Mining and filling integrated mechanical device for soft broken ore body and mining method

Abstract

The invention belongs to the technical field of mine engineering, and discloses a mining and filling integrated mechanical device for soft broken ore bodies and a mining method, in particular to a mining and filling integrated mechanical device for soft broken ore bodies, which comprises a driving part, a bucket is rotatably arranged on the driving part, a breaking hammer is rotatably arranged on the bucket, and the breaking hammer is rotatably arranged on the driving part. A crushing assembly is fixedly arranged on the bucket, a transmission assembly is connected to the driving part, the crushing assembly communicates with the transmission assembly, a storage part used for storing mixed cementing materials is arranged on the side, away from the bucket, of the transmission assembly, and a buffer spring of the crushing hammer can buffer knocking pressure. The soft ore body is prevented from being excessively disturbed; the visual control center adjusts the frequency of the telescopic rod and the amplitude of the sleeve according to the hardness data of the knocking part, precise operation is conducted in combination with the angle sensor, and damage to non-mining surrounding rock is reduced.

Description

Technical Field

[0001] This invention belongs to the field of mining engineering technology, specifically a mining and filling integrated mechanical device and mining method for weak and fractured ore bodies. Background Technology

[0002] Mineral resources are important natural resources and a crucial material foundation for social production and development. With the accelerated depletion of mineral resources, easily exploitable shallow and stable resources are gradually becoming exhausted. To ensure sustainable development, mineral mining must inevitably shift towards resources in deeper and more complex geological conditions. Among these, the safe and efficient recovery of weak and fractured ore bodies, a typical example of difficult-to-mine resources, has become a common challenge for the industry. In traditional mining processes, whether it's rock drilling and blasting or mechanical crushing, the operation follows a "mining first, then filling" model, where mining and filling are carried out as two independent processes. This model is suitable for structurally intact ore bodies, but for weak and fractured ore bodies with low strength and high looseness, it exposes a series of insurmountable drawbacks. Specific reasons include: The weak and fractured ore body has extremely poor self-stabilizing ability. After disturbance by mining equipment, the stress state of the roof and walls of the stope deteriorates rapidly, making it extremely prone to collapse and spalling. The pre-mining and post-filling process creates a time gap between the end of mining and the completion of filling, forming a safety window during which the risk of surrounding rock instability is extremely high, seriously threatening the safety of personnel and equipment. Furthermore, the mining and filling equipment systems are independent, with frequent process changes, and equipment adjustments and process coordination consume a significant amount of effective working time. Simultaneously, the fine ore produced by crushing is difficult to collect effectively, resulting in low resource recovery rates and pervasive dust, further reducing operational efficiency and the quality of the working environment. Delayed filling requires transporting large quantities of filling aggregate and cementing materials from the surface over long distances, incurring high costs. Moreover, due to the irregular shape of the goaf and the continuous deformation of the surrounding rock, the filling body often cannot effectively connect to the roof, resulting in unsatisfactory support and difficulty in effectively controlling ground pressure. In recent years, the widespread adoption of backfill mining has provided an effective means of controlling ground pressure, but the traditional step-by-step mining and backfilling model has not fundamentally solved the aforementioned problems. By highly integrating mining and backfilling processes in time and space, enabling simultaneous mining and backfilling, and utilizing extracted materials to prepare backfilling materials in situ, it is possible to significantly improve operational safety and resource recovery rates, effectively control mining costs, fundamentally eliminate safety hazards in goaf areas, and reduce solid waste emissions. This provides an effective way to achieve safe, efficient, and green mining of weak and fractured ore bodies, offering both good economic and environmental benefits. Summary of the Invention

[0003] The purpose of this invention is to address the above-mentioned problems. This invention provides an integrated mining and filling mechanical device and mining method for weak and fractured ore bodies, which has the advantages of good safety, strong operational continuity, high resource utilization, and low environmental pollution.

[0004] To achieve the above objectives, the present invention provides the following technical solution: an integrated mining and filling mechanical device for weak and fractured ore bodies, comprising a drive unit, a bucket rotatably mounted on the drive unit, a breaker hammer rotatably mounted on the bucket, and a crushing component fixedly mounted on the bucket; a transmission component connected to the drive unit; the crushing component and the transmission component communicating with each other; a storage section for storing mixed cementitious materials on the side of the transmission component away from the bucket; a stirring section on the side of the storage section away from the transmission component; the stirring section and the storage section communicating with each other; and a filling retaining wall movably mounted on the end of the drive unit away from the bucket. The hydraulic breaker includes a sleeve, and a buffer spring is connected inside the sleeve. A striking part is connected to the end of the buffer spring away from the sleeve, and the striking part is movably connected to the sleeve.

[0005] Preferably, the breaker further includes a telescopic rod, one end of which is rotatably connected to the bucket, and the end of the telescopic rod away from the bucket is connected to the sleeve.

[0006] Preferably, the crushing assembly includes a crushing box connected to the bucket, the crushing box having a crushing chamber inside, and the end of the crushing chamber away from the drive unit passing through the crushing box and communicating with the bucket.

