A visualisation simulation apparatus and method for backfill grouting into a mineral extraction pipe

Abstract

The application discloses a kind of visual simulation device and method to mineral exploitation pipe backfill grouting, and the application relates to the technical field of simulation grouting, it includes test table, transparent inner cylinder and transparent outer cylinder, the top surface of test table is hinged with transparent outer cylinder by first pin shaft, the bottom surface of test table is fixed with angle adjusting oil cylinder, the piston rod of angle adjusting oil cylinder is upwardly through test table, and the extending end is hinged with connecting rod, the other end of connecting rod is hinged on transparent outer cylinder by second pin shaft;Transparent outer cylinder is fixed with transparent inner cylinder arranged along its axial direction;The lower end of connecting plate is fixed with grouting pipe, and the outer cylindrical surface of grouting pipe is welded with plug opposite to the right end of transparent inner cylinder;Grouting pipe is connected with grouting assembly for pumping mud into transparent inner cylinder at right end port.The beneficial effects of the application are that appropriate type of mud can be selected for complete sealing of exploitation pipe.

Description

Technical Field

[0001] The invention relates to the technical field of simulated grouting, in particular to a visual simulation device and method for backfilling grouting into a mineral mining pipe. Background Art

[0002] There are rare liquid minerals in the mine. In order to mine the liquid rare minerals from the mountain, one or more inclined mining pipes 2 are usually inserted into the mountain 1. Figure 1 As shown, the left end of the mining pipe 2 is closed, and the other end of the mining pipe 2 extends outside the mountain 1. A plurality of small holes 4 are opened on the cylindrical surface of the upper half of the mining pipe 2. The structure of the mining pipe 2 is as shown in FIG. Figure 2~Figure 3 The liquid rare minerals in the mountain enter the mining pipe 2 through the small hole 4 on the mining pipe 2, and then the liquid rare minerals flow to the outside from the right end of the mining pipe 2 under their own gravity, making it convenient for operators to collect the liquid rare minerals.

[0003] When the liquid rare minerals in the mountain 1 are no longer mined, the operator uses the backfill grouting process to inject mud into the mining pipe 2 to completely block the mining pipe 2. Figure 4 As shown in the figure, when the operator pours mud into the production pipe 2, cavities 5 are formed between the mud in the production pipe 2 (the reason for the formation of cavities 5 is related to factors such as the inclination angle of the production pipe 2 and the type of mud used). Figure 5 Therefore, before injecting mud into the production pipe 2, it is necessary to select an appropriate type of mud to avoid the formation of cavities 5 in the production pipe 2. However, the prior art is unable to select an appropriate type of mud according to the production pipes 2 with different inclination angles.

[0004] Therefore, there is an urgent need for a visual simulation device and method that can select an appropriate type of mud for completely plugging the production pipe. Summary of the Invention

[0005] The purpose of the present invention is to overcome the shortcomings of the prior art and provide a visual simulation device and method for backfilling grouting into a mineral production pipe, which can select an appropriate type of mud for completely blocking the production pipe.

[0006] The objectives of the present invention are achieved through the following technical solutions: a visual simulation device for backfilling grouting into a mineral extraction pipe, comprising a test bench, a transparent inner cylinder, and a transparent outer cylinder. The transparent outer cylinder is hingedly connected to the top surface of the test bench via a first pin, and an angle adjustment cylinder is fixedly installed on the bottom surface of the test bench. The piston rod of the angle adjustment cylinder extends upward through the test bench and is hingedly connected to a connecting rod at its extended end. The other end of the connecting rod is hingedly connected to the transparent outer cylinder via a second pin.

[0007] A transparent inner cylinder arranged along its axial direction is fixedly provided in the transparent outer cylinder, a plurality of small holes are opened on the cylindrical surface of the upper half of the transparent inner cylinder, a left bracket is fixedly provided on the top surface of the left end portion of the transparent outer cylinder, a multi-stage telescopic oil cylinder is fixedly provided on the side wall of the left bracket, a piston rod of the multi-stage telescopic oil cylinder penetrates the side wall of the left bracket to the right, and a push block is fixedly provided on the extended end, the push block cooperates with the left port of the transparent inner cylinder to close the left port of the transparent inner cylinder;

