Coal gangue backfill conveying device and method

Abstract

The present invention provides a gangue backfilling and conveying device and method thereof, and relates to the technical field of coal mine machinery and equipment. The gangue backfilling and conveying device and method thereof include a gangue thrower and a transport vehicle. In the present invention, a foldable push plate is provided in the hopper. During unloading, a portion of the gangue is first unloaded by opening the unloading door and the gangue is discharged under its own weight. The remaining portion is pushed by a second electric telescopic rod to flatten the push plate. The tilt angle of the push plate after flattening facilitates the sliding out of the gangue. The height of the transport vehicle is not changed during unloading, so that the hopper can be set to a height close to that of the roadway, greatly increasing the single transport volume and effectively improving the backfilling efficiency. The transport vehicle is driven by an electric crawler assembly, which has better passability than wheeled transportation and good stability during unloading. When used with a wireless controller, a camera, and a common wireless control terminal on the market, it can be operated on the well, improving the safety of the operator.

Description

Technical Field

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

[0002] After coal mining, a hollow space forms beneath the surface of the coal seam. The mined coal is washed and selected to separate the coal with high calorific value. The remaining gangue cannot be transformed into high-value products, and large quantities of it are buried or piled up, posing a social and environmental hazard. In recent years, the idea of ​​backfilling gangue into the mined hollow space has been proposed. This not only eliminates the environmental pollution caused by piling up the gangue, but also restores the stability of the underground layer after backfilling, which has long-term social significance.

[0003] Common methods of gangue backfilling include slurry filling, paste filling, and comprehensive mechanized solid filling. Among them, comprehensive mechanized solid filling is to fill gangue directly into the goaf through mechanized equipment. It is easy to operate and highly efficient.

[0004] Comprehensive mechanized solid filling usually uses a transport vehicle or a conveyor belt to transport the gangue from the stacking point to the loading end of the gangue thrower, and the 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 backfill volume, the transport vehicle needs to transport a lot of times, which affects the backfilling efficiency. It is necessary to develop a coal gangue backfill conveying device and method to improve the above defects. Summary of the Invention

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

[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 consists 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. The discharge door on the front side of the closed hopper, the two groups of the 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 provided between the left and right sides of the hopper and the discharge door, the inner wall of the hopper is rotatably connected to a push plate for assisting in discharging the material through two groups of third rotating pins, the inner rear wall of the hopper is provided with two groups of connecting rods, the connecting rod is provided with a rolling structure at one end facing the push plate, the rear wall of the hopper is provided with a pushing driving structure for driving the connecting rod to move, and the left and right side walls of the hopper are provided with a camera structure for confirming the condition of the tunnel.

[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 to the inside of 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 crawler assemblies, and the two sets of electric crawler 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, and the left and right side walls of the hopper and the position near the bottom plate are fixedly connected with a first rotating pin, 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 the position near 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 opened and closed 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 bars, 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 the end of a group of third rotating seats away from the connecting rod.

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

[0013] Preferably, the 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 extending 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 extending shafts of the second electric telescopic rods.

[0014] Preferably, the camera structure includes four groups of cameras, and two groups of protective covers are fixedly connected to the left and right walls of the hopper respectively. The two groups located on the same side of the four groups of protective covers are close to the front and rear walls 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 the gangue backfill conveying device, the transportation method includes the following steps:

[0016] S1. Drive the gangue thrower to the goaf to be backfilled, with the ejection end facing the area to be filled. The transport vehicle is controlled by an electric crawler assembly and wireless signals to move back and forth between the coal gangue storage point and the gangue thrower loading end. During the transportation of the transport vehicle, four sets of cameras are used to confirm the situation in the roadway;

[0017] S2. After the transport vehicle is fully loaded with gangue at the gangue storage point by the excavator, 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, driving the discharge door to rotate and open along the axis of the fourth rotating pin. The gangue filled in the hopper is poured into the loading end of the gangue thrower through the gap opened by the discharge door under its own weight. The gangue is then projected by the gangue thrower toward the area to be backfilled in the goaf.

[0018] S3. After the unloading door is opened to its maximum stroke, in order to facilitate the complete unloading of the coal gangue in the hopper, the second electric telescopic rod is extended, 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 rise 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 coal gangue on the upper wall of the second push plate slides out at the inclined angle, and complete unloading is achieved;

[0019] 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 the shaft and resets, driving the unloading door and the hopper to close again, and then drives to the coal gangue stacking point, and repeats the above steps.

