Mine goaf crushing and spraying integrated device

Abstract

The invention discloses a mine goaf crushing and spraying integrated device, and relates to the technical field of mining machinery, and the mine goaf crushing and spraying integrated device comprises a collaborative hanging rack, an equipment main body, a walking unit, a stopping agent spraying unit, a cutting and leveling unit and a control unit. The front end of the collaborative hanging frame is in spherical hinge connection with the rear end of the tunneling machine, and the collaborative hanging frame is provided with a linear sliding groove. The equipment main body comprises a main body box, and a distance sensor, a goaf side scanner and a pressure sensor which are mounted on the main body box. The front end of the main box is slidably connected with the linear sliding groove. The distance sensor is used for monitoring the distance between the front end of the linear sliding groove and the main body box, the goaf side face scanner is used for scanning the side face of the goaf, the pressure sensor is used for monitoring the contact pressure between the rear end of the linear sliding groove and the main body box, and automatic spraying operation of the stopping agent is conducted in time and adaptively. Compared with the prior art, the integrated device can automatically spray the stopping agent in time, relatively continuously and adaptively.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining machinery, in particular to a mine goaf crushing and spraying integrated device. BACKGROUND

[0002] According to statistics, the fire caused by coal spontaneous combustion accounts for 90% to 94% in the total amount of mine fire accidents; and in the scope of state-owned key coal mines, 56% of the mines exploit coal seams belonging to easy spontaneous combustion coal seams. Based on this, mine fire prevention has become one of the core factors restricting mine safety production. In the practice of mine fire prevention, spraying inhibitor into coal spontaneous combustion high-incidence areas such as coal mining face and goaf is a conventional fire prevention and extinguishing means long-term used in the industry. However, in the actual production process of the mine, the traditional inhibitor spraying device has many limitations, which are as follows: Firstly, the traditional inhibitor spraying device (such as the patent with the announcement number CN109339852A) is usually a separate spraying device, which does not form a coordinated linkage with the coal mining, wall surface leveling and other operation processes, and the inhibitor spraying operation has a lag, which forms a safety hazard.

[0003] Secondly, such device relies on the on-site observation and work experience of the operator to design the spraying strategy. On the one hand, the operator training cycle is long and the cost is high; on the other hand, such device lacks real-time monitoring function of the mine site environment parameters, and cannot dynamically adjust the spraying strategy according to the actual working conditions, which has insufficient environmental adaptability, not only causes unnecessary waste of inhibitor resources, but more importantly, it is difficult to achieve the expected fire prevention and extinguishing effect, and thus may miss the best prevention opportunity, causing major safety and economic losses. SUMMARY

[0004] The purpose of the present application is to provide a mine goaf crushing and spraying integrated device to solve the problems existing in the related art and to timely, relatively continuously and adaptively perform automatic spraying operation of the inhibitor.

[0005] To achieve the above-mentioned purpose, the present application provides the following solutions: The present application discloses a mine goaf crushing and spraying integrated device, comprising: A cooperative hanging rack, the front end of the cooperative hanging rack is connected with the rear end of the tunneling machine through a spherical hinge, and the cooperative hanging rack has a straight sliding slot; The device body comprises a body box, and a distance sensor, a goaf side scanner, and a pressure sensor mounted on the body box; the front end of the body box is in sliding connection with the straight chute; the distance sensor is used to monitor the distance between the front end of the straight chute and the body box; the goaf side scanner is used to scan the goaf side after leveling; and the pressure sensor is used to monitor the contact pressure between the rear end of the straight chute and the body box. The walking unit is mounted on the body box and is used to walk along the track in the goaf. The inhibitor spraying unit comprises an inhibitor storage bin, a power pump, an inhibitor distribution pipe, a plurality of spray heads, and a distribution pipe support device; the inlet of the power pump is in communication with the inhibitor storage bin, and the outlet of the power pump is in communication with the inhibitor distribution pipe; the plurality of spray heads are mounted on the inhibitor distribution pipe in an axial direction and are used to spray the inhibitor on the goaf side scanned by the goaf side scanner; and the distribution pipe support device supports the inhibitor distribution pipe. The cutting leveling unit is mounted on the body box and is used to level the goaf side before scanning by the goaf side scanner. The control unit is electrically connected with the distance sensor, the goaf side scanner, the pressure sensor, the walking unit, the power pump, and the cutting leveling unit, so as to start the walking unit when the pressure monitored by the pressure sensor increases to a preset value, to shut down the walking unit when the distance monitored by the distance sensor decreases to a preset value, to make the power pump work simultaneously when the walking unit works, and to adjust the power of the power pump according to the distance data obtained by the goaf side scanner.

