Intelligent mixing and conveying integrated device for expanded filling material for metal mine

Abstract

An integrated intelligent mixing and conveying device for expandable backfill material in metal mines, belonging to the field of mining construction technology, includes a feeding mechanism, a two-stage mixing mechanism, a pressurized backfilling mechanism, a terminal actuator, a goaf backfilling mechanism, and a main control computer. The discharge end of the feeding mechanism is connected to the feed end of the two-stage mixing mechanism, which in turn is connected to the feed end of the pressurized backfilling mechanism. The discharge end of the pressurized backfilling mechanism is connected to the feed end of the terminal actuator. The terminal actuator is mounted on the goaf backfilling mechanism, and its discharge end is connected to the feed end of the goaf backfilling mechanism. This invention constructs a closed-loop operation scheme of "goaf detection + intelligent proportioning + two-stage mixing + accompanying conveying + precise backfilling," achieving intelligent coordination and automated operation of the entire backfilling process. This solves key technical problems such as uneven mixing of high-concentration expandable slurry, wear and blockage of long-distance conveying pipelines, and low accuracy of goaf backfilling.

Description

Technical Field

[0001] This invention belongs to the field of mining construction technology, and in particular relates to an intelligent integrated mixing and conveying device for expanding filling materials in metal mines. Background Technology

[0002] As metal mining extends to deeper levels, goaf management and backfilling have become key technologies for ensuring safe mine production, improving resource recovery rates, and controlling surface subsidence. Expandable backfill materials, due to their excellent fluidity, early strength, and volume expansion characteristics, can effectively fill irregular spaces in goafs and actively contact the surrounding rock, making them widely used in underground backfilling operations in metal mines.

[0003] Currently, underground backfilling operations in metal mines typically involve preparing slurry at a surface backfilling station and then transporting it to the underground goaf via pipelines, either by gravity or under pressure. For example, Chinese patent application CN114991860A discloses a method and apparatus for backfilling goafs based on lean rubber backfilling materials. Another example is Chinese patent application CN119933786A, which discloses a high-pressure grouting and solidification equipment and method for underground gold mines.

[0004] However, existing technologies still have the following technical problems in practical applications, specifically manifested as follows: ① The level of intelligent control over the proportioning of filling materials is insufficient; Traditional backfilling stations often rely on manual experience or semi-automatic methods to control the proportions of tailings slurry, cementitious powder, expanding agent, and water. This makes it difficult to dynamically adjust the material proportions in real time according to the actual volume and shape of the goaf, resulting in poor matching between the slurry performance and backfilling requirements, which can easily lead to insufficient strength of the backfill or material waste.

[0005] ② The mixing effect of the slurry in the mixing equipment is poor; Existing filling and mixing equipment mostly adopts a single horizontal or vertical mixing structure. For high-concentration, high-viscosity expanded filling slurry, it is difficult to achieve uniform dispersion of materials at the microscale. In particular, for expanded agent components with small dosage, uneven distribution is likely to occur, affecting the volume stability and load-bearing capacity of the filling body. Moreover, conventional mixing equipment has mixing dead zones, and the slurry is prone to deposition and caking on the cylinder wall and bottom, affecting the stability of continuous operation of the equipment.

[0006] ③ Poor adaptability to long-distance pipeline transportation; Underground tunnels are complex environments with varying slopes and numerous bends. Traditional filling pipelines are often laid in a fixed manner, requiring manual disassembly and reassembly when the filling face is moved. This is labor-intensive and inefficient. Furthermore, the pipelines are prone to dragging and rubbing against the tunnel floor during transportation, leading to increased wear and even breakage, which seriously affects the safety and continuity of transportation. Summary of the Invention

