Intelligent follow-up device for coal mine and underground transportation system for coal mine

Abstract

The present invention provides an underground intelligent follower device and underground transportation system for coal mines, which belongs to the technical field of transportation of tunnel excavation working faces in underground coal mines. The underground intelligent follower device for coal mines comprises a receiving part, a self-moving machine tail roller frame, a fuselage, and a crawler-type walking mechanism; the self-moving machine tail roller frame passes through the fuselage, and the center position of the rear end is rotatably connected with the fuselage through a rotating member I, and the two sides of the front end are connected with the fuselage through two groups of lateral swing mechanisms; the receiving part comprises a buffer roller frame, a redirecting roller, a buffer roller group, and a receiving hopper; the redirecting roller is rotatably mounted on the front end of the buffer roller frame; the buffer roller group is rotatably mounted on the buffer roller frame and is located behind the redirecting roller; the receiving hopper is fixed on the buffer roller frame and is located above the buffer roller group; the rear end of the buffer roller frame is connected to the front end of the self-moving machine tail roller frame through a rotating member II and a vertical swing mechanism I. The present invention can improve the problem of material spreading and improve the transportation efficiency of underground coal mines.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation of tunnel excavation working faces in underground coal mines, and specifically discloses an underground coal mine intelligent follow-up device and an underground coal mine transportation system. Background Art

[0002] At present, the excavation operation of coal mine roadway anchoring machine is generally equipped with anchoring transfer crusher to realize parallel operation of excavation and support. The supporting transportation system after excavation generally adopts the overlap of coal mine belt transfer machine and belt conveyor to realize the transfer and transportation of coal during excavation operation. The belt conveyor is equipped with a self-moving tail to realize the mechanized extension of the belt conveyor tail, replacing the previous tail extension method that relied on the retreat of the excavation equipment or the traction of the wire rope winch. At the same time, it provides sufficient overlap travel for the transfer machine, effectively improving the efficiency of related operations.

[0003] The self-moving tail of the belt conveyor is a mobile device used in conjunction with the belt conveyor and the transfer machine in the fully mechanized mining and excavation working face of coal mines. The structure of the self-moving tail of the belt conveyor is introduced in detail in "Design and Application of DWZY3500 Self-moving Tail of Belt Conveyor". Its main structure consists of the head end frame, the middle base frame, the tail end frame, the trolley, the floating roller group, the sliding shoe, the roller frame, the push cylinder, the horizontal cylinder, the lifting cylinder, the sweeper, etc. At the same time, it is equipped with a hydraulic control system and a roller lubrication device. It is suitable for the chute equipment of the fully mechanized mining working face, and the belt conveyor is required to have the function of self-tensioning the belt.

[0004] Patent CN214877997U discloses a crawler-type self-moving tail, which can move with the transfer machine to achieve continuous transportation. However, the above patent still has the following problems:

[0005] 1. When the self-moving machine tail is moving, it may be affected by terrain factors such as curves and deflect relative to the rear belt, making it difficult for the belt to maintain the same straightness, and the problem of material spillage is easy to occur when the belt is conveying materials;

[0006] 2. It is difficult to grasp the distance from the front machine, which causes the receiving part to be unable to receive the material accurately and also causes material spillage. Summary of the invention

[0007] The present invention provides an intelligent follow-up device for underground coal mines to solve the problems described in the background technology, and based on the above device, proposes an underground coal mine transportation system to improve the underground coal mine transportation efficiency.

[0008] The present invention provides an intelligent follow-up device for underground coal mines, comprising a material receiving part, a self-moving machine tail roller frame, a machine body, and a crawler-type walking mechanism; the self-moving machine tail roller frame passes through the machine body, and the center position of the rear end is rotatably connected with the machine body through a rotating member I, and the two sides of the front end are connected with the machine body through two groups of lateral swing mechanisms, and the two groups of lateral swing mechanisms are used to make the self-moving machine tail roller frame lateral deflect around the rotating member I, and the self-moving machine tail roller frame is rotatably mounted with an upper roller group and a lower roller group; the material receiving part comprises a buffer roller frame, a redirecting roller, a buffer roller group, and a material receiving hopper; the redirecting roller is rotatably mounted on the front end of the buffer roller frame; the buffer roller group is rotatably mounted on On the buffer roller frame, it is located behind the redirecting roller; the receiving hopper is fixed on the buffer roller frame, and is located above the buffer roller group; the rear end of the buffer roller frame is connected to the front end of the tail roller frame of the self-moving machine through the rotating part Ⅱ and the vertical swing mechanism Ⅰ, the vertical swing mechanism Ⅰ is located above or below the rotating part Ⅱ, and the vertical swing mechanism Ⅰ is used to make the receiving part swing vertically around the rotating part Ⅱ; two sets of crawler walking mechanisms are respectively arranged on both sides of the machine body, which are used to drive the intelligent follow-up device in the coal mine to move longitudinally; a centralized control center is arranged on the machine body; a travel sensor is arranged in the lateral swing mechanism; and distance sensors Ⅱ are arranged on the four corners of the machine body.