[0006] In some examples, the goaf breaking and spraying integrated device further comprises a spray dust-settling unit, which comprises a dust instrument and a spraying device; the dust instrument is electrically connected with the control unit, and the control unit is electrically connected with the spraying device, so as to start the spraying device when the dust concentration monitored by the dust instrument reaches a preset value.

[0007] In some examples, the cutting leveling unit comprises a swing arm, a swing arm connecting rod, a swing arm driving device, a pick support rib plate, and a breaking pick; the two ends of the swing arm are fixed with the pick support rib plate, and the breaking pick is fixed on the pick support rib plate; the swing arm connecting rod is arranged in the width direction of the body box and is vertically fixed to the middle part of the swing arm; and the swing arm driving device is in transmission connection with the swing arm connecting rod.

[0008] In some examples, a spray end of the spray device is arranged on the swing arm.

[0009] In some examples, the goaf crushing and spraying integrated device further comprises a supporting unit, the supporting unit comprises a gangue blocking plate and a gangue blocking plate supporting device; the gangue blocking plate is located at the top of the goaf crushing and spraying integrated device; the upper and lower ends of the gangue blocking plate supporting device are connected with the gangue blocking plate and the main body box respectively.

[0010] In some examples, the height of the gangue blocking plate supporting device can be adjusted.

[0011] In some examples, a liquid level sensor is installed in the inhibitor storage bin, and the liquid level sensor is electrically connected with the control unit.

[0012] In some examples, the walking unit comprises a moving roller, a walking gear, a walking gear driving device and a wheel body protective cover; the moving roller is rotatably connected with the main body box and is used for rolling along the track in the goaf; the walking gear is drivingly connected with the walking gear driving device and is used for rolling and walking on the cylindrical gear tooth rail in the goaf; the walking gear is rotatably connected with the main body box, and the walking gear driving device is fixedly connected with the main body box; and the wheel body protective cover is fixed to the wheel side of the moving roller.

[0013] In some examples, the track and the cylindrical gear tooth rail are both formed by multiple segments in series, and adjacent two segments are fixedly connected in a detachable manner through a dumbbell pin.

[0014] In some examples, the height of the distribution pipe supporting device can be adjusted.

[0015] The present application has the following technical effects relative to the related art: Through the design of the cooperative hanger, the main body box keeps linkage with the tunneling machine, and is not completely synchronous with the tunneling machine, so that the main body box has a certain independence in the process of advancing.

[0016] 1. Although the main body box is connected at the rear end of the tunneling machine, the flexible connection through the ball hinge increases the overall length, and improves the passability of the complex path in the goaf.

[0017] 2. The ball hinge connection at the front end and the sliding connection at the rear end of the cooperative hanger are both not rigid connections, which reduces the backward transmission of the vibration of the tunneling machine itself and the forward transmission of the vibration of the cutting leveling unit itself, thereby avoiding the early damage of the cooperative hanger due to fatigue.