[0020] The present invention provides a gangue backfill conveying device and method thereof, which has the following beneficial effects:

[0021] Compared with the existing technology, 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 weight 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 tilt 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 roadway, which greatly increases the single transportation volume and effectively improves the backfilling efficiency.

[0022] Compared with the existing technology, the coal gangue backfill conveying device and method use an electric crawler assembly to drive the transport vehicle. Compared with wheeled transportation, it has better passability and good stability during unloading. It is equipped with a wireless controller, a camera and common wireless control terminals on the market to realize surface operation and improve the safety of operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the structure of the present invention;

[0024] Figure 2 For the present invention Figure 1 A partial enlarged view of point A in the middle;

[0025] Figure 3 It is a partial cross-sectional view of the top view of the connection structure of the chassis and electric crawler track assembly of the present invention;

[0026] Figure 4 This is a partial cross-sectional view of the protective cover and camera connection structure of the present invention;

[0027] 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;

[0028] Figure 6 For the present invention Figure 5 A partial enlarged view of point B in the middle;

[0029] Figure 7 This is a schematic diagram of the connection structure between the first push plate and the guide bar of the present invention.

[0030] 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

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention. Example

[0032] like Figures 1 to 7 As shown, an embodiment of the present invention provides a coal gangue backfill 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. A partition 17 is fixedly connected to the inner wall of the chassis 1. 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. This embodiment also includes a common wireless control terminal on the market that is connected to the wireless controller 18 via a wireless signal, allowing an operator to wirelessly operate the transport vehicle.

[0033] In order to power the transport vehicle, a power supply structure is provided inside the battery compartment. The power supply structure is a battery pack 19. The battery pack 19 is fixedly connected inside the battery compartment. The walking structure, wireless controller 18, camera structure, unloading drive structure and push drive structure are all electrically connected to the battery pack 19. The battery pack 19 provides energy for the operation of the transport vehicle.

[0034] In order to facilitate the movement of the transport vehicle between the gangue thrower and the coal gangue storage point, a walking structure for driving the chassis 1 to move is provided on the left and right sides of the chassis 1. The walking structure includes two sets of electric crawler assemblies 2, which are respectively provided 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. In combination with a wireless controller 18, a camera 16 and a common wireless control terminal on the market, it can realize well operation and improve the safety of the operator.

[0035] In order to facilitate the unloading of loaded coal gangue, the front side of the hopper 3 is rotatably connected to 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 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 backfill efficiency. After the discharge door 4 is opened, the unloading action of the coal gangue can be facilitated;

[0036] In order to realize the unloading action, a unloading driving structure for driving the unloading door 4 to rotate is provided 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, thereby realizing the feeding operation of the gangue thrower. The coal gangue is thrown into the area to be backfilled by 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 discharge door 4 to close;

[0037] The hopper 3 is provided with a plurality of support members 12 and 13, and the support members 12 are provided with a plurality of support members 14. The support members 12 are provided with a plurality of support members 13 and a plurality of support members 14. The support members 12 are provided with a plurality of support members 12 and a plurality of support members 14.

[0038] 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. A rolling structure is provided on one end of the connecting rod 21 facing the push plate. The rolling structure includes two groups of third rotating seats 22, rollers 23 and guide bars 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 rod 21. The two groups of guide bars 501 are distributed left and right and fixedly connected to the rear wall of the first push plate 5 in sequence. The rear walls of the two groups of guide bars 501 are 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. Wear can be reduced through the rolling contact between the rollers 23 and the first push plate 5.

[0039] 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, and 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 extended shaft ends 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. The connecting rod 21 is driven forward and backward by the extension and retraction of the extended shaft of the second electric telescopic rod 14. The extended shaft of the second electric telescopic rod 14 pushes the connecting rod 21 and pushes the first push plate 5 through the roller 23, so that the first push plate 5 flips forward along the axis of the third rotation pin 13. When the first push plate 5 flips forward, the second push plate 6 is lifted by the fifth rotation pin 7, so that the coal gangue located on the upper wall of the second push plate 6 can be unloaded;

[0040] In order to improve the safety during driving, the left and right side walls of the hopper 3 are provided with a camera structure for confirming the situation in the lane. The camera structure includes four groups of cameras 16. The left and right walls 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 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 travel in the lane by the wireless control terminal, the internal situation of the lane can be observed through the four groups of cameras 16, thereby improving driving safety.