[0009] Furthermore, a distance sensor I is arranged at the front end of the buffer roller frame.

[0010] Furthermore, a belt pressing plate is arranged in the receiving hopper, and the belt pressing plate is located on both sides of the buffer roller group, and is used to press the upper belt on the buffer roller group.

[0011] Furthermore, a belt cleaner is arranged on the buffer roller frame.

[0012] The present invention also provides an underground coal mine transportation system, comprising the above-mentioned underground coal mine intelligent follow-up device and a belt rack automatic extension device arranged behind the underground coal mine intelligent follow-up device; the belt rack automatic extension device is used to realize automatic extension of the belt of the belt conveyor.

[0013] The present invention has the following beneficial effects:

[0014] 1. The intelligent follow-up device in underground coal mines uses crawler walking to drive and pull the belt conveyor of the tunneling roadway. The belt follows the tunneling equipment and extends autonomously, realizing the extension of the conveyor during the operation of the tunneling.

[0015] 2. Distance sensor II measures the distance between the underground intelligent follow-up device and the two sides of the tunnel in real time. The centralized control center makes real-time deviation correction based on the detection data to ensure that the belt on the tail roller frame 101 of the self-moving machine and the material receiving part in front of it are in the same straight line with the belt behind the underground intelligent follow-up device 100 of the coal mine, so as to avoid the problem of material spillage during transportation;

[0016] 3. Distance sensor I detects the distance between the intelligent follow-up device and the front machine in real time in the coal mine, ensuring accurate material receiving and avoiding material spilling during material receiving. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0018] Figure 1 It is a schematic diagram of an intelligent follow-up device in an underground coal mine;

[0019] Figure 2 for Figure 1 Schematic diagram of the other direction;

[0020] Figure 3 This is a schematic diagram of the underground transportation system of a coal mine;

[0021] Figure 4 This is a working state diagram of the automatic extension device of the belt rack in the lane;

[0022] Figure 5 This is a schematic diagram of the belt rack after it is assembled;

[0023] Figure 6 is a schematic diagram of a spring buckle in a belt rack;

[0024] Figure 7 Schematic diagram of assembling components for the belt rack;

[0025] Figure 8 This is a schematic diagram of the upper component transportation platform;

[0026] Fig. 9 is a schematic diagram of the lower component transport platform;

[0027] Fig.10 A schematic diagram of the retractable fuselage.

[0028] Icons: intelligent follow-up device 100 in underground coal mine, tail roller frame 101 of self-moving machine, machine body 102, crawler-type walking mechanism 103, articulated shaft 104, lateral swing cylinder 105, buffer roller frame 106, redirection roller 107, buffer roller group 108, receiving hopper 109, centralized control center 110, distance sensor I 111, distance sensor II 112, belt cleaner 113, vertical swing cylinder I 114; belt pressing plate 115;

[0029] A telescopic body 200, a body unit 201, a telescopic guide rod 202, a sliding shoe 203, a grooved roller 204 in the telescopic body, an upper belt anti-deviation pressure wheel 205 in the telescopic body, a lower roller 206, a lower belt anti-deviation vertical roller 207, a cylinder mounting seat 208, and a rod mounting seat 209;

