A filling device for goaf areas in mines

Abstract

This invention relates to the technical field of mine backfilling, and more particularly to a backfilling device for mine goaf areas, comprising a backfilling station body, supporting components, and grouting backfilling components. The backfilling station body has a tracked chassis, a main frame plate, and a main vision camera. The supporting components are disposed inside the main frame plate and include a self-extending module and a supporting module. The self-extending module includes a frame, a servo motor, a lead screw, a guide rod, a lifting plate, a first extension arm, a second extension arm, and a V-shaped connecting rod. The grouting backfilling components are disposed in a docking chamber and are a dual-tracked backfilling robot. This invention provides a backfilling device for mine goaf areas that abandons the long-distance pipeline connection mode and adopts an integrated design, highly integrating mortar preparation, storage, and backfilling functions within a tracked backfilling station, greatly expanding the applicable scenarios for backfilling operations.

Description

Technical Field

[0001] This invention relates to the field of mine backfilling technology, and in particular to a backfilling device for mine goaf areas. Background Technology

[0002] Currently, the filling method is a relatively effective and widely used method, but it has many limitations: low work efficiency; difficulty in guaranteeing filling quality; harsh working environment; lack of effective support and monitoring means. In response to these shortcomings, our company filed an invention patent in April 2025, with publication number CN119933786A. However, the aforementioned grouting and filling curing equipment requires the use of long-distance pipelines to connect the mortar station and the filling robot. For some special scenarios, the patented technology cannot be adapted to the current construction scenarios. For some small-spaced and low-volume goaf areas, it is difficult to lay long-distance pipelines along a reasonable path. The installation and fixing of pipelines are extremely difficult. The movement range of the filling robot cannot cover all aspects of the filling operation. Some goaf areas are in a dynamic process of change, and the shape, size, and stability of the goaf areas will change continuously over time. Long-distance pipelines cannot be adjusted in a timely manner according to the dynamic changes of the goaf areas. In remote mine goaf areas, the laying of long-distance pipelines needs to cross complex terrain.

[0003] Therefore, based on the current construction problems, combined with the complex and ever-changing actual working conditions of mining goaf areas and the urgent need for high efficiency, safety and flexibility in filling operations, this invention proposes a filling device for mining goaf areas. Summary of the Invention

[0004] Technical objective: In order to overcome the shortcomings of the existing technology, the present invention provides a filling device for mining goaf areas.

[0005] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a filling device for mining goaf areas, comprising a filling station body, supporting components and grouting filling components, characterized in that: the filling station body has a tracked chassis, a main frame plate is provided on the upper side of the tracked chassis, a main vision camera is provided on the top side of the main frame plate, openings are provided on the left and right sides of the main frame plate, an installation chamber is provided on the upper interior of the main frame plate, and outwardly protruding docking chambers are provided on the front and rear sides of the main frame plate;

[0006] The support component is set inside the main frame plate. The support component includes a self-extending module and a support module. The self-extending module includes a frame. The frame is fixed in the middle of the installation chamber. The frame is equipped with a vertically arranged servo, a lead screw, and multiple guide rods. The bottom end of the lead screw is connected to the shaft end of the servo. The multiple guide rods are distributed on the outside of the lead screw. A lifting plate is mounted on the lead screw and the multiple guide rods. V-shaped connecting rods are hinged to the middle of both sides of the lifting plate.

[0007] The grouting and filling component is located in the docking room. The grouting and filling component is a dual-tracked filling robot. The grouting and filling component includes the main track, climbing track, component base frame, mortar tank, pumping pipe, mortar filling robotic arm and auxiliary vision camera.

[0008] Preferably, a supply chamber is provided at the lower interior of the main frame plate, and the supply chamber is connected to the main frame docking chamber.

[0009] Preferably, the supply room is equipped with a mortar supply tank, the docking room has an automatically opening electric door panel on the front side, the docking room has a control panel on the upper side, and the docking room has a ramp on the front side. The docking room is used for the rapid docking of grouting filling components, mortar loading, and fault repair.

