A coal mine underground goaf filling with throwing machine

Abstract

The utility model belongs to coal mine throw gangue machine technical field discloses a kind of coal mine underground goaf filling is used to throw gangue machine, including body part, travelling mechanism, material receiving device, transport device, throw gangue belt conveyor, grab bucket assembly, operating system, hydraulic system, water system and electrical remote control system;The utility model can realize the full-process mechanization operation of gangue crushing, collection, conveying and throwing filling, can effectively replace traditional manual operation, significantly reduce labor intensity, reduce manpower demand, simultaneously through the continuous efficient material transfer and throwing filling mechanism, substantially improve the overall efficiency of gangue operation, shorten goaf filling cycle.

Description

Technical Field

[0001] This utility model relates to the technical field of coal mine waste rock dumping machines, specifically to a waste rock dumping machine for filling goaf areas in underground coal mines. Background Technology

[0002] Gangue disposal technology is a key process for handling gangue in coal mining. It refers to the efficient transfer of waste rock (gangue) generated during coal mining to designated landfill areas or gangue piles using mechanical or hydraulic methods. The core of this technology lies in achieving rapid separation and transportation of gangue from coal. Commonly used equipment includes gangue disposal machines, conveyor belts, and gangue filling systems. It improves efficiency, reduces ground subsidence, and lowers environmental pollution, making it an important component of modern green mine construction.

[0003] However, with deeper mining operations, the cost of transporting gangue from underground to the surface has become increasingly high. Furthermore, open-pit placement of gangue also causes environmental pollution. To reduce gangue processing costs, most existing methods involve using explosion-proof trackless rubber-tired vehicles to fill the underground goaf with the sorted gangue. However, current gangue disposal operations require multiple people and have poor filling effects and low efficiency.

[0004] Therefore, there is an urgent need for a new type of waste rock disposal technology that can reduce the intensity of manual labor and improve the efficiency of waste rock disposal. Utility Model Content

[0005] The purpose of this utility model is to provide a gangue dumping machine for filling goaf areas in coal mines, so as to overcome the problems existing in the prior art. This utility model realizes the full-process mechanized operation of gangue crushing, collection, transportation and dumping; it can effectively replace traditional manual operation, significantly reduce labor intensity and manpower requirements, and at the same time, through a continuous and efficient material transfer and dumping mechanism, greatly improve the overall efficiency of gangue dumping operation and shorten the goaf filling cycle.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows: This utility model provides a coal mine goaf filling machine, including a main body, a walking mechanism, a material receiving device, a transport device, a coal mine throwing belt conveyor, a bucket assembly, an operating system, a hydraulic system, a water system and an electrical remote control system; The bucket assembly is located at the top end of the main body and is used for crushing operations. The receiving device is located on the side of the main body and at the bottom of the bucket assembly. It is used to receive materials and transfer them to the conveying device. The conveying device is set from the bottom of one end of the main body to the other end. One end of the conveying device is connected to the receiving device. The waste rock throwing conveyor is located at the other end of the main body and at the bottom of the conveying device. It is used to receive materials from the conveying device and transport them to a preset position. The operating system is located at the top of the main body and is connected to the bucket assembly, the receiving device, the conveying device, and the waste rock throwing conveyor. The hydraulic system, the water system, and the electrical remote control system are located on one side of the main body. The traveling mechanism is located at the bottom of the main body. The hydraulic system is connected to the traveling mechanism and the operating system, and the electrical remote control system is connected to the operating system.

[0007] In some embodiments, the bucket assembly includes a slewing support mounted on one end of the top of the main body. A mounting seat is provided on the top of the slewing support. A slewing cylinder is provided between the slewing support and the mounting seat. An eight-way electro-hydraulic proportional valve is provided on the top of the mounting seat. The eight-way electro-hydraulic proportional valve is connected to the operating system. A boom, a forearm, a breaker hammer, and a bucket are sequentially connected to the end of the slewing support away from the main body. A boom cylinder is provided between the boom and the slewing support. A bucket cylinder is connected between the bucket and the forearm. A breaker hammer cylinder is provided on the inner side of the forearm. A forearm cylinder is connected between the boom and the forearm. The eight-way electro-hydraulic proportional valve is connected to the boom cylinder, the bucket cylinder, the breaker hammer cylinder, and the forearm cylinder, respectively.

[0008] In some embodiments, the operating system includes an operating box installed on the top of the main body. The operating box is equipped with a seven-way operating valve group, a three-way pilot handle, a two-way pilot handle, and a pilot pressure gauge for stepless speed regulation. A hydraulic foot pedal and an operating chair are also provided on one side of the operating box. The three-way pilot handle and the hydraulic foot pedal are respectively connected to an eight-way electro-hydraulic proportional valve. A set of cross handles is provided on the operating chair, and the set of cross handles is connected to the eight-way electro-hydraulic proportional valve.

[0009] In some embodiments, the electrical remote control system includes an electrical control box located on one side of the main body and a remote control receiver located on the top of the main body. The electrical control box is connected to a methane power-off device, a voice and light alarm, and a pyroelectric sensor. The electrical control box is also connected to an operating box, a seven-way operating valve assembly, a three-way pilot handle, a two-way pilot handle, a pilot pressure gauge, a hydraulic foot pedal, an operating chair, and a set of cross handles.

[0010] In some embodiments, the water system includes a backwash filter and a booster pump disposed on one side of the main body. The booster pump is located at the bottom of the electrical control box, and the backwash filter is located on one side of the booster pump. The water system also includes a ball valve disposed on the operating chair.

[0011] In some embodiments, the hydraulic system includes an oil tank, a return oil filter and an air filter are provided on the top of the oil tank, a cooler is also provided on the oil tank, a suction oil filter is provided at the bottom of the cooler, the suction oil filter is connected to a variable displacement piston pump, a temperature and pressure integrated pressure transmitter is provided on the side of the oil tank near the variable displacement piston pump, and the hydraulic system also includes a hydraulic motor, which is connected to the traveling mechanism and the double pilot handle respectively.

[0012] In some embodiments, the walking mechanism includes tracks respectively mounted on both sides of the bottom of the body, and the tracks are connected to a hydraulic motor.

[0013] In some embodiments, the receiving device includes a first receiving hopper and a second receiving hopper located at the bottom of the bucket assembly. The top of the first receiving hopper and the second receiving hopper are respectively equipped with hopper lifting cylinders. The first receiving hopper and the second receiving hopper are connected to the side of the main body. One end of the conveying device is located between the first receiving hopper and the second receiving hopper. A conveyor driven wheel is provided at one end of the conveying device located between the first receiving hopper and the second receiving hopper. A plurality of hopper tilting cylinders are respectively provided at the bottom of the first receiving hopper and the second receiving hopper. The hopper tilting cylinders are connected to a seven-operation valve group to realize the receiving and releasing of the first receiving hopper and the second receiving hopper.

