Continuous gangue throwing and filling equipment and method for coal mine tunnel

Abstract

The invention provides coal mine tunnel continuous gangue throwing and filling equipment which comprises a backfill machine, a feeding machine, a reversed loader and a movable machine tail, a telescopic mechanism, a lifting mechanism, a swing mechanism and a gangue throwing belt are arranged on the backfill machine, the telescopic mechanism drives the gangue throwing belt to stretch out and draw back front and back, the lifting mechanism drives the gangue throwing belt to change amplitude up and down, and the swing mechanism drives the gangue throwing belt to swing back and forth. The swing mechanism drives the waste rock throwing belt to swing horizontally; an auxiliary roof-contacting mechanism is arranged at the front end of the backfilling machine, a height-adjusting and deviation-adjusting mechanism and a supporting device are arranged on the rear side, a walking device is arranged on the lower side, and a push plate mechanism is arranged on the front side of the walking device. A four-machine linkage continuous filling system is created for the first time, and the problems of low efficiency and high safety risk in the prior art are thoroughly solved. Through integrated linkage of the backfilling machine, the feeding machine, the reversed loader and the movable machine tail, continuous conveying and filling of gangue are achieved, the equipment can achieve continuous stepping through the self-walking mechanism, and small-step intermittent backward movement is not needed.

Description

Technical Field

[0001] This invention relates to the technical field of filling equipment, and in particular to a continuous coal mine roadway dumping and filling equipment and method. Background Technology

[0002] With the increasing scale and mechanization of mining equipment, various resources are continuously being extracted from underground. In particular, the large quantities of coal gangue generated during underground coal mining need to be hoisted and transported to the surface, then transferred to designated dumping areas, accumulating over time to form "gangue mountains." This dumping method not only occupies a significant amount of land resources but also frequently causes accidents such as spontaneous combustion and landslides, resulting in serious environmental damage. The gangue contains dozens of components, including sulfur, phosphorus, and carbon, which pollute the atmosphere, water sources, and soil to varying degrees, severely impacting the human living environment.

[0003] Underground backfilling of coal gangue is a novel solution for the treatment and utilization of coal gangue. By filling coal gangue underground, not only can limited coal resources be replaced and ground subsidence reduced, but the land occupied by "gangue mountains" can also be saved, and pollution of the surrounding environment caused by dust, solid particles, harmful gases, and spontaneous combustion heat can be eliminated, thereby achieving comprehensive management of coal mine gangue.

[0004] Currently, underground gangue filling equipment mainly consists of a gangue throwing device and a conveyor belt. As gangue is continuously filled, the gangue conveying device needs to move backward continuously in small steps, while the conveyor belt length needs to be frequently adjusted, resulting in numerous auxiliary processes. If operational negligence or inadequate protective measures are not implemented, safety accidents can easily occur, and production efficiency is extremely low. In addition, the highest throwing position within a step distance is basically fixed, and the entire filling process is an intermittent movement, resulting in a wavy top of the gangue pile, which cannot fully connect to the top and has a low filling rate; at the same time, due to structural limitations, it is difficult to meet the filling requirements of larger roadway cross sections.

[0005] In the prior art, patents 201810942021.3 (a continuous filling gangue throwing system), 201822236590.4 (a mine gangue throwing machine), and 202321066130.6 (a complete set of underground gangue throwing equipment) disclose a basic split-type filling equipment scheme of gangue throwing device + conveyor belt. However, the filling requires intermittent backward movement in small steps, frequent adjustment of belt length, many auxiliary processes, high safety risks, and low production efficiency; the throwing position is fixed within a single step, the gangue accumulation is wavy, it cannot fully reach the top, and the filling rate is low; the structure is limited and cannot be adapted to filling operations in large cross-section roadways. Furthermore, the system integration, dedicated structure, operation method, and control scheme are not disclosed in the prior art. Summary of the Invention

[0006] The technical problem to be solved by the present invention is to provide a continuous gangue dumping and filling equipment and method for coal mine roadways, which solves the industry pain points of low production efficiency, inability to fully connect to the roof, and insufficient adaptability to large cross-section roadways of existing gangue filling equipment. Through multi-dimensional adjustment and multi-machine linkage of the equipment, continuous gangue filling operation is realized, significantly reducing auxiliary working hours and improving the filling roof connection rate and adaptability to roadway conditions.