[0007] To address the problems existing in the prior art, this invention provides an integrated intelligent mixing and conveying device for expandable backfill materials in metal mines. By constructing a closed-loop operation scheme of "goaf detection + intelligent proportioning + two-stage mixing + accompanying conveying + precise filling", it realizes intelligent coordination and automated operation of the entire filling process, and solves key technical problems such as uneven mixing of high-concentration expandable slurry, wear and blockage of long-distance conveying pipelines, and low accuracy of goaf filling.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: an integrated intelligent mixing and conveying device for expandable backfill material in metal mines, comprising a feeding mechanism, a two-stage mixing mechanism, a pressurized backfilling mechanism, an end-effector, a goaf backfilling mechanism, and a main control computer; the discharge end of the feeding mechanism is connected to the feed end of the two-stage mixing mechanism, the discharge end of the two-stage mixing mechanism is connected to the feed end of the pressurized backfilling mechanism, the discharge end of the pressurized backfilling mechanism is connected to the feed end of the end-effector, the end-effector is mounted on the goaf backfilling mechanism, and the discharge end of the end-effector is connected to the feed end of the goaf backfilling mechanism; the electrical control terminals of the feeding mechanism, the two-stage mixing mechanism, the pressurized backfilling mechanism, the end-effector, and the goaf backfilling mechanism are all electrically connected to the main control computer.

[0009] The feeding mechanism includes a tailings slurry feeding unit, a cementitious powder feeding unit, an expanding agent feeding unit, and a water supply unit; the tailings slurry feeding unit, cementitious powder feeding unit, expanding agent feeding unit, and water supply unit are arranged side by side, and each unit is configured with at least one unit; a tailings slurry feeding metering component is provided at the outlet end of the tailings slurry feeding unit; a cementitious powder feeding metering component is provided at the outlet end of the cementitious powder feeding unit; an expanding agent feeding metering component is provided at the outlet end of the expanding agent feeding unit; and a water supply metering component is provided at the outlet end of the water supply unit.

[0010] The tailings slurry feeding metering component, cementitious powder feeding metering component, expanding agent feeding metering component, and water feeding metering component have the same configuration, all including a variable frequency feeder, a mass flow meter, and an electric regulating valve; the variable frequency feeder is connected to the two-stage mixing mechanism in sequence through the mass flow meter and the electric regulating valve; the electrical control terminals of the variable frequency feeder, the mass flow meter, and the electric regulating valve are all electrically connected to the main control computer.

[0011] The two-stage mixing mechanism includes a horizontal premixer, a premix conveying assembly, and a vertical final mixer; the outlets of the electric regulating valves in the tailings slurry feeding metering assembly, the cementitious powder feeding metering assembly, the expanding agent feeding metering assembly, and the water feeding metering assembly are connected to the inlet of the horizontal premixer; the outlet of the horizontal premixer is connected to the inlet of the premix conveying assembly, and the outlet of the premix conveying assembly is connected to the inlet of the vertical final mixer; the electrical control terminals of the horizontal premixer, the premix conveying assembly, and the vertical final mixer are all electrically connected to the main control computer.

[0012] The vertical final mixer includes a mixing drum, a stirring drive motor, a transfer bracket, a gear disc, gears, a stirring rod, and a stirring head. The mixing drum is vertically arranged, and a climbing frame is fixedly installed on the side of the mixing drum. The stirring drive motor is vertically fixedly installed at the center of the top of the mixing drum with the motor shaft facing downwards. The gear disc is coaxially fixedly installed on the motor shaft of the stirring drive motor. The transfer bracket is fixedly connected to the gear disc. The stirring rod is inclined, and the middle part of the stirring rod is connected to the middle part of the transfer bracket through a universal ball joint. The gear is coaxially fixedly installed at the top of the stirring rod, and the gear meshes with the gear disc. The stirring head is fixedly installed at the bottom of the stirring rod. A slurry output auger is provided at the bottom of the mixing drum. The electrical control terminals of the stirring drive motor and the slurry output auger are both electrically connected to the main control computer.

[0013] The stirring rod adopts an electric telescopic rod structure, and the electric control end of the stirring rod is electrically connected to the main control computer.

[0014] The pressurized filling mechanism includes a pressurized pumping assembly, a filling pipeline, and an end control assembly. The pressurized pumping assembly is a plunger pump or a screw pump, and its inlet end is connected to the outlet end of the slurry output auger. The filling pipeline is laid along the roadway and extends to the goaf. Its inlet end is connected to the outlet end of the pressurized pumping assembly, and the filling pipeline is fixedly connected to the end control assembly, which is used to support and assist the filling pipeline in its positional movement. The electrical control terminals of both the pressurized pumping assembly and the end control assembly are electrically connected to the main control computer.

