Collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining

Abstract

This invention relates to the field of underground mining machinery and collaborative operation technology, and discloses a collaborative process based on intelligent sorting of underground mining waste rock and in-situ backfilling of tailings. The process includes: moving the working end of the mining assembly to extract ore and form a material drop space; transporting the mining associated materials to the material guiding unit; using the displacement energy of the working end to drive the deflection batching component to swing back and forth through a flexible transmission component, transforming the trajectory of the associated materials into a transverse fan-shaped throwing trajectory to construct a layered skeleton; obtaining the advance displacement and introducing slurry; and outputting pressure pulse grouting at a specific distance from the delayed mining position when the mining step reaches a threshold, inducing slurry shearing and permeation. This invention achieves in-situ backfilling of associated materials through synchronous conversion of displacement energy, eliminating the window period between the release of surrounding rock stress and the intervention of support, inhibiting the expansion of the loosened zone of surrounding rock, and constructing a hardened support structure with balanced stress.

Description

Technical Field

[0001] This invention relates to the field of underground mining machinery and collaborative operation technology, particularly to a collaborative process based on intelligent sorting of waste rock and on-site backfilling of tailings in underground mining. Background Technology

[0002] Currently, underground mining employs backfilling mining methods to maintain the stability of the surrounding rock and prevent surface subsidence. This involves filling the goaf formed by mining with waste rock or cemented slurry to construct artificial support structures that restrict the displacement of the surrounding rock. In deep, high-stress mining environments, the stress release at the cutting face exhibits instantaneous characteristics. In existing mining and backfilling processes, ore mining, ore sorting, and goaf backfilling are discrete in their spatial and temporal distribution. Waste rock generated during mining typically needs to be transported to the surface via a hoisting system, then processed and transferred back underground. This temporal difference results in a stress release window between the moment the cutting face is exposed and the effectiveness of the backfilling support. The internal stress of the surrounding rock is reconstructed before the support structure has achieved effective strength, inducing nonlinear expansion of the loosened zone and irreversible plastic deformation.

[0003] Conventional improvement schemes focus on optimizing downhole hoisting efficiency or shortening the initial setting time of backfill materials through admixtures. However, downhole operating space and material flow channels are limited by physical dimensions. Simply increasing material flow can easily lead to conflicts in multi-task sequences, and passively increasing material strength cannot eliminate the mechanical contradiction that the intervention sequence of the support structure lags behind the stress release process. In addition to hardware limitations, existing remediation methods mostly focus on post-disaster end-stage remediation. For example, Chinese invention patent with publication number CN117231216A discloses a method for remediating surface subsidence pits formed by underground mining by backfilling with waste rock. By monitoring the subsidence pattern and backfilling waste rock in multiple stages to restore the ecology, this method begins when the large-scale collapse of the rock strata reaches the surface. It is disconnected from the space and kinetic energy transfer of the underground cutting process. Due to the lack of physical coupling between cutting displacement and waste rock treatment, stress cannot respond in time, and the gap period still objectively exists. It is difficult to suppress the initial expansion of the loose zone and also difficult to solve the mechanical discontinuity between the support body and the roof. This makes the support structure unable to bear the load before irreversible plastic deformation. It is necessary to realize the real-time conversion of cutting displacement energy with in-situ waste rock construction, eliminate the support gap, optimize the cycle process and improve stability. This is a problem to be solved in deep mining.

[0004] Specifically, existing technologies have the following main shortcomings: 1. Separation of mining and filling sequences leads to stress release gaps after the surrounding rock is exposed; 2. The lengthy waste rock transportation process results in excessive underground material load; 3. Mechanical discontinuity at the contact surface between the filling material and the roof leads to low support efficiency. Therefore, how to achieve deep physical coupling between the cutting advance displacement of mining machinery and the in-situ treatment of associated waste rock, and how to use the mechanical motion energy of the mining machinery itself to induce quasi-synchronous construction of the filling support skeleton, thereby optimizing the cyclic process of underground mining and improving the overall stability of the mine cutting face, while improving the continuity of mining operations and eliminating support gaps during the exposure stage of the surrounding rock, is the technical problem to be solved by this invention. Summary of the Invention

[0005] To address the problems mentioned in the background section, the technical solution of this invention is as follows:

[0006] The collaborative process based on intelligent sorting of waste rock and on-site backfilling of tailings in underground mining includes the following steps:

[0007] Step S1: Drive the working end of the mining assembly to move along the mining trajectory at the face to strip the surrounding rock and extract the ore, and form a material drop space to be filled behind the working end.

[0008] Step S2: The mining associated material is transported to the material guiding unit located behind the mining assembly. Utilizing the mechanical displacement generated by the working end as it moves along the mining trajectory, the lateral displacement of the working end is synchronously converted into the follow-up oscillation of the deflection material distribution component by a flexible transmission component connected between the working end and the deflection material distribution component located at the end of the material guiding unit. The follow-up oscillation changes the axial falling trajectory into a lateral fan-shaped throwing trajectory by changing the detachment vector of the mining associated material, so as to construct a layered skeleton within the full width of the roadway in the material falling space.