[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution: A continuous coal mine roadway backfilling device includes a backfiller, a feeder, a transfer machine, and a moving tail section. The backfiller is equipped with a telescopic mechanism, a lifting mechanism, a slewing mechanism, and a coal dumping belt. The telescopic mechanism drives the coal dumping belt to extend and retract forward and backward. The lifting mechanism drives the coal dumping belt to change its amplitude vertically. The slewing mechanism drives the coal dumping belt to swing horizontally. The backfiller has an auxiliary top-connecting mechanism at the front end, a height adjustment and deviation adjustment mechanism and a support at the rear, and a traveling device at the bottom. A pusher mechanism is located at the front of the traveling device.

[0008] Furthermore, the auxiliary jacking mechanism is composed of a pusher and a pusher cylinder hinged together; the height adjustment and deviation adjustment mechanism is composed of a height adjustment platform, outriggers and a height adjustment cylinder; the support is composed of outrigger cylinders and rear outriggers; and the push plate mechanism is composed of a push plate and a push plate cylinder hinged together.

[0009] Furthermore, the walking device consists of a transmission device, a track chain, and a walking frame. The backfill machine's dumping belt is also equipped with a drive roller and a receiving hopper, which is connected to the unloading end of the feeding machine. The backfill machine has an operating console, a protective cover, and an electrical control box on the left side, and a hydraulic pump station and an oil tank on the right side.

[0010] Furthermore, the feeding machine includes a rock-blocking device and a frame. The frame is equipped with a drive roller, support wheels, cable brackets, trough rollers, horizontal rollers, redirecting rollers, and guide rails. A traveling device of the same specifications as the backfilling machine is installed on the lower side of the frame, and an adjustment mechanism is installed on the upper side of the traveling device. The rock-blocking device consists of a lower rock-blocking hopper and an upper rock-blocking hopper.

[0011] Furthermore, the alignment mechanism consists of a support platform and an alignment cylinder hinged together. The alignment cylinder drives the frame of the feeder to swing horizontally to achieve alignment.

[0012] Furthermore, the transfer machine includes a side baffle plate and a frame. The frame is equipped with a drive roller, a trough roller, a horizontal roller and a redirecting roller. A traveling trolley is installed on the lower side of the frame and a support device is installed at the rear end. The traveling trolley cooperates with the guide rail of the feeding machine and can move back and forth along the guide rail.

[0013] Furthermore, the support device consists of a support cylinder, support legs, and guide columns. The support cylinder drives the support legs to extend and retract vertically to achieve stable support for the transfer machine.

[0014] Furthermore, the mobile tail section is equipped with a walking device and support of the same specifications as the backfilling machine, and the tail end of the transfer machine is installed on the walking device; the left side of the mobile tail section is equipped with an operating console, a protective cover and an electrical control box, the right side is equipped with a hydraulic pump station and an oil tank, and the rear side is equipped with a height adjustment and deviation adjustment mechanism. The upper side of the height adjustment and deviation adjustment mechanism is equipped with a material feeding and unloading mechanism and a cable storage frame, and the lower side is equipped with a deviation adjustment mechanism.

[0015] Furthermore, the backfilling machine, feeding machine, transfer machine, and mobile tail section support three control modes: local control via control panel, remote control via remote control, and remote centralized control. This enables independent control of a single unit or coordinated control of all four units.

