Automatic haulage system for coal mining machine

Abstract

The present application relates to a kind of automatic tow cable system of coal mining machine, the space in cable trough is divided into three layers by layered board assembly, the lower part of tow cable trolley and bundle cage tow rope device is located in middle layer and can only reciprocate along the length direction of cable trough, bundle cage tow rope device is fixed relative to coal mining machine, steel wire rope is threaded along the length direction of cable trough, one end of steel wire rope is wound around the fixed pulley at the head of scraper conveyor, changes direction and then connected with bundle cage tow rope device, the other end is wound around the fixed pulley at the tail, then wound around the movable pulley of tow cable trolley, changes direction again, then returns to the tail and is fixed, cable clamp plate group is connected on coal mining machine at one end, is fixed at the head at the other end, middle part is wound around the roller of tow cable trolley and passes through bundle cage along the length direction of cable trough, the relative position of head and tail can be interchanged.The present application does not need external input power, with guide, upper layer cable clamp plate group will not fall, steel wire rope will not be thrown out, and safety is good.

Description

TECHNICAL FIELD

[0001] The present application relates to a coal cutter drag cable device, in particular to a coal cutter self-guiding automatic drag cable device without external input power. BACKGROUND

[0002] The coal cutter on the coal mine working face will drag a power supply cable and a cooling water pipe to supply power and cool dust for the coal cutter. The cable and the water pipe are generally placed in the cable clamp plate group in series and pass through the cable groove of the scraper conveyor from the end of the working face and finally enter the electric control box and the water valve of the coal cutter. One end of the cable clamp plate group in series is fixed, and the other end is connected with the coal cutter drag cable device and arranged along the entire working face in the cable groove. During the coal cutting process of the coal cutter walking back and forth on the working face, the cable clamp plate group is dragged to move together.

[0003] During the cycle coal cutting process of the coal cutter from the head to the tail and from the tail to the head, the part of the cable clamp plate group connected with the coal cutter drag cable device will inevitably have at least three layers of superposition. In the thin coal seam working face, the depth of the cable groove is generally shallow, and if the cable clamp plate group is superposed by three layers or more, the uppermost layer is easy to fall out of the cable groove. In the large inclination working face, the uppermost layer of the cable clamp plate group superposed by three layers or more is also easy to fall out of the cable groove due to its own weight. When the cable clamp plate group with the cable and the water pipe falls out of the cable groove, it is easy to interfere with the equipment outside the cable groove and be crushed by the walking system of the coal cutter during the continuous dragging, and the power supply cable may be damaged if the dragging continues, thus having great safety hazards. In addition, with the implementation and promotion of the intelligent and unmanned fully mechanized working face, the automatic drag cable system of the coal cutter is a core key technology that must be solved.

[0004] So far, there has been an automatic drag cable system separately provided with external power, but this automatic drag cable system needs to increase a set of variable frequency speed regulation power system at the head and tail of the scraper conveyor at the same speed as the traction speed of the coal cutter, which has high equipment cost, complex installation, time delay in matching with the traction speed of the coal cutter, and poor actual use effect. There is also a power-free system in which a steel wire rope is directly connected with the coal cutter and pulls the drag cable mechanism, but the steel wire rope in the cable groove of the entire working face is exposed, and once the rope is broken, there will be great safety hazards, and the drag cable mechanism has no guiding mechanism and has great resistance when pulled. SUMMARY

[0005] The purpose of the present application is to provide an automatic drag cable system of a coal cutter, which can automatically guide without external input power, has small pulling resistance, the uppermost cable clamp plate group will not fall off, the steel wire rope will not be thrown out, and has good safety.