[0010] Preferably, a first extension arm is hinged to the lower side of the frame. The end of the first extension arm extends out from the openings on the left and right sides of the main frame plate and is hinged to a second extension arm. The V-shaped connecting rod is formed by hinged ends of two support rods. The middle of one support rod of the V-shaped connecting rod is connected to the first extension arm through a pin. The support rod of the other side of the V-shaped connecting rod extends out from the opening on the second extension arm and is connected to the hinge seat thereon.

[0011] Preferably, the support module is assembled on the second extension arm. The support module includes an adjusting rod, a base, a support frame, and a support unit. The support frame is made of multiple steel rails spliced ​​together. The lower middle of the support frame is connected to the second extension arm through the base, and the lower two sides of the support frame are slidably connected to the adjusting rod through bearings.

[0012] Preferably, there are several support units distributed at intervals along the track groove of the support frame, and the support unit is a hydraulically adjustable support rod.

[0013] Preferably, a main track is provided on the underside of the component base frame, and climbing tracks are provided on both sides of the front part of the component base frame and coaxially connected to the track wheels on the front side of the main track. A mortar tank, a mortar filling robot arm and an auxiliary vision camera are provided on the component base frame. The auxiliary vision camera is a lidar camera or a structured light camera used for three-dimensional terrain scanning and recognition of the goaf area.

[0014] Preferably, the mortar tank is equipped with a feeding port, and the output side of the mortar tank is connected to the mortar filling robot arm through a pumping pipe.

[0015] Preferably, the mortar filling robot arm is a three-axis articulated robot arm with an internal mortar pipe, and the execution end of the mortar filling robot arm is equipped with a nozzle.

[0016] The beneficial effects of this invention are:

[0017] 1. This invention provides a filling device for goaf areas in mines. By abandoning the long-distance pipeline connection mode and adopting an integrated design, it highly integrates mortar preparation, storage, and filling functions within a tracked filling station. The tracked chassis has excellent off-road performance and can flexibly travel in complex and varied terrain conditions underground in mines, such as folded and fault-prone areas and narrow tunnels, eliminating the need to consider pipeline laying issues and greatly expanding the applicable scenarios for filling operations. Furthermore, for dynamically changing goaf areas, such as those undergoing secondary mining or affected by surrounding mining activities, the device of this invention can quickly adjust its operational strategy. Since long-distance pipelines are unnecessary, the filling station and grouting components can be moved and rearranged promptly according to changes in the goaf area, resuming filling operations in a short time. This effectively addresses the dynamic changes in the shape, size, and stability of the goaf area, reducing the risk of safety accidents caused by goaf instability.

[0018] 2. The present invention provides a filling device for goaf areas in mines. The grouting filling components can directly obtain mortar from the docking chamber, eliminating the need for long-distance pipeline laying, connection, and debugging. Simultaneously, the rapid deployment and retraction functions of the self-extending module and the support module can quickly support the collapsed rock mass on the top side of the goaf, creating a safe working environment for the grouting filling components.

[0019] 3. The present invention provides a filling device for mining goaf areas. By adopting a double track design for the grouting filling components, the device enhances the walking ability and stability in complex terrain, enabling it to quickly reach various parts of the goaf area and simultaneously carry out filling operations in multiple areas.

[0020] 4. This invention provides a filling device for goaf areas in mines. The self-extending module of the support component uses a servo motor to drive a lead screw, thereby controlling the lifting of the lifting plate. The lifting plate drives the first and second extension arms to accurately extend to predetermined positions. The hydraulically adjustable support rod on the support module can adjust the support force in real time according to the actual pressure and deformation of the rock mass on the top side of the goaf, ensuring stable and reliable support. Precise support effectively prevents the rock mass on the top side of the goaf from collapsing or crumbling during the filling process, providing good spatial conditions for mortar filling and ensuring filling density. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein:

[0022] Figure 1This is a schematic diagram of the overall structure of a filling device for mining goaf areas according to the present invention;

[0023] Figure 2 This is a schematic diagram of the main structure of a filling station for a filling device used in a mining goaf area according to the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of a self-extending module of a filling device for mining goaf areas according to the present invention;

[0025] Figure 4 This is a schematic diagram of the structure of a support module for a filling device for a mining goaf according to the present invention;

[0026] Figure 5 This is a schematic diagram of the grouting and filling component of a filling device for mining goaf areas according to the present invention.