[0016] A continuous coal mine roadway backfilling method includes three operating modes: backward backfilling, forward backfilling, and a combination of forward and backward backfilling. The backward backfilling method involves the following steps: after the equipment system is in place, the gangue is transported to the backfilling machine via a moving tail section, a transfer conveyor, and a feeding machine. The gangue is then thrown onto the backfilling area by a gangue throwing belt. The throwing posture is adjusted by a telescopic, lifting, and rotating mechanism, and the assisted roof-mounting mechanism flattens and compacts the gangue. The system is synchronized with the surrounding environment via a traveling device. The filling process is completed by continuously retracting the rock in one step; the forward-moving rock-throwing filling process is as follows: after the equipment system is in place, the rock is thrown to the area to be filled via the above-mentioned conveying link, the rock-throwing posture is adjusted and the rock is compacted, and the system moves forward synchronously and continuously through the walking device to complete the filling process; the forward-moving + backward-moving combined rock-throwing filling process is as follows: for large cross-section roadways, the bottom of the roadway is filled first through forward-moving or backward-moving methods, and then the upper part of the remaining cross-section is filled through another mode to achieve efficient filling of the entire cross-section.

[0017] Compared with the prior art, the present invention has at least the following beneficial effects: This pioneering four-machine linkage continuous filling system completely solves the pain points of low efficiency and high safety risks in existing technologies. Through the integrated linkage of the backfiller, feeder, transfer machine, and moving tail section, continuous conveying and filling of gangue is achieved. The equipment can achieve continuous stepping through its self-propelled mechanism, eliminating the need for intermittent small-step backward movement and frequent adjustments to the conveyor belt length. This significantly reduces auxiliary processes, improves filling efficiency, and reduces the safety risks associated with manual operation.

[0018] The fully flexible rock dumping adjustment combined with a dedicated roof support mechanism ensures thorough roof support and significantly improves filling quality. Through the combined adjustment of the telescopic, lifting, and rotating mechanisms, the rock dumping conveyor belt can be adjusted with full freedom in terms of forward and backward telescopic movement, vertical lifting, and horizontal rotation. A single workstation can complete full-section filling, preventing wavy defects in rock dumping. Simultaneously, the dedicated front-end auxiliary roof support mechanism can flatten and compact the rock dumping mass, completely solving the problem of insufficient roof support in existing technologies and significantly improving the roadway filling rate.

[0019] Multi-mode filling methods enable efficient adaptation to large-section roadways. It pioneers three filling operation modes: forward, backward, and combined, allowing for flexible selection based on roadway cross-sectional dimensions and operating conditions. The combined filling method, in particular, can quickly complete full-section filling of large-section roadways, completely solving the industry problem of insufficient adaptability of existing equipment to large-section roadways.

[0020] The multi-mode, three-level control system enhances operational safety and convenience. The system supports three modes: local control, remote operation, and centralized remote control. It enables independent control of a single device and coordinated control of four devices, adapting to complex underground working environments, reducing the risks of close-range personnel operations, and improving the automation level of equipment operation.

[0021] The integrated self-propelled design makes it highly adaptable to various tunnel conditions. Each piece of equipment is equipped with an independent tracked walking device and power and control system, which can autonomously complete walking and posture adjustment without the need for additional auxiliary equipment to pull it. It can flexibly adapt to tunnel filling operations of different widths and slopes, and has a wide range of applications. Attached Figure Description

[0022] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments of the invention and, together with the specification, further serve to explain the principles of the invention and enable those skilled in the art to practice and use the invention.

[0023] Figure 1 This is a schematic diagram of the main equipment for continuous rock dumping and backfilling operations in the backfilling tunnel of the present invention. Figure 2 This is a schematic diagram of the backfilling machine in this invention; Figure 3 This is a schematic diagram of the feeding machine in this invention; Figure 4 This is a schematic diagram of the combined structure of the backfill machine, transfer machine, and mobile tail section in this invention. Figure 5 This is a schematic diagram of the combined structure of the backfilling machine and the feeding machine in this invention; Figure 6 This is a schematic diagram of the structure of the waste rock blocking device in this invention; Figure 7 This is a schematic diagram of the continuous rock-throwing unit and the continuous telescopic belt conveyor of the continuous rock-throwing and filling equipment for coal mine roadways of the present invention. Figure 8 This is a schematic diagram of the forward-moving dumping and filling method in this invention; Figure 9 This is a schematic diagram of the backward-moving dumping and filling method in this invention.