[0030] Automatic belt extension device 300, H frame connecting longitudinal beam 301, roller frame 302, upper roller 303, H frame 304, lower roller 305, longitudinal beam slot 306, spring buckle 307, base 308, front frame 309, middle frame 310, rear frame 311, longitudinal telescopic cylinder I 312, fixed platform 313, telescopic slide 314, push frame 315, transverse telescopic cylinder I 316, longitudinal Push cylinder 317, belt pressing roller 318, guide rod 319, longitudinal sliding seat 320, transverse sliding seat 321, H frame fork seat 322, longitudinal telescopic cylinder II 323, transverse telescopic cylinder II 324, vertical swing cylinder II 325, support wheel 326, grooved roller 327 in the automatic extension device of the belt rack, upper belt anti-deviation pressure wheel 328 in the automatic extension device of the belt rack; belt rack 329; clamping hole 330;

[0031] Shifting platform 400; Lane 500. DETAILED DESCRIPTION

[0032] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Example 1

[0034] The present embodiment provides an intelligent follow-up device 100 for underground coal mines, comprising a material receiving part, a self-moving machine tail roller frame 101, a machine body 102, and a crawler-type walking mechanism 103; the self-moving machine tail roller frame 101 passes through the machine body 102, and the center position of the rear end is rotatably connected to the machine body 102 through a rotating member Ⅰ (in the present embodiment, the rotating member Ⅰ is a hinge shaft 104), and the two sides of the front end are connected to the machine body 102 through two groups of lateral swing mechanisms (in the present embodiment, the lateral swing mechanism adopts a lateral swing cylinder 105), and the two groups of lateral swing mechanisms are used to make the self-moving machine tail roller frame 101 deflect laterally around the rotating member Ⅰ, and the self-moving machine tail roller frame 101 is rotatably installed with an upper roller group and a lower roller group.

[0035] The receiving part includes a buffer roller frame 106, a redirecting roller 107, a buffer roller group 108 and a receiving hopper 109; the redirecting roller 107 is rotatably mounted on the front end of the buffer roller frame 106; the buffer roller group 108 is rotatably mounted on the buffer roller frame 106 and is located behind the redirecting roller 107; the receiving hopper 109 is fixed on the buffer roller frame 106 and is located above the buffer roller group 108; the rear end of the buffer roller frame 106 is connected to the front end of the self-moving machine tail roller frame 101 through a rotating member Ⅱ (in this embodiment, the rotating member Ⅱ is a horizontally arranged pin shaft) and a vertical swing mechanism Ⅰ (in this embodiment, the vertical swing mechanism adopts a vertical swing cylinder Ⅰ114), the vertical swing mechanism Ⅰ is located above or below the rotating member Ⅱ, and the vertical swing mechanism Ⅰ is used to make the receiving part swing vertically around the rotating member Ⅱ; two sets of crawler walking mechanisms 103 are respectively arranged on both sides of the fuselage 102, and are used to drive the intelligent follow-up device 100 in the coal mine to move longitudinally.

[0036] The centralized control system is arranged on the centralized control center 110 of the fuselage 102 ; a travel sensor is arranged in the lateral swing mechanism; a distance sensor I 111 is arranged at the front end of the buffer roller frame 106 ; and distance sensors II 112 are arranged at the four corners of the fuselage 102 .

[0037] A belt cleaner 113 is provided on the buffer roller frame 106 .

[0038] A belt pressing plate 115 is provided in the receiving hopper 109 and is located on both sides of the buffer roller group 108 for pressing the upper belt on the buffer roller group 108 to prevent the material from being scattered between the receiving hopper 109 and the upper belt.

[0039] The material receiving part is arranged at the front of the fuselage 102 and connected to the self-moving machine tail roller frame 101. The material receiving part can be swung up and down by the vertical swing cylinder Ⅰ114 to meet the height adjustment requirements when used in conjunction with the machine. The self-moving machine tail roller frame 101 realizes the lateral deflection of the self-moving machine tail roller frame 101 around the hinge shaft 104 through the lateral swing cylinder 105 to meet the lateral angle adjustment requirements when used in conjunction with the machine. The buffer roller group 108 can effectively buffer and support the conveyor belt and reduce the damage to the belt caused by the front coal unloading. The large-volume receiving hopper 109 can play a certain role in carrying and buffering the coal flow, and at the same time has a sufficient overlap length with the unloading end of the anchor transfer machine to avoid coal leakage.

