A self-moving tail telescopic fuselage based on hydraulic control and its control method

Abstract

This invention relates to the field of underground coal mine transportation equipment technology, and particularly to a hydraulically controlled telescopic self-propelled tail conveyor and its control method. The control method includes: determining the operating mode of the self-propelled tail conveyor based on the frequency of coal blocks with a particle size larger than a preset particle size in the historical coal mining data of the current fully mechanized longwall face; determining the operational qualification of the self-propelled tail conveyor based on the vibration and belt conveyor smoothness during operation; adjusting the elongation rate of the self-propelled tail conveyor if its operational qualification is unqualified; determining whether the belt tension meets the standard based on the pressure of the belt on the belt-picking device during operation; and adjusting the judgment process for the operational qualification of the self-propelled tail conveyor based on the differences in the vibration of each section of the track during operation. This invention solves the problem of low working efficiency of existing self-propelled tail conveyors.

Description

Technical Field

[0001] The invention relates to the technical field of underground coal mine transportation equipment, and in particular to a hydraulically controlled self-moving tail telescopic fuselage and a control method thereof. Background Art

[0002] At present, after the tunneling machine of the underground excavation working face of the coal mine moves forward, the tail of the belt conveyor needs to follow it forward to achieve the purpose of continuous excavation. The traditional way to follow the tail of the belt conveyor is to upgrade the traditional tail of the belt conveyor to a self-moving tail. After the tunneling machine moves forward for a certain distance, the belt conveyor stops running, the belt tensioning device of the belt conveyor head is loosened, and the self-moving tail moves forward in steps under the drive of its own driving device, and at the same time pulls out the belt in the belt storage bin to achieve the purpose of cyclic excavation. This pulling and moving method has the following disadvantages: short running step distance; frequent shutdowns; low work efficiency.

[0003] Chinese patent application publication number: CN117879437A discloses a control system and a self-moving tail, which relates to the technical field of mining equipment. Among them, the control system is used for the self-moving tail, the self-moving tail includes a main body and a hydraulic drive system, the hydraulic drive system is used to drive the main body to move, the hydraulic drive system includes an oil pump motor, and the control system includes: a detection unit, which is arranged in the hydraulic drive system, and is used to detect the operating parameters of the hydraulic drive system; wherein the operating parameters include the operating current of the oil pump motor; a control unit, which is connected to the detection unit, and the control unit is used to control the oil pump motor to stop running according to the ratio interval of the ratio of the operating current to the rated current of the oil pump motor, and the delay time corresponding to the ratio interval. It can be seen that although the invention controls the click by controlling the ratio of the operating current to the rated current of the oil pump motor, it does not detect and adjust the working process of the self-moving tail, so that the working efficiency of the self-moving tail is not high. Summary of the invention

[0004] To this end, the present invention provides a self-moving tail telescopic fuselage based on hydraulic control and a control method thereof, so as to overcome the problem in the prior art that the working process of the self-moving tail is not detected and adjusted, resulting in low working efficiency of the self-moving tail.

[0005] To achieve the above object, the present invention provides a control method for a self-moving tail telescopic fuselage based on hydraulic control, comprising:

[0006] Determine the working mode of the self-moving tail based on the frequency of coal blocks with a particle size larger than a preset particle size in the historical coal mining of the current fully mechanized mining face;

[0007] Determining the eligibility of the self-moving tail according to the vibration of the self-moving tail and the smoothness of the belt operation;

[0008] In the case where the operation of the self-moving tail is unqualified, determining the adjustment of the elongation rate of the self-moving tail;

[0009] Determine whether the tension of the belt meets the standard based on the pressure of the belt on the belt picking device during the operation of the self-moving machine tail;

[0010] Based on the difference in vibration conditions of each section of the track during the operation of the self-moving tail, the adjustment of the judgment process of the eligibility of the self-moving tail is determined.

[0011] Furthermore, the working mode of determining the self-moving machine tail based on the frequency of occurrence of coal blocks with a particle size greater than the preset coal block particle size in the historical coal mining of the current comprehensive mining working face includes determining the elongation of the self-moving machine tail to be a first preset elongation under the condition that the frequency of occurrence of coal blocks with a particle size greater than the preset coal block particle size is less than or equal to the preset frequency.

