Comprehensive mining equipment capable of increasing lump coal ratio and corresponding coal mining technology

Abstract

The present invention relates to a comprehensive mining equipment and a corresponding coal mining process that can increase the proportion of lump coal. The existing comprehensive mining coal mining machine produces a large proportion of broken coal, which is sold at a low price and is not environmentally friendly. Therefore, the comprehensive mining equipment that can increase the proportion of lump coal includes multiple hydraulic supports, scraper conveyors, transfer machines and belt conveyors, and is characterized in that: each hydraulic support is provided with a rotating column, and the rotating columns on adjacent hydraulic supports are respectively provided with a cutting part, a folding arm and a demolition head. Under the drive of a swing cylinder, the demolition head can swing along with the folding arm, and the cutting head can swing along with the telescopic cutting arm around the axis of the rotating column, and the left and right swing width is greater than twice the width of the bearing top plate of the hydraulic support. The present invention also relates to a corresponding coal mining process that can increase the proportion of lump coal. The present invention has many advantages such as a high proportion of lump coal, less mining dust, health and environmental protection, less pollution in storage and transportation, less loss of coal resources, etc., and is widely applicable to various comprehensive mining coal mines.

Description

Technical Field

[0001] The invention relates to fully mechanized mining equipment capable of increasing the proportion of lump coal and a corresponding coal mining process. Background Art

[0002] The existing fully mechanized coal mining machines produce a large proportion of broken coal. During the storage and transportation process, dust pollution is serious and coal resources are lost. The most important thing is that the selling price of each ton of broken coal is more than 100 yuan lower than that of each ton of lump coal, which seriously affects the economic benefits of coal mining enterprises. Summary of the invention

[0003] The technical problem to be solved by the present invention is how to fill the above-mentioned gap in the prior art and provide a fully mechanized mining equipment and a corresponding coal mining process that can increase the proportion of lump coal.

[0004] In order to solve the above technical problems, the comprehensive mining equipment which can improve the proportion of lump coal includes a plurality of hydraulic supports, a scraper conveyor, a transfer machine and a belt conveyor. The hydraulic support includes a bearing top plate, a shield plate, a base and a hydraulic column. The shield plate is connected to the bearing top plate. The hydraulic column is supported between the bearing top plate and the base. A pushing device is provided on the base. The pushing device is composed of a pushing cylinder and a pushing plate. The pushing plate is fixed on the scraper conveyor. The cylinder body of the pushing cylinder is fixed in the base. The front end of the piston rod of the pushing cylinder is connected to the pushing plate. It is characterized in that: a slide rail parallel to the longitudinal bisector of the base is provided in the middle of the base of each hydraulic support. A slider is provided on the slide rail. The slider is equipped with a hydraulic drive cylinder. A rotating column is provided on the slider. The rotating column is equipped with a swinging cylinder which can drive the rotating column to rotate left and right.

[0005] Among the two adjacent hydraulic supports: a hydraulically driven folding arm is provided on the rotating column of one hydraulic support, each folding arm includes a front arm and a rear arm, the two are hinged to each other and are respectively equipped with a driving cylinder, the rear end of the rear arm is hinged to the rotating column through a horizontal axis, a lifting cylinder is provided between the rear arm and the rotating column, a hydraulic demolition part is hinged to the front end of the front arm, a demolition head is provided on the hydraulic demolition part, the demolition head is in the shape of a shovel blade, a horizontal blade is provided at the front end, and a pitch angle adjustment mechanism is provided on the hydraulic demolition part. The structure includes a pitch adjustment cylinder and a connecting rod. The front end of the connecting rod is hinged to the fixed column on the hydraulic demolition part through a horizontal axis. The rear end of the cylinder body of the pitch adjustment cylinder is hinged to the forearm through a horizontal axis. An articulated support rod is hinged on the forearm. The rear end of the connecting rod and the front end of the piston rod of the pitch adjustment cylinder are hinged to the outer end of the articulated support rod. Under the drive of the swing cylinder, the demolition head can swing around the axis of the rotating column together with the folding arm, and the left and right swing width is greater than twice the width of the load-bearing top plate of the hydraulic support.