[0014] In some embodiments, the transport device includes a conveyor, one end of which is connected to a receiving device, and the other end of which is located at the other end of the main body. A chute is provided on the top of the conveyor, and several chain pressure plates are provided on both sides of the inner wall of the chute. Short chain pressure plates are also provided on both sides of the inner wall of the chute at the end of the chain pressure plates away from the main body, for moving the gangue on the chute. A drive device is provided on the top of the end of the conveyor away from the receiving device, and a conveyor motor is provided on the outside of the conveyor. The conveyor motor is connected to a three-link pilot handle. The conveyor motor is located on the outside of the end away from the receiving device, and a tensioning device is provided on the end of the conveyor motor near the main body.

[0015] In some embodiments, the waste rock throwing conveyor belt includes a rotating fixed frame installed at the other end of the main body. Support leg cylinders are provided on both sides of the bottom of the rotating fixed frame. The end of the rotating fixed frame away from the main body is connected to the waste rock throwing conveyor body via a conveyor belt rotating frame. Adjusting screws are installed on both sides of the end of the waste rock throwing conveyor body, and adjusting screws are installed on both sides of the tail of the waste rock throwing conveyor body. A conveyor belt rotating cylinder connects the conveyor belt rotating frame and the rotating fixed frame. Conveyor belts are provided on both sides of the waste rock throwing conveyor body. The lifting cylinder is connected at one end to the belt conveyor slewing frame to realize the rotation and lifting of the rock-throwing belt conveyor. The support leg cylinder, belt conveyor slewing cylinder and belt conveyor lifting cylinder are respectively connected to the seven-unit operating valve group. An electric roller is installed at the end of the rock-throwing belt conveyor body near the belt conveyor slewing frame, and a guide roller is installed at the end of the rock-throwing belt conveyor body away from the belt conveyor slewing frame. A belt is installed between the electric roller and the guide roller. A spraying component is also installed on the top of the rock-throwing belt conveyor body away from the belt conveyor slewing frame.

[0016] The above technical solution has the following advantages or beneficial effects: This utility model provides a gangue dumping machine for filling goaf areas in coal mines. By integrating a bucket assembly, a material receiving device, a transportation device, and a gangue dumping belt conveyor, it realizes the mechanized operation of the entire process of gangue crushing, collection, transportation, and dumping. This device effectively replaces traditional manual operation, significantly reduces labor intensity and manpower requirements. At the same time, through a continuous and efficient material transfer and dumping mechanism, it greatly improves the overall efficiency of gangue dumping operations and shortens the goaf filling cycle. The coordinated control of its hydraulic system and electrical remote control system further enhances the convenience and accuracy of equipment operation. It is suitable for complex underground environments and has good application value.

[0017] In some embodiments, the bucket assembly, through the coordinated action of the slewing support, boom, arm, and multiple sets of hydraulic cylinders, enables flexible positioning and precise operation of the bucket and breaker in three-dimensional space. The combination of boom cylinder, arm cylinder, and bucket cylinder achieves wide-range operation coverage and precise excavation. Combined with the breaker cylinder, the equipment can efficiently complete rock crushing and material collection. The eight-unit electro-hydraulic proportional valve ensures the smoothness and controllability of the movement of each actuator, significantly improving the automation level and operational accuracy of crushing and excavation operations, effectively reducing manual labor intensity, and improving the operational efficiency of the goaf filling pretreatment stage.

[0018] In some embodiments, the operating system integrates a seven-unit operating valve group, multiple sets of pilot handles, and hydraulic foot pedals to achieve stepless speed regulation and precise adjustment of each actuator. Operators can flexibly control actions such as bucketing, material collection, transportation, and rock throwing from the operating chair using a cross handle and foot pedal, significantly improving the convenience and responsiveness of equipment operation. The application of electro-hydraulic proportional technology ensures smooth action switching and adjustable speed, effectively reducing hydraulic shock and improving the coordination and reliability of the entire machine. This ergonomic design reduces operational intensity and enhances adaptability to complex working conditions, providing an important guarantee for the efficient and stable operation of the rock throwing machine.

[0019] In some embodiments, the electrical remote control system integrates a methane power-off device, a voice and light alarm, and a pyroelectric sensor through an electrical control box, enabling real-time monitoring and early warning of safety conditions such as methane concentration and personnel proximity in the working environment. Automatic power-off occurs when methane levels exceed limits, effectively improving the inherent safety level of the equipment. The remote control receiver supports long-distance wireless operation, reducing the risk of personnel exposure in hazardous areas. The water system is equipped with a backwash filter and a booster pump, effectively ensuring the water quality and pressure for dust suppression spraying and hydraulic system cooling. A ball valve at the operator's chair facilitates manual water volume adjustment. The two systems work together, significantly enhancing the equipment's safety and environmental adaptability underground, providing crucial support for the continuous and reliable operation of the waste rock dumping machine.

[0020] In some embodiments, the hydraulic system, through the cooperation of a variable displacement piston pump and a hydraulic motor, provides stable power to the traveling mechanism and pilot control, enabling precise adjustment of equipment movement and operation; the return oil filter and suction oil filter equipped in the oil tank effectively ensure the cleanliness of the hydraulic oil and reduce the risk of system failure; the air filter ensures smooth breathing of the oil tank, while the cooler maintains stable oil temperature and avoids performance degradation at high temperatures; the integrated temperature and pressure transmitter monitors the system operating conditions in real time, providing a basis for operation adjustment; the entire hydraulic system has a reasonable structure and complete filtration and cooling, significantly improving the reliability and service life of the gangue throwing machine during long-term continuous operation downhole.

[0021] In some embodiments, the walking mechanism adopts a tracked chassis design, with the tracks on both sides directly driven by hydraulic motors, providing stable and reliable mobility for the rock dumping machine in complex underground roadways. The track structure has a low ground pressure, providing good obstacle-crossing and slope-climbing performance, and is suitable for the working environment of uneven floor plates near goaf areas. The tracks on both sides can be adjusted independently, enabling flexible steering and precise positioning, meeting the needs for adjusting the equipment position during filling operations. The mechanism has a robust structure and a high degree of compatibility with the hydraulic system, effectively improving the mobility and operational adaptability of the rock dumping machine in narrow underground spaces.

