Coal mine underwater coal gangue compact filling device

Abstract

This invention discloses a coal gangue compaction and filling device for underwater coal mining, comprising: a tracked transport vehicle with a transport box; a rock-throwing conveyor belt, one end of which is mounted in the transport box; a compaction unit, horizontally mounted on the frame of the tracked transport vehicle and located below the rock-throwing conveyor belt; and a filling pipe, centrally inserted within the compaction unit, one end of which passes through the compaction unit and extends to the coal gangue filling area in the underwater roadway. In this invention, the tracked transport vehicle can use the rock-throwing conveyor belt to throw and quickly fill the area to be filled with coal gangue. The compaction unit located below the rock-throwing conveyor belt performs horizontal compaction on the surface of the stockpile. The filling pipe, on the one hand, provides vibration to the coal gangue filling area using a vibration guide head mounted at its end; on the other hand, the filling pipe can also use its internal slurry mixing channel to grout the coal gangue filling area, improving long-term stability.

Description

Technical Field

[0001] This invention belongs to the technical field of filling equipment, specifically a dense filling device for coal gangue in underwater coal mining. Background Technology

[0002] Underwater coal mine backfilling requires achieving dense and stable filling of the goaf under complex conditions of high water pressure, easy seepage, and frequent roof disturbances to prevent water inrush accidents and control overburden damage. Existing underground backfilling equipment, such as the utility model patent with publication number CN201358813Y, can use a high-speed ejector backfilling machine to throw gangue to fill the roadway, and can also use a compaction device to compact it layer by layer from top to bottom; however, this mechanical compaction equipment can only act on the surface of the backfill, and is almost ineffective on the deep gangue layer more than 2 meters away. This results in the backfill being in a loose state for a long time, continuously creeping and settling under roof pressure, eventually making it difficult to connect with the roof and leaving safety hazards; in addition, relying solely on the accumulation of gangue fragments, the overall looseness will lead to long-term creeping and settling under roof pressure, making it impossible to achieve a tight roof connection. This under-contact condition means that the movement and deformation of the overlying strata cannot be effectively controlled. Once the critical layer (water-resistant layer) breaks, it will directly threaten the safety of subsequent mining.

[0003] Therefore, it is necessary to provide a coal gangue compaction and filling device for underwater coal mining to solve the problems mentioned in the background art. Summary of the Invention

[0004] To achieve the above objectives, the present invention provides the following technical solution: a coal gangue compaction and filling device for underwater coal mining, comprising:

[0005] Tracked transport vehicle, with a transport box installed on its body;

[0006] A stone-throwing conveyor belt, one end of which is mounted in the transport vehicle box;

[0007] A lifting cylinder, one end of which is connected to the frame of the tracked transport vehicle, and the other end of which is connected to the stone-throwing conveyor belt.

[0008] The compaction unit is horizontally mounted on the frame of the tracked transport vehicle and located below the rubble conveyor belt;

[0009] A filling pipe is centrally installed within the compaction unit, with one end of the filling pipe penetrating the compaction unit and extending to the coal gangue filling area of ​​the underwater roadway.

[0010] Furthermore, as a preferred embodiment, a support net is pre-tensioned and installed outside the coal gangue filling area in the underwater roadway, and the surface of the support net is distributed with mesh holes;

[0011] A rotatable baffle is installed at the end of the quarry conveyor belt that is away from the transport vehicle.

[0012] Furthermore, preferably, the compaction unit includes:

[0013] A positioning plate, with a bracket fixed on one side, the bracket being fixed to the frame of the tracked transport vehicle;

[0014] There are four optical axes that are symmetrically distributed, and one end of each of the four optical axes is slidably connected to the positioning plate.

[0015] Anti-stone slabs are assembled on the four sides of the positioning plate;

[0016] A power pressure plate is arranged parallel to one side of the positioning plate and fixed to each of the optical axes;

[0017] A fixing plate is fixed to the end of the optical axis away from the positioning plate;

[0018] A shaft pressure plate is installed on the fixed plate on the side away from the power pressure plate;

[0019] A hydraulic propulsion cylinder is vertically fixed on the positioning plate, and the other end of the hydraulic propulsion cylinder is connected to the power pressure plate.

[0020] Furthermore, as a preferred embodiment, one end of the axial pressure plate is fixed with a guide shaft, and is slidably connected to the fixed plate through the guide shaft, with a support spring provided between the guide shaft and the fixed plate;

[0021] Two pressure blocks are symmetrically arranged between the fixed plate and the axial pressure plate, and each pressure block is slidably connected to the corresponding two optical axes.