[0006] A hydraulically driven cutting part is provided on the rotating column of another hydraulic support, and the cutting part includes a telescopic cutting arm and a cutting head. The rear end of the telescopic cutting arm is hinged on the rotating column through a horizontal axis, and the cutting head is arranged at the outer end of the telescopic cutting arm. Driven by the swing cylinder, the cutting head can swing symmetrically left and right around the axis of the rotating column together with the telescopic cutting arm, and the left and right swing width is greater than twice the width of the load-bearing top plate of the hydraulic support. All folding arms and demolition heads are equipped with linkage control mode and separate control mode for selection. All cutting parts are equipped with linkage control mode and separate control mode for selection. The high-pressure emulsion used in all hydraulic mechanisms comes from the hydraulic pump station of the matching working surface.

[0007] With this design, only a small amount of coal is mined by the cutting part, while most of the coal is mined by the breaking head from bottom to top in blocks from the coal wall, resulting in less broken coal, economic benefits, and less pollution at the mining site. Moreover, it is easy to switch between linkage control and individual control.

[0008] As an optimization, a slope coal shoveling plate is also provided on one side of the scraper conveyor adjacent to the coal mining working face. With such a design, when the scraper conveyor moves forward, the slope coal shoveling plate is inserted into the lump coal and crushed coal on the ground, and the lump coal and crushed coal enter the scraper conveyor through the slope coal shoveling plate, which is convenient for transportation.

[0009] As an optimization, it also includes several cameras, touch screens and PLC controllers. The cameras are evenly arranged below the hydraulic support bearing top plate. All oil cylinders are respectively equipped with electric control valve groups. The inlet pipe of the hydraulic demolition unit is provided with electric control valve groups. The electric control valve groups are all connected to the signal output end of the PLC controller. The touch screen is electrically connected to the PLC controller, and the camera is connected to the signal input end of the PLC controller. Such a design is convenient for remote and linkage control, safe and efficient, and helps to ensure the physical and mental health of coal miners.

[0010] As an optimization, it also includes a control box, the touch screen and the PLC controller are both arranged on the control box, and the control box is arranged on the hydraulic pump station of the track lane. With such a design, the working surface can be automatically controlled without human operation.

[0011] The coal mining process capable of increasing the proportion of lump coal of the present invention is characterized in that it comprises the above-mentioned fully mechanized mining equipment capable of increasing the proportion of lump coal, and comprises the following steps:

[0012] ①. Arrange and install the hydraulic supports of the aforementioned fully mechanized mining equipment capable of increasing the proportion of lump coal in the cutting eye in sequence, so that the shielding plates of each hydraulic support are away from the working surface, and the hydraulic supports with folding arms and demolition heads and the hydraulic supports with cutting parts are arranged alternately, and the scraper conveyor and transfer machine of the aforementioned fully mechanized coal mining machine are installed in front of each hydraulic support;

[0013] ②. Simultaneously start the cutting heads of all cutting parts, synchronously extend the telescopic cutting arms of all cutting parts, synchronously swing the cutting parts left and right, and use the cutting heads of each cutting part to cut the bottom of the coal wall of the working face in front of the hydraulic support to form a downward inclined groove that can be pushed into the scraper conveyor. The coal in the downward inclined groove is cut into broken coal by each cutting head. Then, synchronously retract the telescopic cutting arms of all cutting parts, stop the operation of each cutting head, and if necessary, adjust the rotating column and the slider to retract each cutting part between the hydraulic columns on both sides of the hydraulic support where it is located, so as to avoid interfering with the swing of the folding arms and demolition heads on both sides;

[0014] ③. Start the pushing device of each hydraulic support, push the scraper conveyor into the aforementioned crushed coal, then start the scraper conveyor, transfer machine and belt conveyor, send all or part of the crushed coal through the scraper conveyor, send it to the transfer machine, then send it to the belt conveyor through the transfer machine, and finally transport it out by the belt conveyor;

[0015] ④. Simultaneously start and adjust each folding arm and demolition head, so that each folding arm drives the demolition head thereon, and demolition the upper coal wall of the downward trough between the longitudinal bisecting planes of the hydraulic supports on both sides of each folding arm in sequence from bottom to top, and demolition the upper coal wall of the downward trough in sequence from bottom to top into coal blocks, which fall into the scraper conveyor, and then are transported out through the scraper conveyor, transfer machine and belt conveyor in sequence.

