Gold mine underground high-pressure grouting filling curing equipment and method

Abstract

The invention relates to the technical field of mine grouting construction, in particular to gold mine underground high-pressure grouting, filling and curing equipment and method.The gold mine underground high-pressure grouting, filling and curing equipment comprises a mortar system arranged on a mine well, a grouting and filling system arranged under the mine well and a pumping system for connecting the mortar system with the grouting and filling system and pumping mortar at high pressure; the grouting and filling system is a grouting and filling robot; the grouting and filling robot comprises a vehicle platform based on a wheel type or a crawler type, a filling tank arranged on the vehicle platform, a mortar output module used for pumping mortar in the filling tank out in a pressurized mode and a grouting and filling module which communicates with the mortar output module and can pump the mortar out at high pressure and conduct directional grouting into a pre-formed drill hole. By arranging the rotary steering engine, the swing rod, the lead screw, the screw rod and the camera, the drilling position can be monitored in real time, the grouting filling module can be automatically adjusted, high-precision control over underground grouting is achieved, and meanwhile intervention of manual operation is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of mine grouting construction, in particular to underground high-pressure grouting filling and curing equipment and a method for gold mines. Background Art

[0002] With the continuous development of the mining industry, the mining depth of mines has gradually increased, and the safety and environmental protection issues of mines have become increasingly prominent. Traditional mining methods often lead to a large number of underground cavities and geological fissures. If these cavities and fissures are not handled in time, they may threaten the structural stability of the mine and increase the risk of accidents during the mining process. Therefore, how to effectively consolidate and fill the mine during the mining process has become an important technical problem in mining engineering.

[0003] Grouting filling technology, as an effective method of mine consolidation and stabilization, has been widely used in filling mine cavities and reinforcing underground holes. By injecting a certain amount of mortar, cementitious materials or other curing agents, it can effectively fill the gaps or cracks left in the mining process, avoiding safety problems caused by ground subsidence, landslides or instability of underground space in the mining area.

[0004] However, the traditional grouting method has problems such as insufficient grouting filling accuracy, low construction efficiency, complicated operation and potential safety hazards. The Chinese invention patent application with publication number CN118532225A discloses a safe filling and mining technology based on smart mine information data, including a material tank and a processing table connected by a feed pipe, and also includes a feed pipe and a nozzle for spraying the filling material. By setting a booster pump and a pressure gauge on the feed pipe, the pressure data of the backfill material output in the mine filling operation can be monitored in real time and regulated, and the height of the nozzle can be adjusted by the traction machine. However, the device only adjusts the pressure and height, and may have problems with low grouting accuracy and stability. Summary of the invention

[0005] In order to overcome the deficiencies in the prior art, the present invention provides underground high-pressure grouting filling and curing equipment and methods for gold mines. Through mortar processing, pumping, distribution and grouting technology, the problems of uneven mortar and inaccurate grouting in traditional methods are solved, manual intervention is reduced, and operation efficiency is improved.

[0006] In order to achieve the above-mentioned purpose, the present invention discloses a gold mine underground high-pressure grouting filling and curing equipment, which includes a mortar system configured on the mine shaft, a grouting filling system configured in the mine shaft, and a pumping system for connecting the mortar system and the grouting filling system and pumping the mortar under high pressure. The mortar system includes a barrel, a mortar mixer acting in the barrel, a feeding mechanism and a mortar distributing mechanism; the mortar in the barrel is input into the mortar distributing mechanism through the feeding mechanism for temporary storage; the mortar distributing mechanism and the pumping mechanism are connected to each other. The system is connected; the pumping system includes a mortar pressure pump and a pumping pipeline; the mortar is injected into the grouting filling system through the mortar pressure pump via the pumping pipeline; the grouting filling system is a grouting filling robot, which includes a wheeled or tracked vehicle platform, a filling tank arranged on the vehicle platform, a mortar output module for pressurized pumping of mortar in the filling tank, and a grouting filling module connected to the mortar output module and capable of high-pressure pumping of mortar and directionally grouting it into a pre-drilled hole.

[0007] Furthermore, the feeding mechanism includes a first conveying auger, a first-level mixing box, a second-level mixing box and a second conveying auger which are connected in sequence; the barrel output port is connected to the first conveying auger input end, and the second conveying auger end is connected to the mortar distribution mechanism.