[0027] Explanation of reference numerals in the attached figures:

[0028] 1. Filling station main body; 101. Tracked chassis; 102. Main frame plate; 103. Main vision camera; 104. Installation room; 105. Supply room; 106. Dock room; 107. Electric door panel; 108. Slope plate;

[0029] 2. Supporting components; 201. Frame; 202. Servo motor; 203. Lead screw; 204. Guide rod; 205. Lifting plate; 206. First extension arm; 207. Second extension arm; 208. V-shaped connecting rod; 209. Adjusting rod; 210. Support frame; 211. Support unit;

[0030] 3. Grouting and filling components; 301. Main track; 302. Climbing track; 303. Component base frame; 304. Mortar tank; 305. Mortar filling robotic arm; 306. Auxiliary vision camera. Detailed Implementation

[0031] The following is in conjunction with the appendix Figure 1 To be continued Figure 5 The principles and features of the present invention are described, and the examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0032] Please see Figures 1-5This invention provides a filling device for mining goaf areas. This filling device for mining goaf areas includes a filling station body 1, a support component 2, and a grouting filling component 3. The filling station body 1 has a tracked chassis 101, a main frame plate 102 is provided on the upper side of the tracked chassis 101, a main vision camera 103 is provided on the top side of the main frame plate 102, openings are provided on the left and right sides of the main frame plate 102, an installation chamber 104 is provided on the upper part of the interior of the main frame plate 102, and outwardly protruding docking chambers 106 are provided on the front and rear sides of the main frame plate 102.

[0033] The support component 2 is located inside the main frame plate 102. The support component 2 includes a self-extending module and a support module. The self-extending module includes a frame 201. The frame 201 is fixed in the middle of the inner side of the installation chamber 104. The frame 201 is equipped with a vertically arranged servo motor 202, a lead screw 203, and multiple guide rods 204. The bottom end of the lead screw 203 is connected to the shaft end of the servo motor 202. The multiple guide rods 204 are distributed on the outside of the lead screw 203. A lifting plate 205 is mounted on the lead screw 203 and the multiple guide rods 204. V-shaped connecting rods 208 are hinged to the middle of both sides of the lifting plate 205.

[0034] The grouting and filling component 3 is installed inside the docking chamber 106. The grouting and filling component 3 is a dual-tracked filling robot, comprising a main track 301, a climbing track 302, a component base frame 303, a mortar tank 304, a pumping pipe, a mortar filling robotic arm 305, and an auxiliary vision camera 306. The self-extending module moves with the servo motor 202 and is in an extended or retracted state. In the extended state, the self-extending module drives the support module to extend from the side opening of the main frame plate 102. The support module, through several support units 211 on it, supports the collapsed or caving rock mass on the top side of the goaf, preventing accidents during filling operations. After filling and solidification, it retracts and, based on the track... The chassis 101 allows the vehicle to move out of the goaf of the mine; the main vision camera 103 and the auxiliary vision camera 306 collect images and three-dimensional terrain data of the goaf in real time. After analysis and processing by the control system, the system provides accurate basis for the operation path planning and mortar spraying parameter adjustment of the grouting and filling component 3. According to the actual terrain and rock conditions of the goaf, the system intelligently adjusts the spraying flow rate, pressure and angle of the mortar to ensure that the mortar can fully fill every corner of the goaf, avoiding problems such as incomplete filling or insufficient strength of the filling material, and significantly improving the filling quality; the docking chamber 106 is used for the rapid docking of the grouting and filling component 3, mortar loading, and fault inspection.

[0035] Please see Figures 1-5A supply chamber 105 is provided at the lower interior of the main frame plate 102, and the supply chamber 105 is connected to the main frame docking chamber 106. The main frame plate 102 has an installation chamber 104 and a supply chamber 105 distributed vertically. The front and rear sides of the main frame plate 102 are provided with outwardly protruding docking chambers 106, and the docking chambers 106 are connected to the supply chambers 105. The grouting filling component 3 can drive directly into the docking chamber 106 and quickly obtain mortar from the supply chamber 105 through the through-channel.