[0008] A right bracket is fixedly provided on the top surface of the right end portion of the transparent outer cylinder, a docking oil cylinder is fixedly provided on the side wall of the right bracket, a piston rod of the docking oil cylinder passes through the side wall of the right bracket to the left, and a connecting plate is fixedly provided on the extended end, a grouting pipe is fixedly provided on the lower end portion of the connecting plate, a plug opposite to the right port of the transparent inner cylinder is welded on the outer cylindrical surface of the grouting pipe; a grouting assembly for pumping slurry into the transparent inner cylinder is connected to the right port of the grouting pipe;

[0009] A plurality of mounting brackets are fixedly provided on the bottom surface of the transparent outer cylinder and spaced apart along the length direction thereof, and each mounting bracket is fixedly provided with a camera facing the transparent outer cylinder.

[0010] A column is fixedly provided on the top surface of the test bench, and an arched plate is fixedly provided on the bottom surface of the transparent outer cylinder. The arched plate is hinged to the column via a first pin shaft.

[0011] A support plate is fixedly provided on the bottom surface of the transparent outer cylinder and is located on the right side of the arch plate. The support plate is hinged to the connecting rod via a second pin shaft.

[0012] The diameters of the push block and the plug are both equal to the inner diameter of the transparent inner cylinder.

[0013] An angle sensor is fixedly arranged on the bottom surface of the transparent outer cylinder.

[0014] The grouting assembly includes a grouting pump and a storage tank. A hose is connected between the grouting pump's discharge port and the right end of the grouting pipe. A bend is connected to the grouting pump's suction port, and the bend extends into the storage tank.

[0015] The visual simulation device also includes a controller, which is electrically connected to the angle adjustment cylinder, the camera, the angle sensor and the grouting pump via a signal line.

[0016] A visual simulation method for backfilling grouting into a mineral mining pipe comprises the following steps:

[0017] S1. Measure the inclination angle a of the mining pipe to be grouting in the mountain;

[0018] S2. Control the piston rod of the angle adjustment cylinder to retract downward, and the piston rod drives the connecting rod to move downward. The connecting rod drives the transparent outer cylinder to rotate clockwise around the first pin shaft. The transparent outer cylinder drives the transparent inner cylinder, the camera, the angle sensor, the left bracket, and the right bracket to rotate clockwise synchronously. The angle sensor monitors the rotation angle of the transparent outer cylinder in real time and transmits the monitored angle to the controller in real time. At the same time, the left bracket drives the multi-stage telescopic cylinder to rotate clockwise synchronously, and the right bracket drives the docking cylinder and the grouting pipe to rotate clockwise synchronously.

[0019] When the angle sensor detects that the rotation angle of the transparent outer cylinder is equal to the inclination angle a, the controller immediately controls the angle adjustment cylinder to close, so that the transparent inner cylinder simulates the tilting state of the mining pipe on the mountain;

[0020] S3. Simulate the state of the first type of mud A being poured into the transparent inner cylinder. The specific operation steps are as follows:

[0021] S31. The operator pre-injects slurry A into the storage tank of the grouting assembly;

[0022] S32. Control the piston rod of the docking cylinder to extend leftward, which drives the connecting plate to move leftward. The connecting plate then drives the grouting pipe and the plug to move leftward synchronously. When the piston rod of the docking cylinder is fully extended, the plug just enters the right port of the transparent inner cylinder, thereby sealing the right port of the transparent inner cylinder.

[0023] S33. The grouting pump of the grouting assembly is controlled to start. Under the pump pressure of the grouting pump, the slurry A in the storage tank is sequentially poured into the bend pipe, the grouting pump, the hose, the grouting pipe, and finally into the transparent inner cylinder. When the grouting pump has worked for a set time, the controller controls the grouting pump to shut down. Then, the operator turns on each camera, which takes a picture of the transparent inner cylinder and transmits the picture to the display screen of the controller. If the operator observes the presence of cavities in the transparent inner cylinder on the display screen, the operator determines that the type of slurry A is not suitable for grouting the mining pipe of the specified inclination angle.

