Strip branch roadway unmanned mining and filling method based on remote control continuous mining machine

Abstract

The invention belongs to the technical field of coal mining and filling. In order to solve the problems of high mining and filling cost and large branch roadway supporting workload in the prior art, the strip branch roadway unmanned mining and filling method based on the remote control continuous mining machine is provided, the remote control continuous mining machine, coal transportation equipment and ventilation equipment are adopted in cooperation with remote control to complete coal transfer and ventilation, traditional branch roadway supporting is omitted, and the working efficiency is improved. Unmanned operation of the branch roadway is achieved, the workload of workers is reduced, the supporting time is shortened, the yield is increased, the cost is reduced, use of operators is reduced, the problem that due to space limitation, the opening position of the branch roadway is difficult to transfer and unload is solved, meanwhile, the requirement for the transportation volume can be met, safe and efficient mining is achieved, and the mining efficiency is improved. Through combination of single-side plugging and drilling filling, the workload of opening plugging and filling templates is reduced, the filling efficiency is improved, and hazards such as construction potential safety hazards, air flow short circuit or insufficient air quantity caused by branch roadway penetration are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining and filling, and in particular to an unmanned mining and filling method for a strip branch lane based on a remote-controlled continuous miner. Background Art

[0002] my country has abundant reserves of thin coal seams with a thickness of 0.8 to 1.3 m and medium-thick coal seams with a thickness of 1.3 to 3.5 m, especially thin coal seams, which have great mining potential. According to incomplete statistics, my country's thin and medium-thick coal seams have proven reserves of 9.83 billion tons, and recoverable reserves exceed 6 billion tons. However, common mining methods such as drum shearers have problems such as poor economic benefits, low production and efficiency, and large amounts of gangue when mining thin coal seams. When medium-thick coal seams involve "three down" mining, there are problems such as high costs for surface subsidence or ground relocation, low economic benefits, large amounts of mining preparation work, difficult approvals, and large amounts of coal compression.

[0003] At present, domestic mining equipment is fully applicable to thin and medium-thick coal seams above 1.3m, providing technical feasibility for reducing manpower, improving efficiency, safety, and automated mining. However, there are also major problems, such as heavy workload for branch tunnel support, unreasonable ventilation, and high mining and filling costs. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides an unmanned mining and filling method for strip branch lanes based on a remote-controlled continuous miner, which has a high degree of intelligence and improves mining and filling efficiency and safety.

[0005] The present invention provides an unmanned mining and filling method for a strip branch lane based on a remote-controlled continuous miner, comprising the following steps:

[0006] S1. The mining face transport lane, the mining face return air lane and the connecting lane for connecting the mining face transport lane and the mining face return air lane are arranged in parallel in the mining area to form a full-pressure ventilation working face with the transport lane and the return air lane;

[0007] S2. Arrange several production units in a direction away from the connecting tunnel, each production unit includes three branch tunnels excavated obliquely along the transportation tunnel of the mining face, and the three branch tunnels are the first round branch tunnel, the second round branch tunnel and the last round branch tunnel in the direction away from the connecting tunnel;

[0008] S3. Arrange coal transportation equipment and ventilation equipment in the main transportation tunnel and the mining face transportation tunnel;

[0009] S4. Use remote-controlled continuous miners to excavate, ventilate and fill branch tunnels;

[0010] Among them, the skip mining and skip filling method is adopted to complete the mining and filling work of all the first-round branch tunnels, the second-round branch tunnels and the last-round branch tunnels in sequence. When the branch tunnel is filled, the opening of the branch tunnel close to the transport tunnel of the mining face is blocked, and a hole is drilled from the side of the return air tunnel of the mining face. After connecting with the branch tunnel, the filling pipeline is buried and the filling material is introduced for filling.