[0024] Figure label: 1-Backfiller, 101-Auxiliary jacking mechanism, 10101-Push blade, 10102-Push blade cylinder, 102-Throwing conveyor belt, 103-Telescopic mechanism, 104-Control panel, 105-Protective cover, 106-Push plate mechanism, 10601-Push plate, 10602-Push plate cylinder, 107-Walking device, 10701-Transmission device, 10702-Crawler chain, 10703-Walking frame, 108-Lifting mechanism, 109-Electrical control box, 110-Slewing mechanism, 111-Drive roller, 112-Receiving hopper, 113-Hydraulic pump station and oil tank, 114-Height and deviation adjustment mechanism, 11401-Height adjustment platform, 11402-Outrigger, 11403-Height adjustment cylinder, 115-Supporter, 1 1501-Outrigger cylinder, 11502-Rear outrigger; 2-Feeding machine, 201-Blocking device, 20101-Lower blocking hopper, 20102-Upper blocking hopper, 202-Drive roller, 203-Frame, 204-Support wheel, 205-Cable support bracket, 206-Trough roller, 207-Horizontal roller, 208-Alignment mechanism, 20801-Alignment cylinder, 20802-Support platform, 209-Redirecting roller, 210-Guide rail; 3-Transfer machine, 301-Side blocking plate, 302-Traveling trolley, 303-Support device, 30301-Support cylinder, 30302-Outrigger, 30303-Guide column; 4-Moving tail section, 401-Feeding and unloading mechanism, 402-Cable storage frame.

[0025] As shown in the figure, specific structures and devices are marked in the figure to clearly illustrate the structure of the embodiments of the present invention. However, this is only for illustrative purposes and is not intended to limit the present invention to this specific structure, device and environment. Those skilled in the art can adjust or modify these devices and environments according to specific needs. Detailed Implementation

[0026] The following is a detailed description of a continuous coal mine roadway backfilling device and method provided by the present invention, with reference to the accompanying drawings and specific embodiments. It should be noted that, to make the embodiments more detailed, the following embodiments are the best and preferred embodiments; for some known technologies, those skilled in the art can also use other alternative methods to implement the invention; and the accompanying drawings are only for more specific description of the embodiments and are not intended to specifically limit the present invention.

[0027] Please refer to the attached drawings. This embodiment provides a continuous coal mine roadway backfilling device, the overall structure of which is as follows: Figure 1 As shown, the system consists of four parts: backfiller 1, feeder 2, transfer machine 3, and mobile tail section 4, which are connected in sequence to form a continuous filling system with four machines working together. Each piece of equipment is equipped with an independent tracked walking device, power system, and control system, which can realize autonomous walking and coordinated linkage.

[0028] like Figure 2 , Figure 3 As shown, the backfill machine 1 is the core execution equipment for the filling operation. An auxiliary jacking mechanism 101 is installed at the front end of the main frame. The specific structure of the auxiliary jacking mechanism 101 is as follows: Figure 2 As shown, it consists of a pusher 10101 and a pusher cylinder 10102. The cylinder body of the pusher cylinder 10102 is hinged to the main frame of the backfilling machine 1, and the piston rod end is hinged to the back of the pusher 10101. During operation, the pusher cylinder 10102 extends and drives the pusher 10101 to move forward, flattening and compacting the top of the backfilled gangue pile, eliminating wavy piles, and achieving full roof contact with the roadway roof.

[0029] A rock-throwing belt 102 is installed on the main frame of the backfilling machine 1. The rock-throwing belt 102 is slidably connected to the main frame through a telescopic mechanism 103. The telescopic mechanism 103 adopts a multi-stage telescopic hydraulic cylinder, which can drive the rock-throwing belt 102 to extend and retract along the front and rear direction of the main frame. The maximum extension stroke is not less than 1.5m, which can adapt to the needs of different throwing distances. A lifting mechanism 108 and a slewing mechanism 110 are set between the lower part of the main frame and the traveling device 107. The lifting mechanism 108 adopts a scissor-type lifting structure in conjunction with a lifting hydraulic cylinder, which can drive the rock-throwing belt 102 to achieve ±30° vertical amplitude adjustment. The slewing mechanism 110 adopts a slewing bearing in conjunction with a hydraulic motor, which can drive the rock-throwing belt 102 to achieve ±45° horizontal left and right swing. Through the combined adjustment of extension, lifting, and slewing, full-section rock-throwing of a single working position can be achieved without frequent movement of the whole machine.

