Coal-based concrete pillar supporting method and system and intelligent continuous supporting unit

Abstract

The invention discloses a coal-based concrete supporting column supporting method and system and an intelligent continuous supporting unit. The method comprises the following steps: according to an empty roadway supporting task, comprehensively considering factors such as an empty roadway elastic deformation energy release space under the action of advanced supporting stress, mine pressure display strength after the empty roadway is exposed, an included angle between the empty roadway and a coal face and the like, determining performance indexes and the number of required coal-based concrete struts, and further determining the amount of standby coal; original coal produced by the underground coal face and obtained according to the coal quantity is conveyed to a preset area, then preset particle size screening is carried out, and target coal is obtained; target coal and cementing material slurry are stirred through intelligent continuous supporting equipment, coal-based concrete slurry is prepared, and the slurry is conveyed into a mold. According to the method, the coal aggregate can be obtained in situ underground to prepare the underground supporting material, so that the supporting requirements of different empty roadways are met, automatic, continuous and high-efficiency mold erecting and supporting column pouring are realized, and the safety of underground operation is effectively guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of coal mining support technology, and in particular to a coal-based concrete pillar support method and system, and an intelligent continuous support unit. Background Art

[0002] During the production process of coal mines, auxiliary tunnels are sometimes excavated inside the working face due to the needs of water exploration and drainage, gas extraction, equipment installation and disassembly, etc. During the advancement of the working face, some of these auxiliary tunnels will become empty tunnels. During the period when the working face passes through the empty tunnel, if the support strength of the empty tunnel is not enough, there will be safety hazards such as roof collapse, water seepage, and crushing of the support, which will affect the efficient and safe mining of coal.

[0003] The tunnel support disclosed in the prior art mainly adopts the following schemes, including: 1) crushing the raw coal on the ground by a ground crusher; 2) screening the particle size of the crushed raw coal by a screening machine installed on the ground; 3) conveying the aggregate to the ground mixing station for mixing by an aggregate feeder, and the obtained support material is transferred to the finished product warehouse; 4) transporting the concrete tanker to the empty tunnel underground for pouring support operations. In the prior art, the concrete tanker is the main transfer equipment connecting the ground and the underground. The underground transportation tunnel is narrow, and the passing and reversing of the vehicle are greatly restricted. The low efficiency of the concrete tanker transportation is a key link that causes discontinuity in the process and restricts the overall efficiency.

[0004] In addition, in the prior art, manual mold support is required, and after the mold is supported, the corresponding mold is poured manually, resulting in a long support period, great safety hazards, and a large waste of manpower and material resources.

[0005] With the increasing demand for empty tunnel support in western my country's mining areas, the current coal-based concrete pillar support technology has problems such as discontinuity, low degree of automation and intelligence, and low empty tunnel support efficiency, which restricts the large-scale promotion and application of this technology. Summary of the invention

[0006] In view of this, the embodiments of the present disclosure provide a coal-based concrete pillar support method and system, and an intelligent continuous support unit, which can solve the problems of low efficiency, long cycle, great safety hazards, and low intelligence level of empty tunnel support existing in the prior art.

[0007] In a first aspect, an embodiment of the present disclosure provides a method for supporting a coal-based concrete pillar, comprising:

[0008] According to the empty tunnel support task, obtain the angle between the empty tunnel and the coal mining working face in the coal mine, and the intensity of the mine pressure after the empty tunnel is exposed;

[0009] Determine the required number of coal-based concrete pillars according to the included angle and the mine pressure manifestation strength;

[0010] Determine the required height of each coal-based concrete pillar based on the rock mass energy properties, empty roadway geometry properties, empty roadway external load properties, and coal mining face advance disturbance properties;

[0011] Determine the amount of spare coal according to the number of pillars, the height of each pillar, the preset bulk density of the coal-based concrete pillar, the preset coal aggregate ratio in each coal-based concrete pillar, and the preset diameter of each coal-based concrete pillar;

[0012] Obtaining the original coal produced by the coal mining face in the coal mine according to the reserve coal quantity, and transporting the original coal to the preset area of ​​the empty roadway to be supported;

[0013] Screening the raw coal transported to the preset area into a preset particle size to obtain target coal;

[0014] Mixing the target coal with a cementitious material slurry to prepare a coal-based concrete slurry;

[0015] The coal-based concrete slurry is conveyed into the set-up mold.

[0016] Optionally, the number of coal-based concrete pillars required is n:

[0017]

[0018] Among them, σ is the safety factor, L is the length of the empty tunnel to be supported, b is the width of the empty tunnel to be supported, and L z B is the length of the hydraulic support arranged on the coal mining face including the empty roadway to be supported. z is the width of the hydraulic support arranged on the coal mining face including the empty roadway to be supported, P 柱 is the preset strength of each coal-based concrete pillar, r is half of the preset diameter of each coal-based concrete pillar, M is the number of hydraulic supports arranged on the coal mining face containing the empty roadway to be supported, P zi is the working resistance of the i-th hydraulic support, θ is the angle between the empty roadway and the coal mining working face in the coal mine, P z It is the intensity of mine pressure after the empty tunnel is exposed.

[0019] Optionally, the rock mass energy attributes include the energy e absorbed by the unit volume deformation of the rock sample, the elastic modulus E of the surrounding rock of the empty tunnel, and the Poisson's ratio μ;

[0020] The geometric attributes of the empty roadway include the height H of the empty roadway to be supported, the width b of the empty roadway to be supported, and the

[0021] The empty roadway external load attributes include the number of rock layers from the empty roadway to the ground, J, the bulk density of the jth rock layer, γ j , the thickness of the jth rock layer H 1j ;

[0022] The advanced disturbance attributes of the coal mining working face include the lateral deformation coefficient β of the empty roadway and the advanced support stress concentration coefficient k;

[0023] The height of each root is h:

[0024] and

[0025] Among them, when h contains a positive value and a negative value, h takes a positive value;

[0026] When h is greater than 0,

[0027]

[0028] Optionally, the reserve coal quantity is Q:

[0029]

[0030] Where, d is the preset diameter of each coal-based concrete pillar, γ c is the preset bulk density of coal-based concrete pillars, α is the preset coal aggregate ratio in each coal-based concrete pillar, and f is the richness coefficient.

