Self-moving tail front machine retreat auxiliary equipment and coal mine underground transportation system

Abstract

The present invention provides a self-propelled tail machine front machine retreat auxiliary equipment and a coal mine underground transportation system, belonging to the technical field of transportation for underground coal mine tunneling working faces. The self-propelled tail machine front machine retreat auxiliary equipment includes multiple body units and multiple telescopic guide rods; upper and lower roller groups are rotatably mounted on the body units; two adjacent sets of body units are connected by telescopic guide rods, and the front and rear body units are respectively connected to the front and rear units. During normal operation, the equipment is moved by traction of the crawler-type self-propelled tail machine. During equipment maintenance, the self-propelled tail machine front machine retreat auxiliary equipment is pushed backward and compressed, providing sufficient maintenance work space for the front-end anchoring machine and anchor transfer machine.

Description

Technical Field

[0001] The invention belongs to the technical field of transportation in coal mine underground tunnel excavation working faces, and specifically discloses a self-moving tail-moving front-moving machine retreat auxiliary device and a coal mine underground transportation system. Background Art

[0002] Currently, coal mine tunnel boring and anchoring machines are commonly used in conjunction with anchoring and transfer crushers to enable parallel tunneling and support operations. The post-excavation transport system typically utilizes a coal mine belt transfer machine coupled with a belt conveyor to facilitate coal transfer during tunneling operations. The belt conveyor is equipped with a self-propelled tail, enabling mechanized extension of the belt conveyor tail. This replaces the traditional tail extension method, which relied on backhauling of the tunneling equipment or a wire rope winch. This also provides ample travel for the transfer machine, effectively improving operational efficiency.

[0003] Patent CN215046521U discloses a self-propelled tail and a belt conveyor. During operation, the chassis drives the material receiving platform forward. An extension device is connected to the receiving platform via a third telescopic drive device and moves with it. The third telescopic drive device can be extended to adjust the relative position of the extension device and the receiving platform. During operation, the self-propelled tail of the belt conveyor moves forward, increasing the conveying distance. The extension device provides space for the installation of a frame, ensuring that the belt is always supported, ensuring smooth and non-stop operation of the belt conveyor, and thus achieving the effect of extending the transport distance.

[0004] During tunneling operations, the belt conveyor's tail moves forward alongside the equipment ahead. The belt conveyor behind the tail of the belt conveyor follows the tail's advance, continuously installing belt racks via extension devices to extend the conveying distance. When the anchor drill or anchor transfer machine ahead of the belt conveyor's tail malfunctions and requires repair or component replacement, the limited distance between the equipment ahead creates a technical challenge: limited maintenance space and difficulty performing these repairs. Summary of the Invention

[0005] The present invention provides a self-moving tail-front machine retreat auxiliary device, which solves the technical problems mentioned in the background technology, and proposes an underground coal mine transportation system based on the above device.

[0006] The present invention provides a self-moving tail front aircraft retreat auxiliary device, comprising a plurality of fuselage units and a plurality of telescopic guide rods; an upper roller group and a lower roller group are rotatably mounted on the fuselage units; two adjacent groups of fuselage units are connected by the telescopic guide rods, and the frontmost and rearmost fuselage units are connected to the front aircraft and the rear aircraft respectively.

[0007] Furthermore, the fuselage unit includes two side panels arranged opposite to each other and a partition connecting the two side panels. Slide shoes are provided at the bottom of the side panels, and an upper roller group and a lower roller group are rotatably installed above the partition.

[0008] Furthermore, the upper roller group includes a plurality of grooved rollers, and upper belt anti-deviation pressure wheels are provided on both sides of the grooved rollers.

[0009] Furthermore, a lower belt anti-deviation vertical roller is rotatably installed between the two lower rollers.

[0010] Furthermore, a cylinder mounting seat and a rod mounting seat are installed on the outer side of the side panel; the cylinder of each telescopic guide rod is rotatably mounted on the cylinder mounting seat of the corresponding fuselage unit through a rotating member III; in two adjacent groups of fuselage units, the rod body of the telescopic guide rod on the rear fuselage unit is rotatably connected to the rod mounting seat of the front retractable belt rack through a rotating member III; the rotating member III is arranged horizontally.