[0022] A carrier plate is fixed to the side of the fixed plate away from the pressure block. Multiple connecting shafts are symmetrically slidably connected to the carrier plate, and one end of each connecting shaft is fixed to the pressure block.

[0023] Two vibrating cylinders are symmetrically fixed on the carrier plate. The vibrating end of each vibrating cylinder is fixed with a coupling frame, and each coupling frame is fixed to the connecting shaft.

[0024] Two sound-absorbing layers are symmetrically fixed on one end face of the axial pressure plate near the fixed plate.

[0025] Furthermore, as a preferred embodiment, two support plates are slidably connected to one side of each vibrating cylinder on the carrier plate, and two transmission frames are symmetrically hinged on the coupling frame, with one end of each transmission frame connected to the support plate.

[0026] An adjustable limiting baffle is fixed on the carrier plate between the two support plates.

[0027] Furthermore, as a preferred embodiment, a frame is fixed to one side of the compaction unit, a loading box is provided on one side of the frame, and one end of the filling pipe slides through the frame and is fixed to the loading box.

[0028] The filling pipe has an eccentrically oriented mixing channel in its wall. The loading machine box is equipped with a liquid guide seat, and the liquid guide seat has a slurry delivery hole. One end of the slurry delivery hole is sealed and connected to the mixing channel.

[0029] A vibration shaft unit is installed at the end of the filling pipe away from the loading machine housing.

[0030] Furthermore, preferably, the injection port of the mixing channel is located at one end of the filling tube near the vibration shaft unit.

[0031] Furthermore, as a preferred embodiment, lead screws are symmetrically fixed on the frame, the loading housing is slidably connected to the lead screws, and a loading cylinder is provided on the frame, with one end of the loading cylinder connected to the loading housing.

[0032] Furthermore, preferably, the vibration shaft unit includes:

[0033] The vibration guide head has one end rotatably connected to the end of the filling pipe;

[0034] The rotating shaft is rotatably connected inside the guide head;

[0035] Eccentric blocks are arranged and fixed on the rotating shaft. A main shaft is coaxially rotatably connected inside the filling tube. One end of the main shaft is connected to the rotating shaft via a universal joint.

[0036] A coupling sleeve is rotatably mounted inside the loader housing, and one end of the main shaft is coaxially fixed with the coupling sleeve.

[0037] Furthermore, as a preferred embodiment, the guide head has multiple guide rods distributed circumferentially, each guide rod being rotatably connected to the guide head, and the filling tube has multiple plunger cavities, each plunger slidably connected to a plunger rod, one end of each plunger rod being hinged to a guide rod.

[0038] The filling tube has multiple hydraulic channels, and the other end of each hydraulic channel is connected to the plunger cavity.

[0039] Compared with the prior art, the beneficial effects of the present invention are:

[0040] In this invention, a tracked transport vehicle can use a rock-throwing conveyor belt to throw and quickly fill coal gangue into the underwater roadway filling area. The coal gangue filling area is supported and protected by a pre-tensioned support net, effectively preventing the initial filling collapse of the coal gangue. After the initial accumulation of the coal gangue filling area is completed, the compaction unit located below the rock-throwing conveyor belt starts to work, horizontally compacting the surface of the accumulation body. The filling pipe is also equipped with a vibration guide head at its end to provide vibration to the coal gangue filling area, so that the coal gangue is tightly packed under the vibration, reducing the gaps in the accumulation. On the other hand, the filling pipe can also use its internal slurry channel to grout the coal gangue filling area, significantly improving the long-term stability and overall load-bearing capacity of the filling body. Attached Figure Description

[0041] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0042] Figure 2 This is a schematic diagram of the compaction unit in the present invention. Figure 1 ;

[0043] Figure 3 This is a schematic diagram of the compaction unit in the present invention. Figure 2 ;

[0044] Figure 4 This is a cross-sectional view of the fixing plate in this invention;

[0045] Figure 5 This is a schematic diagram of the structure of the vibration cylinder in this invention;

[0046] Figure 6 This is a schematic diagram of the filling tube in this invention;

[0047] Figure 7 This is a cross-sectional view of the guide head in this invention;

[0048] Figure 8 This is a schematic diagram of multi-point grouting reinforcement in the coal gangue filling area of ​​the present invention;