[0012] Furthermore, the working mode of determining the self-moving machine tail based on the frequency of occurrence of coal blocks with a particle size greater than a preset coal block particle size in historical coal mining of the current comprehensive mining working face includes determining the elongation rate of the self-moving machine tail to be a second preset elongation rate under the condition that the frequency of occurrence of coal blocks with a particle size greater than the preset coal block particle size is greater than the preset frequency.

[0013] Further, determining the operation qualification of the self-moving tail based on the vibration condition of the self-moving tail and the smoothness of the belt operation includes determining the qualification evaluation value of the self-moving tail operation based on the vibration condition of the self-moving tail and the smoothness evaluation value of the belt operation, and when the qualification evaluation value is greater than or equal to the preset qualification evaluation value, the operation of the self-moving tail is determined to be qualified.

[0014] Furthermore, the qualification evaluation value of the self-moving tail machine operation is determined based on the vibration condition of the self-moving tail machine during operation and the smoothness evaluation value of the belt operation. When the qualification evaluation value is less than the preset qualification evaluation value, the operation condition of the self-moving tail machine is determined to be unqualified.

[0015] Further, in the event that the operating condition of the self-moving tail is unqualified, determining the adjustment of the working mode of the self-moving tail includes determining the adjustment method of the working mode of the self-moving tail based on a comparison result of a difference between a qualification evaluation value and a preset qualification evaluation value and a difference between the preset qualification evaluation values.

[0016] Furthermore, the adjustment method of the working mode of the self-moving machine tail includes adjusting the preset coal block particle size according to the adjustment coefficient when the difference between the qualification evaluation value and the preset qualification evaluation value is less than or equal to the preset qualification evaluation value.

[0017] Furthermore, the adjustment method of the working mode of the self-moving tail includes adjusting the elongation of the self-moving tail according to the adjustment coefficient when the difference between the qualification evaluation value and the preset qualification evaluation value is greater than the preset qualification evaluation value.

[0018] Furthermore, the adjustment of the working mode of the self-moving tail is determined based on the difference in vibration conditions of each section of the track during the operation of the self-moving tail, including adjusting the preset qualification evaluation value according to the adjustment coefficient when the difference value of the vibration condition is greater than the preset difference value.

[0019] The present invention also provides a self-moving tail telescopic fuselage based on hydraulic control, comprising:

[0020] The supporting mechanism comprises a fixed frame installed at the front end of the self-moving machine tail in the running direction and an intermediate frame evenly arranged in the middle of the telescopic fuselage, and the bottom of the intermediate frame is provided with a running wheel;

[0021] A telescopic mechanism, comprising a hydraulic telescopic rod disposed between two intermediate frames;

[0022] A belt-lifting fixing mechanism, comprising a belt-lifting fixing frame arranged at the rear of the intermediate frame and a belt-lifting device arranged at the rear of the belt-lifting fixing frame;

[0023] The driving mechanism is installed at the tail of the telescopic fuselage and comprises two groups of braking devices arranged front and back and two oil cylinders connected with the braking devices.

[0024] Compared with the prior art, the beneficial effect of the present invention is that the present invention determines the working mode of the self-moving tail based on the frequency of coal blocks with a particle size larger than a preset coal block particle size in the historical coal mining of the current fully mechanized working face, and selects a smaller elongation rate when the particle size of each block is large, so as to better protect the machine. In different situations, different working modes are selected to improve the working efficiency of the self-moving tail.

[0025] Furthermore, the present invention determines the operational qualification of the self-moving tail based on the vibration condition of the self-moving tail during operation and the smoothness of the belt operation, determines the vibration condition according to the discreteness of the vibration displacement of the self-moving tail during operation, determines the smoothness of the belt operation according to the belt operation speed, and simultaneously determines the operational qualification of the self-moving tail based on the vibration condition and the smoothness of the belt operation, which can improve the accuracy of the judgment, thereby improving the working efficiency of the self-moving tail.