[0009] Step S3: Obtain the mining advance displacement of the mining assembly and introduce grout. When the mining advance displacement reaches the preset mining step distance L, pressure pulse grouting is output to the interior of the layered skeleton through the grouting actuator at a spatial position of 2 to 3 times L of the lagging operation execution end. Pressure pulse grouting uses the instantaneous physical impact force to drive the grout to shear and penetrate in the material gaps of the layered skeleton, so as to construct a hardened support structure with balanced force in the material drop space.

[0010] Preferably, in step S2, the maximum deflection angle of the deflection batching component during the follow-up swing process is limited by the lateral displacement amplitude of the work execution end, and the swing phase of the deflection batching component is dynamically adjusted by the tension pre-compensation unit set at the end of the flexible transmission component. The tension pre-compensation unit uses the internal preset mechanical elastic force to offset the transmission elastic deformation of the flexible transmission component, so that the mining associated material can be spatially symmetrically laid in the cross section of the material drop space.

[0011] Preferably, in step S3, the peak pulse pressure P of the pressure pulse grouting satisfies the following formula: Where P is the peak pressure of the pressure pulse grouting, ρ is the density of the grout, g is the gravitational acceleration, H is the vertical filling height of the material drop space, and L is the real-time mining step distance. This is the preset critical exposure step distance of the mining roof.

[0012] Preferably, the oscillation angular velocity of the deflecting batching component is set to 1.2 to 1.5 times the moving angular velocity of the operation execution end by an acceleration mechanism set at the end of the material guiding unit, so that the mining associated material thrown into the side wing area of ​​the material drop space obtains a horizontal initial velocity of not less than 3.5 m / s, and fills the accumulation cavity of the surrounding rock side wall in a physical filling manner.

[0013] Preferably, the mass percentage of solid components in the grout is set to 75% to 82%, and the output frequency of pressure pulse grouting increases linearly with the advance rate of the mining assembly. The dynamic pressure fluctuations generated by pressure pulse grouting destroy the grout retention boundary layer in the pores of the layered skeleton, thereby improving the wetting and adsorption strength of the grouting grout on the surface of the mining associated materials.

[0014] Preferably, the inner wall of the material guiding unit has a spiral flow channel. The spiral flow channel is used to guide the mining associated material to generate a forced rotational axial force when it slides down. The rotational axial force, combined with the centrifugal force generated by the follow-up swing, increases the motion inertia of the mining associated material after it leaves the deflection batching component, and maintains the spatial stability of the transverse fan-shaped throwing trajectory.

[0015] Preferably, before performing step S1, the surrounding rock stress distribution parameters of the mining assembly operation area are obtained, and the critical exposure step distance of the roof is calculated. Controlling the mining step distance generated in a single mining operation Always below 0.6 times This is to limit the initial radial expansion of the loosened zone of the surrounding rock.

[0016] Preferably, the swing axis of the deflecting feeding component is inclined at 5° relative to the vertical center plane of the feeding space. ∘ Up to 15 ∘ The prestress component generated by gravity on the flexible transmission component is used to counteract the vertical deflection of the flexible transmission component.

[0017] Preferably, the flexible transmission component is connected to the working end via a mechanical energy unloading unit, which monitors the instantaneous tension of the flexible transmission component. When the instantaneous tension exceeds a preset mechanical strength threshold, the mechanical energy unloading unit interrupts the transmission connection between the working end and the deflection feeding component through a physical disengagement action to protect the deflection feeding component from impact damage.

[0018] Preferably, in step S3, the grouting actuator adjusts the pumping pressure of the pressure pulse grouting according to the material porosity at different roadway heights of the layered skeleton, so that the elastic modulus distribution of the hardened support structure after formation matches the spatial bearing capacity of the stress concentration area around the material drop space.

[0019] The beneficial effects of this invention are:

[0020] 1. In the underground mining collaborative process, by physically coupling the mining step distance L with the advance displacement of the mining machinery, the waste rock is instantly dumped in the goaf, eliminating the time gap between the release of surrounding rock stress and the intervention of support. This mechanism curbs the nonlinear expansion of the loosening zone of the surrounding rock, so that the filling body provides effective support before the surrounding rock enters the stage of large-scale plastic deformation.

[0021] 2. The swing trajectory of the cutting part of the mining machinery is used to drive the rear chute to perform lateral sweeping, so that the dumped waste rock is transformed from a state of natural angle of repose to a state of full-width layered laying. Combined with the pulse grouting process with a lag of 2L to 3L in the mining step distance, the grout is induced to penetrate and diffuse inside the non-uniform skeleton, forming a hardened support structure with balanced stress in the center of the filling body and the two side wings, thus eliminating the stress concentration phenomenon at the edge of the roadway roof.

