Underground high-pressure grouting filling and solidifying equipment and method for gold mines

Abstract

The present invention relates to the technical field of mine grouting construction, specifically to an underground high-pressure grouting filling and solidifying device and method for a gold mine, including a mortar system configured on the mine surface, a grouting filling system configured underground in the mine, and a pumping system that connects the mortar system and the grouting filling system and pumps the mortar under high pressure. The grouting filling system is a grouting filling robot, which includes a wheeled or tracked vehicle platform, a filling tank configured on the vehicle platform, a mortar output module for pressurizing and pumping out the mortar in the filling tank, and a grouting filling module that is connected to the mortar output module and can pump out the mortar under high pressure and inject it into a pre-drilled hole directionally. By setting a rotary servo, a swing rod, a lead screw, and a camera, the present invention can monitor the drilling position in real time, automatically adjust the grouting filling module, achieve high-precision control of underground grouting, and reduce the intervention of manual operation at the same time.

Description

Technical Field

[0001] The present invention relates to the technical field of mine grouting construction, and particularly to an underground high-pressure grouting filling and solidifying device and 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 mine mining methods often lead to a large number of underground cavities and geological fissures. If these cavities and fissures are not treated in time, they may pose a threat to the structural stability of the mine and increase the accident risk during the mining process. Therefore, how to effectively consolidate and fill during the mine mining process has become an important technical problem in mine engineering.

[0003] The grouting filling technology, as an effective method for mine consolidation and stability, has been widely used in the cavity filling of mines and the reinforcement of underground holes. By injecting a certain amount of mortar, cementitious materials or other curing agents, it can effectively fill the voids or cracks left during the mine mining process, and avoid safety problems caused by ground subsidence, landslides or instability of the underground space in the mining area.

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

[0005] In order to overcome the deficiencies existing in the prior art, the present invention provides an underground high-pressure grouting filling and solidifying device and method for gold mines. Through mortar treatment, pumping, distribution and grouting technologies, the problems of uneven mortar and inaccurate grouting existing in the traditional method are solved, manual intervention is reduced, and the operation efficiency is improved.

[0006] To achieve the above object, the high-pressure grouting filling and solidifying equipment for underground gold mines disclosed by the present invention includes a mortar system configured above the mine, a grouting filling system configured underground in the mine, and a pumping system that connects the mortar system and the grouting filling system and pumps the mortar under high pressure. The mortar system includes a barrel, a mortar mixer acting in the barrel, a feeding mechanism, and a mortar distribution mechanism; the mortar in the barrel is input into the mortar distribution mechanism through the feeding mechanism for temporary storage; the mortar distribution mechanism is connected to the pumping system; 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 and the pumping pipeline; the grouting filling system is a grouting filling robot, which includes a vehicle platform based on wheels or crawlers, a filling tank configured on the vehicle platform, a mortar output module for pumping the mortar in the filling tank under pressure, and a grouting filling module that is connected to the mortar output module and can pump the mortar under high pressure and inject it directionally into a pre-drilled hole.

[0007] Further, the feeding mechanism includes a first conveying auger, a primary slurry mixing tank, a secondary slurry mixing tank, and a second conveying auger connected in sequence; the output port of the barrel is connected to the input end of the first conveying auger, and the end of the second conveying auger is connected to the mortar distribution mechanism.

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

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

[0010] Further, the mortar output module includes a secondary mortar pump and a terminal mortar pipe connected to the output end of the secondary mortar pump; several groups of the mortar output modules are provided and are evenly distributed along the end face of the vehicle platform.

[0011] Further, the number of the grouting filling modules is the same as that of the mortar output modules. The grouting filling module includes a chassis, a rotary steering gear, an inner bracket, an outer bracket, a movable support, and a grouting cylinder; the rotary steering gear is arranged on the chassis, and the shaft end of the rotary steering gear is connected to the outer bracket; the inner bracket is rotatably installed inside the outer bracket; a first motor for driving the inner bracket to act relative to the outer bracket is also provided on the outer bracket; the movable support is arranged at the upper end of the inner bracket, and the grouting cylinder is connected to the movable support through a shaft seat; the terminal mortar pipe is connected to a pipeline, and the pipeline is connected to the grouting cylinder through a drag chain.

[0012] Further, the grouting and filling module further includes a main shaft, a rotating plate, a swing rod, and a second motor; the main shaft is horizontally connected to the inner side of the inner bracket, the rotating plate is sleeved on the main shaft, and the second motor drives the main shaft to drive 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 cylinder.