[0006] The main technical solutions of the present application are as follows:

[0007] The automatic cable-dragging system of the coal mining machine comprises a cable-dragging trolley, a cable-cage dragging device, a guide device, a fixed pulley, a steel wire rope, a tension spring, a cable clamp plate set and a layered plate assembly, the layered plate assembly comprises a full-closed plate and a semi-closed plate with a long and narrow opening in the length direction, the semi-closed plate and the full-closed plate are detachably and fixedly installed in the cable groove of the scraper conveyor in an upper-lower manner, and the space in the cable groove is divided into three layers, the guide device is installed in the lower space in the full length range of the cable groove, the cable-dragging trolley comprises a drum located at the upper part, a walking guide frame located at the lower part and a movable pulley, the cable-cage dragging device comprises a cable cage located at the upper part and a walking guide frame located at the lower part, the walking guide frames of the cable-dragging trolley and the cable-cage dragging device are limited in the middle space of the cable groove and can only reciprocate along the length direction of the cable groove, the drum and the cable cage are located above the semi-closed plate, the two ends of the head and tail of the scraper conveyor are provided with the fixed pulleys outside, the cable-cage dragging device is fixedly connected to the machine body of the coal mining machine, one end of the cable clamp plate set is connected to the machine body of the coal mining machine, the other end extends to the head or tail position and is fixed relative to the head or tail, the middle part of the cable clamp plate set passes through the drum and the cable cage horizontally along the length direction of the cable groove, the cable-cage dragging device is closer to the other end of the cable clamp plate set than the cable-dragging trolley and the connection part of the cable clamp plate set and the machine body of the coal mining machine, the steel wire rope passes through the lower part of the guide wheel of the guide device when passing through the lower space of the cable groove horizontally, one end of the steel wire rope passes through the fixed pulley at the head or tail, changes direction and extends to the tail or head, and is indirectly connected to the lower part of the cable-cage dragging device through the tension spring, the other end of the steel wire rope passes through the fixed pulley at the tail or head, changes direction and extends to the head or tail, passes through the movable pulley of the cable-dragging trolley again, changes direction and returns to the tail or head and is fixed relative to the tail or head, the cable and the water pipe of the coal mining machine extend and are arranged in the cable clamp plate set, and the length of the cable clamp plate set should meet the following requirements: when the coal mining machine is located at the starting position of the working face and the cable clamp plate set is in a tension state, the position of the axis of the drum deviates from the starting point of the working face and the distance between the position and the midpoint of the working face is not less than half of the length of the machine body of the coal mining machine.

[0008] The guide device has a plurality of guide devices, and one guide device is arranged in each cable groove.

[0009] The guide device can further comprise a U-shaped piece and a fixed block, the guide wheel is rotatably supported on the wheel shaft through a bearing, the two ends of the wheel shaft are installed on the fixed block, and the fixed block is fixed in the inverted U-shaped piece which is detachably and suspendingly installed on the full-closed plate.

[0010] Each of the guide devices is provided with at least three guide wheels, and a plurality of the guide wheels are arranged at intervals along the length direction of the guide device, the guide wheels at the two ends are horizontally swingable within a range relative to the U-shaped member, and the guide wheels at the middle are fixed relative to the U-shaped member and have their axes extending along the width direction of the guide device.

[0011] The guide wheels at the two ends horizontally swingable within a range relative to the U-shaped member are preferably implemented in the following manner: (1) a plurality of pairs of shaft holes for mounting the wheel shafts are arranged at intervals along the length direction of the guide device on the fixing block, wherein the shaft holes closest to the two ends are waist-shaped holes extending along the length direction of the guide device; or (2) each guide wheel corresponds to a fixing block, and the two ends of the wheel shaft of the guide wheel are fixedly mounted on the corresponding fixing block, and the top portions of the two fixing blocks closest to the two ends are connected to the U-shaped member for horizontal rotation and are simultaneously limited in the rotation angle range by the limiting device.

[0012] The walking guide frame can include two strip-shaped bodies arranged in parallel, and the left and right ends of the strip-shaped bodies are arranged in the shape of a four-pyramid.

[0013] The axis of the drum on the towing cable trolley is arranged horizontally in front and back, the axis of the movable pulley is arranged vertically, and the movable pulley is located between the front and back two strip-shaped bodies of the walking guide frame on the towing cable trolley.

[0014] The fixed pulley preferably adopts a fixed pulley provided with a closed shell.