[0031] Optionally, before determining the reserve coal amount, the method further includes:

[0032] Determine the surrounding rock grade of the empty tunnel to be supported;

[0033] Determining the richness coefficient according to the surrounding rock grade;

[0034] Determining the richness coefficient according to the surrounding rock grade includes:

[0035] When the surrounding rock grade of the empty tunnel to be supported is Grade I, 1.0≤f≤1.1;

[0036] When the surrounding rock grade of the empty tunnel to be supported is Grade II, 1.1<f≤1.2;

[0037] When the surrounding rock grade of the empty tunnel to be supported is Grade III, 1.2<f≤1.3;

[0038] When the surrounding rock grade of the empty tunnel to be supported is Grade IV, 1.3<f≤1.4;

[0039] When the surrounding rock grade of the empty tunnel to be supported is Grade V, 1.4<f≤1.5.

[0040] Optionally, after the target coal is stirred with a cementitious material slurry to prepare a coal-based concrete slurry, the method further comprises: testing a slurry pumpability index of the coal-based concrete slurry;

[0041] If the coal-based concrete slurry does not meet the slurry pumpability index, obtaining the actual fluidity, actual concentration, and actual water bleeding rate of the coal-based concrete slurry;

[0042] Obtaining the fluidity difference, concentration difference, and water bleeding rate difference between the actual fluidity, the actual concentration, and the actual water bleeding rate and the preset fluidity, the preset concentration, and the preset water bleeding rate, respectively;

[0043] Based on the fluidity difference, the concentration difference, and the water seepage rate difference, the input amount of the target coal and the binder slurry is intelligently regulated.

[0044] Optionally, the slurry pumpability index detection of the coal-based concrete slurry includes: automatically detecting the actual fluidity, actual concentration, and actual water seepage rate according to the set fluidity detection sensor, concentration detection sensor, and water seepage rate detection sensor, respectively.

[0045] In a second aspect, the present application discloses a coal-based concrete pillar support system, comprising:

[0046] A general control center, which is used to determine the required coal-based concrete pillar information according to the empty road support task, and determine the amount of spare coal according to the coal-based concrete pillar information; wherein the coal-based concrete pillar information includes the number of coal-based concrete pillars, the volume of each coal-based concrete pillar, the bulk density of the coal-based concrete pillar, the proportion of coal aggregate in each coal-based concrete pillar, and the diameter of each coal-based concrete pillar;

[0047] A raw coal collection device, used to obtain the raw coal produced by the coal mining face in the coal mine according to the reserve coal quantity;

[0048] A raw coal conveying device matched with the raw coal collecting device is used to convey the raw coal to a preset area of ​​the empty roadway to be supported;

[0049] The particle size screening device is used to screen the raw coal transported to the preset area into a preset particle size to obtain target coal;

[0050] A stirring device, used for stirring the target coal with a cementitious material slurry to prepare a coal-based concrete slurry;

[0051] A mold clamping device, comprising an arm, a hydraulic drive assembly mounted on the arm, and a mold gripper mounted on a power output end of the hydraulic drive assembly, wherein the mold gripper is used to clamp a target mold and move the target mold to a preset support position; wherein the shape of the target mold is matched with the mold gripper;

[0052] A pumping device is used to pump the coal-based concrete slurry to the supported mold through a concrete delivery pipeline, wherein the concrete delivery pipeline is matched with the mold gripper.

[0053] In a third aspect, the present application discloses an intelligent continuous support unit, including a unit bearing box, on which the master control center, stirring device, mold clamping device, and pumping device in the coal-based concrete pillar support system are integrated; a moving device is installed at the bottom of the unit bearing box, and the moving device includes a power motor and a running wheel arranged on the power motor, and the power motor is connected to the master control center by signal; under the control of the master control center, the power motor drives the unit bearing box to move through the running wheel;

[0054] The stirring device is installed on the top of the unit bearing box;

[0055] The pumping device is installed inside the unit bearing box and is arranged below the discharge port of the stirring device to receive the coal-based concrete slurry prepared by the stirring device;

[0056] The arm is mounted on the top of the unit bearing box through a mounting bracket and does not interfere with the stirring device;

[0057] The concrete delivery pipeline comprises a steel pipeline and a terminal hose. One end of the steel pipeline is connected to the output port of the pumping device, and the other end is connected to the terminal hose attached and fixed to the end of the arm.

[0058] Optionally, the target mold has a groove in its outer shape, and the mold gripper has an arc-shaped engaging portion matching the groove; or,

[0059] A pneumatic drive assembly is arranged in the unit carrying box, and the pneumatic drive assembly is connected to the mold gripper through a pneumatic pipeline to control the opening or closing of the mold gripper.

[0060] The coal-based concrete pillar support method disclosed in this application provides a method of obtaining materials locally, and all processes can be completed underground in the coal mine. Specifically, by using the original coal produced by the coal mining face underground in the coal mine as the main material, the local utilization of resources is realized, and the material transportation cost and the impact on the environment are reduced; the preparation of the coal-based concrete pillar utilizes the by-products of the coal mine itself, reducing the material cost. At the same time, the amount of spare coal is accurately calculated through preset parameters to avoid material waste; through the preset process flow, from coal screening to concrete slurry preparation, and then to the final pillar casting, the whole process is standardized and highly automated, which can effectively reduce the complexity and error rate of manual operation and ensure the safety of underground operations. This method can flexibly adjust the number, height, diameter and other parameters of the pillars according to different empty road support requirements to adapt to different geological conditions and engineering requirements.

[0061] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the present invention more obvious and easy to understand, the following preferred embodiments are specifically cited and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 A schematic flow chart of a coal-based concrete pillar support method provided in an embodiment of the present disclosure.

[0064] Figure 2 A flow chart of a method for determining the required height of each coal-based concrete pillar according to an empty tunnel support task provided in an embodiment of the present disclosure.

[0065] Figure 3 A flowchart of a method for determining a richness coefficient provided in an embodiment of the present disclosure.

[0066] Figure 4 A schematic flow chart of a method for detecting and analyzing coal-based concrete slurry provided in an embodiment of the present disclosure.