[0013] Further, a grouting pipe is provided at the front end of the grouting cylinder. The grouting cylinder is a cylindrical structure with a lead screw inside. The lead screw drives the grouting pipe to move along the inner cavity of the grouting cylinder.

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

[0015] The high-pressure grouting and filling and solidifying method for underground gold mines includes the following steps:

[0016] S1. Processing and distribution of mortar above the well. Start the mortar mixer to mix the mortar, then start the conveying system, adjust the viscosity and fluidity of the mortar, and convey the mixed mortar to the mortar distribution mechanism for temporary storage for use underground.

[0017] S2. Pumping and pressurizing. The pumping system pressurizes the mixed mortar output by the mortar distribution mechanism and conveys it to the grouting and filling system underground through the pumping pipeline. During the pumping process, it should be ensured that the pressure in the pumping pipeline gradually rises to the set working pressure, and check whether there is any leakage in the pumping pipeline.

[0018] S3. Underground grouting and filling. During the drilling and grouting process, the grouting and filling robot precisely controls the grouting volume through the grouting and filling module to ensure that the mortar is injected into each predetermined drill hole evenly and under high pressure. The grouting and filling module ensures the accurate position and stability of the mortar during the grouting process through rotation, pitching, and lateral movement actions; if any position deviation occurs during the grouting process, the system automatically adjusts the grouting action of the grouting and filling module.

[0019] S4. Completion of grouting. After the grouting and filling operation is completed, confirm the filling status of the drill hole to ensure that the mortar is completely filled to the designed depth and position, and detect the solidification strength of the mortar after it solidifies.

[0020] The high-pressure grouting and filling and solidifying equipment and method for underground gold mines of the present invention at least have the following beneficial effects:

[0021] 1. By integrating the mortar system, the pumping system, and the grouting and filling system, the present invention realizes the efficient production, precise distribution, and stable transportation of the mortar, effectively improving the accuracy and efficiency of the grouting and filling operation. Through the quantitative distribution of the mortar distributor and the temporary storage tank, the mortar can be evenly and stably transported to the underground grouting and filling robot, ensuring that each drill hole can be accurately filled, and avoiding the phenomenon of overfilling or underfilling in the traditional method.

[0022] 2. Through the primary slurry mixing tank and the secondary slurry mixing tank, not only the fluidity and viscosity of the mortar are adjusted, but also effective pressurization is achieved through a pressure pump, ensuring that the mortar can be stably transported in the conveying pipeline at the required pressure. The configuration of the two-stage slurry mixing tank can ensure that the mortar reaches the best fluidity and stability after mixing, thus effectively avoiding the phenomenon of mortar stratification or caking, and improving the fluidity and workability of the mortar.

[0023] 3. By setting up a grouting and filling robot and a CCD camera, the drilling position can be monitored in real time, and the grouting and filling module can be automatically adjusted, avoiding the situation of position deviation or the mortar failing to accurately enter the drill hole, and achieving high-precision control of underground grouting. By setting up structures such as a rotary servo, a swing rod, and a lead screw, precise control of the grouting cylinder can be achieved, ensuring the uniform distribution and stable filling of the mortar, while reducing the intervention of manual operation.

[0024] 4. Due to the adjustability and automatic control of the equipment, the solution can flexibly meet the grouting and filling requirements under different conditions. For example, by adjusting the movement trajectory and spraying force of the grouting and filling module, drill holes with different depths and diameters can be handled, meeting diverse filling requirements. At the same time, the mobility of the grouting and filling robot (such as a wheeled or tracked platform) also enables the equipment to work flexibly in complex terrains such as underground or some narrow spaces, adapting to a variety of operating environments. Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the structure of the mortar system in an embodiment of the present invention;

[0027] Figure 3 It is a partial structural schematic diagram of the mortar system and the pumping system in an embodiment of the present invention;

[0028] Figure 4 It is a connection schematic diagram of the primary slurry mixing tank and the first conveying auger in an embodiment of the present invention;

[0029] Figure 5 It is a schematic diagram of the structure of the grouting and filling system in an embodiment of the present invention;

[0030] Figure 6 It is a structural and connection schematic diagram of the mortar output module in the grouting and filling system in an embodiment of the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the grouting and filling module in an embodiment of the present invention;

[0032] Figure 8 It is a partial structural schematic diagram of the grouting and filling module in an embodiment of the present invention.

