Drill hole grouting device and method for preventing and treating coal wall caving leakage

Abstract

The invention provides a drilling grouting device and a coal wall caving leakage prevention method. The device comprises a hydraulic support, a drilling machine and an injection pipe, and the injection pipe is connected with a pneumatic pump and a hydraulic pump through an electromagnetic reversing valve. The method comprises the following steps: stretching out the forepoling bar and the face guard to abut against a coal wall; the drill rod is driven to conduct drilling, air pressing and grouting on the coal wall and the junction of the coal wall and the immediate roof, after completion, the front canopy and the face protection plate extend out, the face protection plate is driven to abut against the coal wall in a vertical state, and supporting is completed. According to the invention, efficient drilling and accurate positioning can be realized, coal wall caving is prevented, the stability of the coal wall is improved, caving between an immediate roof and the coal wall is effectively prevented, the stability of the whole coal face is enhanced, and roof leakage accidents are prevented. By means of multi-position drilling and grouting, a stable artificial roof structure can be constructed, a safe and reliable working environment is provided for coal mining operation, and production halt accidents caused by coal wall caving and roof leakage are reduced.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine construction, in particular to a drilling and grouting device and a method for preventing and controlling coal wall spalling and leakage. Background Art

[0002] During the mining process of soft coal seams with large mining heights, coal wall spalling and roof leakage are common and serious safety hazards. Coal wall spalling will increase the instantaneous coal volume of the scraper conveyor at the working face, increase the load of the scraper conveyor, and in serious cases, it is easy to block the coal passing space of the coal mining machine, causing shutdown, affecting production efficiency, and may also cause casualties and equipment damage. Roof leakage and collapse may cause a larger range of direct roof collapse, threatening the lives of underground workers.

[0003] Existing methods for treating spalling and roof leakage mainly include drilling and grouting reinforcement, anchor rod and cable support, a combination of hydraulic single pillars, metal mesh and filling materials, and shotcrete. Among them, (1) the disadvantages of drilling and grouting reinforcement are: the drilling workload is large, the labor intensity of drillers is high, the drilling trajectory is uncontrollable, and there are blind spots for grouting. In order to ensure the grouting effect, a large number of drill holes must be set, resulting in drilling waste. In addition, the effect is not good under certain complex geological conditions, and it cannot effectively, quickly and permanently prevent the occurrence of coal wall spalling and roof leakage. (2) The disadvantages of the anchor rod and cable support method are: in soft coal seams or broken direct roof conditions, relying on anchor cables and I-beam threading support often cannot provide sufficient support force, and coal wall spalling and roof leakage may still occur. (3) The disadvantage of the combination of hydraulic single pillars, metal mesh and filling materials is that when subjected to large external forces, relative displacement or separation may occur between the metal mesh and the filling material, resulting in a decrease in the overall mechanical properties of the artificial false roof; when the combination of hydraulic single pillars, metal mesh and filling materials is adopted, it is necessary to separately install the hydraulic single pillars, lay the metal mesh and inject the filling material, and the construction process is relatively complicated, time-consuming and labor-intensive. (4) The disadvantage of the sprayed concrete method is that the construction speed is slow, especially in large-area working surfaces or when rapid support is required, which may affect the progress of the project. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, the embodiments of the present invention provide a drilling grouting device and a method for preventing and controlling coal wall spalling and roof collapse, which reduces the labor intensity of drilling personnel, makes the drilling trajectory controllable, and can effectively control the occurrence of coal wall spalling and roof collapse.