[0022] In some embodiments, the receiving device adopts a double-hopper layout of a first receiving hopper and a second receiving hopper, which are respectively arranged at the bottom of the bucket assembly and on both sides of the driven wheel of the conveying device to form a continuous receiving operation surface. The hopper tilting cylinders installed at the bottom of each hopper can independently or synchronously adjust the tilting action of the hopper, so as to realize the efficient turnover of materials from receiving to unloading to the conveying device. This structure effectively expands the receiving range and avoids material accumulation. At the same time, the precise tilting driven by the cylinders significantly improves the automation level and operation continuity of the receiving process, and provides a guarantee for the stable supply of materials for subsequent transportation and waste disposal processes.

[0023] In some embodiments, the conveying device forms an efficient material conveying channel through a chute set on the top of the frame and chain pressure plates on both sides; the chain pressure plates, driven by the chain, push the gangue along the chute to move smoothly, realizing the continuous transfer of materials from the receiving device to the gangue throwing conveyor belt; the drive device and the conveyor motor provide power for the conveying and ensure the stable operation of the chain; the tensioning device effectively maintains the appropriate tension of the chain to prevent slippage or chain derailment; this structural design effectively improves the continuity and stability of gangue conveying, provides a continuous and reliable material supply for gangue throwing operations, and further ensures the overall operating efficiency of the gangue throwing machine.

[0024] In some embodiments, the rock-throwing conveyor belt, through the hinged structure of the rotating fixed frame and the conveyor belt rotating frame, combined with the conveyor belt rotating cylinder, realizes large-angle rotation adjustment of the rock-throwing conveyor belt in the horizontal plane, adapting to the needs of different throwing directions; the configuration of the conveyor belt lifting cylinder allows the entire rock-throwing conveyor belt to be adjusted in the vertical direction, further expanding the working range; the outrigger cylinder provides stable support when the equipment is positioned, ensuring the overall stability during the rock-throwing process; the belt set between the electric drum and the guide drum forms an efficient material conveying path, ensuring that the rock is continuously and smoothly transported to the designated throwing point; in addition, the addition of the spray component effectively suppresses the dust generated during the rock-throwing process, improving the underground working environment; the overall structure of this rock-throwing conveyor belt combines flexibility, stability and environmental protection, significantly improving the mechanization level and comprehensive benefits of goaf filling operations. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of a coal mine goaf filling machine according to some embodiments of this specification; Figure 2 This is a front view of a coal mine goaf filling machine according to some embodiments of this specification; Figure 3 This is a top view of a coal mine goaf filling machine according to some embodiments of this specification; Figure 4 This is a schematic diagram of the body structure according to some embodiments of this specification; Figure 5 This is a schematic diagram of the operating system structure according to some embodiments of this specification; Figure 6 This is a schematic diagram of the bucket assembly structure according to some embodiments of this specification; Figure 7 This is a schematic diagram of the material receiving device structure according to some embodiments of this specification; Figure 8 This is a schematic diagram of the bottom structure of the receiving device according to some embodiments of this specification; Figure 9 This is a schematic diagram of the structure of a transport device according to some embodiments of this specification; Figure 10 This is a schematic diagram of a first partial structure of a coal-throwing conveyor belt according to some embodiments of this specification; Figure 11 This is a schematic diagram of the structure of a coal dumping conveyor belt according to some embodiments of this specification; Figure 12 This is a schematic diagram of a second partial structure of a coal-throwing conveyor belt according to some embodiments of this specification; Figure 13 This is a schematic diagram of a hydraulic system structure according to some embodiments of this specification; Figure 14 This is a schematic diagram of a partial structure of a hydraulic system according to some embodiments of this specification; Figure 15 This is a schematic diagram of the operating chair structure according to some embodiments of this specification; In the diagram, 1. Main body; 2. Traveling mechanism; 3. Material receiving device; 4. Conveyor; 5. Waste disposal belt conveyor; 6. Bucket assembly; 7. Operating system; 8. Hydraulic system; 9. Water system; 11. Rotary fixed frame; 12. Belt conveyor rotary frame; 13. Belt conveyor lifting cylinder; 14. Bucket lifting cylinder; 15. Bucket cylinder; 16. Hydraulic breaker cylinder; 17. Hydraulic breaker; 18. Boom cylinder; 19. Arm cylinder; 20. Material... 21. Bucket tilting cylinder; 22. Belt conveyor slewing cylinder; 23. Outrigger cylinder; 24. Electrical control box; 25. Backwash filter device; 26. Hydraulic foot pedal; 27. Booster pump; 28. Remote control receiver; 29. ​​Two-way pilot handle; 30. Three-way pilot handle; 31. Seven-way operating valve assembly; 32. Emergency stop button; 33. Explosion-proof electric ball valve for mining; 34. Explosion-proof LED lighting for mining; 35. Pilot pressure gauge; 36. Bucket. 37. Eight-unit electro-hydraulic proportional valve; 38. Rotary cylinder; 39. First receiving hopper; 40. Second receiving hopper; 41. Conveyor driven wheel; 42. Conveyor motor; 43. Chain pressure plate; 44. Short chain pressure plate; 45. Drive unit; 46. Tensioning device; 47. Balance valve; 48. Methane sensor; 49. Sensor mounting base; 50. Mine explosion-proof electric bell; 51. Electric bell base plate; 52. Cable; 53. Methane power-off device; 54. Variable displacement piston pump; 55. Oil tank; 56. Suction filter; 57. Cooler; 58. Air filter; 59. Integrated temperature and pressure transmitter; 60. Return oil filter; 61. Spray assembly; 62. Electric roller; 63. Adjusting screw; 64. Adjusting screw; 65. Guide roller; 66. Pyroelectric sensor; 67. Operator's chair; 68. First cross handle; 69. Second cross handle; 70. Voice and light alarm. Detailed Implementation

[0026] In the following description, only certain exemplary embodiments are briefly described. As those skilled in the art will recognize, the described embodiments can be modified in various ways without departing from the spirit or scope of this invention. Therefore, the drawings and description are considered exemplary in nature and not restrictive.

[0027] In the description of this utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model.

[0028] 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 one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified.

[0029] In this utility model, 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 communication connection; 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0030] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0031] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0032] Example: Figure 1 This is a structural schematic diagram of a coal mine goaf filling machine according to some embodiments shown in this specification. Figure 2 This is a front view of a coal mine goaf filling machine according to some embodiments shown in this specification. Figure 3This is a top view of a coal mine goaf filling dumping machine according to some embodiments of this specification. The coal mine goaf filling dumping machine includes a main body 1, a traveling mechanism 2, a material receiving device 3, a transport device, a dumping belt conveyor 5, a bucket assembly 6, an operating system 7, a hydraulic system 8, a water system 9, and an electrical remote control system. In some embodiments, the bucket assembly 6 is located at one end of the main body 1 for crushing operations; the receiving device 3 is located on the side of the main body 1 and at the bottom of the bucket assembly 6 for receiving materials and transferring them to the transport device; the transport device extends from the bottom of one end of the main body 1 to the other end, with one end connected to the receiving device 3; the waste rock throwing conveyor 5 is located at the other end of the main body 1 and at the bottom of the transport device for receiving materials from the transport device and transporting them to a preset position; the operating system 7 is located at the top of the main body 1 and is connected to the bucket assembly 6, the receiving device 3, the transport device, and the waste rock throwing conveyor 5; the hydraulic system 8, the water system 9, and the electrical remote control system are located on one side of the main body 1; the traveling mechanism 2 is located at the bottom of the main body 1; the hydraulic system 8 is connected to the traveling mechanism 2 and the operating system 7; and the electrical remote control system is connected to the operating system 7.