[0033] In the figure:

[0034] 1. Mortar system; 101. Barrel; 102. Mortar mixer; 103. Primary mixing tank; 104. Secondary mixing tank; 105. First conveying auger; 106. Second conveying auger; 107. Working platform; 108. Truss; 109. Mortar distributor; 110. Temporary storage tank;

[0035] 2. Pumping system; 201. Mortar pressure pump; 202. Pumping pipeline;

[0036] 3. Grouting and filling system; 301. Vehicle platform; 302. Filling tank; 303. Sub-mortar pump; 304. End mortar pipe; 305. Grouting and filling module; 3051. Chassis; 3052. Rotary steering gear; 3053. Inner support; 3054. Outer support; 3060. First motor; 3061. Second motor; 3055. Main shaft; 3056. Swing rod; 3057. Movable support; 3058. Grouting cylinder; 3059. Rotating plate. Specific implementation mode

[0037] The following combines the attached Figure 1 to the attached Figure 8 to describe the principles and features of the present invention. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0038] Please refer to Figure 1 , the present invention provides a technical solution: a high-pressure grouting and filling and solidifying device for underground gold mines, including a mortar system 1 configured above the mine, a grouting and filling system 3 configured underground in the mine, and a pumping system 2 that connects the mortar system 1 and the grouting and filling system 3 and pumps the mortar under high pressure.

[0039] Please refer to 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 tank 103, a secondary mixing tank 104, and a second conveying auger 106 that are connected in sequence.

[0040] Among them, the barrel 101 is a vertical mortar barrel. In one embodiment, there are at least two groups of barrels 101, and a truss 108 is arranged between the two groups of barrels 101 for connection. A mortar mixer 102 is configured inside each barrel 101, and the output port at the bottom side of each barrel 101 is connected to a first conveying auger 105. The primary slurry mixing tank 103 is located below the truss 108 and is provided with a Y-shaped three-way on it. The output ends of the two groups of first conveying augers 105 are connected to the Y-shaped three-way. A booster pump is arranged on one side of the primary slurry mixing tank 103. The output end of the primary slurry mixing tank 103 is connected to a slurry conveying pipe, and the slurry conveying pipe extends upward through the truss 108 and is communicated with a secondary slurry mixing tank 104 installed on the top side of the truss 108. The output end of the secondary slurry mixing tank 104 is connected to a second conveying auger 106, and the end of the second conveying auger 106 is connected to a mortar distribution mechanism. An operation platform 107 is built on one side of the truss 108 and is connected to the truss 108. A mortar distribution mechanism is arranged on the operation platform 107, and the mortar distribution mechanism includes a mortar distributor 109 and a temporary storage tank 110. In one embodiment, there are at least two output ends below the mortar distributor 109, and the mortar distributor 109 quantitatively distributes the mixed mortar output from the second conveying auger 106 to the temporary storage tank 110.

[0041] Please refer to Figure 3 , in this embodiment, the pumping system 2 includes a mortar booster pump 201 and a pumping pipeline 202. Among them, the mortar booster pump 201 is configured below the operation platform 107, and the output end of the mortar booster pump 201 extends to the well bottom through the pumping pipeline 202 and is communicated with the grouting and filling system 3.

[0042] Please refer to Figure 1 , Figure 5 and Figure 6 , in this embodiment, the grouting and filling system 3 is a grouting and filling robot. The grouting and filling robot includes a vehicle platform 301 based on wheels or crawlers, a filling tank 302 configured on the vehicle platform 301, a mortar output module for pumping the mortar in the filling tank 302 under pressure, and a grouting and filling module 305 that is communicated with the mortar output module and can pump the mortar under high pressure and inject it into the pre-drilled hole directionally.

[0043] There are several groups of mortar output modules, which are evenly distributed along the end face of the vehicle platform 301. In one embodiment, there are four groups of mortar output modules, which are distributed around the end face 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 an end 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 into the end mortar pipe 304, providing flow support for the grouting and filling module 305. The secondary mortar pump 303 not only improves the stability of mortar transportation, but also multiple secondary mortar pumps 303 work together to enhance system redundancy. A stirrer for preventing mortar precipitation is also configured in the filling tank 302. The number of grouting and filling modules 305 is the same as that of the mortar output modules and they are connected to each other.

[0044] Please refer to Figure 7 and Figure 8 , the grouting and 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 cylinder 3058.

