Deep stratum well hole cave mining system

Abstract

The invention relates to a deep stratum well hole and cave mining system which comprises a traffic well system at least provided with two well holes communicating with a cave, a through-well-hole three-dimensional mining device and a control mechanism, the traffic well system is provided with a flow-back channel and an injection channel, and an internal channel formed by the well holes is configured to be a flow-back channel and an injection channel. The through-hole three-dimensional excavating device is used for carrying out form-controllable excavating on the cave; the through-well-hole three-dimensional filling device and / or the through-well-hole three-dimensional cleaning and transporting device are / is provided with a control mechanism, and the through-well-hole three-dimensional filling device conveys flow-state filler to the cave to conduct controllable-state filling so as to reduce the free space size of the cave; and the three-dimensional cleaning and transporting device for passing through the well hole is provided with a control mechanism, and the three-dimensional cleaning and transporting device for passing through the well hole cleans ore particles in the cave or transports the ore particles to the flowback channel, so that the circulating fluid discharges the ore particles out of the cave through the well hole. According to the invention, safe and efficient mining operation of a deep stratum can be realized.

Description

Technical Field

[0001] The invention relates to the field of mining, and in particular to a deep stratum wellbore and cave mining system. Background Art

[0002] With the increasing global attention to sustainable development and green economy, the strategic value of high-value mineral resources will be further highlighted. Various tools and equipment required for production and life require a large amount of mineral resources. For example, the demand for precious metals and other rare elements in cutting-edge equipment such as deep space and deep sea exploration, basic scientific exploration, nuclear fusion devices, super computing power, and high-speed transportation is increasing day by day. The large amount of precious mineral resources contained in deep strata is precisely an important guarantee for the survival and development of mankind in the future and an important support for human scientific and technological progress. Therefore, geological and mining technology needs to keep pace with the times and advance into the depths. However, the development of mineral resources in the depths of the earth will face more complex, more stringent, and more unpredictable engineering and geological environments. With the increase in mining depth, traditional mining technology has a geometric increase in major accidents and development costs. The scale of deep mineral development seems almost impossible to achieve from the current traditional technical methods. Therefore, there is an urgent need for a new technical system that can effectively develop mineral resources in deep strata and undersea strata to support the exploration of deep strata.

[0003] In the prior art, the mining of underground solid mineral deposits mainly adopts the vertical shaft and tunnel method, that is, the mining equipment is transported into the stratum through vertical shafts, inclined tunnels and horizontal tunnels, mining operations are carried out underground and the ore is transported out using transportation equipment such as vehicles or conveyor belts. As the mining depth increases, more and more strata cannot be mined due to rock bursts, protrusions, roof falls, collapses, water seepage and other problems. When mining is carried out according to the above method, a huge space will be formed underground. Therefore, complex support equipment is required to support the formed chamber. However, collapse will still occur when mining deep strata or non-hard strata, resulting in interruption of mining operations.

[0004] Since people began to inject water into well holes to dissolve salt mines in the Song Dynasty, they have been exploring new methods for extracting deep minerals. For a long time, how to mine minerals in deep strata has always been a problem that has attracted much attention. In the 1970s, scholars successively proposed to use high-pressure water jets to impact the wellbore in rock or coal seams to form cavities for mining solid minerals. Although this method can impact and generate cavities for minerals with low hardness, due to the limitation of the jet distance, it is still difficult to control the mining volume. In addition, the jet used for impact cannot be controlled, and it is impossible to accurately break rocks. As the cavity is formed, the broken mineral particles cannot be effectively carried out of the wellbore by circulating water, and it is impossible to form cavities with a large volume and controllable shape, making it difficult to reach the industrial mining scale and difficult to achieve the morphological holes of the mining space. Using the above method is even more powerless for the development of deep metal ore deposits. In addition, when mining minerals in the strata below the water body, the existing technology mainly adopts the coastal development method, drilling vertical shafts on the shore and then excavating roadways into the strata below the water area. In essence, it also realizes ore mining and transportation through the vertical shaft roadway method, but this method cannot extend a long distance into the ocean. Therefore, there is an urgent need to develop an effective technology for mining deep minerals and minerals inside the strata below the ocean.

[0005] In view of the problems of poor support effect and low ore particle cleaning efficiency during the mining of cavities in deep strata in related technologies, it leads to large-scale and high-efficiency mining operations for deep strata or non-hard strata.

[0006] Therefore, the present invention proposes a deep-strata wellbore cavity mining system to overcome the defects of the prior art. Summary of the Invention

[0007] The purpose of the present invention is to provide a deep-strata wellbore cavity mining system, which synchronously performs real-time filling operations during the mining process, reduces the free surface area of the formed cavity, shrinks the free space volume in the cavity, improves the stability of the cavity, can reduce the requirements for the support effect, and is effectively applicable to the mining of deep strata or non-hard strata.

[0008] Another purpose of the present invention is to provide a deep-strata wellbore cavity mining system, which can realize safe and efficient mining operations in deep strata through the combination of mining with controllable morphology, filling with controllable morphology, and ore particle cleaning.

[0009] The purpose of the present invention can be achieved by the following solutions:

[0010] The present invention provides a deep-strata wellbore cavity mining system, including

[0011] Traffic shaft system, the traffic shaft system having at least two shaft holes, the diameter of the shaft holes being less than 1 m, wherein the internal passage formed by the shaft holes communicates with the cavity formed by excavation, and the internal passage formed by the shaft holes is configured as a return channel and an injection channel, the return channel being used to convey the ore particles excavated in the cavity to outside the shaft, and the injection channel being used to inject circulating fluid into the traffic shaft system from outside the shaft or to convey fluidized filling material from outside the shaft into the cavity;

[0012] Three-dimensional excavation device passing through shaft holes, the three-dimensional excavation device passing through shaft holes having a control mechanism, the control mechanism being used to drive the three-dimensional excavation device passing through shaft holes to move in the cavity, and the three-dimensional excavation device passing through shaft holes being used to perform controllable-form excavation on the cavity;

[0013] Three-dimensional filling device passing through shaft holes and / or three-dimensional cleaning device passing through shaft holes; the three-dimensional filling device passing through shaft holes having a control mechanism, the control mechanism being used to drive the three-dimensional filling device passing through shaft holes to move in the cavity, and the three-dimensional filling device passing through shaft holes being used to convey the fluidized filling material into the cavity through the injection channel for controllable-form filling to reduce the free space volume of the cavity; the three-dimensional cleaning device passing through shaft holes having a control mechanism, the control mechanism being used to drive the three-dimensional cleaning device passing through shaft holes to move in the cavity, and the three-dimensional cleaning device passing through shaft holes being used to clean or transport the ore particles in the cavity to the return channel so that the circulating fluid discharges the ore particles out of the cavity through the shaft hole.

[0014] In a preferred embodiment of the present invention, the shaft holes include at least one main shaft hole and multiple branch shaft holes, the multiple branch shaft holes being located between the main shaft hole and the cavity and being distributed at intervals, and the main shaft hole communicates with the cavity through the branch shaft holes;

[0015] Wherein, at least part of the branch shaft holes and the main shaft hole cooperate to form the return channel and the injection channel respectively.

[0016] In a preferred embodiment of the present invention, an energy line for supplying energy to the three-dimensional excavation device passing through shaft holes and the three-dimensional filling device passing through shaft holes is arranged in the shaft hole.

[0017] In a preferred embodiment of the present invention, the cross-borehole three-dimensional mining device includes a serpentine mining device capable of moving and crushing ore in the cavity and the borehole. The front part of the serpentine mining device is a first extended robotic arm, and the first extended robotic arm at least includes a driving section and a crushing assembly; the driving section includes the control mechanism, and the first extended robotic arm is controlled to move with at least two degrees of freedom through the control mechanism; the crushing assembly is arranged at the front or middle part of the driving section, and the crushing assembly is used to directly crush the ore rock mass on the mining face or to crush the fallen ore, so that the ore particles are transported in the form of a particle flow;

[0018] The serpentine mining device has a crawling section connected to the driving section, and the crawling section is used to drive the driving section to move in the cavity; or, the serpentine mining device has a borehole traveling device connected to the driving section, and the borehole traveling device is used to drive the driving section to move in the borehole.

[0019] In a preferred embodiment of the present invention, the cross-borehole three-dimensional filling device includes a serpentine filling device capable of moving and outputting the fluidized filling material in the cavity and the borehole. The front part of the serpentine filling device is a second extended robotic arm, and the second extended robotic arm at least includes a driving section with two degrees of freedom. The second extended robotic arm at least includes a driving section and a crushing assembly; the driving section includes the control mechanism, and the second extended robotic arm is controlled to move with at least two degrees of freedom through the control mechanism; the inside of the driving section has a filling flow channel, and the filling flow channel is used to transport the fluidized filling material to perform filling, grouting, pouring or spraying operations on at least part of the space of the cavity;

[0020] The serpentine filling device has a crawling section connected to the driving section, and the crawling section is used to drive the driving section to move in the cavity; or, the serpentine filling device has a borehole traveling device connected to the driving section, and the borehole traveling device is used to drive the driving section to move in the borehole.

[0021] In a preferred embodiment of the present invention, the control mechanism includes one or more of an angle actuator, a telescopic actuator, a rotary actuator and a traction actuator.

[0022] In a preferred embodiment of the present invention, the driving section further includes a control module and a well-cavity sensing module, and the control module is communicatively connected to the well-cavity sensing module, and the control module is used to control the driving section to perform actuation.

[0023] In a preferred embodiment of the present invention, the wellbore sensing module is one or more of a visual sensor, a radar, a sonar, a geophone, a force sensor, a displacement sensor, a pressure sensor, a flow sensor, an electric current sensor, an electric potential sensor, a magnetic sensor, and a lidar disposed in the cavity;

[0024] The wellbore sensing module is communicatively connected to a communication terminal preset outside the well by one of cable communication, optical fiber communication, or wireless communication.

[0025] In a preferred embodiment of the present invention, the wellbore is also filled with a support fluid having a density between 0.3 g / cm 3 - 3 g / cm 3 The support fluid is used to support the wellbore and / or the cavity, and the support fluid returns and discharges outside the well with the ore particles to form a particle flow.

[0026] In a preferred embodiment of the present invention, a first ore particle conveying channel is provided inside the serpentine mining device, and the first ore particle conveying channel is used to discharge the ore particles in the cavity.

[0027] In a preferred embodiment of the present invention, at least two of the wellbores in the traffic well system are respectively communicated with the cavities formed by mining in the formation, and the internal channels formed by the two wellbores are respectively configured as the return channel and the injection channel;

[0028] The cavity has at least two cavity entrances, and the two cavity entrances are respectively used for allowing at least part of the positions of the three-dimensional mining device through the wellbore and the three-dimensional filling device through the wellbore to enter the cavity.

[0029] In a preferred embodiment of the present invention, the three-dimensional mining device through the wellbore is a serpentine mining device capable of moving and crushing ore in the cavity and the wellbore, the three-dimensional filling device through the wellbore is a serpentine filling device capable of moving and outputting the fluidized filling material in the cavity and the wellbore, and both the serpentine mining device and the serpentine filling device include controllable expansion arms and wellbore traveling devices;

[0030] The controllable expansion arm includes an expansion arm body and a control mechanism with at least two degrees of freedom. The expansion arm body is connected to the wellbore traveling device by a hinge, a joint structure, a telescopic structure, or a rotational structure for rotational connection. The control mechanism includes one or more of an angular actuator, a telescopic actuator, a rotational actuator, and a pulling actuator. The hinge or the joint structure is connected to the angular actuator, and the angular actuator is used to drive the hinge or the joint structure to bend. The telescopic structure is connected to the telescopic actuator, and the telescopic actuator is used to drive the telescopic structure to extend and retract. The rotational structure is connected to the rotational actuator, and the rotational actuator is used to drive the rotational structure to rotate.

[0031] Alternatively, the controllable expansion arm includes an expansion assembly formed by connecting at least two controllable deflection joints. Adjacent two controllable deflection joints are bendably connected through a hinge structure. The hinge structure is connected to the angular actuator, and the angular actuator is used to drive the hinge structure to bend. The controllable expansion arm is connected to the front part of the wellbore traveling device.

[0032] Alternatively, the controllable expansion arm includes an expansion assembly, which is a flexible expansion arm formed by connecting at least two controllable deflection joints. Adjacent two controllable deflection joints are connected by means of hinge or rotational connection. A pulling actuator is arranged at the rear part of the flexible expansion arm. The controllable deflection joint is connected to the pulling actuator through a pulling force transmission structure. The pulling actuator is used to drive the flexible expansion arm to move. The flexible expansion arm is connected to the front part of the wellbore traveling device.

[0033] Wherein, the pulling force transmission structure includes a rope, a belt, or a chain. The pulling actuator includes an electric drive actuator, a hydraulic actuator, or a pneumatic actuator for controllably performing a deflection action.

[0034] The wellbore traveling device includes a fixing mechanism or a telescopic mechanism, and the fixing mechanism can be fixedly connected to or abutted against the inner wall of the wellbore.

[0035] In a preferred embodiment of the present invention, the three-dimensional ore mining device for passing through the wellbore is a snake-shaped ore mining device that can move and crush ores in the cavity and the wellbore.

[0036] The snake-shaped ore mining device includes a crawling section, a driving section, and a control module for controlling the crawling section and the driving section.

[0037] Wherein, the crawling section includes a plurality of controllable deflection joints connected in sequence, the angle actuator is connected between the controllable deflection joints, the angle actuator is used to drive the controllable deflection joints to deflect, and the series of controllable deflection joints formed by the plurality of controllable deflection joints is used to crawl and operate in the cavity and / or the wellbore;

[0038] Alternatively, the crawling section includes a flexible joint series formed by a plurality of controllable deflection joints connected in sequence, and adjacent two controllable deflection joints are sequentially connected in a hinged or rotatable connection manner. The flexible joint series is connected to the pulling actuator through a pulling force transmission structure, and the pulling actuator is used to drive the crawling section to crawl and operate in the cavity and / or the wellbore through the pulling force transmission structure; wherein, the pulling force transmission structure is a rope, a belt or a chain;

[0039] The length of the snake-shaped mining device is at least greater than three times the diameter of the wellbore.

[0040] In a preferred embodiment of the present invention, the wellbore three-dimensional filling device is a snake-shaped filling device capable of moving in the cavity and the wellbore and outputting the fluidized filling material, and the snake-shaped filling device includes a crawling section, a driving section and a control module for controlling the crawling section and the driving section;

[0041] Wherein, the crawling section includes a plurality of controllable deflection joints connected in sequence, the angle actuator is connected between the controllable deflection joints, the angle actuator is used to drive the controllable deflection joints to deflect, and the series of controllable deflection joints formed by the plurality of controllable deflection joints is used to crawl and operate in the cavity and / or the wellbore;

[0042] Alternatively, the crawling section includes a flexible joint series formed by a plurality of controllable deflection joints connected in sequence, and adjacent two controllable deflection joints are sequentially connected in a hinged or rotatable connection manner. The flexible joint series is connected to the pulling actuator through a pulling force transmission structure, and the pulling actuator is used to drive the crawling section to crawl and operate in the cavity and / or the wellbore through the pulling force transmission structure; wherein, the pulling force transmission structure is a rope, a belt or a chain;

[0043] The length of the snake-shaped filling device is at least greater than three times the diameter of the wellbore.