[0024] S34. Discharge all the slurry A in the transparent inner cylinder to the outside: control the piston rod of the docking cylinder to retract to the right, and the piston rod drives the connecting plate, grouting pipe and plug to move to the right synchronously, thereby withdrawing the plug from the transparent inner cylinder; then control the piston rod of the multi-stage telescopic cylinder to extend to the right, and the piston rod drives the push block to move to the right, and the push block gradually pushes the slurry A in the transparent inner cylinder out from the right port of the transparent inner cylinder. When the push block moves to the right port of the transparent inner cylinder, all the slurry A in the transparent inner cylinder is fully discharged to the outside;

[0025] S4: Simulate the state of the second type of mud B being poured into the transparent inner cylinder. The specific operation steps are as follows:

[0026] S41, the operator discharges the mud A in the storage tank, and then pre-injects the second type of mud B into the storage tank;

[0027] S42, controlling the piston rod of the docking oil cylinder to extend leftward, so that the plug enters the right port of the transparent inner cylinder to seal the right port of the transparent inner cylinder;

[0028] S43. The grouting pump of the grouting assembly is controlled to start. Under the pump pressure of the grouting pump, the mud B in the storage tank is sequentially poured into the bend pipe, the grouting pump, the hose, the grouting pipe, and finally into the transparent inner cylinder. When the grouting pump has worked for a set time, the controller controls the grouting pump to shut down. Then, the operator turns on each camera, and the camera takes a picture of the transparent inner cylinder and transmits the picture to the display screen of the controller. If the operator observes on the display screen that there are no cavities in the transparent inner cylinder, the operator determines that the type of mud B is suitable for grouting the mining pipe of the specified inclination angle.

[0029] S5. After the second type of mud B is selected, the operator pours the mud B into the mining pipe in the mountain during the actual grouting operation to completely block the mining pipe.

[0030] The present invention has the following advantages: an appropriate type of mud can be selected to completely plug the production pipe. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A schematic diagram of an inclined mining pipe inserted into a mountain;

[0032] Figure 2 Schematic diagram of the structure of the mining pipe;

[0033] Figure 3 for Figure 2 The main cross-sectional diagram of

[0034] Figure 4 A schematic diagram of completely blocking the mining pipe;

[0035] Figure 5 Schematic diagram of cavities formed between the mud in the production pipe;

[0036] Figure 6 It is a structural schematic diagram of the present invention;

[0037] Figure 7 for Figure 6 The main cross-sectional diagram of

[0038] Figure 8It is a schematic diagram of the connection between the transparent outer cylinder, the transparent inner cylinder, the camera, the left bracket and the right bracket;

[0039] Figure 9 for Figure 8 Schematic diagram of the connection between the transparent outer cylinder and the transparent inner cylinder;

[0040] Figure 10 This is a connection diagram of the test bench, column and angle adjustment cylinder;

[0041] Figure 11 This is a schematic diagram of the connection between the grouting pipe, connecting plate and plug;

[0042] Figure 12 for Figure 11 The main cross-sectional diagram of

[0043] Figure 13 It is a schematic diagram of the transparent outer cylinder rotating clockwise around the first pin axis;

[0044] Figure 14 A schematic diagram of blocking the right port of the transparent inner cylinder;

[0045] Figure 15 It is a schematic diagram of the push block gradually pushing the mud A in the transparent inner cylinder out from the right port of the transparent inner cylinder;

[0046] In the picture:

[0047] 1-mountain, 2-mining pipe, 4-small hole, 5-cavity;

[0048] 6-test bench, 7-first pin, 8-transparent outer cylinder, 9-angle adjustment cylinder, 10-connecting rod, 11-second pin, 12-transparent inner cylinder, 13-left bracket, 14-multi-stage telescopic cylinder, 15-push block;

[0049] 16-right bracket, 17-docking cylinder, 18-connecting plate, 19-grouting pipe, 20-plug;

[0050] 21-mounting frame, 22-camera, 23-column, 24-arch plate, 25-support plate, 26-grouting pump, 27-storage tank, 28-hose. DETAILED DESCRIPTION

[0051] The present invention will be further described below with reference to the accompanying drawings, and the protection scope of the present invention is not limited to the following:

[0052] like Figures 6 to 12As shown, a visual simulation device for backfilling grouting into a mineral mining pipe includes a test bench 6, a transparent inner cylinder 12 and a transparent outer cylinder 8. The transparent outer cylinder 8 is hinged to the top surface of the test bench 6 via a first pin 7, and an angle adjustment cylinder 9 is fixed to the bottom surface of the test bench 6. The piston rod of the angle adjustment cylinder 9 passes through the test bench 6 upward, and a connecting rod 10 is hinged to the extended end. The other end of the connecting rod 10 is hinged to the transparent outer cylinder 8 via a second pin 11; an angle sensor is fixed to the bottom surface of the transparent outer cylinder 8.