[0026] Furthermore, the present invention adjusts the working mode when the operating condition of the self-moving tail is unqualified, and determines different adjustment methods according to the comparison result of the difference between the qualification evaluation value and the preset qualification evaluation value and the preset qualification evaluation value difference, which can further improve the working efficiency of the self-moving tail.

[0027] Furthermore, the present invention determines the adjustment of the working mode of the self-moving tail based on the difference in vibration conditions of each section of the track during the operation of the self-moving tail. When the difference in vibration conditions is greater than a preset difference value, the preset qualification evaluation value is adjusted according to the adjustment coefficient, which can improve the working efficiency of the self-moving tail.

[0028] Furthermore, the adjustment process of the present invention sets a specific adjustment coefficient, which can avoid excessive adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a flow chart of a control method of a self-moving tail telescopic fuselage based on hydraulic control according to an embodiment of the present invention;

[0030] Figure 2 It is a flow chart of determining the eligibility of the self-moving tail of the telescopic fuselage according to the control method of the self-moving tail based on hydraulic control according to the embodiment of the present invention;

[0031] Figure 3 It is a flow chart of determining whether the belt tensioning degree meets the standard in the control method of the self-moving tail telescopic fuselage based on hydraulic control according to an embodiment of the present invention;

[0032] Figure 4 A flowchart of the method for controlling a self-moving tail telescopic fuselage based on hydraulic control according to an embodiment of the present invention for adjusting the judgment process of the eligibility of the self-moving tail operation;

[0033] Figure 5 It is a front view of the hydraulically controlled self-moving tail telescopic fuselage according to an embodiment of the present invention;

[0034] Figure 6 It is a top view of the hydraulically controlled self-moving tail telescopic fuselage according to an embodiment of the present invention.

[0035] Numbers in the figure: 1: fixed frame; 2: hydraulic telescopic rod; 3: intermediate frame; 4: lifting belt fixing device; 5: lifting belt device; 6: oil cylinder; 7: braking device; 8: oil cylinder; 9: connecting plate; 10: telescopic rail; 11: buffer roller frame; 12: buffer roller; 13: bottom roller. DETAILED DESCRIPTION

[0036] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0037] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0038] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0039] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0040] Example 1

[0041] See also Figure 1-Figure 4 As shown, Figure 1 It is a flow chart of a control method of a self-moving tail telescopic fuselage based on hydraulic control according to an embodiment of the present invention; Figure 2 It is a flow chart of determining the eligibility of the self-moving tail of the telescopic fuselage according to the control method of the self-moving tail based on hydraulic control according to the embodiment of the present invention; Figure 3 It is a flow chart of determining whether the belt tensioning degree meets the standard in the control method of the self-moving tail telescopic fuselage based on hydraulic control according to an embodiment of the present invention; Figure 4 The present invention is a flowchart of the method for controlling a self-moving tail telescopic fuselage based on hydraulic control according to an embodiment of the present invention, and adjusting the judgment process of the self-moving tail operation qualification.

[0042] The control method of the self-moving tail telescopic fuselage based on hydraulic control in the embodiment of the present invention includes:

[0043] Step S1, determining the working mode of the self-moving tail based on the frequency of occurrence of coal blocks with a particle size larger than a preset coal block particle size in historical coal mining of the current fully mechanized mining face;

[0044] Step S2, determining the eligibility of the self-moving tail machine based on the vibration of the self-moving tail machine during operation and the smoothness of the belt operation;

[0045] Step S3, when the operation of the self-moving tail is unqualified, determining the adjustment of the working mode of the self-moving tail;

[0046] Step S4, determining whether the tension of the belt meets the standard based on the pressure of the belt on the belt picking device during the operation of the self-moving machine tail;

[0047] Step S5, determining the adjustment of the judgment process of the eligibility of the self-moving tail based on the difference in vibration conditions of each track section during the operation of the self-moving tail.