[0044] In a preferred embodiment of the present invention, the snake-shaped mining device and the snake-shaped filling device share the same crawling section;

[0045] The serpentine filling device further includes a filling pipe and a filling pipe driving mechanism; an end of the filling pipe has a filling port, the filling pipe driving mechanism is arranged at the front end of the serpentine filling device and is connected to the filling pipe, and the filling pipe driving mechanism is used to adjust the orientation of the filling port.

[0046] In a preferred embodiment of the present invention, the crushing assembly has a falling rock detection module, and the falling rock detection module includes an acoustic imaging detection module, a visual imaging detection module, a phased acoustic sensor array or a laser scanning detector to detect the position of the falling rock.

[0047] In a preferred embodiment of the present invention, the serpentine mining device is connected to a power source located outside the well through a power line, or the serpentine mining device is equipped with a power supply battery;

[0048] A cable is arranged inside the serpentine mining device, the cable is electrically connected to the control end of the crushing assembly, and the cable passes through the well hole and is electrically connected to a power source outside the well;

[0049] Alternatively, a hydraulic pipeline is arranged inside the serpentine mining device, the hydraulic source is connected to the control end of the crushing assembly through the hydraulic pipeline, and the hydraulic source is arranged inside the serpentine mining device or behind the serpentine mining device.

[0050] In a preferred embodiment of the present invention, at least one control valve for controlling the on-off of the filling flow channel is arranged on the filling flow channel.

[0051] In a preferred embodiment of the present invention, a second ore particle conveying channel is arranged inside the three-dimensional well-hole cleaning and transporting device to discharge the ore particles in the cavity through the second ore particle conveying channel; or, a hydraulic cleaning assembly, a mechanical cleaning assembly, a conveying assembly or a loading assembly is arranged on the three-dimensional well-hole cleaning and transporting device to transport the ore particles in the cavity and the well hole to the return channel;

[0052] The three-dimensional well-hole cleaning and transporting device has a crawling section, and the crawling section is used to drive the three-dimensional well-hole cleaning and transporting device to move to the ore particle accumulation position in the cavity to clean the accumulated ore particles; or, the three-dimensional well-hole cleaning and transporting device has a well-hole traveling device, and the well-hole traveling device is used to drive the three-dimensional well-hole cleaning and transporting device to move in the well hole; or, the three-dimensional well-hole cleaning and transporting device includes a well-cavity crawling device, and the well-cavity crawling device is used to drive the three-dimensional well-hole cleaning and transporting device to move to the ore particle accumulation position in the cavity to clean the accumulated ore particles.

[0053] In a preferred embodiment of the present invention, the hydraulic cleaning assembly is disposed at the front of the three-dimensional cleaning device for the through-well and / or connected in series in the middle of the three-dimensional cleaning device for the through-well;

[0054] Wherein, the hydraulic cleaning assembly includes a nozzle, and the nozzle pushes the ore particles to the entrance of the return channel by spraying fluid.

[0055] In a preferred embodiment of the present invention, the mechanical cleaning assembly is disposed at the front of the three-dimensional cleaning device for the through-well and / or connected in series in the middle of the three-dimensional cleaning device for the through-well;

[0056] Wherein, the mechanical cleaning assembly includes a scraper, a rake, a shovel or a mechanical claw, and the scraper, the rake, the shovel or the mechanical claw are used to push the ore particles to the entrance of the return channel.

[0057] In a preferred embodiment of the present invention, the conveying assembly is disposed at the front of the three-dimensional cleaning device for the through-well and / or connected in series in the middle of the three-dimensional cleaning device for the through-well;

[0058] Wherein, the conveying assembly includes a conveyor belt, a driving wheel and a power motor. The conveyor belt is sleeved outside the driving wheel, and the output shaft of the power motor is connected to the driving wheel to drive the conveyor belt to move. The conveyor belt is used to transport the ore particles to the entrance of the return channel.

[0059] In a preferred embodiment of the present invention, the conveying assembly is disposed at the front of the three-dimensional cleaning device for the through-well and / or connected in series in the middle of the three-dimensional cleaning device for the through-well;

[0060] Wherein, the conveying assembly includes a screw conveying mechanism and a power motor. The power motor is in transmission connection with the screw conveying mechanism to drive the screw conveying mechanism to rotate and transport the ore particles to the entrance of the return channel.

[0061] In a preferred embodiment of the present invention, the loading assembly includes a skip or a flexible bag to load the ore particles through the skip or the flexible bag and then transport them to the entrance of the return channel.

[0062] In a preferred embodiment of the present invention, the inside of the three-dimensional cleaning device for the through-well has a through-flow channel, and the through-flow channel is communicated with the return channel. An inhalation port communicated with the through-flow channel is provided at the front or side of the three-dimensional cleaning device for the through-well, and an ore particle sieve is provided at the inhalation port;

[0063] Wherein, the ore particle sieve is a sieve screen, a sieve mesh or a grid sieve.

[0064] In a preferred embodiment of the present invention, the inside of the three-dimensional ore removal device through the wellbore has a through-flow channel, the through-flow channel is communicated with the backflow channel, a suction inlet communicated with the through-flow channel is arranged at the front part or the side part of the three-dimensional ore removal device through the wellbore, and a re-crushing mechanism is arranged at the suction inlet and is used for re-crushing the ore particles entering the through-flow channel.

[0065] In a preferred embodiment of the present invention, the three-dimensional ore removal device through the wellbore includes a crawling section, and the hydraulic ore removal assembly, the mechanical ore removal assembly, the conveying assembly or the loading assembly is arranged at the front part of the crawling section and / or connected in series in the middle of the crawling section;

[0066] The crawling section includes a plurality of controllable deflection joints connected in sequence, the controllable deflection joints are connected with an angle execution mechanism, the angle execution mechanism is used for driving the controllable deflection joints to deflect, and the controllable deflection joint series formed by the plurality of controllable deflection joints is used for crawling and operating in the cavity and / or the wellbore;

[0067] Or, the crawling section includes at least one articulated joint series, the articulated joint series includes a plurality of articulated joints connected in sequence, adjacent two of the articulated joints are sequentially connected by hinges or joints, an end part of the articulated joint series is provided with a pulling execution mechanism, the pulling execution mechanism includes at least two degrees of freedom control quantities, the articulated joint series is connected with the pulling execution mechanism through a pulling force transmission structure, and the pulling execution mechanism is used for driving the crawling section to crawl and operate in the cavity and / or the wellbore through the pulling force transmission structure, and the pulling force transmission structure is a rope, a belt or a chain arranged along the articulated joint series and connected with each articulated joint;

[0068] Or, the crawling section includes at least one section of elastic body and a plurality of pulling members arranged along the length direction of the elastic body, an end part of the elastic body is provided with a pulling execution mechanism with at least two degrees of freedom control quantities, the elastic body is connected with the pulling execution mechanism through a pulling force transmission structure, and the pulling execution mechanism is used for driving the elastic body to move in the cavity and / or the wellbore through the pulling force transmission structure; wherein, the elastic body is an elastic rod or an elastic tube, and the pulling force transmission structure is a rope, a belt or a chain;

[0069] Or, the crawling section includes a soft body structure and multiple groups of crawling assemblies, the soft body structure is a universal joint series or a hose, and the multiple groups of crawling assemblies are arranged along the length of the soft body structure to drive the crawling section to move in the cavity and / or the wellbore;

[0070] Alternatively, the crawling section includes at least one articulated joint series and multiple groups of crawling assemblies. The articulated joint series is formed by sequentially connecting multiple articulated joints. Adjacent two articulated joints are connected by a hinge or a joint. The multiple groups of crawling assemblies are used to drive the crawling section to move within the cavern and / or the wellbore.

[0071] In a preferred embodiment of the present invention, the three-dimensional wellbore cleaning and transporting device further includes a third extended robotic arm and a wellbore traveling device; the hydraulic cleaning assembly, the mechanical cleaning assembly, the conveying assembly or the loading assembly is arranged at the front or side of the third extended robotic arm;

[0072] The third extended robotic arm includes an extended arm body and a control mechanism with at least two degrees of freedom. The extended arm body is connected to the wellbore traveling device through a hinge, a joint structure, a telescopic structure or a rotating structure. The control mechanism includes one or more of an angle execution mechanism, a telescopic execution mechanism, a rotating execution mechanism and a pulling execution mechanism. The hinge or the joint structure is connected to the angle execution mechanism, and the angle execution mechanism is used to drive the hinge or the joint structure to bend; the telescopic structure is connected to the telescopic execution mechanism, and the telescopic execution mechanism is used to drive the telescopic structure to extend and retract. The rotating structure is connected to the rotating execution mechanism, and the rotating execution mechanism is used to drive the rotating structure to rotate;

[0073] Alternatively, the third extended robotic arm includes an extended assembly formed by connecting at least two controllable deflection joints. Adjacent two controllable deflection joints are bendably connected through an articulated structure. The articulated structure is connected to the angle execution mechanism, and the angle execution mechanism is used to drive the articulated structure to bend. The third extended robotic arm is connected to the front of the wellbore traveling device;

[0074] Alternatively, the third extended robotic arm includes an extended assembly, and the extended assembly is a flexible extended arm formed by connecting at least two controllable deflection joints. Adjacent two controllable deflection joints are connected by an articulated or rotational connection method. A pulling execution mechanism is arranged at the rear of the flexible extended arm. The controllable deflection joint is connected to the pulling execution mechanism through a pulling force transmission structure. The pulling execution mechanism is used to drive the flexible extended arm to move. The flexible extended arm is connected to the front of the wellbore traveling device;

[0075] Wherein, the pulling force transmission structure includes a rope, a belt or a chain; the pulling execution mechanism includes an electric drive actuator, a hydraulic actuator or a pneumatic actuator for controllably executing a deflection action;

[0076] The wellbore traveling device includes a fixing mechanism and / or a telescopic mechanism, and the fixing mechanism can be fixedly connected to or abutted against the inner wall of the wellbore.

[0077] In a preferred embodiment of the present invention,

[0078] The wellbore three-dimensional cleaning and transporting device further includes a wellbore crawling device; the wellbore crawling device includes a crawling mechanism body, a plurality of crawling mechanisms, and a driving device. The crawling mechanism is hinged to the crawling mechanism body, and the driving device is used to drive the crawling mechanism to perform a crawling operation; the wellbore three-dimensional cleaning and transporting device has at least a deployed state and a retracted state. When the wellbore three-dimensional cleaning and transporting device is in the retracted state, the aspect ratio of the wellbore three-dimensional cleaning and transporting device is greater than 3, and when the wellbore three-dimensional cleaning and transporting device moves along the wellbore, the axial direction of the wellbore three-dimensional cleaning and transporting device is consistent with the axial direction of the wellbore;

[0079] The crawling mechanism body is hinged or rotatably connected to the crawling mechanism, and at least a driving component including two degrees of freedom control quantities is further connected between the crawling mechanism and the crawling mechanism body. The driving component is used to control the crawling mechanism body to perform a crawling action or switch between the retracted state and the deployed state;

[0080] There are a plurality of contact points between the crawling mechanism and the inner wall of the cavity, and at least two of the contact points are respectively located on both sides of the axial direction of the crawling mechanism body, and the distance between the two contact points is greater than or equal to 2 times the diameter of the wellbore.

[0081] In a preferred embodiment of the present invention, the crawling mechanism includes at least two crawling sections, and the two crawling sections are respectively a first crawling section and a second crawling section; the first crawling section is connected to the crawling mechanism body through a first hinge structure, and the first crawling section is connected to the second crawling section through a second hinge structure;

[0082] The driving device includes at least two angle actuating mechanisms. The first hinge structure and the second hinge structure are respectively connected to the two angle actuating mechanisms, and the two angle actuating mechanisms are respectively used to drive the first hinge structure and the second hinge structure to rotate.

[0083] In a preferred embodiment of the present invention, part or all of the wellbore three-dimensional mining device is located in the wellbore, part or all of the wellbore three-dimensional cleaning and transporting device is located in the wellbore, and / or part or all of the wellbore three-dimensional filling device is located in the wellbore. The wellbore three-dimensional mining device, the wellbore three-dimensional cleaning and transporting device, and the wellbore three-dimensional filling device are communicated with the outside of the well through the flow channels inside them, or the wellbore three-dimensional mining device, the wellbore three-dimensional cleaning and transporting device, and the wellbore three-dimensional filling device directly extend to the outside of the well.

[0084] In a preferred embodiment of the present invention, a particle flow lifting device is provided in the traffic well system, and the particle flow lifting device transports the ore particles in the form of a particle flow to the outside of the well;

[0085] Among them, the particle flow lifting device is one of a mechanical lifting system, a fluid lifting system or an air-lift hydraulic lifting system.

[0086] As described above, the characteristics and advantages of the deep formation shaft and cavity mining system in the present invention are:

[0087] The deep formation shaft and cavity mining system in this application is suitable for mining cavities through a shaft with a diameter less than 1 m. Among them, the formed traffic well system has multiple shafts with a diameter less than 1 m. At least the return channel and the injection channel respectively communicating with the cavity are included in the multiple shafts. The return channel is used to transport the ore particles mined from the cavity to the outside of the well, and the injection channel is used to transport the fluid filling material from the outside of the well into the cavity. During the actual mining process, a movable three-dimensional shaft mining device and a three-dimensional shaft filling device are arranged in the shaft and / or the cavity. Through the three-dimensional shaft mining device, the cavity can be mined with a controllable shape, and at the same time, the fluid filling material is transported into the cavity through the three-dimensional shaft filling device for controllable shape filling, thereby reducing the free space volume in the cavity and improving the stability of the cavity. Especially for the cavities formed by mining in deep formations or non-hard formations, the requirements for support equipment can be effectively reduced.

[0088] In addition, due to the arrangement of multiple shafts, and the three-dimensional shaft mining device and the three-dimensional shaft filling device both have the ability to move, through the controllable shape mining and controllable shape filling of the cavity, the free space shape and volume of the cavity can be controllably maintained (especially using the natural stability of strip-shaped cavities or arched cavities to keep the shape and volume of the mining working space controllable in real time), so that the controllable mining working space can move in real time as the mining and filling progress, ensuring the stability of the cavity during the overall mining process.

[0089] By cooperating the three-dimensional shaft mining device with the three-dimensional shaft cleaning device, or by cooperating the three-dimensional shaft mining device, the three-dimensional shaft filling device with the three-dimensional shaft cleaning device, the cleaning efficiency of the ore particles can be effectively improved, especially suitable for large-scale and high-efficiency mining operations in deep formations or non-hard formations. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] The following drawings are only intended to illustrate and explain the present invention schematically and do not limit the scope of the present invention.

