A method of advancing longwall mining

Abstract

This invention discloses a method for forward-moving underground coal mining. The method includes: S1, controlling the three-machine longwall mining machine to advance forward, completing one mining cycle and forming a goaf; S2, automatically spraying a curing material onto the exposed roof and floor surfaces of the goaf to form a reinforcing layer; S3, transporting and positioning prefabricated flexible filling bags to preset support positions within the pre-treated goaf; S4, injecting expandable and solidifying filling material into the positioned flexible filling bags, allowing them to expand, shape, and solidify within the goaf to form a roof and floor-connected filling support body, which generates initial support force on the roof and floor; S5, repeating steps S1 to S4, ensuring that coal mining and filling support operations advance synchronously in space. This invention achieves unmanned, automated forward-moving filling mining, significantly improving coal mining efficiency while also promoting green mining, reduced manpower, enhanced safety, and increased efficiency.

Description

Technical Field

[0001] This invention relates to the field of intelligent coal mining technology, and in particular to a forward-moving underground coal mining method. Background Technology

[0002] The mainstream retreat mining method in underground coal mines requires the pre-excavation of a large number of preparatory roadways before mining operations. This leads to a serious imbalance in time and space between the two key stages of excavation and mining. This not only results in a huge amount of roadway construction and material transportation costs, but also introduces intensive manual labor and safety risks due to the need for roadway maintenance and advanced support, thus restricting further improvement in mining efficiency.

[0003] Furthermore, while backfilling mining technology is considered an effective means to mitigate or avoid surface subsidence and secondary disasters caused by coal mining, the backfilling processes in related technologies often suffer from problems such as complex procedures, low levels of automation, slow backfill formation, and high material costs. Its operational efficiency is far from matching that of rapidly advancing fully mechanized mining faces. This contradiction between rapid mining and slow backfilling makes it difficult for backfilling mining to simultaneously ensure efficient production and timely and reliable support for the goaf, thus limiting its large-scale application in scenarios requiring strict control of surface movement. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, embodiments of the present invention propose a forward-moving underground coal mining method, which realizes unmanned automatic backfilling mining and eliminates the problems of traditional retreating coal mining processes, such as the need for advance roadway excavation, severe imbalance between mining and excavation, and the need for a large amount of manpower and material resources. This method significantly improves coal mining efficiency and is more conducive to achieving green mining, reduced manpower, enhanced safety and efficiency.

[0006] The method for forward-mounted underground coal mining according to embodiments of the present invention includes:

[0007] S1 controls the three fully mechanized mining machines to advance forward, completing one coal mining cycle and forming a goaf. S2, on the exposed roof and floor surfaces of the goaf, an automated spraying and curing material is applied to form a reinforced layer; S3, transport and position the prefabricated flexible filling bags to the preset support positions in the pre-treated goaf area; S4. Inject expandable and solidifying filling material into the positioned flexible filling bag, so that it expands, takes shape and solidifies in the goaf area to form a filling support body that connects the top and bottom plates. The filling support body generates initial support force on the top and bottom plates. S5. Repeat steps S1 to S4 to keep the coal mining operation and the backfilling and support operation moving synchronously in space.

[0008] In some embodiments, in step S2, an automated spraying operation is performed by a spraying unit integrated on the support robot, which is mounted on a forward track mechanism that is linked to the hydraulic supports of the three fully mechanized mining machines in the coal mining face.

[0009] In some embodiments, the forward track mechanism is connected to the tail of the hydraulic support via a telescopic cylinder, and the support robot moves along the forward track mechanism to cover the spraying area of ​​the goaf.

[0010] In some embodiments, in step S4, material is filled into the flexible filling bag by a filling unit integrated on the support robot. The filling unit inserts a delivery pipe into the injection port of the flexible filling bag and pumps in expandable and solidifying filling material.

[0011] In some embodiments, the spraying material and filling material are delivered to the support robot via pipeline by a feeder located in the transport tunnel.

[0012] In some embodiments, in step S3, the flexible filling bag is carried out by a transport robot suspended on a monorail track that extends from the return airway to the entire goaf.

[0013] In some embodiments, the monorail is connected to the tail beam of the hydraulic support via a chain, so that the monorail moves forward synchronously with the hydraulic support.

[0014] In some embodiments, a transport robot picks up a folded flexible filling bag from a transport train located in the return airway and transports it along a monorail track to a preset support position.