[0008] Furthermore, the mortar distributing mechanism includes a mortar distributor, and a temporary storage tank is provided between the mortar distributor and the pumping system.

[0009] Furthermore, at least two barrels are provided, and the barrels are connected by a truss, a working platform is provided on one side of the truss, and the mortar distribution mechanism is provided on the working platform.

[0010] Furthermore, the mortar output module includes a secondary mortar pump and a terminal mortar pipe connected to the output end of the secondary mortar pump; the mortar output module is provided with a plurality of groups, which are evenly distributed along the end surface of the vehicle platform.

[0011] Furthermore, the grouting filling module and the mortar output module are the same in number, and the grouting filling module includes a chassis, a rotating servo, an inner bracket, an outer bracket, a movable support and a grouting barrel; the rotating servo is arranged on the chassis, and the shaft end of the rotating servo is connected to the outer bracket; the inner bracket is rotatably installed on the inner side of the outer bracket; the outer bracket is also provided with a first motor for driving the inner bracket to move relative to the outer bracket; the movable support is arranged at the upper end of the inner bracket, and the grouting barrel is connected to the movable support through an axle seat; the terminal mortar pipe is connected to a pipeline, and the pipeline is connected to the grouting barrel through a drag chain.

[0012] Furthermore, the grouting filling module also includes a main shaft, a rotating plate, a swing rod and a second motor; the main shaft is laterally connected to the inner side of the inner bracket, the rotating plate is mounted on the main shaft, and the second motor drives the main shaft and then drives the rotating plate to rotate; one end of the swing rod is hinged to the rotating plate, and the other end is hinged to the lower end of the grouting barrel.

[0013] Furthermore, a grouting pipe is arranged at the front end of the grouting barrel, and the grouting barrel is a cylindrical structure with a lead screw arranged inside, and the lead screw drives the grouting pipe to move along the inner cavity of the grouting barrel.

[0014] Furthermore, a CCD camera is provided on the grouting cylinder.

[0015] The underground high-pressure grouting filling and curing method of a gold mine comprises the following steps: S1, processing and distributing mortar on the well, starting the mortar mixer to start mixing the mortar, then starting the conveying system, adjusting the viscosity and fluidity of the mortar, and conveying the mixed mortar to the mortar distribution mechanism for temporary storage for use underground; S2. Pumping and pressurization: The pumping system pressurizes the mixed mortar output by the mortar distribution mechanism and transports it to the grouting filling system underground through the pumping pipeline. During the pumping process, it should be ensured that the pressure in the pumping pipeline gradually increases to the set working pressure, and check whether there is leakage in the pumping pipeline; S3, underground grouting and filling. During the drilling and grouting process, the grouting and filling robot accurately controls the grouting amount through the grouting and filling module to ensure that the mortar is evenly and highly pressured injected into each predetermined borehole. The grouting and filling module ensures the accurate position and stability of the mortar during the grouting process through rotation, pitch and lateral movement. If any position deviation occurs during the grouting process, the system automatically adjusts the grouting action of the grouting and filling module; S4. After the grouting is completed, confirm the filling status of the borehole to ensure that the mortar is completely filled to the designed depth and position, and test the mortar curing strength after the mortar is cured.

[0016] The gold mine underground high-pressure grouting filling and curing equipment and method of the present invention have at least the following beneficial effects: 1. The present invention realizes efficient production, precise distribution and stable delivery of mortar by integrating the mortar system, pumping system and grouting filling system, effectively improving the accuracy and efficiency of grouting filling operations. Through quantitative distribution of the mortar distributor and temporary storage tank, the mortar can be evenly and stably delivered to the underground grouting filling robot, ensuring that each borehole can be accurately filled, avoiding the phenomenon of over- or under-filling in traditional methods.

[0017] 2. The primary and secondary mixing boxes not only adjust the fluidity and viscosity of the mortar, but also effectively increase the pressure through the pressure pump to ensure that the mortar can be stably transported at the required pressure in the delivery pipeline. The configuration of the two-stage mixing box can ensure that the mortar achieves the best fluidity and stability after mixing, thereby effectively avoiding the phenomenon of mortar stratification or agglomeration, and improving the fluidity and operability of the mortar.