[0033] In some embodiments, Figure 4 This is a schematic diagram of the body structure according to some embodiments of this specification. Figure 6 The diagram below shows the structure of the bucket assembly according to some embodiments of this specification. A rotary table is provided on the main body 1, located at one top end of the main body 1. The bucket assembly 6 includes a rotary support mounted on one top end of the main body 1. The rotary support is positioned on top of the rotary table, and a mounting seat is provided on top of the rotary support. A rotary hydraulic cylinder 38 is disposed between the rotary support and the mounting seat. An eight-port electro-hydraulic proportional valve 37 is provided on top of the mounting seat. The eight-port electro-hydraulic proportional valve 37 is connected to the operating... The system 7 is connected, and the end of the slewing support away from the main body 1 is sequentially connected to the boom, the forearm, the breaker 17, and the bucket 36. A boom cylinder 19 is installed between the boom and the slewing support, a bucket cylinder 15 is connected between the bucket 36 and the forearm, a breaker cylinder 16 is installed on the inside of the forearm, and a forearm cylinder 18 is connected between the boom and the forearm. An eight-way electro-hydraulic proportional valve 37 is connected to the boom cylinder 19, the bucket cylinder 15, the breaker cylinder 16, and the forearm cylinder 18 respectively.

[0034] In some embodiments, the hydraulic breaker 17 is operated via the hydraulic foot pedal 25 to perform the crushing operation.

[0035] In some embodiments, the bucket assembly 6 is operated by a set of cross handles, two sets of single-pilot hydraulic handles from the three-way pilot handle 29, and a hydraulic foot pedal 25. The eight-way electro-hydraulic proportional valve 37 is operated via the cross handle, the two sets of single-pilot hydraulic handles from the three-way pilot handle 29, and the hydraulic foot pedal 25, which in turn controls the movement of the bucket assembly 6. Specific movements include: left and right swinging of the bucket assembly 6, up and down tilting of the boom of the bucket assembly 6, extension and retraction of the forearm of the bucket assembly 6, extension and retraction of the bucket 36, extension and retraction of the breaker hammer 17, and breaker hammer 17 breaking metal. Pushing the cross handle controlling the left and right swing of the bucket assembly 6 to the left causes the breaker hammer 17 to swing to the left simultaneously under the action of the breaker hammer cylinder 16. Pushing the cross handle to the right causes the breaker hammer 17 to swing to the right simultaneously under the action of the breaker hammer cylinder 16. Returning the cross handle to the center position stops the swinging motion. Pulling the cross handle of the cylinder controlling the tilting of the bucket assembly 6 backward causes the boom of the bucket assembly 6 to tilt upward simultaneously under the action of the telescopic cylinder. Pushing the cross handle forward causes the boom of the bucket assembly 6 to tilt downward simultaneously under the action of the telescopic cylinder. Returning the cross handle to the center position stops the tilting of the boom. Pushing the cross handle of the cylinder controlling the extension and retraction of the bucket assembly 6 to the left causes the forearm of the bucket assembly 6 to retract backward simultaneously under the action of the telescopic cylinder. Pushing the cross handle to the right causes the forearm of the bucket assembly 6 to extend forward simultaneously under the action of the telescopic cylinder. Returning the cross handle to the center position stops the extension and retraction of the forearm. Pulling the cross handle of the cylinder controlling the tilting of the bucket assembly 6 backward causes the bucket 36 to tilt backward simultaneously under the action of the telescopic cylinder. Pushing the cross handle forward causes the bucket 36 to extend forward simultaneously under the action of the telescopic cylinder. Returning the cross handle to the center position stops the extension and retraction of the bucket 36. Pushing the hydraulic control handle that controls the extension and retraction of the hydraulic breaker 17 forward extends the breaker 17 forward; pulling the handle backward retracts the breaker 17; returning the handle to the center position stops the extension and retraction of the breaker 17. Depressing the hydraulic control foot pedal 25, which controls the breaker 17's crushing action, initiates the impact crushing action. The impact intensity varies with the degree of depressing; releasing the foot pedal stops the impact.

[0036] In some embodiments, Figure 5 This is a schematic diagram of the operating system structure according to some embodiments of this specification. Figure 15 The schematic diagram of the operating chair structure shown in some embodiments of this specification illustrates that the operating system 7 includes an operating box installed on the top of the main body 1. The operating box is equipped with a seven-way operating valve group 30, a three-way pilot handle 29, a two-way pilot handle 28, and a pilot pressure gauge 34 for stepless speed regulation. A hydraulic foot pedal 25 and an operating chair 67 are also provided on one side of the operating box. The three-way pilot handle 29 and the hydraulic foot pedal 25 are respectively connected to an eight-way electro-hydraulic proportional valve 37. A set of cross handles is provided on the operating chair 67, and the set of cross handles is connected to the eight-way electro-hydraulic proportional valve 37.

[0037] In some embodiments, a set of cross handles includes a first cross handle 68 and a second cross handle 69.

[0038] In some embodiments, the operation of the seven-way operating valve group 30 controls the up-and-down tilting and left-and-right retraction of the receiving device 3, the up-and-down tilting and left-and-right swinging of the dumping conveyor belt 5, and the retraction and extension of the left and right support legs; the operation of the three-way pilot handle 29 controls the crushing retraction and extension, the forward and reverse rotation of the conveyor motor 42, the booster water pump 26, and the tensioning; the first cross handle 68 in a set of cross handles is used to operate the left-and-right swinging of the bucket assembly 6 and the up-and-down tilting of the bucket assembly 6 boom; the second cross handle 69 operates the retraction and extension of the bucket assembly 6 arm and the retraction and extension of the bucket 36.