[0011] Furthermore, the rotating member III on the cylinder body is a fixed pin fixed to the cylinder body; the rod body and the rod body mounting seat are connected through a movable pin.

[0012] The present invention also provides an underground coal mine transportation system, including a crawler-type self-moving tail machine and an automatic extension device for a belt rack. The above-mentioned self-moving tail machine front machine retreat auxiliary equipment is arranged between the crawler-type self-moving tail machine and the automatic extension device for the belt rack. The frontmost fuselage unit is connected to the fuselage of the crawler-type self-moving tail machine through a telescopic guide rod; the rearmost fuselage unit is connected to the automatic extension device for the belt rack through a longitudinal telescopic mechanism I.

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

[0014] The self-moving machine tail front machine retraction auxiliary equipment is composed of several sliding shoe type fuselage units connected by telescopic guide rods. It is moved by the self-moving machine tail during normal equipment operation. When the equipment is being repaired, the self-moving machine tail front machine retraction auxiliary equipment is pushed backward and compressed, which can provide sufficient maintenance working space for the front drilling and anchoring machine and anchor transfer machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the specific embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 This is a schematic diagram of the self-moving tail front aircraft retreat auxiliary equipment;

[0017] Figure 2 This is a schematic diagram of the underground transportation system of a coal mine;

[0018] Figure 3 It is a schematic diagram of the tail of a crawler-type self-moving machine;

[0019] Figure 4 for Figure 3 Schematic diagram of the other direction;

[0020] Figure 5 This is a working status diagram of the automatic extension device of the belt rack in the lane;

[0021] Figure 6 This is a schematic diagram of the belt rack after assembly;

[0022] Figure 7 A schematic diagram of a spring buckle in a belt rack;

[0023] Figure 8 Schematic diagram of assembling components for the belt rack;

[0024] Figure 9 This is a schematic diagram of the upper component transportation platform;

[0025] Figure 10 Schematic diagram of the lower component transportation platform.

[0026] Icons: crawler-type self-moving tail 100, self-moving tail roller frame 101, fuselage 102, crawler-type walking mechanism 103, articulated shaft 104, horizontal 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;

[0027] Self-moving tail front machine back-up auxiliary device 200, fuselage unit 201, telescopic guide rod 202, sliding shoe 203, grooved roller 204 of the self-moving tail front machine back-up auxiliary device, upper belt anti-deviation pressure wheel 205 of the self-moving tail front machine back-up auxiliary device, lower roller 206, lower belt anti-deviation vertical roller 207, cylinder mounting base 208, rod mounting base 209;

[0028] Belt rack automatic 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 of the belt frame automatic extension device, upper belt anti-deviation pressure wheel 328 of the belt frame automatic extension device; belt frame 329; clamping hole 330;

[0029] Shifting platform 400; tunnel 500. DETAILED DESCRIPTION

[0030] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] Example 1

[0032] This embodiment provides a self-moving tail front aircraft retreat auxiliary device 200, including multiple fuselage units 201 and multiple telescopic guide rods 202; the fuselage units 201 are rotatably mounted with an upper roller group and a lower roller group; two adjacent groups of fuselage units 201 are connected by the telescopic guide rods 202, and the frontmost and rearmost fuselage units 201 are connected to the front aircraft and the rear aircraft respectively.

[0033] 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 multiple grooved rollers 204. Upper belt anti-deviation pressure wheels 205 are provided on both sides of the grooved rollers 204. A lower belt anti-deviation vertical roller 207 is rotatably installed between the two lower rollers 206.

[0034] 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 rack through a rotating member III; the rotating member III is arranged horizontally, and in this embodiment, the rotating member III on the cylinder body is a fixed pin fixed to the cylinder body; the rod body and the rod mounting seat are connected by a movable pin.