[0022] 3. The pulse coupling mechanism of high solid phase slurry and waste rock skeleton is adopted. The disturbance energy generated by the output frequency of the grouting pump drives the fine fragments inside the waste rock skeleton to displace and rearrange, eliminating the grouting blind zone caused by particle size segregation. This makes the hardened support body form a continuous and uniform load transfer path, and improves the toughness of the filling body against impact pressure load. Attached Figure Description

[0023] The above and other objects, features, and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description taken in conjunction with the accompanying drawings, in which several embodiments of the invention are illustrated by way of example and not limitation, wherein:

[0024] Figure 1 This is a flowchart of the collaborative process of intelligent sorting of waste rock and on-site backfilling of tailings in underground mining, based on the present invention.

[0025] Figure 2The technical logic diagram for constructing a hardened support structure with balanced stress according to the present invention is shown. Detailed Implementation

[0026] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0027] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0028] Secondly, an embodiment or embodiment referred to herein refers to a specific feature, structure or characteristic that may be included in at least one implementation of the present invention. An embodiment appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that is mutually exclusive with other embodiments.

[0029] This invention is described in detail with reference to the schematic diagrams. When describing the embodiments of this invention, for ease of explanation, the cross-sectional views of the device structure will be partially enlarged without adhering to the general scale. Moreover, the schematic diagrams are only examples and should not limit the scope of protection of this invention. In addition, in actual manufacturing, the three-dimensional spatial dimensions of length, width and depth should be included.

[0030] Furthermore, in the description of this invention, it should be noted that the terms such as "upper," "lower," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or component referred to has a specific orientation, or is constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention. In addition, the terms "first," "second," or "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0031] Unless otherwise explicitly specified and limited, the terms installation, connection, and linking in this invention should be interpreted broadly. For example, they can refer to fixed connection, detachable connection, or integrated connection; similarly, they can refer to mechanical connection, electrical connection, or direct connection, or indirect connection through an intermediate medium, or internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] This invention provides a collaborative process for intelligent sorting of waste rock and in-situ backfilling of tailings in underground mining. By converting the displacement energy of the mining machinery into kinetic energy for in-situ processing of associated materials, it achieves quasi-synchronous operation of goaf support and ore recovery. The process system mainly consists of a mining assembly, a material guiding unit, a deflection and batching component, a flexible transmission component, and a grouting actuator. In operation, the working end of the mining assembly performs cutting movement at the face and generates associated materials. These associated materials enter the material guiding unit behind the mining assembly. Utilizing the mechanical displacement of the working end during lateral sweeping, the flexible transmission component pulls the deflection and batching component to reciprocate. The process involves discharging associated materials into the material drop space according to a pre-set transverse fan-shaped throwing trajectory. The grouting actuator outputs high-pressure pulse grouting into the layered framework at a specific distance behind the mining face, ultimately achieving overall hardening of the support structure in conjunction with the initial settlement pressure of the surrounding rock. In deep underground mining, the stress release after exposure of the surrounding rock is instantaneous. To address this challenge, a physical coupling relationship is established between the mining step distance L and the advance displacement at the operating end. Specifically, the stress distribution parameters of the surrounding rock in the mining assembly's operating area are obtained, including the rock quality index RQD and uniaxial compressive strength. The critical exposure step distance of the roof is determined through numerical calculations. The specific calculation logic is as follows: The system pre-installs a 10-row, 10-column discrete numerical mapping matrix. The row index corresponds to the rock quality index, ranging from 30% to 90% in 10 gradients with a sampling step of 6%. The column index corresponds to the uniaxial compressive strength, ranging from 20MPa to 200MPa in 10 gradients with a sampling step of 20MPa. Before the start of the mining operation, the processor uses a binary search method to locate the discrete coordinate point in the matrix that is closest to the current geological parameters. If the rock quality index is read as 65% and the uniaxial compressive strength is 120MPa, the basic step distance value extracted from the storage unit is 4.8m. The system obtains the lateral pressure coefficient of the surrounding rock. If the coefficient is within the range of 1.2 to 1.5, a reduction weight of 0.85 is added to the basic step distance, thereby outputting the final determined critical exposure step distance value of the roof. The system controls the mining step distance generated in a single mining operation. Always below 0.6 times For example, in a certain mining environment, the RQD was measured to be 65%, which determines... If the depth is 5m, then the single mining step distance L is set to 2.5m. When the working end completes the advance of distance L, the material drop space is formed immediately. At this time, the mining-related materials generated are directly discharged into the material drop space through the material guiding unit, so that the filling body provides physical support before the surrounding rock undergoes large-scale plastic deformation, and inhibits the expansion of the loosening zone of the surrounding rock.