[0091] Among them:

[0092] Figure 1It is a partial top view of the deep - formation borehole - cavern mining system of the present invention;

[0093] Figure 2 It is one of the top views of the operation process of the deep - formation borehole - cavern mining system of the present invention;

[0094] Figure 3 It is the second top view of the operation process of the deep - formation borehole - cavern mining system of the present invention;

[0095] Figure 4 It is a schematic structural diagram of the three - dimensional mining device passing through the borehole in the deep - formation borehole - cavern mining system of the present invention;

[0096] Figure 5 It is one of the schematic structural diagrams of the three - dimensional filling device passing through the borehole in the deep - formation borehole - cavern mining system of the present invention;

[0097] Figure 6 It is the second schematic structural diagram of the three - dimensional filling device passing through the borehole in the deep - formation borehole - cavern mining system of the present invention;

[0098] Figure 7 It is a layout diagram of the crawling mechanism on the shaft - tunnel crawling device in the deep - formation borehole - cavern mining system of the present invention;

[0099] Figure 8 It is Figure 7 a schematic structural diagram of the crawling mechanism in the retracted state in

[0100] Figure 9 It is Figure 7 a schematic structural diagram of the crawling mechanism in the deployed state in

[0101] Figure 10 It is a schematic structural diagram of the connection between two adjacent joint segments in the deep - formation borehole - cavern mining system of the present invention;

[0102] Figure 11 It is Figure 10 a partial enlarged view of the connection position between the driving rod and the transmission rod in

[0103] Figure 12 It is a front view of the three - dimensional mining device passing through the borehole in the mining state in the deep - formation borehole - cavern mining system of the present invention;

[0104] Figure 13 It is a front view of the three - dimensional filling device passing through the borehole in the filling state in the deep - formation borehole - cavern mining system of the present invention;

[0105] Figure 14 It is one of the top views of the three - dimensional filling device passing through the borehole in the filling state in the deep - formation borehole - cavern mining system of the present invention;

[0106] Figure 15 This is the second top view of the three-dimensional filling device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention in the filling state;

[0107] Figure 16 This is the first top view of the cooperative operation state of the three-dimensional excavation device passing through the wellbore and the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0108] Figure 17 This is the first top view of the waste removal operation of the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0109] Figure 18 This is the second top view of the cooperative operation state of the three-dimensional excavation device passing through the wellbore and the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0110] Figure 19 This is the third top view of the cooperative operation state of the three-dimensional excavation device passing through the wellbore and the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0111] Figure 20 This is the second top view of the waste removal operation of the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0112] Figure 21 This is the third top view of the waste removal operation of the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0113] Figure 22 This is the first front view of the cooperative operation state of the three-dimensional excavation device passing through the wellbore and the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0114] Figure 23 This is the second front view of the cooperative operation state of the three-dimensional excavation device passing through the wellbore and the three-dimensional waste removal device passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0115] Figure 24 This is the front view of the cooperative operation of the three-dimensional excavation device in the wellbore, the three-dimensional waste removal device passing through the wellbore and the particle lifting equipment passing through the wellbore in the deep formation wellbore cavern mining system of the present invention;

[0116] Figure 25 This is the top view of the cooperative operation of the three-dimensional excavation device in the wellbore, the three-dimensional waste removal device passing through the wellbore and another particle lifting equipment passing through the wellbore in the deep formation wellbore cavern mining system of the present invention.

[0117] The reference numerals in the present invention are:

[0118] 1, wellbore; 2, cavity; 3, three-dimensional mining device passing through the wellbore; 4, three-dimensional filling device passing through the wellbore; 5, three-dimensional cleaning and transportation device passing through the wellbore; 7, mining face; 8, formation; 9, filling face; 10, controllable deflection joint;

[0119] 111, main wellbore; 112, branch wellbore; 113, return flow channel; 114, injection channel; 115, drive rod; 116, spiral structure;

[0120] 201, cavity entrance;

[0121] 301, first extended robotic arm; 3011, crushing assembly; 302, first ore particle conveying channel;

[0122] 401, second extended robotic arm; 402, filling flow channel; 403, control valve;

[0123] 501, third extended robotic arm; 502, second ore particle conveying channel; 503, hydraulic cleaning and transportation assembly; 504, scraper; 505, rake; 506, conveying assembly; 5061, conveyor belt; 5062, drive wheel; 5063, screw conveyor mechanism; 507, loading assembly; 508, hinge structure; 509, towing cable; 508, hinge structure; 509, umbilical cable;

[0124] 601, controllable extended arm; 6011, extended arm body; 602, wellbore traveling device; 6021, fixing mechanism; 60211, swing rod; 60212, ejector rod; 6022, telescopic mechanism; 603, crawling section; 604, control module; 605, filling pipe; 606, filling pipe drive mechanism; 607, filling port;

[0125] 801, angle actuator; 802, telescopic actuator; 803, arc surface; 8031, first tooth; 804, transmission rod; 8041, second tooth; 8042, annular boss; 8043, umbrella-shaped inclined surface; 805, drive rod; 8051, conical surface; 806, drive motor; 807, wellbore perception module;

[0126] 1001, crawling assembly; 1002, first crawling section; 1003, first hinge structure; 1004, first drive motor; 1005, second crawling section; 1006, second hinge structure; 1007, second drive motor; 1008, crawling mechanism body. Detailed implementation manners

[0127] The technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. After reading the present invention, various equivalent forms of modification made by those skilled in the art to the present invention all fall within the scope defined by the appended claims of this application.

[0128] It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are only for the purpose of illustration and do not represent the only implementation manner.

[0129] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used in the specification of this application herein are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0130] As Figures 1 to 15 shown, the present invention provides a deep formation wellbore cavern mining system. The deep formation wellbore cavern mining system includes a traffic well system and a through-well three-dimensional mining device 3. The traffic well system has at least two wellbores 1, and the diameter of the wellbore 1 is less than 1 m. Among them, the internal channel formed by the wellbore 1 is communicated with the cavern 2 formed by mining, and the internal channel formed by the wellbore 1 is configured as a backflow channel 113 and an injection channel 114. The backflow channel 113 is used to transport the ore particles mined in the cavern 2 to the outside of the well, and the injection channel 114 is used to inject circulating fluid into the traffic well system from the outside of the well or transport fluidized filling material into the cavern 2 from the outside of the well. The through-well three-dimensional mining device 3 has a control mechanism, and the control mechanism is used to drive the through-well three-dimensional mining device 3 to move in the cavern 2. The through-well three-dimensional mining device 3 is used to perform controllable shape mining on the cavern 2 (i.e., excavate the mining face 7).

[0131] Furthermore, the deep formation wellbore cavern mining system of the present invention further includes a three-dimensional filling device 4 through the wellbore and / or a three-dimensional cleaning and transporting device 5 through the wellbore. The three-dimensional filling device 4 through the wellbore has a control mechanism, and the control mechanism is used to drive the three-dimensional filling device 4 through the wellbore to move in the cavern 2. The three-dimensional filling device 4 through the wellbore is used to convey a fluidized filling material to the cavern 2 through the injection channel 114 for filling with a controllable shape, so as to reduce the free space volume of the cavern 2. The three-dimensional cleaning and transporting device 5 through the wellbore has a control mechanism, and the control mechanism is used to drive the three-dimensional cleaning and transporting device 5 through the wellbore to move in the cavern 2. The three-dimensional cleaning and transporting device 5 through the wellbore is used to clean or transport the ore particles in the cavern 2 to the return channel 113, so that the circulating fluid discharges the ore particles out of the cavern 2 through the wellbore 1.

[0132] When the number of wellbores 1 is two, the three-dimensional mining device 3 through the wellbore and the three-dimensional filling device 4 through the wellbore can be used in combination to perform controllable shape mining and filling operations in the cavern 2. Of course, the three-dimensional mining device 3 through the wellbore and the three-dimensional cleaning and transporting device 5 through the wellbore can also be used in combination to perform controllable shape mining and external discharge operations of ore particles in the cavern 2. When the number of wellbores 1 is three, the three-dimensional mining device 3 through the wellbore, the three-dimensional filling device 4 through the wellbore and the three-dimensional cleaning and transporting device 5 through the wellbore are used in combination to simultaneously perform controllable shape mining, filling and external discharge operations of ore particles in the cavern 2.

[0133] In the present invention, the three-dimensional mining device 3 through the wellbore has a crawling section, and the crawling section is used to drive the three-dimensional mining device 3 through the wellbore to move three-dimensionally in the cavern 2 to break the rock within the range of the cavern 2; and / or, the three-dimensional mining device 3 through the wellbore has a wellbore traveling device, and the wellbore traveling device is used to drive the three-dimensional mining device 3 through the wellbore to move in the wellbore 1; and / or, the three-dimensional mining device 3 through the wellbore includes a well-cavern crawling device, and the well-cavern crawling device is used to drive the three-dimensional mining device 3 through the wellbore to move three-dimensionally in the cavern 2 to break the rock within the range of the cavern 2.

[0134] In the present invention, the three-dimensional filling device 4 through the wellbore has a crawling section, and the crawling section is used to drive the three-dimensional filling device 4 through the wellbore to move in the cavern 2 to the free space to be filled for filling operations; and / or, the three-dimensional filling device 4 through the wellbore has a wellbore traveling device, and the wellbore traveling device is used to drive the three-dimensional filling device 4 through the wellbore to move in the wellbore 1; and / or, the three-dimensional filling device 4 through the wellbore includes a well-cavern crawling device, and the well-cavern crawling device is used to drive the three-dimensional filling device 4 through the wellbore to move in the cavern 2 to the free space to be filled for filling operations.

[0135] In the present invention, the three-dimensional wellbore cleaning device 5 has a crawling section for driving the three-dimensional wellbore cleaning device 5 to move within the cavity 2 to the position where ore particles are accumulated for cleaning the accumulated ore particles; and / or, the three-dimensional wellbore cleaning device 5 has a wellbore traveling device for driving the three-dimensional wellbore cleaning device 5 to move within the wellbore 1; and / or, the three-dimensional wellbore cleaning device 5 includes a cavity crawling device for driving the three-dimensional wellbore cleaning device 5 to move within the cavity 2 to the position where ore particles are accumulated for cleaning the accumulated ore particles.

[0136] Among them, the three-dimensional wellbore mining device 3, the three-dimensional wellbore filling device 4, and the three-dimensional wellbore cleaning device 5 can adopt the same structure of the crawling section, the wellbore traveling device, and / or the cavity crawling device.

[0137] The wellbore 1 in the present invention refers to a circular tubular hole drilled by a drill bit (not a vertical shaft or roadway in conventional technologies). The advantage of using a small-diameter circular tubular wellbore 1 in the present invention is that it is convenient to use the drill bit for efficient drilling. By adopting a drilling method similar to that of oil and gas wells to replace the construction of vertical shaft roadways, the cost can be greatly reduced and the efficiency can be increased.

[0138] The deep formation wellbore cavity mining system of the present invention is suitable for mining operations on the cavity 2 through a wellbore with a diameter less than 1 m. Among them, the cavity 2 is a strip-shaped cavity with a diameter ranging from 0.1 m to 3 m and an axial length ranging from 2 m to 50 m. The formed traffic well system has multiple wellbores 1 with a diameter less than 1 m. At least among the multiple wellbores 1, there are a return channel 113 and an injection channel 114 respectively communicating with the cavity 2. The return channel 113 is used to transport the ore particles mined from the cavity 2 to the outside of the well, and the injection channel 114 is used to transport the fluid filling material from the outside of the well into the cavity 2. During the actual mining process, a movable three-dimensional wellbore mining device 3 and a three-dimensional wellbore filling device 4 are arranged in the wellbore 1 and / or the cavity 2. Through the three-dimensional wellbore mining device 3, the cavity 2 can be mined with a controllable shape, and at the same time, through the three-dimensional wellbore filling device 4, the fluid filling material is transported into the cavity 2 for controllable shape filling, thereby reducing the free space volume in the cavity 2 and enhancing the stability of the cavity 2. Especially for the cavity 2 formed by mining in deep formations or non-hard formations, the requirements for support equipment can be effectively reduced. In addition, in the present invention, due to the arrangement of multiple wellbores 1, and both the three-dimensional wellbore mining device 3 and the three-dimensional wellbore filling device 4 have movable capabilities, through the controllable shape mining and controllable shape filling of the cavity 2, the free space shape and volume of the cavity 2 can be controllably maintained (especially by utilizing the natural stability of the strip-shaped cavity 2 or the arched cavity 2 to keep the shape and volume of the mining working space controllable in real time). As the mining face 7 and the filling face 9 move forward, the controllable mining working space can move in real time as the mining and filling progress, ensuring the stability of the cavity during the overall mining process.

[0139] In the present invention, by cooperating the three-dimensional mining device 3 through the wellbore with the three-dimensional cleaning and transporting device 5 through the wellbore, or by cooperating the three-dimensional mining device 3 through the wellbore, the three-dimensional filling device 4 through the wellbore with the three-dimensional cleaning and transporting device 5 through the wellbore, the cleaning and transporting efficiency of ore particles can be effectively improved, and it is particularly suitable for large-scale and high-efficiency mining operations in deep formations or non-hard formations.

[0140] In an alternative embodiment of the present invention, the fluidized filling material can be, but is not limited to, cemented filling material, high-water filling material or paste filling material. For example, the fluidized filling material can adopt concrete. Of course, other substances with fluidity and solidifying after standing for a period of time (such as: muck mixed with adhesives, particles covered with adhesives on the surface, etc.) can also be used. The specific material adopted for the fluidized filling material is not limited herein, as long as it can fill the mined cavity 2 and ensure the stability of the space after filling. Filling materials and slurries with a certain viscosity or bonding effect used in roadways and coal mining faces can be used as equivalent substitutes.

[0141] Further, the control mechanism includes one or more of an angle actuator 801, a telescopic actuator 802, a rotary actuator, and a pulling actuator.

[0142] Further, a supporting fluid with a density between 0.3 g / cm 3 - 3 g / cm 3 is also filled in the wellbore 1. During the mining process, the supporting fluid can be used to support the wellbore 1 and / or the cavity 2. The supporting fluid is injected into the wellbore 1 and / or the cavity 2 through the wellhead and forms a particle flow with ore particles and is discharged out of the well through the return channel 113, further ensuring the stability of the wellbore 1 and the cavity 2. Among them, the supporting fluid can be, but is not limited to, substances such as clear water, bentonite slurry, oil-based fluid, supercritical carbon dioxide, oil, etc.

[0143] In an alternative embodiment of the present invention, multiple wellbores 1 include at least one main wellbore 111 and multiple branch wellbores 112. The multiple branch wellbores 112 are located between the main wellbore 111 and the cavity 2 and are distributed at intervals. The main wellbore 111 is connected to the cavity 2 through the branch wellbores 112.