[0018] 3. By setting up a grouting filling robot and a CCD camera, the drilling position can be monitored in real time, and the grouting filling module can be automatically adjusted to avoid position deviation or failure of mortar to accurately enter the borehole, thus achieving high-precision control of underground grouting. By setting up structures such as a rotary servo, a swing rod, and a lead screw, the grouting barrel can be precisely controlled, ensuring uniform distribution and stable filling of the mortar, while reducing manual intervention.

[0019] 4. Due to the adjustability and automatic control of the equipment, the solution can flexibly respond to grouting filling needs under different conditions. For example, by adjusting the motion trajectory and injection force of the grouting filling module, it can cope with boreholes of different depths and diameters and meet diverse filling needs. At the same time, the mobility of the grouting filling robot (such as wheeled or tracked platforms) also allows the equipment to work flexibly in complex terrains such as underground or in some narrow spaces, and adapt to a variety of operating environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a structural schematic diagram of a mortar system in an embodiment of the present invention; Figure 3 It is a partial structural schematic diagram of a mortar system and a pumping system in an embodiment of the present invention; Figure 4 It is a schematic diagram of the connection between the primary mixing box and the first conveying auger in an embodiment of the present invention; Figure 5 It is a structural schematic diagram of a grouting filling system in an embodiment of the present invention; Figure 6 It is a schematic diagram of the structure and connection of a mortar output module in a grouting filling system in an embodiment of the present invention; Figure 7 It is a structural schematic diagram of a grouting filling module in an embodiment of the present invention; Figure 8 It is a schematic diagram of the partial structure of the grouting filling module in an embodiment of the present invention.

[0021] In the figure: 1. Mortar system; 101. Cylinder; 102. Mortar mixer; 103. Primary mixing box; 104. Secondary mixing box; 105. First conveying auger; 106. Second conveying auger; 107. Working platform; 108. Truss; 109. Mortar distributor; 110. Temporary storage tank; 2. Pumping system; 201. Mortar pressure pump; 202. Pumping pipeline; 3. Grouting filling system; 301. Vehicle platform; 302. Filling tank; 303. Secondary mortar pump; 304. Terminal mortar pipe; 305. Grouting filling module; 3051. Chassis; 3052. Rotary servo; 3053. Inner bracket; 3054. Outer bracket; 3060. First motor; 3061. Second motor; 3055. Main shaft; 3056. Swing rod; 3057. Movable support; 3058. Grouting barrel; 3059. Rotating plate. DETAILED DESCRIPTION

[0022] The following is combined with Figure 1 To Attachment Figure 8 The principles and features of the present invention are described, and the examples given are only used to explain the present invention, rather than to limit the scope of the present invention.

[0023] See also Figure 1 The present invention provides a technical solution: a high-pressure grouting filling and curing device for underground gold mines, comprising a mortar system 1 arranged on the mine shaft, a grouting filling system 3 arranged underground the mine shaft, and a pumping system 2 for connecting the mortar system 1 and the grouting filling system 3 and pumping the mortar under high pressure.

[0024] See also Figures 1 to 4 In this embodiment, the mortar system 1 includes a barrel 101, a mortar mixer 102, a feeding mechanism and a mortar distribution mechanism. The feeding mechanism includes a first conveying auger 105, a primary mixing box 103, a secondary mixing box 104 and a second conveying auger 106 which are connected in sequence.

[0025] The barrel 101 is a vertical mortar barrel. In one embodiment, at least two groups of barrels 101 are provided. A truss 108 is arranged between the two groups of barrels 101. A mortar mixer 102 is arranged inside each barrel 101. The output port on the bottom side of each barrel 101 is connected to the first conveying auger 105. The primary mixing box 103 is located at the lower side of the truss 108 and is provided with a Y-shaped tee. The output ends of the two groups of first conveying augers 105 are connected to the Y-shaped tee. A booster pump is arranged on one side of the primary mixing box 103. The output end of the primary mixing box 103 is connected to a slurry delivery pipe, which extends upward through the truss 108 and communicates with the secondary mixing box 104 installed on the top side of the truss 108. The output end of the secondary mixing box 104 is connected to the second conveying auger 106, and the end of the second conveying auger 106 is connected to the mortar distribution mechanism. The work platform 107 is built on one side of the truss 108 and connected to the truss 108. A mortar distribution mechanism is provided on the work platform 107, and the mortar distribution mechanism includes a mortar distributor 109 and a temporary storage tank 110. In one embodiment, at least two output ends are provided on the lower side of the mortar distributor 109, and the mortar distributor 109 quantitatively distributes the mixed mortar output by the second conveying auger 106 to the temporary storage tank 110.

