Coal gangue backfilling and conveying device and method thereof

Abstract

The invention provides a coal gangue backfilling and conveying device and a method thereof, and relates to the technical field of coal mine mechanical equipment. The coal gangue backfilling and conveying device comprises a gangue throwing machine and a transport vehicle. The foldable push plate is arranged in the hopper, during unloading, a part of coal gangue is unloaded through the dead weight of the coal gangue by opening the unloading door, the rest part of the coal gangue pushes the push plate through the second electric telescopic rod, so that the push plate is flattened, the coal gangue can slide out conveniently through the inclination angle of the flattened push plate, the height of a transport vehicle is not changed in the unloading process, and the unloading efficiency is improved. The hopper can be arranged to be close to a roadway in height, the single-time transport volume is greatly increased, the backfilling efficiency is effectively improved, the transport vehicle is driven by the electric crawler belt assembly to walk, compared with wheel type transport, the trafficability is better, the stability during unloading is good, and ground operation can be achieved by matching a wireless controller, a camera and a common wireless control terminal in the market; and the safety of operators is improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine mechanical equipment, and in particular to a gangue backfilling and conveying device and a method thereof. Background Art

[0002] After coal mining, the coal seams below the ground are hollowed out. After washing, the mined coal is selected to select the coal with high calorific value. The remaining gangue cannot become a high-value product. Large amounts of burial or stacking become a hidden danger to the social environment. In recent years, it has been proposed to backfill the coal gangue into the mining hollow area, which not only solves the environmental pollution caused by stacking, but also restores the stability of the underground layer after backfilling, which has long-term social significance.

[0003] The following are the common methods of coal gangue backfilling: slurry filling, paste filling and comprehensive mechanized solid filling. Among them, comprehensive mechanized solid filling is to fill coal gangue directly into the goaf through mechanized equipment. It is easy to operate and has high efficiency.

[0004] Comprehensive mechanized solid filling usually uses a transport vehicle or a conveyor belt to transport the coal gangue from the stacking point to the loading end of the gangue thrower, and the coal gangue is thrown into the area to be backfilled by the gangue thrower. As the backfilling operation proceeds, the gangue thrower needs to keep retreating, which requires constant position adjustment when using the conveyor belt, which is very cumbersome. Traditional transport vehicles unload by lifting the hopper with a cylinder and then unloading the material. The height of the hopper after lifting is much higher than the original height of the transport vehicle. In order not to interfere with the top of the tunnel, the hopper height of the transport vehicle must be set very low, resulting in a very small amount of carrying capacity at one time. Under the same backfilling amount, the transport vehicle needs to transport a large number of times, affecting the backfilling efficiency. It is necessary to develop a coal gangue backfilling conveying device and method to improve the above defects. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides a coal gangue backfill conveying device and method thereof, which solves the problems of small transport volume and affected backfill efficiency in the coal gangue backfill conveying device and method thereof in the prior art.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: a coal gangue backfill conveying device, including a gangue thrower and a transport vehicle, the transport vehicle is composed of a chassis, a hopper and a wireless controller, the hopper is fixedly connected to the upper wall of the chassis, the inner wall of the chassis is fixedly connected to a partition, the interior of the chassis is divided into a battery compartment and a control compartment distributed front and back by the partition, the wireless controller is arranged inside the control compartment, a power supply structure is arranged inside the battery compartment, the left and right sides of the chassis are provided with a walking structure for driving the chassis to move, the front side of the hopper is rotatably connected to a control compartment for driving the chassis to move through two sets of fourth rotating pins A discharge door on the front side of the closed hopper, two groups of fourth rotating pins are respectively fixedly connected to the left and right sides of the discharge door and are both located near the top of the discharge door, a discharge driving structure for driving the discharge door to rotate is arranged between the left and right sides of the hopper and the discharge door, the inner wall of the hopper is rotatably connected with a push plate for assisting in discharging of materials through two groups of third rotating pins, two groups of connecting rods are arranged on the inner rear wall of the hopper, a rolling structure is arranged on the end of the connecting rod facing the push plate, a pushing driving structure for driving the connecting rod to move is arranged on the rear wall of the hopper, and camera structures for confirming the conditions of the lane are arranged on both the left and right side walls of the hopper.