[0049] In the diagram: 1. Transport vehicle box; 11. Stone-throwing conveyor belt; 12. Lifting cylinder; 13. Support net; 14. Stone-throwing baffle; 2. Compaction unit; 21. Positioning plate; 22. Bracket; 23. Optical shaft; 24. Anti-stone plate; 25. Power pressure plate; 26. Fixing plate; 27. Shaft pressure plate; 28. Hydraulic propulsion cylinder; 29. ​​Support spring; 3. Filling pipe; 31. Slurry mixing channel; 32. Vibration guide head; 33. Eccentric block; 34. Main shaft; 35. Guide rod; 36. Plunger rod; 37. Hydraulic channel; 4. Pressure block; 41. Carrier plate; 42. Coupling; 43. Vibration cylinder; 44. Coupling frame; 45. Sound insulation layer; 46. Support plate; 47. Transmission frame; 5. Frame; 51. Loading box; 52. Liquid guide seat; 53. Slurry delivery hole; 54. Coupling sleeve; 55. Lead screw. Detailed Implementation

[0050] Please see Figures 1-8 In this embodiment of the invention, a coal gangue compaction and filling device for underwater coal mining includes:

[0051] A tracked transport vehicle, the body of which is equipped with a transport box 1;

[0052] The slab conveyor belt 11 is mounted at one end in the transport car 1, where a crusher and a coal gangue grading device can be installed inside the transport car 1. After the coal gangue raw material is sorted by the crusher and the grading device, it can be filled with coal gangue of uniform particle size to improve the compactness of subsequent filling.

[0053] The lifting cylinder 12 has one end connected to the frame of the tracked transport vehicle, and the other end connected to the stone-throwing conveyor belt 11. The lifting cylinder 12 can change the throwing angle and height of the stone-throwing conveyor belt 11 during the extension and retraction adjustment, thereby throwing coal gangue into the roadway with a certain initial velocity.

[0054] The compaction unit 2 is horizontally mounted on the frame of the tracked transport vehicle and located below the rock dumping conveyor belt 11. After the initial accumulation of coal gangue in the filling area is completed, the compaction unit 2 located below the rock dumping conveyor belt 11 begins to work, horizontally compacting the surface of the accumulated material. The frame of the tracked transport vehicle is equipped with a lifting adjuster, which can adjust the horizontal height of the compaction unit 2, making it convenient for the compaction unit 2 to perform compaction operations at different height positions.

[0055] The filling pipe 3 is centrally installed inside the compaction unit 2, with one end of the filling pipe 3 penetrating the compaction unit 2 and extending to the coal gangue filling area of ​​the underwater roadway.

[0056] In this embodiment, a support net 13 is pre-tensioned and installed outside the coal gangue filling area in the underwater roadway. The support net 13 has mesh holes on its surface, which can form a flexible and permeable barrier outside the coal gangue filling area. On the one hand, it can effectively intercept flying stones and restrict them to accumulate inside the filling area. On the other hand, it can also accelerate the natural drainage process of the gangue accumulation and reduce the moisture content. The support net 13 replaces the wooden board wall or masonry retaining wall that needs to be specially constructed in the traditional filling process, saving the process of wall construction and demolition, and greatly improving the filling efficiency.

[0057] A rotatable baffle 14 is installed at the end of the quarry conveyor belt 11 that is away from the transport vehicle 1.

[0058] In a preferred embodiment, the compaction unit 2 includes:

[0059] The positioning plate 21 has a bracket 22 fixed on one side, and the bracket 22 is fixed to the frame of the tracked vehicle.

[0060] There are four optical axes 23 symmetrically distributed, and one end of each of the four optical axes 23 is slidably connected to the positioning plate 21;

[0061] Anti-stone plate 24 is assembled on the four sides of the positioning plate 21;

[0062] The power pressure plate 25 is arranged parallel to one side of the positioning plate 21 and fixed to each of the optical axes 23;

[0063] The fixing plate 26 is fixed to the end of the optical axis 23 away from the positioning plate 21;

[0064] A shaft pressure plate 27 is installed on the fixed plate 26 on the side away from the power pressure plate 25;

[0065] A hydraulic propulsion cylinder 28 is vertically fixed on the positioning plate 21. The other end of the hydraulic propulsion cylinder 28 is connected to the power pressure plate 25. Specifically, during the filling and compaction of coal gangue, the hydraulic propulsion cylinder 28 can hydraulically push the power pressure plate 25 to slide horizontally. Each optical axis 23 on the power pressure plate 25 slides along the horizontal direction of the positioning plate 21, and the fixing plate 26 at the end of the optical axis 23 can contact the coal gangue filling surface through the axial pressure plate 27, thereby realizing the filling and compaction of coal gangue.

