Interplane coal pillar digging and mining robot

Abstract

The invention relates to the technical field of coal mine intellectualization, and provides an inter-face coal pillar digging and mining robot which comprises a right-angle turning scraper conveyor and a digging and mining robot body. The digging and mining robot is mounted on the right-angle turning scraper conveyor; the digging and mining robot comprises a cutting system, and the cutting system is located on a machine body of the digging and mining robot. Wherein the cutting system is driven by the electric cylinder to move, and vertical cutting of a rectangular section is completed through compound movement of the feeding electric cylinder and the height adjusting electric cylinder; after the cutting action is completed, a walking system of the digging and mining robot moves by one cut width along the right-angle turning scraper conveyor, and the actions are repeated until the whole section is pushed by one cut distance; wherein in the cutting process, the fallen coal is transferred into the right-angle turning scraper conveyor; the stability of the cutting system in the cutting and walking process is ensured through the anti-overturning effect of the guide sliding shoes in the walking system of the digging and mining robot and the force effect of the hydraulic support matched with the right-angle turning scraper conveyor.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mine intelligentization, and more particularly, to a face-intermediate coal pillar mining robot. Background Art

[0002] At present, the reserved width of the face-intermediate coal pillar in underground coal mines during longwall mining is generally 20 - 50 m. After the working face is mined, the coal pillar generally cannot be recovered, resulting in a low recovery rate of coal resources. How to recover the coal pillar, improve the recovery rate of coal resources and the economic benefits of coal mines is a hot and difficult issue in current mining research. Among them, ensuring that the face-intermediate coal pillar is cut into a rectangular roadway and can be accurately positioned in real time to achieve automated operation is an important research direction in the coal mining industry. Therefore, researching the face-intermediate coal pillar mining robot has very important practical significance. Mining and excavation equipment is a key equipment in underground mining, directly affecting the progress and quality of roadway excavation. Nowadays, most of the coal mining and excavation equipment in underground coal mines are roadheader-anchoring machines, long-arm shearers, short-arm shearers, continuous miners, etc.

[0003] For example, a protective layer mining robot proposed in the prior art CN113833462A and a thin coal seam mining robot disclosed in CN113738355A both place the vehicle body in the roadway and cut thin coal seams of different thicknesses by controlling the swing of the rocker arm. The vehicle body needs to frequently change the working face, resulting in low efficiency. Moreover, during the process of continuously extending the length of the spiral conveyor blade in the feeding mechanism to mine coal inside, the real-time continuous high efficiency of transportation still cannot be achieved. At the same time, the placement position of the vehicle body requires complex pipeline erection to meet the requirements of mining and excavation positioning and is difficult to be directly applied to the underground face-intermediate coal pillar environment. Its "separation of mining and transportation" mode leads to fragmented processes and low mining efficiency, unable to meet the requirements of integrated parallel operations of tunneling, support, and filling in underground coal mines.

[0004] Based on the current development status of coal mining and excavation equipment in underground coal mines, researching an automatic cutting system for face-intermediate coal pillars to realize the automation of the coal mining and excavation system in underground coal mines is of great significance for improving the tunneling and mining efficiency in underground coal mines and the extraction rate of coal. The four mainstream mining and excavation equipment cannot simultaneously meet the requirements of the cross-sectional width and rectangular roadway formation for face-intermediate coal pillar mining. Therefore, there is an urgent need to develop a face-intermediate coal pillar mining robot to alleviate the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a face-intermediate coal pillar mining robot, which can solve the problems in the background art to a certain extent.