[0005] According to one aspect of the present invention, an embodiment provides a drilling grouting device, comprising: a hydraulic support, a drilling rig and an injection pipe, wherein the front end of the top beam of the hydraulic support is telescopically connected to the front exploration beam, the front end of the front exploration beam is hinged with a side guard plate, the side guard plate is suitable for resisting the coal wall, the bottom of the front exploration beam is connected to the side guard plate by a first hydraulic mechanism to switch the horizontal state and the vertical state of the side guard plate; the drilling rig is connected to the bottom of the front exploration beam by a mechanical arm, the drilling rig comprises a drill rod, the interior of the drill rod has a channel, the front end of the drill rod has a first opening, and the first opening is connected to the channel; one end of the injection pipe is connected to the channel of the drill rod, and the other end of the injection pipe is connected to the air pressure pump and the hydraulic pump through an electromagnetic reversing valve, the air pressure pump is connected to the air source, and the hydraulic pump is connected to the grouting equipment.

[0006] In some embodiments, the end of the robotic arm is connected to the drilling rig via a ball-type steering shaft.

[0007] In some embodiments, the guard plate is provided with an avoidance hole for the drill rod to pass through.

[0008] In some embodiments, the end of the mechanical arm is connected to the ball-type steering shaft through a second hydraulic mechanism to drive the extension and retraction of the drilling rig.

[0009] In some embodiments, the front end of the drill rod is connected to an open-close drill bit.

[0010] In some embodiments, the interior of the top beam has a storage cavity, the front end of the top beam has a second opening connected to the storage cavity, and the front exploration beam and the guard plate in a horizontal state are telescoped in the storage cavity.

[0011] In some embodiments, the drilling and grouting device also includes an intelligent remote control device, which connects and controls the hydraulic support, drilling rig, electromagnetic reversing valve, grouting equipment, pneumatic pump and hydraulic pump.

[0012] Another embodiment of the present invention provides a method for preventing and controlling coal wall spalling and leakage, using the above-mentioned drilling and grouting device, comprising the following steps:

[0013] S1, driving the hydraulic support to extend the front exploration beam and the side guard plate toward the coal wall to press against the coal wall;

[0014] S2, driving the mechanical arm to point the drill rod toward the coal wall, driving the drill rod to drill a hole in the coal wall, when the hole reaches the designated position, starting the electromagnetic reversing valve, connecting the injection pipe with the air pressure pump, starting the air pressure pump, and injecting air into the borehole through the injection pipe to blow out the waste residue in the borehole;

[0015] S3, after the air pressure is completed, the electromagnetic reversing valve is driven to connect the injection pipe with the hydraulic pump, the hydraulic pump is started, and grouting is injected into the borehole through the injection pipe. After the grouting is completed, the hole is sealed with a cement mortar sealing process, and the drill rod is withdrawn from the borehole for the next drilling and grouting;

[0016] S4, repeating steps S2-S3 until all drilling and grouting operations of the coal wall are completed, retracting the front exploration beam for a distance, driving the mechanical arm to point the drill rod to the junction of the coal wall and the direct roof for drilling and grouting, and the drilling and grouting method is the same as the drilling and grouting method of the coal wall;

[0017] S5, after completing the drilling and grouting operation at the junction of the coal wall and the direct roof, drive the mechanical arm to retract the drill rod to the initial position below the top beam of the hydraulic support, extend the front exploration beam and the guard plate, and drive the guard plate to be in a vertical state against the coal wall to complete the support.

[0018] In some embodiments, in step S2, the drill rod is drilled within a height range of half the height from the direct top.

[0019] In some embodiments, in step S4, the drill rod drills and injects grout obliquely upward toward the junction of the coal wall and the immediate roof. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings.