[0144] Further, such as Figure 2 and Figure 3As shown, the number of main wellbores 111 is two, and multiple branch wellbores 112 are arranged at intervals along the extending directions of the two main wellbores 111, and the multiple branch wellbores 112 located between the two main wellbores 111 and the cavern 2 are respectively communicated with the main wellbores 111 and the cavern 2. Among them, at least part of the branch wellbores 112 and one main wellbore 111 cooperate to form a return channel 113, and at least another part of the branch wellbores 112 and the other main wellbore 111 cooperate to form an injection channel 114.

[0145] Further, as Figure 2 and Figure 3 shown, the cavern 2 has at least two cavern entrances 201, and the two cavern entrances 201 are respectively used for allowing at least part of the positions of the three-dimensional mining device 3 and the three-dimensional filling device 4 passing through the wellbore to enter the cavern 2.

[0146] In an alternative embodiment of the present invention, an energy line is arranged in the wellbore 1, and the three-dimensional mining device 3, the three-dimensional filling device 4 passing through the wellbore, and / or the three-dimensional cleaning device 5 passing through the wellbore can be respectively powered through the energy line to ensure the normal operation of the three-dimensional mining device 3, the three-dimensional filling device 4 passing through the wellbore, and the three-dimensional cleaning device 5 passing through the wellbore. Among them, the energy line can be, but is not limited to, a cable or a hydraulic pipeline. One end of the energy line located underground is electrically connected to the driving ends of the three-dimensional mining device 3, the three-dimensional filling device 4 passing through the wellbore, and / or the three-dimensional cleaning device 5 passing through the wellbore, and one end of the energy line located at the wellhead is electrically connected to a power source outside the wellhead.

[0147] In an alternative embodiment of the present invention, as Figures 1 to 4 shown, the three-dimensional mining device 3 passing through the wellbore includes a serpentine mining device that can move and crush ores in the cavern 2 and the wellbore 1. The front part of the serpentine mining device is a first extended robotic arm 301, and the first extended robotic arm 301 at least includes a driving section and a crushing assembly 3011; the driving section includes a control mechanism, and the first extended robotic arm 301 is controlled to move with at least two degrees of freedom through the control mechanism; the crushing assembly 3011 is arranged at the front or middle part of the driving section. During the mining process, the ore rock mass on the mining face 7 can be directly crushed by the crushing assembly 3011 or used to crush the fallen ores, so that the ore particles are transported in the form of a particle flow. Among them, the driving section can be a robotic arm with at least two degrees of freedom, and the robotic arm can drive the crushing assembly 3011 to move in the cavern 2, so as to accurately crush the ore rock mass on the mining face 7. In some embodiments, the robotic arm can adopt an existing serpentine robotic arm.

[0148] Further, the serpentine mining device has a crawling section 603 connected to the driving section, and the crawling section 603 is used to drive the driving section to move in the cavity 2; alternatively, the serpentine mining device has a wellbore traveling device connected to the driving section, and the wellbore traveling device is used to drive the driving section to move in the wellbore 1.

[0149] In an alternative embodiment of the present invention, as Figures 1 to 3 , Figure 5 and Figure 6 shown, the three-dimensional wellbore filling device 4 includes a serpentine filling device that can move in the cavity 2 and the wellbore 1 and output fluidized filling material. The front part of the serpentine filling device is a second extended robotic arm 401, and the second extended robotic arm 401 includes at least a driving section and a crushing assembly; the driving section includes a control mechanism, and the second extended robotic arm 401 is controlled to move with at least two degrees of freedom through the control mechanism; the inside of the driving section has a filling flow channel 402, and the filling flow channel 402 is used to transport the fluidized filling material to perform filling, grouting, pouring or spraying operations on at least part of the space of the cavity 2. Among them, the driving section can be a robotic arm with at least two degrees of freedom, and the outlet of the filling flow channel 402 can be driven to move in the cavity 2 through the robotic arm, so as to perform filling operations on the filling surface 9. In some embodiments, the robotic arm can adopt an existing serpentine robotic arm.

[0150] Further, the serpentine filling device has a crawling section 603 connected to the driving section, and the crawling section 603 is used to drive the driving section to move in the cavity 2; alternatively, the serpentine filling device has a wellbore traveling device connected to the driving section, and the wellbore traveling device is used to drive the driving section to move in the wellbore 1.

[0151] In some embodiments of the present invention, the functions of the crawling section 603 and the wellbore traveling device are both crawling functions, but the crawling section has passability in the wellbore, can be deployed inside the cavity and has a crawling function. Their functions are the same in structure, but the moving environments are different. The wellbore traveling device can be replaced by an ordinary pipeline crawler, but the crawling section has a deployable serpentine structure or leg structure. The crawling section 603 is used to drive the serpentine mining device and the serpentine filling device to move in the cavity 2, while the wellbore traveling device is used to drive the serpentine mining device and the serpentine filling device to move in the wellbore 1. Specifically, as Figure 7 shown, the crawling section 603 has crawling assemblies 1001 symmetrically arranged on two opposite sides of the crawling section 603. Among them, the crawling assembly 1001 can be, but is not limited to, a leg-shaped crawling mechanism, a claw-shaped crawling mechanism and a fin-shaped crawling mechanism. In this embodiment, the crawling mechanism and the driving device can form the crawling assembly.

[0152] Specifically, as Figure 8 and Figure 9As shown, each crawling assembly 1001 includes at least two crawling sections and a driving device, the two crawling sections are respectively the first crawling section 1002 and the second crawling section 1005; one end of the first crawling section 1002 is connected to the crawling mechanism body 1008 through the first hinge structure 1003, and the other end of the first crawling section 1002 is connected to one end of the second crawling section 1005 through the second hinge structure 1006; the driving device includes at least two angle actuators, the first hinge structure 1003 and the second hinge structure 1006 are respectively connected to the two angle actuators, and the two angle actuators are respectively used to drive the first hinge structure 1003 and the second hinge structure 1006 to rotate. In this embodiment, the two angle actuators can be respectively the first drive motor 1004 and the second drive motor 1007, the output shaft of the first drive motor 1004 is connected to the first hinge structure 1003, and the output shaft of the second drive motor 1007 is connected to the second hinge structure 1006. The second driving motor 1007 can drive the lower end of the second crawling section 1005 to rotate in the direction close to or away from the driving section, that is, the crawling assembly 1001 can be retracted or unfolded. In the actual moving process, by controlling the lower end of the second crawling section 1005 to rotate in the direction away from the driving section, the lower end of the second crawling section 1005 can be raised during the process to avoid larger ore particles and ensure smooth movement. In the actual moving process, the first driving motor 1004 can drive the first crawling section 1002 to swing back and forth, and then drive the second crawling section 1005 thereon to move back and forth through the first crawling section 1002 to realize the moving action.

[0153] In the present application, the serpentine mining device and the serpentine filling device can use the same driving section, which can realize the movement in the cave 2 and the wellbore 1. Among them, the control mechanism includes one or more of the angle actuator 801, the telescopic actuator 802, the rotation actuator and the pulling actuator; the control mechanism in the through-wellbore three-dimensional mining device 3 is used to drive the through-wellbore three-dimensional mining device 3 to move in three-dimensional space; the control mechanism in the through-wellbore three-dimensional filling device 4 is used to drive the through-wellbore three-dimensional filling device 4 to move in three-dimensional space; the control mechanism in the through-wellbore three-dimensional cleaning device 5 is used to drive the through-wellbore three-dimensional cleaning device 5 to move in three-dimensional space.

[0154] like Figures 4 to 6As shown, the angle actuator 801 can be a hydraulic cylinder structure disposed between two adjacent joint segments. The two adjacent joint segments are hinged to each other (e.g., hinged through a universal shaft). The cylinder block of the hydraulic cylinder is disposed on one joint segment, and the piston rod of the hydraulic cylinder is connected to the other joint segment. By driving the extension length of the piston rod, the bending angle between the two joint segments can be adjusted. Additionally, the telescopic actuator 802 can be an electric telescopic rod connected between two adjacent joint segments. By controlling the telescopic length of the electric telescopic rod, the distance between the two adjacent joint segments can be controlled, thereby realizing the telescopic action.

[0155] Furthermore, as Figures 4 to 6 shown, the driving section further includes a control module 604 and a wellbore sensing module 807. The wellbore sensing module 807 can be disposed at the front ends of the first extended robotic arm 301 and the second extended robotic arm 401. The control module 604 is communicatively connected to the wellbore sensing module 807. By collecting the morphological information of the cavity 2 through the wellbore sensing module 807, at least the states of the mining face 7 and the filling face 9 can be known. Then, through the control module 604, the driving section is controlled to perform an action, thereby respectively controlling the snake-shaped mining device and the snake-shaped filling device to perform mining and filling operations.

[0156] In the present invention, the wellbore sensing module 807 can be, but is not limited to, one or more of a visual sensor, radar, sonar, geophone, force sensor, displacement sensor, pressure sensor, flow sensor, current sensor, potential sensor, magnetic sensor, and lidar disposed in the cavity 2. The wellbore sensing module 807 is communicatively connected to a communication terminal preset outside the well through one of cable communication, optical fiber communication, or wireless communication to achieve external communication. For example, the wellbore sensing module 807 can be a sonar device composed of a plurality of acoustic sensor arrays. Through the sonar device, the position of the cavity 2 wall surface and the mining degree can be detected in the liquid-filled cavity 2.

[0157] In an alternative embodiment of the present invention, a first ore particle conveying channel 302 is provided inside the snake-shaped mining device. The first ore particle conveying channel 302 is used to discharge the ore particles in the cavity 2.

[0158] In some embodiments, when both the crushing assembly 3011 and the filling flow channel 402 are present, the snake-shaped mining device and the snake-shaped filling device can adopt the same structure (i.e., both the snake-shaped mining device and the snake-shaped filling device can perform filling and mining operations simultaneously). When mining the mining face 7, the crushing assembly 3011 operates, and at this time, the first ore particle conveying channel 302 is the filling flow channel 402, which is used to discharge the ore particles in the cavity 2 to the outside. When filling the filling face 9, the crushing assembly 3011 does not operate, and at this time, only the filling flow channel 402 is used to convey the fluidized filling material into the cavity 2.

[0159] Further, the serpentine mining device and the serpentine filling device can share the same crawling section 603; when the serpentine mining device and the serpentine filling device share the same crawling section 603, as Figures 4 to 6 shown, the serpentine filling device further includes a filling pipe 605 and a filling pipe driving mechanism 606; the end of the filling pipe 605 has a filling port 607, the filling pipe driving mechanism 606 is arranged at the front end of the serpentine filling device and is connected to the filling pipe 605, and the filling pipe driving mechanism 606 is used to adjust the orientation of the filling port 607, so as to finely control the filling position. Among them, the filling pipe driving mechanism 606 can be, but is not limited to, a hydraulic cylinder.

[0160] Further, as Figure 5 and Figure 6 described, at least two well holes 1 in the traffic well system are respectively communicated with the cavities 2 mined in the formation 8, and the internal channels formed by the two well holes 1 are respectively configured as a return channel 113 and an injection channel 114; the filling flow channel 402 has two branch openings, the first branch opening is communicated with the position where the crushing assembly 3011 is located, the second branch opening is located below the first branch opening, and the second branch opening is the filling port 607. At least one control valve 403 can be arranged at the filling port 607 to control the on-off state of the filling flow channel 402. When the control valve 403 is closed, the filling port 607 is closed, and ore particles can be sucked through the first branch opening for external discharge, and it is not used as the filling flow channel 402 at this time; when the control valve 403 is opened, the filling port 607 is opened, and at this time, the ore particles are sucked and discharged externally, but the filling operation is carried out through the second branch opening. Among them, the control valve 403 can be, but is not limited to, a ball valve, a gate valve, etc.

[0161] In an alternative embodiment of the present invention, as Figures 4 to 6 shown, both the serpentine mining device and the serpentine filling device include a controllable expansion arm 601 and a well hole traveling device 602; among them, the controllable expansion arm 601 includes an expansion arm body 6011 and a control mechanism with at least two degrees of freedom. The expansion arm body 6011 is connected to the well hole traveling device 602 through a hinge, a joint structure (such as two articulated joint segments), a telescopic structure connection (such as two joint segments nested, and the two joint segments can slide telescopically directly) or a rotary structure rotational connection (such as driving the joint segment to rotate through the output shaft of a driving motor). The hinge or joint structure is connected to an angle actuator 801, and the angle actuator 801 is used to drive the hinge or joint structure to bend; the telescopic structure is connected to a telescopic actuator 802, and the telescopic actuator 802 is used to drive the telescopic structure to expand and contract. The rotary structure is connected to a rotary actuator, and the rotary actuator is used to drive the rotary structure to rotate.

[0162] Further, the angle actuator 801 can be a hydraulic cylinder structure disposed between two adjacent joint segments. The two adjacent joint segments are hinged to each other (e.g., hinged by a universal shaft). The cylinder block of the hydraulic cylinder is disposed on one joint segment, and the piston rod of the hydraulic cylinder is connected to the other joint segment. By driving the extension length of the piston rod, the bending angle between the two joint segments can be adjusted. In addition, the telescopic actuator 802 can be an electric telescopic rod connected between two adjacent joint segments. By controlling the telescopic length of the electric telescopic rod, the distance between the two adjacent joint segments can be controlled, thereby realizing the telescopic action.

[0163] In another alternative embodiment of the present invention, the controllable extension arm 601 includes an extension assembly formed by connecting at least two controllable deflection joints 10. The two adjacent controllable deflection joints 10 are bendably connected through a hinge structure. The hinge structure is connected to the angle actuator 801, and the angle actuator 801 is used to drive the hinge structure to bend. The controllable extension arm 601 is connected to the front part of the wellbore traveling device 602. Among them, the angle actuator 801 can be a hydraulic cylinder structure disposed between two adjacent controllable deflection joints 10. The two adjacent controllable deflection joints 10 are hinged to each other (e.g., hinged by a universal shaft). The cylinder block of the hydraulic cylinder is disposed on one controllable deflection joint 10, and the piston rod of the hydraulic cylinder is connected to the other controllable deflection joint 10. By driving the extension length of the piston rod, the bending angle between the two controllable deflection joints 10 can be adjusted.

[0164] In still another alternative embodiment of the present invention, the controllable extension arm 601 includes an extension assembly, and the extension assembly is a flexible extension arm formed by connecting at least two controllable deflection joints 10. The two adjacent controllable deflection joints 10 are connected by a hinged or rotational connection method. A pulling actuator is disposed at the rear part of the flexible extension arm. The pulling actuator includes at least a driver with two degrees of freedom control quantities. The controllable deflection joint 10 is connected to the pulling actuator through a pulling force transmission structure. The pulling actuator is used to drive the flexible extension arm to move. The flexible extension arm is connected to the front part of the wellbore traveling device 602. Among them, the pulling force transmission structure includes a rope, a belt or a chain. The pulling actuator can be, but is not limited to, a hydraulic cylinder. The plurality of controllable deflection joints 10 are connected in series through the pulling force transmission structure. The piston rod of the hydraulic cylinder is connected to the pulling force transmission structure. By the telescopic action of the piston rod of the hydraulic cylinder, one of the plurality of pulling force transmission structures can be pulled, so that the flexible extension arm performs bending and deflection actions. Of course, the pulling actuator can also be an electric drive actuator, a pneumatic actuator or other hydraulic actuators that can controllably perform deflection actions.

