A self-moving tail section device for coal mine roadway excavation

Abstract

This invention discloses a self-propelled tailstock device for coal mine roadway excavation, comprising a tailstock unit, a support transition unit, a hinged transition unit, a slipper unit, and a power unit. The tailstock unit includes a redirecting tailstock body and a redirecting roller rotatably mounted on the redirecting tailstock body. The support transition unit includes a transition frame body hinged to the redirecting tailstock body. The support transition unit also includes a drive track. The hinged transition unit includes a first hinged frame body and a second hinged frame body hinged together. The slipper unit includes a slipper frame body and a guide slipper mounted on the slipper frame body. The power unit provides operating power to the tailstock unit, support transition unit, hinged transition unit, and slipper unit. This self-propelled tailstock device for coal mine roadway excavation avoids downtime and extension of the conveying system during excavation operations, reduces manual labor intensity, and effectively improves single-pass speed.

Description

Technical Field

[0001] This invention relates to the technical field of coal mine tunneling equipment and its supporting facilities, and in particular to a self-moving tail end device for coal mine roadway tunneling. Background Technology

[0002] Coal mine roadway excavation is a complex process involving various technologies and equipment. The self-propelled tail conveyor used in coal mine roadway excavation is a conveyor tail device that moves with the advance of the mining face, enabling continuous coal transport.

[0003] Currently, the supporting conveying system after tunnel excavation in domestic coal mines generally adopts a combination of bridge-type transfer conveyor and belt conveyor stepping self-propelled tail section. Under geological conditions with low tunnel height and large undulations, the overlap stroke is generally between 15m and 30m. Due to the limited overlap distance, the belt conveyor needs to be stopped during tunnel excavation operations to extend the belt conveyor. Moreover, the stepping self-propelled tail section extends slowly, which affects the efficiency of the tunneling equipment. Summary of the Invention

[0004] The purpose of this invention is to provide a self-moving tail device for coal mine roadway excavation, so as to solve the problems existing in the above-mentioned related technologies, realize the follow-up continuous operation of the supporting transportation system after excavation, improve the roadway excavation efficiency, and completely avoid the problems of long relocation time, low efficiency and poor safety of excavation and transportation equipment during the excavation operation.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention provides a self-moving tailstock device for coal mine roadway excavation, comprising:

[0007] The tailstock unit includes a redirecting tailstock body and a redirecting roller rotatably mounted on the redirecting tailstock body. The redirecting roller can support the conveyor belt and change the running direction of the conveyor belt.

[0008] A support transition unit includes a transition frame that is hinged to the redirecting tail frame; the support transition unit also includes a drive track that is disposed on both sides of the transition frame and is capable of driving the support transition unit to move.

[0009] The articulated transition unit includes a first articulated frame and a second articulated frame, the first articulated frame and the second articulated frame being hinged together; the support transition unit and the articulated transition unit correspond one-to-one; when multiple sets of the support transition unit and the articulated transition unit are provided, the first articulated frame is hinged to the transition frame of the previous set of support transition units, and the second articulated frame is hinged to the transition frame of the next set of support transition units;

[0010] A sliding shoe unit, the sliding shoe unit including a sliding shoe frame and a guide sliding shoe disposed on the sliding shoe frame, the sliding shoe frame being hinged to the second hinge frame of the last set of hinge transition units;

[0011] A power unit is disposed on the skid frame, and the power unit is used to provide operating power for the tail frame unit, the support transition unit, the articulated transition unit and the skid unit.

[0012] Preferably, idler roller groups and buffer bed devices are provided on the transition frame, the first hinged frame, the second hinged frame, and the slipper frame. The idler roller groups and the buffer bed devices can support the conveyor belt and buffer the impact force on the conveyor belt.

[0013] Preferably, the tailstock unit further includes a drum adjusting cylinder, a floating coal cleaner, and a belt cleaner. The redirecting drum is connected to the redirecting tailstock body via the drum adjusting cylinder to adjust the relative position of the redirecting drum and the redirecting tailstock body to tension the conveyor belt. Along the direction of movement of the conveyor belt, the floating coal cleaner is located behind the redirecting drum to clean up spilled materials, and the belt cleaner is located in front of the redirecting drum to clean up materials on the conveyor belt.

[0014] Preferably, the drive track unit includes a track frame, a power element, a track sprocket, and a walking track. The track frame is connected to the transition frame. The power element is disposed on the track frame, and the output end of the power element is connected to the track sprocket for transmission. The track sprocket is rotatably disposed on the track frame, and the track sprocket can tension the walking track to drive the walking track to move.

[0015] Preferably, the power element includes a hydraulic motor and a reducer. The hydraulic motor is connected to the track sprocket via the reducer, and the power element is connected to the power unit to drive the power element.