[0021] in:

[0022] Figure 1 It is a structural schematic diagram of a drilling grouting device in an embodiment of the present invention;

[0023] Figure 2 for Figure 1 Bottom view of the positional relationship between the mechanical arm, drilling rig and top beam;

[0024] Figure 3 It is a schematic diagram of the front exploration beam of the drilling and grouting device in the embodiment of the present invention when it is extended;

[0025] Figure 4 It is a schematic diagram of the drilling and grouting device in the embodiment of the present invention when the drill rod is turned to face the coal wall;

[0026] Figure 5 A schematic diagram of a drilling rig drilling and grouting device in an embodiment of the present invention;

[0027] Figure 6 It is a schematic diagram of a drilling rig of a drilling and grouting device in an embodiment of the present invention when drilling and grouting at the junction of a coal wall and a direct roof;

[0028] Figure 7 It is a schematic diagram of the case where the guard plate abuts against the coal wall after the drilling and grouting device in the embodiment of the present invention completes the grouting drilling;

[0029] Figure 8A schematic diagram of the drilling rig and the mechanical arm of the drilling and grouting device in the embodiment of the present invention returning to their original positions;

[0030] Reference numerals:

[0031] 1. Top beam; 2. Front exploration beam; 3. Guard plate; 4. Mechanical arm; 5. Spherical steering shaft; 6. Drilling rig; 61. Drill rod; 62. Open and closed drill bit; 7. Injection pipe; 8. Air pressure pump; 9. Hydraulic pump; 10. Basic top; 11. Direct top; 12. Working face; 13. Bottom plate; 14. Coal wall; 15. Hydraulic support. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0033] The following describes a drilling and grouting device and a method for preventing and controlling coal wall spalling and leakage according to an embodiment of the present invention with reference to the accompanying drawings.

[0034] like Figure 1 , 2 As shown, an embodiment of the present invention proposes a drilling grouting device, including: a hydraulic support 15, a drilling rig 6 and an injection pipe 7. The front end of the top beam 1 of the hydraulic support 15 is telescopically connected to the front exploration beam 2. The front end of the front exploration beam 2 is hinged with a guard plate 3, which is suitable for resisting the coal wall 14. The bottom of the front exploration beam 2 is connected to the guard plate 3 through a first hydraulic mechanism to switch the horizontal state and the vertical state of the guard plate 3; the drilling rig 6 is connected to the bottom of the front exploration beam 2 through a mechanical arm 4, and the drilling rig 6 includes a drill rod 61. The drill rod 61 has a channel inside, and the front end of the drill rod 61 has a first opening, which is connected to the channel; one end of the injection pipe 7 is connected to the channel of the drill rod 61, and the other end of the injection pipe 7 is connected to the air pressure pump 8 and the hydraulic pump 9 through an electromagnetic reversing valve. The air pressure pump 8 is connected to the air source, and the hydraulic pump 9 is connected to the grouting equipment.

[0035] Through the coordinated operation of the drilling rig 6, the mechanical arm 4 and the hydraulic support 15, efficient drilling and precise positioning can be achieved, and the drilling trajectory is controllable. In addition, the close coordination between the drilling operation and the hydraulic support support is ensured, so that the drilling operation can be carried out within the effective support range of the hydraulic support 15, thereby improving the safety of the operation. At the same time, the free upward and downward telescopic function of the mechanical arm 4 enables the drill rod 61 to accurately adjust the upper and lower angles according to the actual drilling requirements, and flexibly control, thereby ensuring the accuracy of the drilling, adapting to the needs of different coal mining working faces 12, and improving the adaptability and efficiency of the entire process of controlling coal wall spalling and leakage. Moreover, according to the geological conditions of the coal seam and the control requirements, the drilling position can be accurately located, avoiding the problem of poor grouting effect caused by drilling angle deviation.

[0036] By connecting the injection pipe 7 to the hydraulic pump 9 and the air pump 8 through the electromagnetic reversing valve, the injection pipe 7 can be controlled to perform grouting or compressed air on the borehole. The role of compressed air is to remove slag from the borehole and eliminate problems such as blockage of the drill bit and collapse of the hole. Compressed air slag removal can not only remove the blockage of the drill rod 61, but also prevent the hole from collapsing and maintain the integrity of the borehole. Under the conditions of soft coal seams or broken direct roofs 11, compressed air slag removal can effectively prevent the hole from collapsing due to waste slag accumulation, ensuring the smooth progress of subsequent grouting operations.