[0011] Optionally, the coal transportation equipment includes a small transport unit, a continuous transport No. 1 vehicle, a transport vehicle, a straddle-type transfer and a transport belt. The transport belt is arranged in the transport main tunnel and the mining face transport tunnel. The straddle-type transfer is arranged at the position of the transport belt close to the first round branch tunnel. The small transport unit and the continuous transport No. 1 vehicle are arranged in sequence behind the remote-controlled continuous mining machine. The continuous transport No. 1 vehicle is connected with the straddle-type transfer, and the transport vehicle is used to transport the small transport unit.

[0012] The length of the small transport unit is ≤4m.

[0013] Optionally, during the excavation of the transport tunnel of the mining face, two chambers are mined on one side of the drift. The two chambers are respectively a transport unit storage site and a remote control room. The transport unit storage site is used to store small transport units, and the remote control room is used to store a remote-controlled continuous mining machine.

[0014] Optionally, the ventilation equipment includes a forced-in ventilator and a wind tube. The forced-in ventilator is arranged in the main transport tunnel, and its end is ≥10m away from the opening position of the transport tunnel of the mining face;

[0015] One end of the duct is connected to the pressure-type ventilator, and the other end extends along the coal wall to the position of the first branch tunnel. Side ducts are arranged on both sides of the small transport unit, and the end of the duct is a forked structure to connect with the two side ducts.

[0016] Optionally, the excavation of the branch tunnel in step S4 specifically includes the following steps:

[0017] S401, branch tunnel opening, remote control continuous mining machine is manually operated to excavate at the initial position of the first branch tunnel. During the opening process, the No. 1 continuous transport vehicle collects the mined coal and unloads it onto the straddle carrier, which is transported by the transport belt. The cutting is completed within the opening depth of 10m and adjusted to the specified angle;

[0018] S402, branch tunnel excavation, the forward end of the remote-controlled continuous miner is equipped with inertial navigation and camera probes, and sensors are arranged on the body. The remote-controlled continuous miner advances forward along the specified angle under the action of inertial navigation and camera probes, and the gas and dust concentrations are monitored in real time through sensors. The remote-controlled continuous miner drives the small transport unit to advance each small transport unit. The connection between the end small transport unit and the No. 1 continuous transport vehicle is disconnected, the No. 1 continuous transport vehicle is withdrawn, and the next small transport unit is connected to the end of the original small transport unit by a transport vehicle. The No. 1 continuous transport vehicle is connected with the newly connected small transport unit and the straddle carrier, and the remote-controlled continuous miner continues to advance;

[0019] S403, remotely control the continuous miner to excavate to the stop line, stop excavation and withdraw, the transport belt and the continuous transport vehicle No. 1 are withdrawn to the opening position of the next branch tunnel to be excavated, and the continuous miner is remotely controlled to retreat under the guidance of inertial navigation and camera probe, and the small transport units are pushed out section by section, and the small transport units are neatly placed with a transport vehicle, and retreat to the opening position of the next branch tunnel to be excavated;

[0020] S404, repeat the above steps, after all the first round of branch tunnels are excavated, continue to complete the excavation work of all the secondary rounds of branch tunnels, after all the secondary rounds of branch tunnels are excavated, complete the excavation work of all the final rounds of branch tunnels.

[0021] Optionally, one end of the filling pipeline is connected to the filling pump station, and the other end is connected along the return air main tunnel through the return air tunnel of the mining face into the mined branch tunnel;

[0022] The filling material is paste filling or high water filling.

[0023] Optionally, a secondary filling tube is reserved at the top connection during filling, and the filling material is pressurized during the second filling.

[0024] Optionally, the width of the mining face transport tunnel, mining face return air tunnel and connecting tunnel should be ≥5.5m, their height should be ≥2.4m, and the length of the connecting tunnel should be 30m~80m.

[0025] Optionally, the angle between the branch tunnel and the mining face transport tunnel is 40° to 60°, the width of the branch tunnel is the cutting width, the height of the branch tunnel is the thickness of the coal seam, and no coal pillar is left between two adjacent branch tunnels.