[0067] Figure 5 A schematic diagram of the structure of the intelligent continuous support unit provided in an embodiment of the present disclosure.

[0068] Figure 6 A schematic diagram of a mold gripper provided in accordance with an embodiment of the present disclosure.

[0069] Description of reference numerals:

[0070] 100. Unit carrying box; 200. Mixing device; 300. Mould clamping device; 310. Arm; 320. Hydraulic drive assembly; 330. Mould gripper; 400. Pumping device; 500. Concrete conveying pipeline; 510. Steel pipeline; 520. Terminal hose; 600. Moving device; 700. Water supply device. DETAILED DESCRIPTION

[0071] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0072] It should be clear that the following embodiments of the present disclosure are described by specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other in the absence of conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0073] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein may be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein may be implemented independently of any other aspect, and two or more of these aspects may be combined in various ways. For example, any number of aspects described herein may be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein may be used to implement this device and / or practice this method.

[0074] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The drawings only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0075] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0076] Reference Figure 1 The present application discloses a coal-based concrete pillar support method, which specifically includes the following steps:

[0077] S100, according to the empty tunnel support task, obtain the angle between the empty tunnel and the coal mining working face in the coal mine, and the intensity of the mine pressure after the empty tunnel is exposed.

[0078] Among them, the empty roadway support task includes the specific information of the empty roadway to be supported, including the length of the empty roadway to be supported, the width of the empty roadway to be supported, the length of the hydraulic support arranged on the coal mining working face including the empty roadway to be supported, the width of the hydraulic support arranged on the coal mining working face including the empty roadway to be supported, the preset strength of each coal-based concrete pillar, the preset diameter of each coal-based concrete pillar, the number M of hydraulic supports arranged on the coal mining working face including the empty roadway to be supported, rock mass energy properties, empty roadway geometric properties, empty roadway external load properties, coal mining working face advance disturbance properties, etc.

[0079] Specifically, the angle θ between the empty tunnel to be supported and the coal mining working face in the coal mine can be measured, where 0<θ≤90°.

[0080] Specifically, the mine pressure intensity P after the empty roadway is exposed can be obtained based on the number M of hydraulic supports arranged on the coal mining working face including the empty roadway to be supported and the working resistance of each hydraulic support collected. z : Among them, P zi is the working resistance of the i-th hydraulic support.

[0081] S200, determine the required number of coal-based concrete pillars according to the included angle and the apparent strength of the mine pressure.

[0082] Specifically, the number of coal-based concrete pillars required is n:

[0083]

[0084] Where L is the length of the empty tunnel to be supported, b is the width of the empty tunnel to be supported, L z is the length of the hydraulic support arranged on the coal mining face including the empty roadway to be supported, B z is the width of the hydraulic support arranged on the coal mining face including the empty roadway to be supported, P 柱is the preset strength of each coal-based concrete pillar, r is half of the preset diameter of each coal-based concrete pillar (i.e., the radius of each coal-based concrete pillar), M is the number of hydraulic supports arranged in the coal mining face including the empty roadway to be supported, θ is the angle between the empty roadway and the coal mining face in the coal mine (i.e., the angle between the longitudinal axis of the empty roadway to be supported and the coal mining face), P z It is the intensity of mine pressure after the empty tunnel is exposed.

[0085] S300, determine the required height of each coal-based concrete pillar based on the rock mass energy properties, empty roadway geometry properties, empty roadway external load properties, and coal mining face advance disturbance properties.

[0086] Among them, the rock mass energy attributes include the energy absorbed by the unit volume deformation of the rock sample e, the elastic modulus E of the surrounding rock of the empty tunnel, and the Poisson's ratio μ; the empty tunnel geometric attributes include the height H of the empty tunnel to be supported and the width b of the empty tunnel to be supported; the empty tunnel external load attributes include the number of rock layers J from the empty tunnel to the ground and the bulk density γ of the jth rock layer j , the thickness of the jth rock layer H 1j ; The advanced disturbance attributes of the coal mining working face include the lateral deformation coefficient β of the empty roadway and the advanced support stress concentration coefficient k.

[0087] The required height of each coal-based concrete pillar is determined to be h:

[0088] and

[0089] When h contains a positive value and a negative value, h takes a positive value;

[0090] When h is greater than 0,

[0091]

[0092] The number of coal-based concrete pillars and the height of each pillar determined in this step are based on the empty tunnel support task, taking into account factors such as the space released by the elastic deformation of the empty tunnel under the action of the advance support stress, the strength of the mine pressure after the empty tunnel is exposed, and the angle between the empty tunnel and the coal mining face, to ensure that the calculated coal-based concrete pillars meet the preset strength as a whole.

[0093] S400, determining the amount of spare coal according to the number of pillars, the height of each pillar, the preset bulk density of the coal-based concrete pillar, the preset coal aggregate ratio in each coal-based concrete pillar, and the preset diameter of each coal-based concrete pillar.

[0094] Specifically, the amount of reserve coal is Q:

[0095] Where, d is the preset diameter of each coal-based concrete pillar, γ cis the preset bulk density of coal-based concrete pillars, α is the preset coal aggregate ratio in each coal-based concrete pillar, and f is the richness coefficient.

[0096] In this embodiment, the preset coal aggregate ratio is the coal aggregate mass ratio at a preset strength.

[0097] S500, obtaining the original coal produced by the coal mining face in the coal mine according to the reserve coal quantity, and transporting the original coal to the preset area of ​​the empty roadway to be supported.

[0098] Specifically, the raw coal produced by the underground coal mining face of the coal mine is obtained according to the reserve coal quantity through the raw coal collection device, and then the raw coal is transported to the preset area of ​​the empty tunnel to be supported through the matching raw coal conveying device, wherein the preset area can be near the empty tunnel to be supported.

[0099] The plan proposes a solution that uses local materials, eliminating the need to prepare coal-based concrete on the ground, effectively avoiding the ineffective transportation of coal.

[0100] S600, screening the raw coal transported to the preset area into a preset particle size to obtain target coal.

[0101] In this embodiment, the preset particle size is preferably not greater than 30 mm; specifically, 30 mm particle size screening can be performed by a roller screen, and the oversize material (i.e., the particle size is greater than 30 mm) is returned to the raw coal conveying device; the undersize material (i.e., the particle size is not less than 30 mm) is used as the target coal to be obtained.

