关键词: 充填开采, 沿空留巷, 挡矸液压模板, 液压机械手

Abstract: Solid filling mining technology has achieved good application effects, such as rock stability control, ecological environment protection, reducing safety risks. The combination of goaf retaining technology and filling mining technology can realize maximum recovery of mining resources without coal pillar and control of uniform surface movement and deformation. In order to improve the working efficiency and reduce the working intensity of solid filling mining face, a mechanized method of retaining roadway along the backfill body edge of solid filling working face is proposed. This paper studied the process method of mechanical gangue retaining rack mold and modular circulating forward moving, and developed mechanized road-filling and retaining equipment, including high and low adjustable gangue retaining hydraulic template, rail type moving forward platform and joint type hydraulic manipulator. ADAMS is used to simulate the motion of the manipulator, and the displacement and velocity curves of the end point of the manipulator are obtained, which proves the rationality of the structure parameter design. ANSYS was used to analyze the compressive capacity of the gangue template structure. The results show that the overall structure has a small deformation and a certain compressive capacity under the load of 1Mpa. The simulation results provide reference for the follow-up research.