[0040] The working process of the above-mentioned underground coal mine intelligent follower device 100 is as follows:

[0041] The intelligent follower device in the coal mine is located behind the bolt transfer machine and moves forward with the bolt transfer machine. The distance sensor I 111 detects the distance between the intelligent follower device 100 in the coal mine and the front bolt transfer machine in real time, and transmits the detection data to the centralized control center 110. The centralized control center 110 controls the travel speed of the intelligent follower device 100 in the coal mine according to the detection data to ensure that the intelligent follower device 100 in the coal mine moves forward with the bolt transfer machine at a preset distance.

[0042] During the forward movement of the intelligent follower device 100 in the coal mine, the distance sensor II 112 detects the distance between the intelligent follower device 100 and the two sides of the tunnel in real time, and transmits the detection data to the centralized control center 110. The centralized control center 110 determines whether the fuselage 102 is deflected relative to the belt behind the intelligent follower device 100 in the coal mine based on the detection data. If the fuselage 102 is deflected (for example, when the intelligent follower device 100 in the coal mine is turning), the lateral swing cylinder 104 is controlled to adjust the lateral deflection of the self-moving machine tail roller frame 101 around the hinge shaft 103, so that the self-moving machine tail roller frame 101 and the material receiving part in front of it are kept in the same straight line with the belt behind the intelligent follower device 100 in the coal mine. The extension and contraction amount of the lateral swing cylinder 104 is detected in real time by the stroke sensor installed therein and the detection data is transmitted to the centralized control center 110.

[0043] Example 2

[0044] The present embodiment provides a coal mine underground transportation system, including the above-mentioned coal mine underground intelligent follower device 100 and a belt rack automatic extension device 300 arranged behind the coal mine underground intelligent follower device 100; the belt rack automatic extension device 300 is used to realize the automatic extension of the belt of the belt conveyor.

[0045] The belt rack automatic extending device 300 comprises a belt rack upper component, a belt rack lower component and a belt rack assembling component.

[0046] The upper assembly of the belt frame includes two H-frame connecting longitudinal beams 301, a roller frame 302 connecting the two H-frame connecting longitudinal beams 301, and an upper roller 303 installed on the roller frame 302, and the upper roller is a trough-type roller; the lower assembly of the belt frame includes an H-frame 304 and a lower roller 305, the H-frame 304 includes two vertical beams and a horizontal beam connecting the two vertical beams, the top of the vertical beam is provided with a longitudinal beam slot 306, and the lower roller 304 is installed on the horizontal beam; the H-frame connecting longitudinal beams 301 of two adjacent groups of belt frame upper assemblies are inserted into the longitudinal beam slots 306 of the same group of belt frame lower assemblies to achieve connection.

[0047] In this embodiment, the end of the H-frame connecting longitudinal beam 301 is a guide end of an isosceles trapezoidal structure. A vertical hole is provided on the H-frame connecting longitudinal beam 301, and a spring buckle 307 is installed in the vertical hole. The spring buckle 307 includes a spring and a clamping block provided at both ends of the spring. The upper part of the clamping block is located outside the vertical hole. A clamping hole 330 is provided on the longitudinal beam slot 306. When the H-frame connecting longitudinal beam 301 is just inserted into the longitudinal beam slot 306, the clamping blocks at both ends of the spring are first compressed by the upper and lower side walls of the longitudinal beam slot 306, so that the H-frame connecting longitudinal beam 301 can be smoothly inserted into the longitudinal beam slot 306. When the spring buckle 307 reaches the position of the clamping hole 330, the clamping block passes through the clamping hole 330 under the elastic force of the spring, so as to realize the self-locking of the connection position between the H-frame connecting longitudinal beam 301 and the longitudinal beam slot 306. The upper assembly of the belt rack and the lower assembly of the belt rack form the belt rack 329.

[0048] The belt rack assembly includes a base 308, a front frame 309, a middle frame 310, a rear frame 311, an upper component transport platform, and a lower component transport platform; the front frame 309, the middle frame 310, and the rear frame 311 are fixedly installed on the base 308 in sequence from front to back; the front end of the base 308 or the front frame 309 is provided with a longitudinal telescopic mechanism I for connecting with the front machine (in this embodiment, the longitudinal telescopic mechanism I adopts a longitudinal telescopic cylinder I 312).

[0049] The height of the front frame 309 gradually increases from front to back, and an upper roller group is rotatably mounted on the front frame 309. The front frame 309 can be equipped with a hydraulic system or store materials.