[0053] A transparent inner cylinder 12 is fixedly mounted within the transparent outer cylinder 8 along its axial direction. Multiple small holes 4 are formed on the cylindrical surface of the upper half of the transparent inner cylinder 12, which serves to simulate the mining pipe 2 within the mountain 1. A left bracket 13 is fixedly mounted on the top surface of the left end of the transparent outer cylinder 8. A multi-stage telescopic cylinder 14 is fixedly mounted on the sidewall of the left bracket 13. The piston rod of the multi-stage telescopic cylinder 14 extends rightward through the sidewall of the left bracket 13, and a push block 15 is fixedly mounted on the extended end. The push block 15 engages with the left end of the transparent inner cylinder 12 to seal the left end of the transparent inner cylinder 12.

[0054] A right bracket 16 is fixedly provided on the top surface of the right end portion of the transparent outer cylinder 8, and a docking cylinder 17 is fixedly provided on the side wall of the right bracket 16. The piston rod of the docking cylinder 17 passes through the side wall of the right bracket 16 to the left, and a connecting plate 18 is fixedly provided on the extended end. A grouting pipe 19 is fixedly provided at the lower end of the connecting plate 18, and a plug 20 opposite to the right port of the transparent inner cylinder 12 is welded on the outer cylindrical surface of the grouting pipe 19; a grouting assembly for pumping mud into the transparent inner cylinder 12 is connected to the right port of the grouting pipe 19; the grouting assembly includes a grouting pump 26 and a storage tank 27, a hose 28 is connected between the discharge port of the grouting pump 26 and the right port of the grouting pipe 19, and a bend pipe is connected to the slurry extraction port of the grouting pump 26, which extends into the storage tank 27.

[0055] A plurality of mounting brackets 21 are fixed to the bottom surface of the transparent outer cylinder 8 and spaced apart along its length. Each mounting bracket 21 is fixed to a camera 22 facing the transparent outer cylinder 8. A column 23 is fixed to the top surface of the test bench 6. An arched plate 24 is fixed to the bottom surface of the transparent outer cylinder 8. The arched plate 24 is hinged to the column 23 via a first pin 7. A support plate 25 is fixed to the bottom surface of the transparent outer cylinder 8 to the right of the arched plate 24. The support plate 25 is hinged to the connecting rod 10 via a second pin 11. The diameters of the push block 15 and the plug 20 are both equal to the inner diameter of the transparent inner cylinder 12.

[0056] The visual simulation device further comprises a controller, which is electrically connected with the angle adjusting oil cylinder 9, the camera 22, the angle sensor and the grouting pump 26 through signal lines. An operator can control the start or stop of the angle adjusting oil cylinder 9 and the grouting pump 26 through the controller, and meanwhile, the operator can receive the picture taken by the camera 22.

[0057] A visual simulation method for backfill grouting in a mineral exploitation pipe, comprising the following steps:

[0058] S1, measuring the inclination angle a of the to-be-grouted exploitation pipe 2 in the mountain 1;

[0059] S2, controlling the piston rod of the angle adjusting oil cylinder 9 to retract downward, so that the connecting rod 10 is moved downward, the transparent outer cylinder 8 is rotated clockwise around the first pin shaft 7, the transparent inner cylinder 12, the camera 22, the angle sensor, the left support 13 and the right support 16 are synchronously rotated clockwise, as shown in Figure 13 , wherein the angle sensor monitors the rotation angle of the transparent outer cylinder 8 in real time, and the angle sensor transmits the monitored angle to the controller in real time, and meanwhile, the left support 13 drives the multi-stage telescopic oil cylinder 14 to synchronously rotate clockwise, and the right support 16 drives the butt joint oil cylinder 17 and the grouting pipe 19 to synchronously rotate clockwise;

[0060] When the angle sensor monitors that the rotation angle of the transparent outer cylinder 8 is equal to the inclination angle a, the controller immediately controls the angle adjusting oil cylinder 9 to stop, so that the transparent inner cylinder 12 simulates the inclined state of the exploitation pipe 2 in the mountain 1;

[0061] S3, simulating the state that the first type of mud A is grouted in the transparent inner cylinder 12, and the specific operation steps are as follows:

[0062] S31, the operator pre-injects the mud A into the storage tank 27 of the grouting assembly;