[0037] By providing the side guard plate 3 , the side guard plate 3 can be pressed against the coal wall 14 , thus providing guarantee for the subsequent safe and normal operation of the drilling rig 6 .

[0038] It should be noted that if Figure 3 As shown, the direct roof 11 is located below the basic roof 10 , the coal wall 14 is the front end face of the working face 12 , the working face 12 is located between the direct roof 11 and the bottom plate 13 , the hydraulic support 15 is arranged on the bottom plate 13 , and the top of the hydraulic support 15 is against the direct roof 11 .

[0039] In some embodiments, Figure 1 As shown, the end of the mechanical arm 4 is connected to the drilling machine 6 through the ball-type steering shaft 5. The drilling angle and the number of holes can be adjusted according to the needs. At the same time, the mechanical arm 4 is retractable and the drilling depth can be controlled to ensure that the drilling reaches the ideal position.

[0040] In some embodiments, the side guard plate 3 is provided with an avoidance hole for the drill rod 61 to pass through, so as to avoid the side guard plate 3 causing obstruction during the drilling process of the drill rod 61.

[0041] In some embodiments, the end of the mechanical arm 4 is connected to the ball-type steering shaft 5 through a second hydraulic mechanism to drive the extension and retraction of the drilling rig 6.

[0042] In some embodiments, Figure 1 As shown, the front end of the drill rod 61 is connected to an open-close drill bit 62. Combining the open-close drill bit 62 with the compressed air slag removal method can ensure smooth and clean drilling.

[0043] In some embodiments, Figure 1 As shown, the top beam 1 has a storage cavity inside, and the front end of the top beam 1 has a second opening connected to the storage cavity, and the front probe beam 2 and the side guard plate 3 in a horizontal state are telescoped in the storage cavity. When the front probe beam 2 and the side guard plate 3 are not in use, they can be stored to protect the components and avoid occupying space.

[0044] In some embodiments, the drilling and grouting device also includes an intelligent remote control device, which connects and controls the hydraulic support 15, the drilling rig 6, the electromagnetic reversing valve, the grouting equipment, the pneumatic pump 8 and the hydraulic pump 9.

[0045] By adopting intelligent remote control devices, drilling and grouting operations and hydraulic support 15 support operations can be automated without excessive human intervention, reducing the labor intensity of drilling personnel. At the same time, the efficient operation mode of the integrated device reduces manpower input and ensures personnel safety.

[0046] Specifically, the drilling trajectory and parameters of the drilling rig 6 can be pre-set by using an intelligent remote control device. When the hydraulic support 15 moves to the designated position, the drilling rig 6 automatically starts the drilling operation according to the setting, and there is no need for manual frequent angle adjustment of the drilling rig 6. The drilling angle, depth and number of holes can be automatically controlled according to the situation of the coal wall 14. The electromagnetic reversing valve can be remotely controlled to switch the injection pipe 7 between the air pump 8 and the hydraulic pump 9. When the drilling is completed, the electromagnetic reversing valve is opened and the injection pipe 7 is connected to the air pump 8 through the intelligent remote control device, and then the air pump 8 is started to pressurize the borehole. When the air pressure is completed, the drilling rig 6 is automatically connected to the grouting pump through the intelligent remote control operation to inject grout into the hole. The grouting pressure, grouting speed and grouting amount can be automatically adjusted according to the depth, position and other information of the borehole. After the grouting is completed, the drill rod 61 is withdrawn from the borehole, and the cement mortar sealing process is used for the final sealing.

[0047] Furthermore, the grouting equipment is a high-pressure grouting equipment.