[0039] In some embodiments, the seven-operation valve group 30 includes a set of travel control valves for supplying hydraulic oil. Pushing one set of travel control valves forward simultaneously enables the gangue filling vehicle to move forward, and pulling the other set of travel control valves backward simultaneously enables it to move backward. When the gangue filling vehicle is turning, depending on the direction and angle of the curve, one travel control valve is pushed forward while the other is pulled backward. The remaining valves of the seven-operation valve group 30 control the tensioning cylinders of the booster pump 26, the track and conveyor 5 tensioning device 46, the hopper pitching, the first receiving hopper 39 flipping, the second receiving hopper 40 flipping, the gangue throwing conveyor 5 lifting and lowering, the gangue throwing conveyor 5 swinging left and right, the left and right outriggers retracting, and the gangue pusher retracting.

[0040] In some embodiments, the movement of the blasting machine is controlled by a dual pilot handle 28, wherein the left pilot handle controls left movement and the right pilot handle controls right movement.

[0041] In some embodiments, the electrical remote control system includes an electrical control box 23 located on one side of the main body 1 and a remote control receiver 27 located on the top of the main body 1. The remote control receiver 27 mainly performs the drive control of the electro-hydraulic integrated valve and the start / stop of the oil pump motor, the warning bell, and the emergency stop operation. The remote control transmitter operation panel is divided into upper and lower parts. The upper panel mainly consists of a 2.8-inch color information display screen, a speed adjustment knob, and five toggle switches. The lower panel consists of two remote control cross handles and one toggle switch. An emergency stop button 31 is provided on the right side of the remote control transmitter. The electrical control box 23 is connected to a methane power-off device 53, a voice and light alarm 70, and a pyroelectric sensor 66. The electrical control box is also connected to the operating box, the seven-way operating valve group 30, the three-way pilot handle 29, the two-way pilot handle 28, the pilot pressure gauge 34, the hydraulic foot pedal 25, the operating chair 67, and a set of cross handles.

[0042] In some embodiments, the electrical control box 23 may also be connected to an emergency stop button 31, a mine explosion-proof electric ball valve 32, and a mine explosion-proof electric bell 50, with the mine explosion-proof electric bell 50 mounted on the electric bell base plate 51.

[0043] In some embodiments, the electrical control box 23 is a mining explosion-proof and intrinsically safe vacuum electromagnetic starter.

[0044] In some embodiments, the electrical remote control system also includes three explosion-proof LED lights for mining, which are equipped with high brightness sufficient for underground work illumination. The brightness of the rear lights is adjustable, and the voltage rating is 24V. The explosion-proof LED lights for mining are independently controlled and have leakage and short-circuit protection.

[0045] In some embodiments, the electrical remote control system has comprehensive protection against leakage, overload, and short circuit. It also features automatic power-off when gas levels exceed limits, audible and visual alarm activation, voice alarm during movement, and personnel approach alarm shutdown.

[0046] In some embodiments, the remote control transmitter: after the gangue filling vehicle is powered on, the remote control transmitter is turned on. After the remote control system self-tests and finds no faults, the remote control can be remotely operated normally on the gangue filling vehicle.

[0047] In some embodiments, all components requiring electrical connection in the electrical remote control system are connected via cable 52.

[0048] In some embodiments, the water system includes a backwash filter 24 and a booster pump 26 disposed on one side of the main body 1. The booster pump 26 is located at the bottom of the electrical control box 23, and the backwash filter 24 is located on one side of the booster pump 26. The water system also includes a ball valve disposed on the operating chair.

[0049] In some embodiments, the booster pump 26 and the tensioning cylinder are controlled by a single hydraulic control handle from one of the three pilot handles 29. Specifically, the booster pump 26 rotates and tensions. Both actions are performed using a single handle: pushing the hydraulic control handle forward rotates the booster pump 26; pulling the hydraulic control handle backward tensions the tensioning cylinder. Tensioning involves two sets of actions: tensioning the track and tensioning the conveyor's scraper chain. After the initial tensioning, the connection is disconnected; the hydraulic circuit is reconnected when further tensioning is required.

[0050] In some embodiments, Figure 13 This is a schematic diagram of a hydraulic system structure according to some embodiments of this specification. Figure 14The hydraulic system 8, as shown in some embodiments of this specification, includes an oil tank 55. A return oil filter 60 and an air filter 58 are installed on the top of the oil tank 55. A cooler 57 is also installed on the oil tank 55. A suction filter 56 is installed at the bottom of the cooler 57. The suction filter 56 is connected to a variable displacement piston pump 54. A temperature and pressure integrated pressure transmitter 59 is installed on the side of the oil tank 55 near the variable displacement piston pump 54. The hydraulic system 8 also includes a hydraulic motor, which is connected to the travel mechanism 2 and the double pilot handle 28.

[0051] In some embodiments, a sensor mounting base 49 is provided on the top of the variable piston pump 54, and a methane sensor 48 is mounted on the sensor mounting base 49.

[0052] In some embodiments, the walking mechanism 2 includes tracks respectively installed on both sides of the bottom of the body 1, and the tracks are connected to a hydraulic motor.

[0053] In some embodiments, the tracks are connected to the body 1 via pins.

[0054] In some embodiments, the walking mechanism 2 is a tracked walking unit, with the two tracks driven by two hydraulic motors respectively. The hydraulic motors are equipped with hydraulic brakes, and actions such as forward movement, backward movement, turning, and braking can be achieved by manipulating the dual pilot handle 28.

[0055] In some embodiments, Figure 7 This is a schematic diagram of the material receiving device structure according to some embodiments of this specification. Figure 8 The diagram below shows the bottom structure of the receiving device according to some embodiments of this specification. The receiving device 3 includes a first receiving hopper 39 and a second receiving hopper 40 located at the bottom of the bucket assembly 6. The tops of the first receiving hopper 39 and the second receiving hopper 40 are respectively equipped with hopper lifting cylinders 14. The first receiving hopper 39 and the second receiving hopper 40 are connected to the side of the main body 1. One end of the transport device is located between the first receiving hopper 39 and the second receiving hopper 40. A driven wheel 41 of the transport device is provided at one end of the transport device located between the first receiving hopper 39 and the second receiving hopper 40. A plurality of hopper tilting cylinders 20 are respectively provided at the bottom of the first receiving hopper 39 and the second receiving hopper 40. The hopper tilting cylinders 20 are connected to a seven-way operating valve group 30 to realize the receiving and releasing of the first receiving hopper 39 and the second receiving hopper 40.

[0056] In some embodiments, the receiving device 3 is hinged to the body part 1.

[0057] In some embodiments, the first receiving hopper 39 and the second receiving hopper 40 can be moved left and right by the hopper tilting cylinder 20. The rubber-wheeled cart tippers unload the material into the first receiving hopper 39 and the second receiving hopper 40. The hopper tilting cylinder 20 is turned to dump the gangue to the center. The gangue is then transported to the gangue throwing belt conveyor 5 by the conveyor 4.