[0015] In some embodiments, the distribution array of the filling support body in the goaf is a rectangular array or a quincunx array, and the column diameter and spacing of the filling support body are designed according to the geological conditions of the working face and the requirements for surface subsidence control.

[0016] In some embodiments, the regular gaps between multiple filling support bodies distributed in a preset array within the goaf are used as underground storage spaces for storing carbon dioxide or other substances.

[0017] The forward-moving underground coal mining method of this invention eliminates the mining imbalance problem caused by the need to excavate a large number of roadways in advance in traditional retreating mining, achieving continuous and efficient advancement of the working face and significantly reducing the amount of roadway engineering and related costs. Simultaneously, through automated spraying support, robotic transportation and injection of flexible filling bags, and the use of expandable filling materials, this method establishes an efficient and intelligent filling system that matches the coal mining speed. This not only effectively controls roof subsidence and surface subsidence but also provides a reliable guarantee for green mining in ecologically fragile areas. Ultimately, this method achieves a synergistic and optimized overall effect in improving mining efficiency, ensuring operational safety, reducing overall costs, and achieving environmental friendliness, representing an important development direction for intelligent filling mining in underground coal mines. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the underground layout of the supporting equipment for the forward-moving underground coal mining method according to an embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the transportation and filling process of the flexible filling bag according to an embodiment of the present invention.

[0020] Figure 3 This is a schematic diagram of the arrangement of the feeder in an embodiment of the present invention.

[0021] Figure 4 This is a schematic diagram of the arrangement of transport trains according to an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of a support robot according to an embodiment of the present invention.

[0023] Figure label: 100 - Goaf; 200 - Transport roadway; 300 - Return airway; 1-Fully mechanized mining machine; 2-Hydraulic support; 3-Support robot; 31-Spraying unit; 32-Filling unit; 4-Forward track mechanism; 5-Feeder; 6-Monorail track; 7-Transport robot; 8-Transport train; 9-Flexible filling bag; 10-Filling support body. Detailed Implementation

[0024] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0025] The following describes the forward-mounted underground coal mining method according to an embodiment of the present invention with reference to the accompanying drawings.

[0026] like Figures 1 to 5 As shown, the forward-mounted underground coal mining method of this invention includes: S1 controls the three fully mechanized mining machines 1 to advance forward, completing one mining cycle and forming a goaf 100. This step is the initial action of mining, where the mining operation advances towards the unmined coal seam, rather than retreating along the pre-excavated roadway.

[0027] Forward mining eliminates the rigid requirement (preparatory roadway) of excavating a large number of mining roadways in advance for the next working face in traditional processes. It eradicates the imbalance between excavation and mining in time and space from the source of the process, making mining activities more continuous and avoiding the huge costs, time consumption and safety risks brought about by roadway engineering.

[0028] S2 involves automatically spraying a curing material onto the exposed roof and floor surfaces of goaf 100 to form a reinforcing layer. This is a key pretreatment step after the goaf 100 is formed and before permanent filling.

[0029] Automated equipment (such as the support robot 3) sprays rapidly curing material onto the newly exposed surrounding rock surface. The resulting reinforced layer quickly seals the fractured rock surface, preventing weathering and collapse, and providing a more solid and flat bearing foundation for the subsequent filling support 10. A stable working environment is a prerequisite for the robot's precise positioning and reliable operation, and a fundamental guarantee for achieving efficient automation.

[0030] S3, transport and position the prefabricated flexible filling bag 9 to the preset support position within the pre-treated goaf 100. The flexible filling bag 9 serves as a prefabricated carrier for the filling body, replacing the traditional method of constructing molds or direct casting on site.

[0031] Prefabricated components can be manufactured in factories above ground with controllable quality; underground, only transportation and placement are required, greatly simplifying on-site procedures and solving the problem of complex processes. Positioning is achieved through transport robots (such as monorail robots), which are fast and accurate, laying the foundation for fast charging.

[0032] S4. Inject expandable and solidify filling material into the positioned flexible filling bag 9, so that it expands, shapes and solidifies in the goaf 100 to form a filling support body 10 that connects the top and bottom plates. The filling support body 10 generates initial support force on the top and bottom plates.

[0033] During the solidification process, the material expands in volume, actively supporting the flexible filling bag 9, ensuring that the filling support body 10 is in close contact with the top and bottom plates (top and bottom connection), and immediately providing initial support force. This is a core feature that distinguishes it from traditional filling (which often has problems with incomplete top connection and delayed support), and it can control the subsidence of the top plate in a timely and proactive manner.