[0026] See also Figure 3 In this embodiment, the pumping system 2 includes a mortar pressure pump 201 and a pumping pipeline 202, wherein the mortar pressure pump 201 is arranged on the lower side of the working platform 107, and the output end of the mortar pressure pump 201 extends to the underground through the pumping pipeline 202 and is connected to the grouting filling system 3.

[0027] See also Figure 1 , Figure 5 and Figure 6 In this embodiment, the grouting filling system 3 is a grouting filling robot, which includes a wheeled or tracked vehicle platform 301, a filling tank 302 arranged on the vehicle platform 301, a mortar output module for pressurized pumping out the mortar in the filling tank 302, and a grouting filling module 305 connected to the mortar output module and capable of high-pressure pumping out the mortar and directionally grouting it into the pre-drilled hole.

[0028] There are several groups of mortar output modules, which are evenly distributed along the end surface of the vehicle platform 301. In one embodiment, there are four groups of mortar output modules, which are distributed around the end surface of the vehicle platform 301. Each mortar output module is connected to the filling tank 302. Each mortar output module includes a secondary mortar pump 303 and a terminal mortar pipe 304 connected to the output end of the secondary mortar pump 303. The secondary mortar pump 303 is used to pressurize the mortar in the filling tank 302 and transport it to the terminal mortar pipe 304, providing mortar flow support for the grouting filling module 305. The secondary mortar pump 303 not only improves the stability of mortar transportation, but also multiple groups of secondary mortar pumps 303 work together to enhance system redundancy. The filling tank 302 is also equipped with an agitator to prevent mortar sedimentation. The number of grouting filling modules 305 is consistent with the number of mortar output modules and they are connected.

[0029] See also Figure 7 and Figure 8 The grouting filling module 305 includes a chassis 3051, a rotary servo 3052, an inner bracket 3053, an outer bracket 3054, a first motor 3060, a second motor 3061, a main shaft 3055, a rotating plate 3059, a swing rod 3056, a movable support 3057 and a grouting tube 3058.

[0030] The rotary servo 3052 is mounted on the chassis 3051, and the shaft end of the rotary servo 3052 is connected to the outer bracket 3054. When the rotary servo 3052 is working, it drives the outer bracket 3054, thereby causing the outer bracket 3054 to rotate in the horizontal plane. The inner bracket 3053 is rotatably mounted on the inner side of the outer bracket 3054, and one side of the outer bracket 3054 is provided with a first motor 3060 for driving the inner bracket 3053 to move relative to the outer bracket 3054, so that the inner bracket 3053 rotates in the vertical direction relative to the outer bracket 3054. The main shaft 3055 is laterally connected to the inner side of the inner bracket 3053, and one side of the main shaft 3055 is provided with a rotating plate 3059, and the main shaft 3055 is provided with a second motor 3061 for driving the main shaft 3055 to drive the rotating plate 3059 to rotate. A movable support 3057 is installed at the upper end of the inner bracket 3053, and the grouting cylinder 3058 is connected to the movable support 3057 through an axle seat. The lower end of the grouting cylinder 3058 is connected to the swing rod 3056, and the end of the swing rod 3056 is hinged to one side of the rotating plate 3059. The main shaft 3055 moves with the second motor 3061 and drives the grouting cylinder 3058 to pitch through the swing rod 3056.

[0031] The terminal mortar pipe 304 is connected with a pipeline, which is connected to the grouting tube 3058 through a drag chain; a grouting pipe is arranged at the front end of the grouting tube 3058, and the grouting tube 3058 is a cylindrical structure with a lead screw arranged inside, and the lead screw can be driven by a motor, and the grouting pipe in the grouting tube 3058 moves laterally along the inner cavity of the grouting tube 3058 under the drive of the lead screw, so as to better perform the grouting process. In addition, in order to further improve the accuracy of grouting filling, a CCD camera (not shown in the figure) can be configured on the grouting tube 3058 in actual use, and the CCD camera is used to identify the drilling position to regulate the action of the grouting filling module 305. Through the use of the grouting filling robot, the entire grouting process can be carried out automatically. Automatic identification of the drilling position and automatic adjustment of the angle and position of the grouting tube 3058 reduce the intervention of manual operation and improve the safety and accuracy of the operation. At the same time, the equipment can be remotely monitored and adjusted, which improves the safety of the working environment.