[0007] Preferably, the push plate consists of a first push plate and a second push plate, the first push plate is rotatably connected to the inner wall of the hopper and close to the inner rear wall of the hopper through two groups of third rotating pins, the second push plate is rotatably connected to the lower end of the first push plate through two groups of fifth rotating pins, and when the lower wall of the second push plate is parallel to the inner lower wall of the hopper, the angle between the front wall of the first push plate and the upper wall of the second push plate is 100 degrees.

[0008] Preferably, the power supply structure is a battery pack, the battery pack is fixedly connected inside the battery compartment, and the walking structure, wireless controller, camera structure, unloading drive structure and pushing drive structure are all electrically connected to the battery pack.

[0009] Preferably, the walking structure includes two sets of electric track assemblies, and the two sets of electric track assemblies are respectively arranged on the left and right side walls of the chassis.

[0010] Preferably, the unloading drive structure includes two groups of first electric telescopic rods, the left and right side walls of the hopper and close to the bottom plate are fixedly connected with first rotating pins, the outer walls of the two groups of the first rotating pins are respectively rotatably connected with a group of first rotating seats, the two groups of the first electric telescopic rods are respectively fixedly connected to the front wall of a group of first rotating seats, the ends of the extended shafts of the two groups of the first electric telescopic rods are respectively fixedly connected with a group of second rotating seats, the left and right side walls of the unloading door and close to the lower wall are respectively fixedly connected with a group of second rotating pins, the two groups of the second rotating seats are respectively rotatably connected with a group of second rotating pins, and the unloading door is driven to open and close by extending and retracting the extended shaft of the first electric telescopic rod.

[0011] Preferably, the rolling structure includes two groups of third rotating seats, rollers and guide strips, the two groups of third rotating seats are respectively fixedly connected to the front end of a group of connecting rods, and the two groups of rollers are respectively rotatably connected to one end of a group of third rotating seats away from the connecting rods.

[0012] Preferably, the two groups of guide strips are distributed left and right and are fixedly connected to the rear wall of the first push plate in sequence, the rear walls of the two groups of guide strips are both provided with guide grooves whose lengths are distributed in the up and down directions, and the two groups of rollers are rollingly connected to the inner side walls of one group of guide grooves respectively.

[0013] Preferably, the material pushing drive structure includes two groups of second electric telescopic rods, the two groups of second electric telescopic rods are fixedly connected to the rear wall of the hopper and are respectively opposite to a group of connecting rods in front and back, the ends of the extension shafts of the two groups of second electric telescopic rods pass through the rear wall of the hopper and are respectively fixedly connected to the rear ends of a group of connecting rods, and the connecting rods are driven forward and backward by extending and retracting the extension shafts of the second electric telescopic rods.

[0014] Preferably, the camera structure includes four groups of cameras, two groups of protective covers are fixedly connected to the left wall and the right wall of the hopper respectively, two groups of the four groups of protective covers located on the same side are close to the front wall and the rear wall of the hopper respectively, the four groups of cameras are fixedly connected to the inner lower walls of the four groups of protective covers respectively, the camera range of the two groups on the front side of the four groups of cameras is the front of the hopper, and the camera range of the two groups on the rear side of the four groups of cameras is the rear of the hopper.

[0015] According to the above-mentioned transportation method of a coal gangue backfill conveying device, the transportation method comprises the following steps: S1. Drive the gangue dumper to the goaf to be backfilled, with the ejection end facing the area to be filled. The transport vehicle moves back and forth between the gangue storage point and the gangue dumper loading end through the electric crawler assembly and wireless signal control. During the driving process of the transport vehicle, the situation in the tunnel is confirmed through four sets of cameras; S2. After the transport vehicle is fully loaded with material by the excavator at the gangue storage point, it drives to the loading end of the gangue thrower. After the discharge door is located above the loading end of the gangue thrower, the first electric telescopic rod extends the shaft to drive the discharge door to rotate and open along the axis of the fourth rotating pin. The gangue filled in the hopper is poured toward the loading end of the gangue thrower through the gap opened by the discharge door by its own weight, and the gangue is thrown and filled toward the backfill area of ​​the goaf tunnel by the gangue thrower; S3, after the unloading door is opened to the maximum stroke, in order to facilitate the complete unloading of the gangue in the hopper, the second electric telescopic rod extends the shaft, and the roller drives the first push plate to rotate along the axis of the third rotating pin, and gradually drives the second push plate to be lifted up through the first push plate. When the front wall of the first push plate is almost parallel to the upper wall of the second push plate, the gangue on the upper wall of the second push plate slides out at the inclined angle, and complete unloading is achieved; S4. After unloading is completed, the second electric telescopic rod is reset, the push plate is reset by self-reset, the first electric telescopic rod extends and the shaft is reset, driving the unloading door and the hopper to close again, and then drives to the gangue stacking point, and repeats the above steps.