[0034] The rapid molding of the expandable material and the provision of initial support significantly shorten the time window from filling to effective support, enabling the filling speed to match the coal mining speed. The active initial support can more effectively control early roof delamination and subsidence, improving the reliability and effectiveness of controlling surface subsidence through filling mining.

[0035] S5. Repeat steps S1 to S4 to ensure that coal mining and backfilling support operations are spatially synchronized. Coal mining and backfilling are no longer separate or disconnected processes, but rather integrated and continuous operations that follow each other in a cycle on the same working face.

[0036] Through process design, the synchronization of mining and backfilling in space and time is forced. For every step of coal mining advance, the backfilling and support advances by one step, directly linking and matching the efficiency of backfilling operations with the efficiency of fully mechanized face advancement.

[0037] Wherever the coal mining work goes, the backfilling and support follow. The goaf 100 behind is supported in a timely and permanent manner, so that there is no longer a need for advance support to maintain the side roadway of the goaf 100, which further reduces the amount of work and safety risks.

[0038] The forward-moving underground coal mining method of this invention eliminates the need for extensive preparatory roadway excavation work in traditional processes by using a forward-moving process route, thereby fundamentally optimizing the mining-excavation relationship.

[0039] By combining prefabricated components, mechanized operations, and rapid prototyping of expandable materials, along with a simultaneous mining and filling operation mode, the filling efficiency has been improved to a level that can match the advancement of fully mechanized mining, thus achieving rapid mining and filling.

[0040] Steps S2 to S4 all emphasize replacing manual labor with robots and other methods to free personnel from the dangerous and arduous filling work environment, which is in line with the direction of intelligent mining.

[0041] The combined effect of spray pretreatment and expansion filling with initial support force enables active control of the entire process of the 100-meter roof of the goaf from exposure to long-term stability, significantly improving the effect of controlling surface subsidence.

[0042] In some embodiments, such as Figure 2 and Figure 4 As shown, in step S2, the spraying unit 31 integrated on the support robot 3 performs automated spraying operations, modularizing and integrating the spraying function to form a dedicated support robot 3. Unlike fixed nozzles or handheld devices, the robot has a multi-degree-of-freedom robotic arm, which can flexibly adjust the spraying angle, distance and trajectory to ensure uniform and full coverage spraying on the complex and uneven top and bottom surfaces of the goaf 100. Furthermore, the subsystems such as spraying material supply, pressure control and robotic arm movement are highly coordinated and respond quickly.

[0043] The support robot 3 is mounted on a forward-moving track mechanism 4 that is linked to the hydraulic support 2 of the fully mechanized mining machine 1 in the coal mining face. The forward-moving track mechanism 4 provides a dedicated, movable working platform for the support robot 3. The forward-moving track mechanism 4 is laid within the working space of the goaf 100, providing a physical basis for the robot's precise positioning and large-scale movement. Furthermore, this platform is not fixed but can move forward as the working face advances.

[0044] The moving power and timing of the forward track mechanism 4 are directly related to (linked) the pulling action of the hydraulic support 2 of the longwall mining face. Whenever the hydraulic support 2 completes a pulling cycle and moves forward one step, the linkage mechanism (which can be a mechanical connection such as a pushing cylinder or an electro-hydraulic control system signal) will drive or allow the forward track mechanism 4 to move forward synchronously or immediately after it by the same step.

[0045] The forward-moving track mechanism 4, linked with the hydraulic support 2, fundamentally ensures that the pre-treatment spraying process can automatically and instantly keep pace with the coal mining progress. After the coal mining machine cuts the coal and moves the support, the newly exposed roof and floor plates can immediately enter the working range of the support robot 3, avoiding process delays caused by equipment movement and preparation. The support robot 3 moves along the track, with optimized movement path and program-controlled actions, making it much faster than manual operation. The linked forward-moving mechanism also saves a significant amount of auxiliary time that would otherwise be spent laying and moving tracks separately for the spraying equipment.

[0046] The integrated design of the spraying unit 31 ensures the stability of spraying pressure, flow rate, and distance. The robotic arm can cover blind spots that are difficult for humans to reach, resulting in a more uniform and continuous reinforced layer, providing a better foundation for subsequent filling. By entrusting high-risk spraying operations to robots, the risks of personnel working under unsupported or insufficiently supported roof slabs are eliminated, improving the level of inherent safety.