[0050] The middle frame 310 is at the same height as the rear end of the front frame 309 , and an upper component transport platform and an upper roller group are installed on the middle frame 310 , and the upper roller group is located above the upper component transport platform.

[0051] The upper component transport platform includes a fixed platform 313, a telescopic slide 314, a transverse telescopic mechanism I, a longitudinal pushing mechanism and a pushing frame 315; the telescopic slide 314 is connected to the fixed platform 313 in a transverse sliding manner, and is used to support the two H-frame connecting longitudinal beams 301 of the upper component of the belt rack; the transverse telescopic mechanism I adopts a transverse telescopic cylinder I 316, and its two ends are respectively connected to the fixed platform 313 and the telescopic slide 314, and is used to drive the telescopic slide 314 to telescope transversely; the longitudinal pushing mechanism adopts a longitudinal pushing cylinder 317, which longitudinally spans the telescopic slide 314, and the front end is connected to the pushing frame 315, and the rear end is connected to the fixed platform 313, and is used to drive the pushing frame 315 to translate longitudinally to push the upper component of the belt rack on the telescopic slide 314 backward.

[0052] Furthermore, a belt pressing roller 318 is provided on the longitudinal side of the fixed platform 313 for allowing the lower belt to pass through the bottom of the fixed platform 313 and for limiting the direction of the lower belt to prevent the belt frame from being affected by the belt during assembly.

[0053] Furthermore, the upper component transport platform also includes a guide rod 319, which longitudinally spans the telescopic slide 314 and is respectively connected to the fixed platform 313 at both ends. The push frame 315 is slidably set on the guide rod 319 to limit the direction of the push frame 315 and prevent the direction of the upper component of the belt frame from deviating when sliding longitudinally.

[0054] The lower component transport platform is arranged between the middle frame 310 and the rear frame 311, and includes a longitudinal sliding seat 320, a transverse sliding seat 321, an H frame fork seat 322, a longitudinal telescopic mechanism II, a transverse telescopic mechanism II, and a vertical swing mechanism II; the longitudinal sliding seat 320 is longitudinally slidably connected to the base 308; the longitudinal telescopic mechanism II adopts a longitudinal telescopic cylinder II 323, and its two ends are respectively connected to the base 308 and the longitudinal sliding seat 320, and is used to drive the longitudinal sliding seat 320 to slide longitudinally; the transverse sliding seat 321 is slidably connected to the longitudinal sliding seat 320; the transverse telescopic mechanism II adopts The transverse telescopic cylinder II 324 has its two ends respectively connected to the longitudinal sliding seat 320 and the transverse sliding seat 321, and is used to drive the transverse sliding seat 321 to slide transversely; the H-frame fork seat 322 is provided with two slots for plugging with the two vertical beams of the H-frame 304, and the H-frame fork seat 322 and the transverse sliding seat 321 are rotationally connected through a rotating member IV (in this embodiment, the rotating member IV adopts a pin shaft); the vertical swing mechanism II adopts a vertical swing cylinder II 325, and its two ends are respectively connected to the H-frame fork seat 322 and the transverse sliding seat 321, and is used to drive the H-frame fork seat 322 to swing vertically around the rotating member IV.

[0055] The height of the rear frame 311 gradually decreases from front to back, and the front end is the same height as the middle frame 310. An upper roller group is rotatably mounted on the rear frame 311. A laterally retractable support wheel 326 is arranged on the rear frame 311 to support the H-frame connecting longitudinal beam 301, which has been assembled at the rear end but not assembled at the front end. The support wheel 326 is driven by a laterally arranged oil cylinder to achieve retraction.

[0056] The upper roller group of the belt rack automatic extension device 300 is the same as the upper roller group of the telescopic fuselage 200, and both include multiple grooved rollers 327. Upper belt anti-running pressure wheels 328 are provided on both sides of the grooved rollers 327 to limit the direction of the upper belt. The belt rack automatic extension device 300 can be arranged on any side of the lane to increase its adaptability to the lane.