[0006] In a first aspect, an embodiment of the present invention provides a face-intermediate coal pillar mining robot, comprising: a right-angle turning scraper conveyor and a mining robot; the mining robot is installed on the right-angle turning scraper conveyor; the mining robot includes a cutting system, and the cutting system is located above the fuselage of the mining robot; wherein, the cutting system is driven to move by an electric cylinder, and the vertical cutting of a rectangular section is completed through the combined movement of feeding the electric cylinder and adjusting the height of the electric cylinder; after the cutting action is completed, the mining robot moves a cutting width along the right-angle turning scraper conveyor through its walking system, and the above actions are repeated until the entire section advances by a cutting intercept; wherein, during the cutting process, the fallen coal is transported into the right-angle turning scraper conveyor; through the anti-overturning effect of the guiding sliding shoes in the walking system of the mining robot and the action of the hydraulic support force in cooperation with the right-angle turning scraper conveyor, the stability of the cutting system during the cutting and walking processes is ensured.

[0007] In some possible implementation manners, the right-angle turning scraper conveyor includes a head, a conveying trough, a coal baffle, a pin row type guide rail, a transition trough, a turntable, a tail, and a driving motor; the head is installed at one end of the scraper conveyor, the tail is installed at the other end of the scraper conveyor, and driving motors are respectively installed on the head and the tail to provide power for the scraper conveyor, and two driving motors drive the chain to pull the scraper to complete the transportation of coal; the conveying trough is installed in the middle of the right-angle turning scraper conveyor and is composed of a plurality of middle trough components, and each middle trough component includes a middle plate and a channel steel side; there is a structure connected to the hydraulic support behind the conveying trough, and a supporting force is provided by the hydraulic support during the cutting process; the coal baffle is installed behind the conveying trough to prevent coal from falling behind the scraper; the pin row type guide rail is installed on the conveying trough for the mining robot to walk on the right-angle turning scraper conveyor; the transition trough is connected to the conveying trough and is equipped with a turntable on it, and the scraper is fixed at the turning position through the bayonet in the turntable, and the turning of the scraper is completed in cooperation with the transition trough; the turntable includes an upper turntable, a lower turntable and a rotating shaft, and the upper turntable and the lower turntable rotate around the rotating shaft in opposite directions.

[0008] In some possible embodiments, the mining and excavation robot includes a cutting system, a star wheel loading system, a traveling system, and a mining and excavation robot body; the cutting system is used for cutting and crushing coal and rock, and includes picks, a cutting drum, a cantilever, and a movable slide; the picks are installed on the cutting drum and on the slide rail installed on the mining and excavation robot body, the cutting drum is installed on the cantilever and is driven by a motor; the cantilever is installed on the movable slide; the height of the cutting drum is adjusted by two height-adjusting cylinders installed on the movable slide; the position of the movable slide is adjusted by two feed cylinders installed on the mining and excavation robot body; the star wheel loading system is used for transporting and loading the fallen coal, and includes a star wheel, a scraper plate, a scraper loading mechanism and its related supporting components; the star wheel is installed on the scraper plate and is driven by a motor, and the fallen coal is loaded onto the loading mechanism by the rotation of the two star wheels; the loading mechanism includes a scraper, a chain and a gear shaft group, and the rear gear shaft group is driven by two motors to pull the chain to complete the transportation of the fallen coal from the face to the right-angle turning scraper conveyor; the traveling system is used for the movement of the mining and excavation robot on the scraper conveyor, and includes guiding shoes, supporting shoes and two driving motors; two pairs of guiding shoes are installed on the mining and excavation robot body, and traveling gears are installed in the guiding shoes; the mining and excavation robot travels by driving the traveling gears to engage with the pin row type guide rail; two pairs of directional shoes are installed behind the scraper plate of the mining and excavation robot and slide on the right-angle turning scraper conveyor driven by the traveling gears.

[0009] In some possible embodiments, the height of the cutting drum is adjusted by two height-adjusting cylinders installed on the movable slide; the position of the movable slide is adjusted by two feed cylinders installed on the mining and excavation robot body.

[0010] In some possible embodiments, the cutting system is located above the mining and excavation robot body, and the cutting system is driven by an electric cylinder. The vertical cutting of the rectangular section is completed through the combined movement of the feed electric cylinder and the height-adjusting electric cylinder. After the cutting action is completed, the robot moves a cutting width along the right-angle turning scraper conveyor through the traveling system, and repeats the above actions until the entire section advances a cutting distance.