[0035] When the anchor miner or anchor bolter at the rear of the self-propelled machine malfunctions and requires repair or component replacement, the machine pushes the fuselage units backward in sequence, retracting the telescopic guide rods. The overall length of the self-propelled machine's front machine retraction auxiliary equipment 200 shortens, providing sufficient space for the front equipment to retract without affecting the normal operation of the rear equipment. The number of fuselage units 201 can be adjusted according to actual production needs to meet different telescopic length requirements.

[0036] Example 2

[0037] This embodiment provides a coal mine underground transportation system, including a crawler-type self-moving tail machine 100 and a belt rack automatic extension device 300. The above-mentioned self-moving tail machine front machine retreat auxiliary equipment 200 is arranged between the crawler-type self-moving tail machine 100 and the belt rack automatic extension device 300. The frontmost fuselage unit 201 is connected to the fuselage 102 of the crawler-type self-moving tail machine 100 through a telescopic guide rod 202; the rearmost fuselage unit 201 is connected to the belt rack automatic extension device 300 through a longitudinal telescopic mechanism I.

[0038] The crawler-type self-propelled tail 100 includes a material receiving part, a self-propelled tail roller frame 101, a fuselage 102, and a crawler-type walking mechanism 103; the self-propelled tail roller frame 101 passes through the fuselage 102, and the center position of the rear end is rotatably connected to the fuselage 102 through a rotating member Ⅰ (the rotating member Ⅰ in this embodiment is a hinge shaft 104), and the two sides of the front end are connected to the fuselage 102 through two groups of lateral swing mechanisms (the lateral swing mechanism in this embodiment uses a lateral swing cylinder 105). The two groups of lateral swing mechanisms are used to make the self-propelled tail roller frame 101 deflect laterally around the rotating member Ⅰ, and the upper roller group and the lower roller group are rotatably installed on the self-propelled tail roller frame 101.

[0039] 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, for driving the crawler-type self-moving machine tail 100 to move longitudinally.

[0040] The centralized control system is arranged on the centralized control center 110 of the fuselage 102, and is used to control the crawler-type self-moving tail 100 and the belt frame automatic extension device 300; a stroke 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 on the four corners of the fuselage 102.

[0041] A belt cleaner 113 is provided on the buffer roller frame 106 .

[0042] The material receiving section is located at the front of the machine body 102 and is connected to the tail roller frame 101 of the self-propelled conveyor. The vertical swing cylinder I 114 allows the material receiving section to swing up and down to meet the height adjustment requirements when used in conjunction with the conveyor. The lateral swing cylinder 105 allows the tail roller frame 101 of the self-propelled conveyor to deflect laterally around the hinge shaft 104 to meet the lateral angle adjustment requirements when used in conjunction with the conveyor. The buffer roller assembly 108 can effectively buffer and support the conveyor belt, reducing damage to the belt caused by coal unloading from the front. 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 loader to prevent coal from leaking.

[0043] The crawler-type self-moving machine tail 100 pulls the self-moving machine tail front machine retreat auxiliary equipment 200 and the belt frame assembly component to move forward, and the distance sensor I 111 detects the distance between the crawler-type self-moving machine tail 100 and the front anchor transfer machine in real time, and transmits the detection data to the control center 110. The control center 110 controls the walking speed of the crawler-type self-moving machine tail 100 according to the detection data to ensure that the crawler-type self-moving machine tail 100 moves forward with the anchor transfer machine at a preset distance.

[0044] During the forward movement of the crawler-type self-moving machine tail 100, the distance sensor II 112 detects the distance between the crawler-type self-moving machine tail 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 crawler-type self-moving machine tail 100 based on the detection data. If the fuselage 102 is deflected (for example, when the crawler-type self-moving machine tail 100 is turning), the lateral swing cylinder 104 is controlled to adjust the crawler-type self-moving machine tail roller frame 101 to lateral deflect around the hinge shaft 103, so that the crawler-type self-moving machine tail roller frame 101 and the material receiving part in front of the crawler-type self-moving machine tail 100 remain in the same straight line.