[0048] like Figure 3-8 As shown, another embodiment of the present invention provides a method for preventing and controlling coal wall spalling and leakage, using the above-mentioned drilling and grouting device, including the following steps:

[0049] S1, such as Figure 3 As shown, the hydraulic support 15 is driven to extend the front exploration beam 2 and the side guard plate 3 toward the coal wall 14 to abut against the coal wall 14;

[0050] S2, such as Figure 4 As shown, the mechanical arm 4 is driven to direct the drill rod 61 toward the coal wall 14, and the drill rod 61 is driven to drill the coal wall 14. When the drilling hole reaches the specified position, the electromagnetic reversing valve is started to connect the injection pipe 7 with the air pressure pump 8, and the air pressure pump 8 is started to pressurize air into the borehole through the injection pipe 7 to blow out the waste slag in the borehole;

[0051] S3, such as Figure 5 As shown, after the compressed air is finished, the electromagnetic reversing valve is driven to connect the injection pipe 7 with the hydraulic pump 9, and the hydraulic pump 9 is started to inject grout into the borehole through the injection pipe 7. After the grouting is finished, the hole is sealed by a cement mortar sealing process, and the drill rod 61 is withdrawn from the borehole for the next drilling and grouting;

[0052] S4, repeating steps S2-S3 until all drilling and grouting operations of the coal wall 14 are completed. Figure 6As shown, the front exploration beam is retracted for a distance, and the mechanical arm 4 is driven to direct the drill rod 61 to the junction of the coal wall 14 and the direct roof 11 for drilling and grouting. The drilling and grouting method is the same as that of the coal wall 14;

[0053] S5, such as Figure 7-8 As shown, after completing the drilling and grouting operation at the junction of the coal wall 14 and the direct roof 11, the driving mechanical arm 4 retracts the drill rod 61 to the initial position below the top beam 1 of the hydraulic support 15, extends the front exploration beam 2 and the guard plate 3, and drives the guard plate to be in a vertical state against the coal wall 14 to complete the support.

[0054] In the process of coal mining, drilling and grouting in the coal wall 14 can effectively resist the large lateral pressure on the coal wall 14, prevent the coal wall from spalling, and improve the stability of the coal wall 14. By drilling grouting holes and injecting grouting at the junction of the coal wall 14 and the direct roof 11, a reinforcement area can be formed between the coal wall 14 and the direct roof 11. This reinforcement area tightly connects the coal wall 14 and the direct roof 11 together, effectively preventing the direct roof 11 and the coal wall 14 from collapsing, enhancing the stability of the entire coal mining face 12, and preventing the occurrence of roof leakage accidents. By drilling and grouting in multiple positions, a stable artificial false roof structure can be constructed, providing a safe and reliable working environment for coal mining operations, and reducing production stoppage accidents caused by coal wall spalling and roof leakage. This method can be applied to complex geological conditions.

[0055] Further, in step S4, after the grouting drilling of the vertical coal wall 14 is completed, the front exploration beam 2 is first retracted to a reasonable position where the drilling can be carried out at the junction of the coal wall 14 and the direct roof 11, and then the angle of the drill rod 61 is changed by adjusting the hydraulic shaft of the mechanical arm 4 and the spherical steering shaft 5 of the mechanical arm 4, and the drilling and grouting are carried out at the junction of the coal wall 14 and the direct roof 11. When the drilling reaches the specified position, the electromagnetic reversing valve is started to connect the injection pipe 7 with the air pressure pump 8, and the air pressure pump 8 is started to pressurize the air into the borehole through the injection pipe 7 to blow out the waste residue in the borehole. After the air pressure is completed, the electromagnetic reversing valve is driven to connect the injection pipe 7 with the hydraulic pump 9, and the hydraulic pump 9 is started to grout into the borehole through the injection pipe 7. After the grouting is completed, the cement mortar sealing process is used to seal the hole, and the drill rod 61 is withdrawn from the borehole for the next drilling and grouting.

[0056] In some embodiments, in step S2 , the drill rod 61 drills within a height range of half the height from the direct top 11 .

[0057] In some embodiments, in step S4, the drill rod 61 drills and injects grout obliquely upward toward the junction of the coal wall 14 and the immediate roof 11. This can further enhance the stability of the entire coal mining face 12.