[0036] Please see Figures 1-5 The supply compartment 105 is equipped with a mortar supply tank, and the parking compartment 106 has an automatically opening electric door 107 on the front side. The parking compartment 106 has a control console on the upper side and a ramp 108 on the front side. The parking compartment 106 is used for the rapid parking of the grouting filling component 3, mortar loading, and fault inspection. The electric door 107 can quickly respond and open when the grouting filling component 3 approaches, providing a fast passage for the component. The design of the ramp 108 on the front side allows the component to drive smoothly into the parking compartment 106, reducing the difficulty of driving and the time consumption.

[0037] Please see Figures 1-5 The lower side of the frame 201 is hinged with a first extension arm 206. The end of the first extension arm 206 extends out from the openings on the left and right sides of the main frame plate 102 and is hinged to a second extension arm 207. The V-shaped connecting rod 208 is formed by hinged ends of two support rods. The middle of one support rod of the V-shaped connecting rod 208 is connected to the first extension arm 206 through a pin. The support rod on the other side of the V-shaped connecting rod 208 extends out from the opening on the second extension arm 207 and is connected to the hinge seat on it.

[0038] Please see Figures 1-5 The support module is assembled on the second extension arm 207. The support module includes an adjusting rod 209, a base, a support frame 210 and a support unit 211. The support frame 210 is made of multiple steel rails spliced ​​together. The lower middle of the support frame 210 is connected to the second extension arm 207 through the base. The lower two sides of the support frame 210 are slidably connected to the adjusting rod 209 through bearings.

[0039] Please see Figures 1-5 The support unit 211 is provided in several parts and is distributed at intervals along the rail groove of the support frame 210. The support unit 211 is a hydraulically adjustable support rod. The self-extending module moves with the servo motor 202 and is in an extended or retracted state. In the extended state, the self-extending module drives the support module to extend out from the side opening of the main frame plate 102. The support module supports the collapsed or caving rock mass on the top side of the goaf through several support units 211 on it, so as to avoid accidents during the filling operation. After the filling is solidified, it retracts and moves out of the goaf of the mine based on the mobility of the tracked chassis 101.

[0040] Please see Figures 1-5 The component base frame 303 is equipped with a main track 301 on its lower side. The front sides of the component base frame 303 are equipped with climbing tracks 302 coaxially connected to the front track wheels of the main track 301. A mortar tank 304, a mortar filling robotic arm 305, and an auxiliary vision camera 306 are mounted on the component base frame 303. The auxiliary vision camera 306 is a lidar camera or a structured light camera used for three-dimensional terrain scanning and recognition of the goaf area. When facing complex terrain such as slopes and gullies that may exist in the goaf, the climbing track 302 can work in conjunction with the main track 301. By adjusting the rotation and force distribution of the track, the device can easily climb sections with large slopes, ensuring that the device can move freely in various areas of the goaf and improving the coverage of the operation.

[0041] Please see Figures 1-5 The mortar tank 304 is equipped with a feeding port, and the output side of the mortar tank 304 is connected to the mortar filling robot arm 305 through a pumping pipe.

[0042] Please see Figures 1-5 The mortar filling robotic arm 305 is a three-axis articulated robotic arm with an internal mortar pipe. A nozzle is installed at the end of the arm. The three-axis articulated robotic arm has multiple degrees of freedom, allowing for flexible adjustment of its posture and position. The internal mortar pipe ensures continuous and stable delivery of mortar from the mortar tank 304 to the nozzle at the end of the arm. Based on the precise three-dimensional terrain information of the mined-out area acquired by the auxiliary vision camera 306, the control system can accurately plan the movement trajectory of the robotic arm, enabling the nozzle to accurately reach the required filling location.

[0043] The construction steps during use are as follows:

[0044] 1. On-site Investigation and Planning: Dispatch professional personnel to conduct on-site investigations of the mine goaf, and obtain detailed information on the topography, geological structure, and spatial dimensions of the goaf. Record the height, thickness, and distribution range of the collapsed rock mass on the top side of the goaf, as well as the location and direction of the surrounding roadways. Based on the on-site investigation results, and in conjunction with the performance and operational requirements of the filling equipment, pre-plan the path and area for the filling operation.