[0033] The flexible transmission component is physically connected to the lateral displacement output end of the cutting section cantilever via a fixed pulley block mounted on the frame of the mining assembly. The fixed pulley block includes symmetrically arranged steering pulleys on both sides of the frame. One end of the flexible transmission component is fixed to a pin on the side wall of the cutting section cantilever, and the other end passes around the steering pulley and is connected to the rotating main shaft of the deflection feeding component via a set of compound lever transmission mechanisms. It utilizes the lateral travel generated when the cutting section cantilever sweeps across the frontal face. Pulling the flexible transmission component generates synchronous displacement. The transmission ratio i of the compound lever transmission mechanism is set within the range of 1.5 to 2.2, driving the deflecting material distribution component to generate a corresponding swing angular displacement to cover the lateral span of the material drop space in the width direction of the roadway, where i is the transmission ratio. Because the mining associated materials are prone to forming a repose angle accumulation state with a central bulge and empty wings under gravity accumulation, resulting in support gaps in the top corner area of ​​the roadway, the present invention adopts a transverse fan-shaped dumping procedure driven by mechanical displacement energy. The end of the material guiding unit is provided with a deflecting material distribution component with lateral degrees of freedom. This deflecting material distribution component is connected to the cutting section cantilever of the mining assembly through the flexible transmission component. When the working execution end is at the face, During the sweeping movement in the width direction, its lateral displacement is synchronously transmitted to the deflection and feeding component through the flexible transmission component, driving it to oscillate. To counteract the elastic deformation of the flexible transmission component under long-distance stretching, a tension pre-compensation unit is provided at the end of the flexible transmission component. This unit uses a preset mechanical elastic force to counteract the transmission resistance. The speed-increasing mechanism sets the oscillation angular velocity of the deflection and feeding component to 1.2 to 1.5 times the angular velocity of the working execution end. This kinetic energy compensation enables the mining associated material particles to obtain sufficient motion inertia, and the throwing trajectory changes from axial falling to lateral fan-shaped stacking. In this way, the mining associated material forms a layered and intersecting stacked skeleton in the full width of the roadway in the material dropping space, eliminating the dead corners of side filling.

[0034] The flexible transmission component uses high-strength steel wire rope with a nominal diameter of 12mm to 16mm. The power input end is anchored to the cantilever rotation center point of the cutting section of the mining assembly. Displacement vector reconstruction is guided by fixed pulley groups symmetrically arranged on both sides of the frame. The flexible transmission component only responds to the physical displacement generated by the working end in the horizontal sweep dimension. Before the equipment is put into operation, an initial stroke calibration procedure is performed. The working end is placed at the geometric zero point of the roadway centerline, and the preload of the tensioning pre-compensation unit is adjusted to the range of 500N to 800N to eliminate the influence of the initial sag of the flexible transmission component. The working end is then driven to perform full-width simulated sweep movement. The angular displacement sensor installed at the end of the material guiding unit collects the following angle of the deflection of the feeding component. The compensation ratio constant is determined based on the measured hysteresis displacement value. The system establishes a physical mapping relationship between the transverse fan-shaped filling trajectory and the cutting trajectory. Uneven pore distribution within the layered skeleton can easily lead to grouting blind zones in later stages, and grout shrinkage due to water separation weakens the quality of the roof connection. To solve this problem, the system adopts a delayed pulse grouting coupling procedure. The grouting actuator is positioned at a spatial position 2 to 3 times the retreat step distance L at the delayed operation execution end. When the retreat advance displacement reaches a threshold, a pressure pulse grouting with a specific pressure is output into the layered skeleton. The peak pulse pressure of the pressure pulse grouting... The formula for determining it is as follows: Where P is the peak pulse pressure of the pressure pulse grouting, in Pa; ρ is the density of the grout; g is the gravitational acceleration, taken as 9.8 m / s²; H is the vertical filling height of the material drop space; and L is the real-time mining step distance, in meters. For the preset critical exposure step distance of the mining roof, the grouting actuator adjusts the output frequency of the grouting pump and uses the instantaneous physical impact force to drive the grout to undergo shearing and penetration in the material gaps of the layered skeleton, inducing the fine fragments to undergo slight displacement and rearrangement, and constructing a hardened support structure with balanced force.