[0007] Preferably, a rotating plate is rotatably provided on the side of the crushing chamber near the bucket, two crushing rollers are provided on the side of the rotating plate near the drive unit, and two crushing rollers are provided on the side of the crushing rollers away from the rotating plate.

[0008] Preferably, the wall of the crushing chamber is provided with an elastic groove, a connecting shaft is connected to the elastic groove, and the crushing roller is connected to the connecting shaft.

[0009] Preferably, the pulverizing chamber is connected to the transmission assembly, the transmission assembly includes an air compressor, one end of the air compressor is connected to a transmission pipe, the end of the transmission pipe away from the air compressor is connected to the pulverizing chamber, the end of the air compressor away from the transmission pipe is connected to a conveying pipe, and the end of the conveying pipe away from the air compressor is located on the upper side of the stirring section.

[0010] Preferably, the filling retaining wall includes a bearing plate, a movable rod is provided at one end of the bearing plate near the driving part, a plurality of elastic rods are connected to the end of the bearing plate away from the movable rod, and a movable plate is connected to the end of the elastic rod away from the bearing plate.

[0011] Preferably, the drive unit is provided with a visual control center for receiving and regulating the electronic components in the device.

[0012] This invention also includes a mining method utilizing an integrated mining and filling mechanical device for weak and fractured ore bodies, characterized by comprising the following steps: S1. After the device arrives at the target area, the breaker starts. The control center automatically adjusts the extension frequency of the breaker's telescopic rod and the vibration amplitude of the casing based on the ore hardness data of the striking part. The working angle is calibrated by the angle sensor at the connection between the telescopic rod and the bucket to ensure that the striking part accurately acts on the target area. S2. After crushing, the bucket and the breaker hammer work together to automatically move to the crushing area to receive the ore. The bucket detects the loading amount. When the preset load is reached, the control center raises the bucket and adjusts the tilt angle between the bucket and the drive unit through the hydraulic servo system to smoothly feed the ore into the crushing component and prevent it from spilling or impacting the crushing chamber of the crushing component. S3. After the ore enters the crushing assembly, the rotating plate of the crushing assembly is driven. The control center adjusts the opening of the rotating plate according to the amount of ore. At the same time, the rotating plate blocks dust. The ore is first crushed by the crushing roller and then finely ground by the crushing roller of the crushing assembly. The control center changes the distance between the crushing rollers by adjusting the position of the connecting shaft in the elastic groove of the crushing chamber wall to ensure that the particle size of the ore powder meets the filling requirements. S4. The crushed mineral powder enters the mixing section 7 through the connection structure between the crushing chamber and the transmission component. The air compressor generates driving force to send the mineral powder into the mixing section through the transmission pipe and conveying pipe of the transmission component. At the same time, the storage section introduces the mixed cementitious material into the mixing section. The control center dynamically adjusts the cementitious material addition ratio according to the amount of mineral powder. The mixing section mixes the two. S5. The control center adjusts the position and angle of the filling retaining wall through the movable rod of the filling retaining wall. The mixing part injects the filling slurry into the outside of the movable plate of the filling retaining wall. The movable rod drives the bearing plate of the filling retaining wall to make the movable plate contact the slurry. When the slurry shrinks, the movable rod automatically extends to compensate for the pressure. The solidification progress of the slurry is monitored by the pressure and temperature sensors on the outside of the movable plate. After the standard is reached, the filling retaining wall removal command is triggered.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The buffer spring of the hydraulic breaker can buffer the impact pressure and avoid excessive disturbance to weak ore bodies; the visual control center adjusts the frequency of the telescopic rod and the casing amplitude based on the hardness data of the impact part, and combines the angle sensor for precise operation, reducing damage to the non-mining surrounding rock. During the filling stage, the movable rod drives the bearing plate to contact the slurry, and the elastic rod cooperates to compensate for the pressure, ensuring the roof contact rate of the filling body, timely supporting the goaf, significantly reducing the risk of collapse and spalling, and ensuring the safety of personnel and equipment.

[0014] 2. After crushing, the bucket and breaker hammer work together to receive the ore. A pressure sensor detects the load, and a hydraulic servo system smoothly feeds the material to the crushing assembly. The rotating plate adjusts its opening according to the amount of ore and blocks dust. The crushing roller and grinding roller work together to grind the ore, and a laser particle size sensor and control center work together to ensure the particle size of the ore powder. At the same time, the transmission assembly sends the ore powder to the mixing section, and the storage section simultaneously supplies cementing materials, enabling the in-situ preparation of backfill material from the extracted material, improving resource recovery rate, reducing long-distance transportation costs, and increasing operational efficiency.