[0018] 3. The main box starts to move forward at a preset speed when it contacts the rear end of the straight chute, and stops moving when it moves to the vicinity of the front end of the straight chute, so that it can continuously move in the length range of the straight chute while advancing in linkage with the tunneling machine, so as to balance the linkage and continuity of the advancing process. Through linkage operation, the blocking agent can be sprayed at the beginning of tunneling and leveling operation, reducing the safety hazard. Through a certain range of continuous operation, the start and stop times of the power pump are reduced. It should be noted that during the start and stop process of the power pump, the blocking agent is in the process of accelerating or decelerating spraying, and cannot reach the maximum spraying range of stable work. If the start and stop are frequent, a large amount of blocking agent will be spilled on the ground instead of being sprayed on the side of the goaf, causing waste. The present application realizes continuous movement within a certain range through continuous sliding in the straight chute. Since the advancing process of the main box is synchronized with the spraying process of the blocking agent, the waste caused by spraying when the main box stops or by frequent start and stop can be avoided. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or in the related art, the drawings needed to be used in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0020] Figure 1 Figure 1 is a schematic diagram of a mine goaf crushing and spraying integrated device in some embodiments of the present application; Figure 2 Figure 2 is a schematic diagram of a blocking agent storage bin; Figure 3 Figure 3 is a schematic diagram of part of the internal structure of the main box; Figure 4 Figure 4 is a schematic diagram of a track; Figure 5 Figure 5 is a schematic diagram of a local part of the cooperative hanging rack.

[0021] In the figure: 1 - baffle; 2 - spray head; 3 - distribution pipe support device; 4 - support roof column; 5 - control unit base; 6 - control unit; 7 - control unit explosion-proof shell; 8 - retardant distribution pipe; 9 - retardant storage bin; 10 - main body box; 11 - main body box top plate; 12 - distance sensor; 13 - water injection interface; 14 - roadway side scanner; 15 - swing arm connecting rod; 16 - spray head; 17 - support rib plate of cutting tooth; 18 - broken cutting tooth; 19 - swing arm; 20 - wheel body protective cover; 21 - moving roller; 22 - retardant filling port; 23 - display panel; 24 - liquid level sensor; 25 - bin body fixing structure plate; 26 - conveying pipeline; 27 - power pump; 28 - track; 29 - dumbbell pin; 30 - cylindrical gear rack; 31 - cooperative hanger; 32 - straight line sliding groove; 33 - pressure sensor; 34 - soft pad; 35 - ball hinge connection position; 36 - pin shaft. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0023] The present application aims to provide a mine goaf crushing and spraying integrated device to solve the problems in the above-mentioned related technologies and timely, relatively continuously and adaptively perform automatic spraying operation of retardant.

[0024] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0025] Reference Figures 1-5 The present embodiment provides a mine goaf crushing and spraying integrated device, which comprises a cooperative hanger 31, a device main body, a walking unit, a retardant spraying unit, a cutting and leveling unit and a control unit 6.

[0026] The front end of the cooperative hanger 31 is connected with the rear end of the tunneling machine through a spherical hinge, and the cooperative hanger 31 has a linear sliding groove 32. The device body comprises a body box 10, and a distance sensor 12, a goaf side scanner 14 and a pressure sensor 33 which are installed on the body box 10. The front end of the body box 10 is connected with the linear sliding groove 32 through sliding. The distance sensor 12 is used to monitor the distance between the front end of the linear sliding groove 32 and the body box 10, the goaf side scanner 14 is used to scan the goaf side after the leveling treatment, and the pressure sensor 33 is used to monitor the contact pressure between the rear end of the linear sliding groove 32 and the body box 10. A walking unit is installed on the body box 10 and is used to walk along the track 28 in the goaf. The retardant spraying unit comprises a retardant storage bin 9, a power pump 27, a retardant distribution pipe 8, a plurality of spray heads 2 and a distribution pipe supporting device 3. The inlet of the power pump 27 is communicated with the retardant storage bin 9, and the outlet of the power pump 27 is communicated with the retardant distribution pipe 8. The plurality of spray heads 2 are installed on the retardant distribution pipe 8 in the axial direction and are used to spray the retardant on the goaf side scanned by the goaf side scanner 14. The distribution pipe supporting device 3 supports the retardant distribution pipe 8. A cutting leveling unit is installed on the body box 10 and is used to level the goaf side before the goaf side scanner 14 scans.