[0015] The end-point control component adopts a pipeline-following control and conveying device, including a chassis frame, main walking tracks, auxiliary climbing tracks, a following turntable, and adaptive pipeline clamps; the main walking tracks are located on the left and right sides of the chassis frame; the auxiliary climbing tracks are located on the front side of the chassis frame; the following turntable is located on the top of the chassis frame; the adaptive pipeline clamps are located on the following turntable and are used to clamp and fix the filling pipeline; the electrical control terminals of the main walking tracks, auxiliary climbing tracks, and following turntable are all electrically connected to the main control computer.

[0016] The end effector is an end mixing tank, the inlet of which is connected to the outlet of the filling pipe. A low-speed anti-sedimentation electric stirring paddle and a concentration sensor are installed inside the end mixing tank. Both the low-speed anti-sedimentation electric stirring paddle and the concentration sensor are electrically connected to the main control computer.

[0017] The goaf filling mechanism adopts a walking grouting filling robot, which is equipped with a laser radar scanner and a grouting nozzle. The laser radar scanner is used to perform a three-dimensional scan of the goaf and acquire point cloud data of the goaf before the filling operation. The inlet end of the grouting nozzle is connected to the outlet end of the end mixing tank.

[0018] The beneficial effects of this invention are: 1. The intelligent mixing and conveying integrated device for expanding backfill material in metal mines of the present invention acquires point cloud data of the goaf in real time through a laser radar scanner mounted on a walking grouting and backfilling robot. The main control computer automatically matches the optimal raw material ratio according to the goaf volume and backfilling rate. The quantitative metering component of the feeding mechanism realizes closed-loop control of the whole process, realizing dynamic optimization and precise execution of the raw material ratio, ensuring that the slurry performance is highly matched with the goaf requirements, and effectively avoiding material waste while ensuring the strength of the backfill body.

[0019] 2. The intelligent mixing and conveying integrated device for expanding filling materials in metal mines of the present invention constructs a gradient mixing process path of rapid dispersion followed by fine homogenization through the combination of a horizontal premixer and a vertical final mixer. The vertical final mixer realizes a composite motion mode of "revolution + extension" through the combination of a planetary mixing structure and a telescopic structure of the mixing rod. It can effectively shear and tumble the slurry in the full volume range of the mixing drum, completely eliminate the mixing dead corners on the drum wall and bottom, and significantly improve the microscopic dispersion uniformity of trace components such as expanding agents.

[0020] 3. The intelligent mixing and conveying integrated device for expanding backfill material in metal mines of the present invention uses an adaptive pipe clamp of the pipeline following control conveying equipment to hold and fix the backfilling pipe. Relying on the main walking track and the auxiliary climbing track, the backfilling pipe can move synchronously with the pipeline following control conveying equipment, thereby realizing the following movement with the walking grouting backfilling robot. It actively pulls the backfilling pipe to move forward or backward, so that the backfilling pipe laying always maintains dynamic matching with the working face, avoiding wear, bending and jamming of the backfilling pipe on the roadway floor due to dragging. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the structure of an integrated intelligent mixing and conveying device for expandable filling materials in metal mines according to the present invention; Figure 2This is a schematic diagram of the combined structure of the feeding mechanism, the two-stage mixing mechanism, and the pressurized pumping assembly of the present invention. Figure 3 This is a schematic diagram of the vertical final mixer of the present invention; Figure 4 This is a schematic diagram of the pressurized filling mechanism of the present invention; Figure 5 This is a schematic diagram of the combined structure of the end control component and the filling pipe of the present invention; In the diagram, 1—feeding mechanism, 2—two-stage mixing mechanism, 3—pressurized filling mechanism, 4—end-of-line actuator, 5—goaf filling mechanism, 6—tailings slurry feeding unit, 7—cement powder feeding unit, 8—expansion agent feeding unit, 9—water supply unit, 10—horizontal premixer, 11—premixed material conveying assembly, 12—vertical final mixer, 13—mixing cylinder, 14—mixing drive motor, 15—transfer bracket, 16—toothed disc, 17—gear, 18—mixing rod, 19—mixing head, 20—climbing frame, 21—universal ball joint, 22—slurry output auger, 23—pressurized pumping assembly, 24—filling pipeline, 25—end-of-line control assembly, 26—equipment chassis frame, 27—main traveling track, 28—auxiliary climbing track, 29—traveling turntable, 30—adaptive pipeline clamp. Detailed Implementation