[0026] Compared with the prior art, the technical solution provided by the embodiment of the present invention has the following beneficial effects:

[0027] The embodiment of the present invention provides an unmanned mining and filling method for strip branch tunnels based on a remote-controlled continuous miner. This method uses a remote-controlled continuous miner, coal transportation equipment and ventilation equipment, and cooperates with remote control to complete cutting, loading and transportation, and completes coal transfer and ventilation, so that workers can complete mining and filling operations without entering the branch tunnels, eliminate the support of traditional branch tunnels, realize unmanned operation of branch tunnels, reduce the workload of workers and support time, thereby increasing production, reducing costs, and reducing the use of operators.

[0028] The coal transportation equipment used in this method is suitable for arrangement in branch tunnels and at the openings of branch tunnels, which solves the problem of difficulty in transporting and unloading at the openings of branch tunnels due to space limitations, while ensuring the demand for transportation volume and achieving safe and efficient mining.

[0029] Traditional strip mining usually involves excavating branch tunnels and then penetrating the transport tunnel and return air tunnel of the mining face. This method combines single-sided plugging with drill hole filling to reduce the workload of opening plugging and filling templates and improve filling efficiency. In addition, it avoids construction safety hazards, airflow short circuit or insufficient air volume caused by the penetration of branch tunnels. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0032] Figure 1 This is a layout diagram of an unmanned mining and filling system for a strip branch lane based on a remote-controlled continuous miner according to an embodiment of the present invention;

[0033] Figure 2 for Figure 1 Schematic diagram of the AA section;

[0034] Figure 3 for Figure 1 Schematic diagram of the cross section along the BB direction.

[0035] Among them, 1. Transport tunnel; 2. Return air tunnel; 3. Transport tunnel for mining face; 4. Connecting tunnel; 5. Return air tunnel for mining face; 6. Remote-controlled continuous mining machine; 7. Small transport unit; 8. Continuous transport vehicle No. 1; 9. Transport vehicle; 10. Storage area for transport unit; 11. Wind duct; 12. Straddle transfer; 13. Transport belt; 14. Pressure ventilator; 15. Filling pipeline; 16. Filling body; 17. First-round branch tunnel; 18. Second-round branch tunnel; 19. Last-round branch tunnel; 20. Stop mining line; 21. Remote control room; 22. Coal seam; 23. Coal seam floor; 24. Coal seam roof; 25. Side wind duct. DETAILED DESCRIPTION

[0036] In order to more clearly understand the above-mentioned objectives, features and advantages of the present invention, the scheme of the present invention will be further described below. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0037] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein; it is obvious that the embodiments in the specification are only part of the embodiments of the present invention, rather than all of the embodiments.

[0038] Reference Figures 1 to 3 As shown, this embodiment provides an unmanned mining and filling method for strip branch tunnels based on a remote-controlled continuous miner. This method is suitable for coal rock hardness with a Provost coefficient not exceeding f4, a stable coal seam 22, an inclination angle not exceeding 9°, a coal seam roof 24 and a coal seam floor 23 reaching medium stability or above, and the mine gas level is a low-gas mine or a high-gas mine.

[0039] The specific steps include:

[0040] S1. The mining face transport tunnel 3, the mining face return air tunnel 5 and the connecting tunnel 4 for connecting the mining face transport tunnel 3 and the mining face return air tunnel 5 are arranged in parallel in the mining area to form a full wind pressure ventilation working face with the transport main tunnel 1 and the return air main tunnel 2.

[0041] S2. Arrange several production units in the direction away from the connecting tunnel 4. Each production unit includes three branch tunnels excavated obliquely along the mining face transport tunnel 3. The three branch tunnels are respectively the first-round branch tunnel 17, the second-round branch tunnel 18 and the last-round branch tunnel 19 in the direction away from the connecting tunnel 4.

[0042] S3. Arrange coal transportation equipment and ventilation equipment in the main transportation tunnel 1 and the mining face transportation tunnel 3.