[0035] Before grouting, a stepped pressure increase detection procedure is performed on the output pressure pulse of the grouting actuator. The output pressure of the grouting pump is increased in 5 kPa increments, and the readings of the pressure feedback sensor at the end of the pipeline are monitored simultaneously to capture the inflection point of the pressure curve. The corresponding pressure value is set as the critical opening pressure to overcome the static friction resistance inside the laminated skeleton, and then the formula is applied. Determine the peak pulse pressure P, where ρ is the density of the grout, g is the acceleration due to gravity, H is the vertical filling height of the material drop space, and L is the real-time mining step distance. To pre-set the critical exposure step distance of the stope roof, the reciprocating frequency of the grouting pump is adjusted during operation to generate shear disturbance waves, causing a slight rearrangement of the fine materials inside the layered skeleton. This guides the grout to undergo shear penetration in the gaps between the layered skeleton materials, constructing a hardened and dense layer with a thickness of not less than 150mm at the top of the material drop space. In the later stage of filling body formation, the presence of roof bedding gaps can lead to a lag in the intervention of support stress. The present invention utilizes the initial deformation energy of the surrounding rock to execute an active roof connection procedure. In the filling step, the system increases the filling angle at the end of the filling stage by deflecting the material distribution component, pre-setting a high-altitude layer at the top of the material drop space. In the top layer of the waste rock arch with a porosity, the grouting actuator injects a semi-fluid dynamic grout with a solid content of 75% to 82% by mass into the area. At this time, the initial elastic settlement force generated by the roof after the mining head continues to advance directly acts on the top layer of the waste rock arch. The slight settlement displacement of the roof forces the semi-fluid dynamic grout to fill the shrinkage gaps between the contact interfaces and press it into the surrounding rock bedding gaps to form grout pins with anchoring effect. This procedure realizes the transformation of the filling body and the roof from physical contact to mechanical coupling, so that the hardened support structure has an active support force to resist the deformation of the surrounding rock at the moment of formation.

[0036] To ensure stable system operation even under conditions where ore grade fluctuations lead to unstable waste rock yield, a nonlinear step-adaptive process driven by material flow is introduced into the process. The material guiding unit has built-in sensors to monitor the instantaneous volumetric flow rate of mining associated materials in real time, i.e., the waste rock yield. When the waste rock production rate is monitored When a downward trend occurs and the value falls below the preset equilibrium threshold of 0.75V / L, the system reduces the set value of the mining step distance L. The amount of step distance compression is related to the magnitude of the decrease in production rate. By reducing the step distance, the volume of the empty area required for a single filling is reduced, so that the limited mining associated materials can maintain continuous physical support for the top plate of the material drop space.

[0037] Example 1: In a mining operation area where the ore body is buried at a depth of over 800m and the surrounding rock quality index is 38%, the roof is displaced due to the action of deep high ground stress. The critical exposure step distance of the roof is determined. The actual single-step distance L is set at 2.0m. Due to the flow characteristics of the bulk material, the associated mining material generated during mining forms a bulge in the center of the material drop space, resulting in a filling gap of not less than 0.5m in width in the shoulder area on both sides of the roadway, which induces asymmetrical subsidence of the roof along the edge of the roadway. The displacement energy of the cutting section cantilever of the mining assembly when it performs lateral sweeping at the face is used to convert the displacement of the cutting section cantilever moving to one side by 2.1m through a flexible transmission component made of high-strength steel wire rope into the reverse force of the deflection material distribution component swinging to the other side. The speed-increasing mechanism increases the end swing speed of the deflection material distribution component to 3.8m / s, driving the associated mining material to generate a transverse fan-shaped throwing trajectory that covers the entire width of the roadway, constructing a layered skeleton in the material drop space, so that the filling rate of the two wings of the roadway reaches more than 98%.

[0038] The grouting actuator initiates pressure pulse grouting at a position 5.0m behind the execution end of the operation, using grout density... The pressure is 1880 kg / m³, the vertical filling height H of the material drop space is 3.8 m, and the calculated peak pulse pressure is... The formula is as follows: Where P is the peak pulse pressure of the pressure pulse grouting, ρ is the density of the grout, g is the gravitational acceleration (9.8 m / s²), H is the vertical filling height of the material drop space (in meters), and L is the real-time mining step distance. The critical exposure step distance of the roof is in meters. The calculated peak pulse pressure P is 33.3 kPa. The grouting pump uses this pressure to output pulses at a frequency of 2 Hz, driving the grout to fill the material gaps in the layered skeleton, forming a hardened support structure with balanced stress. During the continuous advance of the mining operation, the roof generates an initial elastic subsidence displacement of 12 mm, which acts on the top layer of the waste rock arch pre-placed at the top of the material drop space. The compressive stress causes the semi-fluid dynamic grout with a solid content of 78% by mass to penetrate into the bedding fissures of the surrounding rock. After the grout solidifies, it forms grout pins with a depth of not less than 150 mm. The support structure establishes a mechanical coupling with the surrounding rock, and the delamination velocity of the roadway roof decreases from 5 mm / d to below 0.2 mm / d.