[0016] The present invention provides a coal gangue backfilling conveying device and method thereof, which has the following beneficial effects: Compared with the prior art, the coal gangue backfilling and conveying device and method thereof are provided with a foldable push plate in the hopper. When unloading, a part of the coal gangue is first unloaded by the deadweight of the coal gangue by opening the unloading door, and the remaining part is pushed by the second electric telescopic rod to flatten the push plate. The inclination angle of the push plate after flattening facilitates the sliding out of the coal gangue. The height of the transport vehicle is not changed during the unloading process, so that the hopper can be set to be close to the height of the tunnel, which greatly increases the single transportation volume and effectively improves the backfilling efficiency.

[0017] Compared with the existing technology, the gangue backfill conveying device and method adopt an electric crawler assembly to drive the transport vehicle to move, which has better passability than wheeled transportation and good stability during unloading. It can be combined with a wireless controller, a camera and common wireless control terminals on the market to realize well operation and improve the safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the structure of the present invention; Figure 2 For the present invention Figure 1 A partial enlarged view of the middle A; Figure 3 It is a partial cross-sectional view of the top view of the connection structure of the chassis and the electric crawler track assembly of the present invention; Figure 4 It is a partial cross-sectional view of the protective cover and camera connection structure of the present invention; Figure 5 It is a partial side cross-sectional view of the connection structure between the hopper and the push plate of the present invention; Figure 6 For the present invention Figure 5 A partial enlarged view of point B in the middle; Figure 7 It is a schematic diagram of the connection structure of the first push plate and the guide bar of the present invention.

[0019] Among them, 1. chassis; 2. electric crawler assembly; 3. hopper; 4. unloading door; 5. first push plate; 501, guide bar; 6. second push plate; 7. fifth rotating pin; 8. first electric telescopic rod; 9. first rotating seat; 10. second rotating seat; 11. first rotating pin; 12. second rotating pin; 13. third rotating pin; 14. second electric telescopic rod; 15. protective cover; 16. camera; 17. partition; 18. wireless controller; 19. battery pack; 20. fourth rotating pin; 21. connecting rod; 22. third rotating seat; 23. roller. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. Example