[0027] The control unit 6 is electrically connected with the distance sensor 12, the goaf side scanner 14, the pressure sensor 33, the walking unit, the power pump 27 and the cutting leveling unit, respectively, so as to start the walking unit when the pressure monitored by the pressure sensor 33 increases to a preset value, stop the walking unit when the distance monitored by the distance sensor 12 decreases to a preset value, make the power pump 27 work simultaneously when the walking unit works, and adjust the power of the power pump 27 according to the distance data obtained by the goaf side scanner 14.

[0028] The working principle of the goaf breaking and spraying integrated device in the coal mine in the embodiment is as follows: The retardant spraying and the tunneling machine are linked through the connection of the body box 10 and the cooperative hanger 31, and the retardant spraying and the goaf side wall leveling are linked through the connection of the body box 10 and the cutting leveling unit.

[0029] In the prior art, the speed of the goaf tunneling and the goaf side wall leveling is generally slow, and the work is usually intermittent to reduce the temperature of the working head. Therefore, the retardant spraying operation is usually performed after the completion of the entire goaf tunneling and goaf side wall leveling operation, so that the continuous retardant spraying operation can be realized. However, this retardant spraying mode does not form a cooperative linkage with the coal mining and wall leveling processes, the retardant spraying operation has a lag, and a safety hazard is formed.

[0030] The embodiment makes the main box 10 keep linkage with the tunneling machine through the design of the cooperative hanger 31, and the main box 10 is not completely synchronized with the tunneling machine, so that the main box 10 has certain independence in the process of moving.

[0031] In the first aspect, the main box 10 is connected to the rear end of the tunneling machine, which increases the overall length, but the flexible connection through the ball hinge improves the passability of the complex path in the goaf.

[0032] In the second aspect, the ball hinge connection at the front end and the sliding connection at the rear end of the cooperative hanger 31 are not rigid connections, which reduces the backward transmission of the vibration of the tunneling machine itself and the forward transmission of the vibration of the cutting and leveling unit itself, thereby avoiding the early damage of the cooperative hanger 31 due to fatigue.

[0033] In the third aspect, the main box 10 starts to move forward at a preset speed when contacting the rear end of the straight-line sliding groove 32, and stops moving when moving to the vicinity of the front end of the straight-line sliding groove 32, so that the main box 10 can continuously move within the length range of the straight-line sliding groove 32 while moving forward in linkage with the tunneling machine, thereby balancing the linkage and continuity of the moving process. Through the linkage operation, the spraying of the resistance agent can be carried out at the beginning of the tunneling and leveling operation, thereby reducing the safety hazard. Through a certain range of continuous operation, the start-stop frequency of the power pump 27 is reduced. It should be noted that during the start-stop process of the power pump 27, the resistance agent is in the process of accelerating or decelerating spraying, and cannot reach the maximum spraying range of stable work. If the power pump 27 is frequently started and stopped, a large amount of resistance agent will be spilled on the ground instead of being sprayed on the side of the goaf, resulting in waste. The embodiment realizes continuous movement within a certain range through the continuous sliding in the straight-line sliding groove 32. Since the movement process of the main box 10 is synchronized with the spraying process of the resistance agent, the waste caused by the spraying of the resistance agent when the main box 10 stops or by the frequent start-stop spraying can be avoided.

[0034] The inner contour of the straight-line sliding groove 32 is preferably wrapped with a soft pad 34, such as a rubber pad, and at least part of the ball hinge connection position is made of non-metal material to avoid sparks caused by collision and friction. The control unit 6 stops the walking unit when the distance monitored by the distance sensor 12 is reduced to a preset value. The preset value refers to a smaller distance between the main box 10 and the front end of the straight-line sliding groove 32, for example, 1-5 cm, to realize active braking instead of collision braking.