[0045] The belt rack automatic extending device 300 includes a belt rack upper component, a belt rack lower component and a belt rack assembly 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 slot 306 of the same group of belt frame lower assemblies to achieve connection.

[0047] In this embodiment, the ends of the H-frame connecting longitudinal beams 301 are guide ends of an isosceles trapezoidal structure. A vertical hole is provided on the H-frame connecting longitudinal beams 301, into which a spring clip 307 is installed. The spring clip 307 includes a spring and a retaining block disposed at each end of the spring, the upper portion of the retaining block being located outside the vertical hole. A retaining hole 330 is provided in the longitudinal beam slot 306. When the H-frame connecting longitudinal beams 301 are first inserted into the longitudinal beam slot 306, the retaining blocks at each end of the spring are first compressed by the upper and lower side walls of the longitudinal beam slot 306, allowing the H-frame connecting longitudinal beams 301 to be smoothly inserted into the longitudinal beam slot 306. When the spring clip 307 reaches the retaining hole 330, the retaining block is forced through the retaining hole 330 by the spring force, achieving self-locking of the connection between the H-frame connecting longitudinal beams 301 and the longitudinal beam slot 306. The upper and lower belt frame components comprise the belt frame 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 connected to the rear end of the rearmost fuselage unit 201 through a longitudinal telescopic mechanism I (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. An upper roller group is rotatably mounted on the front frame 309. The front frame 309 can be used to arrange 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 . An upper component transport platform and an upper roller group are installed on the middle frame 310 . 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 extend and retract 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 longitudinally translate and 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 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 set between the middle frame 310 and the rear end frame 311, including the longitudinal sliding seat 320, the transverse sliding seat 321, the H frame fork seat 322, the longitudinal telescopic mechanism II, the transverse telescopic mechanism II, and the vertical swing mechanism II; the longitudinal sliding seat 320 is connected to the base 308 for longitudinal sliding; the longitudinal telescopic mechanism II adopts a longitudinal telescopic oil cylinder II 323, the two ends of which are respectively connected to the base 308 and the longitudinal sliding seat 320 for driving the longitudinal sliding seat 320 to slide longitudinally; the transverse sliding seat 321 is connected to the longitudinal sliding seat 320 for sliding; the transverse telescopic mechanism II adopts a longitudinal telescopic oil cylinder II 323, the two ends of which are respectively connected to the base 308 and the longitudinal sliding seat 320 for driving the longitudinal sliding seat 320 to slide longitudinally; The transverse telescopic cylinder II 324 is connected at both ends to the longitudinal sliding seat 320 and the transverse sliding seat 321 respectively, 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 connecting 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 the 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 connected to the H-frame fork seat 322 and the transverse sliding seat 321 respectively, and is used to drive the H-frame fork seat 322 to swing vertically around the rotating member IV.

[0055] The rear frame 311 gradually decreases in height from front to back, reaching the same height as the middle frame 310 at the front. An upper roller assembly is rotatably mounted on the rear frame 311. Laterally retractable support wheels 326 are installed on the rear frame 311 to support the H-frame connecting longitudinal beams 301, which are assembled at the rear but not at the front. These wheels are driven by a transversely mounted hydraulic cylinder.

[0056] The upper roller assembly of the automatic belt extension device 300 is identical to the upper roller assembly of the self-propelled locomotive rear-end retraction auxiliary device 200. Both include multiple trough rollers 327. Upper belt anti-device pressure rollers 328 are located on either side of the trough rollers 327 to control the upper belt's path. The automatic belt extension device 300 can be deployed on either side of a laneway, increasing its adaptability.

[0057] During the forward movement of the crawler-type self-moving machine tail 100, 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. The belt frame assembly components are replenished without stopping the machine. The working process is as follows:

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

[0059] S2, the lateral telescopic oil 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 oil cylinder I 316 is retracted so that the two H-frame connecting longitudinal beams 301 are aligned 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 so that the two H-frame connecting longitudinal beams 301 are aligned 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 belt frame upper component 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 is connected and fixed to the longitudinal beam slots 306 by the spring buckle 307;

[0063] S4, the belt rack assembly moves forward together 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, and 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, and 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, and the longitudinal telescopic oil cylinder II 323 contracts to drive 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 by spring buckles 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] A moving platform 400 is provided behind the belt rack automatic extension device 300 , and a mobile substation and cables are installed on the moving platform 400 .