[0102] S700, mixing the target coal with the cementitious material slurry to prepare the coal-based concrete slurry.

[0103] The binder slurry includes binder and water, and the ratio of binder to water is 0.5-0.8.

[0104] In this embodiment, it is preferred to use intelligent continuous support equipment to mix the target coal with the binder slurry.

[0105] S800, transports coal-based concrete slurry to the set-up mold.

[0106] Specifically, the coal-based concrete slurry can be pumped into the supported mold through a pipeline to achieve automatic transportation of the coal-based concrete slurry.

[0107] The coal-based concrete pillar support method disclosed in this application provides a method of obtaining materials locally, and all processes can be completed underground in the coal mine. Specifically, by using the original coal produced by the coal mining face underground in the coal mine as the main material, the local utilization of resources is realized, and the material transportation cost and the impact on the environment are reduced; the preparation of the coal-based concrete pillar utilizes the by-products of the coal mine itself, reducing the material cost. At the same time, the amount of spare coal is accurately calculated through preset parameters to avoid material waste; through the preset process flow, from coal screening to concrete slurry preparation, and then to the final pillar casting, the whole process is standardized and highly automated, which can effectively reduce the complexity and error rate of manual operation and ensure the safety of underground operations. This method can flexibly adjust the number, height, diameter and other parameters of the pillars according to different empty road support requirements to adapt to different geological conditions and engineering requirements.

[0108] Specifically, in this embodiment, according to the empty road support task, the method for determining the number n of coal-based concrete pillars required includes:

[0109] 1) According to the design strength P of coal-based concrete pillars 柱 The support force on the roof should not be less than the working resistance P of the hydraulic support on the coal mining face. z Working principle, get

[0110] 2) After considering the safety factor and the angle between the longitudinal axis of the empty roadway to be supported and the coal mining face, the angle in this embodiment is determined. Among them, P z The working resistance is obtained after comprehensively considering the information of the hydraulic supports arranged in the coal mining face including the empty roadway to be supported.

[0111] In this embodiment, the preferred safety factor σ is 1.2.

[0112] Specifically, in this embodiment, during the advancement of the longwall coal mining working face along the coal seam, the redistribution of stress will cause an advanced support stress higher than the original rock stress to appear in front of the working face, and the empty roadway in front of the working face will be affected by this stress. In order to achieve reasonable technical and economic effects, the support body cannot be directly "hard-supported", and the "pre-yield first and then resist" support method is the most technically and economically optimal. "Pre-yield" means that the design height of the coal-based concrete pillar is lower than the height of the empty roadway, and a part of the yield deformation space is reserved. The surrounding rock of the empty roadway releases "elastic deformation energy" with strong destructive power during the yield deformation process. The remaining height of the empty roadway is the design height of the coal-based concrete pillar. The coal-based concrete pillar uses its own strength to "resist" the further deformation of the surrounding rock of the empty roadway. The goal of the pre-yield design is to prevent the coal-based concrete pillar from suffering advanced damage and to play a key bearing role when the working face and the empty roadway are connected.

[0113] Specifically, refer to Figure 2 , according to the empty road support task, the method for determining the height of each required coal-based concrete pillar includes:

[0114] A100, obtain the unit rock volume change energy of the empty roadway to be supported;

[0115] The change energy per unit rock volume is U v :

[0116] A200, obtain the unit rock mass deformation energy of the empty roadway to be supported;

[0117] Unit rock mass deformation energy is U d :

[0118] A300, according to the energy of change per unit rock volume, the deformation energy per unit rock mass, the energy absorbed by the unit volume deformation of the rock sample, the lateral deformation coefficient of the empty tunnel, and the height of the empty tunnel to be supported, the height of each root is determined.

[0119] Specifically, the elastic energy release space per unit length of empty tunnel is determined according to the unit rock mass volume change energy and unit rock mass deformation energy. v :Δ v =(U v +U d )Hb / e.

[0120] Also because According to these two formulas, a quadratic function of the height h of each coal-based concrete pillar can be obtained:

[0121] eβh 2 -eβHh+eHb-(U v +U d )H 2 b 2 =0, and h<H.

[0122] therefore:

[0123] When h contains a positive value and a negative value, h takes the positive value.

[0124] When h is greater than 0,

[0125] Specifically, e is the energy absorbed by the deformation of the rock sample per unit volume, which is a value obtained in advance through experiments in the laboratory.

[0126] Further, Among them, F is the external load corresponding to the energy absorbed by the deformation and failure of the surrounding rock specimen of the empty roadway, d0 is the diameter of the specimen, L is test is the specimen length, ε is the specimen strain, Es It is the elastic energy storage of the test system that converts all the work done by the external load.

[0127] Specifically, refer to Figure 3 Before determining the reserve coal quantity, the richness coefficient must also be determined. The specific determination methods include:

[0128] B100, determine the surrounding rock grade of the empty tunnel to be supported;

[0129] B200, determine the richness coefficient based on the surrounding rock grade.

[0130] Specifically, when the surrounding rock grade of the empty tunnel to be supported is Grade I, 1.0≤f≤1.1;

[0131] When the surrounding rock grade of the empty tunnel to be supported is Grade II, 1.1<f≤1.2;

[0132] When the surrounding rock grade of the empty tunnel to be supported is Grade III, 1.2<f≤1.3;

[0133] When the surrounding rock grade of the empty tunnel to be supported is Grade IV, 1.3<f≤1.4;

[0134] When the surrounding rock grade of the empty tunnel to be supported is Grade V, 1.4<f≤1.5.

[0135] Reference Figure 4 After the target coal is mixed with the cementing material slurry to prepare the coal-based concrete slurry, the method further includes: testing and analyzing the coal-based concrete slurry. The specific testing and analysis methods include:

[0136] C100, to test the pumpability of coal-based concrete slurry.

[0137] C200, if the coal-based concrete slurry does not meet the slurry pumpability index, obtain the actual fluidity, actual concentration, and actual water seepage rate of the coal-based concrete slurry.