[0022] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1-5 As shown, an integrated intelligent mixing and conveying device for expandable backfill material in metal mines includes a feeding mechanism 1, a two-stage mixing mechanism 2, a pressurized backfilling mechanism 3, an end-effector 4, a goaf backfilling mechanism 5, and a main control computer. The discharge end of the feeding mechanism 1 is connected to the feed end of the two-stage mixing mechanism 2, the discharge end of the two-stage mixing mechanism 2 is connected to the feed end of the pressurized backfilling mechanism 3, the discharge end of the pressurized backfilling mechanism 3 is connected to the feed end of the end-effector 4, the end-effector 4 is mounted on the goaf backfilling mechanism 5, and the discharge end of the end-effector 4 is connected to the feed end of the goaf backfilling mechanism 5. The electrical control terminals of the feeding mechanism 1, the two-stage mixing mechanism 2, the pressurized backfilling mechanism 3, the end-effector 4, and the goaf backfilling mechanism 5 are all electrically connected to the main control computer.

[0024] The feeding mechanism 1 includes a tailings slurry feeding unit 6, a cementitious powder feeding unit 7, an expanding agent feeding unit 8, and a water supply unit 9. The tailings slurry feeding unit 6, the cementitious powder feeding unit 7, the expanding agent feeding unit 8, and the water supply unit 9 are arranged side by side, and each unit is configured with at least one unit. A tailings slurry feeding metering component is provided at the outlet end of the tailings slurry feeding unit 6. A cementitious powder feeding metering component is provided at the outlet end of the cementitious powder feeding unit 7. An expanding agent feeding metering component is provided at the outlet end of the expanding agent feeding unit 8. A water supply metering component is provided at the outlet end of the water supply unit 9.

[0025] The tailings slurry feeding metering component, the cementitious powder feeding metering component, the expanding agent feeding metering component, and the water supply metering component have the same configuration, all including a variable frequency feeder, a mass flow meter, and an electric regulating valve; the variable frequency feeder is connected to the two-stage mixing mechanism 2 in sequence through the mass flow meter and the electric regulating valve; the electrical control terminals of the variable frequency feeder, the mass flow meter, and the electric regulating valve are all electrically connected to the main control computer.

[0026] The two-stage mixing mechanism 2 includes a horizontal premixer 10, a premix conveying assembly 11, and a vertical final mixer 12; the outlets of the electric regulating valves in the tailings slurry feeding metering assembly, the cementitious powder feeding metering assembly, the expanding agent feeding metering assembly, and the water feeding metering assembly are connected to the inlet of the horizontal premixer 10; the outlet of the horizontal premixer 10 is connected to the inlet of the premix conveying assembly 11, and the outlet of the premix conveying assembly 11 is connected to the inlet of the vertical final mixer 12; the electrical control terminals of the horizontal premixer 10, the premix conveying assembly 11, and the vertical final mixer 12 are all electrically connected to the main control computer.

[0027] The vertical final mixer 12 includes a mixing drum 13, a stirring drive motor 14, a transfer bracket 15, a gear disc 16, a gear 17, a stirring rod 18, and a stirring head 19. The mixing drum 13 is vertically arranged, and a climbing frame 20 is fixedly installed on the side of the mixing drum 13. The stirring drive motor 14 is vertically fixedly installed at the top center of the mixing drum 13 with the motor shaft facing downwards. The gear disc 16 is coaxially fixedly mounted on the motor shaft of the stirring drive motor 14. The transfer bracket 15 is fixedly connected to... The stirring rod 18 is inclined and connected to the middle of the adapter bracket 15 through a universal ball joint 21. The gear 17 is coaxially fixed to the top of the stirring rod 18 and meshes with the gear plate 16. The stirring head 19 is fixedly installed at the bottom of the stirring rod 18. A slurry output auger 22 is provided at the bottom of the mixing cylinder 13. The electrical control terminals of the stirring drive motor 14 and the slurry output auger 22 are both electrically connected to the main control computer.

[0028] The stirring rod 18 adopts an electric telescopic rod structure, and the electric control end of the stirring rod 18 is electrically connected to the main control computer.