[0016] After the coal wall above the inclined lower trough and below the roof has been broken into coal blocks and transported out, stop all folding arms and demolition heads, check the real-time images captured by each camera, and see whether there are any coal blocks or coal gangue that should have fallen off but have not fallen off on the coal wall, roof, and bottom plate in front of each hydraulic support. If so, start the cutting part or folding arm and demolition head of the corresponding hydraulic support separately to perform local cutting or demolition; if there are no coal blocks or coal gangue that should have fallen off but have not fallen off, or there are no coal blocks or coal gangue that should have fallen off but have not fallen off after separate cutting or demolition, stop the scraper conveyor and transfer machine, move each hydraulic support, and then return to step ②, and repeat this cycle until the working face is pushed to the end and the coal mining operation is completed.

[0017] In order to make the size of the broken coal pieces uniform, the breaking head moves up higher and higher from bottom to top during breaking.

[0018] In this way, the coal blocks broken off from the upper part of the coal wall are larger, but they fall on the scraper conveyor, bottom plate or other coal blocks and are crushed for the second time. The secondary coal blocks formed are consistent with the small coal blocks broken off from the middle and lower part of the coal wall. Of course, as the experience of coal mine operators continues to improve, the mined coal blocks will become more consistent and can be fine-tuned according to market needs and the geological conditions of the coal wall.

[0019] The fully mechanized mining equipment and corresponding coal mining process of the present invention can improve the proportion of lump coal. First, a cutting part (the same as the cutting part of the roadheader) is used to open a downward groove at the lower part of the coal wall by using a cutting part (the same as the cutting part of the roadheader) arranged at intervals on the hydraulic support, and then the scraper conveyor is pushed into the crushed coal in the downward groove to transport the crushed coal, and then the stacking arm and the breaking head arranged at intervals on the hydraulic support are used to break the coal wall from bottom to top synchronously and sequentially, and break the coal wall into lump coal of suitable size. With such a design, the present invention has many advantages such as high proportion of lump coal, less mining dust, health and environmental protection, less pollution in storage and transportation, less loss of coal resources, etc., and is widely applicable to various fully mechanized coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The fully mechanized mining equipment and the corresponding coal mining process of the present invention which can improve the lump coal ratio are further described below in conjunction with the accompanying drawings:

[0021] Figure 1 It is a structural schematic diagram of a hydraulic support with a cutting part in a fully mechanized mining equipment capable of increasing the proportion of lump coal;

[0022] Figure 2 It is a structural schematic diagram of a hydraulic support with a folding arm and a demolition head in a fully mechanized mining equipment capable of increasing the proportion of lump coal;

[0023] Figure 3 yes Figure 1 , Figure 2 Schematic diagram of the swing range of the adjacent hydraulic supports and their cutting parts 6 and folding arms 3.

[0024] In the figure: 1 is a hydraulic support, 2 is a scraper conveyor, 3 is a folding arm, 31 is a front arm, 32 is a rear arm, 4 is a push plate, 5 is a hydraulic demolition part, 51 is a demolition head, 52 is a horizontal blade, 53 is a pitch adjustment cylinder, 54 is a connecting rod, 55 is a fixed column, 56 is a hinged support rod, 6 is a cutting part, 61 is a telescopic cutting arm, 62 is a cutting head, 7 is a coal wall, 8 is a downward inclined groove, 9 is a roof, 10 is a bottom plate, 11 is a bearing roof plate, 12 is a shield plate, 13 is a base, 14 is a hydraulic column, 15 is a slider, 16 is a rotating column, 17 is a horizontal axis, 18 is a lifting cylinder, 19 is a slope shoveling coal plate, 20 is a swing track of the cutting head or the horizontal blade, and 21 is a push cylinder. DETAILED DESCRIPTION

[0025] Implementation method 1: Figure 1-3As shown, the fully mechanized mining equipment capable of increasing the proportion of lump coal comprises a plurality of hydraulic supports 1, a scraper conveyor 2, a transfer machine (not shown in the figure) and a belt conveyor (not shown in the figure), wherein the hydraulic support 1 comprises a bearing top plate 11, a shield plate 12, a base 13 and a hydraulic column 14, wherein the shield plate 12 is connected to the bearing top plate 11, the hydraulic column 14 is supported between the bearing top plate 11 and the base 13, a pushing device is provided on the base 13, the pushing device comprises a pushing cylinder 21 and a push plate 4, the push plate 4 is fixed on the scraper conveyor 2, the cylinder body of the pushing cylinder 21 is fixed in the base 13, the front end of the piston rod of the pushing cylinder 21 is connected to the push plate 4, and the characteristic is that: a slide rail (not shown in the figure) parallel to the longitudinal bisector of the base 13 is provided in the middle of each base 13, a slider 15 is provided on the slide rail, the slider 15 is equipped with a hydraulic drive cylinder (not shown in the figure), a rotating column 16 is provided on the slider 15, and the rotating column 16 is equipped with a swinging cylinder (not shown in the figure) that can drive the rotating column 16 to rotate left and right.