[0011] In some possible embodiments, it further includes an electro-hydraulic control integrated box, a controller, sensors, a remote control and pipeline consumables; the electro-hydraulic control integrated box is located behind the mining and excavation robot body, connects to the cable, steps down the voltage to supply power to each electrical appliance and provides safety protection, and the controller, sensors and remote control jointly complete the intelligent control and system status monitoring of the robot.

[0012] Compared with the prior art, the present application has the following beneficial effects:

[0013] In the technical solution of the face-intermediate coal pillar mining robot provided in this application, the mining robot is installed on the right-angle turning scraper conveyor. The cutting system is located above the fuselage of the mining robot. The cutting system is driven by an electric cylinder. The vertical cutting of a rectangular cross-section is completed through the combined movement of the feeding electric cylinder and the height-adjusting electric cylinder. After the cutting action is completed, the robot moves a cutting width along the right-angle turning scraper conveyor through the walking system, and repeats the above actions until the entire cross-section advances a cutting distance; during the cutting process, the fallen coal is transferred to the right-angle turning scraper conveyor through the corresponding transportation mechanism; the anti-overturning effect of the guiding sliding shoes in the walking system and the force of the hydraulic support cooperating with the right-angle turning scraper conveyor ensure the stability of the cutting system during the cutting and walking processes, providing a safe working space for the mining robot and the operators. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0015] Figure 1 Schematic diagram of the overall structure of the face-intermediate coal pillar mining robot provided in an embodiment of the present invention;

[0016] Figure 2 Schematic diagram of the structure of the right-angle turning scraper conveyor provided in an embodiment of the present invention;

[0017] Figure 3 Schematic diagram of the structure of the middle trough assembly provided in an embodiment of the present invention;

[0018] Figure 4 Schematic diagram of the structure of the turntable provided in an embodiment of the present invention;

[0019] Figure 5 Schematic diagram of the structure of the mining robot provided in an embodiment of the present invention;

[0020] Figure 6 Schematic diagram of the structure of the cutting system of the mining robot provided in an embodiment of the present invention;

[0021] Figure 7 Schematic diagram of the structure of the star wheel loading system of the mining robot provided in an embodiment of the present invention;

[0022] Figure 8 Schematic diagram of the structure of the walking system of the mining robot provided in an embodiment of the present invention;

[0023] Figure 9Schematic diagram of the cutting process of the mining robot provided by an embodiment of the present invention;

[0024] Figure 10 Connection block diagram of the sensor assembly and the controller provided by an embodiment of the present invention;

[0025] Figure 11 Schematic diagram of the installation positions of the electro-hydraulic control integrated box and the sensors provided by an embodiment of the present invention;

[0026] Figure 12 Control principle diagram of the control system provided by an embodiment of the present invention. Detailed implementation manners

[0027] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some but not all of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0029] It should be noted that: like reference numerals and letters denote like items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0030] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the present invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive distinction and cannot be construed as indicating or implying relative importance.

[0031] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0032] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0033] Please refer to Figures 1-8 , this embodiment provides a face-intermediate coal pillar mining and excavation robot, which at least includes a right-angle turning scraper conveyor 1 and a mining and excavation robot 2.

[0034] Among them, the right-angle turning scraper conveyor 1 includes a head 11, a conveying trough 12, a coal baffle 13, a pin row type guide rail 14, a transition trough 15, a turntable 16, a tail 17, a driving motor 18 and related supporting components.

[0035] The head 11 is installed at one end of the scraper conveyor 1, and the tail 17 is installed at the other end of the scraper conveyor 1. The head 11 and the tail 17 are respectively equipped with a driving motor 18 for providing power for the scraper conveyor, and the two driving motors 18 drive the chain to pull the scraper to complete the transportation of coal.