[0021] like Figures 1 to 7 As shown, an embodiment of the present invention provides a coal gangue backfilling and conveying device, including a gangue thrower and a transport vehicle, the transport vehicle is composed of a chassis 1, a hopper 3 and a wireless controller 18, the hopper 3 is fixedly connected to the upper wall of the chassis 1, the inner wall of the chassis 1 is fixedly connected to a partition 17, the interior of the chassis 1 is divided into a battery compartment and a control compartment distributed front and back by the partition 17, the wireless controller 18 is arranged inside the control compartment, and this embodiment also includes a common wireless control terminal on the market that is connected to the wireless controller 18 signal through a wireless signal, which can be used by an operator to wirelessly operate the transport vehicle; In order to power the transport vehicle, a power supply structure is provided inside the battery compartment, and the power supply structure is a battery pack 19, which is fixedly connected inside the battery compartment. The walking structure, the wireless controller 18, the camera structure, the unloading drive structure and the pushing drive structure are all electrically connected to the battery pack 19, and the battery pack 19 provides energy for the operation of the transport vehicle; In order to facilitate the transport vehicle to move between the gangue dumper and the gangue stacking point, a walking structure for driving the chassis 1 to move is arranged on the left and right sides of the chassis 1. The walking structure includes two sets of electric crawler assemblies 2, which are respectively arranged on the left and right side walls of the chassis 1. The electric crawler assemblies 2 are used to drive the transport vehicle to move. Compared with wheeled transportation, the transport vehicle has better passability and good stability during unloading. With the wireless controller 18, the camera 16 and the common wireless control terminal on the market, it can realize the well operation and improve the safety of the operator; In order to facilitate the unloading of loaded coal gangue, the front side of the hopper 3 is rotatably connected with a discharge door 4 for closing the front side of the hopper 3 through two sets of fourth rotation pins 20. The two sets of fourth rotation pins 20 are respectively fixedly connected to the left and right sides of the discharge door 4 and are both located near the top of the discharge door 4. The horizontal height of the upper end of the hopper 3 is slightly lower than the top of the roadway, which improves the passability and can greatly increase the loading capacity and backfilling efficiency. After the discharge door 4 is opened, the unloading action of coal gangue can be facilitated; In order to realize the unloading action, a unloading driving structure for driving the unloading door 4 to rotate is arranged between the left and right sides of the hopper 3 and the unloading door 4. The unloading driving structure includes two groups of first electric telescopic rods 8. The left and right side walls of the hopper 3 and the position close to the bottom plate are fixedly connected with first rotating pins 11. The outer walls of the two groups of first rotating pins 11 are respectively rotatably connected with a group of first rotating seats 9. The two groups of first electric telescopic rods 8 are respectively fixedly connected to the front wall of a group of first rotating seats 9. The ends of the two groups of first electric telescopic rods 8 extending from the shaft are respectively fixedly connected with a group of second rotating seats 10. The left and right side walls of the unloading door 4 and the position close to the lower wall are fixedly connected with the first rotating seat 9. The two sets of second rotating seats 10 are respectively fixedly connected with a group of second rotating pins 12, and the two sets of second rotating seats 10 are respectively rotatably connected with a group of second rotating pins 12. The discharge door 4 is opened and closed by extending and retracting the shaft of the first electric telescopic rod 8. The first electric telescopic rod 8 extends the shaft to drive the discharge door 4 to open, and the coal gangue near the discharge door 4 is poured into the feeding end of the gangue thrower through the opened opening, so as to realize the feeding operation of the gangue thrower. The coal gangue is thrown to the area to be backfilled through the high-speed throwing of the gangue thrower. After the unloading is completed, the first electric telescopic rod 8 extends the shaft and retracts, driving the discharge door 4 to close; In order to achieve complete unloading of the coal gangue in the hopper 3 without raising the height of the transport vehicle, the inner wall of the hopper 3 is rotatably connected to a push plate for assisting in discharging through two groups of third rotating pins 13. The push plate consists of a first push plate 5 and a second push plate 6. The first push plate 5 is rotatably connected to the inner wall of the hopper 3 and close to the inner rear wall of the hopper 3 through two groups of third rotating pins 13. The second push plate 6 is rotatably connected to the lower end of the first push plate 5 through two groups of fifth rotating pins 7. When the lower wall of the second push plate 6 is parallel to the inner lower wall of the hopper 3, the angle between the front wall of the first push plate 5 and the upper wall of the second push plate 6 is 100 degrees. After the unloading door 4 is fully opened, the coal gangue still remaining in the hopper 3 can be unloaded by the expansion action of the push plate. When the push plates are pushed from the first push plate 5 and the second push plate 6 by the pushing drive structure to be nearly parallel, a larger oblique angle is formed, and the coal gangue located on the second push plate 6 slides out through the oblique angle; In order to reduce wear when the push drive structure contacts the push plate, two groups of connecting rods 21 are provided on the inner rear wall of the hopper 3, and a rolling structure is provided on one end of the connecting rod 21 facing the push plate, and the rolling structure includes two groups of third rotating seats 22, rollers 23 and guide strips 501. The two groups of third rotating seats 22 are respectively fixedly connected to the front end of a group of connecting rods 21, and the two groups of rollers 23 are respectively rotatably connected to one end of a group of third rotating seats 22 away from the connecting rods 21. The two groups of guide strips 501 are distributed left and right and are fixedly connected to the rear wall of the first push plate 5 in sequence. The rear walls of the two groups of guide strips 501 are both provided with guide grooves whose lengths are distributed in the up-and-down directions. The two groups of rollers 23 are respectively rollingly connected to the inner side walls of a group of guide grooves. The guide grooves can keep the rollers 23 in a vertical state to avoid losing the rolling effect after flipping. The rolling contact between the rollers 23 and the first push plate 5 can reduce wear. In order to realize the expansion action of the push plate, the rear wall of the hopper 3 is provided with a push drive structure for driving the connecting rod 21 to move. The push drive structure includes two groups of second electric telescopic rods 14. The two groups of second electric telescopic rods 14 are fixedly connected to the rear wall of the hopper 3 and are respectively opposite to the front and rear of a group of connecting rods 21. The ends of the extended shafts of the two groups of second electric telescopic rods 14 penetrate the rear wall of the hopper 3 and are respectively fixedly connected to the rear ends of a group of connecting rods 21. The connecting rod 21 is driven to move forward and backward by extending and retracting the extended shafts of the second electric telescopic rods 14. The extended shafts of the second electric telescopic rods 14 extend to push the connecting rod 21, and push the first push plate 5 through the roller 23, so that the first push plate 5 flips forward along the axis of the third rotating pin 13. When the first push plate 5 flips forward, the second push plate 6 is lifted by the fifth rotating pin 7, so that the coal gangue located on the upper wall of the second push plate 6 can be unloaded; In order to improve the safety during driving, both the left and right side walls of the hopper 3 are provided with a camera structure for confirming the conditions of the lane, and the camera structure includes four groups of cameras 16. Two groups of protective covers 15 are fixedly connected to the left and right walls of the hopper 3, respectively. The two groups located on the same side of the four groups of protective covers 15 are respectively close to the front wall and the rear wall of the hopper 3. The four groups of cameras 16 are fixedly connected to the inner lower walls of the four groups of protective covers 15. The camera range of the two groups on the front side of the four groups of cameras 16 is the front of the hopper 3, and the camera range of the two groups on the rear side of the four groups of cameras 16 is the rear of the hopper 3. When the transport vehicle is controlled to drive in the lane by the wireless control terminal, the internal conditions of the lane can be observed through the four groups of cameras 16 to improve driving safety; According to the above-mentioned transportation method of a gangue backfill conveying device, the transportation method comprises the following steps: S1, driving the gangue thrower to the goaf to be backfilled, with the ejection end facing the area to be filled, and the transport vehicle moving back and forth between the gangue storage point and the gangue thrower loading end through the electric crawler assembly 2 and wireless signal control. During the driving process of the transport vehicle, the situation in the tunnel is confirmed through four sets of cameras 16; S2. After the transport vehicle is fully loaded with material by the excavator at the gangue storage point, it drives to the loading end of the gangue thrower. After the discharge door 4 is located above the loading end of the gangue thrower, the first electric telescopic rod 8 extends its shaft to drive the discharge door 4 to rotate and open along the axis of the fourth rotating pin 20. The gangue filled in the hopper 3 is poured toward the loading end of the gangue thrower through the gap opened by the discharge door 4 by its own weight, and the gangue is ejected and filled toward the backfill area of ​​the goaf tunnel through the gangue thrower; S3, after the unloading door 4 is opened to the maximum stroke, in order to facilitate the complete unloading of the gangue in the hopper 3, the second electric telescopic rod 14 is extended, and the first push plate 5 is pushed to rotate along the axis of the third rotating pin 13 through the roller 23, and the second push plate 6 is gradually lifted up by the first push plate 5. When the front wall of the first push plate 5 is almost parallel to the upper wall of the second push plate 6, the gangue located on the upper wall of the second push plate 6 slides out at the inclined angle, and complete unloading is achieved; S4. After unloading is completed, the second electric telescopic rod 14 is reset, the push plate is reset by self-reset, the first electric telescopic rod 8 extends the shaft to reset, driving the unloading door 4 and the hopper 3 to close again, and then drives to the coal gangue stacking point, and repeats the above steps.