[0048] Specifically, the method of determining the working mode of the self-moving machine tail based on the frequency of occurrence of coal blocks with a particle size larger than a preset coal block particle size in historical coal mining of the current fully mechanized mining face includes determining the working mode of the self-moving machine tail according to a comparison result of the frequency of occurrence of coal blocks with a particle size larger than a preset coal block particle size and a preset frequency;

[0049] When the frequency of coal blocks with a particle size larger than a preset particle size is less than or equal to a preset frequency, determining the elongation rate of the self-moving tail to be a first preset elongation rate;

[0050] When the frequency of occurrence of coal blocks with a particle size larger than the preset coal block particle size is greater than the preset frequency, the elongation rate of the self-moving tail is determined to be a second preset elongation rate.

[0051] In the embodiment of the present invention, the preset coal block particle size is 800 mm.

[0052] In the embodiment of the present invention, the first preset elongation rate is greater than the second preset elongation rate, the first preset elongation rate is 1 meter per minute, and the second preset elongation rate is 0.5 meter per minute.

[0053] In the embodiment of the present invention, the larger the coal block particle size, the larger the corresponding volume and weight of the coal block. At this time, the elongation of the self-moving machine tail should be set to a smaller elongation to avoid the chain breaking due to the excessive weight of the coal block.

[0054] In an embodiment of the present invention, the frequency of occurrence of coal blocks with a particle size larger than a preset coal block particle size is determined based on the number of times coal blocks with a particle size larger than the preset coal block particle size appear within a sampling period. The sampling period is 5 minutes, and the preset frequency is 10 times / minute.

[0055] Specifically, the vibration condition of the self-moving tail during operation is determined according to the discreteness of the vibration displacement when the vibration occurs. The discreteness of the vibration displacement is determined according to the following formula, which is set as follows:

[0056]

[0057] Where B represents the discreteness of the vibration displacement, n represents the number of vibrations, and x i represents the vibration displacement of the i-th vibration, and M represents the average value of the n-th vibration displacement.

[0058] The average value M of n vibration displacements is calculated according to the following formula, setting:

[0059]

[0060] Where M represents the average value of n vibration displacements, n represents the number of vibrations, and x i represents the vibration displacement of the ith vibration.

[0061] Specifically, the smoothness evaluation value of the belt operation is determined according to the following formula, setting:

[0062]

[0063] Among them, P represents the fluency evaluation value, m represents the m detection distances, and v j represents the belt running speed at the jth detection distance, and V represents the average speed of m detection distances.

[0064] In the embodiment of the present invention, the detection distance is set to 2m.

[0065] Specifically, the qualification evaluation value of the self-moving tail operation is determined according to the following formula, setting:

[0066] Q = 0.5 × (1-B) + 0.5 × (1-P)

[0067] Among them, Q represents the qualification evaluation value, B represents the discreteness of vibration displacement, and P represents the evaluation value of the smoothness of belt operation.

[0068] Specifically, the qualification evaluation value of the self-moving tail operation is determined based on the vibration condition of the self-moving tail operation and the smoothness evaluation value of the belt operation;

[0069] When the qualification evaluation value is greater than or equal to the preset qualification evaluation value, it is determined that the operation of the self-moving tail is qualified;

[0070] When the qualification evaluation value is less than the preset qualification evaluation value, it is determined that the operation condition of the self-moving tail is unqualified.

[0071] In the embodiment of the present invention, the preset qualification evaluation value is 0.8.

[0072] Specifically, when the operation condition of the self-moving tail is unqualified, determining the adjustment of the working mode of the self-moving tail includes determining the adjustment mode of the working mode of the self-moving tail according to the comparison result of the difference between the qualification evaluation value and the preset qualification evaluation value and the difference between the preset qualification evaluation value;

[0073] When the difference between the qualification evaluation value and the preset qualification evaluation value is less than or equal to the preset qualification evaluation value, the preset coal block particle size is adjusted according to the adjustment coefficient;

[0074] When the difference between the qualification evaluation value and the preset qualification evaluation value is greater than the preset qualification evaluation value, the elongation rate of the self-moving tail is adjusted according to the adjustment coefficient.

[0075] In the embodiment of the present invention, the value of the preset qualification evaluation value difference is 0.1.