[0015] 3. The rotating plate of the crushing component shields the crushing chamber, preventing the spread of dust generated during crushing and grinding, thus improving the working environment. Fine-grained rock powder and crushed ore generated during mining are no longer treated as waste rock; instead, they are crushed, mixed with cementing materials, and used for backfilling, significantly reducing the land occupation and environmental pollution caused by waste rock stockpiling. The entire unit integrates mining and backfilling operations, avoiding the dual pollution of waste rock discharge and backfill material preparation in traditional processes, achieving both economic and environmental benefits, and promoting green and sustainable mining. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the overall device of the present invention; Figure 2 This is a cross-sectional structural diagram of the overall device of the present invention; Figure 3 This is a three-dimensional structural diagram of the bucket of the present invention; Figure 4 This is a schematic cross-sectional view of the bucket structure of the present invention; Figure 5 This is a three-dimensional structural diagram of the filling retaining wall of the present invention; Figure 6 This is a schematic cross-sectional view of the infill retaining wall of the present invention; Figure 7 This is a three-dimensional structural diagram of the pulverizing component of the present invention; Figure 8 This is a cross-sectional structural diagram of the crushing component of the present invention; Figure 9 This is a schematic diagram of the connection structure of the connecting shaft of the present invention.

[0017] Figure Descriptions: 1. Drive unit; 2. Bucket; 3. Breaker hammer; 301. Telescopic rod; 302. Sleeve; 303. Striking part; 304. Buffer spring; 4. Crushing assembly; 401. Crushing box; 4011. Crushing chamber; 4012. Elastic groove; 402. Rotating plate; 403. Crushing roller; 404. Crushing roller; 4041. Connecting shaft; 5. Transmission assembly; 501. Air compressor; 502. Transmission pipe; 503. Conveying pipe; 6. Storage unit; 7. Mixing unit; 8. Filling retaining wall; 801. Bearing plate; 802. Movable plate; 803. Elastic rod; 804. Movable rod. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] like Figures 1-9 As shown, this invention discloses an integrated mining and filling mechanical device for weak and fractured ore bodies, including a drive unit 1 for connecting and moving the device, for moving the device in the mine shaft, a bucket 2 rotatably mounted on the drive unit 1 for collecting crushed stone, a breaker hammer 3 rotatably mounted on the bucket 2 for crushing and excavating the mine shaft, and a crushing component 4 for crushing ore fixedly mounted on the bucket 2. A conveying component 5 for conveying the crushed ore powder is connected to the drive unit 1, and the crushing component 4 and the conveying component 5 are interconnected, so that the ore powder passing through the crushing component 4... The crushed ore powder can enter the conveying component 5. The side of the conveying component 5 away from the bucket 2 is provided with a storage section 6 for storing mixed cementitious materials, which can improve the cohesiveness of the ore powder and increase its molding efficiency. The side of the storage section 6 away from the conveying component 5 is provided with a stirring section 7 for mixing the ore powder and the mixed cementitious materials evenly. The stirring section 7 and the storage section 6 are interconnected, so that the mixed cementitious materials can be directly introduced into the stirring section 7. The end of the drive unit 1 away from the bucket 2 is movably provided with a filling baffle 8 for molding the evenly mixed ore powder.

[0020] In use, the drive unit 1 moves the device inside the mine, driving the breaker hammer 3 to crush the ore on the mine wall, causing the ore to detach from the mine wall. Then, the bucket 2 collects the detached ore, allowing it to enter the bucket 2. The angle between the bucket 2 and the drive unit 1 is then adjusted so that the ore in the bucket 2 enters the crushing component 4, where the crushing component 4 crushes the ore. The conveying component 5 then moves the ore powder in the crushing component 4 into the mixing unit 7. The mixed cementitious material in the storage unit 6 is also conveyed to the mixing unit 7, causing the mixing unit 7 to mix it. The mixed ore powder is then injected into the filling retaining wall 8 on the side away from the drive unit 1, and the filling retaining wall 8 is used to shape and support the ore powder.

[0021] The inner wall of the bucket 2 is embedded with a pressure sensor to detect the ore loading in real time. When the preset load is reached, that is, when the load-bearing capacity of the device is set to avoid insufficient power of the drive unit due to overload, the intelligent control center automatically triggers the tilt angle adjustment command. The bucket is slowly raised through the hydraulic servo system to ensure that the ore flows smoothly into the crushing component and avoids the ore from spilling or impacting the crushing chamber due to excessive tilt angle.

[0022] Furthermore, by using the bucket 2 and the breaker 3 to achieve action linkage, and through the preset logic of the control center, when the breaker completes the crushing operation in a certain area, the bucket automatically moves to the corresponding position, without the need for repeated manual adjustments, thus reducing the time for process connection.

[0023] To avoid over-excavation of weak and fractured ore bodies affecting the stability of the mine, the hydraulic breaker 3 includes a casing 302 for connection and support. A buffer spring 304 is connected inside the casing 302 to reduce the impact force. The end of the buffer spring 304 away from the casing 302 is connected to a striking part 303 for contacting the ore body. The striking part 303 is movably connected to the casing 302. During operation, the striking part 303 contacts the mine wall, causing the casing 302 to reciprocate and vibrate, which in turn causes the striking part 303 to reciprocate and contact the mine wall. Subsequently, the striking part 303 causes the buffer spring 304 to expand and contract, thereby buffering the impact pressure of the striking part 303 on the mine wall and ensuring the stability of the mine excavation.