[0022] Working principle: The electric crawler assembly 2 is used to drive the transport vehicle to move. Compared with wheeled transportation, it has better passability and good stability during unloading. With the wireless controller 18, camera 16 and common wireless control terminals on the market, it can realize well operation and improve the safety of operators. The upper end of the hopper 3 is slightly lower than the top of the tunnel. While improving passability, it can greatly increase the loading capacity and improve backfilling efficiency. The first electric telescopic rod 8 extends the shaft to drive the unloading door 4 to open, and the coal gangue near the unloading door 4 is poured into the feeding end of the gangue thrower through the opened opening, realizing the feeding operation of the gangue thrower. The coal gangue is thrown to the area to be backfilled through the high-speed throwing of the gangue thrower. After unloading is completed, the first electric telescopic rod 8 extends the shaft and retracts, driving the unloading door 4 to close. After the unloading door 4 is fully opened, the coal gangue still remaining in the hopper 3 can be unloaded by the flattening action of the push plate. When the first push plate 5 and the second push plate 6 are pushed to be nearly parallel by the push driving structure, a larger oblique angle is formed, and the coal gangue on the second push plate 6 slides out through the oblique angle, and the guide groove can maintain the vertical state of the roller 23 to avoid losing the rolling effect after turning over. The rolling contact between the roller 23 and the first push plate 5 can reduce wear. After the second electric telescopic rod 14 extends the shaft, it pushes the connecting rod 21 and pushes the first push plate 5 through the roller 23, so that the first push plate 5 turns forward along the axis of the third rotating pin 13. When the first push plate 5 turns forward, the second push plate 6 is lifted by the fifth rotating pin 7, so that the coal gangue located on the upper wall of the second push plate 6 can be unloaded. When the transport vehicle is controlled to travel in the lane by the wireless control terminal, the internal situation of the lane can be observed by four groups of cameras 16 to improve driving safety.