[0165] Further, such as Figure 4 、 Figure 22 、 Figure 23As shown in the figure, the wellbore traveling device 602 includes a fixing mechanism 6021 or a telescopic mechanism 6022. The fixing mechanism 6021 can be fixedly connected to or abutted against the inner wall of the wellbore 1, so as to fix the snake-shaped mining device and the snake-shaped filling device in the wellbore 1. Specifically, the fixing mechanism 6021 includes a plurality of swing rods 60211 and a top rod 60212. One ends of the plurality of swing rods 60211 are rotatably arranged on the extension arm body 6011 through a rotating shaft, and the other ends of the plurality of swing rods 60211 are rotatably connected to the middle of the top rod 60212. By connecting the output shaft of the driving motor to the rotating shaft, the swing rods 60211 can be driven to swing. When it is necessary to position the snake-shaped mining device and the snake-shaped filling device, the driving motor is used to drive the swing rods 60211 to swing towards the inner wall of the wellbore 1 until the other opposite side of the top rod 60212 abuts against the inner wall of the wellbore 1, so that the snake-shaped mining device and the snake-shaped filling device can be fixed in the wellbore 1, realizing the position locking in the wellbore 1.

[0166] In an alternative embodiment of the present invention, the length of the snake-shaped mining device and / or the snake-shaped filling device is at least greater than three times the diameter of the wellbore 1, so that the front ends of the snake-shaped mining device and the snake-shaped filling device can extend into the cavity 2 to reach a preset position for mining and filling operations respectively.

[0167] Furthermore, as Figures 4 to 6 shown, both the snake-shaped mining device and the snake-shaped filling device include a crawling section 603, a driving section for driving the crawling section 603, and a control module 604 for controlling the crawling section 603 and the driving section. Among them, the crawling section 603 includes a plurality of controllable deflection joints 10 connected in sequence. The controllable deflection joints 10 are connected to an angle execution mechanism 801. The angle execution mechanism 801 is used to drive the controllable deflection joints 10 to deflect. The series of controllable deflection joints 10 formed by the plurality of controllable deflection joints 10 are used for crawling and operating in the cavity 2 and / or the wellbore 1. In this embodiment, the angle execution mechanism 801 can be a hydraulic cylinder structure arranged between two adjacent controllable deflection joints 10. Two adjacent controllable deflection joints 10 are hinged (such as hinged through a universal joint). The cylinder body of the hydraulic cylinder is arranged on one controllable deflection joint 10, and the piston rod of the hydraulic cylinder is connected to the other controllable deflection joint 10. By driving the extension length of the piston rod, the bending angle between the two controllable deflection joints 10 can be adjusted.

[0168] Of course, another structure of the crawling section 603 is as follows: The crawling section 603 includes a flexible joint series formed by a plurality of controllable deflection joints 10 connected in sequence. Adjacent two controllable deflection joints 10 are connected in sequence in a hinged or rotatable connection manner. The flexible joint series is connected to the pulling actuator through a pulling force transmission structure. The pulling actuator is used to drive the crawling section 603 to crawl and operate in the cavity 2 and / or the wellbore 1 through the pulling force transmission structure. Among them, the pulling force transmission structure is a rope, a belt or a chain. The pulling actuator can be, but is not limited to, a hydraulic cylinder. The plurality of controllable deflection joints 10 are connected in series through the pulling force transmission structure. The piston rod of the hydraulic cylinder is connected to the pulling force transmission structure. Through the telescopic movement of the piston rod of the hydraulic cylinder, a pulling action can be performed on one of the plurality of pulling force transmission structures, so that the flexible extension arm performs bending and deflection actions. Of course, the pulling actuator can also be an electric drive actuator, a pneumatic actuator or other hydraulic actuators that can controllably perform deflection actions.

[0169] For the rotation of the two adjacent controllable deflection joints 10 (or joint segments) driven by the cooperation of the rotation structure and the rotation actuator in the above application, the following specific embodiments are given: As Figure 10 and Figure 11 shown, adjacent two controllable deflection joints 10 are rotatably connected through a rotating shaft. Among the adjacent two controllable deflection joints 10, one end of a controllable deflection joint 10 has an arc surface 803, and a first tooth 8031 is provided on the arc surface 803. Inside the other controllable deflection joint 10, a driving rod 805 extending in the horizontal direction and a transmission rod 804 arranged obliquely are provided. One end of the transmission rod 804 is provided with a second tooth 8041 along its circumferential direction. The second tooth 8041 meshes with the first tooth 8031. A ring-shaped boss 8042 is formed along the circumferential direction in the middle of the transmission rod 804. The side of the ring-shaped boss 8042 facing away from the second tooth 8041 is an umbrella-shaped inclined surface 8043, and a third tooth (not shown) is provided on the umbrella-shaped inclined surface 8043. A conical surface 8051 is formed at one end of the driving rod 805, and a fourth tooth (not shown) is provided on the conical surface 8051. The driving rod 805 is rotatably arranged inside the controllable deflection joint 10. The fourth tooth and the third tooth remain in a meshing state. The other end of the driving rod 805 is connected to the output shaft of the driving motor 806. By driving the driving motor 806, the driving rod 805 can be driven to rotate, and then the transmission rod 804 rotates. Since the second tooth 8041 meshes with the first tooth 8031, the rotation of the transmission rod 804 will drive the controllable deflection joint 10 with the arc surface 803 to rotate, so as to realize the rotation control of the adjacent two controllable deflection joints 10.

[0170] In an alternative embodiment of the present invention, the crushing assembly 3011 can be various existing rock crushing devices, such as using one or more of jet crushing, impact crushing, cutting crushing, arc crushing, etc. Different crushing devices can be selected for rock crushing operations according to actual crushing requirements (such as rock hardness). The crushing assembly 3011 is used to crush the ore in the cavity 2 or to further crush the fallen ore to achieve granulation of the ore, so as to facilitate better transportation in the form of a particle flow. It should be noted that the crushing assembly 3011 is an assembly of devices capable of performing the crushing function, and does not specifically refer to a certain specific crushing device. It may include, but is not limited to, a jet crushing device, an impact crushing device, a static pressure rock splitting device, a laser crushing device, a hydraulic rock splitting device, an arc rock splitting device, and / or a blasting device.

[0171] In an alternative embodiment of the present invention, the crushing assembly 3011 is provided with a falling rock detection module. The falling rock detection module includes an acoustic imaging detection module, a visual imaging detection module, a phased acoustic sensor array, or a laser scanning detector. The position of the falling rock can be detected through the falling rock detection module to accurately locate and crush the fallen rock.

[0172] In an alternative embodiment of the present invention, the snake-shaped mining device can be connected to a power source located outside the well through a power line, or the snake-shaped mining device is equipped with a power supply battery to ensure the normal operation of the snake-shaped mining device. A cable is arranged inside the snake-shaped mining device. The cable is electrically connected to the control end of the crushing assembly 3011 and passes through the well hole 1 and is electrically connected to the power source outside the well; alternatively, a hydraulic pipeline is arranged inside the snake-shaped mining device. The hydraulic source is connected to the control end of the crushing assembly 3011 through the hydraulic pipeline. The hydraulic source is arranged inside the snake-shaped mining device or behind the snake-shaped mining device. Of course, other functional methods can also be adopted for the crushing assembly 3011, as long as the normal rock breaking operation of the crushing assembly 3011 can be ensured.

[0173] In an alternative implementation of the present invention, such as Figure 16As shown, the three-dimensional wellbore cleaning and transporting device 5 is a serpentine cleaning and transporting device that can move within the cavity 2 and the wellbore 1. The front part of the serpentine cleaning and transporting device is the third extended robotic arm 501. Inside the serpentine cleaning and transporting device, there is a second ore particle conveying channel 502 to discharge the ore particles in the cavity 2 by suction through the second ore particle conveying channel 502. Of course, structures such as a hydraulic cleaning and transporting assembly 503, a mechanical cleaning and transporting assembly, a conveying assembly 506, or a loading assembly 507 can also be provided on the serpentine cleaning and transporting device to transport the ore particles in the cavity 2 and the wellbore 1 to the return discharge channel 113. Since the cross-sectional area of the cavity 2 is much larger than that of the wellbore 1, the flow velocity of the circulating fluid in the cavity 2 is low and the flow field is complex, resulting in many dead corners remaining in the cavity 2. In the present invention, the serpentine cleaning and transporting device is used to clean and discharge the crushed ore particles, especially to clean these ore particles into the return discharge channel 113 for external discharge. Additionally, during the actual mining process, as Figure 16 shown, the serpentine mining device can cooperate with the serpentine cleaning and transporting device to complete the mining and cleaning of the ore particles.

[0174] Among them, the serpentine cleaning and transporting device has a crawling section 603. The crawling section 603 is used to drive the serpentine cleaning and transporting device to move within the cavity 2 to the position where the ore particles are piled up to clean the piled ore particles; or, the serpentine cleaning and transporting device has a wellbore traveling device, and the wellbore traveling device is used to drive the serpentine cleaning and transporting device to move within the wellbore 1. Among them, the crawling section 603 of the serpentine cleaning and transporting device can have the same structure as the crawling section 603 of the serpentine mining device, that is, the serpentine cleaning and transporting device and the serpentine mining device adopt the same crawling section 603; and the wellbore traveling device of the serpentine cleaning and transporting device can also have the same structure as the wellbore traveling device of the serpentine mining device, that is, the serpentine cleaning and transporting device and the serpentine mining device adopt the same wellbore traveling device.

[0175] In addition, the third extended robotic arm 501 of the serpentine cleaning and transporting device can have the same structure as the first extended robotic arm 301 of the serpentine mining device and the second extended robotic arm 401 of the serpentine filling device.

[0176] Furthermore, as Figure 16 and Figure 17 shown, the hydraulic cleaning and transporting assembly 503 is arranged at the front part of the serpentine cleaning and transporting device and / or connected in series in the middle of the serpentine cleaning and transporting device; among them, the hydraulic cleaning and transporting assembly 503 includes a nozzle, and the nozzle is communicated with the second ore particle conveying channel 502. The fluid can be externally sprayed through the cooperation of the second ore particle conveying channel 502 and the nozzle, and the ore particles are pushed to the entrance of the return discharge channel 113 by the sprayed fluid. Among them, the nozzle can be a circular nozzle or a special-shaped nozzle. For example, selecting a rectangular nozzle can generate a fan-shaped jet flow to increase the cleaning area.

[0177] Furthermore, as Figure 7 、Figures 16 to 18 As shown, the mechanical cleaning and transporting assembly is arranged at the front part of the serpentine cleaning and transporting device and / or connected in series in the middle of the serpentine cleaning and transporting device; wherein, the mechanical cleaning and transporting assembly includes a scraper 504, a rake 505, a shovel or a mechanical claw, and the scraper 504, the rake 505, the shovel or the mechanical claw can be used to push the ore particles to the entrance of the return discharge channel 113.

[0178] In an alternative embodiment of the present invention, as Figure 19 shown, the conveying assembly 506 is arranged at the front part or the middle part of the serpentine cleaning and transporting device; wherein, the conveying assembly 506 includes a conveyor belt 5061, a driving wheel 5062 and a power motor, the conveyor belt 5061 is sleeved on the outside of the driving wheel 5062, and the output shaft of the power motor is connected to the driving wheel 5062 to drive the conveyor belt 5061 to move, and the conveyor belt 5061 is used to transport the ore particles to the entrance of the return discharge channel 113.

[0179] In another alternative embodiment of the present invention, as Figure 20 shown, the conveying assembly 506 is arranged at the front part of the serpentine cleaning and transporting device and / or connected in series in the middle of the serpentine cleaning and transporting device; wherein, the conveying assembly 506 includes a screw conveying mechanism 5063 and a power motor, and the power motor is in transmission connection with the screw conveying mechanism 5063 to drive the screw conveying mechanism 5063 to rotate and transport the ore particles to the entrance of the return discharge channel 113.

[0180] In an alternative embodiment of the present invention, as Figure 21 shown, the loading assembly 507 includes a skip or a flexible bag, and the ore particles are loaded through the skip or the flexible bag and then transported to the entrance of the return discharge channel 113.

[0181] In an alternative embodiment of the present invention, the interior of the serpentine cleaning and transporting device has a through-flow channel, the through-flow channel is communicated with the return discharge channel 113, a suction inlet communicated with the through-flow channel is arranged at the front part or the side part of the serpentine cleaning and transporting device, and an ore particle sieve is arranged at the suction inlet to avoid the inhalation of large particle ores during the operation of the serpentine cleaning and transporting device, thereby avoiding the blockage of the through-flow channel; wherein, the ore particle sieve is a sieve screen, a sieve mesh or a grid sieve.

[0182] In another alternative embodiment of the present invention, the interior of the serpentine cleaning and transporting device has a through-flow channel, the through-flow channel is communicated with the return discharge channel 113, a suction inlet communicated with the through-flow channel is arranged at the front part or the side part of the serpentine cleaning and transporting device, and a re-crushing mechanism is arranged at the suction inlet. The re-crushing mechanism is used to re-crush the ore particles entering the through-flow channel to form small particle ores, so as to avoid the inhalation of large particle ores during the operation of the serpentine cleaning and transporting device, thereby avoiding the blockage of the through-flow channel.

[0183] In an alternative embodiment of the present invention, the serpentine cleaning and transporting device includes a crawling section 603, and the above-mentioned hydraulic cleaning and transporting assembly 503, mechanical cleaning and transporting assembly, conveying assembly 506 or loading assembly 507 are arranged at the front of the crawling section 603 and / or connected in series in the middle of the crawling section 603; the crawling section 603 has the same structure as the crawling section 603 in the above-mentioned serpentine mining device and serpentine filling device. Specifically, the crawling section 603 includes a plurality of controllable deflection joints 10 connected in sequence, and the controllable deflection joints 10 are connected to an angle actuator 801. The angle actuator 801 is used to drive the controllable deflection joints 10 to deflect. The series of controllable deflection joints 10 formed by the plurality of controllable deflection joints 10 are used for crawling and operating in the cavity 2 and / or wellbore 1. In this embodiment, the angle actuator 801 can be a hydraulic cylinder structure arranged between two adjacent controllable deflection joints 10. Two adjacent controllable deflection joints 10 are hinged to each other (such as hinged through a universal joint). The cylinder body of the hydraulic cylinder is arranged on one controllable deflection joint 10, and the piston rod of the hydraulic cylinder is connected to the other controllable deflection joint 10. By driving the extension length of the piston rod, the bending angle between the two controllable deflection joints 10 can be adjusted.