[0138] Among them, if the coal-based concrete slurry meets the slurry pumpability index, the coal-based concrete slurry is transported to the supported mold.

[0139] C300, obtain the fluidity difference, concentration difference, and water seepage rate difference between the actual fluidity, actual concentration, and actual water seepage rate and the preset fluidity, preset concentration, and preset water seepage rate respectively.

[0140] Among them, the preset fluidity, preset concentration, and preset water seepage rate can be a fixed value or a range value. When it is a range value, the corresponding difference obtained is the difference with the minimum value in the range.

[0141] C400 intelligently controls the input amount of target coal and cementitious material slurry based on fluidity difference, concentration difference and water seepage rate difference.

[0142] Specifically, when the actual fluidity is small, the proportion of cementitious material slurry can be increased by 2%; when the actual fluidity is large, the proportion of cementitious material slurry can be reduced by 2%; when the actual concentration is small, the proportion of water in the cementitious material slurry can be increased by 2%; when the actual concentration is large, the proportion of water in the cementitious material slurry can be reduced by 2%; when the actual water seepage rate is small, no treatment is performed; when the actual water seepage rate is large, the proportion of target coal can be increased by 2%.

[0143] In an embodiment, the coal-based concrete slurry is subjected to slurry pumpability index detection, including: automatically detecting the actual fluidity, actual concentration, and actual water seepage rate according to the set fluidity detection sensor, concentration detection sensor, and water seepage rate detection sensor, respectively.

[0144] In addition, fluidity can also be detected indirectly, for example, the fluidity of coal-based concrete can be evaluated by detecting the rotational resistance of the central axis of an independent rotating blade.

[0145] Specifically, the slump is used to evaluate the fluidity of coal-based concrete. The slump test needs to be carried out through a slump cylinder. To facilitate industrial application, the slump test is converted into variables related to the slump for indirect measurement. An intelligent monitoring box is designed at the end of the mixer. An independent rotating blade is set in the box. A rotation resistance sensor is installed on the rotating shaft. An electro-hydraulic controlled opening and closing gate is set at the bottom of the detection box. After the coal-based concrete overflows from the end of the mixer to the intelligent detection box, the fluidity of the coal-based concrete is evaluated by detecting the rotation resistance of the central axis of the independent rotating blade. When the set requirements are met, the electro-hydraulic controlled hydraulic gate is opened to discharge the material.

[0146] The relationship between the rotational resistance F and the slump T was obtained through laboratory tests: F = f(T); the slump range required for the pumpability of coal-based concrete is: 80mm≤T≤150mm; then the rotational resistance range allowed for the freshly mixed coal-based concrete slurry to pass through the gate and enter the pumping part is: f(T = 80mm)≤F = f(T = 150mm).

[0147] The coal-based concrete pillar support method disclosed in this application makes continuous and intelligent improvements to the four process links and supporting equipment of coal-based concrete preparation, transportation, formwork, and support, overcomes the problems of high labor intensity and low labor efficiency, and promotes the in-depth promotion and application of coal-based concrete empty roadway support technology. In this application, the easily cut coal body itself is used as aggregate to replace the sand and gravel in conventional concrete, and a number of coal-based concrete pillars supporting the empty roadway roof are constructed. The coal aggregate is recovered by cutting and crushing the coal when the working face passes through the empty roadway, so that the quality of coal is maintained to the greatest extent while strengthening the support of the empty roadway.

[0148] The coal-based concrete pillar support method disclosed in this application has several significant advantages over the prior art, as follows:

[0149] 1) It can effectively improve the transportation efficiency. Specifically, in the prior art, concrete tank trucks are the main transfer equipment between the ground and the underground. However, due to the narrow space of the underground tunnel, the transportation efficiency is low, resulting in discontinuous processes. This application directly uses the raw coal produced by the working face to prepare support materials underground, avoiding frequent transportation between the ground and the underground, greatly improving the transportation efficiency and reducing the possibility of process interruption.

[0150] 2) Effectively reduce the waste of manpower and material resources. Specifically, in the prior art, the support process requires a lot of manual operations, including mold support and pouring, which is not only time-consuming and labor-intensive, but also poses a great safety hazard. This application reduces manual intervention, reduces labor costs and safety risks, and improves support efficiency through automation or semi-automation.

[0151] 3) Effectively improve support efficiency. Specifically, the present application simplifies the support process, shortens the support cycle, and improves support efficiency by directly preparing coal-based concrete slurry underground and pouring it using a pre-prepared mold. This is especially important for empty tunnels that require rapid support, especially in areas with greater demand such as western mining areas.

[0152] 4) Effectively enhance the support strength. This application ensures the strength and stability of the support material by accurately calculating the number, height, bulk density, coal aggregate ratio and diameter of the required coal-based concrete pillars, thereby effectively preventing safety hazards such as roof collapse, water seepage, and crushing of the support, and ensuring efficient and safe mining of coal.

[0153] 5) Effectively improve the level of intelligence and automation. This application improves the intelligence and automation level of the support process through the use of preset parameters and automated equipment, reduces the uncertainty of human operation, and improves the quality and efficiency of support.

[0154] 6) Strong adaptability: This application method can flexibly adjust the support parameters according to the specific needs of different empty tunnels. It has strong adaptability and can meet the support needs under different geological conditions and mining environments.

[0155] To sum up, the coal-based concrete pillar support method proposed in this application has significant advantages in improving transportation efficiency, reducing waste of manpower and material resources, improving support efficiency, enhancing support strength, improving intelligence and automation levels, and enhancing adaptability. It can effectively solve the problems existing in the existing technology and promote the advancement of coal mining technology and its large-scale application.