[0067] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace the front-end parts or all of the technical features with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coal mine underground transportation system, characterized in that: It includes a crawler-type self-moving tail and a belt rack automatic extension device, and a self-moving tail front machine retraction auxiliary device is arranged between the crawler-type self-moving tail and the belt rack automatic extension device; The self-moving tail front aircraft retreat auxiliary equipment includes multiple fuselage units and multiple telescopic guide rods; An upper roller group and a lower roller group are rotatably mounted on the fuselage unit; Two adjacent sets of fuselage units are connected by telescopic guide rods; The forward-most fuselage unit is connected to the fuselage at the tail of the crawler-type self-propelled machine by telescopic guide rods; The rearmost fuselage unit is connected to the belt rack automatic extension device via a longitudinal telescopic mechanism I; The crawler-type self-moving tail machine includes a material receiving part, a self-moving tail roller frame, and a machine body; 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 the rotating member I. The two sides of the front end are connected to the fuselage through two sets of lateral swing mechanisms. The two sets of lateral swing mechanisms are used to make the tail roller frame of the self-moving machine lateral deflect around the rotating member I. The material receiving part is arranged at the front of the machine body and is connected to the tail roller frame of the self-moving machine; The material receiving part includes a buffer roller frame; 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, and the vertical swing mechanism I is used to make the receiving part swing vertically around the rotating member II; A centralized control center is provided on the fuselage; The front end of the buffer roller frame is provided with a distance sensor I, which detects the distance between the tail of the crawler self-propelled machine and the anchor transfer machine in front in real time and transmits the detection data to the centralized control center. The centralized control center controls the travel speed of the tail of the crawler self-propelled machine according to the detection data to ensure that the tail of the crawler self-propelled machine moves forward with the anchor transfer machine at a preset distance; Distance sensors II are provided on the four corners of the machine body. Distance sensors II detect the distance between the tail of the crawler self-moving machine and the two sides of the lane in real time, and transmit the detection data to the centralized control center. The centralized control center determines whether the machine body is deflected relative to the belt behind the tail of the crawler self-moving machine based on the detection data. If the machine body is deflected, the lateral swing mechanism is controlled to adjust the lateral deflection of the crawler self-moving machine tail roller frame around the rotating part I, so that the crawler self-moving machine tail roller frame and the material receiving part in front of the crawler self-moving machine are kept in the same straight line with the belt behind the tail of the crawler self-moving machine.

2. The coal mine underground transportation system according to claim 1, characterized in that: The fuselage unit includes two oppositely arranged side panels and a partition connecting the two side panels. Sliding shoes are provided at the bottom of the side panels, and an upper roller group and a lower roller group are rotatably installed above the partition.

3. The coal mine underground transportation system according to claim 2, characterized in that: The upper roller group includes multiple grooved rollers, and upper belt anti-deviation pressure wheels are arranged on both sides of the grooved rollers.

4. The coal mine underground transportation system according to claim 2, characterized in that: A lower belt anti-deviation vertical roller is rotatably installed between the two lower rollers.

5. The coal mine underground transportation system according to any one of claims 2 to 4, characterized in that: The outer side of the side plate is equipped with a cylinder mounting seat and a rod mounting seat; The cylinder of each telescopic guide rod is rotatably mounted on the cylinder mounting seat of the corresponding fuselage unit through the rotating member III; In two adjacent fuselage units, the rod body of the telescopic guide rod on the rear fuselage unit is rotatably connected to the rod body mounting seat of the front retractable belt rack through the rotating member III; The rotating member III is arranged horizontally.

6. The coal mine underground transportation system according to claim 5, characterized in that: The rotating part III on the cylinder body is a fixed pin fixed to the cylinder body; The rod body and the rod body mounting seat are connected through a movable pin shaft.

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