[0066] In this embodiment, one end of the axial pressure plate 27 is fixed with a guide shaft and is slidably connected to the fixed plate 26 through the guide shaft. A support spring 29 is provided between the guide shaft and the fixed plate 26. In this way, during the filling and compaction process, the axial pressure plate 27 is in high-pressure contact with the coal gangue filling surface, and the support spring 29 is in a compressed state at this time.

[0067] Two pressure blocks 4 are symmetrically arranged between the fixed plate 26 and the axial pressure plate 27, and each pressure block 4 is slidably connected to the corresponding two optical axes 23.

[0068] A carrier plate 41 is fixed to the side of the fixed plate 26 away from the pressure block 4. A plurality of connecting shafts 42 are symmetrically slidably connected on the carrier plate 41, and one end of each connecting shaft 42 is fixed to the pressure block 4.

[0069] Two vibrating cylinders 43 are symmetrically fixed on the carrier plate 41. The vibrating end of the vibrating cylinder 43 is fixed with a coupling frame 44, and each coupling frame 44 is fixed to the connecting shaft 42. In this way, during the filling and compaction process, the fixed plate 26 pushes the axial pressure plate 27 on one side to make high-pressure contact with the coal gangue surface. At this time, the two vibrating cylinders 43 vibrate simultaneously or alternately. During the vibration process, the coupling frame 44 can push the pressure block 4 to hammer the surface of the axial pressure plate 27 at a high frequency. In this way, during the filling and compaction process, the axial pressure plate 27 can provide continuous and stable static pressure to ensure the initial compression of the coal gangue filling surface. It can also provide a high-frequency vibration compaction effect on the coal gangue filling surface under the vibration hammer of the pressure block 4, making the loose coal gangue more compact and further reducing the filling gaps between the coal gangue.

[0070] Two sound-absorbing layers 45 are symmetrically fixed on one end face of the axial pressure plate 27 near the fixed plate 26 to reduce working noise in the tunnel.

[0071] In this embodiment, two support plates 46 are slidably connected to one side of each vibration cylinder 43 on the carrier plate 41, and two transmission frames 47 are symmetrically hinged on the coupling frame 44. One end of each transmission frame 47 is connected to the support plate 46. In this way, when the vibration cylinder 43 performs vibration operation, it can also drive the two support plates 46 to move in opposite directions or in the opposite direction through the transmission frame 47.

[0072] An adjustable limiting baffle (not shown in the figure) is fixed on the carrier plate 41 between the two support plates 46. The main function of the adjustable limiting baffle is to limit the minimum distance (opposite movement limit) or the maximum distance (reverse movement limit) between the two support plates 46. By adjusting the installation position or its own thickness, the movement amplitude of the support plates 46 can be precisely controlled, thereby adjusting and limiting the hammering force of the pressure block 4.

[0073] In this embodiment, a frame 5 is fixed on one side of the compaction unit 2, and a loading box 51 is provided on one side of the frame. One end of the filling pipe 3 slides through the frame 5 and is fixed to the loading box 51.

[0074] The filling pipe 3 has an eccentrically oriented mixing channel 31 in its wall. The loading machine box 51 is equipped with a liquid guide seat 52. The liquid guide seat 52 has a slurry delivery hole 53. One end of the slurry delivery hole 53 is sealed and connected to the mixing channel 31. The slurry delivery hole 53 is connected to a cement conveying pipe. The cement conveying pipe delivers cement slurry through the slurry delivery hole 53 to the mixing channel 31 and finally fills the coal gangue filling area.

[0075] A vibration shaft unit is installed on the end of the filling pipe 3 that is away from the loading machine box 51.

[0076] In a preferred embodiment, the injection port of the mixing channel 31 is located at one end of the filling tube 3 near the vibration shaft unit.

[0077] In this embodiment, a lead screw 55 is symmetrically fixed on the frame 5, the loading housing 51 is slidably connected to the lead screw 55, and a loading cylinder (not shown in the figure) is provided on the frame 5. One end of the loading cylinder is connected to the loading housing 51, which can extend and retract to drive the loading housing 51 to slide horizontally, thereby effectively changing the depth of the filling pipe 3 extending into the coal gangue filling area.