[0043] S4. Use remote-controlled continuous mining machine 6 to excavate branch tunnels, ventilate branch tunnels, and fill branch tunnels.

[0044] Among them, the skip mining and skip filling method is adopted to complete the mining and filling work of all the first-round branch tunnels 17, the second-round branch tunnels 18 and the last-round branch tunnels 19 in sequence. When the branch tunnels are filled, the opening of the branch tunnels close to the transport tunnel 3 of the mining face is blocked, and a hole is drilled from the side of the return air tunnel 5 of the mining face. After connecting with the branch tunnels, the filling pipeline 15 is buried and the filling material 16 is introduced for filling.

[0045] Specifically, refer to Figure 1 As shown, the transport tunnel 1 and the return air tunnel 2 are arranged in parallel, the mining face transport tunnel 3 is connected with the transport tunnel 1, the mining face return air tunnel 5 is connected with the return air tunnel 2, the mining face transport tunnel 3 is parallel to the mining face return air tunnel 5, and are connected through the connecting tunnel 4. In this way, the entire tunnel system realizes full wind pressure ventilation, that is, the transport tunnel 1 and the mining face transport tunnel 3 are air-intake, the airflow enters the mining face return air tunnel 5 through the connecting tunnel 4, and finally enters the return air tunnel 2. In order to ensure that there is space for equipment arrangement and the air volume and speed are reasonable, the width of the mining face transport tunnel 3, the mining face return air tunnel 5 and the connecting tunnel 4 should all be ≥5.5m, and their height should be ≥2.4m. In order to ensure efficient mining of the branch tunnels and have space for arranging equipment inside, the length of the connecting tunnel 4 is 30m~80m.

[0046] Among them, the branch tunnel adopts the jump mining and jump filling method, that is, the branch tunnel is mined in three rounds, and all of them are retreat mining. After the mining of a single branch tunnel is completed, the opening of the branch tunnel is immediately blocked to form a closed space, and the filling pipeline 15 is buried from the side of the return air tunnel 5 of the mining face for backfilling. Specifically, the width of the branch tunnel is the cutting width, and the height of the branch tunnel is the thickness of the coal seam 22. There is no support in the branch tunnel, that is, the remote-controlled continuous mining machine 6 moves forward in a straight line at the specified angle of inertial navigation after completing the opening of the branch tunnel. The angle between the branch tunnel and the mining face transport tunnel 3 is 40°~60°, and no coal pillar is left between two adjacent branch tunnels. Traditional strip mining usually involves the excavation of the branch tunnel to penetrate the mining face transport tunnel 3 and the mining face return air tunnel 5. The combination of single-side blocking and drilling and filling reduces the workload of the opening blocking and filling template and improves the filling efficiency. In addition, it avoids the construction safety hazards caused by the penetration of the branch tunnel, the hazards of airflow short circuit or insufficient air volume.

[0047] Reference Figure 1Arrange equipment. In step S3, the coal transportation equipment includes a small transport unit 7, a continuous transport No. 1 car 8, a transport vehicle 9, a straddle transfer 12 and a transport belt 13. The transport belt 13 is arranged in the transport main tunnel 1 and the mining face transport tunnel 3. The straddle transfer 12 is arranged at the position of the transport belt 13 close to the first round branch tunnel 17. The small transport unit 7 and the continuous transport No. 1 car 8 are arranged in sequence behind the remote-controlled continuous mining machine 6. The continuous transport No. 1 car 8 is overlapped with the straddle transfer 12. The transport vehicle 9 is used to transport the small transport unit 7. The length of the small transport unit 7 is ≤4m; the ventilation equipment includes a pressure-in ventilator 14 and a wind tube 11. The pressure-in ventilator 14 is arranged in the transport main tunnel 1, and its end is ≥10m away from the opening position of the mining face transport tunnel 3. One end of the wind tube 11 is connected to the pressure-in ventilator 14, and the other end extends along the coal wall to the position of the first round branch tunnel 17. Refer to Figure 3 As shown, side air cylinders 25 are provided on both sides of the small transport unit 7 , and the end of the air cylinder 11 is a forked structure to be connected to the two side air cylinders 25 .

