Structural filling device and method in underground mining

The invention discloses a structural filling device and method in underground mining, the device comprises a moving mechanism, a drilling mechanism, a plurality of telescopic sleeves, a suspension mechanism, a transfer mechanism and a concrete pump truck, each telescopic sleeve comprises a telescopic piece, a lower positioning part and an upper positioning part; and the transferring mechanism is used for transferring the telescopic sleeve on the hanging mechanism to the bottom surface of the goaf and enabling the lower positioning part to be inserted into the lower positioning hole. The device has the beneficial effects that the lower positioning part and the upper positioning part of the telescopic sleeve are inserted into the lower positioning hole and the upper positioning hole respectively, so that the whole telescopic sleeve can be limited in the horizontal direction, and an integral structure formed by concrete and the telescopic sleeve can well support the top surface of a goaf. The drilling mechanism,