[0039] Example 2: The test was conducted on a deep ground pressure physical simulation platform equipped with an output pressure of not less than 30 MPa and a pressure fluctuation accuracy better than ±0.5%; it has an acoustic emission monitoring matrix with a sampling frequency of 100 Hz to capture rock crack evolution signals; the data comes from the actual measurement of the excavation process of a 1000m deep tunnel by the simulation platform, and the non-stationary noise of the underground material flow is simulated by periodically introducing 10% of abruptly changing particle size particles into the material transport flow; the core parameter, the mining step distance L, is selected to balance the exposed area of ​​the surrounding rock and the mechanical advance rate, based on the determined critical exposure step distance of the roof. For a working condition of 4.2m and a rock quality index RQD of 38%, the set value of the single mining step distance L was determined to be 2.0m. The sample group of this invention adopts a fan-shaped filling process driven by the displacement energy of the mining assembly, combined with pressure pulse grouting. The control group 1 adopts gravity fall filling and constant pressure grouting, while the control group 2 adopts fan-shaped filling combined with conventional static grouting. The test results show that the filling rate of the sample group of this invention in the shoulder area on both sides of the roadway is 98.4%, compared with the measured value of 82.5% for control group 1 and 85.1% for control group 2. During the grouting stage, the peak pulse pressure P output by the grouting actuator is 35.2kPa. The measured data shows that the penetration depth of the grout in the fan-shaped layered skeleton is 1.8 times that of control group 2. The underlying mechanism is that the shear disturbance generated by the pressure pulse wave destroys the static friction boundary between materials, drives the fine crushed materials to rearrange in situ, thereby eliminating the grouting blind zone caused by material stacking.

[0040] For the slurry concentration parameter, a lower limit control group with a solid component mass percentage of 72%, a group within the scope of this invention with 78%, and an upper limit control group with 85% were set. Structural stability was tested under gradient environments with ground pressures of 5 MPa, 10 MPa, and 15 MPa. Data showed that when the solid component mass percentage was 72%, the slurry bleeding shrinkage rate reached 12.4%, resulting in a settlement gap of at least 20 mm on the top surface of the support. When the solid component mass percentage increased to 85%, the kinematic viscosity of the slurry increased, leading to a decrease in its viscosity under a 33.3 kPa pulse pressure. The permeation depth of the top layer of the stone arch was less than 10 mm; under a ground pressure of 15 MPa, the 78% concentration sample group within the scope of this invention showed that the roof displacement decreased from 28.5 mm in control group 2 to 14.2 mm, and the roof displacement rate decreased from 4.8 mm / d to 0.18 mm / d; data gradient comparison determined that the parameter range of 75% to 82% was the optimal working window for balancing the permeability and volume stability of the grout. The experimental results confirmed the positive correlation between the fan-shaped backfilling process based on displacement energy conversion and pressure pulse grouting, and verified the relationship between the mining step distance L and the critical exposure step distance of the roof. The proportional limitation relationship supports the initial load transfer path of the support body. This technology solves the engineering problem of stress concentration caused by the non-compact roof of the backfill in deep mining without the need for additional electronic sensors.

[0041] Example 3: In thin vein mining areas where the ore layer thickness varies between 1.2m and 1.8m, the irregularity of the vein strike leads to an instantaneous volumetric flow rate of associated mining materials generated during cutting, i.e., waste rock yield. exist to Fluctuations within a certain range: The control system executes a step-switching procedure based on the yield range division, according to the material flow signal collected in real time by the material guiding unit. This process is performed within the monitored waste rock yield range. When the operating conditions are within 0.85 to 1.0 times the equilibrium threshold, the control system maintains the initial mining step distance. It is 2.5m; in waste rock production rate When the operating condition drops to within 0.6 to 0.85 times the equilibrium threshold, the control system outputs a step adjustment command to switch the mining step distance L to 1.8m; under the condition of waste rock production... When the working condition is 0.6 times lower than the equilibrium threshold, the control system locks the mining step distance L to 1.2m and uses adaptive reduction of the instantaneous exposed volume of the material drop space to fill the associated mining material to the roof bedding position and maintain the stope pressure arch.

[0042] As the tunnel span increased from 3.5m to 4.5m, the increased length of the suspended section of the flexible transmission component caused mechanical transmission lag. The tensioning pre-compensation unit, following the proportional gain calibration procedure, drove the operating end to perform a single sweep at the face under no-load conditions. Sensors measured the hysteresis displacement at the end of the deflection feeding component and determined the compensation proportional constant. The value is 0.05. The control module dynamically compensates for the preload stroke of the flexible transmission component based on the compensation proportional constant, and calculates the determined compensation displacement. The formula is as follows: ,in, The compensation displacement output by the tensioning pre-compensation unit is in mm; To compensate for the proportionality constant, a value of 0.05 is taken under this operating condition; The lateral sweep displacement of the working end relative to the roadway centerline is expressed in mm; through this compensation, the trajectory error of the deflection batching component is kept within 15 mm, maintaining the construction quality of the layered skeleton at the roadway boundary; the grouting actuator is designed for the average particle size of the waste rock in the current stope. With a distribution characteristic of 45mm, the pulse frequency of the grouting pump is adjusted to 2.5Hz. This frequency setting utilizes the dynamic inertial force generated by the frequency to overcome the adhesion resistance of high solid phase grout on the surface of mining associated materials, so that the filling rate of grout inside the layered skeleton is above 97%, and finally a hardened support structure with balanced force is formed in the material drop space, thus eliminating the risk of support gaps caused by changes in material yield.

