filling combination, and the device consists of a release agent spraying mechanism 1, a roof cutting mechanism 2, a concrete pouring mechanism 3, a lateral support mechanism 4, a lateral baffle 5, a blocking mechanism, a blocking lifting mechanism 6, and a walking mechanism 7; the blocking mechanism includes a blocking mechanism formed on four sides of front, back, left and right, which is driven to rise and fall by the blocking lifting mechanism 6, and the blocking lifting structure 6 includes a pressure pump 601, a display 602, a control button 603, a lifting structure 604, a limit module 605, and a distribution box 606; a toothed track 107 composed of a rack is arranged on the upper end of the left and right side blocking mechanisms, and the release agent spraying mechanism 1 drives the matching gear 108 to mesh with the rack through the motor 103 on its base 109 to realize movement on the left and right side blocking mechanisms, and also includes a motor 103 installed on the base A spray head 101, a retractable spraying robot arm 102, a hose 104 and a release agent tank 105; the top plate cutting mechanism 2 is arranged on the outside of the left enclosure mechanism, including a fixed arm 201, a rotating mechanism 202 and a cutting component 203; the concrete pouring mechanism 3 is installed on the right enclosure, including a pouring pipe 301, a pouring machine 302, a second motor 303 and a second gear 307. A tooth structure 306 is arranged on one side of the surface of the pouring pipe 301, and the second motor 303 drives the second gear 307 to engage with the tooth structure 306, so that the pouring pipe 301 can pass through the left and right enclosure mechanisms and the lateral baffle 5; the lateral support structure 4 is fixed to the outside of the left and right enclosures, including a fixed knob 401, a bracket 402 and a telescopic knob 403; the lateral baffle 5 is fixed on the left enclosure, including a fixing frame 501 and a baffle body 502.

[0045] Furthermore, the front enclosure mechanism is fixedly connected to the left and right enclosure mechanisms, and the rear enclosure mechanism is movably connected to the right enclosure through an opening and closing blade 132, and is fixed to the left enclosure through a limiter 131, so that when the enclosure lifting mechanism 6 drives the lifting, it can be lifted and lowered as a whole, and when the rear enclosure mechanism needs to be opened, it can be opened by releasing the limiter.

[0046] Furthermore, the distribution box 606 of the enclosure lifting mechanism 6 is installed on the left and right side enclosures for placing cables and other components. The two ends of the lifting structure 604 are respectively fixed on the distribution box 606 and the walking mechanism 7, including a piston rod 607 and a telescopic bracket 608, wherein the piston rod 607 is sleeved on the telescopic bracket 608, so that the telescopic bracket 608 moves with the piston rod 607, and a limit module 605 is installed at the bottom of the telescopic bracket 608 to prevent the telescopic bracket 608 from rapidly falling when the pressure suddenly becomes unstable. The pressure pump 601 is installed in the distribution box 606 to provide power for the extension or contraction of the piston rod 607. The display 602 and the control button 603 are installed on the distribution box 606 to display the telescopic length of the piston rod 607 and the output pressure of the pressure pump 601, and to control the output of the pressure pump 601.

[0047] Furthermore, the retractable spraying robot arm 102 is fixed on the base 109 and can be freely retracted. The spray head 101 is installed at the end of the retractable spraying robot arm 102, and can move with the extension and retraction of the robot arm to evenly spray the release agent on the inner side of the enclosure to facilitate the demoulding of the concrete. The release agent tank 105 is installed on the base 109, and is connected to the retractable robot arm 102 through the hose 104 after the warp wheel is bundled, so as to transmit the release agent to the spray head 101; the motor 103 drives the gear 108 below to rotate and move on the toothed track 107, and the gear 108 above rotates with the movement without the need for additional drive; buffer blocks 106 are installed at both ends of the toothed track 107 to provide buffering and limiting effects when the release agent spraying mechanism moves to both ends of the track.

[0048] Furthermore, the interior of the retractable spraying robot arm 102 is hollow.