[0045] Among them, the rotary servo 3052 is installed 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 works, it drives the outer bracket 3054, and then makes the outer bracket 3054 rotate in the horizontal plane. The inner bracket 3053 is rotatably installed inside the outer bracket 3054. A first motor 3060 for driving the inner bracket 3053 to act relative to the outer bracket 3054 is provided on one side of 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 horizontally connected to the inside of the inner bracket 3053. A rotating plate 3059 is sleeved on one side of the main shaft 3055. A second motor 3061 for driving the main shaft 3055 to drive the rotating plate 3059 to rotate is provided outside the main shaft 3055. The movable support 3057 is installed at the upper end of the inner bracket 3053. The grouting cylinder 3058 is connected to the movable support 3057 through a shaft seat. The lower end of the grouting cylinder 3058 is connected to the swing rod 3056. The end of the swing rod 3056 is hinged to one side of the rotating plate 3059. The main shaft 3055 acts with the second motor 3061 and drives the grouting cylinder 3058 to perform pitching movement through the swing rod 3056.

[0046] The end mortar pipe 304 is connected to a pipeline, and the pipeline is connected to the grouting cylinder 3058 through a drag chain; a grouting pipe is arranged at the front end of the grouting cylinder 3058. The grouting cylinder 3058 is a cylindrical structure with a lead screw inside. The lead screw can be driven by a motor. The grouting pipe in the grouting cylinder 3058 moves horizontally along the inner cavity of the grouting cylinder 3058 under the drive of the lead screw to better perform grouting treatment. 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 cylinder 3058 during actual use. The CCD camera is used to identify the drilling position to control the operation of the grouting filling module 305. By using the grouting filling robot, the entire grouting process can be automatically carried out. Automatically identify the drilling position, automatically adjust the angle and position of the grouting cylinder 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, improving the safety of the operation environment.

[0047] Multiple systems in the above solution can be remotely monitored and operated. Especially during underground operations, the direct participation of workers is reduced, and the danger of underground construction is lowered.

[0048] The design of the entire system in this embodiment pays attention to 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, while the pumping system 2 can ensure that the mortar is transported to the underground with 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 environments, ensuring the continuity and stability of the grouting operation.

[0049] This embodiment also provides a method for high-pressure grouting filling and solidification in a gold mine underground based on the above high-pressure grouting filling and solidification equipment, including the following steps:

[0050] S1. Mortar processing and distribution on the ground. Start the mortar mixer 102 to start mixing mortar, and then start the first conveying auger 105 and the second conveying auger 106 to ensure that the mortar is transported to the first-stage mixing tank 103 and the second-stage mixing tank 104 through the auger. The first-stage mixing tank 103 and the second-stage mixing tank 104 are used to adjust the viscosity and fluidity of the mortar. The mortar after mixing is sent to the mortar distributor 109 for distribution. The mortar distributor 109 quantitatively distributes the mixed mortar into the temporary storage tank 110 for temporary storage for underground use.

[0051] 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 rises to the set working pressure, and check whether there is any leakage in the pumping pipeline 202.

[0052] S3. Downhole grouting and filling. During the drilling grouting process, the grouting and filling robot precisely controls the grouting volume through the grouting and filling module 305 to ensure that the mortar is injected into each predetermined drill hole evenly and under high pressure. The grouting and filling module 305 controls the rotation, pitching, and lateral movement of the grouting cylinder 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 continuously monitors the drill hole position. If any position deviation occurs, the system will automatically adjust the grouting and filling module 305.

[0053] S4. After grouting is completed. After the grouting and filling operation is completed, confirm the filling status of the drill hole to ensure that the mortar is completely filled to the designed depth and position. After the mortar solidifies, detect the solidification strength of the mortar.

[0054] It should be noted that the entire device is controlled by the total control system. Since the devices matched by the control system are common devices and belong to the existing mature technologies, the electrical connection relationships and specific circuit structures are not described in detail herein.

[0055] The standard parts used in the present invention can all be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt the conventional means such as bolts, rivets, and welding that are mature in the existing technologies. The machines, parts, and equipment all adopt the conventional models in the existing technologies. Coupled with the circuit connection adopting the conventional connection method in the existing technologies, they are not described in detail herein. The content not described in detail in this specification belongs to the well-known existing technologies of those skilled in the art.