[0043] Example 4: Under mining conditions where the dust concentration is not less than 50 mg / m³ and the relative humidity is between 85% and 95%, the flow monitoring sensor inside the material guiding unit experiences signal drift due to moisture adsorption. The system executes the pre-deployment calibration procedure, continuously feeding a volume of... The standard waste rock mass is used to calibrate the acquisition slope of the ultrasonic flow meter, and the waste rock yield is corrected by comparing the deviation between the measured flow signal and the standard volume. The calculated bias is synchronized with the cutting section cantilever in the initial zero position at the center line of the roadway. The tension pre-compensation unit performs tensile preload correction and establishes a mapping relationship between the resistance value fed back by the tension sensor and the displacement signal of the cutting head when it swings under no-load, thereby determining the mechanical transmission resistance baseline under the current working condition.

[0044] When the mining assembly enters a tectonic fracture zone where the mechanical properties of the rock strata change dramatically, the initially set critical exposure step distance of the roof is... Since the actual bearing capacity of the surrounding rock deviates from the actual bearing capacity, the system performs in-situ calibration of geological properties. Before the start of the longwall mining, rock cores are collected at three sampling points spaced 1.0m apart on the face to test the uniaxial compressive strength of the core samples. In addition to the mean rock quality index (RQD), the measurement data are input into the geomechanical model to determine the critical exposure step distance of the current mining area. The threshold is used to correct the timing deviation of support intervention caused by changes in the geological environment through this pre-adjustment, so that the support strength construction rate and the surrounding rock stress release rate are in a state of mechanical equilibrium.

[0045] Example 5: In a mining operation with a roadway width of 4.5m and using high-strength steel wire rope as a flexible transmission component, to correct the displacement transmission lag caused by the increased transmission span, the tensioning pre-compensation unit executes an initial state calibration procedure, controlling the working execution end of the mining assembly to perform a sweeping movement at a rate of 0.2m / s at the face. The actual response angle of the deflection batching component is measured by an angular displacement sensor installed at the end of the material guiding unit. The angular displacement change curve is compared with the lateral displacement of the cutting cantilever. The linear deviation between them determines the compensation ratio constant under the current environment. The initial preload of 500N is applied to the flexible transmission component through a mechanical tensioning mechanism at a value of 0.048, thereby eliminating the deviation of the material throwing point caused by the elastic deformation of the transmission. The specific phase dynamic adjustment is achieved through the advance feedback command of the hardware layer: the system reads the acceleration signal of the operation execution end every 20ms. If the acceleration peak value exceeds 0.5m / s2, the processor determines that it has entered the variable acceleration sweeping stage and retrieves the advance trigger command of 15ms. According to the command, the tensioning pre-compensation unit drives the internal compensation slider to generate an axial preload displacement of 5mm to 12mm. By increasing the tension of the wire rope in advance, the inherent physical response delay of 85ms of the mechanical transmission chain is offset. This compensation process forces the swing phase of the deflection batching component and the displacement phase difference of the operation execution end to be locked within a 5deg window, ensuring that the lateral deviation of the throwing point relative to the center line of the roadway is not higher than 20mm at the end linear velocity of 3.5m / s.

[0046] Considering the characteristic that the porosity of the mining-associated material inside the layered skeleton varies between 35% and 42%, the grouting actuator performs a permeability resistance calibration program. At a position 5.0m behind the execution end, it outputs a detection pulse wave with a pressure peak increasing in steps from 10kPa to 50kPa. Using a pressure feedback sensor at the end of the pipeline to monitor the pressure attenuation slope as the grout permeates into the layered skeleton, the calculation formula for the adjusted grouting pulse frequency f is determined as follows: Where f is the adjusted grouting pulse frequency, in Hz; The reference frequency is 1.5Hz; α is the pressure attenuation coefficient, which is determined based on the instantaneous pressure drop rate of the probe pulse wave in the gap of the stacked skeleton; the grouting pulse frequency determined by the above calibration procedure is 2.8Hz; in actual operation, the measured penetration depth of the grout into the shoulder area of ​​the two wings of the roadway is 650mm; the uniaxial compressive strength of the hardened support structure within 24 hours is 8.2MPa; and the cumulative displacement of the roadway roof is within a stable range of 8.5mm.