[0045] 2: Filling Station Positioning: Control the tracked filling station to travel to the designated parking position according to the pre-planned path. The tracked filling station uses the main vision camera 103 to perform path planning, obstacle avoidance, and work point marking. After reaching the designated position, adjust the filling station to a level state. Use a level to check and adjust to ensure that the filling station remains stable during the filling operation and prevent mortar leakage or unsafe operation due to equipment tilting.

[0046] 3. Deployment of Support Component 2: The self-extension module of support component 2 is activated, driving the lead screw 203 via the servo motor 202 to raise the lifting plate 205, thereby deploying the first extension arm 206 and the second extension arm 207. Once the second extension arm 207 has deployed to the predetermined position, the support module is activated. Based on the actual conditions of the rock mass on the top side of the goaf, the length and support force of the hydraulically adjustable support rod are adjusted to effectively withstand the pressure of the top side rock mass, creating a safe working environment for the grouting and filling component 3. Additionally, pressure and displacement sensors can be installed on the hydraulically adjustable support rod to collect data in real time and transmit it to the control system. The control system analyzes the support status data to determine whether the support is stable and reliable. If abnormal force or excessive displacement is detected on the support rod, a warning signal is issued promptly.

[0047] 4: Mortar delivery and path planning: Start the mortar pumping pipe to pump the mortar in the mortar supply tank to the mortar tank 304 of the grouting and filling component 3. The control system plans the path for the first and second work points. Then, the two grouting and filling components 3 on the front and rear sides of the filling station travel to the first and second filling work points according to the path. During the travel, the grouting and filling components 3 adjust their travel speed and direction in a timely manner according to the terrain and obstacles in the goaf area.

[0048] 5. Grouting and Filling Operation: After the grouting and filling component 3 reaches the filling mark, operate the mortar filling robotic arm 305 to accurately align the nozzle with the filling area, and start the mortar pumping pipe to spray mortar from the nozzle into the goaf. During the spraying and filling process, adjust the mortar spraying flow rate, pressure, and angle in real time according to the actual situation of the goaf and monitoring data to ensure that the mortar can fully fill every corner of the goaf and avoid problems such as incomplete filling or insufficient strength of the filling material.

[0049] 6: Task scheduling: After completing the work of a filling point, the grouting and filling component 3 moves to the next filling point according to the scheduling of the control system, and repeats the above grouting and filling operation steps until the filling task of the entire goaf is completed.

[0050] 7. Mortar Replenishment: When there is no remaining mortar in the grouting and filling component 3, the control system performs path scheduling and directs the grouting and filling component 3 to enter the docking chamber 106 for mortar replenishment. In the docking chamber 106, new mortar is quickly loaded into the mortar tank 304 of the grouting and filling component 3 using mortar loading equipment, while the grouting equipment is inspected and maintained. After the mortar replenishment is completed, the grouting and filling component 3 drives out of the docking chamber 106 again to continue the filling operation of the goaf until the entire goaf is filled.

[0051] 8: Area filling inspection: After the area is filled, the grouting filling component 3 uses an auxiliary camera to identify the solidification of the mortar and check for defects such as voids and cracks. After the inspection is completed, the grouting filling component 3 drives into the parking room 106 according to the path planned by the control system.

[0052] 9: After the area is completely filled and solidified, the control system sends a contraction command to the support component 2. At this time, the support component 2 begins to contract, detaches from the contact with the collapsed rock mass, and finally the main body of the filling station 1 moves out of the goaf according to the path planned by the control system, thus ending the filling operation.

[0053] It is worth noting that the entire filling device is controlled by a central control system. Since the equipment matched with the control system is common equipment and belongs to existing mature technology, its electrical connection relationship and specific circuit structure will not be described in detail here.