[0156] In a second aspect, the present application discloses a coal-based concrete pillar support system, which is used to implement the coal-based concrete pillar support method disclosed in the first aspect of the present application, and specifically includes:

[0157] The general control center is used to determine the required coal-based concrete pillar information according to the empty road support task, and determine the spare coal quantity according to the coal-based concrete pillar information; wherein the coal-based concrete pillar information includes the number of coal-based concrete pillars, the volume of each coal-based concrete pillar, the bulk density of the coal-based concrete pillar, the proportion of coal aggregate in each coal-based concrete pillar, and the diameter of each coal-based concrete pillar;

[0158] A raw coal collection device is used to obtain the raw coal produced by the coal mining face in the coal mine according to the reserve coal quantity;

[0159] A raw coal conveying device matched with the raw coal collecting device is used to convey the raw coal to the preset area of ​​the empty roadway to be supported;

[0160] The particle size screening device is used to screen the raw coal transported to the preset area into a preset particle size to obtain target coal;

[0161] A stirring device for stirring the target coal with a cementitious material slurry to prepare a coal-based concrete slurry;

[0162] A mold clamping device, comprising an arm, a hydraulic drive assembly mounted on the arm, and a mold gripper mounted on a power output end of the hydraulic drive assembly, wherein the mold gripper is used to clamp a target mold and move the target mold to a preset support position; wherein the shape of the target mold is matched with the mold gripper;

[0163] The pumping device is used to pump the coal-based concrete slurry to the supported mold through the concrete delivery pipeline, wherein the concrete delivery pipeline is matched with the mold gripper.

[0164] The coal-based concrete pillar support system disclosed in the present application integrates the whole process from raw coal collection, transportation, screening, mixing to mold support and pouring, realizes the automation and continuity of empty tunnel support, and improves the overall work efficiency; the support tasks are accurately calculated and managed by the general control center, ensuring that the various parameters of the required coal-based concrete pillars are accurate, thereby ensuring the support quality; the system design takes into account the needs of different geological conditions and mining environments, and has strong adaptability. For example, the mold gripper can be flexibly adjusted to adapt to molds of different shapes and sizes; the use of automated devices for raw coal transportation and mold support reduces the work of personnel in dangerous environments and improves the safety and efficiency of operations; the direct use of raw coal produced by the underground working face as raw material reduces the need for ground transportation and reduces energy consumption and costs; the system is designed with environmental protection and energy conservation and emission reduction in mind, such as reducing material waste and energy consumption by optimizing the mixing and pumping process; the system is equipped with an advanced control system with a friendly operation interface, easy to operate and maintain, and reduces the technical requirements for operators; the various components of the system can work independently or in combination, which is convenient for configuration and expansion according to actual needs.

[0165] In summary, the coal-based concrete pillar support system of the present application is an efficient, safe, environmentally friendly and easy-to-operate comprehensive solution, which can effectively solve the deficiencies in the existing technology and promote technological progress in the coal mining industry.

[0166] Reference Figure 5 In the third aspect, the present application discloses an intelligent continuous support unit, that is, an intelligent continuous pumping support self-moving unit (that is, an intelligent continuous support device), which specifically includes a unit carrying box 100, on which the general control center, stirring device 200, mold clamping device 300, and pumping device 400 in the coal-based concrete pillar support system are integrated, and a moving device 600 is installed at the bottom of the unit carrying box 100. The moving device 600 includes a power motor and a running wheel arranged on the power motor, and the power motor is connected to the main control center by signal; under the control of the main control center, the power motor drives the unit carrying box 100 to move through the running wheel.

[0167] The stirring device 200 is installed on the top of the unit carrying box 100, and the input end of the stirring device 200 is connected to the water supply device 700, and the water supply device 700 supplies water to the stirring device 200 according to the water ratio.

[0168] Specifically, the stirring device may include a mixer and an intelligent detection box, wherein the mixer is used for stirring, and the intelligent detection box is used for detecting whether the coal-based concrete slurry after stirring meets the requirements.

[0169] The pumping device 400 is installed inside the unit carrying box 100 and is arranged below the discharge port of the stirring device 200 to receive the coal-based concrete slurry prepared by the stirring device 200.

[0170] The arm 310 is installed on the top of the unit carrying box 100 through a mounting bracket, and does not interfere with the stirring device 200 . The arm 310 can be adjusted to different height positions under the control of the hydraulic drive assembly 320 .

[0171] The concrete conveying pipeline 500 includes a steel pipeline 510 and a terminal hose 520. One end of the steel pipeline 510 is connected to the output port of the pumping device 400, and the other end is connected to the terminal hose 520 attached and fixed to the end of the arm 310; wherein the end of the arm 310 refers to the connection area between the mold gripper 330 and the arm 310, and the terminal hose 520 and the mold gripper 330 do not interfere with each other.

[0172] Specifically, the concrete delivery pipeline includes a first section of steel pipeline, a concrete pipeline universal joint attached and fixed to the arm, a second section of steel pipeline, and a terminal hose. One end of the first section of steel pipeline is connected to the output port of the pumping device, and the other end is connected to the concrete pipeline universal joint; one end of the second steel pipeline is connected to the concrete pipeline universal joint, and the other end is connected to the terminal hose attached and fixed to the end of the arm. Through the setting of the terminal hose, it is ensured that the coal-based concrete slurry is accurately delivered to the supported mold to realize the casting of the pillar.

[0173] Further, refer to Figure 6 The shape of the target mold has a groove, and the mold gripper 330 has an arc-shaped clamping portion matching the groove, that is, the arm lifting position is adjusted by controlling the hydraulic drive component, and the moving device is used to control the entirety to approach or move away from the mold, thereby achieving the clamping or release of the mold gripper and the mold.

[0174] In this embodiment, the groove is preferably arc-shaped, so the mold gripper 330 preferably has the arc-shaped engaging portion, which is preferably semicircular; it should be noted that the groove can also be set to a semi-square shape, and the matching arc-shaped engaging portion is also semi-square.

[0175] In another embodiment, a pneumatic drive assembly is provided in the unit carrying box, and the pneumatic drive assembly is connected to the mold gripper through a pneumatic pipeline to control the opening or closing of the mold gripper. Through this solution, the mold gripper can achieve more flexible clamping and support of the mold.

[0176] In the original process, the mold was set up manually, and the height was generally 3 to 5 meters. On the one hand, there was the danger of height work during manual setting, and on the other hand, the steel mold was heavy, labor-intensive and inefficient. In the original process, the installation and transfer of the terminal hose were all done manually. Although the terminal pipeline was a hose, in order to ensure the compressive strength matching the pumping pressure, the wall thickness was large and the inner wall was made of steel wire lining, which was heavy and hard. The manual transfer and hanging process also had the problems of high labor intensity and low efficiency.