[0030] The front end of the throwing belt 102 is equipped with a drive roller 111 and the rear end is equipped with a receiving hopper 112. The receiving hopper 112 is aligned with the unloading end of the feeder 2 and is used to receive the gangue material conveyed by the feeder 2. The gangue material is driven at high speed by the throwing belt 102 and thrown from the front end to the filling area.

[0031] The backfill machine 1 is equipped with a height adjustment and deviation adjustment mechanism 114 at its rear side, the specific structure of which is as follows: Figure 4 As shown, it consists of a height adjustment platform 11401, a support leg 11402, and a height adjustment cylinder 11403. The two ends of the height adjustment cylinder 11403 are hinged to the height adjustment platform 11401 and the support leg 11402 respectively. The support leg 11402 is connected to the frame 203 of the feeder 2. By extending and retracting the height adjustment cylinder 11403, the feeder 2 can be driven to achieve horizontal swing and vertical amplitude adjustment, ensuring the precise docking of the feeder 2 and the backfiller 1 and preventing material spillage.

[0032] The backfill machine 1 is also equipped with a support 115 at the rear, which consists of a support leg cylinder 11501 and a rear support leg 11502. During operation, the support leg cylinder 11501 drives the rear support leg 11502 to extend downward and make close contact with the roadway floor to form a stable support and prevent the whole machine from shaking during the rock dumping operation. The backfill machine 1 is equipped with a walking device 107 at the lower side, which consists of a transmission device 10701, a track chain 10702, and a walking frame 10703. The transmission device 10701 uses an explosion-proof hydraulic motor, which can drive the whole machine to walk autonomously in the roadway and realize continuous adjustment of the working position. The front of the walking device 107 is equipped with a push plate mechanism 106, which consists of a push plate 10601 and a push plate cylinder 10602. The push plate cylinder 10602 can drive the push plate 10601 to move back and forth, flatten and organize the scattered rock on the roadway floor, and provide a flat road surface for the equipment to walk.

[0033] The left side of the backfill machine 1 is equipped with an operating console 104, a protective cover 105 and an electrical control box 109, while the right side is equipped with a hydraulic pump station and an oil tank 113, which constitute the control and power system of the whole machine. All actuators are hydraulically driven and are adapted to the explosion-proof requirements of the well.

[0034] like Figure 3 and 5 As shown, the feeding machine 2 is an intermediate device for conveying gangue, including a frame 203. A gangue blocking device 201 is provided at the front end of the frame 203. The gangue blocking device 201 consists of a lower gangue blocking bucket 20101 and an upper gangue blocking bucket 20102, forming a semi-enclosed unloading space to prevent gangue from spilling during the conveying process. A drive roller 202, a support wheel 204, a cable bracket 205, a trough idler 206, a horizontal idler 207, and a redirecting roller 209 are installed sequentially on the frame 203. The trough idler 206 is used to support the carrying section of the conveyor belt, and the horizontal idler 207 is used to support the return section to ensure stable belt operation. A guide rail 210 is provided on the upper side of the frame 203 along the length direction to adapt to the traveling trolley 302 of the transfer machine 3.

[0035] The lower side of the feeding machine 2 is equipped with a walking device 107 of the same specifications as the backfilling machine 1, which can drive the feeding machine 2 to walk autonomously and move synchronously with the backfilling machine 1; an adjustment mechanism 208 is installed between the walking device 107 and the frame 203. The adjustment mechanism 208 consists of a support platform 20802 and an adjustment cylinder 20801. The two ends of the adjustment cylinder 20801 are respectively hinged to the support platform 20802 and the frame 203, which can drive the frame 203 to swing horizontally, realize the adjustment of the conveyor belt, and ensure accurate docking with upstream and downstream equipment.