[0023] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A coal gangue backfill conveying device, characterized in that: The invention comprises a gangue throwing machine and a transport vehicle, wherein the transport vehicle comprises a chassis (1), a hopper (3) and a wireless controller (18), wherein the hopper (3) is fixedly connected to the upper wall of the chassis (1), and the inner wall of the chassis (1) is fixedly connected to a partition (17), the interior of the chassis (1) is divided into a battery compartment and a control compartment distributed front and back by the partition (17), the wireless controller (18) is arranged inside the control compartment, and a power supply structure is arranged inside the battery compartment, and walking structures for driving the chassis (1) to move are arranged on the left and right sides of the chassis (1), and a discharge door (4) for closing the front side of the hopper (3) is rotatably connected to the front side of the hopper (3) through two groups of fourth rotating pins (20), and the two groups of the fourth rotating pins (20) are arranged on the left and right sides of the chassis (1). The fourth rotating pins (20) are respectively fixedly connected to the left and right sides of the discharge door (4) and are both located near the top of the discharge door (4). A discharge driving structure for driving the discharge door (4) to rotate is provided between the left and right sides of the hopper (3) and the discharge door (4). The inner wall of the hopper (3) is rotatably connected to a push plate for assisting in discharging of materials through two groups of third rotating pins (13). Two groups of connecting rods (21) are provided on the inner rear wall of the hopper (3). A rolling structure is provided at one end of the connecting rod (21) facing the push plate. A push driving structure for driving the connecting rod (21) to move is provided on the rear wall of the hopper (3). Camera structures for confirming the conditions of the lane are provided on both the left and right side walls of the hopper (3).

2. A gangue backfill conveying device according to claim 1, characterized in that: The push plate is composed of a first push plate (5) and a second push plate (6), wherein the first push plate (5) is rotatably connected to the inner wall of the hopper (3) and close to the inner rear wall of the hopper (3) through two sets of third rotating pins (13), and the second push plate (6) is rotatably connected to the lower end of the first push plate (5) through two sets of fifth rotating pins (7), and when the lower wall of the second push plate (6) is parallel to the inner lower wall of the hopper (3), the angle between the front wall of the first push plate (5) and the upper wall of the second push plate (6) is 100 degrees.

3. A gangue backfill conveying device according to claim 2, characterized in that: The power supply structure is a battery pack (19), the battery pack (19) is fixedly connected inside the battery compartment, and the walking structure, the wireless controller (18), the camera structure, the unloading drive structure, and the pushing drive structure are all electrically connected to the battery pack (19).

4. The gangue backfill conveying device according to claim 3, characterized in that: The walking structure comprises two sets of electric crawler assemblies (2), and the two sets of electric crawler assemblies (2) are respectively arranged on the left and right side walls of the chassis (1).

5. The gangue backfill conveying device according to claim 4, characterized in that: The unloading drive structure comprises two groups of first electric telescopic rods (8), the left and right side walls of the hopper (3) and the position close to the bottom plate are fixedly connected with first rotating pins (11), the outer walls of the two groups of the first rotating pins (11) are respectively rotatably connected with a group of first rotating seats (9), the two groups of the first electric telescopic rods (8) are respectively fixedly connected to the front wall of a group of first rotating seats (9), the ends of the extended shafts of the two groups of the first electric telescopic rods (8) are respectively fixedly connected with a group of second rotating seats (10), the left and right side walls of the unloading door (4) and the position close to the bottom wall are respectively fixedly connected with a group of second rotating pins (12), the two groups of the second rotating seats (10) are respectively rotatably connected with a group of second rotating pins (12), and the unloading door (4) is driven to open and close by extending and retracting the extended shafts of the first electric telescopic rods (8).