[0029] The pressurized filling mechanism 3 includes a pressurized pumping component 23, a filling pipeline 24, and an end control component 25. The pressurized pumping component 23 is a plunger pump or a screw pump, and its inlet end is connected to the outlet end of the slurry output auger 22. The filling pipeline 24 is laid along the roadway and extends to the goaf. Its inlet end is connected to the outlet end of the pressurized pumping component 23. The filling pipeline 24 is fixedly connected to the end control component 25, which is used to support and assist the filling pipeline 24 in positional movement. The electrical control terminals of both the pressurized pumping component 23 and the end control component 25 are electrically connected to the main control computer.

[0030] The end control component 25 adopts a pipeline-following control and conveying device, including an equipment chassis frame 26, a main walking track 27, an auxiliary climbing track 28, a following turntable 29, and an adaptive pipeline clamp 30; the main walking track 27 is located on the left and right sides of the equipment chassis frame 26; the auxiliary climbing track 28 is located on the front side of the equipment chassis frame 26; the following turntable 29 is located on the top of the equipment chassis frame 26; the adaptive pipeline clamp 30 is located on the following turntable 29 and is used to clamp and fix the filling pipeline 24; the electrical control terminals of the main walking track 27, the auxiliary climbing track 28, and the following turntable 29 are all electrically connected to the main control computer.

[0031] The end effector 4 is an end stirring tank, the inlet of which is connected to the outlet of the filling pipe 24. A low-speed anti-sedimentation electric stirring paddle and a concentration sensor are installed inside the end stirring tank. Both the low-speed anti-sedimentation electric stirring paddle and the concentration sensor are electrically connected to the main control computer.

[0032] The goaf filling mechanism 5 adopts a walking grouting filling robot, which is equipped with a laser radar scanner and a grouting nozzle. The laser radar scanner is used to perform a three-dimensional scan of the goaf and obtain point cloud data of the goaf before the filling operation. The inlet end of the grouting nozzle is connected to the outlet end of the end mixing tank.

[0033] The following describes a single use of the present invention with reference to the accompanying drawings: The goaf filling mechanism 5, which adopts a walking grouting and filling robot, moves autonomously to the goaf to be filled under the command of the main control computer. Then, the lidar scanner is activated to perform a three-dimensional scan of the goaf and obtain the point cloud data of the goaf. The point cloud data is transmitted back to the main control computer in real time.

[0034] The main control computer performs real-time analysis and processing of the received point cloud data, calculates the volume, geometry, and required filling rate of the area to be filled inside the goaf, and automatically matches and outputs the optimal material ratio of tailings slurry, cementitious powder, expanding agent, and water based on preset slurry performance parameters such as strength, fluidity, and setting time, as well as the supply flow rates of tailings slurry supply unit 6, cementitious powder supply unit 7, expanding agent supply unit 8, and water supply unit 9, and generates operation parameter instructions.

[0035] The main control computer sends the generated operation parameter instructions to the feeding mechanism 1. The tailings slurry feeding unit 6 feeds tailings slurry quantitatively through the tailings slurry feeding metering component. The cementitious powder feeding unit 7 feeds cementitious powder quantitatively through the cementitious powder feeding metering component. The expanding agent feeding unit 8 feeds expanding agent quantitatively through the expanding agent feeding metering component. The water supply unit 9 supplies water quantitatively through the water supply metering component. During the quantitative feeding process, the mass flow meter monitors the output of the raw materials in real time and feeds the monitoring data back to the main control computer in real time. Based on the feedback data, the main control computer dynamically adjusts the frequency of the variable frequency feeder and the opening of the electric regulating valve to form a closed-loop control of the entire process and ensure feeding accuracy.

[0036] The raw materials quantitatively output by the feeding mechanism 1 first enter the horizontal premixer 10 of the two-stage mixing mechanism 2, where the first stage of forced mixing takes place. High shear force is used to rapidly wet and initially bind the tailings slurry, cementing powder, expanding agent, and water to form a basic slurry. Subsequently, the basic slurry enters the vertical final mixer 12 through the premix conveying assembly 11, where the second stage of deep shearing and diffusion mixing is carried out. This achieves deep homogenization and final mixing of the basic slurry. Through the combined effect of gravity and mechanical stirring, the residence time of the raw materials in the mixing zone is significantly extended, effectively eliminating uneven distribution of the expanding agent and micro-segregation of the slurry. This results in a filling slurry with high fluidity and high stability, and establishes a gradient mixing process path of rapid dispersion followed by fine homogenization.