[0035] The cutting and leveling unit is arranged on the left side or the right side of the main box 10, and can level the side of the goaf in the process of moving forward of the main box 10.

[0036] The distance between the track 28 and the side of the goaf can change in different goafs or different sections of the goaf. In this embodiment, the control unit 6 can adjust the power of the power pump 27 according to the distance data obtained by the goaf side scanner 14. When the distance between the main tank 10 and the goaf side sprayed with the blocking agent is large, the power of the power pump 27 is increased accordingly, so that the blocking agent can be sprayed to the goaf side, and the adaptability to the environment is improved.

[0037] With reference to Figure 5 The front end of the main tank 10 has a pin shaft 36 (not shown in the figure) Figure 1 The pin shaft 36 extends along the width direction of the main tank and is in sliding connection with the linear sliding groove 32 of the cooperative hanger 31. The cross section of the pin shaft 36 is circular, so that it can rotate relative to the cooperative hanger 31 while sliding along the linear sliding groove 32 of the cooperative hanger 31. Since the fluctuation rhythm of the tunneling machine is not consistent with the fluctuation rhythm of the main tank, the front end of the cooperative hanger 31 is connected with the tunneling machine through a spherical hinge, and the linear sliding groove 32 of the cooperative hanger 31 can rotate relative to the pin shaft 36 of the main tank, so that the angle of the cooperative hanger 31 can be flexibly changed to adapt to the fluctuating working environment in the goaf, avoid structural damage caused by rigid connection, and reduce the travel resistance.

[0038] In some examples, the goaf crushing and spraying integrated device further comprises a spray dust setting unit, which comprises a dust instrument and a spraying device. The dust instrument is electrically connected with the control unit 6, and the control unit 6 is electrically connected with the spraying device to start the spraying device when the dust concentration monitored by the dust instrument reaches a preset value.

[0039] The dust instrument can adopt a laser scattering dust instrument. The instrument emits a laser beam, and dust particles will scatter when passing through the laser region. The intensity of the scattered light is positively correlated with the dust concentration. After the sensor captures the scattered light, the concentration value is converted through an algorithm.

[0040] The spraying device can adopt a commonly used dust removal spraying device, which comprises a water injection interface 13, a water inlet pipe, a water pump, a water outlet pipe and a spraying head 16 connected in sequence. The water injection interface 13 is arranged on the main tank 10 and is used for detachably connecting an external water supply pipe.

[0041] In some examples, the cutting and leveling unit comprises a swing arm 19, a swing arm connecting rod 15, a swing arm driving device, a cutting tooth support rib plate 17 and a crushing cutting tooth 18. The two ends of the swing arm 19 are fixed with the cutting tooth support rib plate 17, and the crushing cutting tooth 18 is fixed on the cutting tooth support rib plate 17. The swing arm connecting rod 15 is arranged along the width direction of the main tank 10 and is vertically and fixedly connected with the middle part of the swing arm 19. The swing arm driving device is in transmission connection with the swing arm connecting rod 15.

[0042] The extension direction of the swing arm connecting rod 15 is the width direction of the main body box 10, that is, the width direction of the goaf. Therefore, when the swing arm connecting rod 15 rotates, it can drive the swing arm 19 to rotate in the vertical plane, and the swing arm 19 drives the crushing pick 18 to rotate, crushing the protruding part of the goaf side wall, and realizing the flattening of the goaf side wall.

[0043] In some examples, the spray end of the spray device is arranged on the swing arm 19, that is, the spray head 16 described above is arranged on the swing arm 19.

[0044] Since the spray head 16 is arranged near the crushing pick 18, water mist can be sprayed near the dust generated during the flattening of the goaf side wall, improving the dust removal effect.