[0024] The striking part 303 has a built-in pressure sensor that detects the contact pressure with the ore body in real time. The control center automatically adjusts the extension frequency of the telescopic rod 301 and the vibration amplitude of the casing 302 according to the hardness data of the ore body: for soft ore bodies with low hardness, the striking frequency and force are reduced to avoid the collapse of the surrounding rock caused by excessive crushing of the ore body; for locally harder interlayers, the striking parameters are appropriately increased to ensure crushing efficiency.

[0025] An angle sensor is installed at the connection between the telescopic boom 301 and the bucket 2. Combined with the navigation data of the drive unit 1, the working angle of the breaker 3 is automatically calibrated to ensure that the striking part 303 accurately acts on the target mining area and reduces the disturbance to the surrounding rock in the non-mining area. When the position of the breaker 3 is detected to be off, the length and angle of the telescopic boom are adjusted in real time to maintain the working accuracy.

[0026] Furthermore, to ensure that the hydraulic breaker 3 can excavate various parts of the mine, the hydraulic breaker 3 also includes a telescopic rod 301 for controlling the position and height of the striking part 303. One end of the telescopic rod 301 is rotatably connected to the bucket 2 to change the angle of the hydraulic breaker 3 in the mine. The end of the telescopic rod 301 away from the bucket 2 is connected to the casing 302. According to the working area of ​​the striking part 303, the angle between the telescopic rod 301 and the bucket 2 is adjusted, and then the length of the telescopic rod 301 is changed to adjust the striking area of ​​the striking part 303, ensuring that the working range of the hydraulic breaker 3 can meet the excavation requirements.

[0027] Furthermore, in order to ensure that the crushed stone can be crushed, the crushing component 4 includes a crushing box 401, which is connected to the bucket 2 to ensure that the position of the crushing box 401 is stable. At the same time, the crushing component 4 can be angled according to the working angle of the bucket 2 to ensure that the crushed stone can be completely crushed and ground. The crushing box 401 has a crushing chamber 4011 for crushing the crushed stone, and the end of the crushing chamber 4011 away from the drive unit 1 passes through the crushing box 401 and communicates with the bucket 2. The crushed stone can directly enter the crushing chamber 4011 in the bucket 2 for crushing.

[0028] Furthermore, to prevent dust from the crushed stone in the crushing chamber 4011 from interfering with the mine environment and to avoid excessive crushed stone entering the crushing chamber 4011 and affecting the crushing effect, a rotating plate 402 is rotatably provided on the side of the crushing chamber 4011 near the bucket 2. The rotating plate 402 can block the opening of the crushing chamber 4011, preventing crushed stone from entering the crushing chamber 4011 at will, and preventing dust generated during crushing from overflowing from the crushing chamber 4011. Two rotating plates are provided on the side of the rotating plate 402 near the drive unit 1. The crushing roller 403 is used to crush larger stones. On the side of the crushing roller 403 away from the rotating plate 402, there are two grinding rollers 404 for grinding smaller stones. During operation, when the bucket 2 collects the stones, the angle of the bucket 2 is raised. At this time, the rotating plate 402 is controlled to rotate, so that the stones can enter the grinding chamber 4011. The crushing roller 403 first crushes the larger stones into smaller stones, and then the stones are ground and pulverized by the grinding rollers 404 to form smaller powder.

[0029] Furthermore, in order to adjust the grinding particle size of the crushed stone powder, an elastic groove 4012 is provided on the cavity wall of the crushing chamber 4011 to change the spacing between the crushing rollers 404. A connecting shaft 4041 is connected to the elastic groove 4012, and the crushing rollers 404 are connected to the connecting shaft 4041. In use, according to the stirring requirements of the stirring unit 7, the position of the connecting shaft 4041 in the elastic groove 4012 is changed, thereby changing the spacing between the two crushing rollers 404 and realizing the adjustment of the grinding particle size.

[0030] Meanwhile, a laser particle size sensor is installed at the outlet of the crushing chamber 4011 to detect the particle size distribution of the crushed mineral powder in real time. When the particle size does not meet the filling requirements, the control center automatically adjusts the position of the connecting shaft 4041 in the elastic groove 4012 and changes the spacing of the crushing rollers 404: the spacing is reduced when the particle size needs to be refined and expanded when the particle size needs to be coarsened, so as to ensure that the particle size of the mineral powder is stable within the preset range.

[0031] Furthermore, the rotation angle of the rotating plate 402 is driven by a servo motor. The control center adjusts the opening of the rotating plate 402 according to the amount of ore conveyed by the bucket: when the amount of ore is large, the opening is increased to speed up the feeding speed; when the amount of ore is small, the opening is decreased to avoid ore accumulation in the crushing chamber 4011; at the same time, the rotation speed of the crushing roller 403 is linked, and the rotation speed is increased when the amount of ore increases to ensure that the crushing efficiency matches the feeding speed and avoid material blockage.