[0036] The transfer machine 3 connects the moving tail section 4 and the feeding machine 2 to achieve continuous transfer of gangue materials. It includes a frame 203, with a side baffle plate 301 at the front end to prevent gangue from spilling during unloading. The frame 203 is equipped with a drive roller 202, trough rollers 206, horizontal rollers 207, and a redirecting roller 209, forming a complete belt conveyor system. A traveling trolley 302 is located under the frame 203, with its rollers connected to the guide rails of the feeding machine 2. With the cooperation of 210, it can move back and forth along the guide rail 210 to achieve adaptive adjustment of the transfer position, matching the position changes of the backfill machine 1 and the feeder 2, without the need to adjust the belt length; the rear end of the frame 203 is equipped with a support device 303, which consists of a support cylinder 30301, a support leg 30302 and a guide column 30303. During operation, the support cylinder 30301 drives the support leg 30302 to extend downward and contact the tunnel floor plate to achieve stable support for the transfer machine 3.

[0037] like Figure 6 As shown, the mobile tail section 4 is the receiving end equipment of the system, used to connect the upstream gangue conveying system and the transfer machine 3. A traveling device 107 of the same specifications as the backfill machine 1 is installed on its lower side, which can drive the mobile tail section 4 to move autonomously and synchronously with the entire system. The tail end of the transfer machine 3 and a support 115 of the same specifications as the backfill machine 1 are installed on the traveling device 107 for stable support during operation. The left side of the mobile tail section 4 integrates an operating console 104, a protective cover 105, and an electrical control box 109, while the right side integrates a hydraulic pump station and an oil tank 113, forming an independent control and power system. A height adjustment and deflection adjustment mechanism 114 is provided on the rear side. A feeding and unloading mechanism 401 and a cable storage frame 402 are provided on the upper side of the height adjustment and deflection adjustment mechanism 114. The feeding and unloading mechanism 401 is connected to the upstream gangue conveying system. The height adjustment and deflection adjustment mechanism 114 can realize the swing and vertical amplitude of the feeding and unloading mechanism 401. A deflection adjustment mechanism 208 is provided on the lower side of the height adjustment and deflection adjustment mechanism 114. The horizontal movement of the height adjustment and deflection adjustment mechanism 114 can be realized through the deflection adjustment mechanism 208 to ensure accurate connection with the upstream conveying system. The cable storage frame 402 is used to store the power cable and control cable of the equipment, which is suitable for long-distance movement of the equipment.

[0038] In this embodiment, the electrical control systems of backfiller 1, feeder 2, transfer machine 3, and mobile tail section 4 are all explosion-proof and support three control modes: operators can control the equipment locally via the control panel 104, remotely control it via the explosion-proof remote control, or remotely control it via the underground control center. This allows for flexible switching between independent control of a single device and coordinated control of the four machines, adapting to different underground operating scenarios.

[0039] Based on the above equipment, the specific operation steps are as follows: Step 1: System Positioning and Debugging. Connect the backfiller 1, feeder 2, transfer machine 3, and mobile tail 4 sequentially along the length of the roadway, ensuring that the feeding and unloading mechanism 401 of the mobile tail 4 is precisely connected to the gangue conveyor belt of the gangue bin in the surface coal washing plant. Adjust the posture of each piece of equipment to ensure that the throwing end of the gangue throwing belt 102 is aligned with the area to be filled in the lower half of the roadway. Start the system for no-load operation and debug the coordination of the actions of each mechanism and the synchronization of the four machines to ensure that the system meets the requirements of the filling operation. Positioning refers to the equipment reaching the starting position or initial state of the work.

[0040] Step 2: After the initiation of the forward-moving lower section filling operation, the gangue is fed into the mobile tail section 4 via the upstream conveyor system. It is then sequentially transported to the receiving hopper 112 of the backfiller 1 via the transfer conveyor 3 and the feeding conveyor 2. From there, it is thrown at high speed by the gangue throwing belt 102 into the area to be filled in the lower section of the roadway. During the operation, the posture of the gangue throwing belt 102 is adjusted in real time through the telescopic mechanism 103, the lifting mechanism 108, and the slewing mechanism 110 to achieve uniform filling across the entire lower section. Simultaneously, the push plate mechanism 106 levels the bottom gangue to ensure a compact filling foundation. As the filling operation continues, the entire system moves forward continuously via the traveling device, gradually completing the filling operation of the entire lower section of the roadway.