[0063] S32, the piston rod of the butt joint oil cylinder 17 is controlled to extend to the left, so that the connecting plate 18 is moved to the left, the grouting pipe 19 and the plug 20 are synchronously moved to the left, and when the piston rod of the butt joint oil cylinder 17 is fully extended, the plug 20 just enters the right port of the transparent inner cylinder 12 to block the right port of the transparent inner cylinder 12, as shown in Figure 14 ;

[0064] S33, the grouting pump 26 of the grouting assembly is started. Under the pump pressure of the grouting pump 26, the mud A in the storage tank 27 is sequentially poured into the transparent inner cylinder 12 through the elbow, the grouting pump 26, the hose 28, the grouting pipe 19, and finally into the transparent inner cylinder 12. When the grouting pump 26 has worked for a set time, the controller controls the grouting pump 26 to be turned off, and then the operator turns on each camera 22, which takes a picture of the transparent inner cylinder 12 and transmits the picture to the display screen of the controller. If the operator observes the presence of the cavity 5 in the transparent inner cylinder 12 on the display screen, the operator determines that the type of mud A is not suitable for grouting the mining pipe 2 with the corresponding inclination angle.

[0065] S34. Discharge all the slurry A in the transparent inner cylinder 12 to the outside: control the piston rod of the docking cylinder 17 to retract to the right, and the piston rod drives the connecting plate 18, the grouting pipe 19 and the plug 20 to move to the right synchronously, thereby withdrawing the plug 20 from the transparent inner cylinder 12; then control the piston rod of the multi-stage telescopic cylinder 14 to extend to the right, and the piston rod drives the push block 15 to move to the right, and the push block 15 gradually pushes the slurry A in the transparent inner cylinder 12 out from the right port of the transparent inner cylinder 12. The movement direction of the push block 15 is as follows: Figure 15 As shown by the middle arrow, when the push block 15 moves to the right end of the transparent inner cylinder 12, all the mud A in the transparent inner cylinder 12 can be discharged to the outside;

[0066] S4, simulating the state of the second type of mud B being poured into the transparent inner cylinder 12, the specific operation steps are as follows:

[0067] S41, the operator discharges the mud A in the storage tank 27, and then pre-injects the second type of mud B into the storage tank 27;

[0068] S42, controlling the piston rod of the docking oil cylinder 17 to extend to the left, so that the plug 20 enters the right port of the transparent inner cylinder 12 to seal the right port of the transparent inner cylinder 12;

[0069] S43, the grouting pump 26 of the grouting assembly is started. Under the pump pressure of the grouting pump 26, the mud B in the storage tank 27 is sequentially poured into the transparent inner cylinder 12 through the elbow, the grouting pump 26, the hose 28, the grouting pipe 19, and finally into the transparent inner cylinder 12. When the grouting pump 26 has worked for a set time, the controller controls the grouting pump 26 to be turned off, and then the operator turns on each camera 22, which takes a picture of the transparent inner cylinder 12 and transmits the picture to the display screen of the controller. If the operator observes on the display screen that there is no cavity 5 in the transparent inner cylinder 12, the operator determines that the type of mud B is suitable for grouting the mining pipe 2 of the inclination angle.

[0070] S5, when the second type of slurry B is selected, the operator pours the type of slurry B into the mining pipe 2 in the mountain 1 in the actual grouting operation, so as to completely block the mining pipe 2.

[0071] Wherein, in step S2, by controlling the cooperation of the angle adjusting oil cylinder 9 and the angle sensor, the rotation angle of the transparent inner cylinder 12 can be accurately adjusted to the inclination angle a of the mining pipe 2, so as to simulate the inclined state of the mining pipe 2 in the mountain 1; in steps S3-S4, by sequentially adding different types of slurry into the storage tank 27, and by the linkage cooperation of the grouting pump 26, the docking oil cylinder 17, the camera 22 and the multi-stage telescopic oil cylinder 14, it can be known whether the cavity 5 will be formed in the transparent inner cylinder 12 after the different types of slurry are poured into the transparent inner cylinder 12, so as to simulate the state that the different types of slurry are actually poured into the mining pipe 2 in the mountain 1, and then the appropriate type of slurry is selected, and then the selected type of slurry is used to block the mining pipe 2 in the mountain 1, so as to achieve the purpose of completely blocking the mining pipe 2.