[0047] The support robot 3 is mounted on a dedicated forward-moving track mechanism 4 and positioned behind the hydraulic support 2 (on the goaf side 100), forming an independent, strip-shaped work line. This is spatially separated from the coal mining machine, scraper conveyor, and other fully mechanized mining equipment 1, avoiding mutual interference and collision risks between the equipment, and enabling the coal mining and backfilling preparation systems to operate in parallel and coordinate efficiently.

[0048] Optionally, the forward track mechanism 4 is connected to the tail of the hydraulic support 2 via a telescopic cylinder, and the support robot 3 moves along the forward track mechanism 4 to cover the spraying area of ​​the goaf 100.

[0049] The forward track mechanism 4 is located at the tail of the hydraulic support 2. This means that the forward track mechanism 4 does not interfere with the main support and pushing functions of the front of the hydraulic support 2, but rather utilizes the space behind the hydraulic support 2 (on the goaf 100 side). One end of the telescopic cylinder is hinged to the fixed structure at the tail of the hydraulic support 2, and the other end is hinged to the main body of the forward track mechanism 4. This allows the cylinder to adapt to slight angle and positional changes that may occur between the hydraulic support 2 and the forward track mechanism 4 during the pushing and pulling process.

[0050] When the hydraulic support 2 completes its support of the top plate of its position and is ready to move forward (pull the support), its own pushing system (usually the pushing cylinder on the base) will be activated, causing the entire support to move forward one step (such as 0.8 meters or 1 meter) along the working surface direction.

[0051] After the hydraulic support 2 completes its pulling action or is linked with it, the hydraulic system controlling the telescopic cylinder is triggered. The telescopic cylinder extends, and its piston rod pushes the connected forward track mechanism 4, causing it to move a set distance (usually matching the coal mining cycle step distance) in the same direction (working face advancing direction) relative to the fixed hydraulic support 2.

[0052] The movement of the forward track mechanism 4 and the movement of the hydraulic support 2 can be physically linked through the same hydraulic source and interlocking valve group, achieving high synchronization accuracy and strong anti-interference capability.

[0053] In some embodiments, such as Figure 2 and Figure 5 As shown, in step S4, material is filled into the flexible filling bag 9 by the filling unit 32 integrated on the support robot 3. The filling unit 32 inserts the delivery pipeline into the injection port of the flexible filling bag 9 and pumps in the expandable and solidifying filling material.

[0054] The material conveying, metering, and injection modules required for the filling operation (i.e., the filling unit 32) are integrated with the support robot 3 that performs the spraying operation in step S2. In other words, the support robot 3 is a multi-functional operation terminal with both spraying and filling functions.

[0055] Spraying and filling are spatially highly correlated (both within the same goaf 100 and performed sequentially) and sequential in terms of the work objects (the surrounding rock surface is treated first, followed by the construction of the support structure). Integrating both onto the same mobile platform avoids the need for separate moving and executing mechanisms for the two processes.

[0056] The support robot 3 needs to move precisely to the preset position of the flexible filling bag 9 and use a robotic arm or a dedicated docking mechanism to align and insert the interface of the delivery pipeline with the pre-reserved one-way injection port on the filling bag. The injection port is designed to form a temporary seal with the delivery pipeline to prevent material leakage during high-pressure injection. This insertion action is controlled by the robot program, replacing manual connection of the hose.

[0057] The filling unit 32 has a built-in or connected high-pressure pump that actively, continuously, and controllably presses the pre-mixed slurry-like filling material into the flexible filling bag 9 through the inserted pipeline. The pumping pressure and flow rate can be monitored and adjusted to ensure that the filling bag expands and unfolds uniformly and quickly until it is completely filled and in close contact with the top and bottom plates (top and bottom contact).

[0058] After the support robot 3 completes the spraying, there is no need to remove or replace the equipment. It can start the filling operation immediately at the same position or to an adjacent position by simply switching the functional module (from the spraying robot arm to the filling robot arm). This eliminates the equipment movement time, preparation time and coordination time of process conversion, and seamlessly connects the two steps of spraying and filling into a continuous automated operation cycle.

[0059] Optionally, such as Figure 3 As shown, the spraying material and filling material are transported to the support robot 3 by the feeder 5 located in the transport lane 200 through pipelines.

[0060] A feeder 5, responsible for storing, mixing, or pumping spraying and filling materials, is fixedly installed in the transport tunnel 200. The transport tunnel 200 has a large cross-section and ample space for equipment arrangement, facilitating the installation, operation, and maintenance of the large feeder 5. The feeder 5 is connected to the support robot 3 via an extendable piping system. The spraying material pipeline delivers liquid or gel-like solidified materials, while the filling material pipeline delivers slurry-like filling materials. The spraying unit 31 and filling unit 32 integrated on the support robot 3 are connected to the corresponding delivery pipelines via quick connectors, acquiring materials as needed and performing operations.