[0015] The beneficial effects of the present application are:

[0016] The present application is compact in space and convenient to assemble and disassemble, the cage towing rope device and the towing cable trolley are connected by the steel wire rope, the cable clamp plate group of the towing cable system of the coal mining machine is dragged at the same speed and in the same direction when the coal mining machine is pulled to walk, the cable clamp plate group always maintains a two-layer tight state, the failure that the uppermost cable clamp plate group easily falls out of the cable groove when the cable clamp plate group is stacked by three layers or more on the thin coal seam working face and the large-dip-angle working face is effectively avoided, and the foundation for the intelligentization of the coal mining machine and the development of the unmanned working face is laid.

[0017] The cable clamp plate group is formed into two layers, the lower cable clamp plate group passes through the cage, on one hand, the cage can straighten the layer of cable clamp plate group, and on the other hand, the cage can clean the coal blocks and other foreign matters beside the layer of cable clamp plate group. Meanwhile, the lower cable clamp plate group plays a closing role on the steel wire rope behind the advancing direction of the coal mining machine, and in case the steel wire rope breaks at this position, it will not be thrown out, so the harm to the operator of the rear machine can be avoided.

[0018] Because of the use of the guide device and fixed pulley with a closed structure, the wire ropes at the lower level and when the machine head and tail are reversed are basically completely enclosed, avoiding wear and tear on other pipelines and equipment caused by the relative movement of the wire ropes.

[0019] The lower part of the cage drag rope device is indirectly connected to the wire rope via the tension spring. On the one hand, it can maintain a certain tension of the wire rope, and on the other hand, it can compensate for the change in the length of the wire rope when the coal mining machine is cutting obliquely. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the installation structure of one embodiment of the layered board assembly of the present invention;

[0021] Figure 2 This is a schematic diagram of a structure of one embodiment of the guiding device of the present invention;

[0022] Figure 3 This is a schematic diagram of one embodiment of the cage towing rope device of the present invention;

[0023] Figure 4 This is a schematic diagram of the installation state of the cage towing rope device of the present invention;

[0024] Figure 5 This is a schematic diagram of the structure of one embodiment of the cable-dragging trolley of the present invention;

[0025] Figure 6 This is a schematic diagram showing the installation state of the cable-dragging trolley described in this invention;

[0026] Figure 7 for Figure 6 The P-direction view;

[0027] Figure 8 This is a schematic diagram of the installation of the tension spring;

[0028] Figure 9 This is a system diagram showing the arrangement of the cable clamp assembly of the present invention;

[0029] Figure 10 Illustrations illustrating the working process of this invention when the coal mining machine is pulled to the left;

[0030] Figure 11 The illustration shows the working process of this invention when the coal mining machine is pulled to the right.

[0031] Figure label:

[0032] 1. Cable trolley; 1-1. Drum; 1-2. Traveling guide frame; 1-3. Moving pulley; 2. Cage towing rope device; 2-1. Cage; 2-2. Traveling guide frame; 2-3. Ear seat; 3. Guiding device; 3-1. Guide wheel; 3-2. U-shaped part; 3-3. Fixing block; 4. Fixed pulley; 5. Steel wire rope; 6. Cable trough; 7. Cable clamp assembly; 8-1. Fully enclosed plate; 8-2. Semi-enclosed plate; 9. Shaft extension connection device; 10. Tension spring; 11. Coal mining machine. Detailed Implementation