[0057] During the forward movement of the intelligent follower device 100 in the coal mine, the upper belt of the belt conveyor is located on the grooved rollers 327 of the front frame 309, the middle frame 310, and the rear frame 311, and the belt frame assembly assembly does not stop the machine to replenish the belt frame. The working process is as follows:

[0058] S1, the transverse telescopic oil cylinder II 324 extends to push the transverse sliding seat 321 laterally, the vertical swing oil cylinder II 325 extends to make the H frame fork seat 322 swing downward to an inclined position, the two vertical beams of the H frame 304 are inserted into the slots of the H frame fork seat 322, the transverse telescopic oil cylinder II 324 contracts to reset the transverse sliding seat 321 laterally, the vertical swing oil cylinder II 325 contracts to make the H frame fork seat 322 straighten upward, and the lower roller 304 is located below the lower belt;

[0059] S2, the lateral telescopic cylinder I 316 extends to push the telescopic slide 314 laterally, and the upper assembly of the belt rack is placed on the telescopic slide 314;

[0060] If the upper assembly of the belt rack is in an unassembled state, it is assembled on the telescopic slide 314. After the assembly is completed, the transverse telescopic cylinder I 316 is retracted to align the two H-frame connecting longitudinal beams 301 with the two longitudinal beam slots 306 of the H-frame 304 respectively;

[0061] If the upper assembly of the belt rack is in the assembled state, the transverse telescopic cylinder I 316 is directly retracted to align the two H-frame connecting longitudinal beams 301 with the two longitudinal beam slots 306 of the H-frame 304 respectively;

[0062] S3, the longitudinal pushing mechanism pushes the pushing frame 315 backward, pushes the upper assembly of the belt frame on the telescopic slide 314 backward to the rear ends of the two H-frame connecting longitudinal beams 301, and inserts them into the two longitudinal beam slots 306 of the H-frame 304 respectively, and connects and fixes them with the longitudinal beam slots 306 through the spring buckle 307;

[0063] S4, the belt rack assembly moves forward with the front machine, and the assembled part is pulled by the head of the belt conveyor without moving forward with the belt rack assembly until the front end of the H-frame connecting longitudinal beam 301 installed at the rear end moves behind the H-frame fork seat 322;

[0064] S5, the transverse telescopic oil cylinder II 324 extends to push the transverse sliding seat 321 laterally, the vertical swing oil cylinder II 325 extends to make the H frame fork seat 322 swing downward to an inclined position, and the two vertical beams of the H frame 304 are inserted into the slots of the H frame fork seat 322, the transverse telescopic oil cylinder II 324 contracts to reset the transverse sliding seat 321 laterally, the vertical swing oil cylinder II 325 contracts to make the H frame fork seat 322 straighten upward, the lower roller 304 is located below the lower belt, the longitudinal telescopic oil cylinder II 323 contracts, and drives the H frame 304 to move backward, so that the two longitudinal beam slots 306 are set on the front ends of the two H frame connecting longitudinal beams 301, and are connected and fixed to the front ends of the H frame connecting longitudinal beams 301 through the spring buckle 307;

[0065] S6, repeating steps S2-S5, the assembled part is gradually pulled away from the base 308 by the head of the belt conveyor, so that the upper belt falls on the upper roller 303.

[0066] Example 3

[0067] This embodiment provides a coal mine underground transportation system, in which a retractable body 200 is arranged between an intelligent follow-up device 100 and a belt rack automatic extension device 300 in the coal mine.

[0068] The retractable fuselage 200 includes multiple fuselage units 201 and multiple telescopic guide rods 202; an upper roller group and a lower roller group are rotatably installed on the fuselage unit 201; two adjacent groups of fuselage units 201 are connected by telescopic guide rods 202, the frontmost fuselage unit 201 is connected to the fuselage 102 of the intelligent follow-up device 100 in the coal mine underground by telescopic guide rods 202, and the rearmost fuselage unit 201 is connected to the longitudinal telescopic mechanism I.

[0069] Specifically, the fuselage unit 201 includes two oppositely arranged side panels and a partition connecting the two side panels, a sliding shoe 203 is provided at the bottom of the side panel, an upper roller group and a lower roller group are rotatably installed above the partition, the upper roller group includes a plurality of grooved rollers 204, upper belt anti-deviation pressure wheels 205 are provided on both sides of the grooved rollers 204, and a lower belt anti-deviation vertical roller 207 is rotatably installed between the two lower rollers 206.