[0032] Furthermore, to ensure that the ground powder can move into the mixing section 7, thereby connecting the grinding chamber 4011 with the transmission component 5, the transmission component 5 includes an air compressor 501. The air compressor 501 generates driving force. One end of the air compressor 501 is connected to a transmission pipe 502. The end of the transmission pipe 502 away from the air compressor 501 is connected to the grinding chamber 4011. The end of the air compressor 501 away from the transmission pipe 502 is connected to a conveying pipe 503. The end of the conveying pipe 503 away from the air compressor 501 is located on the upper side of the mixing section 7. After the crushed stone passes through the grinding roller 404, the air compressor 501 is controlled to work, causing the air compressor 501 to carry the powder sequentially through the transmission pipe 502 into the air compressor 501. Then, after passing through the air compressor 501 into the conveying pipe 503, it falls into the mixing section 7, waiting to be mixed.

[0033] Furthermore, to ensure the stable molding of the support column, the filling retaining wall 8 includes a bearing plate 801 for contact connection. The end of the bearing plate 801 near the drive unit 1 is provided with a movable rod 804 to change the position and angle of the bearing plate 801, and the length of the movable rod 804 can be adjusted. The end of the bearing plate 801 away from the movable rod 804 is connected to a plurality of elastic rods 803. The end of the elastic rod 803 away from the bearing plate 801 is connected to a movable plate 802. Then, after the slurry is located on the side of the movable plate 802 away from the elastic rod 803, the bearing plate 801 is moved by the movable rod 804, so that the movable plate 802 contacts the slurry. At the same time, the elastic rod 803 ensures that the contact pressure between the movable plate 802 and the slurry can meet the molding requirements of the support column.

[0034] A displacement sensor is built into the movable rod 804 to detect the movement distance of the bearing plate 801 in real time. The control center automatically adjusts the position of the movable plate 802 based on the goaf size data to ensure that the filling space matches the goaf. At the same time, a pressure sensor is installed on the elastic rod 803 to detect the supporting pressure on the grout in real time. When the grout shrinks in volume during solidification, the movable rod is automatically extended and the pressure is compensated by the elastic rod to ensure that the filling body has a roof contact rate of ≥98%, thereby improving the ground pressure control effect.

[0035] Meanwhile, pressure and temperature sensors are installed on the outside of the movable plate 802 to monitor the pressure changes and hydration heat temperature during the grout solidification process in real time. The grout solidification progress is judged by a preset algorithm: when the pressure is stable and the temperature drops to the ambient temperature, it is determined that the filling body has reached the design strength, and the filling retaining wall evacuation command is automatically triggered to prepare for the next cycle of operation; at the same time, filling defects are identified by sensor data and timely grouting is carried out.

[0036] Furthermore, the drive unit 1 is equipped with a visual control center for receiving and regulating the electronic components within the device, thereby enhancing the device's intelligence.

[0037] The visual control center can realize data acquisition and analysis, remote and local dual control, path planning and adaptive movement.

[0038] Data Acquisition and Analysis: Real-time reception of sensor data (such as crushing pressure, crushing particle size, transmission flow rate, stirring speed, etc.) from various modules of the device (crusher, crushing component, transmission component, etc.), analysis of process matching degree through preset algorithms, and automatic identification of abnormal working conditions (such as crushing overload, transmission blockage).

[0039] Remote and local dual control: Supports local touch screen operation and remote cloud monitoring. Managers can view the device's operating status in real time via mobile or PC. In emergencies (such as sudden deformation of the surrounding rock), remote shutdown commands can be sent. At the same time, an emergency braking button is retained locally to ensure control redundancy.

[0040] Path planning and adaptive movement: Integrating LiDAR and inertial navigation modules, combined with a 3D geological model of the mine, it automatically plans the optimal mining path and avoids known dangerous areas; during movement, it detects the road surface smoothness in real time and adjusts the height of the drive unit through an adaptive suspension system to avoid module misalignment caused by device bumps.

[0041] The drive unit 1, serving as the central hub for the device's movement and control, integrates a visual control center, lidar, and inertial navigation modules. First, it plans the optimal mining path based on the mine's 3D geological model, avoiding previously detected cavities, high-stress areas, and other hazardous zones. Simultaneously, an adaptive suspension system adjusts the drive unit's height in real-time to ensure smooth movement within the mine, laying the foundation for precise execution of subsequent processes. During movement, the control center continuously receives sensor data from each module, dynamically adjusting component operating parameters to achieve intelligent management throughout the entire process.

[0042] Once the device arrives at the target mining area, the breaker 3 starts operating first. It is rotatably connected to the bucket 2 via the telescopic rod 301. The control center automatically adjusts the extension frequency of the telescopic rod 301 and the vibration amplitude of the casing 302 according to the ore body hardness data: for low-strength soft ore bodies, the striking frequency and force are reduced to avoid excessive crushing that could lead to the collapse of the surrounding rock; for locally harder interlayers, the parameters are appropriately increased to ensure crushing efficiency.