[0037] Specifically, after the basic slurry enters the mixing drum 13 of the vertical final mixer 12, the stirring drive motor 14 starts, driving the gear disk 16 to rotate, which in turn drives the transfer bracket 15 to rotate synchronously. At this time, the transfer bracket 15 and the stirring rod 18 on it are equivalent to a planetary gear carrier, the gear disk 16 is equivalent to a sun gear, and the gear 17 is equivalent to a planetary gear. The gear 17 revolves around the gear disk 16, thus forming a planetary mixing structure.

[0038] During the revolution of the inclined stirring rod 18 around the center of the toothed disc 16, the working radius and penetration depth of the stirring head 19 can be dynamically changed in conjunction with the extension and retraction of the stirring rod 18. Through the combined motion of "revolution + extension and retraction", effective shearing and tumbling of the entire volume range inside the mixing cylinder 13 can be achieved, completely eliminating mixing dead zones and significantly improving the adaptability to slurries of different viscosities, thereby ensuring the final homogenization degree of the filling slurry.

[0039] After the filling slurry has completed deep homogenization and final mixing in the mixing drum 13, it is transported by the slurry output auger 22 at the bottom of the mixing drum 13 to the pressurizing pumping component 23 of the pressurizing filling mechanism 3. The pressurizing pumping component 23 applies high pressure to the filling slurry, causing the filling slurry to enter the filling pipe 24.

[0040] Specifically, during the process of laying the filling pipe 24 along the roadway and extending to the goaf, the filling pipe 24 is clamped and fixed on the end control component 25 by the adaptive pipe clamp 30, that is, clamped and fixed on the pipe following control and conveying equipment. The pipe following control and conveying equipment moves by relying on the main walking track 27 and the auxiliary climbing track 28. The filling pipe 24 follows the pipe following control and conveying equipment to move synchronously, thereby realizing the following movement of the filling pipe 24 and the walking grouting filling robot. Under the instruction of the main control computer, the preset following strategy is executed so that the laying of the filling pipe 24 always maintains dynamic matching with the working face.

[0041] The filling slurry is transported along the filling pipeline 24 until it enters the end actuator 4, which is the end mixing tank. Inside the end mixing tank, a low-speed anti-settling electric agitator homogenizes the filling slurry before filling. A concentration sensor monitors the slurry concentration in real time after homogenization to ensure the filling slurry is in a uniform, non-settling state before filling, completing the activation and anti-settling treatment. Subsequently, the activated and anti-settling filling slurry enters the goaf filling mechanism 5, which is the grouting nozzle of the walking grouting robot. Under the command of the main control computer, the walking grouting robot precisely sprays the filling slurry to the designated location in the goaf according to a preset path until the filling operation is completed.

[0042] The solutions in the embodiments are not intended to limit the scope of protection of the present invention. All equivalent implementations or modifications that do not depart from the present invention are included in the scope of protection of the present invention.

Claims

1. An integrated intelligent mixing and conveying device for expandable filling materials in metal mines, characterized in that: The system includes a feeding mechanism, a two-stage mixing mechanism, a pressurized filling mechanism, a terminal actuator, a goaf filling mechanism, and a main control computer. The discharge end of the feeding mechanism is connected to the feed end of the two-stage mixing mechanism, the discharge end of the two-stage mixing mechanism is connected to the feed end of the pressurized filling mechanism, the discharge end of the pressurized filling mechanism is connected to the feed end of the terminal actuator, the terminal actuator is mounted on the goaf filling mechanism, and the discharge end of the terminal actuator is connected to the feed end of the goaf filling mechanism. The electrical control terminals of the feeding mechanism, the two-stage mixing mechanism, the pressurized filling mechanism, the terminal actuator, and the goaf filling mechanism are all electrically connected to the main control computer.

2. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 1, characterized in that: The feeding mechanism includes a tailings slurry feeding unit, a cementitious powder feeding unit, an expanding agent feeding unit, and a water supply unit; the tailings slurry feeding unit, cementitious powder feeding unit, expanding agent feeding unit, and water supply unit are arranged side by side, and each unit is configured with at least one unit; a tailings slurry feeding metering component is provided at the outlet end of the tailings slurry feeding unit; a cementitious powder feeding metering component is provided at the outlet end of the cementitious powder feeding unit; an expanding agent feeding metering component is provided at the outlet end of the expanding agent feeding unit; and a water supply metering component is provided at the outlet end of the water supply unit.

3. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 2, characterized in that: The tailings slurry feeding metering component, cementitious powder feeding metering component, expanding agent feeding metering component, and water feeding metering component have the same configuration, all including a variable frequency feeder, a mass flow meter, and an electric regulating valve; the variable frequency feeder is connected to the two-stage mixing mechanism in sequence through the mass flow meter and the electric regulating valve; the electrical control terminals of the variable frequency feeder, the mass flow meter, and the electric regulating valve are all electrically connected to the main control computer.

4. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 3, characterized in that: The two-stage mixing mechanism includes a horizontal premixer, a premix conveying assembly, and a vertical final mixer; the outlets of the electric regulating valves in the tailings slurry feeding metering assembly, the cementitious powder feeding metering assembly, the expanding agent feeding metering assembly, and the water feeding metering assembly are connected to the inlet of the horizontal premixer; the outlet of the horizontal premixer is connected to the inlet of the premix conveying assembly, and the outlet of the premix conveying assembly is connected to the inlet of the vertical final mixer; the electrical control terminals of the horizontal premixer, the premix conveying assembly, and the vertical final mixer are all electrically connected to the main control computer.

5. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 4, characterized in that: The vertical final mixer includes a mixing drum, a stirring drive motor, a transfer bracket, a gear disc, gears, a stirring rod, and a stirring head. The mixing drum is vertically arranged, and a climbing frame is fixedly installed on the side of the mixing drum. The stirring drive motor is vertically fixedly installed at the center of the top of the mixing drum with the motor shaft facing downwards. The gear disc is coaxially fixedly installed on the motor shaft of the stirring drive motor. The transfer bracket is fixedly connected to the gear disc. The stirring rod is inclined, and the middle part of the stirring rod is connected to the middle part of the transfer bracket through a universal ball joint. The gear is coaxially fixedly installed at the top of the stirring rod, and the gear meshes with the gear disc. The stirring head is fixedly installed at the bottom of the stirring rod. A slurry output auger is provided at the bottom of the mixing drum. The electrical control terminals of the stirring drive motor and the slurry output auger are both electrically connected to the main control computer.

6. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 5, characterized in that: The stirring rod adopts an electric telescopic rod structure, and the electric control end of the stirring rod is electrically connected to the main control computer.

7. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 5, characterized in that: The pressurized filling mechanism includes a pressurized pumping assembly, a filling pipeline, and an end control assembly. The pressurized pumping assembly is a plunger pump or a screw pump, and its inlet end is connected to the outlet end of the slurry output auger. The filling pipeline is laid along the roadway and extends to the goaf. Its inlet end is connected to the outlet end of the pressurized pumping assembly, and the filling pipeline is fixedly connected to the end control assembly, which is used to support and assist the filling pipeline in its positional movement. The electrical control terminals of both the pressurized pumping assembly and the end control assembly are electrically connected to the main control computer.

8. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 7, characterized in that: The end-point control component adopts a pipeline-following control and conveying device, including a chassis frame, main walking tracks, auxiliary climbing tracks, a following turntable, and adaptive pipeline clamps; the main walking tracks are located on the left and right sides of the chassis frame; the auxiliary climbing tracks are located on the front side of the chassis frame; the following turntable is located on the top of the chassis frame; the adaptive pipeline clamps are located on the following turntable and are used to clamp and fix the filling pipeline; the electrical control terminals of the main walking tracks, auxiliary climbing tracks, and following turntable are all electrically connected to the main control computer.

9. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 7, characterized in that: The end effector is an end mixing tank, the inlet of which is connected to the outlet of the filling pipe. A low-speed anti-sedimentation electric stirring paddle and a concentration sensor are installed inside the end mixing tank. Both the low-speed anti-sedimentation electric stirring paddle and the concentration sensor are electrically connected to the main control computer.

10. The intelligent mixing and conveying integrated device for expandable filling material in metal mines according to claim 9, characterized in that: The goaf filling mechanism adopts a walking grouting filling robot, which is equipped with a laser radar scanner and a grouting nozzle. The laser radar scanner is used to perform a three-dimensional scan of the goaf and acquire point cloud data of the goaf before the filling operation. The inlet end of the grouting nozzle is connected to the outlet end of the end mixing tank.

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