[0049] Furthermore, the fixed arm 201 of the roof cutting mechanism 2 is fixed on the left side enclosure 8, the rotating mechanism 202 is installed at the end of the fixed arm 201, and the cutting component 203 is connected to the fixed arm 201 through the rotating mechanism 202, and is used to cut the roof above the pillar to isolate the stress borne by the pillar and achieve the purpose of pressure relief. The cutting component 203 can be selected according to the cutting depth. When the cutting depth is shallow, a cutting blade can be selected. When the cutting depth is deep, the cutting blade can be replaced with a drill, and a similar cutting effect can be achieved by drilling a hole with the drill.

[0050] Furthermore, the pouring machine 302 is fixed under the right side enclosure 9 to provide power for transporting concrete. The pouring pipe 301 is installed above the pouring machine 302 to transport concrete. Motor 2 303 is fixed on the right side enclosure 9 and is located on one side of the pouring pipe 301. Gear 2 307 is installed on motor 2 303 and meshes with the toothed structure 306 on the surface of the pouring pipe 301, thereby providing power for gear 2 307, and then driving the pouring pipe 301 to move. Through holes for the pouring pipe 301 to pass through are provided on the left and right side enclosures and the side baffles, wherein a circular baffle 304 is provided on the through hole of the left side enclosure, and the switch of the circular baffle 304 is controlled by the opening and closing page 305.

[0051] Furthermore, the bracket 402 of the lateral support mechanism 4 is fixed to the middle part of the left and right side enclosure mechanisms by a fixing knob 401, and the telescopic knob 403 is installed on the bracket 402 to control the telescopic movement of the bracket. There are multiple lateral support mechanisms 4, which are evenly installed on the outer sides of the left and right side enclosure mechanisms to support the enclosure mechanisms and prevent the enclosure mechanisms from moving lateraly.

[0052] Furthermore, the walking mechanism 7 is composed of four crawler mechanisms, and steering is achieved through the speed difference between the crawlers.

[0053] Implementation Case 2

[0054] like Figures 10 to 13 The second embodiment of the present invention provides a method for controlling goaf collapse based on pressure relief and filling, which is implemented by the above-mentioned goaf collapse control device based on pressure relief and filling, and includes the following steps:

[0055] 1) Determine the distribution of pillars, measure the initial stress value around the pillars, determine the strength of the pillars and the size of the stress value, evaluate the instability probability of the pillars and the consequences of instability disasters, and then calculate the instability risk value of each pillar (instability risk value = instability probability * instability disaster consequences). According to the instability risk value, the instability risk of the pillars is divided into three levels: high, medium and low;

[0056] 2) If the risk of pillar instability is high or medium, fence around the pillar and plan a reasonable fence path;

[0057] 3) Move the device to a reasonable enclosure path, cut the roof, release the stress around the pillars and isolate the pillars;

[0058] 4) After the top plate is cut, the pouring process of the retaining wall begins;

[0059] 5) When there is only one gap left after the retaining wall is cast, measure the stress values ​​around the pillars and the retaining wall to evaluate the risk of pillar instability; if the risk of the pillars after enclosure is low, use a disposable baffle to cast the gap, or directly use manual casting to cast the gap; if the risk of pillar instability after enclosure is high or medium, fill the goaf between the risk pillars.

[0060] Furthermore, after the cutting is completed, the wall is poured, and the pouring process is as follows: first, the enclosure lifting mechanism 6 is started, the left enclosure 8 and the right enclosure 9 are lowered to contact the ground, and the lateral support mechanism 4 is opened. Secondly, the release agent spraying mechanism 1 is started, and the release agent is evenly sprayed on the inner side of the enclosure using the retractable spraying robot arm 102. Then the retractable spraying robot arm 102 is recovered to pour concrete, and the concrete pouring mechanism 3 is used to pour the first layer of the wall. After the first layer is poured, the enclosure lifting mechanism 6 is started to move the enclosure upwards, and the pouring of the second layer of the retaining wall is started, and so on, until it is connected to the top plate, thereby completing the subsequent pouring of the retaining wall.