[0054] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A filling device for mine goafs, comprising a filling station body (1), a support member (2) and a grouting filling member (3), characterized in that: The filling station body (1) has a tracked chassis (101), the upper side of the tracked chassis (101) is provided with a main frame plate (102), the top side of the main frame plate (102) is provided with a main visual camera (103), the left and right sides of the main frame plate (102) are provided with openings, the inside of the main frame plate (102) is provided with an installation chamber (104), and the front and rear sides of the main frame plate (102) are provided with outwardly protruding parking chambers (106). The support member (2) is arranged on the inside of the main frame plate (102), and the support member (2) comprises a self-expanding module and a support module. The self-expanding module comprises a frame (201), the frame (201) is fixed to the inside of the installation chamber (104), the frame (201) is internally provided with a vertically arranged rudder (202), a lead screw (203) and a plurality of guide rods (204), the bottom end of the lead screw (203) is connected with the shaft end of the rudder (202), the plurality of guide rods (204) are distributed on the outside of the lead screw (203), the lead screw (203) and the plurality of guide rods (204) are sleeved with a lifting plate (205), and the middle of the two sides of the lifting plate (205) is hingedly connected with a V-shaped connecting rod (208). The lower side of the frame (201) is hingedly connected with a first extending arm (206), the distal end of the first extending arm (206) is arranged to extend out of the openings on the left and right sides of the main frame plate (102) and is hingedly connected with a second extending arm (207). The V-shaped connecting rod (208) is formed by hingedly connecting the ends of two support rods. The middle of the support rod on one side of the V-shaped connecting rod (208) is connected with the first extending arm (206) through a pin shaft. The support rod on the other side of the V-shaped connecting rod (208) extends out of the opening on the second extending arm (207) and is connected with the hinged seat thereon. The support module is arranged on the second extending arm (207). The support module comprises an adjusting rod (209), a base, a support frame (210) and a support unit (211). The support frame (210) is formed by splicing a plurality of steel rails. The lower middle of the support frame (210) is connected with the second extending arm (207) through the base. The lower ends of the two sides of the support frame (210) are slidingly connected with the adjusting rod (209) through bearings. The grouting and filling member (3) is arranged in the parking chamber (106). The grouting and filling member (3) is a double-track filling robot. The grouting and filling member (3) comprises a main track (301), a climbing track (302), a component base frame (303), a mortar tank (304), a pumping pipe, a mortar filling mechanical arm (305) and an auxiliary visual camera (306). The support unit (211) is arranged in a plurality of positions and is distributed at intervals along the rail groove of the support frame (210). The support unit (211) is a hydraulic adjustable support rod.

2. A filling device for a mine goaf according to claim 1, characterized in that: The inside of the lower side of the main frame plate (102) is provided with a supply chamber (105), and the supply chamber (105) is arranged in a penetrating manner with the main frame parking chamber (106). The inside of the lower side of the main frame plate (102) is provided with a supply chamber (105), and the supply chamber (105) is arranged in a penetrating manner with the main frame parking chamber (106).

3. A filling device for a mine goaf according to claim 2, characterized in that: The mortar supply tank is arranged in the supply chamber (105), the automatic opening electric door plate (107) is arranged on the front side of the parking chamber (106), the console is arranged on the upper side of the parking chamber (106), the slope plate (108) is arranged on the front side of the parking chamber (106), and the parking chamber (106) is used for the rapid parking of the mortar filling component (3), the loading of mortar, and the troubleshooting.

4. The filling device for a mine goaf according to claim 1, characterized in that: The main track (301) is arranged on the lower side of the component chassis (303), the climbing tracks (302) are coaxially connected with the front side track wheels of the main track (301) on the two sides of the front part of the component chassis (303), and the mortar tank (304), the mortar filling mechanical arm (305) and the auxiliary visual camera (306) are arranged on the component chassis (303).

5. A filling device for a mine goaf according to claim 4, characterized in that: The mortar tank (304) is provided with a feeding port, and the output side of the mortar tank (304) is connected with the mortar filling mechanical arm (305) through a pumping pipe.

6. A filling device for a mine goaf according to claim 4, characterized in that: The mortar filling mechanical arm (305) is a three-axis joint mechanical arm provided with a mortar pipe inside, and the execution end of the mortar filling mechanical arm (305) is provided with a spray head.

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