[0036] The conveying trough 12 is installed in the middle of the right-angle turning scraper conveyor 1 and is composed of several middle trough components. The middle trough component includes a middle plate 121 and a channel steel side 122, which play roles such as support, guidance, leakage prevention, improving transportation efficiency and reducing wear.

[0037] There is a structure at the rear of the conveying trough 12 that is connected to the hydraulic support. During the cutting process, the hydraulic support provides a supporting force to ensure the stability of the cutting system 21. After the cutting is completed, the entire working face is advanced through "pushing the scraper conveyor and moving the support".

[0038] The coal baffle 13 is installed at the rear of the conveying trough 12 to prevent coal from falling behind the scraper conveyor.

[0039] The pin row type guide rail 14 is installed on the conveying trough 12 for the mining and excavation robot 2 to walk on the right-angle turning scraper conveyor 1.

[0040] The transition chute 15 is connected to the conveying chute 12 and is equipped with a turntable 16. The scraper is fixed at the turning position through the bayonet in the turntable 16, and the turning of the scraper is completed in cooperation with the transition chute 15.

[0041] The turntable 16 includes an upper turntable 161, a lower turntable 162 and a rotating shaft 163. The upper turntable 161 and the lower turntable 162 rotate around the rotating shaft 163 in opposite directions.

[0042] Among them, the mining and excavation robot 2 includes a cutting system 21, a star wheel loading system 22, a walking system 23, a mining and excavation robot body 24 and related supporting components.

[0043] The cutting system 21 is used for cutting and crushing coal and rock, and includes cutting teeth 211, a cutting drum 212, a cantilever 213 and a movable sliding seat 214; the cutting teeth are installed on the cutting drum and on the slide rail of the mining and excavation robot body 216, the cutting drum 212 is installed on the cantilever 213 and is driven by a motor; the cantilever 213 is installed on the movable sliding seat 214.

[0044] The height of the cutting drum 212 is adjusted by two lifting cylinders 215 installed on the movable sliding seat 214; the position of the movable sliding seat 214 is adjusted by two feed cylinders 216 installed on the mining and excavation robot body 24 to adjust the position of the movable sliding seat 214.

[0045] The star wheel loading system 22 is used for the transportation and loading of fallen coal, and includes a star wheel 221, a scraper plate 222, a scraper loading mechanism 223 and related supporting components; the star wheel 221 is installed on the scraper plate and is driven by a motor, and the fallen coal is loaded onto the loading mechanism 223 through the rotation of the two star wheels; the loading mechanism 223 includes a scraper 2231, a chain 2232 and a gear shaft group 2233, and the rear gear shaft group 2233 is driven by two motors 2234 to pull the chain 2242 to complete the transportation of the fallen coal from the face to the right-angle turning scraper conveyor.

[0046] The walking system 23 is used for the movement of the mining and excavation robot on the scraper conveyor, and includes guiding sliding shoes 231, supporting sliding shoes 232 and two driving motors 233.

[0047] Two pairs of guiding sliding shoes 231 are installed on the mining and excavation robot body 216, and walking gears are installed in the guiding sliding shoes.

[0048] The walking of the mining and excavation robot is realized by driving the walking gears by the driving motors 233 to mesh with the pin row type guide rail 14. Two pairs of directional sliding shoes 232 are installed behind the scraper plate 222 of the mining and excavation robot and slide on the right-angle turning scraper conveyor driven by the walking gears. During the cutting process, the guiding sliding shoes 231 and the pin row type guide rail 14 interact with each other to ensure the stability of the cutting system 21 during cutting.

[0049] The mining robot 2 is installed on the right-angle turning scraper conveyor 1. The cutting system 21 is located above the fuselage 216 of the mining robot. The cutting system 21 is driven by the electric cylinder 216. The vertical cutting of the rectangular section is completed through the combined movement of the feeding electric cylinder 216 and the height-adjusting electric cylinder 215. After the cutting action is completed, the robot moves a cutting width along the right-angle turning scraper conveyor through the traveling system 23, and repeats the above actions until the entire section advances by a cutting distance; during the cutting process, the fallen coal is transferred to the right-angle turning scraper conveyor through the corresponding transportation mechanism; the anti-overturning effect of the guiding sliding shoe 231 in the traveling system 23 and the force of the hydraulic support cooperated with the right-angle turning scraper conveyor ensure the stability of the cutting system 21 during cutting and traveling, providing a safe working space for the mining robot and the operators.