[0058] In some embodiments, the operation of the receiving device 3 is controlled by a seven-operation valve group 30, specifically including: receiving and releasing the receiving device 3, and tilting the first receiving hopper 39 and the second receiving hopper 40. Pushing the operating handle of the cylinder controlling the receiving and releasing of the receiving device 3 forward lowers the receiving device 3 simultaneously under the action of the telescopic cylinder; pulling the operating handle backward raises the receiving device 3 simultaneously under the action of the telescopic cylinder; returning the operating handle to the center position stops the receiving and releasing of the receiving device 3. Pushing the operating handle of the cylinder controlling the tilting of the first receiving hopper 39 forward tilts the first receiving hopper 39 outward simultaneously under the action of the telescopic cylinder; pulling the operating handle backward tilts the first receiving hopper 39 inward simultaneously under the action of the telescopic cylinder; returning the operating handle to the center position stops the tilting of the first receiving hopper 39. Push the operating handle of the control cylinder for the second receiving hopper 40 to the forward, and the second receiving hopper 40 will flip outward simultaneously under the action of the telescopic cylinder. Pull the operating handle back, and the second receiving hopper 40 will flip inward simultaneously under the action of the telescopic cylinder. Return the operating handle to the middle position, and the flipping of the second receiving hopper 40 will stop.

[0059] In some embodiments, Figure 9 The following is a schematic diagram of the structure of a transport device according to some embodiments of this specification. The transport device includes a conveyor 4, one end of which is connected to a receiving device, and the other end of which is located at the other end of the main body 1. A chute is provided on the top of the conveyor 4, and several chain pressure plates 43 are provided on both sides of the inner wall of the chute. Short chain pressure plates 44 are also provided on both sides of the inner wall of the chute at the end of the chain pressure plates 43 away from the main body 1, for moving the gangue on the chute. A drive device 45 is provided on the top of the end of the conveyor 4 away from the receiving device. A conveyor motor 42 is provided on the outside of the conveyor 4. The conveyor motor 42 is connected to a three-link pilot handle 29. The conveyor motor 42 is located on the outside of the end away from the receiving device. A tensioning device 46 is provided on the end of the conveyor motor 42 near the main body 1. By tensioning the conveyor motor 42, the scraper chain moves the gangue on the chute.

[0060] In some embodiments, the movement of the conveyor 4 is controlled by a set of hydraulic control handles in the three pilot handles 29. The specific movements are as follows: the scraper chain rotates forward and backward. When the hydraulic control handle controlling the forward and reverse rotation motor of the scraper chain is pushed forward, the scraper chain rotates forward under the action of the motor. When the hydraulic control handle is pulled backward, the scraper chain rotates backward under the action of the motor. When the hydraulic control handle returns to the middle position, the scraper chain does not change direction.

[0061] In some embodiments, Figure 11The above is a schematic diagram of the structure of a waste rock dumping conveyor belt according to some embodiments of this specification. Figure 10 This is a partial structural diagram of a conveyor belt for throwing coal according to some embodiments of this specification. Figure 12 The diagram below shows a partial structure of a coal-throwing conveyor belt according to some embodiments of this specification. The coal-throwing conveyor belt 5 includes a rotating fixed frame 11 mounted at the other end of the main body 1. Support leg cylinders 22 are provided on both sides of the bottom of the rotating fixed frame 11. A balance valve 47 is provided outside the support leg cylinders 22. The end of the rotating fixed frame 11 away from the main body 1 is connected to the coal-throwing conveyor body via a conveyor belt rotating frame 12. Adjusting screws 63 are respectively installed on both sides of the end of the coal-throwing conveyor body, and adjusting screws 64 are respectively installed on both sides of the tail of the coal-throwing conveyor body. A conveyor belt rotating cylinder 21 connects the conveyor belt rotating frame 12 and the rotating fixed frame 11. Conveyor belt lifting mechanisms are provided on both sides of the coal-throwing conveyor body. The lowering cylinder 13 and the belt conveyor lifting cylinder 13 are connected at one end to the belt conveyor slewing frame 12 to realize the rotation and lifting of the rock-throwing belt conveyor 5. The support leg cylinder 22, the belt conveyor slewing cylinder 21 and the belt conveyor lifting cylinder 13 are respectively connected to the seven-unit operating valve group 30. An electric drum 62 is provided at one end of the rock-throwing belt conveyor body near the belt conveyor slewing frame 12, and a guide drum 65 is provided at the other end of the rock-throwing belt conveyor body away from the belt conveyor slewing frame 12. A belt is provided between the electric drum 62 and the guide drum 65. A spray assembly 61 is also provided at the top of the rock-throwing belt conveyor body away from the belt conveyor slewing frame 12. By adjusting the height and tail angle of the rock-throwing belt conveyor 5, the rock can be used to fill the goaf area in all directions.

[0062] In some embodiments, the operation of the waste rock throwing conveyor 5 is controlled by a seven-unit operating valve group 30. Specific operations include: the waste rock throwing conveyor 5 pitching up and down, and the waste rock throwing conveyor 5 swinging left and right. Pushing the operating handle of the hydraulic cylinder controlling the pitching up and down of the waste rock throwing conveyor 5 forward causes the conveyor 5 to pitch up simultaneously under the action of the cylinder. Pulling the operating handle backward causes the conveyor 5 to pitch down simultaneously under the action of the cylinder. Returning the operating handle to the center position stops the pitching up and down movement of the waste rock throwing conveyor 5. Pushing the operating handle of the hydraulic cylinder controlling the swinging left and right of the waste rock throwing conveyor 5 forward causes the conveyor 5 to swing left under the action of the cylinder. Pulling the operating handle backward causes the conveyor 5 to swing right under the action of the cylinder. Returning the operating handle to the center position stops the swinging left and right movement of the waste rock throwing conveyor 5.

[0063] The structure and working principle of this utility model will be further explained below: This specification describes a coal mine goaf filling machine, as illustrated in some embodiments. When using the device, the operator controls the walking mechanism 2 via an electrical remote control system or a dual pilot handle 28 located on the operating system 7. Pushing or pulling both handles simultaneously forward or backward allows the equipment to move along the tracks to a predetermined working position near the goaf. Turning is achieved through differential control (e.g., one handle pushing forward while the other pulls back). Then, the outrigger cylinders 22 of the coal throwing conveyor 5 are operated to support the ground, enhancing the stability of the entire machine during operation. The power supply is connected, and the variable displacement piston pump 54 of the hydraulic system 8 is started via remote control or local operation to provide power to the hydraulic actuators. Simultaneously, the booster pump 26 of the water system 9 is started to prepare for dust suppression spraying. After the system self-checks (e.g., remote control system, methane power-off device 53) and finds no faults, it enters standby mode.