[0061] In some embodiments, such as Figure 2 and Figure 4 As shown, in step S3, the flexible filling bag 9 is carried out by a transport robot 7 suspended on a monorail track 6, which extends from the return airway 300 to the entire goaf 100.

[0062] The monorail track 6 (H-beam or special profile) is suspended from the tunnel ceiling, and the transport robot 7 runs below the track via rollers, utilizing the upper space of the underground tunnel without occupying the tunnel floor. The transport robot 7 refers to an intelligent monorail transport vehicle with automatic grasping, transporting, and releasing functions, integrating a grasping mechanism (such as a mechanical claw), a drive unit, a control unit, and a positioning device.

[0063] The monorail track 6 extends from the return airway 300 to the entire goaf 100, clearly defining the starting point, coverage area, and dynamic extension of the logistics path. Warehouses for the flexible filling bags 9 (such as material transport trains 8 or storage points) are located in the return airway 300. The return airway 300 has adequate ventilation and relatively ample space, facilitating material storage and management.

[0064] The monorail track 6 is not fixed, but is dynamically extended towards the unmined area as the working face advances and the goaf 100 is formed. The front end of the monorail track 6 always covers the latest working point in the goaf 100.

[0065] The transport robot 7 runs along the monorail track 6, performing a complete material handling cycle: automatically grabbing the folded flexible filling bag 9 from the storage point in the return airway 300, transporting it at high speed along the track to the target position above the goaf 100, accurately positioning and hovering, lowering or dropping the filling bag to the preset support position (bottom plate), releasing the grabbing mechanism, and returning to perform the next round of work.

[0066] The encoder, RFID landmark recognition, or UWB precision positioning technology of the transport robot 7 ensures that the flexible filling bag 9 can be placed at the precise coordinates preset by the control system that correspond to the roof support plan.

[0067] Optionally, the monorail track 6 is connected to the tail beam of the hydraulic support 2 via a chain, so that the monorail track 6 moves forward synchronously with the hydraulic support 2. One end of the chain is connected to a specific lifting lug or connecting seat on the tail beam of the hydraulic support 2, and the other end is connected to the monorail track 6 section (usually at the joint of the track section or on a special lifting device).

[0068] When the hydraulic support 2 completes its own support and moves forward one step (pull frame) through its push cylinder, the monorail track 6 segment suspended by the chain will also be dragged forward by the same distance due to the traction of the chain.

[0069] The monorail track 6 is composed of multiple standard track sections connected together. As the working face advances and new goaf areas 100 are continuously formed, new track sections need to be continuously added to the front end of the track. The chain connection method ensures that the laid track can move forward with the support as a whole, while the newly added track sections fill the end space created after the movement, so that the effective working range of the track can continuously cover the newly formed goaf area 100.

[0070] In some embodiments, such as Figure 4 As shown, the transport robot 7 grabs the folded flexible filling bag 9 from the transport train 8 located in the return airway 300 and transports it to the preset support position along the monorail track 6.

[0071] The transport train 8 (which can be a flatbed car or a dedicated container) serves as a mobile warehouse, parked in the relatively spacious and stable return airway 300. The transport train 8 transports a large number of prefabricated, folded flexible filling bags 9 from a centralized storage point on the ground or underground to the vicinity of the working face. The folded state saves transportation and storage space.

[0072] The transport robot 7 moves above the transport train 8 and automatically identifies and grabs a folded filling bag using its integrated gripping mechanism (such as an adaptive mechanical claw, vacuum suction cup, or special clamp). After successful grabbing, the transport robot 7 runs at a high speed along the laid monorail 6, transporting the filling bag in the air to a preset support position above the goaf 100.

[0073] In this embodiment, it is ensured that the flexible filling bag 9 can be delivered from the rear supply point to the front consumption point as needed, in a timely and accurate manner, which is the material guarantee for the continuous operation of the entire filling operation.

[0074] In some embodiments, such as Figure 1 As shown, the distribution array of the filling support body 10 in the goaf 100 is a rectangular array. The filling support body 10 is arranged in rows and columns on the plane, with uniform distribution of support force. The control logic is simple, which facilitates the programmed positioning and deployment of the robot and makes construction organization convenient.