[0177] The process of this solution is that the functional boom integrated in the mixing and pumping integrated unit can automatically assemble the mold. The concrete pump outlet, the middle steel pipeline and the terminal hose are automatically erected and positioned by the boom, combining the two links of mold erection and pipe erection into one, eliminating manual labor. In addition, after a mold is cast, the mixing and pumping integrated unit, the integrated boom and pipeline are moved to the next mold erection node as a whole, changing the original cumbersome process of dismantling pipes, moving pumps and installing pipes, greatly improving the efficiency of coal-based concrete pillar support operations.

[0178] The intelligent continuous support unit disclosed in the present application, namely the intelligent continuous pumping support self-moving unit, combines automation, intelligence and efficient mobility, and has the following significant advantages: a moving device, including a power motor and walking wheels, is installed at the bottom of the unit's carrying box, which is controlled by the main control center and can be flexibly moved to different work locations as needed, realizing rapid deployment and transfer, thereby improving the flexibility and efficiency of support operations; key functional modules such as the main control center, stirring device, mold clamping device, and pumping device are integrated on the unit's carrying box to form a complete, independently operable support system, reducing the connection and coordination problems between equipment and improving overall work efficiency; the main control center is responsible for the intelligent control of the entire support process, including the management of coal-based concrete pillar information, the determination of the amount of spare coal, and the coordinated operation of each device, thereby realizing precise control and automated operation of the support process; the stirring device is installed on the top of the unit's carrying box and is equipped with a water supply device to provide water on demand to ensure the mixing quality of the coal-based concrete slurry. The pumping device is located below the mixing device. It directly receives the mixed slurry and quickly delivers it to the mold through the concrete delivery pipeline, realizing seamless connection and efficient delivery from raw materials to finished products. The mold clamping device uses the arm and hydraulic drive assembly to achieve precise clamping and movement of the mold, ensuring that the mold reaches the preset support position, improving the accuracy and consistency of the support.

[0179] The concrete conveying pipeline is reasonably designed. The steel pipeline ensures the stability and durability of the conveying, and the setting of the end hose enhances the flexibility of operation, so that the slurry can be more accurately delivered to molds of different positions and shapes, adapting to the complex underground environment; the installation design of the mixing device and the arm ensures that there will be no interference between each other, which not only ensures the continuity of the mixing process, but also ensures the flexibility of mold clamping and movement, reflecting the ingenuity and practicality of the design; the unit can adapt to a variety of support tasks and environmental changes, whether it is coal-based concrete pillars of different heights and diameters, or different underground space layouts, they can be quickly adjusted and adapted through intelligent control systems and flexible mobile devices.

[0180] Through automation and intelligent operation, the workload of underground workers and the time they are exposed to dangerous environments are reduced, the risk of accidents is reduced, and operational safety is improved; the integrated design and efficient mobility reduce the cost of equipment installation and disassembly, and the intelligent control system reduces the demand for human resources, reducing the cost of support operations overall; by optimizing the mixing and pumping processes, material waste and energy consumption are reduced, meeting the requirements of modern mining for environmental protection and sustainable development.

[0181] In summary, the intelligent continuous support unit of this application not only achieved a major breakthrough in technology, improved the efficiency and safety of support operations, but also demonstrated significant advantages in economy and environmental protection. It is an advanced equipment with broad application prospects and can effectively promote technological progress and modernization in the coal mining industry.

[0182] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0183] In the present disclosure, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. The block diagrams of the devices, devices, equipment, and systems involved in the present disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagram. As will be appreciated by those skilled in the art, these devices, devices, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including", "comprising", "having", etc. are open words, referring to "including but not limited to", and can be used interchangeably with them. The words "or" and "and" used here refer to the words "and / or" and can be used interchangeably with them, unless the context clearly indicates otherwise. The words "such as" used here refer to the phrase "such as but not limited to", and can be used interchangeably with them.

[0184] Additionally, as used herein, "or" used in a list of items beginning with "at least one" indicates a separate list, so that, for example, a list of "at least one of A, B, or C" means A or B or C, or AB or AC or BC, or ABC (i.e., A and B and C). Furthermore, the word "exemplary" does not mean that the example described is preferred or better than other examples.

[0185] It should also be noted that in the system and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0186] Various changes, substitutions, and modifications of the techniques described herein may be made without departing from the teachings defined by the appended claims. Furthermore, the scope of the claims of the present disclosure is not limited to the specific aspects of the processes, machines, manufactures, compositions of events, means, methods, and actions described above. Currently existing or later to be developed processes, machines, manufactures, compositions of events, means, methods, or actions that perform substantially the same functions or achieve substantially the same results as the corresponding aspects described herein may be utilized. Thus, the appended claims include such processes, machines, manufactures, compositions of events, means, methods, or actions within their scope.

[0187] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0188] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. A method for supporting coal-based concrete pillars, characterized in that: include: According to the empty tunnel support task, obtain the angle between the empty tunnel and the coal mining working face in the coal mine, and the intensity of the mine pressure after the empty tunnel is exposed; Determine the required number of coal-based concrete pillars according to the included angle and the mine pressure manifestation strength; Determine the required height of each coal-based concrete pillar based on the rock mass energy properties, empty roadway geometry properties, empty roadway external load properties, and coal mining face advance disturbance properties; Determine the amount of spare coal according to the number of pillars, the height of each pillar, the preset bulk density of the coal-based concrete pillar, the preset coal aggregate ratio in each coal-based concrete pillar, and the preset diameter of each coal-based concrete pillar; Obtaining the original coal produced by the coal mining face in the coal mine according to the reserve coal quantity, and transporting the original coal to the preset area of ​​the empty roadway to be supported; Screening the raw coal transported to the preset area into a preset particle size to obtain target coal; Mixing the target coal with a cementitious material slurry to prepare a coal-based concrete slurry; The coal-based concrete slurry is conveyed into the set-up mold.