[0026] In two adjacent hydraulic supports 1: a rotating column 16 of one hydraulic support 1 is provided with a hydraulically driven folding arm 3, each folding arm 3 includes a front arm 31 and a rear arm 32, which are hinged to each other and are respectively equipped with a driving cylinder (not shown in the figure), the rear end of the rear arm 32 is hinged to the rotating column 16 through a horizontal shaft 17, a lifting cylinder 18 is provided between the rear arm 32 and the rotating column 16, a hydraulic demolition part 5 is hinged to the front end of the front arm 31, and a demolition head 51 is provided on the hydraulic demolition part 5, the demolition head 51 is in the shape of a shovel, and a horizontal blade 52 is provided at the front end, and a pitch angle adjustment mechanism is provided on the hydraulic demolition part 5, and the pitch angle adjustment mechanism includes The pitch adjustment cylinder 53 and the connecting rod 54, the front end of the connecting rod 54 is hinged to the fixed column 55 on the hydraulic demolition part 5 through the horizontal axis 17, the rear end of the cylinder body of the pitch adjustment cylinder 53 is hinged to the forearm 31 through the horizontal axis 17, and a hinged support rod 56 is hinged on the forearm 31, the rear end of the connecting rod 54 and the front end of the piston rod of the pitch adjustment cylinder 53 are hinged to the outer end of the hinged support rod 56, under the drive of the swing cylinder, the demolition head 51 can swing around the axis of the rotating column 16 together with the folding arm 3, and the left and right swing width is greater than twice the width of the load-bearing top plate 11 of the hydraulic support 1 (parallel to the width of the inclination).

[0027] A hydraulically driven cutting part 6 is provided on the rotating column 16 of another hydraulic support 1, and the cutting part 6 includes a telescopic cutting arm 61 and a cutting head 62. The rear end of the telescopic cutting arm 61 is hinged on the rotating column 16 through a horizontal axis 17, and the cutting head 62 is arranged at the outer end of the telescopic cutting arm 61. Driven by the swing cylinder, the cutting head 62 can swing symmetrically left and right around the axis of the rotating column 16 along with the telescopic cutting arm 61, and the left and right swing width is greater than twice the width of the load-bearing top plate 11 of the hydraulic support 1. All folding arms 3 and demolition heads 51 are equipped with linkage control mode and separate control mode for selection. All cutting parts 6 are equipped with linkage control mode and separate control mode for selection. The high-pressure emulsion used in all hydraulic mechanisms comes from the matching working face hydraulic pump station.

[0028] The scraper conveyor 2 is also provided with a slope coal scraping plate 19 on one side adjacent to the coal mining working face.

[0029] It also includes a number of cameras (not shown in the figure), a touch screen (not shown in the figure) and a PLC controller (not shown in the figure). The above cameras are evenly arranged below the bearing top plate 11 of the hydraulic support 1. All cylinders are respectively equipped with electric control valve groups. The liquid inlet pipe of the hydraulic demolition part 5 is provided with an electric control valve group. The above electric control valve groups are connected to the signal output end of the PLC controller, the touch screen is electrically connected to the PLC controller, and the camera is connected to the signal input end of the PLC controller.

[0030] It also includes a control box, the touch screen and the PLC controller are both arranged on the control box, and the control box is arranged on the hydraulic pump station of the track lane.

[0031] The coal mining process capable of increasing the proportion of lump coal of the present invention comprises the above-mentioned fully mechanized mining equipment capable of increasing the proportion of lump coal, and comprises the following steps:

[0032] ①. Arrange and install the hydraulic supports of the aforementioned fully mechanized mining equipment that can increase the proportion of lump coal in sequence in the cutting eye, so that the shielding plates of each hydraulic support are away from the working surface, and the hydraulic support 1 with the folding arm 3 and the demolition head 51 and the hydraulic support 1 with the cutting part 6 are arranged alternately, and the scraper conveyor 2 and the transfer machine of the aforementioned fully mechanized coal mining machine are installed in front of each hydraulic support 1;