[0078] In this embodiment, the vibration shaft unit includes:

[0079] The guide head 32 has one end rotatably connected to the end of the filling pipe 3;

[0080] The rotating shaft is rotatably connected inside the guide head 32;

[0081] Eccentric blocks 33 are arranged and fixed on the rotating shaft. A main shaft 34 is coaxially rotatably connected inside the filling tube 3. One end of the main shaft 34 is connected to the rotating shaft through a universal joint 35.

[0082] The coupling sleeve 54 is rotatably mounted inside the loading machine housing 51. One end of the main shaft 34 is coaxially fixed with the coupling sleeve 54. Specifically, the main shaft 34 can drive the rotating shaft to rotate continuously through the universal joint 35 during rotation. The eccentric block 33 on the rotating shaft generates centrifugal force under high-speed rotation, which directly acts on the surrounding coal gangue filling body through the housing of the guide head 32, forming a continuous vibration wave. The coal gangue particles inside the coal gangue filling area are rearranged to achieve uniform compaction of the entire filling section.

[0083] Specifically, the loading cylinder controls the loading machine box 51 to move to its limit position, and the filling pipe 3 outside the loading machine box 51 extends to the deepest point of the coal gangue filling area. At this time, the main shaft 34 drives the rotating shaft to rotate synchronously, so that the guide head 32 transmits vibration to the coal gangue in the deep position, which promotes the deep coal gangue filling to be tight. Then, the slurry channel 31 on the filling pipe 3 grouts and reinforces the coal gangue in the nearby area, which facilitates the formation of a firm grouting point in the future. The loading cylinder controls the filling. After pipe 3 is withdrawn a certain distance, the guide head 32 vibrates again at the new position and re-grouts and reinforces the next position; this is repeated multiple times until the filling pipe 3 is completely withdrawn from the coal gangue filling area. At this time, multiple grouting and reinforcement points are formed in the coal gangue filling area, and the overall firmness of the coal gangue filling area is stronger; through segmented retreating grouting, three-dimensional grouting and reinforcement points can be finally formed in the coal gangue filling body, which significantly improves the compressive strength, shear strength and deformation resistance of the filling body;

[0084] Although the filling pipe will form a borehole in the coal gangue area, as the filling pipe gradually withdraws, the borehole will eventually be filled and buried by the crushed stone, and no voids will appear.

[0085] In this embodiment, a plurality of guide rods 35 are circumferentially distributed on the guide head 32, and each guide rod 35 is rotatably connected to the guide head 32. A plurality of plunger cavities are opened in the filling tube 3, and a plunger rod 36 is slidably connected in the plunger cavity. One end of the plunger rod 36 is respectively hinged to the guide rod 35.

[0086] The filling pipe 3 has multiple hydraulic channels 37, and the other end of each hydraulic channel 37 is connected to the plunger cavity. With this configuration, when the plunger rod 36 in one of the plunger cavities slides under hydraulic pressure, it can push the guide head 32 to deflect through the guide rod 35. At this time, the axis of the guide head 32 is not collinear with the axis of the filling pipe 3, which further enhances the vibration effect of the guide head 32 on the internal coal gangue.

[0087] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A coal gangue compaction and filling device for underwater coal mining, characterized in that, It includes: The transport tracked vehicle is equipped with a transport box (1); A stone-throwing conveyor belt (11) is installed at one end in the transport vehicle (1); A lifting cylinder (12) is connected at one end to the frame of the tracked transport vehicle, and at the other end to the sling conveyor belt (11). The compaction unit (2) is horizontally mounted on the frame of the tracked transport vehicle and located below the rubble conveyor belt (11); The filling pipe (3) is centrally installed inside the compaction unit (2), with one end of the filling pipe (3) penetrating the compaction unit (2) and extending to the coal gangue filling area of ​​the underwater roadway.

2. The coal gangue compaction and filling device for underwater coal mining according to claim 1, characterized in that: A support net (13) is pre-tensioned and installed outside the coal gangue filling area in the underwater roadway, and the surface of the support net (13) is distributed with mesh holes; A rotatable baffle (14) is installed at one end of the rubble conveyor belt (11) away from the transport vehicle (1).