2. The method for supporting coal-based concrete pillars according to claim 1, characterized in that: The number of coal-based concrete pillars required is n: Among them, σ is the safety factor, L is the length of the empty roadway to be supported, b is the width of the empty roadway to be supported, and L z B is the length of the hydraulic support arranged on the coal mining face including the empty roadway to be supported. z is the width of the hydraulic support arranged on the coal mining face including the empty roadway to be supported, P 柱 is the preset strength of each coal-based concrete pillar, r is half of the preset diameter of each coal-based concrete pillar, M is the number of hydraulic supports arranged on the coal mining face containing the empty roadway to be supported, P zi is the working resistance of the i-th hydraulic support, θ is the angle between the empty roadway and the coal mining working face in the coal mine, P z It is the intensity of mine pressure after the empty tunnel is exposed.

3. The method for supporting coal-based concrete pillars according to claim 2, characterized in that: The rock mass energy attributes include the energy absorbed by the unit volume deformation of the rock sample e, the elastic modulus E of the surrounding rock of the empty tunnel, and the Poisson's ratio μ; The geometric attributes of the empty roadway include the height H of the empty roadway to be supported, the width b of the empty roadway to be supported, and the The empty roadway external load attributes include the number of rock layers from the empty roadway to the ground, J, the bulk density of the jth rock layer, γ j , the thickness of the jth rock layer H 1j ; The advanced disturbance attributes of the coal mining working face include the lateral deformation coefficient β of the empty roadway and the advanced support stress concentration coefficient k; The height of each root is h: and Among them, when h contains a positive value and a negative value, h takes a positive value; When h is greater than 0, 4. The method for supporting coal-based concrete pillars according to claim 3, characterized in that: The reserve coal quantity is Q: Where, d is the preset diameter of each coal-based concrete pillar, γ c is the preset bulk density of coal-based concrete pillars, α is the preset coal aggregate ratio in each coal-based concrete pillar, and f is the richness coefficient.

5. The method for supporting coal-based concrete pillars according to claim 4, characterized in that: Before determining the reserve coal quantity, the method further includes: Determine the surrounding rock grade of the empty tunnel to be supported; Determining the richness coefficient according to the surrounding rock grade; Determining the richness coefficient according to the surrounding rock grade includes: When the surrounding rock grade of the empty tunnel to be supported is Grade I, 1.0≤f≤1.1; When the surrounding rock grade of the empty tunnel to be supported is Grade II, 1.1<f≤1.2; When the surrounding rock grade of the empty tunnel to be supported is Grade III, 1.2<f≤1.3; When the surrounding rock grade of the empty tunnel to be supported is Grade IV, 1.3<f≤1.4; When the surrounding rock grade of the empty tunnel to be supported is Grade V, 1.4<f≤1.

5.

6. The method for supporting coal-based concrete pillars according to claim 1, characterized in that: After the target coal and the cementitious material slurry are stirred to prepare the coal-based concrete slurry, the method further includes: testing the pumpability index of the coal-based concrete slurry; If the coal-based concrete slurry does not meet the slurry pumpability index, obtaining the actual fluidity, actual concentration, and actual water bleeding rate of the coal-based concrete slurry; Obtaining the fluidity difference, concentration difference, and water bleeding rate difference between the actual fluidity, the actual concentration, and the actual water bleeding rate and the preset fluidity, the preset concentration, and the preset water bleeding rate, respectively; Based on the fluidity difference, the concentration difference, and the water seepage rate difference, the input amount of the target coal and the binder slurry is intelligently regulated.

7. The method for supporting coal-based concrete pillars according to claim 6, characterized in that: The slurry pumpability index detection of the coal-based concrete slurry includes: automatically detecting the actual fluidity, actual concentration, and actual water seepage rate according to the set fluidity detection sensor, concentration detection sensor, and water seepage rate detection sensor.

8. A coal-based concrete pillar support system, characterized in that: include: A general control center, which is used to determine the required coal-based concrete pillar information according to the empty road support task, and determine the amount of spare coal according to the coal-based concrete pillar information; wherein the coal-based concrete pillar information includes the number of coal-based concrete pillars, the volume of each coal-based concrete pillar, the bulk density of the coal-based concrete pillar, the proportion of coal aggregate in each coal-based concrete pillar, and the diameter of each coal-based concrete pillar; A raw coal collection device, used to obtain the raw coal produced by the coal mining face in the coal mine according to the reserve coal quantity; A raw coal conveying device matched with the raw coal collecting device is used to convey the raw coal to a preset area of ​​the empty roadway to be supported; The particle size screening device is used to screen the raw coal transported to the preset area into a preset particle size to obtain target coal; A stirring device, used for stirring the target coal with a cementitious material slurry to prepare a coal-based concrete slurry; A mold clamping device, comprising an arm, a hydraulic drive assembly mounted on the arm, and a mold gripper mounted on a power output end of the hydraulic drive assembly, wherein the mold gripper is used to clamp a target mold and move the target mold to a preset support position; wherein the shape of the target mold is matched with the mold gripper; A pumping device is used to pump the coal-based concrete slurry to the supported mold through a concrete delivery pipeline, wherein the concrete delivery pipeline is matched with the mold gripper.

9. An intelligent continuous support unit, characterized in that: It comprises a unit bearing box, on which the master control center, stirring device, mold clamping device, and pumping device in the coal-based concrete pillar support system according to claim 8 are integrated; a moving device is installed at the bottom of the unit bearing box, and the moving device comprises a power motor and a running wheel arranged on the power motor, and the power motor is connected to the master control center by signal; under the control of the master control center, the power motor drives the unit bearing box to move through the running wheel; The stirring device is installed on the top of the unit bearing box; The pumping device is installed inside the unit bearing box and is arranged below the discharge port of the stirring device to receive the coal-based concrete slurry prepared by the stirring device; The arm is mounted on the top of the unit bearing box through a mounting bracket and does not interfere with the stirring device; The concrete delivery pipeline comprises a steel pipeline and a terminal hose. One end of the steel pipeline is connected to the output port of the pumping device, and the other end is connected to the terminal hose attached and fixed to the end of the arm.

10. The intelligent continuous support unit according to claim 9, characterized in that: The target mold has a groove in its outer shape, and the mold gripper has an arc-shaped engaging portion matching the groove; or, A pneumatic drive assembly is arranged in the unit carrying box, and the pneumatic drive assembly is connected to the mold gripper through a pneumatic pipeline to control the opening or closing of the mold gripper.

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