[0050] In this embodiment, the face-intermediate coal pillar mining robot realizes its own positioning and pose recognition in the underground through the odometer and the inertial navigation system, and realizes automatic tunneling according to the predetermined tunneling trajectory.

[0051] In this embodiment, the relevant supporting components include the electro-hydraulic control integrated box 241, the controller, the sensor 242, the remote controller and the wire tube consumables; the electro-hydraulic control integrated box 241 is located behind the fuselage 24 of the mining robot, accesses the cable, divides the voltage to supply power to each electrical appliance and provides safety protection, and the controller, the sensor 242 and the remote controller jointly complete the intelligent control and system status monitoring of the robot.

[0052] As Figure 9 shown, in this embodiment, in the cutting process of the mining robot, the cutting of a large working face is divided into the cutting of several small working faces, and the cutting process methods of each small working face are the same; when cutting any small working face, the following steps are included:

[0053] Step 1: Inspection and initialization of the face-intermediate coal pillar mining robot: When it is judged by the controller that the signals of all sensors are normal, the mining robot is moved to the initial position, and the inspection and initialization of the face-intermediate coal pillar mining robot are completed.

[0054] Step 2: Determination of the number of cutting working faces of the face-intermediate coal pillar mining robot: The working face is divided into several small working faces according to the relationship between the roadway width and the cutting width of the mining robot.

[0055] Step 3: Lifting the cutting tool of the cutting system: The movable slide 214 is driven to move forward by the feeding electric cylinder 216, and the cutting drum 212 is driven by the height-adjusting electric cylinder 215 to reach the predetermined first working position. At the same time, the stroke limit switch on the oil cylinder controls the relative position between the mining robot and the working face to be mined to avoid collision.

[0056] Step 4: Feed the cutting system: Start the cutting drum, star wheel loading mechanism, and scraper conveyor in sequence. After reaching the predetermined speed, the height-adjusting electric cylinder 215 and the feeding electric cylinder 216 drive the cutting drum 212 to perform a combined movement, and complete the cutting of a small working face from top to bottom.

[0057] Step 5: Sweep the bottom of the cutting system: Adjust the drum to sweep the fallen coal into the star wheel loading mechanism. After the cutting of a small working face is completed, the cutting system 21 resets.

[0058] Step 6: Start the traveling mechanism, and determine through the positioning and orientation system that the cutting system 21 moves to the next small working face.

[0059] Step 7: Repeat Steps 3 to 5 multiple times to complete the cutting task of the remaining working face. After completing the cutting of the entire working face, the hydraulic support at the rear pushes the entire working face forward by one cut distance in the direction of the working face advancement in the way of "pushing the scraper conveyor and moving the support", that is, complete the mining of the entire face in the way of "transverse tunneling and sectional cutting".

[0060] Step 8: Repeat the above steps.

[0061] In this embodiment, the related supporting components include an electric control integrated box 241, sensors 242, a remote controller, and wire and pipe consumables; the electric control integrated box 241 is located behind the fuselage 24 of the mining robot, connects to the cable, steps down the voltage to supply power to each electrical appliance and provides safety protection, and the controller, sensors 242, and the remote controller jointly complete the intelligent control of the robot and the monitoring of the system status.

[0062] As Figures 10-11 shown, in this embodiment, the controller and the power components are also connected with several sensors, and the sensors include: pressure sensors 24205, pressure sensors 24206, pressure sensors 24207, pressure sensors 24208; and rotary encoders 24201, rotary encoders 24202, rotary encoders 24203, rotary encoders 24204; and displacement sensors and travel limit switches 24209, travel limit switches 24210, travel limit switches 24211, travel limit switches 24212, travel limit switches 24213, travel limit switches 24214.