[0184] In this embodiment, another structure of the crawling section 603 is: the crawling section 603 includes at least one series of articulated joints. The series of articulated joints includes a plurality of articulated joints connected in sequence. Two adjacent articulated joints are sequentially connected by hinges or joints. The end of the series of articulated joints is provided with a pulling actuator. The pulling actuator includes at least two degrees of freedom control quantities. The series of articulated joints is connected to the pulling actuator through a pulling force transmission structure. The pulling actuator is used to drive the crawling section 603 to crawl and operate in the cavity 2 and / or wellbore 1 through the pulling force transmission structure; wherein, the pulling force transmission structure is a rope, belt or chain arranged along the series of articulated joints and connected to each articulated joint; the pulling actuator can be, but is not limited to, a hydraulic cylinder. The piston rod of the hydraulic cylinder is connected to the pulling force transmission structure. By the telescopic movement of the piston rod of the hydraulic cylinder, one of the plurality of pulling force transmission structures can be pulled, so that the series of articulated joints perform bending and deflection actions. Of course, the pulling actuator can also be an electric drive actuator, a pneumatic actuator or other hydraulic actuators that can controllably perform deflection actions.

[0185] In this embodiment, yet another structure of the crawling section 603 is: the crawling section 603 includes at least one elastic body and a plurality of pulling members arranged along the length direction of the elastic body. The end of the elastic body is provided with a pulling actuator having at least two degrees of freedom control quantities. The elastic body is connected to the pulling actuator through a pulling force transmission structure. The pulling actuator is used to drive the elastic body to move in the cavity 2 and / or wellbore 1 through the pulling force transmission structure; wherein, the elastic body is an elastic rod or an elastic tube, and the pulling force transmission structure is a rope, belt or chain.

[0186] In this embodiment, another structure of the crawling section 603 is as follows: the crawling section 603 includes a soft body structure and multiple sets of crawling assemblies. The soft body structure is a series of universal joints or a hose. The multiple sets of crawling assemblies are arranged along the length of the soft body structure to drive the crawling section 603 to move in the cavity 2 and / or the wellbore 1. Among them, the multiple sets of crawling assemblies can adopt the same structure as the above-mentioned crawling section to achieve movement in the cavity 2 and / or the wellbore 1.

[0187] In this embodiment, another structure of the crawling section 603 is as follows: the crawling section 603 includes at least one articulated joint series and multiple sets of crawling assemblies. The articulated joint series is formed by sequentially connecting multiple articulated joints, and adjacent articulated joints are connected by hinges or joints. The multiple sets of crawling assemblies are used to drive the crawling section 603 to move in the cavity 2 and / or the wellbore 1. Among them, the multiple sets of crawling assemblies can adopt the same structure as the above-mentioned crawling section 603 to achieve movement in the cavity 2 and / or the wellbore 1.

[0188] In an alternative embodiment of the present invention, as Figure 23 shown, the snake-shaped cleaning and transporting device further includes a third extended robotic arm 501 and a wellbore traveling device 602; a second ore particle conveying channel 502 is provided in the snake-shaped cleaning and transporting device to discharge the ore particles in the cavity 2 through the second ore particle conveying channel 502. As an alternative option, the hydraulic cleaning and transporting assembly 503, the mechanical cleaning and transporting assembly, the conveying assembly 506, or the loading assembly 507 is arranged at the front or side of the third extended robotic arm 501; among them, the third extended robotic arm 501 has the same structure as the controllable extended arm 601 and the wellbore traveling device 602 in the snake-shaped mining device and the snake-shaped filling device, that is, the third extended robotic arm 501 includes an extended arm body 6011 and a multi-degree-of-freedom control mechanism. The extended arm body 6011 is connected to the wellbore traveling device 602 through a hinge, a joint structure, a telescopic structure, or a rotating structure. The hinge or joint structure is connected to an angle actuator 801, and the angle actuator 801 is used to drive the hinge or joint structure to bend; the telescopic structure is connected to a telescopic actuator 802, and the telescopic actuator 802 is used to drive the telescopic structure to extend and retract. The rotating structure is connected to a rotating actuator, and the rotating actuator is used to drive the rotating structure to rotate. It should be noted that the function of the wellbore traveling device 602 is to push the equipment into the cavity 2 and drive the snake-shaped cleaning and transporting device to move in the cavity 2.

[0189] Further, the angle actuator 801 may be a hydraulic cylinder structure disposed between two adjacent joint segments. The two adjacent joint segments are hinged to each other (e.g., hinged by a universal joint). The cylinder block of the hydraulic cylinder is disposed on one joint segment, and the piston rod of the hydraulic cylinder is connected to the other joint segment. The bending angle between the two joint segments is adjusted by driving the extending length of the piston rod. In addition, the telescopic actuator 802 may be an electric telescopic rod connected between two adjacent joint segments. The distance between the two adjacent joint segments is controlled by controlling the telescopic length of the electric telescopic rod, so as to achieve the telescopic action.

[0190] In another alternative embodiment of the present invention, the third extended robotic arm 501 includes an extended assembly formed by connecting at least two controllable deflection joints 10. The two adjacent controllable deflection joints 10 are bendably connected through a hinge structure. The hinge structure is connected to the angle actuator 801. The angle actuator 801 is used to drive the hinge structure to bend. The third extended robotic arm 501 is connected to the front part of the wellbore traveling device 602. Among them, the angle actuator 801 may be a hydraulic cylinder structure disposed between two adjacent controllable deflection joints 10. The two adjacent controllable deflection joints 10 are hinged to each other (e.g., hinged by a universal joint). The cylinder block of the hydraulic cylinder is disposed on one controllable deflection joint 10, and the piston rod of the hydraulic cylinder is connected to the other controllable deflection joint 10. The bending angle between the two controllable deflection joints 10 is adjusted by driving the extending length of the piston rod.

[0191] In still another alternative embodiment of the present invention, the third extended robotic arm 501 includes an extended assembly, which is a flexible extended arm formed by connecting at least two controllable deflection joints 10. The two adjacent controllable deflection joints 10 are connected by a hinged or rotatable connection method. A pulling actuator is disposed at the rear part of the flexible extended arm. The pulling actuator includes at least a driver with two degrees of freedom control quantities. The controllable deflection joint 10 is connected to the pulling actuator through a pulling force transmission structure. The pulling actuator is used to drive the flexible extended arm to move. The flexible extended arm is connected to the front part of the wellbore traveling device 602. Among them, the pulling force transmission structure includes a rope, a belt or a chain. The pulling actuator may be, but is not limited to, a hydraulic cylinder. The plurality of controllable deflection joints 10 are connected in series through the pulling force transmission structure. The piston rod of the hydraulic cylinder is connected to the pulling force transmission structure. By the telescopic action of the piston rod of the hydraulic cylinder, a pulling action can be performed on one of the plurality of pulling force transmission structures, so that the flexible extended arm performs bending and deflection actions. Of course, the pulling actuator may also be an electric drive actuator, a pneumatic actuator or other hydraulic actuators that can controllably perform deflection actions.

[0192] Further, such as Figure 4 、 Figure 22 、 Figure 24As shown, the wellbore traveling device 602 includes a fixing mechanism 6021 or a telescopic mechanism 6022. The fixing mechanism 6021 can be fixedly connected to or abutted against the inner wall of the wellbore 1, thereby fixing the snake-shaped cleaning device to the wellbore 1. As another fixing mechanism for achieving fixation in the cavity 2, the fixing mechanism 6021 includes a plurality of swing rods 60211 and a top rod 60212. One ends of the plurality of swing rods 60211 are rotatably arranged on the extension arm body 6011 through a rotating shaft, and the other ends of the plurality of swing rods 60211 are rotatably connected to the middle of the top rod 60212. By connecting the output shaft of the driving motor to the rotating shaft, the swing rods 60211 can be driven to swing. When it is necessary to position the snake-shaped cleaning device, the driving motor drives the swing rods 60211 to swing towards the direction close to the inner wall of the wellbore 1 until the other opposite side of the top rod 60212 abuts against the inner wall of the wellbore 1, thereby fixing the snake-shaped cleaning device in the wellbore 1 and achieving position locking in the wellbore 1. This method greatly improves the stability of the equipment during the mining operation. The snake-shaped mining device and the snake-shaped filling device are also applicable to this solution.

[0193] In an alternative embodiment of the present invention, as Figures 7 to 9 shown, the snake-shaped cleaning device further includes a wellbore crawling device; the wellbore crawling device includes a crawling mechanism body 1008, a plurality of crawling assemblies 1001, and a driving device. The crawling assemblies 1001 are hinged to the crawling mechanism body 1008. The crawling mechanism body 1008 can be divided into multiple segments, and adjacent segments of the crawling mechanism body 1008 are rotatably connected through a hinge structure 508. The driving device is used to drive the crawling assemblies 1001 to perform crawling operations; the snake-shaped cleaning device has at least an unfolded state and a retracted state. When the snake-shaped cleaning device is in the retracted state, the aspect ratio of the snake-shaped cleaning device is greater than 3, and when the snake-shaped cleaning device moves along the wellbore 1, the axial direction of the snake-shaped cleaning device is consistent with the axial direction of the wellbore 1; the crawling mechanism body 1008 is hinged or rotatably connected to the crawling assemblies 1001, and at least a driving component including two degrees of freedom control quantities is further connected between the crawling assemblies 1001 and the crawling mechanism body 1008. The driving component is used to control the crawling mechanism body 1008 to perform crawling actions or switch between the retracted state and the unfolded state; there are a plurality of contact points between the crawling assemblies 1001 and the inner wall of the cavity 2, and at least two of the contact points are respectively located on both sides of the axial direction of the crawling mechanism body 1008, and the distance between the two contact points is greater than or equal to twice the wellbore diameter. Among them, the crawling assemblies 1001 can be, but are not limited to, leg-shaped crawling mechanisms, claw-shaped crawling mechanisms, and fin-shaped crawling mechanisms.

[0194] Specifically, as Figure 7As shown, the snake-shaped ore cleaning and transporting device based on the crawling principle includes a crawling mechanism body 1008, a crawling assembly 1001, and a rake 505. The crawling assembly 1001 performs a crawling operation under the action of a driving device. The rake 505 is hinged to the crawling mechanism body 1008, and a driving device is connected between the rake 505 and the crawling mechanism body 1008 for controlling the opening and closing movement of the rake 505 relative to the crawling mechanism body 1008. In this embodiment, the opening and closing movement of the rake 505 relative to the crawling mechanism body 1008 is realized by an angle actuator 801. The angle actuator 801 can be an electric cylinder or a hydraulic cylinder, driving the rake 505 to rotate around the hinge point with the crawling mechanism body 1008 to perform the opening and closing movement. When the snake-shaped ore cleaning and transporting device enters the well hole 1 or crawls into the cavity 2, the rake 505 can be retracted. After finding the ore particle accumulation area in the cavity 2, the rake 505 is deployed, and the snake-shaped ore cleaning and transporting device is pulled back into the well hole 1 through the umbilical cable 509 behind the snake-shaped ore cleaning and transporting device, playing a role in cleaning and transporting ore particles. In this embodiment, the umbilical cable 509 is arranged in the well hole 1, and the two ends of the umbilical cable 509 are respectively connected to the snake-shaped ore cleaning and transporting device in the cavity 2 and the power supply outside the wellhead.

[0195] Specifically, as Figure 8 and Figure 9As shown, each crawling assembly 1001 further includes at least two crawling segments and a driving device. The two crawling segments are respectively the first crawling segment 1002 and the second crawling segment 1005. One end of the first crawling segment 1002 is connected to the crawling mechanism body 1008 through a first hinge structure 1003, and the other end of the first crawling segment 1002 is connected to one end of the second crawling segment 1005 through a second hinge structure 1006. The driving device includes at least two angle actuators. The first hinge structure 1003 and the second hinge structure 1006 are respectively connected to the two angle actuators, and the two angle actuators are respectively used to drive the first hinge structure 1003 and the second hinge structure 1006 to rotate. In this embodiment, the two angle actuators can be respectively the first driving motor 1004 and the second driving motor 1007. The output shaft of the first driving motor 1004 is connected to the first hinge structure 1003, and the output shaft of the second driving motor 1007 is connected to the second hinge structure 1006. By the second driving motor 1007, the lower end of the second crawling segment 1005 can be driven to rotate towards or away from the driving section, that is, the folding or unfolding of the crawling assembly 1001 is realized. During the actual traveling process, by controlling the lower end of the second crawling segment 1005 to rotate away from the driving section, the lower end of the second crawling segment 1005 can be lifted during the traveling process, which is convenient for avoiding larger ore particles and ensuring smooth traveling. During the actual traveling process, the first driving motor 1004 can drive the first crawling segment 1002 to swing back and forth, and then drive the second crawling segment 1005 thereon to move back and forth through the first crawling segment 1002, realizing the traveling action. Among them, the positions where the second crawling segments 1005 in the two crawling assemblies 1001 located on the two opposite sides of the crawling mechanism body 1008 contact the inner wall of the cavity 2 are the two contact points between the crawling assembly 1001 and the inner wall of the cavity 2 as described above.

[0196] In an alternative embodiment of the present invention, in the actual operation state, part or all of the through-hole three-dimensional mining device 3 is located in the well hole 1, part or all of the through-hole three-dimensional cleaning and transporting device 5 is located in the well hole 1, and / or part or all of the through-hole three-dimensional filling device 4 is located in the well hole 1. The through-hole three-dimensional mining device 3, the through-hole three-dimensional cleaning and transporting device 5, and the through-hole three-dimensional filling device 4 are communicated with the outside of the well through the flow channels inside them respectively, or the through-hole three-dimensional mining device 3, the through-hole three-dimensional cleaning and transporting device 5, and the through-hole three-dimensional filling device 4 directly extend to the outside of the well, so as to realize the communication between the inside of the cavity 2 and the outside of the well, so as to realize the transportation of ore particles.

[0197] In an alternative embodiment of the present invention, a granular flow lifting device is provided in the traffic well system, and the granular flow lifting device transports ore particles in the form of a granular flow outside the well; wherein, the granular flow lifting device can be, but is not limited to, one of a mechanical lifting system, a fluid lifting system, or an air-lift hydraulic lifting system. Among them, a pipe string can be lowered into the traffic well system through any branch well hole 112 communicating with the cavern 2, and gas can be injected into the well through the pipe string, or gas can be injected into the well through the annulus between the pipe string and the well wall, so as to reduce the density of the granular flow in the well, thereby achieving the purpose of assisting the lifting of the ore particle flow. Of course, the injected gas can also be replaced with other particles having a density lower than that of the ore particles. In addition, a suction pump can also be lowered into the traffic well system, and the lifting of the ore particle flow in the well can be achieved through the suction effect.

[0198] As a more preferred embodiment of the present invention, as Figure 23 shown, the particles are lifted to the outside of the wellhead in the form of a granular flow by means of fluid circulation using the wellbore. The channels formed by the two well holes 1 are both communicated with the cavern 2. Among them, the three-dimensional cleaning device 5 for passing through the well hole is arranged in the right well hole 1, and the three-dimensional mining device 3 for passing through the well hole is arranged in the left well hole 1. Circulating fluid is injected from the left well hole 1 to increase the pressure in the cavern 2, and the three-dimensional cleaning device 5 for passing through the well hole is used to clean and transport the ore particles. The circulating fluid with pressure in the cavern 2 carries the ore particles to form a granular flow and discharges from the right well hole 1 to the wellhead.