[0076] Specifically, the adjustment coefficient is Wherein ΔQ represents the difference between the qualification evaluation value and the preset qualification evaluation value.

[0077] Specifically, the belt tension is determined to be up to standard based on the pressure of the belt on the belt picking device during the operation of the self-moving machine tail;

[0078] When the pressure of the belt on the belt picking device is greater than the first preset pressure and less than the second preset pressure, it is determined that the tension of the belt meets the standard;

[0079] When the pressure of the belt on the belt picking device is less than or equal to the first preset pressure, it is determined that the tension of the belt does not meet the standard;

[0080] When the pressure of the belt on the belt picking device is greater than or equal to the second preset pressure, it is determined that the tension of the belt does not meet the standard.

[0081] In the embodiment of the present invention, the first preset pressure is less than the second preset pressure, the value of the first preset pressure is 800N, and the value of the second preset pressure is 1200N.

[0082] In the embodiment of the present invention, when the tension of the belt does not meet the standard, the pressure of the belt is adjusted by a belt picking device to reach the standard.

[0083] Specifically, the difference evaluation value of the vibration conditions of each section of the track during the operation of the self-moving tail is determined according to the following formula, and is set as follows:

[0084]

[0085] Where D is the difference in vibration, d is the number of sections of the tail, and H isk represents the vibration amplitude of the Kth orbit.

[0086] Specifically, the adjustment of the working mode of the self-moving tail is determined based on the difference in vibration conditions of each track section during the operation of the self-moving tail, including determining the adjustment of the judgment process of the eligibility of the operation of the self-moving tail according to the comparison result of the difference value of the vibration condition and the preset difference value;

[0087] When the difference value of the vibration condition is less than or equal to the preset difference value, the judgment process of the self-moving tail operation qualification is not adjusted;

[0088] When the difference value of the vibration conditions is greater than the preset difference value, the preset qualification evaluation value is adjusted according to the adjustment coefficient.

[0089] In the embodiment of the present invention, the preset difference value is 0.2.

[0090] Specifically, the adjustment coefficient is ΔD represents the difference between the difference value of the vibration condition and the preset difference value.

[0091] Example 2

[0092] See also Figure 5-Figure 6 As shown, Figure 5 It is a front view of the hydraulically controlled self-moving tail telescopic fuselage according to an embodiment of the present invention; Figure 6 It is a top view of the hydraulically controlled self-moving tail telescopic fuselage according to an embodiment of the present invention.

[0093] Numbers in the figure: 1: fixed frame; 2: hydraulic telescopic rod; 3: intermediate frame; 4: lifting belt fixing device; 5: lifting belt device; 6: oil cylinder; 7: braking device; 8: oil cylinder; 9: connecting plate; 10: telescopic rail; 11: buffer roller frame; 12: buffer roller; 13: bottom roller.

[0094] The embodiment of the present invention is a hydraulically controlled self-moving tail telescopic fuselage, comprising:

[0095] The supporting mechanism comprises a fixed frame installed at the front end of the self-moving machine tail in the running direction and an intermediate frame evenly arranged in the middle of the telescopic fuselage, and the bottom of the intermediate frame is provided with a running wheel;

[0096] A telescopic mechanism, comprising a hydraulic telescopic rod disposed between two intermediate frames;

[0097] A belt-lifting fixing mechanism, comprising a belt-lifting fixing frame arranged at the rear of the intermediate frame and a belt-lifting device arranged at the rear of the belt-lifting fixing frame;

[0098] The driving mechanism is installed at the tail of the telescopic fuselage and comprises two groups of braking devices arranged front and back and two oil cylinders connected with the braking devices.