[0048] Among them, during the excavation of the transport tunnel 3 of the mining face, two chambers are mined on one side of the drift, and the two chambers are respectively a transport unit storage site 10 and a remote control room 21. The transport unit storage site 10 is used to store small transport units 7, and the remote control room 21 is used to store a remote-controlled continuous mining machine 6.

[0049] The excavation of the branch tunnel in step S4 specifically includes the following steps:

[0050] S401, branch tunnel opening, remote control continuous mining machine 6 is manually remotely controlled to excavate at the initial position of the first branch tunnel 17. During the opening process, continuous transport vehicle No. 1 8 collects and unloads the mined coal onto straddle carrier 12, and transports it via transport belt 13. The cutting is completed within the opening depth of 10m and adjusted to the specified angle. Figure 1 The feed angle is 45° as an example.

[0051] S402, branch tunnel excavation, the forward end of the remote-controlled continuous mining machine 6 is arranged with an inertial navigation and camera probe, and the body is arranged with sensors. The remote-controlled continuous mining machine 6 advances forward along a specified angle under the action of the inertial navigation and camera probe, and the gas and dust concentrations are monitored in real time through the sensor. Figure 2As shown, the small transport units 7 are in a series mode. The remote-controlled continuous mining machine 6 drives the small transport unit 7 to move forward a small transport unit 7. The connection between the end small transport unit 7 and the continuous transport No. 1 vehicle 8 is disconnected, and the continuous transport No. 1 vehicle 8 is withdrawn. Then, the next small transport unit 7 is connected to the end of the original small transport unit 7 through the transport vehicle 9, and the continuous transport No. 1 vehicle 8 is overlapped with the newly connected small transport unit 7 and the straddle transfer 12. The remote-controlled continuous mining machine 6 continues to advance. At the same time, the remote-controlled continuous mining machine 6 has its own rake claw, which is connected to the coal transportation device through the rake claw. The cooperation of the equipment is used to realize the transportation of coal, wherein the continuous transport car No. 1 8 repeatedly advances or withdraws at the intersection of the mining face transport tunnel 3 and the branch tunnel, that is, a part of the continuous transport car No. 1 8 enters the branch tunnel, and plays a transportation role between the small transport unit 7 and the straddle transfer 12, completing the function of coal transportation during the excavation process. The continuous mining machine 6 is remotely controlled to advance, excavate and discharge coal. There is enough space at the back. At this time, a small transport unit 7 is added to the tail, and the continuous transport car No. 1 8 is required to withdraw, and the straddle transfer 12 moves forward or backward synchronously on the transport belt 13, so as to ensure the continuity of transportation.

[0052] In this embodiment, the remote-controlled continuous mining machine 6 is remotely monitored by inertial navigation and camera probes, moves in a straight line along the track, and completes the cutting, loading, and transportation work in cooperation with remote control. The small transport unit 7 is equipped with a transport belt 13 and two side wind tubes 25, and is equipped with signal transmission cables, power supply cables, etc., to complete coal transportation and ventilation, and solve the problems of cable discharge and signal transmission. The transport vehicle 9 realizes the rapid transportation and plug-in of the transport belt 13, and the continuous transport vehicle No. 1 8 ensures the material transfer of the small transport unit 7 and the straddle transfer 12. The above equipment enables the staff to complete the mining and filling operations without entering the branch tunnel, eliminates the support of the traditional branch tunnel, and realizes unmanned operation of the branch tunnel.