[0043] Meanwhile, the angle sensor at the connection between the telescopic boom 301 and the bucket 2 calibrates the working angle of the breaker 3 in real time, ensuring that the striking part 303 accurately acts on the target area and reduces disturbance to the surrounding rock in non-mining areas. During operation, the striking part 303 contacts the mine wall, and the sleeve 302 drives it to reciprocate. The buffer spring 304 buffers the striking pressure through its extension and contraction, ensuring both the crushing effect and maintaining the stability of the mine, thus preventing damage to the soft and fractured ore body structure due to excessive impact.

[0044] After the crushing operation is completed, the bucket 2 and the breaker 3 move in tandem. The control center triggers preset logic, and the bucket 2 automatically moves below the crushing area to receive the falling ore, eliminating the need for repeated manual adjustments and shortening the process connection time. The pressure sensor embedded in the inner wall of the bucket 2 monitors the ore loading in real time. When the preset load is reached, the control center automatically and slowly raises the bucket through the hydraulic servo system, adjusting the tilt angle between the bucket and the drive unit 1 to ensure that the ore flows smoothly into the crushing component 4, preventing ore from spilling or impacting the crushing chamber due to excessive tilt angle.

[0045] After the ore enters the crushing assembly 4, it first contacts the rotating plate 402 on the side of the crushing chamber 4011 near the bucket 2. The rotating plate 402 is driven by a servo motor, and the control center adjusts its opening according to the amount of ore conveyed by the bucket: when the amount of ore is large, the opening is increased to speed up the feeding speed; when the amount of ore is small, the opening is decreased to avoid ore accumulation in the crushing chamber. At the same time, the rotating plate 402 can also block the opening of the crushing chamber 4011 to prevent dust generated during crushing from overflowing, thus improving the working environment in the mine. After the ore enters the crushing chamber 4011, it first passes through two crushing rollers 403 for preliminary crushing, breaking larger pieces of ore into smaller particles. Then, the smaller particles are conveyed to the crushing roller 404 area for fine grinding. The elastic groove 4012 on the wall of the crushing chamber 4011 cooperates with the connecting shaft 4041. The control center adjusts the position of the connecting shaft 4041 in the elastic groove 4012 according to the stirring requirements of the stirring unit 7, thereby changing the spacing of the crushing rollers 404 and achieving precise control of the mineral powder particle size. At the same time, the laser particle size sensor at the outlet of the crushing chamber 4011 detects the mineral powder particle size distribution in real time. If it does not meet the filling requirements, the control center immediately fine-tunes the spacing to ensure that the mineral powder particle size is stable within the preset range, thus ensuring the quality of the subsequent filling material.

[0046] The ground mineral powder enters the transmission system through the connection between the grinding chamber 4011 and the transmission component 5. The air compressor 501 of the transmission component 5 starts to generate driving force, and the mineral powder enters the air compressor 501 through the transmission pipe 502, and is then transported to the upper side of the stirring section 7 through the conveying pipe 503, and finally falls into the stirring section. During this process, the control center adjusts the power of the air compressor 501 according to the flow sensor data in the transmission pipe 502 to ensure that the mineral powder conveying rate matches the grinding rate of the grinding component 4, and avoids problems such as pipe blockage or untimely delivery.

[0047] Meanwhile, the storage unit 6, through its connection with the mixing unit 7, pours a pre-proportioned mixture of cementitious materials into the mixing unit 7. The control center dynamically adjusts the amount of cementitious material added based on the mineral powder delivery rate, ensuring that the ratio of the two meets the design requirements for the strength of the filling body. After the mixing unit 7 is started, it uses built-in stirring blades to mix the mineral powder and cementitious materials at high speed. During the mixing process, a temperature sensor monitors the temperature of the mixture in real time to prevent overheating due to stirring friction from affecting the material properties. Once the mixture is uniformly mixed and forms a filling slurry, the mixing unit 7 stops operating and awaits the filling command.

[0048] During the filling stage, the control center first adjusts the position and angle of the filling retaining wall 8 via the movable rod 804. The displacement sensor built into the movable rod 804 detects the movement distance of the bearing plate 801 in real time. Combined with the goaf size data, it ensures that the movable plate 802 forms a suitable filling space with the surrounding rock of the mine. Subsequently, the mixing unit 7 injects the filling slurry into the side of the movable plate 802 away from the elastic rod 803. The control center moves the bearing plate 801 via the movable rod 804, so that the movable plate 802 is in close contact with the slurry. The pressure sensor on the elastic rod 803 detects the supporting pressure on the slurry in real time. When the slurry shrinks in volume during solidification, the control center automatically extends the movable rod and compensates for the pressure through the elastic rod, ensuring that the filling body has a roof contact rate of ≥98%, effectively controlling the ground pressure, and avoiding the problem of poor filling effect caused by irregular goaf shape and surrounding rock deformation in traditional delayed filling.