[0070] Specifically, a cylinder mounting seat 208 and a rod mounting seat 209 are installed on the outer side of the side panel; the cylinder of each telescopic guide rod 202 is rotatably mounted on the cylinder mounting seat 208 of the corresponding fuselage unit 201 through a rotating member III; in two adjacent groups of fuselage units 201, the rod body of the telescopic guide rod 202 on the rear fuselage unit is rotatably connected to the rod mounting seat 209 of the front retractable belt frame through a rotating member III; the rod body of the telescopic guide rod 202 on the frontmost fuselage unit is rotatably connected to the fuselage 102 of the intelligent follow-up device 100 in the coal mine underground through a rotating member III; the rotating member III is arranged horizontally, and a pin shaft is used in this embodiment.

[0071] During the excavation operation, the underground intelligent follower device 100 of the coal mine moves forward with the equipment in front, and the belt conveyor behind the underground intelligent follower device 100 of the coal mine continuously installs the belt frame as the underground intelligent follower device 100 moves forward to extend the conveying length. When the mining and anchoring integrated machine and the anchor transfer machine in front of the underground intelligent follower device 100 of the coal mine fail and need to be repaired and replaced, the equipment maintenance space is small and the maintenance operation is difficult due to the limited overlap distance between the equipment. The retractable fuselage 200 can provide a certain distance of retreat space for the equipment in front of the underground intelligent follower device 100 of the coal mine to provide sufficient maintenance space. The underground intelligent follower device 100 of the coal mine pushes the fuselage unit 201 to retreat in turn, and the telescopic guide rod 202 retracts. The overall length of the retractable fuselage 200 is shortened without affecting the normal operation of the rear belt frame automatic extension device 300 and the belt conveyor. Adjusting the number of fuselage units 201 according to actual production needs can meet the requirements of different telescopic lengths.

[0072] Example 4

[0073] This embodiment provides a coal mine underground transportation system, in which a shifting platform 400 is straddled behind the belt frame automatic extension device 300, and a mobile substation and cables are installed on the shifting platform 400.

[0074] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace the front-end parts or all of the technical features with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent follow-up device for underground coal mines, characterized in that: It includes the material receiving part, the self-moving tail roller frame, the machine body, and the crawler-type walking mechanism; The tail roller frame of the self-moving machine passes through the fuselage, and the center position of the rear end is rotatably connected to the fuselage through a rotating member I, and the two sides of the front end are connected to the fuselage through two sets of lateral swing mechanisms, and the two sets of lateral swing mechanisms are used to make the tail roller frame of the self-moving machine deflect laterally around the rotating member I, and the upper roller group and the lower roller group are rotatably installed on the tail roller frame of the self-moving machine; The material receiving part includes a buffer roller frame, a redirecting roller, a buffer roller group and a receiving hopper; The redirecting roller is rotatably mounted on the front end of the buffer roller frame; The buffer roller group is rotatably mounted on the buffer roller frame and is located behind the redirecting roller; The receiving hopper is fixed on the buffer roller frame and is located above the buffer roller group; The rear end of the buffer roller frame is connected to the front end of the tail roller frame of the self-moving machine through a rotating member II and a vertical swing mechanism I. The vertical swing mechanism I is located above or below the rotating member II. The vertical swing mechanism I is used to make the receiving part swing vertically around the rotating member II. Two sets of crawler-type walking mechanisms are respectively arranged on both sides of the machine body, and are used to drive the intelligent follow-up device in the coal mine to move longitudinally; A centralized control center is arranged on the fuselage; A travel sensor is provided in the lateral swing mechanism; Distance sensors II are arranged at the four corners of the machine body, and the distance sensors II detect the distance between the intelligent follow-up device and the two sides of the tunnel in real time; A distance sensor I is arranged at the front end of the buffer roller frame, and the distance sensor I detects the distance between the intelligent follow-up device in the coal mine and the front anchor transfer machine in real time.

2. The intelligent follow-up device for underground coal mines according to claim 1, characterized in that: A belt pressing plate is arranged in the receiving hopper, and the belt pressing plate is located on both sides of the buffer roller group, and is used to press the upper belt on the buffer roller group.

3. The intelligent follow-up device for underground coal mines according to claim 2, characterized in that: A belt cleaner is arranged on the buffer roller frame.

4. A coal mine underground transportation system, characterized in that: It comprises the coal mine underground intelligent follow-up device according to any one of claims 1 to 3 and a belt frame automatic extension device arranged behind the coal mine underground intelligent follow-up device; The belt frame automatic extending device is used to realize automatic extending of the belt of the belt conveyor.

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