[0063] As Figure 12As shown, in this embodiment, a robot control system is installed in the controller, including an equipment control module, an environment monitoring module, a host computer monitoring module, a positioning and orientation module, a fault monitoring module, a driving module, a sensing and detection module, and a communication module. Among them, equipment control consists of local on-board control, remote control, and remote control. Through the communication module, the industrial IPC can display control information, environmental information, navigation information, and the status information of the robot itself in real time for workers to monitor. At the same time, a fault diagnosis system is configured to ensure the safe operation of the machine and extend its service life.

[0064] In the technical solution of the face interval coal pillar mining robot provided in this application, the mining robot is installed on the right-angle turning scraper conveyor. The cutting system is located above the fuselage of the mining robot. The cutting system is driven by an electric cylinder. The vertical cutting of the rectangular section is completed through the combined movement of the feed electric cylinder and the height-adjusting electric cylinder. After the cutting action is completed, the robot moves one cutting width along the right-angle turning scraper conveyor through the walking system, and repeats the above actions until the entire section advances one cutting distance. During the cutting process, the fallen coal is transported to the right-angle turning scraper conveyor through the corresponding transportation mechanism. The anti-overturning effect of the guiding sliding shoes in the walking system and the action of the hydraulic support force in cooperation with the right-angle turning scraper conveyor ensure the stability of the cutting system during cutting and walking, providing a safe working space for the mining robot and the operator.

[0065] The above is only the preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various changes and modifications can be made to the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A coal pillar mining robot, characterized in that: include: A right-angle turn scraper conveyor and a mining robot; the mining robot is installed on the right-angle turn scraper conveyor; the mining robot includes a cutting system, which is located on the body of the mining robot; wherein the cutting system is driven to move by an electric cylinder, and the vertical cutting of the rectangular section is completed by the combined movement of feeding the electric cylinder and raising the electric cylinder; after the cutting action is completed, the walking system of the mining robot moves along the right-angle turn scraper conveyor by a cutting width, and the above action is repeated until the entire section is advanced by an intercept; wherein, during the cutting process, the fallen coal is transferred to the right-angle turn scraper conveyor; the stability of the cutting system during the cutting and walking process is ensured by the anti-subversion effect of the guide slipper in the walking system of the mining robot and the effect of the hydraulic support force of the right-angle turn scraper conveyor.

2. The inter-face coal pillar mining robot according to claim 1, characterized in that: The right-angle turn scraper conveyor includes a head, a conveying trough, a coal retaining plate, a pin-type guide rail, a transition trough, a turntable, a tail, and a drive motor; the head is installed at one end of the scraper conveyor, and the tail is installed at the other end of the scraper conveyor. The head and the tail are respectively equipped with drive motors for providing power for the scraper conveyor, and the two drive motors drive the chain to pull the scraper to complete the transportation of coal; the conveying trough is installed in the middle of the right-angle turn scraper conveyor, and is composed of a number of middle trough components, and the middle trough components include a middle plate and a channel steel side; there is a structure connected to the hydraulic support at the rear of the conveying trough, and the hydraulic support provides support during the cutting process; the coal retaining plate is installed at the rear of the conveying trough, and the pin-type guide rail is installed on the conveying trough; the transition trough is connected to the conveying trough, and a turntable is installed on it. The scraper is fixed at the turning position by a bayonet in the turntable, and the scraper is turned in cooperation with the transition trough; the turntable includes an upper turntable, a lower turntable and a rotating shaft, and the upper turntable and the lower turntable rotate around the rotating shaft in opposite directions.