[0045] The water outlet pipe can extend along the swing arm connecting rod 15 and pass through the center of the swing arm 19, and the end of the water outlet pipe extending out of the center of the swing arm 19 is connected to the spray head 16. When the swing arm 19 and the swing arm connecting rod 15 rotate, the water outlet pipe and the spray head 16 are fixed.

[0046] In some examples, the goaf crushing and spraying integrated device further comprises a supporting unit, and the supporting unit comprises a gangue blocking plate 1 and a gangue blocking plate 1 supporting device. The gangue blocking plate 1 is located at the top of the goaf crushing and spraying integrated device. The upper and lower ends of the gangue blocking plate 1 supporting device are respectively connected to the gangue blocking plate 1 and the main body box 10.

[0047] The gangue blocking plate 1 can block the gangue falling from above the goaf, preventing damage to the equipment main body, the blocking agent spraying unit, the cutting and flattening unit, the control unit 6 and other components below.

[0048] In some examples, the height of the gangue blocking plate 1 supporting device can be adjusted.

[0049] By adjusting the height of the gangue blocking plate 1 supporting device, the goaf of different heights can be adapted, and the adaptability to the environment is improved.

[0050] The gangue blocking plate 1 supporting device can include a first auxiliary support rod, a second auxiliary support rod and a support roof column 4, all of which are hydraulic props and can be adjusted in length, so as to adjust the height of the gangue blocking plate 1 and provide multi-point support for the gangue blocking plate 1.

[0051] In some examples, a liquid level sensor 24 is installed in the blocking agent storage bin 9, and the liquid level sensor 24 is electrically connected to the control unit 6.

[0052] When the liquid level in the blocking agent storage bin 9 drops below the preset liquid level, the control unit 6 can remotely send an alarm signal through the wireless communication module to prompt the replenishment of the blocking agent.

[0053] The outside of the inhibitor storage bin 9 can also be fixed with a display panel 23, and a liquid level sensor 24 is electrically connected with the display panel 23, so as to visually display the specific storage amount of the inhibitor in the inhibitor storage bin 9.

[0054] The upper end of the inhibitor storage bin 9 is provided with an inhibitor feeding port 22, and the lower end is provided with an inhibitor discharging port, which is communicated with the inlet of a power pump 27 through a conveying pipeline 26.

[0055] The inhibitor storage bin 9 can be located on the side opposite to the cutting and flattening unit of the main box 10, and a bin body fixing structure plate 25 is fixed to the side close to the main box 10, and the bin body fixing structure plate 25 is fixed on the main box 10 through screws.

[0056] In some examples, the walking unit includes a moving roller 21, a walking gear, a walking gear driving device and a wheel body protective cover 20. The moving roller 21 is rotationally connected with the main box 10, and is used for rolling along a track 28 in the goaf. The walking gear is drivingly connected with the walking gear driving device, and is used for rolling on a cylindrical gear rack 30 in the goaf. The walking gear is rotationally connected with the main box 10, and the walking gear driving device is fixedly connected with the main box 10. The wheel body protective cover 20 is fixed to the wheel side of the moving roller 21.

[0057] The moving roller 21 cooperates with the track 28 to ensure that the main box 10 travels along the track 28 laying path. The walking gear meshes with the cylindrical gear rack 30, and through the control and sensing of the rotation angle of the walking gear, the walking distance of the main box 10 can be accurately controlled and sensed.

[0058] The wheel body protective cover 20 can prevent dust and gravel from entering the bearing of the moving roller 21, so as to ensure that the moving roller 21 can rotate smoothly.

[0059] In some examples, the track 28 and the cylindrical gear rack 30 are both formed by multiple segments in series, and adjacent two segments are fixedly connected in a detachable mode through a dumbbell pin 29.

[0060] In some examples, the height and angle of the distribution pipe supporting device 3 can be adjusted.