[0075] Alternatively, the filling support 10 can be distributed in a quincunx pattern within the goaf 100, with the filling support 10 arranged in the shape of equilateral triangles on the plane. Under the same column diameter and area support ratio, the triangular arrangement can provide a more uniform roof load distribution and higher structural stability, which is more beneficial for controlling roof bending and fracture.

[0076] The column diameter and spacing of the backfill support 10 are designed according to the geological conditions of the working face and the requirements for controlling surface subsidence. Geological conditions include the lithology, strength, thickness, joint development, burial depth, and in-situ stress state of the coal seam roof and floor. A hard roof allows for a larger column spacing or a smaller column diameter; while a soft and fractured roof requires denser (smaller spacing) or stronger (larger column diameter) support.

[0077] Surface subsidence control requirements (such as maximum allowable subsidence, tilt, and curvature) determine the total area of ​​infill material that needs to be provided (i.e., the support ratio). Column diameter and spacing are two adjustable variables that constitute the support ratio: Support ratio ≈ (cross-sectional area of ​​a single column) / control area of ​​a single column). By adjusting these two parameters, different subsidence control levels can be precisely matched.

[0078] In some embodiments, the regular gap space formed between multiple filling support bodies 10 distributed in a preset array within the goaf 100 is used as an underground storage space for storing carbon dioxide or other substances.

[0079] The column-type filled support structure 10, arranged in a regular array, has continuous, regular, and relatively stable unfilled gaps. After the filled support structure 10 solidifies, these gaps form a network of underground spaces enclosed by rigid columns.

[0080] Carbon dioxide or other fluids / substances to be sealed are injected into and fill these interstitial networks through drilling or pre-installed conduits. For example, carbon dioxide can be safely and permanently sealed underground through various mechanisms, such as adsorption onto the surface of coal pillars / rock walls, dissolution in formation water, or chemical reactions with minerals to form stable carbonates.

[0081] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0082] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0083] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0084] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0085] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0086] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for forward-moving underground coal mining, characterized in that, include: S1 controls the three fully mechanized mining machines to advance forward, completing one coal mining cycle and forming a goaf. S2, on the exposed roof and floor surfaces of the goaf, an automated spraying and curing material is applied to form a reinforced layer; S3, transport and position the prefabricated flexible filling bags to the preset support positions in the pre-treated goaf area; S4. Inject expandable and solidifying filling material into the positioned flexible filling bag, so that it expands, takes shape and solidifies in the goaf area to form a filling support body that connects the top and bottom plates. The filling support body generates initial support force on the top and bottom plates. S5. Repeat steps S1 to S4 to keep the coal mining operation and the backfilling and support operation moving synchronously in space.

2. The method of longwall mining according to claim 1, wherein, In step S2, an automated spraying operation is performed by a spraying unit integrated on the support robot, which is mounted on a forward-moving track mechanism that is linked to the hydraulic supports of the three fully mechanized mining machines in the coal mining face.

3. The method of claim 2, wherein, The forward track mechanism is connected to the tail of the hydraulic support via a telescopic cylinder. The support robot moves along the forward track mechanism to cover the spraying area of ​​the goaf.

4. The method of claim 2, wherein, In step S4, material is filled into the flexible filling bag by a filling unit integrated on the support robot. The filling unit inserts the delivery pipeline into the injection port of the flexible filling bag and pumps in the expandable and solidifying filling material.

5. The method of claim 4, wherein, The spraying and filling materials are transported to the support robot via pipeline by a feeder located in the transport tunnel.

6. The method of longwall mining according to claim 1, wherein, In step S3, the flexible filling bag is transported by a transport robot suspended on a monorail track that extends from the return airway to the entire goaf.

7. A method of longwall coal mining according to claim 6 wherein, The monorail is connected to the tail beam of the hydraulic support by a chain, so that the monorail moves forward synchronously with the hydraulic support.

8. The method of claim 6, wherein, The transport robot grabs the folded flexible filling bag from the transport train located in the return airway and transports it to the preset support position along the monorail track.

9. The method of mining a longwall coal mine according to claim 1, wherein, The distribution array of the filling support body in the goaf is a rectangular array or a quincunx array. The column diameter and spacing of the filling support body are designed according to the geological conditions of the working face and the requirements for surface subsidence control.

10. The method for forward-moving underground coal mining according to claim 9, characterized in that, The regular gaps between multiple filled support bodies arranged in a preset array within the goaf are used as underground storage spaces to store carbon dioxide or other substances.

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