[0199] As Figure 24 shown, as a more preferred embodiment of the present invention, the particles are lifted to the outside of the wellhead by means of mechanical transportation using the wellbore. In this embodiment, the granular lifting device passing through the wellbore can be a scraper lifting device or a screw lifting device. The scraper lifting device or the screw lifting device is arranged in the well hole configured as a return channel. Among them, the scraper lifting device drives the scraper to move in a cycle in the well hole 1 through a chain, so as to carry away the ore particles; as Figure 25 shown, the screw lifting device includes a driving rod 115 and a screw structure 116, and the driving rod 115 drives the screw structure 116 to rotate to carry away the ore particles. The above-mentioned scraper lifting device and screw lifting device both belong to the mechanical lifting system. In this embodiment, the external discharge of ore particles is carried out by combining the mechanical lifting system with the circulating fluid in the well hole 1, which can not only give play to the advantage of high fluid lifting efficiency, but also utilize mechanical lifting to solve the problem of blockage of the well hole 1, and can also crush the ore more fully. Especially in the horizontal section of the well hole 1, the mechanical lifting system can play a more crucial role.

[0200] It should be noted that the equipment involved in the present invention needs to be lowered from the outside of the wellhead to the underground, and it can be sent to the underground by using an existing pipeline crawler, by using a steel wire rope, or by using a drill pipe.

[0201] The characteristics and advantages of the deep formation borehole cavity mining system of the present invention are as follows:

[0202] 1. In this deep formation borehole cavity mining system, by filling the cavity 2 in real time during the mining process, the free surface area of the cavity is reduced, the free space volume is shrunk, and the stability of the cavity 2 is enhanced. Especially for the cavities 2 formed by mining in deep formations or non-hard formations, the requirements for support equipment can be effectively reduced. It can greatly reduce the spacing between cavities, or as mining progresses, the filling material acts as a barrier for the cavities, and the cavities move as mining progresses, which can improve the ore recovery rate.

[0203] 2. In this deep formation borehole cavity mining system, due to the arrangement of multiple boreholes 1, and both the through-borehole three-dimensional mining device 3 and the through-borehole three-dimensional filling device 4 have the ability to move. Through the controllable shape mining and controllable shape filling of the cavity 2, the free space shape and volume of the cavity 2 can be controllably maintained. Especially by utilizing the natural stability of strip-shaped cavities 2 or arched cavities 2 to maintain a mining working space with controllable shape and volume in real time. As the mining face 7 and the filling face 9 move forward, the controllable mining working space can move in real time as mining and filling progress, ensuring the stability of the cavity during the overall mining process.

[0204] 3. In this deep formation borehole cavity mining system, by cooperating the through-borehole three-dimensional mining device 3 with the through-borehole three-dimensional waste removal device 5, or by cooperating the through-borehole three-dimensional mining device 3, the through-borehole three-dimensional filling device 4 with the through-borehole three-dimensional waste removal device 5, the waste removal efficiency of ore particles can be effectively improved, especially suitable for large-scale and high-efficiency mining operations in deep formations or non-hard formations.

[0205] 4. For deep ore layers in this deep formation borehole cavity mining system, since large-diameter and large-free-space conventional mining equipment such as vertical shafts, roadways, and inclined shafts cannot be used for construction, the present invention uses devices with passability in the borehole 1 for mining operations such as mining, filling, and waste removal. In addition, since the present invention adopts a mining and development method without roadways, the present invention adopts a hierarchical crushing method to perform in-situ hierarchical crushing of the ore inside the cavity 2 formed by mining until the ore is crushed to a particle size range convenient for mixing into a particle flow (i.e., the particle size range safe for conveying in the borehole 1), and then discharged externally.

[0206] 5. This deep formation borehole cavity mining system aims to achieve mineral development through the borehole 1. Utilizing the three-dimensional movement characteristics of a snake, the snake-shaped mining device realizes three-dimensional controllable mining from the linear borehole 1 to the surface (i.e., the mining face 7) and then to the volume (i.e., the space inside the cavity 2). The snake-shaped mining device adopted by the present invention can achieve a larger range of crushing and better adapt to the special artificial geological environment of the borehole 1 - cavity 2.

[0207] VI. The deep - formation well - bore cavern mining system can achieve operation without adits. The mining and excavation equipment can not only meet the passability in small well - bores, but also carry out mining and filling operations in the cavern 2. Therefore, the present invention realizes controllable primary crushing and / or in - situ secondary crushing through the serpentine mining and excavation device, meeting the flexible movement inside the cavern 2. At the same time, in order to make full use of the characteristics of small well - bores being easy to fix and drag, it is convenient for the serpentine mining and excavation device to be fixed and moved in the well - bore 1, better utilizing the spatial layout of the well - bore, and realizing the well - bore mining and excavation technological process.

[0208] VII. The deep - formation well - bore cavern mining system can granulate the ore inside the cavern 2. Therefore, there is no need for adits or ore passes as ore transportation channels, which can better achieve adit - free mining. For the working conditions where the surface is covered by water bodies, the present invention can isolate the mining system from the water body through riser pipes and the shaft, and can develop the mineral resources inside the strata covered by water bodies through the well - bore 1, achieving the purpose of safely and efficiently developing underground mineral resources on the premise of protecting water bodies (such as the oceans on the earth's surface).

[0209] VIII. The deep - formation well - bore cavern mining system can solve the problem of rock fall during the mining and excavation process, and can in - situ crush the blocked fallen rocks, greatly improving the reliability of the system.

[0210] IX. The function of the cavern is to provide a temporary space for mining. After mining, the space needs to be filled through filling measures, eliminating the need for long - term support measures for the vertical shaft adits in the existing mining process. The present invention utilizes the characteristics that the cross - sectional area and volume of the well - bore are small and easy to be retained for a long time. Based on the well - bore, mining is carried out in the form of caverns, and the caverns are filled as they are mined. Even if only the three - dimensional mining and excavation device through the well - bore and the three - dimensional cleaning and transportation device through the well - bore are used to gradually excavate in the form of caverns and wait for the caverns to collapse after excavation, it will not affect the safety of the small - cross - section well - bore. In the case of using the three - dimensional filling device through the well - bore, controllable - shape filling can be realized, which can improve the filling rate and the roof - contacting effect of the caverns, avoiding stress concentration and stratum rheology, and affecting the adjacent mining areas. In addition, if adhesive filling or curable filling materials are used for filling, the filling body is part of the cavern wall surface, and the cavern moves as the mining progresses, which can greatly reduce waste.

[0211] It should be noted that in the description of the present application, the terms "first", "second", etc. are only used for descriptive purposes and to distinguish similar objects, and there is no sequence between them, nor can they be understood as indicating or implying relative importance. In addition, in the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0212] The above-described embodiments in this specification are all described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. Each embodiment focuses on the differences from other embodiments.

[0213] The above are only several embodiments of the present invention. Although the disclosed embodiments of the present invention are as above, the content is only an embodiment adopted for the convenience of understanding the present invention and is not used to limit the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A deep formation wellbore and cave mining system, characterized in that: include A traffic well system, wherein the traffic well system has at least two wellbores, the diameter of the wellbores is less than 1m, wherein the internal passage formed by the wellbores is connected to the cave formed by mining, and the internal passage formed by the wellbores is configured as a flowback passage and an injection passage, wherein the flowback passage is used to transport the ore particles mined in the cave to the outside of the well, and the injection passage is used to inject circulating fluid from the outside of the well into the traffic well system or to transport fluid filling material from the outside of the well into the cave; A through-hole three-dimensional mining device, wherein the through-hole three-dimensional mining device has a control mechanism, wherein the control mechanism is used to drive the through-hole three-dimensional mining device to move in the cave, and the through-hole three-dimensional mining device is used to perform controllable mining on the cave; A through-wellbore three-dimensional filling device and / or a through-wellbore three-dimensional clearing device; the through-wellbore three-dimensional filling device has a control mechanism, the control mechanism is used to drive the through-wellbore three-dimensional filling device to move in the cavern, the through-wellbore three-dimensional filling device is used to transport the fluid filling material to the cavern through the injection channel for controllable filling, so as to reduce the free space volume of the cavern; the through-wellbore three-dimensional clearing device has a control mechanism, the control mechanism is used to drive the through-wellbore three-dimensional clearing device to move in the cavern, the through-wellbore three-dimensional clearing device is used to clean or transport ore particles in the cavern to the return channel, so that the circulating fluid discharges the ore particles out of the cavern through the wellbore.

2. The deep formation wellbore cave mining system according to claim 1, characterized in that: The wellbore includes at least one main wellbore and a plurality of branch wellbores, wherein the plurality of branch wellbores are located between the main wellbore and the cavern and are distributed at intervals, and the main wellbore is connected to the cavern through the branch wellbores; Wherein, at least part of the branch wellbore cooperates with the main wellbore to form a flowback channel and the injection channel respectively.

3. The deep formation wellbore cave mining system according to claim 1, characterized in that: An energy line for supplying energy to the through-wellbore three-dimensional mining device and the through-wellbore three-dimensional filling device is arranged in the wellbore.

4. The deep formation wellbore cave mining system according to claim 1, characterized in that: The through-hole three-dimensional mining device comprises a serpentine mining device capable of moving in the cave and the wellbore and crushing ore, the front part of the serpentine mining device is a first extended mechanical arm, the first extended mechanical arm at least comprises a driving section and a crushing assembly; the driving section comprises the control mechanism, and the first extended mechanical arm is controlled to move with at least two degrees of freedom by the control mechanism; the crushing assembly is arranged at the front or middle part of the driving section, and the crushing assembly is used to directly crush the ore rock mass on the mining face or to crush the fallen ore, so that the ore particles are transported in the form of a particle flow; The serpentine mining device has a crawling section connected to the driving section, and the crawling section is used to drive the driving section to move in the cave; or, the serpentine mining device has a wellbore traveling device connected to the driving section, and the wellbore traveling device is used to drive the driving section to move in the wellbore.

5. The deep formation wellbore cave mining system according to claim 1, characterized in that: The through-hole three-dimensional filling device comprises a serpentine filling device capable of moving in the cave and the wellbore and outputting the fluid filling material, the front part of the serpentine filling device is a second extension mechanical arm, the second extension mechanical arm comprises at least a driving section with two degrees of freedom, the second extension mechanical arm comprises at least a driving section and a crushing assembly; the driving section comprises the control mechanism, and the second extension mechanical arm is controlled to move with at least two degrees of freedom by the control mechanism; the driving section has a filling flow channel inside, and the filling flow channel is used to transport the fluid filling material to perform filling, grouting, pouring or spraying operations on at least part of the space of the cave; The serpentine filling device has a crawling section connected to the driving section, and the crawling section is used to drive the driving section to move in the cave; or, the serpentine filling device has a wellbore traveling device connected to the driving section, and the wellbore traveling device is used to drive the driving section to move in the wellbore.

6. The deep formation wellbore cave mining system according to claim 1, characterized in that: The control mechanism includes one or more of an angle actuator, a telescopic actuator, a rotation actuator and a pulling actuator.

7. The deep formation wellbore cave mining system according to claim 6, characterized in that: The driving section further includes a control module and a shaft sensing module. The control module is communicatively connected with the shaft sensing module, and the control module is used to control the driving section to perform an action.

8. The deep formation wellbore cave mining system according to claim 7, characterized in that: The well sensing module is one or more of a visual sensor, a radar, a sonar, a detector, a force sensor, a displacement sensor, a pressure sensor, a flow sensor, a current sensor, a potential sensor, a magnetic sensor and a laser radar arranged in the well; The shaft sensing module is connected to a communication terminal preset outside the shaft through a communication method selected from the group consisting of cable communication, optical fiber communication and wireless communication.

9. The deep formation wellbore cave mining system according to claim 1, characterized in that: The wellbore is also filled with a density of 0.3 g / cm 3 -3 g / cm 3 A supporting fluid is provided between the wellbore and the cave, wherein the supporting fluid is used to support the wellbore and / or the cave, and the supporting fluid forms a particle flow with the ore particles and is discharged out of the well.

10. The deep formation wellbore cave mining system according to claim 4, characterized in that: A first ore particle conveying channel is arranged inside the serpentine mining device, and the first ore particle conveying channel is used to discharge the ore particles in the cave.

11. The deep formation wellbore cave mining system according to claim 1, characterized in that: At least two of the wellbores in the traffic well system are respectively connected to the caverns formed by mining in the stratum, and the internal channels formed by the two wellbores are respectively configured as the flowback channel and the injection channel; The cavern has at least two cavern entrances, and the two cavern entrances are respectively used to allow at least part of the through-well three-dimensional excavation device and the through-well three-dimensional filling device to enter the cavern.

12. The deep formation wellbore cave mining system according to claim 1, characterized in that: The through-hole three-dimensional excavation device is a serpentine excavation device that can move in the cave and the wellbore and crush ore, and the through-hole three-dimensional filling device is a serpentine filling device that can move in the cave and the wellbore and output the fluid filling material, and both the serpentine excavation device and the serpentine filling device include a controllable expansion arm and a wellbore travel device; The controllable expansion arm includes an expansion arm body and a control mechanism with at least two degrees of freedom, the expansion arm body is connected to the wellbore traveling device through a hinge, a joint structure, a telescopic structure or a rotating structure, the control mechanism includes one or more of an angle actuator, a telescopic actuator, a rotation actuator and a pulling actuator, the hinge or the joint structure is connected to the angle actuator, and the angle actuator is used to drive the hinge or the joint structure to bend; The telescopic structure is connected to the telescopic actuator, and the telescopic actuator is used to drive the telescopic structure to telescope, and the rotating structure is connected to the rotating actuator, and the rotating actuator is used to drive the rotating structure to rotate; Or, the controllable expansion arm includes an expansion assembly formed by connecting at least two controllable deflection sections, two adjacent controllable deflection sections are bendably connected via an articulated structure, the articulated structure is connected to an angle actuator, the angle actuator is used to drive the articulated structure to bend, and the controllable expansion arm is connected to the front of the wellbore traveling device; Or, the controllable expansion arm includes an expansion assembly, the expansion assembly is a flexible expansion arm formed by connecting at least two controllable deflection sections, two adjacent controllable deflection sections are connected by hinged or rotational connection, a pulling actuator is provided at the rear of the flexible expansion arm, the controllable deflection section is connected to the pulling actuator via a pulling force transmission structure, the pulling actuator is used to drive the flexible expansion arm to move, and the flexible expansion arm is connected to the front of the wellbore traveling device; Wherein, the pulling force transmission structure includes a rope, a belt or a chain; the pulling actuator includes an electric drive actuator, a hydraulic actuator or a pneumatic actuator for controllably performing a biasing action; The wellbore advancing device comprises a fixing mechanism or a telescopic mechanism, and the fixing mechanism can be fixedly connected with or in abutment contact with the inner wall of the wellbore.