[0061] By adjusting the height of the distribution pipe supporting device 3, the goaf of different heights can be adapted. The type of the distribution pipe supporting device 3 can be a hydraulic prop.

[0062] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method and core idea of the present application; meanwhile, for the general technical personnel in the field, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present description should not be understood as the limitation of the present application.

Claims

1. A mine goaf crushing and spraying integrated device, characterized in that, The application relates to a mining goaf crushing and spraying integrated device. The device comprises a cooperative hanger, a device main body, a walking unit, a cutting and leveling unit, a control unit, a spraying dust-settling unit and a supporting unit. The front end of the cooperative hanger is connected with the rear end of a tunneling machine through a spherical hinge, and the cooperative hanger has a straight sliding groove. The device main body comprises a main body box, a distance sensor, a goaf side scanner and a pressure sensor, the front end of the main body box is connected with the straight sliding groove, the distance sensor is used for monitoring the distance between the front end of the straight sliding groove and the main body box, the goaf side scanner is used for scanning the goaf side after leveling, and the pressure sensor is used for monitoring the contact pressure between the rear end of the straight sliding groove and the main body box. The walking unit is installed on the main body box and is used for walking along the track in the goaf. The cutting and leveling unit is installed on the main body box and is used for leveling the goaf side before scanning. The control unit is electrically connected with the distance sensor, the goaf side scanner, the pressure sensor, the walking unit, the power pump and the cutting and leveling unit, so that the walking unit is started when the pressure monitored by the pressure sensor increases to a preset value, the walking unit is stopped when the distance monitored by the distance sensor decreases to a preset value, the power pump is simultaneously started when the walking unit works, and the power of the power pump is adjusted according to the distance data obtained by the goaf side scanner.

2. The goaf crushing and spraying integrated device according to claim 1, characterized in that: The spraying dust-settling unit comprises a dust instrument and a spraying device, the dust instrument is electrically connected with the control unit, and the control unit is electrically connected with the spraying device, so that the spraying device is started when the dust concentration monitored by the dust instrument reaches a preset value.

3. The goaf crushing and spraying integrated device according to claim 2, characterized in that: The cutting and leveling unit comprises a swing arm, a swing arm connecting rod, a swing arm driving device, a pick support rib plate and a broken pick.

4. The goaf crushing and spraying integrated device according to claim 3, characterized in that: The spraying end of the spraying device is arranged on the swing arm.

5. The goaf crushing and spraying integrated device according to claim 1, characterized in that: The supporting unit comprises a gangue blocking plate and a gangue blocking plate supporting device, the gangue blocking plate is arranged on the top of the mining goaf crushing and spraying integrated device, and the upper and lower ends of the gangue blocking plate supporting device are respectively connected with the gangue blocking plate and the main body box.

6. The goaf crushing and spraying integrated device according to claim 5, characterized in that: The height of the gangue blocking plate supporting device can be adjusted.

7. The goaf crushing and spraying integrated device according to claim 1, characterized in that: A liquid level sensor is installed in the retarder storage bin and electrically connected with the control unit.

8. The goaf crushing and spraying integrated device according to claim 1, characterized in that: The walking unit comprises a moving roller, a walking gear, a walking gear driving device and a wheel body protective cover; the moving roller is rotationally connected with the main body box and is used for rolling along the track in the goaf; the walking gear is drivingly connected with the walking gear driving device and is used for rolling on the cylindrical gear rack in the goaf; the walking gear is rotationally connected with the main body box, and the walking gear driving device is fixedly connected with the main body box; and the wheel body protective cover is fixed to the wheel side of the moving roller.

9. The goaf crushing and spraying integrated device according to claim 8, characterized in that: The track and the cylindrical gear rack are both formed by multiple segments in series, and adjacent two segments are detachably fixedly connected through a dumbbell pin.

10. The goaf crushing and spraying integrated device according to claim 1, characterized in that: The height of the distribution pipe supporting device can be adjusted.

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