[0058] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0059] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0060] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0061] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0062] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0063] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A drilling grouting device, characterized in that: include: A hydraulic support, wherein the front end of the top beam of the hydraulic support is telescopically connected to the front exploration beam, the front end of the front exploration beam is hinged with a guard plate, the guard plate is suitable for resisting the coal wall, and the bottom of the front exploration beam is connected to the guard plate through a first hydraulic mechanism to switch the horizontal state and the vertical state of the guard plate; A drilling rig, the drilling rig is connected to the bottom of the front exploration beam through a mechanical arm, the drilling rig comprises a drill rod, the interior of the drill rod has a passage, the front end of the drill rod has a first opening, and the first opening is connected to the passage; An injection pipe, one end of which is connected to the channel of the drill pipe, and the other end of which is connected to an air pump and a hydraulic pump via an electromagnetic reversing valve, wherein the air pump is connected to an air source, and the hydraulic pump is connected to a grouting device.

2. The drilling grouting device according to claim 1, characterized in that: The end of the mechanical arm is connected to the drilling rig via a ball-type steering shaft.

3. The drilling grouting device according to claim 1, characterized in that: The guard plate is provided with an avoidance hole for the drill rod to pass through.

4. The drilling grouting device according to claim 2, characterized in that: The end of the mechanical arm is connected to the ball-type steering shaft through a second hydraulic mechanism to drive the extension and retraction of the drilling rig.

5. The drilling grouting device according to claim 1, characterized in that: The front end of the drill rod is connected to an open-and-close drill bit.

6. The drilling grouting device according to claim 1, characterized in that: The top beam has a storage cavity inside, and the front end of the top beam has a second opening connected to the storage cavity. The front exploration beam and the guard plate in a horizontal state are telescoped in the storage cavity.

7. The drilling grouting device according to claim 1, characterized in that: It also includes an intelligent remote control device, which is connected to and controls the hydraulic support, the drilling rig, the electromagnetic reversing valve, the grouting equipment, the pneumatic pump and the hydraulic pump.

8. A method for preventing and controlling coal wall spalling and leakage, characterized in that: The drilling grouting device according to any one of claims 1 to 7 comprises the following steps: S1, driving the hydraulic support to extend the front exploration beam and the side guard plate toward the coal wall to abut against the coal wall; S2, driving the mechanical arm to direct the drill rod toward the coal wall, driving the drill rod to drill a hole in the coal wall, and when the hole reaches the designated position, starting the electromagnetic reversing valve to connect the injection pipe with the air pressure pump, starting the air pressure pump, and injecting air into the borehole through the injection pipe to blow out the waste residue in the borehole; S3, after the compressed air is finished, the electromagnetic reversing valve is driven to connect the injection pipe with the hydraulic pump, the hydraulic pump is started, and grouting is injected into the borehole through the injection pipe. After the grouting is finished, the hole is sealed by a cement mortar sealing process, and the drill rod is withdrawn from the borehole for the next drilling and grouting; S4, repeating steps S2-S3 until all drilling and grouting operations of the coal wall are completed, retracting the front exploration beam for a distance, driving the mechanical arm to point the drill rod to the junction of the coal wall and the direct roof for drilling and grouting, and the drilling and grouting method is the same as the drilling and grouting method of the coal wall; S5, after completing the drilling and grouting operation at the junction of the coal wall and the direct roof, drive the mechanical arm to retract the drill rod to the initial position below the top beam of the hydraulic support, extend the front exploration beam and the guard plate, and drive the guard plate to be in a vertical state to resist the coal wall to complete the support.

9. The control method according to claim 8, characterized in that: In step S2, the drill rod is drilled within a height range of half the height from the direct top.

10. The control method according to claim 8, characterized in that: In step S4, the drill rod drills and injects grout obliquely upward toward the junction of the coal wall and the direct roof.

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