[0041] Step 3: After the lower half of the roadway is filled, adjust the overall position of the system and the posture of the waste rock throwing conveyor belt 102 so that the throwing end is aligned with the area to be filled in the upper half of the roadway. Start the reverse filling operation. During the operation, the waste rock throwing conveyor belt 102 is adjusted to an upward angle by the lifting mechanism 108, and the left and right swing is achieved by the rotation mechanism 110 to complete the all-round filling of the upper half of the roadway. At the same time, the front auxiliary roof-reaching mechanism 101 pushes and compacts the top waste rock pile to ensure that the waste rock fully contacts the roadway roof and improves the filling stability. As the filling operation progresses, the entire system continuously retreats until the entire roadway is filled. After reaching the end of a work cycle, delaying the forward or backward movement can also achieve step-by-step movement.

[0042] Step 4: Finishing the work. After the full section filling is completed, the system will be completely removed from the filling area. All equipment will be thoroughly cleaned, inspected and maintained. The attached gangue and debris will be completely removed from the equipment. Potential problems in equipment operation will be investigated to ensure the normal use of the equipment in the future. Finally, the entire filling operation process will be completed.

[0043] This embodiment utilizes a four-machine linked continuous filling system to achieve continuous conveying and filling of gangue. The belt length is adjusted every 25 meters forward and backward. Compared to the conventional method of adjusting the belt length every 3-6 meters, auxiliary working hours are reduced by more than 60%, and filling efficiency is increased by 80%. Through the coordination of fully free-degree-of-freedom gangue throwing posture adjustment and a dedicated roof-reaching mechanism, full roof-reaching of the roadway is achieved, with a filling rate of over 95%. The combined forward and backward filling method perfectly adapts to the filling needs of large-section roadways, effectively solving the core pain points of existing technologies such as low filling efficiency, insufficient roof-reaching, and poor adaptability to large sections.

[0044] This invention encompasses any substitutions, modifications, equivalent methods, and solutions made within the spirit and scope of this invention. To provide the public with a thorough understanding of this invention, specific details are described in detail in the following preferred embodiments; however, those skilled in the art will fully understand the invention even without these details. Furthermore, to avoid unnecessary misunderstanding of the essence of this invention, well-known methods, processes, procedures, components, and circuits are not described in detail.

[0045] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A continuous coal mine roadway backfilling and dumping device, characterized in that, The backfilling machine includes a backfilling machine (1), a feeding machine (2), a transfer machine (3), and a moving tail (4). The backfilling machine (1) is equipped with a telescopic mechanism (103), a lifting mechanism (108), a slewing mechanism (110), and a dumping belt (102). The telescopic mechanism (103) drives the dumping belt (102) to extend and retract back and forth. The lifting mechanism (108) drives the dumping belt (102) to change up and down. The slewing mechanism (110) drives the dumping belt (102) to swing horizontally. The backfilling machine (1) is equipped with an auxiliary top-connecting mechanism (101) at the front end, a height adjustment and deviation adjustment mechanism (114) and a support (115) at the rear, and a walking device (107) at the lower side. A push plate mechanism (106) is provided in front of the walking device (107).

2. The continuous coal mine roadway backfilling equipment according to claim 1, characterized in that, The auxiliary jacking mechanism (101) is composed of a pusher (10101) and a pusher cylinder (10102) hinged together. The height adjustment and deviation adjustment mechanism (114) is composed of a height adjustment platform (11401), a support leg (11402) and a height adjustment cylinder (11403). The support (115) is composed of a support leg cylinder (11501) and a rear support leg (11502). The push plate mechanism (106) is composed of a push plate (10601) and a push plate cylinder (10602) hinged together.

3. The continuous coal mine roadway backfilling equipment according to claim 1, characterized in that, The walking device (107) consists of a transmission device (10701), a track chain (10702) and a walking frame (10703). The backfill machine (1) is equipped with a drive roller (111) and a receiving hopper (112) on the dumping belt (102). The receiving hopper (112) is connected to the unloading end of the feeding machine (2). The backfill machine (1) is equipped with an operating console (104), a protective cover (105) and an electrical control box (109) on the left side, and a hydraulic pump station and an oil tank (113) on the right side.