[0033] This invention discloses an automatic cable-dragging system for a coal mining machine (which may be referred to as an automatic cable-dragging system), such as... Figures 1-11 As shown, the system includes a cable-dragging trolley 1, a cable-dragging cage device 2, a guiding device 3, a fixed pulley 4, a steel wire rope 5, a tension spring 10, a cable clamp assembly 7, and a layered plate assembly. The layered plate assembly includes a fully enclosed plate 8-1 and a semi-enclosed plate 8-2 with a narrow opening along its entire length. The semi-enclosed plate can be composed of two plates, one in front and one behind. The semi-enclosed and fully enclosed plates are detachably and fixedly installed, one above the other, in the cable trough 6 of the scraper conveyor on the old mine side of the coal mining machine 11, dividing the space inside the cable trough into three horizontal layers: the lower layer is enclosed, the middle layer is semi-enclosed, and the upper layer is open. The middle and upper layers communicate through the narrow opening. The fully enclosed and semi-enclosed plates can be fixed to the cable trough using screws or other means, making disassembly and replacement convenient. The guiding device is installed in the lower layer space along the entire length of the cable trough. The cable-dragging trolley includes an upper roller 1-1 for dragging the cable clamp assembly, a lower traveling guide frame 1-2, and a movable pulley 1-3. The cable trolley and cable dragging device includes a cable trolley 2-1 at the top and a traveling guide frame 2-2 at the bottom. The cable trolley is a cylindrical structure extending along the length of the cable trough. The cable dragging trolley and the traveling guide frames 1-2 and 2-2 of the cable trolley and cable dragging device are both confined within the middle space of the cable trough and can only slide back and forth along the length of the cable trough. The connection between the upper and lower parts of the cable dragging trolley and the cable dragging device passes through a narrow opening in the semi-enclosed plate. In the height direction, the traveling guide frame is always located within the middle space of the cable trough. The roller and the cable trolley are both located above the semi-enclosed plate. The cable dragging trolley is mainly used to pull the cable clamp assembly and also assists in dragging the wire rope. The cable dragging device is mainly used to pull the wire rope and can also be used to straighten the cable clamp assembly.

[0034] The sheave pulley is arranged at the outer side of both ends of the head and tail of the scraper conveyor. The cable cage towing rope device is fixedly connected side by side relative to the shearer body and moves synchronously and reciprocally under the driving of the shearer. One end of the cable clamp plate group is connected to the shearer body, usually to the towing cable device of the shearer itself, and the other end extends to the head (or tail) position and is fixed relative to the head (or tail). The middle part of the cable clamp plate group passes through the cable cage 2-1 horizontally from the roller 1-1 in the length direction of the cable groove. The cable clamp plate group changes direction from the roller, and the cable clamp plate group is kept as horizontal as possible except at the change-over position. The cable clamp plate group from one end to the roller forms an upper layer of cable clamp plate group, and the cable clamp plate group passing through the cable cage is a lower layer of cable clamp plate group. The cable cage towing rope device is closer to the other end of the cable clamp plate group than the towing cable trolley and the connection of the cable clamp plate group to the shearer body.

[0035] The steel wire rope passes through below the guide wheel 3-1 of the guide device when passing through the lower space of the cable groove, and the guide wheel keeps the steel wire rope as a whole to extend horizontally and linearly in the length direction of the cable groove. One end of the steel wire rope changes direction after passing through the sheave pulley at the head (or tail) and extends to the tail (or head), and is indirectly connected to the lower part of the cable cage towing rope device, such as the walking guide frame 2-2, through the tension spring. The other end of the steel wire rope changes direction after passing through the sheave pulley at the tail (or head) and extends to the head (or tail), and then passes through the movable pulley 1-3 of the towing cable trolley again to change direction and return to the tail (or head) and be fixed relative to the tail (or head). The tension of the steel wire rope is adjusted by the tension spring. The fixed end parts of the cable clamp plate group and the steel wire rope relative to the scraper conveyor are located at the head of the scraper conveyor and the tail of the scraper conveyor respectively. When the cable cage towing rope device moves with the shearer towards the tail (or head), the towing cable trolley also moves towards the tail (or head).

[0036] The shearer cable and water pipe are arranged and extended in the cable clamp plate group. The lower layer of cable clamp plate group passes through the cable cage, which can straighten the layer of cable clamp plate group and clean the coal and other foreign matters beside the layer of cable clamp plate group. The lower layer of cable clamp plate group plays a role of closing the steel wire rope behind the shearer advancing direction, so that the steel wire rope will not be thrown out in case of breaking, thus avoiding the harm to the operators behind the shearer.