[0072] Therefore, the visual simulation device solves the technical problem that the prior art cannot select the appropriate type of slurry according to the mining pipe 2 with different inclination angles, and ensures that the selected slurry can completely block the mining pipe 2 in the mountain 1, so as to improve the blocking effect.

[0073] Finally, it should be noted that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the foregoing embodiments of the present application have been described in detail, for those skilled in the art, it still can be modified to the technical solutions recorded in the foregoing embodiments, or equivalent replacement of some technical features. Any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A visual simulation device for backfilling grouting into a mineral mining pipe, characterized by: It comprises a test bench (6), a transparent inner cylinder (12) and a transparent outer cylinder (8), wherein the transparent outer cylinder (8) is hingedly connected to the top surface of the test bench (6) via a first pin shaft (7), and an angle adjustment oil cylinder (9) is fixedly provided on the bottom surface of the test bench (6), wherein a piston rod of the angle adjustment oil cylinder (9) passes through the test bench (6) upwards and a connecting rod (10) is hingedly connected to the extended end, and the other end of the connecting rod (10) is hingedly connected to the transparent outer cylinder (8) via a second pin shaft (11); A transparent inner cylinder (12) is fixedly provided in the transparent outer cylinder (8) and arranged along its axial direction. A plurality of small holes (4) are opened on the cylindrical surface of the upper half of the transparent inner cylinder (12). A left bracket (13) is fixedly provided on the top surface of the left end of the transparent outer cylinder (8). A multi-stage telescopic oil cylinder (14) is fixedly provided on the side wall of the left bracket (13). The piston rod of the multi-stage telescopic oil cylinder (14) penetrates the side wall of the left bracket (13) to the right, and a push block (15) is fixedly provided on the extended end. The push block (15) cooperates with the left end of the transparent inner cylinder (12) to close the left end of the transparent inner cylinder (12). A right bracket (16) is fixedly provided on the top surface of the right end portion of the transparent outer cylinder (8), a docking oil cylinder (17) is fixedly provided on the side wall of the right bracket (16), a piston rod of the docking oil cylinder (17) passes through the side wall of the right bracket (16) to the left, and a connecting plate (18) is fixedly provided on the extended end, a grouting pipe (19) is fixedly provided on the lower end portion of the connecting plate (18), a plug (20) opposite to the right end port of the transparent inner cylinder (12) is welded on the outer cylindrical surface of the grouting pipe (19); a grouting assembly for pumping slurry into the transparent inner cylinder (12) is connected to the right end port of the grouting pipe (19); A plurality of mounting brackets (21) are fixedly provided on the bottom surface of the transparent outer cylinder (8) and spaced apart along its length direction, and each mounting bracket (21) is fixedly provided with a camera (22) facing the transparent outer cylinder (8).

2. A visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 1, characterized in that: A column (23) is fixedly provided on the top surface of the test bench (6), and an arched plate (24) is fixedly provided on the bottom surface of the transparent outer cylinder (8). The arched plate (24) is hinged to the column (23) via a first pin shaft (7).

3. The visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 2, characterized in that: A support plate (25) is fixedly provided on the bottom surface of the transparent outer cylinder (8) and is located on the right side of the arch plate (24). The support plate (25) is hinged to the connecting rod (10) via a second pin shaft (11).

4. The visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 3, characterized in that: The diameters of the push block (15) and the plug (20) are both equal to the inner diameter of the transparent inner cylinder (12).

5. The visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 4, characterized in that: An angle sensor is fixedly provided on the bottom surface of the transparent outer cylinder (8).

6. The visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 5, characterized in that: The grouting assembly comprises a grouting pump (26) and a storage tank (27); a hose (28) is connected between the grouting outlet of the grouting pump (26) and the right end of the grouting pipe (19); a bend is connected to the grouting outlet of the grouting pump (26), and the bend extends into the storage tank (27).

7. The visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 6, characterized in that: The visual simulation device also includes a controller, which is electrically connected to the angle adjustment cylinder (9), the camera (22), the angle sensor, and the grouting pump (26) via a signal line.