[0061] Furthermore, when it is necessary to fill the pillars behind the enclosure, when the enclosure is about to be poured, the side baffle 5 is used to block the gap in the enclosure, the motor 2 303 is started to extend the pouring pipe 301, and the opening and closing leaves 305 are opened to allow the pouring pipe 301 to pass through the left and right side enclosure mechanisms and the side baffles, and then the pouring machine 302 is started to start filling the goaf until the pouring is completed.

Claims

1. A goaf collapse control device based on pressure relief-filling combination, characterized in that: The device comprises a release agent spraying mechanism (1), a top plate cutting mechanism (2), a concrete pouring mechanism (3), a lateral support mechanism (4), a lateral baffle (5), a blocking mechanism, a blocking lifting mechanism (6), and a walking mechanism (7); the blocking mechanism comprises a blocking mechanism formed by four sides, front, back, left, and right, and is driven to rise and fall by the blocking lifting mechanism (6); the blocking lifting mechanism (6) comprises a pressure pump (601), a display (602), a control button (603), a lifting structure (604), a limit module (605), and a distribution box (606); toothed tracks (107) composed of racks are arranged at the upper ends of the left and right side blocking mechanisms; the release agent spraying mechanism (1) drives a matching gear (108) to mesh with the racks through a motor (103) on a base (109) thereof, so as to move on the left and right side blocking mechanisms; the device also comprises a spray head (101) arranged on the base, a retractable spraying mechanical arm (102), a hose (103), and a plurality of other components; 04) and a release agent tank (105); the top plate cutting mechanism (2) is arranged on the outside of the left enclosure mechanism, and includes a fixed arm (201), a rotating mechanism (202) and a cutting component (203); the concrete pouring mechanism (3) is installed on the right enclosure, and includes a pouring pipe (301), a pouring machine (302), a second motor (303) and a second gear (307); a toothed structure (306) is arranged on one side of the surface of the pouring pipe (301), and a toothed structure (306) is arranged on the surface of the pouring pipe (301). The second motor (303) drives the second gear (307) to mesh with the toothed structure (306), so that the pouring pipe (301) can pass through the left and right side enclosure mechanisms and the lateral baffle (5); the lateral support mechanism (4) is fixed to the outside of the left and right side enclosures, and includes a fixed knob (401), a bracket (402) and a telescopic knob (403); the lateral baffle (5) is fixed to the left side enclosure, and includes a fixed frame (501) and a baffle body (502).

2. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The front enclosure mechanism is fixedly connected to the left and right enclosure mechanisms, and the rear enclosure mechanism is movably connected to the right enclosure via an opening and closing blade (132) and is fixed to the left enclosure via a limiter (131), so that when the enclosure lifting mechanism (6) is driven to lift, the enclosure can be lifted as a whole.

3. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The distribution box (606) is installed on the left and right side enclosures, and the two ends of the lifting structure (604) are respectively fixed on the distribution box (606) and the walking mechanism (7), including a piston rod (607) and a telescopic bracket (608), wherein the piston rod (607) is sleeved on the telescopic bracket (608), so that the telescopic bracket (608) moves with the piston rod (607), and a limit module (605) is installed at the bottom of the telescopic bracket (608). The pressure pump (601) is installed in the distribution box (606) to provide power for the extension or contraction of the piston rod (607), and the display (602) and the control button (603) are installed on the distribution box (606).

4. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The retractable spraying mechanical arm (102) is fixed on a base (109) and can be freely retracted. The spray head (101) is installed at the end of the retractable spraying mechanical arm (102) and can move with the extension and retraction of the mechanical arm to evenly spray the release agent on the inner side of the enclosure to facilitate the demoulding of the concrete. The release agent tank (105) is installed on the base (109) and is connected to the retractable spraying mechanical arm (102) through a hose (104) bundled by a wire wheel to transmit the release agent to the spray head (101); the motor (103) drives the gear (108) below to rotate and move on the toothed track (107), and the gear (108) above rotates with the movement without the need for additional drive; buffer blocks (106) are installed at both ends of the toothed track (107) to provide a buffering effect and a limiting effect when the release agent spraying mechanism moves to the two ends of the track.

5. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The interior of the retractable spraying robot arm (102) is hollow.

6. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The fixed arm (201) of the top plate cutting mechanism (2) is fixed on the left side enclosure (8), the rotating mechanism (202) is installed at the end of the fixed arm (201), the cutting component (203) is connected to the fixed arm (201) via the rotating mechanism (202), and the cutting component (203) is selected according to the cutting depth.

7. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The pouring machine (302) is fixed below the right side enclosure (9) to provide power for transporting concrete. The pouring pipe (301) is installed above the pouring machine (302) to transport concrete. Motor 2 (303) is fixed on the right side enclosure (9) and is located on one side of the pouring pipe (301). Gear 2 (307) is installed on motor 2 (303) and meshes with a toothed structure (306) on the surface of the pouring pipe (301), thereby providing power for gear 2 (307) and driving the pouring pipe (301) to move. Through holes for the pouring pipe (301) to pass through are provided on the left and right side enclosures and the side baffles, wherein a circular baffle (304) is provided on the through hole of the left side enclosure, and the opening and closing of the circular baffle (304) is controlled by an opening and closing leaf (305).

8. The goaf collapse control device based on pressure relief-filling combination according to claim 1 is characterized in that: The bracket (402) of the lateral support mechanism (4) is fixed to the middle part of the left and right side enclosure mechanisms through a fixing knob (401); the telescopic knob (403) is installed on the bracket (402) and is used to control the telescopic movement of the bracket; there are multiple lateral support mechanisms (4), which are evenly installed on the outer sides of the left and right side enclosure mechanisms respectively, and are used to support the enclosure mechanisms and prevent the enclosure mechanisms from lateral movement.

9. A method for controlling goaf collapse based on pressure relief and filling combination, which is implemented by using a goaf collapse control device based on pressure relief and filling combination as claimed in any one of claims 1 to 8, characterized in that: The following steps are involved: 1) Determine the distribution of pillars, measure the initial stress value around the pillars, determine the strength of the pillars and the size of the stress value, evaluate the instability probability of the pillars and the consequences of instability disasters, and then calculate the instability risk value of each pillar (instability risk value = instability probability * instability disaster consequences). According to the instability risk value, the instability risk of the pillars is divided into three levels: high, medium and low; 2) If the risk of pillar instability is high or medium, fence around the pillar and plan a reasonable fence path; 3) Move the device to the planned enclosure path, and use the roof cutting mechanism (2) to cut the roof to release the stress around the pillars; 4) After the top plate is cut, the retaining wall is poured. The pouring process is as follows: first, the enclosure lifting mechanism (6) is started to lower the left enclosure (8) and the right enclosure (9) to contact the ground, and the lateral support mechanism (4) is opened. Next, the release agent spraying mechanism (1) is started, and the release agent is evenly sprayed on the inner side of the enclosure using the retractable spraying mechanical arm (102). Then, the retractable spraying mechanical arm (102) is recovered to pour concrete. The first layer of the wall is poured using the concrete pouring mechanism (3). After the first layer is poured, the enclosure lifting mechanism (6) is started to move the enclosure upwards to start pouring the second layer of the retaining wall. This process is repeated until the enclosure is connected to the top plate, thereby completing the subsequent retaining wall pouring work. 5) When there is only one gap left after the retaining wall is cast, measure the stress values ​​around the pillars and the retaining wall to evaluate the risk of pillar instability; if the risk of the pillars after enclosure is low, use a disposable baffle to cast the gap, or directly use manual casting to cast the gap; if the risk of pillar instability after enclosure is high or medium, fill the goaf between the risk pillars.

10. A method for controlling goaf collapse based on pressure relief-filling combination according to claim 9, characterized in that: When it is necessary to fill the ore pillar behind the enclosure, when the enclosure is about to be poured, the side baffle (5) is used to block the gap of the enclosure, the second motor (303) is started to extend the pouring pipe (301), and the opening and closing leaf (305) is opened to allow the pouring pipe (301) to pass through the left and right enclosure mechanisms and the side baffles, and then the pouring machine (302) is started to start filling the goaf until the pouring is completed.

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