[0037] The length of the cable clamp plate group should meet the following requirements: when the shearer is located at the starting position of the working face and the cable clamp plate group is in a tension state, the position of the axis of the roller deviates towards the end of the working face and the distance between the position and the midpoint of the working face is not less than half of the length of the shearer body.

[0038] The automatic cable dragging system is installed on the cable trough of the scraper conveyor on the old mining side of the coal mining machine. It is easy to install and disassemble. It can be installed when you want to use it and removed when it is inconvenient to use it.

[0039] There are multiple guiding devices, preferably one guiding device in each section of the cable trough, so that the guiding devices are distributed throughout the entire length of the cable trough, and can guide the wire rope along the entire length of the cable trough. The guiding devices are installed at the center of the front and back of the lower layer of the cable trough.

[0040] In addition to the guide wheel, the guiding device may also include a U-shaped component 3-2 and a fixing block 3-3. The guide wheel 3-1 is rotatably supported on the axle by bearings, and both ends of the axle are mounted on the fixing block. The fixing block is fixed inside the inverted U-shaped component, which is detachably suspended from the fully enclosed plate. The U-shaped component can be made of channel steel. In this embodiment, both the U-shaped component and the fixing block are inverted U-shapes, which serve a sealing function for the wire rope guided by the guide wheel.

[0041] Furthermore, each of the guide devices is provided with at least three guide wheels, and the multiple guide wheels are arranged at intervals along the length direction of the guide device (which is also the length direction of the U-shaped member). The two guide wheels located at both ends have a certain degree of horizontal swing freedom relative to the U-shaped member. The axle corresponding to the guide wheel located in the middle is preferably tightly fitted with the fixed block. The axis of the guide wheel extends horizontally along the width direction of the guide device.

[0042] The guide wheel has a certain degree of horizontal swing freedom relative to the U-shaped part, which can be achieved in the following two ways: (1) The fixed block is provided with multiple pairs of shaft holes for mounting the wheel axle along the length direction of the guide device. Among them, the shaft hole closest to both ends is a waist-shaped hole extending along the length direction of the guide device, and the other shaft holes are round holes. Since the ends of the wheel axle of the guide wheel closest to both ends can slide in the waist-shaped hole, the corresponding guide wheel has a certain degree of swing freedom in the horizontal plane. (2) Each guide wheel corresponds to a fixed block, and the two ends of the wheel axle of the guide wheel are fixedly installed on the corresponding fixed block. The tops of the two fixed blocks closest to the two ends are horizontally rotatably connected relative to the U-shaped part. By setting a limiting device, the fixed block can only swing horizontally within a certain angle range. For example, a sliding bearing sleeve can be set between the fixed block and the U-shaped part for limiting.

[0043] When the two adjacent middle troughs of the scraper conveyor are horizontally bent, the corresponding adjacent two cable troughs and the U-shaped pieces between the two adjacent guide devices are also horizontally bent, and the horizontal deflection of the guide wheels at the two ends of the guide devices can partially or completely offset the influence of the middle trough bending on the steel wire rope guidance of the guide wheels at the two ends of the guide devices, so as to avoid or reduce the inclination of the steel wire rope in the guide wheels.

[0044] The walking guide frame can include two parallel strip-shaped bodies, such as cuboids, and the left and right ends of the strip-shaped bodies are preferably arranged in the shape of a four-pyramid, which is used for guiding the walking guide frame when the walking guide frame reciprocally slides left and right on the towline car or the bundle cage tow rope device.

[0045] The axis of the drum on the towline car is preferably horizontally arranged in front and back directions, and the height and the diameter of the drum are preferably arranged to keep the cable clamp plate group horizontal before and after passing around the drum. The axis of the movable pulley can be vertically arranged, and the movable pulley is preferably arranged between the front and back two strip-shaped bodies of the walking guide frame on the towline car. Since the movable pulley is arranged at a reasonable position, the steel wire rope is easy to pull the towline car when the steel wire rope is wound around the movable pulley.