[0064] The operator uses a set of cross handles, two sets of hydraulic control handles from the three pilot handles 29, and hydraulic foot pedal 25 on the operating system 7 to operate the bucket assembly 6 in coordination. By controlling the slewing cylinder 38, boom cylinder 19, and arm cylinder 18, the operator moves the bucket 36 or the breaker 17 to the target position of the gangue pile. Then, the operator operates the bucket cylinder 15 to perform the shoveling operation, gathering the gangue towards the receiving device 3. If a large piece of gangue is encountered, the operator operates the breaker cylinder 16 to extend the breaker 17 to hold the gangue, and then presses the hydraulic foot pedal 25 to start the breaker 17 to crush it.

[0065] The gangue scooped up by the bucket assembly 6 falls into the first receiving hopper 39 and the second receiving hopper 40. By operating the seven-way operating valve group 30, the hopper tilting cylinder 20 is controlled to rotate, causing the left and right receiving hoppers to tilt inward alternately or synchronously, dumping the gangue into the chute of the conveyor 4 below.

[0066] Operate one set of hydraulic control handles in the three pilot handles 29 to control the conveyor motor 42 to rotate forward, drive the pressure chain plate to move, and the scraper chain will continuously transport the gangue in the chute from the front end (receiving end) of the equipment to the rear end (unloading end).

[0067] Operate the seven-way control valve group 30 to control the belt conveyor lifting cylinder 13, adjust the elevation angle of the rock-throwing belt conveyor to change the throwing distance; operate the other handle of the same valve group to control the belt conveyor rotation cylinder 21, so that the rock-throwing belt conveyor swings left and right to cover different filling areas; the rock dropping from the tail of the conveyor 4 falls onto the belt of the rock-throwing belt conveyor body, start the electric drum 62, drive the belt to rotate at high speed, and throw the rock forward to the preset position in the goaf. At the same time as the rock-throwing operation, the spray component 61 is turned on to suppress the dust generated during the throwing process.

[0068] Based on the filling situation of the goaf and the on-site command, the operator needs to continuously fine-tune the working position of the bucket assembly 6 and the angle and direction of the dumping conveyor belt 5 to achieve uniform and efficient filling. When the scraper chain of the conveyor 4 or the track of the walking mechanism 2 becomes loose, one of the hydraulic control handles in the specially designed three-link pilot handle 29 is operated to connect the oil circuit to the corresponding tensioning cylinder (such as the tensioning device 46) for tensioning. Throughout the operation, the methane power-off device 53, the pyroelectric sensor 66, the voice and light alarm 70 and other devices continuously monitor environmental safety. In case of danger, the machine can be stopped automatically or manually (via the emergency stop button 31).

[0069] After the current area is filled, reset the waste rock dumping conveyor 5 to the transport state and retract the outriggers. Operate the traveling mechanism 2 to move the equipment to the next filling point. After all operations are completed, stop all moving mechanisms (conveyor, waste rock dumping conveyor, bucket, etc.), and finally shut down the hydraulic pump station and water pump, and disconnect the main power supply to the equipment.

[0070] This utility model provides a gangue throwing machine for filling goaf areas in underground coal mines. Through the continuous steps of "excavation-collection-transfer-throwing", the gangue throwing machine realizes the mechanization, continuity and remote control of gangue filling operations in underground coal mines, effectively improving filling efficiency and operational safety. All steps are precisely driven and controlled by hydraulic system and electrical remote control system, realizing the miniaturization, lightweighting and intelligent improvement of the gangue throwing machine.

[0071] Compared with the prior art, the present invention has at least the following beneficial effects: Safety: This rock-filling machine can be fully remotely controlled. Operators can control it from a distance using a small, lightweight, flexible, and reliable remote control with a long range. An emergency stop button (31 buttons) is also provided around the equipment for rapid shutdown in case of emergencies, ensuring production safety. Infrared audible and visual alarm devices are located on the left and right sides of the rear of the filling vehicle to prevent accidental entry, automatically cutting off power in case of unauthorized entry. Reliability: The rock-filling machine is fully hydraulically controlled, using a constant-power variable displacement piston pump that automatically adjusts the flow rate according to load requirements, ensuring a long service life. A multi-stage filtration system effectively ensures oil cleanliness and reduces the failure rate of the hydraulic system. Without moving the machine, the height and horizontal swing of the conveyor belt can be adjusted by operating the hydraulic handle or remote control, effectively filling the entire goaf. Scraping devices are installed at both ends of the belt to reduce the frequency of manual maintenance. The hopper volume of the filling car is matched to the filling capacity of the rubber-tired car. After the rubber-tired car pours the gangue into the hopper, there is no need for secondary dumping or shoveling, thus improving the gangue filling efficiency. Spray dust suppression devices are installed at the junctions of the filling car receiving device 3, the conveyor 4, and the gangue throwing belt conveyor 5, as well as at the throwing point of the gangue throwing belt, effectively reducing the environmental hazards of underground gangue filling operations. In summary, this utility model can improve the efficiency of gangue throwing operations, reduce the intensity of manual labor, reduce the difficulty of operating the gangue throwing equipment, and increase the flexibility of gangue throwing operations.

[0072] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0073] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that can be understood by those skilled in the art. The above content is only for illustrating the technical concept of this utility model and should not be used to limit the scope of protection of this utility model. Any modifications made to the technical solutions based on the technical concept proposed by this utility model shall fall within the scope of protection of the claims of this utility model.

Claims

1. A coal mine goaf filling machine, characterized in that, It includes the main body (1), walking mechanism (2), material receiving device (3), transportation device, waste rock throwing belt conveyor (5), bucket assembly (6), operating system (7), hydraulic system (8), water system (9) and electrical remote control system; The bucket assembly (6) is located at the top end of the main body (1) and is used for crushing operations. The receiving device (3) is located on the side of the main body (1) and at the bottom of the bucket assembly (6) and is used to receive materials and transfer them to the conveying device. The conveying device is set from the bottom of one end of the main body (1) to the other end of the main body (1). One end of the conveying device is connected to the receiving device (3). The waste rock throwing conveyor belt (5) is located at the other end of the main body (1) and at the bottom of the conveying device and is used for crushing operations. The receiving and transporting device receives the material and transports it to the preset position. The operating system (7) is located on the top of the main body (1). The operating system (7) is connected to the bucket assembly (6), the receiving device (3), the transport device and the dumping conveyor belt (5) respectively. The hydraulic system (8), the water system (9) and the electrical remote control system are located on one side of the main body (1). The walking mechanism (2) is located at the bottom of the main body (1). The hydraulic system (8) is connected to the walking mechanism (2) and the operating system (7) respectively. The electrical remote control system is connected to the operating system (7).