[0099] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0100] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A control method for a self-moving tail telescopic fuselage based on hydraulic control, characterized in that: include: Determine the working mode of the self-moving tail based on the frequency of coal blocks with a particle size larger than a preset particle size in the historical coal mining of the current fully mechanized mining face; Determining the eligibility of the self-moving tail according to the vibration of the self-moving tail and the smoothness of the belt operation; In the case where the operation of the self-moving tail is unqualified, determining the adjustment of the elongation rate of the self-moving tail; Determine whether the tension of the belt meets the standard based on the pressure of the belt on the belt picking device during the operation of the self-moving machine tail; Determining the adjustment of the judgment process of the eligibility of the self-moving tail according to the difference in vibration conditions of each track section during the operation of the self-moving tail; The working mode of determining the self-moving tail based on the frequency of occurrence of coal blocks with a particle size larger than the preset coal block particle size in the historical coal mining of the current fully mechanized mining working face includes determining the elongation rate of the self-moving tail to be a first preset elongation rate under the condition that the frequency of occurrence of coal blocks with a particle size larger than the preset coal block particle size is less than or equal to the preset frequency; The working mode of determining the self-moving machine tail based on the frequency of occurrence of coal blocks with a particle size greater than the preset coal block particle size in the historical coal mining of the current comprehensive mining working face includes determining the elongation rate of the self-moving machine tail to be a second preset elongation rate under the condition that the frequency of occurrence of coal blocks with a particle size greater than the preset coal block particle size is greater than the preset frequency.

2. The control method of the hydraulically controlled self-moving tail telescopic fuselage according to claim 1, characterized in that: Determining the operation qualification of the self-moving tail based on the vibration condition of the self-moving tail and the smoothness of the belt operation includes determining the qualification evaluation value of the self-moving tail operation based on the vibration condition of the self-moving tail and the smoothness of the belt operation, and when the qualification evaluation value is greater than or equal to the preset qualification evaluation value, determining that the operation of the self-moving tail is qualified.

3. The control method of the self-moving tail telescopic fuselage based on hydraulic control according to claim 1 is characterized in that: The qualification of the self-moving tail is determined based on the vibration condition of the self-moving tail during operation and the smoothness of the belt operation. When the qualification evaluation value is less than a preset qualification evaluation value, the operation condition of the self-moving tail is determined to be unqualified.

4. The control method of the hydraulically controlled self-moving tail telescopic fuselage according to claim 3 is characterized in that: When the operation of the self-moving tail is unqualified, determining the adjustment of the working mode of the self-moving tail includes determining the adjustment method of the working mode of the self-moving tail based on the comparison result of the difference between the qualification evaluation value and the preset qualification evaluation value and the difference between the preset qualification evaluation value.

5. The control method of the hydraulically controlled self-moving tail telescopic fuselage according to claim 4 is characterized in that: The adjustment method of the working mode of the self-moving machine tail includes adjusting the preset coal block particle size according to the adjustment coefficient when the difference between the qualification evaluation value and the preset qualification evaluation value is less than or equal to the preset qualification evaluation value.

6. The control method of the hydraulically controlled self-moving tail telescopic fuselage according to claim 5, characterized in that: The adjustment method of the working mode of the self-moving tail includes adjusting the elongation of the self-moving tail according to the adjustment coefficient when the difference between the qualification evaluation value and the preset qualification evaluation value is greater than the preset qualification evaluation value.

7. The control method of the hydraulically controlled self-moving tail telescopic fuselage according to claim 2, characterized in that: Based on the differences in vibration conditions of each section of the track during the operation of the self-moving tail, the adjustment of the working mode of the self-moving tail is determined, including adjusting the preset qualification evaluation value according to the adjustment coefficient when the difference value of the vibration condition is greater than the preset difference value.

8. A self-moving tail telescopic fuselage using the control method of the self-moving tail telescopic fuselage based on hydraulic control according to any one of claims 1 to 7, characterized in that: include: The supporting mechanism comprises a fixed frame installed at the front end of the self-moving machine tail in the running direction and an intermediate frame evenly arranged in the middle of the telescopic fuselage, and the bottom of the intermediate frame is provided with a running wheel; A telescopic mechanism, comprising a hydraulic telescopic rod disposed between two intermediate frames; A belt-lifting fixing mechanism, comprising a belt-lifting fixing frame arranged at the rear of the intermediate frame and a belt-lifting device arranged at the rear of the belt-lifting fixing frame; The driving mechanism is installed at the tail of the telescopic fuselage and comprises two groups of braking devices arranged front and back and two oil cylinders connected with the braking devices.

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