[0053] At the same time, in the present embodiment, the small transport unit 7 can be quickly disassembled and assembled, and can complete the actions of dragging forward and ejecting and retreating, thereby realizing continuous transportation in the branch tunnel. The small transport unit 7 at the end of the branch tunnel opening is connected with the continuous transport vehicle No. 1 8, and the continuous transport vehicle No. 1 8 transfers the coal and then transports it, and then straddles the transfer vehicle 12 to evenly unload it onto the transport belt 13. The transportation equipment solves the problem of difficulty in transportation and unloading due to space limitations at the branch tunnel opening, while ensuring the transportation volume requirements and realizing safe and efficient mining.

[0054] S403, remotely control the continuous miner 6 to advance to the stop mining line 20, stop advancing and exit, the transport belt 13 and the continuous transport vehicle No. 1 8 are withdrawn to the opening position of the next branch tunnel to be excavated, and the remotely controlled continuous miner 6 retreats under the guidance of inertial navigation and camera probe, pushes out the small transport units 7 section by section, and uses the transport vehicle 9 to place the small transport units 7 neatly, and retreats to the opening position of the next branch tunnel to be excavated.

[0055] S404, repeat the above steps, after all the first-round branch tunnels 17 are excavated, continue to complete the excavation work of all the secondary-round branch tunnels 18, after all the secondary-round branch tunnels 18 are excavated, complete the excavation work of all the final-round branch tunnels 19.

[0056] The side wind tubes 25 on both sides of the small transport unit 7 are rigid and hard, and the small transport unit 7 and the side wind tubes 25 are flexibly connected. The end of the wind tube 11 is connected to the two side wind tubes 25 until the tail of the remote-controlled continuous mining machine 6 is reached by remotely controlling the wind tube of the continuous mining machine 6 until it reaches the excavation working face, thereby forming a complete branch tunnel excavation ventilation system to achieve the function of diluting coal dust and gas. The end of the wind tube 11 adopts a bifurcated design, which is respectively connected to the side wind tubes 25 on both sides of the small transport unit 7, which not only reduces the space occupied by the large-section wind tube in the branch tunnel, but also ensures that the branch tunnel can be ventilated normally to dilute toxic and harmful gases when a single wind tube is disassembled, ensuring safe operation and eliminating the safety hazards caused by frequent start-stop of the fan and gas accumulation.

[0057] One end of the filling pipeline 15 is connected to the filling pump station, and the other end goes along the return air tunnel 2 through the return air tunnel 5 of the mining face into the mined branch tunnel. When the branch tunnel is mined to the stop mining line 20, the end is quickly blocked, and then a hole is drilled from the coal wall of the return air tunnel 5 of the mining face near the working face to the stop mining working face, and the filling pipeline 15 is connected after the branch tunnel is connected, and the filling material 16 is filled into the filling pipeline 15 to complete the filling work. The filling material 16 is paste filling or high water filling. The filling work is carried out in two times. During the first filling, a secondary filling pipe is reserved at the top connection, and the filling material 16 is pressurized during the second filling.

[0058] Repeat the above steps, after completing all the mining and filling work of the first round of branch tunnels, continue to complete the mining and filling work of all the second round of branch tunnels. After all the second round of branch tunnels are completed, carry out the mining and filling tasks of all the last round of branch tunnels, and finally complete all the mining and filling tasks of the entire working face.

[0059] By adopting the above-mentioned unmanned mining and filling method for strip branch tunnels, the output has been increased by more than 1 times, the mining cost has been reduced by more than 1 / 3, and the number of operators has been reduced by more than 6.

[0060] Specifically, in terms of output, in traditional mining operations, support occupies more than 60% of the entire cycle operation time. However, this method eliminates the need for personnel to enter branch tunnels, eliminates the support work of the roof and two sides, greatly reduces the workload, and saves support time. According to estimates of the cycle operation time, the advancement time of a single branch tunnel is reduced by more than 50% compared with traditional continuous mining and filling, and the output is increased by more than 1 to 1.5 times.