2. A coal mine goaf filling machine according to claim 1, characterized in that, The bucket assembly (6) includes a slewing support installed at one end of the top of the main body (1). A mounting seat is provided on the top of the slewing support. A slewing cylinder (38) is provided between the slewing support and the mounting seat. An eight-way electro-hydraulic proportional valve (37) is provided on the top of the mounting seat. The eight-way electro-hydraulic proportional valve (37) is connected to the operating system (7). The end of the slewing support away from the main body (1) is connected in sequence to the boom, the forearm, the breaker hammer (17), and the bucket (36). A boom cylinder (19) is provided between the boom and the slewing support. A bucket cylinder (15) is connected between the bucket (36) and the forearm. A breaker hammer cylinder (16) is provided on the inner side of the forearm. A forearm cylinder (18) is connected between the boom and the forearm. The eight-way electro-hydraulic proportional valve (37) is connected to the boom cylinder (19), the bucket cylinder (15), the breaker hammer cylinder (16), and the forearm cylinder (18) respectively.

3. A coal mine goaf filling machine according to claim 2, characterized in that, The operating system (7) includes an operating box installed on the top of the main body (1). The operating box is equipped with a seven-way operating valve group (30), a three-way pilot handle (29), a two-way pilot handle (28), and a pilot pressure gauge (34) for stepless speed regulation. A hydraulic foot pedal (25) and an operating chair (67) are also provided on one side of the operating box. The three-way pilot handle (29) and the hydraulic foot pedal (25) are respectively connected to an eight-way electro-hydraulic proportional valve (37). A set of cross handles is provided on the operating chair (67), and the set of cross handles is connected to the eight-way electro-hydraulic proportional valve (37).

4. A coal mine goaf filling machine according to claim 3, characterized in that, The electrical remote control system includes an electrical control box (23) located on one side of the main body (1) and a remote control receiver (27) located on the top of the main body (1). The electrical control box (23) is connected to a methane power cut-off device (53), a voice and light alarm (70), and a pyroelectric sensor (66). The electrical control box is also connected to the operating box, a seven-way operating valve group (30), a three-way pilot handle (29), a two-way pilot handle (28), a pilot pressure gauge (34), a hydraulic foot pedal (25), an operating chair (67), and a set of cross handles.

5. A coal mine goaf filling machine according to claim 4, characterized in that, The water system includes a backwash filter (24) and a booster pump (26) located on one side of the main body (1). The booster pump (26) is located at the bottom of the electrical control box (23), and the backwash filter (24) is located on one side of the booster pump (26). The water system also includes a ball valve located on the operating chair.

6. A coal mine goaf filling machine according to claim 3, characterized in that, The hydraulic system (8) includes an oil tank (55), a return oil filter (60) and an air filter (58) are provided on the top of the oil tank (55), a cooler (57) is also provided on the oil tank (55), a suction filter (56) is provided at the bottom of the cooler (57), a variable piston pump (54) is connected to the suction filter (56), and a temperature and pressure integrated pressure transmitter (59) is provided on the side of the oil tank (55) near the variable piston pump (54). The hydraulic system (8) also includes a hydraulic motor, which is connected to the walking mechanism (2) and the double pilot handle (28) respectively.

7. A coal mine goaf filling machine according to claim 6, characterized in that, The walking mechanism (2) includes tracks installed on both sides of the bottom of the body (1), and the tracks are connected to a hydraulic motor.

8. A coal mine goaf filling machine according to claim 3, characterized in that, The receiving device (3) includes a first receiving hopper (39) and a second receiving hopper (40) located at the bottom of the bucket assembly (6). The top of the first receiving hopper (39) and the second receiving hopper (40) are respectively equipped with a hopper lifting cylinder (14). The first receiving hopper (39) and the second receiving hopper (40) are connected to the side of the main body (1). One end of the transport device is located between the first receiving hopper (39) and the second receiving hopper (40). One end of the transport device located between the first receiving hopper (39) and the second receiving hopper (40) is provided with a transport machine driven wheel (41). Several hopper tilting cylinders (20) are respectively provided at the bottom of the first receiving hopper (39) and the second receiving hopper (40). The hopper tilting cylinders (20) are connected to the seven-unit operating valve group (30) to realize the receiving and releasing of the first receiving hopper (39) and the second receiving hopper (40).

9. A coal mine goaf filling machine according to claim 3, characterized in that, The transport device includes a conveyor (4), one end of which is connected to a receiving device, and the other end of which is located at the other end of the main body (1). A chute is provided on the top of the conveyor (4), and several chain plates (43) are provided on both sides of the inner wall of the chute. Short chain plates (44) are also provided on both sides of the inner wall of the chute at the end of the chain plate (43) away from the main body (1) to drive the gangue on the chute to move. A drive device (45) is provided on the top of the end of the conveyor (4) away from the receiving device. A conveyor motor (42) is provided on the outside of the conveyor (4). The conveyor motor (42) is connected to a three-link pilot handle (29). The conveyor motor (42) is located on the outside of the end away from the receiving device. A tensioning device (46) is provided on the end of the conveyor motor (42) close to the main body (1).

10. A coal mine goaf filling machine according to claim 3, characterized in that, The waste rock throwing conveyor belt (5) includes a rotating fixed frame (11) installed at the other end of the main body (1). Support cylinders (22) are provided on both sides of the bottom of the rotating fixed frame (11). The end of the rotating fixed frame (11) away from the main body (1) is connected to the waste rock throwing conveyor body via a conveyor belt rotating frame (12). Adjusting screws (63) are installed on both sides of the end of the waste rock throwing conveyor body, and adjusting screws (64) are installed on both sides of the tail of the waste rock throwing conveyor body. A conveyor belt rotating cylinder (21) is connected between the conveyor belt rotating frame (12) and the rotating fixed frame (11). Conveyor belt lifting cylinders (13) are provided on both sides of the waste rock throwing conveyor body. One end of the lifting cylinder (13) is connected to the belt conveyor rotation frame (12) to realize the rotation and lifting of the rock throwing belt conveyor (5). The support cylinder (22), belt conveyor rotation cylinder (21) and belt conveyor lifting cylinder (13) are respectively connected to the seven-unit operating valve group (30). An electric roller (62) is provided at the end of the rock throwing belt conveyor body close to the belt conveyor rotation frame (12), and a guide roller (65) is provided at the end of the rock throwing belt conveyor body away from the belt conveyor rotation frame (12). A belt is provided between the electric roller (62) and the guide roller (65). A spray assembly (61) is also provided at the top of the rock throwing belt conveyor body away from the belt conveyor rotation frame (12).

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