[0032] The multiple systems in the above scheme can be remotely monitored and operated, especially when working underground, which reduces the direct participation of workers and reduces the danger of underground construction.

[0033] The design of the entire system of this embodiment focuses on the coordination and stability of each link. For example, the mortar distribution mechanism cooperates with the temporary storage tank 110 to ensure the stable supply of mortar, and the pumping system 2 can ensure that the mortar is delivered to the well at a uniform and stable pressure. In addition, the design of the grouting filling robot and the grouting filling module 305 can operate stably for a long time under high pressure environment, ensuring the continuity and stability of the grouting operation.

[0034] This embodiment also provides a high-pressure grouting filling and curing method for underground gold mines based on the above-mentioned high-pressure grouting filling and curing equipment, comprising the following steps: S1, processing and distribution of mortar on the well, start the mortar mixer 102 to start mixing the mortar, then start the first conveying auger 105 and the second conveying auger 106 to ensure that the mortar is transported to the primary mixing box 103 and the secondary mixing box 104 through the auger. The primary mixing box 103 and the secondary mixing box 104 are used to adjust the viscosity and fluidity of the mortar. The mixed mortar is distributed in the mortar distributor 109. The mortar distributor 109 distributes the mixed mortar in a quantitative manner to the temporary storage tank 110 for temporary storage for use underground.

[0035] S2, pumping and pressurizing. The pumping system 2 pressurizes the mixed mortar output from the temporary storage tank 110 and transports it to the grouting filling system 3 underground through the pumping pipeline 202. During the pumping process, it should be ensured that the pressure in the pumping pipeline 202 gradually increases to the set working pressure, and check whether the pumping pipeline 202 has any leakage.

[0036] S3. Downhole grouting and filling. During the drilling and grouting process, the grouting and filling robot accurately controls the grouting amount through the grouting and filling module 305 to ensure that the mortar is evenly and highly pressured injected into each predetermined borehole. The grouting and filling module 305 controls the rotation, pitch and lateral movement of the grouting barrel 3058 through its rotary servo 3052, swing rod 3056 and lead screw to ensure the accurate position and stability of the mortar during the grouting process. At the same time, during the grouting process, the CCD camera will continuously monitor the drilling position. If any position deviation occurs, the system will automatically adjust the grouting and filling module 305.

[0037] S4. After the grouting is completed, confirm the filling status of the borehole to ensure that the mortar is completely filled to the designed depth and position, and test the mortar curing strength after the mortar is cured.

[0038] It is worth noting that the entire device is controlled by a general control system. Since the equipment matched with the control system is commonly used equipment and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0039] The standard parts used in the present invention can all be purchased from the market, and the special-shaped parts can be customized according to the description and the drawings. The specific connection methods of each part adopt conventional means such as mature bolts, rivets, welding, etc. in the prior art. The machinery, parts and equipment all adopt conventional models in the prior art, and the circuit connection adopts the conventional connection method in the prior art, which will not be described in detail here. The contents not described in detail in this specification belong to the prior art known to professional and technical personnel in this field.

[0040] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A high-pressure grouting and curing device for underground gold mines, comprising a mortar system (1) arranged on the mine shaft, a grouting and filling system (3) arranged underground in the mine shaft, and a pumping system (2) for connecting the mortar system (1) and the grouting and filling system (3) and pumping the mortar under high pressure, characterized in that: The mortar system (1) comprises a barrel (101), a mortar mixer (102) acting in the barrel (101), a feeding mechanism and a mortar distribution mechanism; the mortar in the barrel (101) is fed into the mortar distribution mechanism via the feeding mechanism for temporary storage; the mortar distribution mechanism is connected to the pumping system (2); The pumping system (2) comprises a mortar pressure pump (201) and a pumping pipeline (202); the mortar is injected into the grouting filling system (3) through the mortar pressure pump (201) and the pumping pipeline (202); The grouting filling system (3) is a grouting filling robot, which comprises a wheeled or tracked vehicle platform (301), a filling tank (302) arranged on the vehicle platform (301), a mortar output module for pressurized pumping out mortar in the filling tank (302), and a grouting filling module (305) connected to the mortar output module and capable of high-pressure pumping out mortar and directionally injecting mortar into a pre-drilled hole.

2. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 1 is characterized in that: The feeding mechanism comprises a first conveying auger (105), a first-stage mixing box (103), a second-stage mixing box (104), and a second conveying auger (106) which are connected in sequence; the output port of the barrel (101) is connected to the input end of the first conveying auger (105), and the end of the second conveying auger (106) is connected to the mortar distribution mechanism.

3. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 2 is characterized in that: The mortar distribution mechanism comprises a mortar distributor (109), and a temporary storage tank (110) is further provided between the mortar distributor (109) and the pumping system (2).

4. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 3 is characterized in that: At least two barrels (101) are provided, and the barrels (101) are connected by a truss (108). A working platform (107) is provided on one side of the truss (108), and the mortar distribution mechanism is provided on the working platform (107).

5. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 1 is characterized in that: The mortar output module comprises a secondary mortar pump (303) and a terminal mortar pipe (304) connected to the output end of the secondary mortar pump (303); the mortar output module is provided in a plurality of groups, which are evenly distributed along the end surface of the vehicle platform (301).

6. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 5 is characterized in that: The number of the grouting filling modules (305) is the same as that of the mortar output modules, and the grouting filling modules (305) include a chassis (3051), a rotary steering gear (3052), an inner bracket (3053), an outer bracket (3054), a movable support (3057) and a grouting tube (3058); The rotary steering gear (3052) is arranged on the chassis (3051), and the shaft end of the rotary steering gear (3052) is connected to the outer bracket (3054); the inner bracket (3053) is rotatably mounted on the inner side of the outer bracket (3054); the outer bracket (3054) is also provided with a first motor (3060) for driving the inner bracket (3053) to move relative to the outer bracket (3054); the movable support (3057) is arranged on the upper end of the inner bracket (3053), and the grouting barrel (3058) is connected to the movable support (3057) via an axle seat; the terminal mortar pipe (304) is connected to a pipeline, and the pipeline is communicated with the grouting barrel (3058) via a drag chain.

7. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 6 is characterized in that: The grouting filling module (305) further comprises a main shaft (3055), a rotating plate (3059), a swing rod (3056) and a second motor (3061); The main shaft (3055) is laterally connected to the inner side of the inner bracket (3053); the rotating plate (3059) is mounted on the main shaft (3055); the second motor (3061) drives the main shaft (3055) and further drives the rotating plate (3059) to rotate; one end of the swing rod (3056) is hinged to the rotating plate (3059), and the other end is hinged to the lower end of the grouting cylinder (3058).

8. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 6 is characterized in that: A grouting pipe is arranged at the front end of the grouting barrel (3058). The grouting barrel (3058) is a cylindrical structure with a lead screw arranged inside. The lead screw drives the grouting pipe to move along the inner cavity of the grouting barrel (3058).

9. The underground high-pressure grouting filling and curing equipment for gold mines according to claim 6, characterized in that: The grouting cylinder (3058) is provided with a CCD camera.

10. A method for high-pressure grouting filling and curing in underground gold mines, which is implemented based on the high-pressure grouting filling and curing equipment in underground gold mines according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, processing and distributing mortar on the well, starting the mortar mixer (102) to start mixing the mortar, then starting the conveying system to adjust the viscosity and fluidity of the mortar, and conveying the mixed mortar to the mortar distribution mechanism for temporary storage for use underground; S2, pumping and pressurizing, the pumping system (2) pressurizes the mixed mortar output by the mortar distribution mechanism and transmits it to the grouting filling system (3) underground through the pumping pipeline (202). During the pumping process, it should be ensured that the pressure in the pumping pipeline (202) gradually increases to the set working pressure, and the pumping pipeline (202) is checked for leakage; S3, underground grouting and filling. During the drilling and grouting process, the grouting and filling robot accurately controls the grouting amount through the grouting and filling module (305) to ensure that the mortar is evenly and highly pressured injected into each predetermined borehole. The grouting and filling module (305) ensures the accurate position and stability of the mortar during the grouting process through rotation, pitch and lateral movement. If any position deviation occurs during the grouting process, the system automatically adjusts the grouting action of the grouting and filling module (305); S4. After the grouting is completed, confirm the filling status of the borehole to ensure that the mortar is completely filled to the designed depth and position, and test the mortar curing strength after the mortar is cured.

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