[0046] The upper part and the lower part of the bundle cage tow rope device can be connected by pin positioning and screw fastening. In the embodiment, the top of the bundle cage tow rope device is also provided with an ear seat 2-3, and the ear seat is fixedly connected with the shaft extension connecting device 9 between the body of the coal mining machine. In the embodiment, the shaft extension connecting device 9 is connected between the ear seat and the walking box of the coal mining machine, and the bundle cage tow rope device moves horizontally at the same speed as the coal mining machine in the length direction of the working face.

[0047] The fixed pulley preferably adopts a fixed pulley with a closed shell.

[0048] In the embodiment, the long and narrow opening is arranged in the middle in the width direction of the cable trough. Correspondingly, the towline car and the bundle cage tow rope device are arranged in a front-rear symmetrical structure. The connection parts of the upper part and the lower part of the towline car and the bundle cage tow rope device pass through the long and narrow opening.

[0049] The lower part of the bundle cage tow rope device can also be provided with an ear seat for connecting a tension spring.

[0050] When the coal mining machine is running, the bundle cage tow rope device, the tension spring, the steel wire rope and the tow rope trolley connected in sequence are driven by the coal mining machine, so as to pull the cable clamp plate set around the drum of the tow rope trolley to move at the same speed with the coal mining machine, so that the cable clamp plate set is always kept in a two-layer tight state. Since the traction power of the coal mining machine itself is used as the power of the automatic tow rope system, a large variable frequency speed regulation mechanism corresponding to the head and tail of the coal mining machine in the roadway is avoided, so that the cost of the equipment can be greatly reduced.

[0051] As shown in Figure 10 When the coal mining machine is pulled to the left, the bundle cage tow rope device fixed with the coal mining machine running box is pulled to the left at the same speed with the coal mining machine, and the upper layer steel wire rope is pulled to the left by the bundle cage tow rope device through the tension spring. The lower layer steel wire rope is moved to the right through the guide device below the cable groove, the steel wire rope is reversed at the left end of the roadway and pulled to the left by the dynamic pulley on the tow rope trolley, and the tow rope trolley pulls the upper layer cable clamp plate set to the left.

[0052] As shown in Figure 11 When the coal mining machine is pulled to the right, the coal mining machine pulls the tow rope trolley around the double-layer cable clamp plate set to the right by pulling the upper layer cable clamp plate set, the steel wire rope around the dynamic pulley of the tow rope trolley moves with it, and the lower layer steel wire rope is pulled to the left, the bundle cage tow rope device is pulled to the right at the same speed with the coal mining machine through the tension spring, and the system circulation is maintained.

Claims

1. An automatic haulage system for a coal mining machine, the system comprising: The invention relates to a cable guiding device for a shearer, which comprises a cable towing trolley, a cable cage towing rope device, a guide device, a fixed pulley, a steel wire rope, a tension spring, a cable clamp plate set and a layered plate assembly, the layered plate assembly comprising a full-enclosed plate and a semi-enclosed plate with a long and narrow opening along the length direction, the semi-enclosed plate and the full-enclosed plate are detachably and fixedly installed one above another in a cable groove of a scraper conveyor, and divide the space in the cable groove into three layers, the guide device is installed in the lower layer space in the full length range of the cable groove, the cable towing trolley comprises a drum located at the upper part and a walking guide frame and a movable pulley located at the lower part, the cable cage towing rope device comprises a cable cage located at the upper part and a walking guide frame located at the lower part, the walking guide frames of the cable towing trolley and the cable cage towing rope device are limited in the middle layer space of the cable groove and can only reciprocate along the length direction of the cable groove, the drum and the cable cage are located above the semi-enclosed plate, both ends of the head and tail of the scraper conveyor are provided with the fixed pulley, the cable cage towing rope device is fixedly connected to the shearer body, one end of the cable clamp plate set is connected to the shearer body, and the other end extends to the head or tail position and is fixed relative to the head or tail, the middle part of the cable clamp plate set passes through the drum and the cable cage along the length direction of the cable groove, the cable cage towing rope device is closer to the other end of the cable clamp plate set than the cable towing trolley and the connection part of the cable clamp plate set and the shearer body, when the steel wire rope passes through the lower layer space of the cable groove, it passes through below the guide wheels of the guide device, one end of the steel wire rope passes through the fixed pulley at the head or tail, changes direction and extends to the tail or head, and is indirectly connected to the lower part of the cable cage towing rope device through the tension spring, the other end of the steel wire rope passes through the fixed pulley at the tail or head, changes direction and extends to the head or tail, passes through the movable pulley of the cable towing trolley again, changes direction again and returns to the tail or head and is fixed relative to the tail or head, the shearer cable and water pipe extend and are arranged in the cable clamp plate set, the length of the cable clamp plate set should meet the following requirements: when the shearer is located at the starting position of the working face and the cable clamp plate set is in a tension state, the position of the axis of the drum deviates from the starting point of the working face and the distance between the midpoint of the working face and the axis of the drum is not less than half of the length of the shearer body.