[0041] According to the above-mentioned transportation method of the gangue backfill conveying device, the transportation method includes the following steps:

[0042] S1. Drive the gangue thrower to the goaf to be backfilled, with the ejection end facing the area to be filled. The transport vehicle is controlled by the electric crawler assembly 2 and wireless signals to move back and forth between the coal gangue storage point and the gangue thrower loading end. During the transportation of the transport vehicle, the four sets of cameras 16 are used to confirm the situation in the roadway;

[0043] S2. After the transport vehicle is fully loaded with coal gangue at the coal gangue storage point by the excavator, it drives to the feeding end of the gangue thrower. After the discharge door 4 is located above the feeding 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. The coal gangue filled in the hopper 3 is poured into the feeding end of the gangue thrower through the gap opened by the discharge door 4 by its own weight. The gangue is then projected by the gangue thrower toward the area to be backfilled in the goaf.

[0044] S3. After the unloading door 4 is opened to its maximum stroke, in order to facilitate the complete unloading of the coal 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 via 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 coal gangue on the upper wall of the second push plate 6 slides out at the inclined angle, and complete unloading is achieved;

[0045] 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.

[0046] Working principle: The electric crawler assembly 2 is used to drive the transport vehicle to move, which has better passability than wheeled transportation and good stability during unloading. It is equipped with a wireless controller 18, a camera 16 and common wireless control terminals on the market to realize on-site operation and improve the safety of operators. The upper end of the hopper 3 is slightly lower than the top of the tunnel, which improves the passability and greatly increases the loading capacity and 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 flipping. 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 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. When the transport vehicle is controlled to travel in the tunnel by the wireless control terminal, the internal situation of the tunnel can be observed by the four sets of cameras 16 to improve driving safety.

[0047] While 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 these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A gangue backfill conveying device, characterized in that: The invention comprises a gangue throwing machine and a transport vehicle, wherein 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; a power supply structure is arranged inside the battery compartment; a walking structure for driving the chassis (1) to move is arranged on the left and right sides of the chassis (1); the front side of the hopper (3) is rotatably connected to a discharge door (4) for closing the front side of the hopper (3) through two groups of fourth rotating pins (20); the two groups of the fourth rotating pins (20) are connected to the front side of the hopper (3 ... The fourth rotating pin (20) is respectively fixedly connected to the left and right sides of the discharge door (4) and is 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). The push plate is composed 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), 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; The rolling structure comprises two groups of third rotating seats (22), rollers (23) and guide bars (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); The two groups of guide bars (501) are distributed in the 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 bars (501) are both provided with guide grooves whose lengths are distributed in the up-down direction. The two groups of rollers (23) are respectively connected to the inner side walls of one group of guide grooves in a rolling manner.

2. The gangue backfill conveying device according to claim 1, 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, wireless controller (18), camera structure, unloading drive structure and pushing drive structure are all electrically connected to the battery pack (19).

3. The gangue backfill conveying device according to claim 2, 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).

4. The gangue backfill conveying device according to claim 3, 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 lower 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 shaft of the first electric telescopic rod (8).

5. The gangue backfill conveying device according to claim 4, characterized in that: The push drive structure comprises two groups of second electric telescopic rods (14), both groups of the 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, and the ends of the extended shafts of the two groups of the 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 extended shafts of the second electric telescopic rods (14).

6. The gangue backfill conveying device according to claim 5, 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 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).

7. The method for transporting gangue backfill conveying device according to claim 1, characterized in that: The transportation method comprises the following steps: S1. The gangue thrower is driven to the goaf to be backfilled, with the ejection end facing the area to be filled. The transport vehicle is controlled by the electric crawler assembly (2) and wireless signals to move back and forth between the gangue storage point and the gangue thrower loading end. During the driving process of the transport vehicle, the situation in the roadway is confirmed by four sets of cameras (16); S2. After the transport vehicle is loaded with material by the excavator at the gangue storage point, it travels 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). 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 roadway 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 nearly parallel, 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 and resets, 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.

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