3. The inter-face coal pillar mining robot according to claim 2, characterized in that: The mining robot includes a cutting system, a star wheel loading system, a walking system, and a mining robot body; The cutting system is used for cutting and crushing coal and rock, including cutting teeth, cutting drum, cantilever and movable slide; the cutting teeth are installed on the cutting drum and on the slide rail of the mining robot body, the cutting drum is installed on the cantilever and driven by the motor; the cantilever is installed on the movable slide; The star wheel loading system is used for transporting and loading fallen coal, including star wheels, shovel plates, scraper loading mechanisms and related supporting parts; the star wheels are installed on the shovel plates and driven by motors, and the fallen coal is loaded onto the loading mechanism through the rotation of two star wheels; the loading mechanism consists of scrapers, chains and gear shaft groups, and the two motors drive the rear gear shaft group to pull the chain to complete the transportation of fallen coal from the palm surface to the right-angle turn scraper conveyor; The walking system is used for the movement of the mining robot on the scraper conveyor, and includes guide shoes, support shoes and two drive motors; two pairs of guide shoes are installed on the body of the mining robot, and walking gears are installed in the guide shoes; the driving motor drives the walking gears to engage with the pin-type guide rails to realize the walking of the mining robot; two pairs of directional shoes are installed behind the shovel of the mining robot, and slide on the right-angle turn scraper conveyor driven by the walking gears.

4. The inter-face coal pillar mining robot according to claim 3, characterized in that: The height of the cutting drum is adjusted by two height-adjusting cylinders installed on the movable slide; the position of the movable slide is adjusted by two feed cylinders installed on the body of the mining robot.

5. The inter-face coal pillar mining robot according to claim 4, characterized in that: The cutting system is located on the body of the mining robot. The cutting system is driven by the electric cylinder. The vertical cutting of the rectangular section is completed through the combined movement of the feed electric cylinder and the height adjustment electric cylinder. After the cutting action is completed, the robot moves a cutting width along the right-angle turn scraper conveyor through the walking system and repeats the above action until the entire section advances one intercept distance.

6. The inter-face coal pillar mining robot according to claim 1, characterized in that: It also includes an electric control integrated box, controller, sensor, remote control and wire pipe consumables; the electro-hydraulic control integrated box is located behind the mining robot body, connected to the cable, divides the voltage to supply power to each electrical appliance and provides safety protection; the controller, sensor and remote control work together to complete the intelligent control of the robot and system status monitoring.

7. The working method of the inter-face coal pillar mining robot according to any one of claims 1 to 6, characterized in that: In the mining robot cutting process, the cutting of a large working face is divided into several small working faces, and the cutting process method of each small working face is the same; when cutting any small working face, the following steps are included: Step 1: Inspection and initialization of the inter-face coal pillar mining robot; Step 2: Determine the number of working faces cut by the coal pillar mining robot between faces: divide the working face into several small working faces according to the relationship between the tunnel width and the cutting width of the mining robot; Step 3: Cutting system raises the knife: the movable slide is driven forward by the feed electric cylinder, and the cutting drum is driven by the heightening electric cylinder to reach the predetermined first working position. At the same time, the travel limit switch on the oil cylinder controls the relative position of the excavation robot and the working surface to be excavated to avoid collision; Step 4: Cutting system feed: Turn on the cutting drum, star wheel loading mechanism, and scraper conveyor in sequence. After reaching the predetermined speed, adjust the electric cylinder and the feed electric cylinder to drive the cutting drum to perform compound motion, and complete the cutting of a small working surface from top to bottom. Step 5: Cutting system sweeps the bottom: adjust the drum to sweep the fallen coal into the star wheel loading mechanism, a small working face is cut and the cutting system is reset; Step 6: The traveling mechanism is started, and the positioning and orientation system determines that the cutting system 21 moves to the next small working surface. Step 7: Repeat steps 3 to 5 several times to complete the cutting task of the remaining working surface; Step 8. Repeat the above steps.

8. The working method of the inter-face coal pillar mining robot according to claim 7, characterized in that: After completing the cutting of the entire working face, the hydraulic support at the rear pushes the entire working face in the direction of the working face by an interception through the "pushing and sliding frame" method, and completes the mining of the entire face by the "horizontal axis excavation and segmented cutting" method.

Images