13. The deep formation wellbore cave mining system according to claim 6, characterized in that: The through-hole three-dimensional mining device is a serpentine mining device that can move in the cave and the wellbore and crush ore. The serpentine mining device comprises a crawling section, a driving section and a control module for controlling the crawling section and the driving section; Wherein, the crawling section comprises a plurality of controllable deflection sections connected in sequence, the angle actuator is connected between the controllable deflection sections, the angle actuator is used to drive the controllable deflection sections to deflect, and the controllable deflection section series formed by the plurality of controllable deflection sections is used to crawl and operate in the cave and / or the wellbore; Or, the crawling section includes a flexible section series consisting of a plurality of controllable deflection sections connected in sequence, and two adjacent controllable deflection sections are connected in sequence in a hinged or rotational connection manner, and the flexible section series is connected to the pulling actuator through a pulling force transmission structure, and the pulling actuator is used to drive the crawling section to crawl and operate in the cave and / or the wellbore through the pulling force transmission structure; wherein the pulling force transmission structure is a rope, a belt or a chain; The length of the serpentine mining device is at least greater than 3 times the diameter of the wellbore.

14. The deep formation wellbore cave mining system according to claim 6, characterized in that: The through-hole three-dimensional filling device is a serpentine filling device that can move in the cave and the wellbore and output the fluid filling material, and the serpentine filling device includes a crawling section, a driving section, and a control module for controlling the crawling section and the driving section; Wherein, the crawling section comprises a plurality of controllable deflection sections connected in sequence, the angle actuator is connected between the controllable deflection sections, the angle actuator is used to drive the controllable deflection sections to deflect, and the controllable deflection section series formed by the plurality of controllable deflection sections is used to crawl and operate in the cave and / or the wellbore; Or, the crawling section includes a flexible section series consisting of a plurality of controllable deflection sections connected in sequence, and two adjacent controllable deflection sections are connected in sequence in a hinged or rotational connection manner, and the flexible section series is connected to the pulling actuator through a pulling force transmission structure, and the pulling actuator is used to drive the crawling section to crawl and operate in the cave and / or the wellbore through the pulling force transmission structure; wherein the pulling force transmission structure is a rope, a belt or a chain; The length of the serpentine filling device is at least greater than 3 times the diameter of the wellbore.

15. The deep formation wellbore cave mining system according to claim 13 or 14, characterized in that: The serpentine mining device and the serpentine filling device share the same crawling section; The serpentine filling device also includes a filling tube and a filling tube driving mechanism; the end of the filling tube has a filling port, the filling tube driving mechanism is arranged at the front end of the serpentine filling device and connected to the filling tube, and the filling tube driving mechanism is used to adjust the direction of the filling port.

16. The deep formation wellbore cave mining system according to claim 4, characterized in that: The crushing assembly has a rockfall detection module, which includes an acoustic imaging detection module, a visual imaging detection module, a phased acoustic sensor array or a laser scanning detector to detect the location of the rockfall.

17. The deep formation wellbore cave mining system according to claim 4, characterized in that: The serpentine mining device is connected to a power source outside the well through a power line, or the serpentine mining device carries a power supply battery; A cable is arranged inside the serpentine mining device, the cable is electrically connected to the control end of the crushing assembly, the cable passes through the wellbore and is electrically connected to a power source outside the well; Alternatively, a hydraulic pipeline is provided inside the serpentine mining device, the hydraulic source is connected to the control end of the crushing assembly through the hydraulic pipeline, and the hydraulic source is provided inside the serpentine mining device or behind the serpentine mining device.

18. The deep formation wellbore cave mining system according to claim 5, characterized in that: The filling flow channel is provided with at least one control valve for controlling the on-off of the filling flow channel.

19. The deep formation wellbore cave mining system according to claim 1, characterized in that: A second ore particle conveying channel is provided inside the through-hole three-dimensional cleaning and transporting device to discharge the ore particles in the cave through the second ore particle conveying channel; or, a hydraulic cleaning and transporting assembly, a mechanical cleaning and transporting assembly, a conveying assembly or a loading assembly is provided on the through-hole three-dimensional cleaning and transporting device to transport the ore particles in the cave and the wellbore to the return channel; The through-hole three-dimensional cleaning and transporting device has a crawling section, and the crawling section is used to drive the through-hole three-dimensional cleaning and transporting device to move to the ore particle accumulation position in the cave to clean the accumulated ore particles; Or, the through-the-wellbore three-dimensional cleaning and transporting device has a wellbore traveling device, and the wellbore traveling device is used to drive the through-the-wellbore three-dimensional cleaning and transporting device to move in the wellbore; or, the through-the-wellbore three-dimensional cleaning and transporting device includes a wellbore crawling device, and the wellbore crawling device is used to drive the through-the-wellbore three-dimensional cleaning and transporting device to move in the wellbore to the ore particle accumulation position to clean the accumulated ore particles.

20. The deep formation wellbore cave mining system according to claim 19, characterized in that: The hydraulic cleaning assembly is arranged at the front of the through-well three-dimensional cleaning device and / or is serially connected to the middle of the through-well three-dimensional cleaning device; Wherein, the hydraulic cleaning assembly comprises a nozzle, and the nozzle pushes the ore particles to the inlet of the return channel by spraying fluid.

21. The deep formation wellbore cave mining system according to claim 19, characterized in that: The mechanical cleaning assembly is arranged at the front of the through-hole three-dimensional cleaning device and / or is serially connected to the middle of the through-hole three-dimensional cleaning device; Wherein, the mechanical cleaning assembly includes a scraper, a rake, a shovel or a mechanical claw, and the scraper, the rake, the shovel or the mechanical claw is used to push the ore particles to the entrance of the return channel.

22. The deep formation wellbore cave mining system according to claim 19, characterized in that: The conveying assembly is arranged at the front part of the through-hole three-dimensional cleaning and transportation device and / or is serially connected to the middle part of the through-hole three-dimensional cleaning and transportation device; Wherein, the conveying assembly includes a conveyor belt, a driving wheel and a power motor. The conveyor belt is sleeved on the outside of the driving wheel. The output shaft of the power motor is connected to the driving wheel to drive the conveyor belt to move. The conveyor belt is used to transport the ore particles to the entrance of the return channel.

23. The deep formation wellbore cave mining system according to claim 19, characterized in that: The conveying assembly is arranged at the front part of the through-hole three-dimensional cleaning and transportation device and / or is serially connected to the middle part of the through-hole three-dimensional cleaning and transportation device; Wherein, the conveying assembly includes a screw conveying mechanism and a power motor, and the power motor is transmission-connected to the screw conveying mechanism to drive the screw conveying mechanism to rotate and transport the ore particles to the entrance of the return channel.

24. The deep formation wellbore cave mining system of claim 19, wherein: The loading assembly includes a skip or a flexible bag, so that the ore particles are loaded through the skip or the flexible bag and then transported to the inlet of the flowback channel.

25. The deep formation wellbore cave mining system of claim 19, wherein: The through-hole three-dimensional cleaning and transporting device has a through-flow channel inside, the through-flow channel is connected to the return channel, the front or side of the through-hole three-dimensional cleaning and transporting device is provided with a suction port connected to the through-flow channel, and an ore particle screen is provided at the suction port; Wherein, the ore particle screen is a screen, a screen mesh or a grid screen.

26. The deep formation wellbore cave mining system of claim 19, wherein: The through-hole three-dimensional cleaning and transporting device has a through-flow channel inside, and the through-flow channel is connected to the return channel. The front or side of the through-hole three-dimensional cleaning and transporting device is provided with a suction port connected to the through-flow channel, and a re-crushing mechanism is provided at the suction port. The re-crushing mechanism is used to re-crush the ore particles entering the through-flow channel.

27. The deep formation wellbore cave mining system of claim 19, wherein: The through-hole three-dimensional cleaning and transportation device comprises a crawling section, and the hydraulic cleaning and transportation assembly, the mechanical cleaning and transportation assembly, the transmission assembly or the loading assembly is arranged at the front of the crawling section and / or is serially connected to the middle of the crawling section; The crawling section includes a plurality of controllable deflection sections connected in sequence, wherein the controllable deflection sections are connected to an angle actuator, and the angle actuator is used to drive the controllable deflection sections to deflect, and a controllable deflection section series formed by the plurality of controllable deflection sections is used to crawl and operate in the cave and / or the wellbore; Or, the crawling section includes at least one articulated section series, the articulated section series includes a plurality of articulated sections connected in sequence, two adjacent articulated sections are connected in sequence by hinges or joints, a pulling actuator is provided at the end of the articulated section series, the pulling actuator includes a control quantity with at least two degrees of freedom, the articulated section series is connected to the pulling actuator through a pulling force transmission structure, the pulling actuator is used to drive the crawling section to crawl and operate in the cave and / or the wellbore through the pulling force transmission structure, the pulling force transmission structure is a rope, belt or chain arranged along the articulated section series and connected to each articulated section; Or, the crawling section includes at least one section of elastic body and a plurality of pulling members arranged along the length direction of the elastic body, the end of the elastic body is provided with a pulling actuator with at least two degrees of freedom control, the elastic body is connected to the pulling actuator through a pulling force transmission structure, and the pulling actuator is used to drive the elastic body to move in the cave and / or the wellbore through the pulling force transmission structure; wherein, the elastic body is an elastic rod or an elastic tube, and the pulling force transmission structure is a rope, a belt or a chain; Or, the crawling section comprises a soft body structure and a plurality of crawling assemblies, the soft body structure is a universal joint series or a hose, and the plurality of crawling assemblies are arranged along the length of the soft body structure to drive the crawling section to move in the cave and / or the wellbore; Alternatively, the crawling segment includes at least one articulated segment series and multiple sets of crawling assemblies, the articulated segment series is formed by multiple articulated segments connected in sequence, and two adjacent articulated segments are connected by hinges or joints, and the multiple sets of crawling assemblies are used to drive the crawling segment to move in the cave and / or the wellbore.

28. The deep formation wellbore cave mining system of claim 19, wherein: The through-well three-dimensional cleaning and transportation device further comprises a third extended mechanical arm and a wellbore travel device; the hydraulic cleaning and transportation assembly, the mechanical cleaning and transportation assembly, the transmission assembly or the loading assembly is arranged at the front or side of the third extended mechanical arm; The third extension mechanical arm comprises an extension arm body and a control mechanism with at least two degrees of freedom, the extension arm body is connected to the wellbore traveling device through a hinge, a joint structure, a telescopic structure or a rotating structure, the control mechanism comprises one or more of an angle actuator, a telescopic actuator, a rotating actuator and a pulling actuator, the hinge or the joint structure is connected to the angle actuator, and the angle actuator is used to drive the hinge or the joint structure to bend; The telescopic structure is connected to the telescopic actuator, and the telescopic actuator is used to drive the telescopic structure to telescope, and the rotating structure is connected to the rotating actuator, and the rotating actuator is used to drive the rotating structure to rotate; Or, the third extension mechanical arm includes an extension assembly formed by connecting at least two controllable deflection sections, two adjacent controllable deflection sections are bendably connected via an articulated structure, the articulated structure is connected to an angle actuator, the angle actuator is used to drive the articulated structure to bend, and the third extension mechanical arm is connected to the front of the wellbore traveling device; Or, the third extension mechanical arm includes an extension assembly, the extension assembly is a flexible extension arm formed by connecting at least two controllable deflection sections, two adjacent controllable deflection sections are connected by hinged or rotational connection, a pulling actuator is provided at the rear of the flexible extension arm, the controllable deflection section is connected to the pulling actuator via a pulling force transmission structure, the pulling actuator is used to drive the flexible extension arm to move, and the flexible extension arm is connected to the front of the wellbore traveling device; Wherein, the pulling force transmission structure includes a rope, a belt or a chain; the pulling actuator includes an electric drive actuator, a hydraulic actuator or a pneumatic actuator for controllably performing a biasing action; The wellbore advancing device comprises a fixing mechanism and / or a telescopic mechanism, and the fixing mechanism can be fixedly connected with or in abutment contact with the inner wall of the wellbore.

29. The deep formation wellbore cave mining system of claim 19, wherein: The through-wellbore three-dimensional cleaning and transportation device also includes a well crawling device; the well crawling device includes a crawling mechanism body, a plurality of crawling mechanisms and a driving device, the crawling mechanism is hinged to the crawling mechanism body, and the driving device is used to drive the crawling mechanism to perform crawling operations; the through-wellbore three-dimensional cleaning and transportation device at least has an expanded state and a retracted state, when the through-wellbore three-dimensional cleaning and transportation device is in the retracted state, the length-to-diameter ratio of the through-wellbore three-dimensional cleaning and transportation device is greater than 3, and when the through-wellbore three-dimensional cleaning and transportation device moves along the wellbore, the axial direction of the through-wellbore three-dimensional cleaning and transportation device is consistent with the axial direction of the wellbore; The crawling mechanism body is hinged or rotatably connected to the crawling mechanism, and a driving component including at least two degrees of freedom control quantities is also connected between the crawling mechanism and the crawling mechanism body, and the driving component is used to control the crawling mechanism body to perform a crawling action or switch the folded state and the unfolded state; There are multiple contact points between the crawling mechanism and the inner wall of the cave, at least two of which are located on both sides of the axial direction of the crawling mechanism body, and the distance between the two contact points is greater than or equal to twice the diameter of the wellbore.

30. The deep formation wellbore cave mining system of claim 29, wherein: The crawling mechanism comprises at least two crawling sections, the two crawling sections are respectively a first crawling section and a second crawling section; the first crawling section is connected to the crawling mechanism body via a first hinge structure, and the first crawling section is connected to the second crawling section via a second hinge structure; The driving device comprises at least two angle actuators, the first hinge structure and the second hinge structure are respectively connected to the two angle actuators, and the two angle actuators are respectively used to drive the first hinge structure and the second hinge structure to rotate.

31. The deep formation wellbore cave mining system of claim 1, wherein: Part or all of the through-wellbore three-dimensional mining device is located in the wellbore, part or all of the through-wellbore three-dimensional cleaning and transportation device is located in the wellbore, and / or part or all of the through-wellbore three-dimensional filling device is located in the wellbore, the through-wellbore three-dimensional mining device, the through-wellbore three-dimensional cleaning and transportation device and the through-wellbore three-dimensional filling device are connected to the outside of the well through their respective internal flow channels, or the through-wellbore three-dimensional mining device, the through-wellbore three-dimensional cleaning and transportation device and the through-wellbore three-dimensional filling device directly extend to the outside of the well.

32. The deep formation wellbore cave mining system of claim 1, wherein: The transportation well system is provided with a particle flow lifting device, and the particle flow lifting device transports the ore particles to the outside of the well in the form of particle flow; Wherein, the particle flow lifting equipment is one of a mechanical lifting system, a fluid lifting system or an air lift hydraulic lifting system.

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