3. The coal gangue compaction and filling device for underwater coal mining according to claim 1, characterized in that, The compaction unit (2) includes: The positioning plate (21) has a bracket (22) fixed on one side, and the bracket (22) is fixed to the frame of the transport tracked vehicle; The optical axes (23) are four in a symmetrical distribution, and one end of each of the four optical axes (23) is slidably connected to the positioning plate (21); Anti-stone plate (24) is assembled on the four sides of the positioning plate (21); A power pressure plate (25) is arranged parallel to one side of the positioning plate (21) and fixed to each of the optical axes (23); A fixing plate (26) is fixed to one end of the optical axis (23) away from the positioning plate (21); A shaft pressure plate (27) is installed on the fixed plate (26) on the side away from the power pressure plate (25); A hydraulic propulsion cylinder (28) is vertically fixed on the positioning plate (21), and the other end of the hydraulic propulsion cylinder (28) is connected to the power pressure plate (25).

4. The coal gangue compaction and filling device for underwater coal mining according to claim 3, characterized in that: One end of the axial pressure plate (27) is fixed with a guide shaft, and is slidably connected to the fixed plate (26) through the guide shaft. A support spring (29) is provided between the guide shaft and the fixed plate (26). Two pressure blocks (4) are symmetrically arranged between the fixed plate (26) and the shaft pressure plate (27), and each pressure block (4) is slidably connected to the corresponding two optical axes (23); The fixed plate (26) has a carrier plate (41) fixed on the side face away from the pressure block (4). Multiple connecting shafts (42) are symmetrically slidably connected on the carrier plate (41), and one end of each connecting shaft (42) is fixed to the pressure block (4). Two vibrating cylinders (43) are symmetrically fixed on the carrier plate (41). The vibrating end of the vibrating cylinder (43) is fixed with a coupling (44), and each coupling (44) is fixed to the connecting shaft (42). Two sound-absorbing layers (45) are symmetrically fixed on one end face of the axial pressure plate (27) near the fixed plate (26).

5. The coal gangue compaction and filling device for underwater coal mining according to claim 4, characterized in that: On the carrier plate (41), two support plates (46) are slidably connected to one side of each vibration cylinder (43), and two transmission frames (47) are symmetrically hinged on the coupling frame (44), with one end of each transmission frame (47) connected to the support plate (46). An adjustable limiting baffle is fixed on the carrier plate (41) between the two support plates (46).

6. The coal gangue compaction and filling device for underwater coal mining according to claim 1, characterized in that: A frame (5) is fixed on one side of the compaction unit (2), and a loading box (51) is provided on one side of the frame. One end of the filling pipe (3) slides through the frame (5) and is fixed to the loading box (51). The filling pipe (3) has an eccentrically oriented mixing channel (31) in the pipe wall. The loading machine box (51) is equipped with a liquid guide seat (52). The liquid guide seat (52) has a slurry delivery hole (53) in the center. One end of the slurry delivery hole (53) is sealed and connected to the mixing channel (31). A vibration shaft unit is installed at one end of the filling pipe (3) away from the loading machine box (51).

7. The coal gangue compaction and filling device for underwater coal mining according to claim 6, characterized in that: The injection port of the mixing channel (31) is located at one end of the filling tube (3) near the vibrating shaft unit.

8. The coal gangue compaction and filling device for underwater coal mining according to claim 7, characterized in that: A lead screw (55) is symmetrically fixed on the frame (5), and the loading housing (51) is slidably connected to the lead screw (55). A loading cylinder is provided on the frame (5), and one end of the loading cylinder is connected to the loading housing (51).

9. The coal gangue compaction and filling device for underwater coal mining according to claim 7, characterized in that, The vibration shaft unit includes: The guide head (32) has one end rotatably connected to the end of the filling tube (3); The rotating shaft is rotatably connected inside the guide head (32); An eccentric block (33) is arranged and fixed on the rotating shaft. A main shaft (34) is coaxially rotatably connected inside the filling tube (3). One end of the main shaft (34) is connected to the rotating shaft through a universal joint (35). The coupling sleeve (54) is rotatably disposed inside the loading machine housing (51), and one end of the main shaft (34) is coaxially fixed with the coupling sleeve (54).

10. The coal gangue compaction and filling device for underwater coal mining according to claim 9, characterized in that: The guide head (32) has multiple guide rods (35) distributed around its circumference. Each guide rod (35) is rotatably connected to the guide head (32). The filling tube (3) has multiple plunger cavities. A plunger rod (36) is slidably connected in the plunger cavity. One end of the plunger rod (36) is hinged to the guide rod (35). The filling tube (3) has multiple hydraulic channels (37) inside, and the other end of the hydraulic channel (37) is connected to the plunger cavity.

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