2. The automatic haulage system of claim 1, wherein: The guide device has a plurality of guide devices, and one guide device is arranged in each cable groove.

3. The automatic haulage system of claim 2, wherein: The guide device further comprises a U-shaped piece and a fixed block, the guide wheels are rotatably supported on the wheel shaft through bearings, the two ends of the wheel shaft are installed on the fixed block, and the fixed block is fixed in the inverted U-shaped piece which is detachably and suspendingly installed on the full-enclosed plate.

4. The automatic haulage system of claim 3, wherein: Each guide device is provided with at least three guide wheels, and the plurality of guide wheels are arranged at intervals along the length direction of the guide device, the guide wheels located at the two ends horizontally swing relative to the U-shaped piece within a certain range, and the guide wheels located at the middle are fixed relative to the U-shaped piece and the axes thereof extend along the width direction of the guide device.

5. The automatic haulage system of claim 4, wherein: The realization mode that the guide wheels at the two ends horizontally swing within a range relative to the U-shaped piece is: (1) a plurality of pairs of shaft holes for mounting the wheel shafts are arranged on the fixed blocks along the length direction of the guide device, wherein the shaft holes closest to the two ends are waist-shaped holes extending along the length direction of the guide device; or (2) each guide wheel corresponds to a fixed block, and the two ends of the wheel shaft of the guide wheel are fixedly mounted on the corresponding fixed block, and the top portions of the two fixed blocks closest to the two ends are horizontally rotatably connected relative to the U-shaped piece while being limited in the rotation angle range through the limiting device.

6. The automatic haulage system of claim 1, wherein: The walking guide frame comprises two parallel strip-shaped bodies, and the left and right ends of the strip-shaped bodies are arranged in the shape of a four-prism pyramid.

7. The automatic haulage system of claim 6, wherein: The axis of the roller on the towing cable trolley is horizontally arranged front and back, and the axis of the movable pulley is vertically arranged, and the movable pulley is located between the front and back two strip-shaped bodies of the walking guide frame on the towing cable trolley.

8. The automatic haulage system of claim 1, wherein: The top of the bundle cage towing rope device is provided with an ear seat, and the ear seat and the machine body of the coal mining machine are fixedly connected through an axle extension connecting device.

9. The automatic haulage system of claim 1, wherein: The fixed pulley adopts a fixed pulley provided with a closed shell.

10. The automatic haulage system of claim 1, wherein: The narrow long opening is arranged in the middle in the width direction of the cable groove. The realization mode that the guide wheels at the two ends horizontally swing within a range relative to the U-shaped piece is: (1) a plurality of pairs of shaft holes for mounting the wheel shafts are arranged on the fixed blocks along the length direction of the guide device, wherein the shaft holes closest to the two ends are waist-shaped holes extending along the length direction of the guide device; or (2) each guide wheel corresponds to a fixed block, and the two ends of the wheel shaft of the guide wheel are fixedly mounted on the corresponding fixed block, and the top portions of the two fixed blocks closest to the two ends are horizontally rotatably connected relative to the U-shaped piece while being limited in the rotation angle range through the limiting device.

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