[0033] ②. Simultaneously start the cutting heads 62 of each cutting part 6, synchronously extend the telescopic cutting arms 61 of all the cutting parts 6, synchronously swing the cutting parts 6 left and right, and use the cutting heads 62 of each cutting part 6 to cut the bottom of the coal wall 7 of the working face in front of the hydraulic support 1 to form a downward groove 8 that can be pushed into the scraper conveyor. The coal in the downward groove 8 is cut into broken coal by each cutting head 62. Then, synchronously retract the telescopic cutting arms 61 of all the cutting parts 6, stop the operation of each cutting head 62, and if necessary, adjust the rotating column 16 and the slider 15 to retract each cutting part 6 between the hydraulic columns 14 on both sides of the hydraulic support where it is located, so as to avoid interfering with the swing of the folding arms 3 and the demolition head 51 on both sides thereof;

[0034] ③. Start the pushing device of each hydraulic support 1, push the scraper conveyor into the aforementioned crushed coal, then start the scraper conveyor 2, the transfer machine and the belt conveyor, send all or part of the crushed coal through the scraper conveyor 2, send it to the transfer machine, then send it to the belt conveyor through the transfer machine, and finally transport it out by the belt conveyor;

[0035] ④. Simultaneously start and synchronously adjust each folding arm 3 and the breaking head 51, so that each folding arm 3 drives the breaking head 51 thereon to break the upper coal wall 7 of the downward groove 8 between the longitudinal bisectors of the hydraulic supports on both sides of each folding arm 3 from bottom to top, and break the upper coal wall 7 of the downward groove 8 from bottom to top into coal blocks, which fall into the scraper conveyor 2, and are then transported out through the scraper conveyor 2, the transfer machine and the belt conveyor in turn.

[0036] After the coal wall 7 above the inclined lower trough 8 and below the roof 9 is broken into coal blocks and transported out, all folding arms 3 and breaking heads 51 are stopped, and the real-time images captured by each camera are checked to see whether there are any coal blocks or coal gangue that should be detached but have not been detached on the coal wall 7, roof 9, and bottom plate 10 in front of each hydraulic support 1. If there are, the cutting part 6 or folding arm 3 and breaking head 51 of the corresponding hydraulic support 1 are started separately to perform local cutting or breaking;

[0037] If there are no coal blocks or coal gangue that should have fallen off but have not fallen off, or there are no coal blocks or coal gangue that should have fallen off but have not fallen off after separate cutting or breaking, stop the scraper conveyor 2 and the transfer machine, move each hydraulic support 1, and then return to step ②, and repeat this cycle until the working face is pushed to the end and the coal mining operation is completed.

Claims

1. A fully mechanized mining equipment capable of increasing the proportion of lump coal, comprising a scraper conveyor, a transfer machine, a belt conveyor and a plurality of hydraulic supports, wherein the hydraulic supports comprise a bearing top plate, a shield plate, a base and a hydraulic column, wherein the shield plate is connected to the bearing top plate, the hydraulic column is supported between the bearing top plate and the base, a pushing device is arranged on the base, the pushing device comprises a pushing oil cylinder and a pushing plate, the pushing plate is fixed on the scraper conveyor, the cylinder body of the pushing oil cylinder is fixed in the base, the front end of the piston rod of the pushing oil cylinder is connected to the pushing plate, and the characteristics are as follows: A slide rail parallel to the longitudinal bisecting plane of the base is arranged in the middle of the base of each hydraulic support, a slider is arranged on the slide rail, the slider is equipped with a hydraulic drive cylinder, a rotating column is arranged on the slider, and the rotating column is equipped with a swing cylinder that can drive the rotating column to rotate left and right. Among the two adjacent hydraulic supports: a hydraulically driven folding arm is provided on the rotating column of one hydraulic support, each folding arm includes a front arm and a rear arm, the two are hinged to each other and are respectively equipped with a driving cylinder, the rear end of the rear arm is hinged to the rotating column through a horizontal axis, a lifting cylinder is provided between the rear arm and the rotating column, a hydraulic demolition part is hinged to the front end of the front arm, a demolition head is provided on the hydraulic demolition part, the demolition head is in the shape of a shovel blade, a horizontal blade is provided at the front end, and a pitch angle adjustment mechanism is provided on the hydraulic demolition part. The structure includes a pitch adjustment cylinder and a connecting rod. The front end of the connecting rod is hinged to the fixed column on the hydraulic demolition part through a horizontal axis. The rear end of the cylinder body of the pitch adjustment cylinder is hinged to the forearm through a horizontal axis. An articulated support rod is hinged on the forearm. The rear end of the connecting rod and the front end of the piston rod of the pitch adjustment cylinder are hinged to the outer end of the articulated support rod. Under the drive of the swing cylinder, the demolition head can swing around the axis of the rotating column together with the folding arm, and the left and right swing width is greater than twice the width of the load-bearing top plate of the hydraulic support. A hydraulically driven cutting part is provided on the rotating column of another hydraulic support, and the cutting part includes a telescopic cutting arm and a cutting head. The rear end of the telescopic cutting arm is hinged on the rotating column through a horizontal axis, and the cutting head is arranged at the outer end of the telescopic cutting arm. Driven by the swing cylinder, the cutting head can swing symmetrically left and right around the axis of the rotating column together with the telescopic cutting arm, and the left and right swing width is greater than twice the width of the bearing top plate of the hydraulic support. All folding arms and demolition heads are equipped with linkage control mode and separate control mode for selection. All cutting parts are equipped with linkage control mode and separate control mode for selection. The comprehensive mining equipment also includes a number of cameras, touch screens and PLC controllers.