[0049] During the solidification process of the slurry, the pressure sensor and temperature sensor on the outside of the movable plate 802 continuously monitor the changes in slurry pressure and hydration heat temperature. The control center judges the solidification progress of the slurry through a preset algorithm: when the pressure is stable and the temperature drops to the ambient temperature, it is determined that the filling body has reached the design strength, and the filling retaining wall withdrawal command is automatically triggered. The device then moves to the next mining area and starts a new round of mining and filling cycle.

[0050] This invention also includes a mining method utilizing an integrated mining and filling mechanical device for weak and fractured ore bodies, characterized by comprising the following steps: S1. After the device arrives at the target area, the breaker 3 starts. The control center automatically adjusts the extension frequency of the telescopic rod 301 and the vibration amplitude of the casing 302 based on the ore hardness data collected by the pressure sensor built into the striking part 303 of the breaker 3. The frequency and force are reduced for weak ore bodies, and the frequency and force are increased for hard interlayers. The working angle is calibrated by the angle sensor at the connection between the telescopic rod 301 and the bucket 2 to ensure that the striking part 303 acts accurately on the target area. The buffer spring 304 of the breaker 3 buffers the striking pressure through extension and contraction to avoid damaging the ore structure and achieve safe crushing.

[0051] S2. After crushing is completed, the bucket 2 and the breaker hammer 3 work together to automatically move to the crushing area to receive the ore. The pressure sensor on the inner wall of the bucket 2 detects the loading amount. When the preset load is reached, the control center lifts the bucket 2 through the hydraulic servo system and adjusts the tilt angle between the bucket 2 and the drive unit 1 to smoothly feed the ore into the crushing component 4, preventing spillage or impact on the crushing chamber 4011 of the crushing component 4.

[0052] S3. After the ore enters the crushing assembly 4, the servo motor drives the rotating plate 402 of the crushing assembly 4. The control center adjusts the opening of the rotating plate 402 according to the amount of ore, opening it to a large degree and closing it to a small degree. At the same time, the rotating plate 402 blocks dust. The ore is first crushed by the crushing roller 403 of the crushing assembly 4, and then finely ground by the crushing roller 404 of the crushing assembly 4. The control center changes the spacing of the crushing roller 404 by adjusting the position of the connecting shaft 4041 of the crushing assembly 4 in the elastic groove 4012 of the crushing chamber 4011. Combined with the data of the laser particle size sensor at the outlet of the crushing chamber 4011, it ensures that the particle size of the ore powder meets the filling requirements.

[0053] S4. The crushed mineral powder enters the transmission component 5 through the communication structure between the crushing chamber 4011 and the transmission component 5. The air compressor 501 of the transmission component 5 generates driving force to send the mineral powder into the mixing section 7 through the transmission pipe 502 and the conveying pipe 503 of the transmission component 5. At the same time, the storage section 6 is used to store the mixed cementitious material and introduce the mixed cementitious material into the mixing section 7. The control center dynamically adjusts the cementitious material addition ratio according to the amount of mineral powder. The mixing section 7 mixes the two at high speed. The temperature sensor of the mixing section 7 monitors the mixing temperature to avoid overheating and affecting the material performance.

[0054] S5. The control center adjusts the position and angle of the filling retaining wall 8 via the movable rod 804. Based on the displacement sensor data built into the movable rod 804, the size of the goaf is matched. The mixing unit 7 injects the filling slurry into the outside of the movable plate 802 of the filling retaining wall 8. The movable rod 804 drives the bearing plate 801 of the filling retaining wall 8 to make the movable plate 802 contact the slurry. The pressure sensor on the elastic rod 803 of the filling retaining wall 8 monitors the support pressure. When the slurry shrinks, the movable rod 804 automatically extends to compensate for the pressure, ensuring that the roof contact rate is ≥98%. The solidification progress of the slurry is monitored by the pressure and temperature sensors on the outside of the movable plate 802. After the standard is reached, the command to withdraw the filling retaining wall 8 is triggered.

[0055] It should be noted that, in this document, the terms “comprising,” “including,” or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0056] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A mining and filling integrated mechanical device for soft and broken ore body, comprising a driving part (1), characterized in that: The driving part (1) is rotatably provided with a bucket (2), the bucket (2) is rotatably provided with a breaking hammer (3), and the bucket (2) is fixedly provided with a crushing assembly (4), the driving part (1) is connected with a transmission assembly (5), the crushing assembly (4) and the transmission assembly (5) are communicated with each other, one side of the transmission assembly (5) away from the bucket (2) is provided with a storage part (6) for storing mixed cementitious materials, one side of the storage part (6) away from the transmission assembly (5) is provided with a stirring part (7), the stirring part (7) and the storage part (6) are communicated with each other, and one end of the driving part (1) away from the bucket (2) is movably provided with a filling retaining wall (8). The breaking hammer (3) comprises a sleeve (302), a buffer spring (304) is connected in the sleeve (302), one end of the buffer spring (304) away from the sleeve (302) is connected with a knocking part (303), and the knocking part (303) is movably connected to the sleeve (302).

2. The mining and filling integrated mechanical device for soft and broken ore body according to claim 1, characterized in that: The breaking hammer (3) further comprises a telescopic rod (301), one end of the telescopic rod (301) is rotatably connected to the bucket (2), and one end of the telescopic rod (301) away from the bucket (2) is connected with the sleeve (302).