6. The gangue backfill conveying device according to claim 5, characterized in that: The rolling structure comprises two groups of third rotating seats (22), rollers (23) and guide strips (501); the two groups of third rotating seats (22) are respectively fixedly connected to the front ends of a group of connecting rods (21); and the two groups of rollers (23) are respectively rotatably connected to one end of the group of third rotating seats (22) away from the connecting rods (21).

7. The gangue backfill conveying device according to claim 6, characterized in that: The two groups of guide strips (501) are distributed in left and right directions and are fixedly connected to the rear wall of the first push plate (5) in sequence. The rear walls of the two groups of guide strips (501) are both provided with guide grooves whose lengths are distributed in the vertical direction. The two groups of rollers (23) are respectively connected in a rolling manner to the inner side walls of one group of guide grooves.

8. The gangue backfill conveying device according to claim 7, characterized in that: The material pushing drive structure comprises two groups of second electric telescopic rods (14), the two groups of second electric telescopic rods (14) are fixedly connected to the rear wall of the hopper (3) and are respectively opposite to a group of connecting rods (21) in front and back, the ends of the extension shafts of the two groups of second electric telescopic rods (14) pass through the rear wall of the hopper (3) and are respectively fixedly connected to the rear ends of a group of connecting rods (21), and the connecting rods (21) are driven to move forward and backward by extending and retracting the extension shafts of the second electric telescopic rods (14).

9. The gangue backfill conveying device according to claim 8, characterized in that: The camera structure comprises four groups of cameras (16); the left wall and the right wall of the hopper (3) are respectively fixedly connected with two groups of protective covers (15); the two groups located on the same side of the four groups of protective covers (15) are respectively close to the front wall and the rear wall of the hopper (3); the four groups of cameras (16) are respectively fixedly connected to the inner lower walls of the four groups of protective covers (15); the camera ranges of the two groups on the front side of the four groups of cameras (16) are the front of the hopper (3); and the camera ranges of the two groups on the rear side of the four groups of cameras (16) are the rear of the hopper (3).

10. The transportation method of the gangue backfill conveying device according to claim 1, characterized in that: The transportation method comprises the following steps: S1, driving the gangue dumper to the goaf to be backfilled, with the ejection end facing the area to be filled, and the transport vehicle moving back and forth between the gangue storage point and the gangue dumper loading end through the electric crawler assembly (2) and wireless signal control. During the driving process of the transport vehicle, the situation in the tunnel is confirmed through four sets of cameras (16); S2, after the transport vehicle is fully loaded with material by the excavator at the coal gangue storage point, it drives to the loading end of the gangue thrower. After the discharge door (4) is located above the loading end of the gangue thrower, the first electric telescopic rod (8) extends its shaft, driving the discharge door (4) to rotate and open along the axis of the fourth rotating pin (20), and the coal gangue filled in the hopper (3) is poured toward the loading end of the gangue thrower through the gap opened by the discharge door (4) by its own weight, and the gangue is thrown and filled toward the backfill area of ​​the goaf tunnel by the gangue thrower; S3, after the unloading door (4) is opened to the maximum stroke, in order to facilitate the complete unloading of the gangue in the hopper (3), the second electric telescopic rod (14) is extended, and the first push plate (5) is pushed to rotate along the axis of the third rotating pin (13) through the roller (23), and the second push plate (6) is gradually lifted up through the first push plate (5). When the front wall of the first push plate (5) and the upper wall of the second push plate (6) are almost parallel, the gangue located on the upper wall of the second push plate (6) slides out at the inclined angle, thereby achieving complete unloading; S4. After unloading is completed, the second electric telescopic rod (14) is reset, the push plate is reset by self-reset, the first electric telescopic rod (8) extends out of the shaft and resets, driving the unloading door (4) and the hopper (3) to close again, and then drives to the gangue stacking point, and repeats the above steps.

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