8. A visual simulation method for backfilling grouting into a mineral extraction pipe, using the visual simulation device for backfilling grouting into a mineral extraction pipe according to claim 7, characterized in that: It includes the following steps: S1, measuring the inclination angle a of the mining pipe (2) to be grouting in the mountain (1); S2, the piston rod of the control angle adjustment oil cylinder (9) is retracted downward, the piston rod drives the connecting rod (10) to move downward, the connecting rod (10) drives the transparent outer cylinder (8) to rotate clockwise around the first pin shaft (7), the transparent outer cylinder (8) drives the transparent inner cylinder (12), the camera (22), the angle sensor, the left bracket (13), and the right bracket (16) to rotate clockwise synchronously, wherein the angle sensor monitors the rotation angle of the transparent outer cylinder (8) in real time, and the angle sensor transmits the monitored angle to the controller in real time, at the same time, the left bracket (13) drives the multi-stage telescopic oil cylinder (14) to rotate clockwise synchronously, and the right bracket (16) drives the docking oil cylinder (17) and the grouting pipe (19) to rotate clockwise synchronously; When the angle sensor detects that the rotation angle of the transparent outer cylinder (8) is equal to the inclination angle a, the controller immediately controls the angle adjustment cylinder (9) to close, thereby making the transparent inner cylinder (12) simulate the tilting state of the mining pipe (2) on the mountain (1); S3, simulating the state of the first type of mud A being poured into the transparent inner cylinder (12), the specific operation steps are as follows: S31, the operator pre-injects mud A into the storage tank (27) of the grouting assembly; S32, the piston rod of the docking oil cylinder (17) is controlled to extend to the left, the piston rod drives the connecting plate (18) to move to the left, and the connecting plate (18) drives the grouting pipe (19) and the plug (20) to move to the left synchronously. When the piston rod of the docking oil cylinder (17) is fully extended, the plug (20) just enters the right port of the transparent inner cylinder (12) to block the right port of the transparent inner cylinder (12); S33, the grouting pump (26) of the grouting assembly is started. Under the pump pressure of the grouting pump (26), the mud A in the storage tank (27) is sequentially poured into the transparent inner cylinder (12) through the bend pipe, the grouting pump (26), the hose (28), the grouting pipe (19). When the grouting pump (26) works for a set time, the controller controls the grouting pump (26) to be turned off, and then the operator turns on each camera (22). The camera (22) takes a picture of the transparent inner cylinder (12) and transmits the picture to the display screen of the controller. If the operator observes on the display screen that there is a cavity (5) in the transparent inner cylinder (12), the operator determines that the type of mud A is not suitable for grouting the mining pipe (2) of the inclination angle. S34, all the mud A in the transparent inner cylinder (12) is discharged to the outside: the piston rod of the docking oil cylinder (17) is controlled to retract to the right, and the piston rod drives the connecting plate (18), the grouting pipe (19) and the plug (20) to move to the right synchronously, thereby making the plug (20) withdraw from the transparent inner cylinder (12); then the piston rod of the multi-stage telescopic oil cylinder (14) is controlled to extend to the right, and the piston rod drives the push block (15) to move to the right, and the push block (15) gradually pushes the mud A in the transparent inner cylinder (12) out from the right end of the transparent inner cylinder (12). When the push block (15) moves to the right end of the transparent inner cylinder (12), all the mud A in the transparent inner cylinder (12) can be fully discharged to the outside; S4, simulating the state of the second type of mud B being poured into the transparent inner cylinder (12), the specific operation steps are: S41, the operator discharges the mud A in the storage tank (27), and then pre-injects the second type of mud B into the storage tank (27); S42, controlling the piston rod of the docking oil cylinder (17) to extend to the left, so that the plug (20) enters the right port of the transparent inner cylinder (12) to seal the right port of the transparent inner cylinder (12); S43, the grouting pump (26) of the grouting assembly is started. Under the pump pressure of the grouting pump (26), the mud B in the storage tank (27) is sequentially poured into the transparent inner cylinder (12) through the bend pipe, the grouting pump (26), the hose (28), the grouting pipe (19). When the grouting pump (26) works for a set time, the controller controls the grouting pump (26) to be turned off, and then the operator turns on each camera (22). The camera (22) takes a picture of the transparent inner cylinder (12) and transmits the picture to the display screen of the controller. If the operator observes on the display screen that there is no cavity (5) in the transparent inner cylinder (12), the operator determines that the type of mud B is suitable for grouting the mining pipe (2) of the inclination angle. S5. After the second type of mud B is selected, the operator pours the mud B into the mining pipe (2) in the mountain (1) during the actual grouting operation to completely block the mining pipe (2).

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