4. The continuous coal mine roadway backfilling equipment according to claim 1, characterized in that, The feeding machine (2) includes a rock-blocking device (201) and a frame (203). The frame (203) is equipped with a drive roller (202), a support wheel (204), a cable bracket (205), a trough roller (206), a horizontal roller (207), a redirecting roller (209), and a guide rail (210). The frame (203) is equipped with a walking device (107) of the same specifications as the backfilling machine (1) on its lower side. The walking device (107) is equipped with an adjustment mechanism (208) on its upper side. The rock-blocking device (201) consists of a lower rock-blocking bucket (20101) and an upper rock-blocking bucket (20102).

5. The continuous coal mine roadway backfilling equipment according to claim 4, characterized in that, The alignment mechanism (208) is composed of a support platform (20802) and an alignment cylinder (20801) hinged together. The alignment cylinder (20801) drives the frame (203) of the feeder (2) to swing horizontally to achieve alignment.

6. The continuous coal mine roadway backfilling equipment according to claim 1, characterized in that, The transfer machine (3) includes a side baffle plate (301) and a frame (203). The frame (203) is equipped with a drive roller (202), a trough roller (206), a horizontal roller (207) and a redirecting roller (209). A traveling trolley (302) is installed on the lower side of the frame (203), and a support device (303) is installed at the rear end. The traveling trolley (302) cooperates with the guide rail (210) of the feeder (2) and can travel back and forth along the guide rail (210).

7. The continuous coal mine roadway backfilling equipment according to claim 6, characterized in that, The support device (303) consists of a support cylinder (30301), a support leg (30302) and a guide column (30303). The support cylinder (30301) drives the support leg (30302) to extend and retract up and down to achieve stable support for the transfer machine (3).

8. The continuous coal mine roadway backfilling equipment according to claim 1, characterized in that, The mobile tail section (4) is equipped with a walking device (107) and a support (115) of the same specifications as the backfilling machine (1). The tail end of the transfer machine (3) is installed on the walking device (107). The left side of the mobile tail section (4) is equipped with an operating console (104), a protective cover (105) and an electrical control box (109), the right side is equipped with a hydraulic pump station and an oil tank (113), and the rear side is equipped with a height adjustment and deviation adjustment mechanism (114). The upper side of the height adjustment and deviation adjustment mechanism (114) is equipped with a feeding and unloading mechanism (401) and a cable storage frame (402), and the lower side is equipped with a deviation adjustment mechanism (208).

9. The continuous coal mine roadway backfilling equipment according to any one of claims 1-8, characterized in that, The backfilling machine (1), feeding machine (2), transfer machine (3) and mobile tail (4) support three control modes: local control via control panel, remote control operation via remote controller, and remote centralized control. They can realize independent control of a single device or coordinated control of four machines.

10. A method for continuous dumping and backfilling of coal mine roadways using the equipment described in any one of claims 1-8, characterized in that, It includes three operating modes: backward throwing and backfilling, forward throwing and backfilling, and a combination of forward and backward throwing and backfilling. The backward throwing and backfilling is as follows: after the equipment system is in place, the gangue is transported to the backfilling machine (1) via the moving tail (4), the transfer machine (3), and the feeding machine (2), and then thrown onto the area to be filled by the throwing belt (102). The throwing posture is adjusted by the telescopic, lifting, and rotating mechanisms, and the auxiliary top receiving mechanism (101) pushes and compacts the gangue. The system is connected by a walking device ( 107) Synchronous and continuous backward movement to complete filling; The forward-moving rock throwing filling is as follows: After the equipment system is in place, the rock is thrown to the area to be filled through the above-mentioned conveying link, the rock throwing posture is adjusted and the rock is compacted, and the system synchronously and continuously moves forward through the walking device (107) to complete filling; The forward-moving + backward-moving combined rock throwing filling is as follows: For large cross-section roadways, the bottom of the roadway is filled first through forward or backward movement, and then the upper part of the roadway is filled through another mode to achieve efficient filling of the entire cross-section.

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