[0061] The cost reduction is mainly reflected in: first, it saves the material, labor and equipment costs of branch tunnel support, and the unit price of the cost per meter of footage is saved by more than one thousand yuan. Secondly, it reduces the number of employees and reduces the expenditure on employee wages, safety management, labor protection and other expenses. Finally, it reduces the amount of gangue produced in thin coal seams and the maintenance of continuous miners. When mining thin coal seams, the height of traditional branch tunnels is usually not less than 2.4m due to ventilation, pedestrians, transportation, support and other requirements. In the method provided in this embodiment, when personnel do not enter the branch tunnel, the ventilation and transportation functions are retained, and the height of the branch tunnel can be reduced to meet the requirements of equipment passing. At present, the minimum cutting height of domestic equipment is 1.3m, so the height of the branch tunnel can be reduced to 1.3m, so that the coal seam with a thickness of more than 1.3m does not produce gangue. Gangue cutting not only consumes cutting teeth and reduces equipment life, but also involves subsequent transportation, washing, gangue discharge and other costs. After this method is implemented, the cost can be avoided.

[0062] The number of workers in a traditional continuous mining face is usually around 12. The method provided in this embodiment only requires 1 remote operator, 1 operator for the transport vehicle 9, 1 person for connecting the small transport unit 7 and the wind tube 11, 1 operator for the continuous transport vehicle No. 1 8, 1 assistant, and 1 driver for the transport belt 13. A traditional filling face requires 4 to 5 people. After single-side plugging drilling and filling, 2 to 3 people can complete the relevant operations. Therefore, the entire work face reduces more than 6 people.

[0063] It should be noted that, in this article, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including a..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0064] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments described herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. An unmanned mining and filling method for strip branch lanes based on remote control continuous mining machine, characterized in that: The following steps are involved: S1. Arrange the mining face transport tunnel (3), the mining face return air tunnel (5) and the connecting tunnel (4) for connecting the mining face transport tunnel (3) and the mining face return air tunnel (5) in parallel in the mining area, and form a full-pressure ventilation working face with the transport main tunnel (1) and the return air main tunnel (2); S2. Arrange a plurality of production units in a direction away from the connecting tunnel (4), each production unit comprising three branch tunnels excavated obliquely along the mining face transport tunnel (3), the three branch tunnels being, in order, in a direction away from the connecting tunnel (4), a first-round branch tunnel (17), a second-round branch tunnel (18), and a final-round branch tunnel (19); S3. Arrange coal transportation equipment and ventilation equipment in the main transportation tunnel (1) and the mining face transportation tunnel (3); S4, using a remote-controlled continuous mining machine (6) to excavate branch tunnels, ventilate branch tunnels, and fill branch tunnels; Among them, the mining and filling work of all the first-round branch tunnels (17), the second-round branch tunnels (18) and the last-round branch tunnels (19) are completed in sequence by a jump mining and jumping filling method. When the branch tunnels are filled, the opening of the branch tunnel close to the mining face transport tunnel (3) is blocked, and a hole is drilled from the side of the mining face return air tunnel (5). After connecting with the branch tunnel, the filling pipeline (15) is buried and the filling material (16) is introduced for filling.

2. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 1 is characterized in that: The coal transportation equipment includes a small transport unit (7), a continuous transport No. 1 vehicle (8), a transport vehicle (9), a straddle transfer vehicle (12) and a transport belt (13). The transport belt (13) is arranged in the transport main tunnel (1) and the mining face transport tunnel (3). The straddle transfer vehicle (12) is arranged at a position of the transport belt (13) close to the first round branch tunnel (17). The small transport unit (7) and the continuous transport No. 1 vehicle (8) are arranged in sequence behind the remote-controlled continuous mining machine (6). The continuous transport No. 1 vehicle (8) is connected to the straddle transfer vehicle (12). The transport vehicle (9) is used to transport the small transport unit (7). The length of the small transport unit (7) is ≤4m.

3. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 2 is characterized in that: During the excavation of the transport tunnel (3) at the mining face, two chambers are mined on one side of the drift. The two chambers are a transport unit storage site (10) and a remote control room (21). The transport unit storage site (10) is used to store small transport units (7), and the remote control room (21) is used to store a remote-controlled continuous mining machine (6).

4. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 2 is characterized in that: The ventilation equipment includes a forced-in ventilator (14) and a wind tube (11), wherein the forced-in ventilator (14) is arranged in the main transport tunnel (1), and the end of the forced-in ventilator (14) is ≥10m away from the opening position of the transport tunnel (3) of the mining face; One end of the wind tube (11) is connected to the forced-in ventilator (14), and the other end extends along the coal wall to the position of the first-wheel branch tunnel (17). Side wind tubes (25) are arranged on both sides of the small transport unit (7), and the end of the wind tube (11) is a forked structure to be connected to the two side wind tubes (25).

5. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 4 is characterized in that: The excavation of the branch tunnel in step S4 specifically includes the following steps: S401, branch tunnel opening, remote control continuous mining machine (6) is manually remotely controlled to perform excavation at the initial position of the first branch tunnel (17), during the opening process, continuous transport vehicle No. 1 (8) collects and unloads the mined coal onto the straddle transfer vehicle (12), and transports it via the transport belt (13), and completes the cutting within the opening depth of 10m and adjusts it to the specified angle; S402, branch tunnel excavation, the forward end of the remote-controlled continuous mining machine (6) is arranged with an inertial navigation and camera probe, and the body is arranged with a sensor. The remote-controlled continuous mining machine (6) excavates forward along a specified angle under the action of the inertial navigation and camera probe, and the gas and dust concentrations are monitored in real time through the sensor. The remote-controlled continuous mining machine (6) drives the small transport unit (7) to advance a small transport unit (7) for each distance, disconnects the small transport unit (7) at the end from the continuous transport vehicle No. 1 (8), exits the continuous transport vehicle No. 1 (8), and then connects the next small transport unit (7) to the end of the original small transport unit (7) through the transport vehicle (9), connects the continuous transport vehicle No. 1 (8) with the newly connected small transport unit (7) and the straddle transfer (12), and the remote-controlled continuous mining machine (6) continues to advance; S403, remotely controlling the continuous mining machine (6) to advance to the stop mining line (20), stop advancing and withdraw, the transport belt (13) and the continuous transport vehicle No. 1 (8) are both withdrawn to the opening position of the next branch tunnel to be excavated, and the remotely controlled continuous mining machine (6) retreats under the guidance of the inertial navigation and the camera probe, pushes out the small transport units (7) section by section, and uses the transport vehicle (9) to place the small transport units (7) neatly, and retreats to the opening position of the next branch tunnel to be excavated; S404, repeat the above steps, after all the first round branch tunnels (17) are excavated, continue to complete the excavation work of all the secondary round branch tunnels (18), after all the secondary round branch tunnels (18) are excavated, complete the excavation work of all the final round branch tunnels (19).

6. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 1 is characterized in that: One end of the filling pipeline (15) is connected to the filling pump station, and the other end is connected along the return air tunnel (2) through the return air tunnel (5) of the mining face to enter the mined branch tunnel; The filling material (16) is paste filling or high water filling.

7. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 6 is characterized in that: During filling, a secondary filling pipe is reserved at the top connection, and the filling material (16) is pressurized during the second filling.

8. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 1 is characterized in that: The width of the mining face transport tunnel (3), mining face return air tunnel (5) and connecting tunnel (4) should all be ≥5.5m, their heights ≥2.4m, and the length of the connecting tunnel (4) should be 30m to 80m.

9. The unmanned mining and filling method of strip branch lanes based on remote-controlled continuous miners according to claim 1 is characterized in that: The angle between the branch tunnel and the mining face transport tunnel (3) is 40° to 60°, the width of the branch tunnel is the cutting width, the height of the branch tunnel is the thickness of the coal seam (22), and no coal pillar is left between two adjacent branch tunnels.

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