2. The fully mechanized mining equipment capable of increasing the proportion of lump coal according to claim 1, characterized in that: A slope coal scraping plate is also provided on one side of the scraper conveyor adjacent to the coal mining working face.

3. The fully mechanized mining equipment capable of increasing the proportion of lump coal according to claim 1, characterized in that: The comprehensive mining equipment also includes a control box, and the touch screen and PLC controller are both arranged on the control box, and the control box is arranged on the hydraulic pump station of the track lane.

4. A coal mining process capable of increasing the proportion of lump coal, characterized in that: The fully mechanized mining equipment capable of increasing the lump coal ratio as claimed in claim 3 comprises the following steps: ①. Arrange and install the hydraulic supports of the comprehensive mining equipment capable of increasing the proportion of lump coal in claim 3 in sequence in the cutting eye, so that the shielding plates of each hydraulic support are away from the working surface, and the hydraulic supports with folding arms and demolition heads and the hydraulic supports with cutting parts are arranged alternately, and the scraper conveyor and transfer machine of the comprehensive mining equipment in claim 3 are installed in front of each hydraulic support; ②. Simultaneously start the cutting heads of all cutting parts, synchronously extend the telescopic cutting arms of all cutting parts, synchronously swing the cutting parts left and right, and use the cutting heads of each cutting part to cut the bottom of the coal wall of the working face in front of the hydraulic support to form a downward inclined groove that can be pushed into the scraper conveyor. The coal in the downward inclined groove is cut into broken coal by each cutting head. Then, synchronously retract the telescopic cutting arms of all cutting parts, stop the operation of each cutting head, and if necessary, adjust the rotating column and the slider to retract each cutting part between the hydraulic columns on both sides of the hydraulic support where it is located, so as to avoid interfering with the swing of the folding arms and demolition heads on both sides; ③. Start the pushing device of each hydraulic support, push the scraper conveyor into the aforementioned crushed coal, then start the scraper conveyor, transfer machine and belt conveyor, send all or part of the crushed coal through the scraper conveyor, send it to the transfer machine, then send it to the belt conveyor through the transfer machine, and finally transport it out by the belt conveyor; ④. Simultaneously start and adjust each folding arm and demolition head, so that each folding arm drives the demolition head thereon, and demolition the upper coal wall of the downward trough between the longitudinal bisecting planes of the hydraulic supports on both sides of each folding arm in sequence from bottom to top, and demolition the upper coal wall of the downward trough in sequence from bottom to top into coal blocks, which fall into the scraper conveyor, and then are transported out through the scraper conveyor, transfer machine and belt conveyor in sequence. After the coal wall above the inclined lower trough and below the roof has been broken into coal blocks and transported out, stop all folding arms and demolition heads, check the real-time images captured by each camera, and see whether there are any coal blocks or coal gangue that should have fallen off but have not fallen off on the coal wall, roof, and bottom plate in front of each hydraulic support. If so, start the cutting part of the corresponding hydraulic support alone or start the folding arm and demolition head of the corresponding hydraulic support alone to perform local cutting or demolition; if there are no coal blocks or coal gangue that should have fallen off but have not fallen off, stop the scraper conveyor and transfer machine, move each hydraulic support, and then return to step ②, and repeat this cycle until the working face is pushed to the end and the coal mining operation is completed.

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