3. The mining and filling integrated mechanical device for soft and broken ore body according to claim 1, characterized in that: The crushing assembly (4) comprises a crushing box (401), the crushing box (401) is connected to the bucket (2), a crushing cavity (4011) is formed in the crushing box (401), and one end of the crushing cavity (4011) away from the driving part (1) penetrates through the crushing box (401) and communicates with the bucket (2).

4. The mining and filling integrated machine for soft and broken ore body according to claim 3, characterized in that: One side of the crushing cavity (4011) close to the bucket (2) is rotatably provided with a rotating plate (402), two breaking rollers (403) are arranged on one side of the rotating plate (402) close to the driving part (1), and two crushing rollers (404) are arranged on one side of the breaking roller (403) away from the rotating plate (402).

5. The mining and filling integrated mechanical device for soft and broken ore body according to claim 4, characterized in that: An elastic groove (4012) is formed in the cavity wall of the crushing cavity (4011), a connecting shaft (4041) is connected to the elastic groove (4012), and the crushing roller (404) is connected with the connecting shaft (4041).

6. The mining and filling integrated machine for soft and broken ore body according to claim 3, characterized in that: The crushing cavity (4011) communicates with the transmission assembly (5), the transmission assembly (5) comprises an air compressor (501), one end of the air compressor (501) is connected with a transmission pipe (502), one end of the transmission pipe (502) away from the air compressor (501) communicates with the crushing cavity (4011), one end of the air compressor (501) away from the transmission pipe (502) is connected with a conveying pipe (503), and one end of the conveying pipe (503) away from the air compressor (501) is located on the upper side of the stirring part (7).

7. The mining and filling integrated machine for soft and broken ore body according to claim 1, characterized in that: The filling retaining wall (8) comprises a bearing plate (801), a movable rod (804) is arranged at one end of the bearing plate (801) close to the driving part (1), a plurality of elastic rods (803) are connected at one end of the bearing plate (801) away from the movable rod (804), and a movable plate (802) is connected at one end of the elastic rods (803) away from the bearing plate (801).

8. The mining and filling integrated mechanical device for soft and broken ore body according to claim 1, characterized in that: The driving part (1) is internally provided with a visual control hub for receiving and regulating electronic components in the device.

9. A method of mining using the mining and filling integrated machine for weak and broken ore bodies according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: S1, after the device reaches the target area, the breaking hammer (3) is started, the control hub automatically adjusts the telescopic frequency of the telescopic rod (301) and the vibration amplitude of the sleeve (302) of the breaking hammer (3) according to the ore body hardness data of the knocking part (303); the working angle is calibrated by means of the angle sensor at the connection position of the telescopic rod (301) and the bucket (2), so that the knocking part (303) accurately acts on the target area; S2, after the breaking is completed, the bucket (2) and the breaking hammer (3) are linked to automatically move to the broken area to receive the ore; the bucket (2) detects the loading capacity, when the preset load is reached, the control hub lifts the bucket (2) through the hydraulic servo system, adjusts the inclination angle of the bucket (2) and the driving part (1), and stably sends the ore into the crushing assembly (4), so as to prevent the ore from spilling or impacting the crushing cavity (4011) of the crushing assembly (4); S3, after the ore enters the crushing assembly (4), the rotating plate (402) of the crushing assembly (4) is driven, the control hub adjusts the opening of the rotating plate (402) according to the amount of ore, and the rotating plate (402) blocks dust; the ore is first preliminarily broken by the breaking roller (403), and then finely ground by the crushing roller (404) of the crushing assembly (4), the control hub changes the distance between the crushing rollers (404) by adjusting the position of the connecting shaft (4041) in the elastic groove (4012) of the cavity wall of the crushing cavity (4011), so as to ensure that the particle size of the ore powder meets the filling requirements; S4, the crushed ore powder enters the stirring part 7 through the communication structure of the crushing cavity (4011) and the transmission assembly (5), the air compressor (501) generates driving force, and the ore powder is sent into the stirring part (7) through the transmission pipe (502) and the conveying pipe (503) of the transmission assembly (5); at the same time, the storage part (6) introduces the mixed cementitious material into the stirring part (7), the control hub dynamically adjusts the cementitious material feeding ratio according to the amount of ore powder, and the stirring part (7) mixes the two; S5, the control hub adjusts the position and angle of the filling retaining wall (8) through the movable rod (804) of the filling retaining wall (8), the stirring part (7) injects the filling slurry into the outside of the movable plate (802) of the filling retaining wall (8); the movable rod (804) drives the bearing plate (801) of the filling retaining wall (8) to make the movable plate (802) resist the slurry, the movable rod (804) is automatically lengthened to compensate the pressure when the slurry shrinks, the setting progress of the slurry is monitored through the pressure and temperature sensors outside the movable plate (802), and the filling retaining wall (8) is triggered to withdraw after reaching the standard.

Images