[0047] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A collaborative process based on intelligent sorting of waste rock and on-site backfilling of tailings in underground mining, characterized in that, Includes the following steps: Step S1: Drive the working end of the mining assembly to move along the mining trajectory at the face to strip the surrounding rock and extract the ore, and form a material drop space to be filled behind the working end. Step S2: The mining associated material is transported to the material guiding unit located behind the mining assembly. Utilizing the mechanical displacement generated by the working end as it moves along the mining trajectory, the lateral displacement of the working end is synchronously converted into the follow-up oscillation of the deflection material distribution component by a flexible transmission component connected between the working end and the deflection material distribution component located at the end of the material guiding unit. The follow-up oscillation changes the axial falling trajectory into a lateral fan-shaped throwing trajectory by changing the detachment vector of the mining associated material, so as to construct a layered skeleton within the full width of the roadway in the material falling space. Step S3: Obtain the mining advance displacement of the mining assembly and introduce grout; when the mining advance displacement reaches the preset mining step distance L, at a spatial position of 2 to 3 times L at the lagging operation execution end, output pressure pulse grouting to the interior of the stacked skeleton through the grouting execution mechanism. Pressure pulse grouting utilizes the instantaneous physical impact force to drive the grout to undergo shear penetration in the material gaps of the layered skeleton, thereby constructing a hardened support structure with balanced stress within the material drop space.

2. The collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining, as described in claim 1, is characterized in that... In step S2, the maximum deflection angle of the deflection batching component during the follow-up swing process is limited by the lateral displacement amplitude of the working execution end, and the swing phase of the deflection batching component is dynamically adjusted by the tension pre-compensation unit set at the end of the flexible transmission component. The tension pre-compensation unit uses the internal preset mechanical elastic force to counteract the transmission elastic deformation of the flexible transmission component, so that the mining associated material can be spatially symmetrically laid in the cross section of the material drop space.

3. The collaborative process based on intelligent sorting of underground mining waste rock and on-site tailings backfilling according to claim 1, characterized in that, In step S3, the peak pulse pressure P of the pressure pulse grouting satisfies the following formula: Where P is the peak pressure of the pressure pulse grouting, ρ is the density of the grout, g is the gravitational acceleration, H is the vertical filling height of the material drop space, and L is the real-time mining step distance. This is the preset critical exposure step distance of the mining roof.

4. The collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining, as described in claim 1, is characterized in that... The oscillation angular velocity of the deflection batching component is set to 1.2 to 1.5 times the moving angular velocity of the operation execution end through the speed-increasing mechanism set at the end of the material guiding unit, so that the mining associated material thrown into the side wing area of ​​the material drop space obtains a horizontal initial velocity of not less than 3.5 m / s, and fills the accumulation cavity of the surrounding rock side wall in a physical filling manner.

5. The collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining according to claim 1, characterized in that, The mass percentage of solid components in the grout is set to 75% to 82%, and the output frequency of pressure pulse grouting increases linearly with the advance rate of the mining assembly. The dynamic pressure fluctuations generated by pressure pulse grouting are used to break the grout retention boundary layer in the pores of the layered skeleton, thereby improving the wetting and adsorption strength of the grouting grout on the surface of the mining associated materials.

6. The collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining according to claim 1, characterized in that, The inner wall of the material guiding unit has a spiral flow channel, which is used to guide the mining associated material to generate a forced rotational axial force when it slides down. The rotational axial force, combined with the centrifugal force generated by the follow-up swing, increases the motion inertia of the mining associated material after it leaves the deflection batching component, and maintains the spatial stability of the transverse fan-shaped throwing trajectory.

7. The collaborative process based on intelligent sorting of waste rock and on-site backfilling of tailings in underground mining as described in claim 1, characterized in that, Before performing step S1, obtain the surrounding rock stress distribution parameters of the mining assembly operation area and calculate the critical exposure step distance of the roof. Controlling the mining step distance generated in a single mining operation Always below 0.6 times This is to limit the initial radial expansion of the loosened zone of the surrounding rock.

8. The collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining according to claim 1, characterized in that, The swing axis of the deflecting feeding component is inclined at 5° relative to the vertical center plane of the feeding space. ∘ Up to 15 ∘ The prestress component generated by gravity on the flexible transmission component is used to counteract the vertical deflection of the flexible transmission component.

9. The collaborative process based on intelligent sorting of waste rock and on-site tailings backfilling in underground mining according to claim 1, characterized in that, The flexible transmission component is connected to the working end via a mechanical energy unloading unit, which monitors the instantaneous tension of the flexible transmission component. When the instantaneous tension exceeds a preset mechanical strength threshold, the mechanical energy unloading unit interrupts the transmission connection between the working end and the deflection feeding component through a physical disengagement action to protect the deflection feeding component from impact damage.

10. The collaborative process based on intelligent sorting of underground mining waste rock and on-site tailings backfilling according to claim 1, characterized in that, In step S3, the grouting actuator adjusts the pumping pressure of the pressure pulse grouting according to the material porosity at different roadway heights of the layered skeleton.

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