[0056] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A high-pressure grouting filling and solidifying device for underground gold mines, comprising a mortar system (1) configured above the mine, a grouting filling system (3) configured underground in the mine, and a pumping system (2) that connects the mortar system (1) and the grouting filling system (3) and pumps the mortar under high pressure. It is characterized in that the mortar system (1) includes a barrel (101), a mortar mixer (102) acting inside the barrel (101), a feeding mechanism, and a mortar distribution mechanism; the mortar inside the barrel (101) is input into the mortar distribution mechanism through the feeding mechanism for temporary storage; the mortar distribution mechanism is connected to the pumping system (2); the pumping system (2) includes 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) via the pumping pipeline (202); the grouting filling system (3) is a grouting filling robot, which includes a wheeled or tracked vehicle platform (301), a filling tank (302) configured on the vehicle platform (301), a mortar output module for pumping the mortar in the filling tank (302) under pressure, and a grouting filling module (305) that is connected to the mortar output module and can pump the mortar under high pressure and inject it directionally into a pre-drilled hole; the mortar output module includes a secondary mortar pump (303) and an end mortar pipe (304) connected to the output end of the secondary mortar pump (303); several groups of the mortar output modules are provided and evenly distributed along the end face of the vehicle platform (301); the number of the grouting filling modules (305) is the same as that of the mortar output modules. The grouting filling module (305) includes a chassis (3051), a rotary servo (3052), an inner bracket (3053), an outer bracket (3054), a movable support (3057), and a grouting cylinder (3058); the rotary servo (3052) is arranged on the chassis (3051), and the shaft end of the rotary servo (3052) is connected to the outer bracket (3054); the inner bracket (3053) is rotatably installed inside the outer bracket (3054); a first motor (3060) for driving the inner bracket (3053) to move relative to the outer bracket (3054) is also provided on the outer bracket (3054); the movable support (3057) is arranged at the upper end of the inner bracket (3053), and the grouting cylinder (3058) is connected to the movable support (3057) through a shaft seat; the end mortar pipe (304) is connected with a pipeline, and the pipeline is connected to the grouting cylinder (3058) through a drag chain; The grouting and filling module (305) further includes a main shaft (3055), a rotating plate (3059), a swing rod (3056), and a second motor (3061); the main shaft (3055) is horizontally connected to the inner side of the inner bracket (3053), the rotating plate (3059) is sleeved on the main shaft (3055), and the second motor (3061) drives the main shaft (3055) to drive 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); a grouting pipe is provided at the front end of the grouting cylinder (3058), and the grouting cylinder (3058) is a cylindrical structure with a lead screw inside, and the lead screw drives the grouting pipe to move along the inner cavity of the grouting cylinder (3058); a CCD camera is provided on the grouting cylinder (3058).

2. The high-pressure grouting filling and solidifying equipment for underground gold mines according to claim 1, characterized in that, The feeding mechanism includes a first conveying auger (105), a primary slurry mixing tank (103), a secondary slurry mixing tank (104), and a second conveying auger (106) 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 high-pressure grouting filling and solidifying equipment for underground gold mines according to claim 2, characterized in that, The mortar distribution mechanism includes 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 high-pressure grouting filling and solidifying equipment for underground gold mines according to claim 3, wherein At least two barrels (101) are provided, the barrels (101) are connected by a truss (108), an operation platform (107) is provided on one side of the truss (108), and the mortar distribution mechanism is arranged on the operation platform (107).

5. A method for high-pressure grouting filling and solidification in a gold mine underground, characterized in that, This high-pressure grouting and filling solidification method is realized based on the high-pressure grouting and filling solidification equipment described in any one of claims 1 to 4, and the specific steps include: S1. Processing and distribution of mortar on the ground. Start the mortar mixer (102) to start mixing mortar, then start the conveying system, adjust the viscosity and fluidity of the mortar, and convey the mixed mortar to the temporary storage in the mortar distribution mechanism for underground use; S2. Pumping and pressurizing. The pumping system (2) pressurizes the mixed mortar output by the mortar distribution mechanism and transports it to the grouting and 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 rises to the set working pressure, and check whether there is any leakage in the pumping pipeline (202); S3. Underground grouting and filling. During the drilling and grouting process, the grouting and filling robot precisely controls the grouting volume through the grouting and filling module (305) to ensure that the mortar is evenly and highly pressured into each predetermined drill hole. The grouting and filling module (305) ensures the accurate position and stability of the mortar during the grouting process through rotation, pitching, and lateral movement actions; 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 and the grouting filling operation is finished, confirm the filling status of the borehole to ensure that the mortar is completely filled to the designed depth and position. After the mortar cures, test the curing strength of the mortar.

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