[0016] Preferably, the support transition unit further includes a lifting and adjusting mechanism, which includes a lifting support seat, an adjusting sliding seat, and a sliding base. Two sets of lifting support seats are connected to both sides of the transition frame in the width direction. A lifting cylinder is installed inside each lifting support seat, and the movable end of the lifting cylinder is connected to the adjusting sliding seat. The adjusting sliding seat is slidably mounted on the sliding base, and its sliding direction is parallel to the width direction of the transition frame. Each adjusting sliding seat is connected to an adjusting cylinder, and the adjusting sliding seat and the adjusting cylinder correspond one-to-one with the lifting support seat.

[0017] Preferably, the lifting support seat is further provided with a lifting inner sleeve, and the lifting cylinder is connected to the adjustment sliding seat through the lifting inner sleeve;

[0018] The number of lifting and adjusting mechanisms is two sets, and the two sets of lifting and adjusting mechanisms are respectively set at both ends of the length direction of the transition frame.

[0019] Preferably, both the first hinge frame and the second hinge frame have hinge holes, and the first hinge frame is hinged to the second hinge frame using the hinge holes, wherein the axis of the hinge holes is parallel to the vertical direction;

[0020] A swing cylinder is also provided between the first hinge frame and the second hinge frame. The two ends of the swing cylinder are respectively hinged to the first hinge frame and the second hinge frame, and the hinge axis of the swing cylinder to the first hinge frame and the second hinge frame is parallel to the axis of the hinge hole. There are two sets of swing cylinders, and the two swing cylinders are respectively provided on both sides of the width direction of the first hinge frame and the second hinge frame. A universal joint is also provided between the first hinge frame and the second hinge frame.

[0021] Preferably, the reversing tailstock body is provided with a connecting pin hole, and the reversing tailstock body is hinged to the transition frame body by means of the connecting pin hole and the hinge pin shaft, and the axis of the connecting pin hole is parallel to the horizontal direction.

[0022] Preferably, the power unit includes a hydraulic system and an electric system to provide power to the tailstock unit, the support transition unit, the articulated transition unit, and the slipper unit.

[0023] The present invention achieves the following technical advantages over related technologies: The self-propelled tailstock device for coal mine roadway excavation of the present invention includes a tailstock unit, a support transition unit, a hinged transition unit, a slipper unit, and a power unit. The tailstock unit includes a redirecting tailstock body and a redirecting roller rotatably mounted on the redirecting tailstock body. The redirecting roller can support the conveyor belt and change the running direction of the conveyor belt. The support transition unit includes a transition frame body hinged to the redirecting tailstock body. The support transition unit also includes a drive track, which is located on both sides of the transition frame body and can drive the support transition unit to move. The hinged transition unit includes a first hinged frame body. The system includes a first hinged frame and a second hinged frame, with the first hinged frame hinged to the second hinged frame. Support transition units and hinged transition units are configured one-to-one. When multiple sets of support transition units and hinged transition units are provided, the first hinged frame is hinged to the transition frame of the preceding set of support transition units, and the second hinged frame is hinged to the transition frame of the following set of support transition units. The sliding shoe unit includes a sliding shoe frame and a guide sliding shoe mounted on the sliding shoe frame. The sliding shoe frame is hinged to the second hinged frame of the last set of hinged transition units. A power unit is mounted on the sliding shoe frame and provides operating power to the tail frame unit, support transition units, hinged transition units, and sliding shoe units.

[0024] The self-moving tail section device for coal mine roadway excavation of the present invention is based on the overlapping transfer form of a belt transfer machine. The belt transfer machine overlaps with the self-moving tail section device for coal mine roadway excavation. The overlapping stroke is determined by the length of the belt transfer machine. When the overlapping stroke reaches its limit, the self-moving tail section device for coal mine roadway excavation begins to move forward to supplement the stroke for the next round of excavation. The present invention changes the traditional self-moving tail section movement method, adopts a multi-support transition unit drive track to traction belt conveyor tail and a long-distance belt linkage control system, realizes the rapid movement of the tail section without stopping the supporting transportation system, meets the continuous load of the bridge transfer machine, avoids the shutdown and extension of the conveying system during the tunneling operation, and realizes the synchronous extension and continuous transportation of the conveying system with the tunneling advance. It completely avoids the problems of long relocation time, low efficiency and poor safety of tunneling transfer equipment during the tunneling operation, greatly reduces the intensity of manual labor, effectively improves the single advance level, and at the same time, based on the supporting device, ensures the safety of the operators and alleviates the tight situation of mine shift. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1This is a schematic diagram of the structure of a self-moving tailstock device for coal mine roadway excavation disclosed in an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the tail frame unit of the self-moving tail device for coal mine roadway excavation disclosed in the embodiments of the present invention;

[0028] Figure 3 This is a schematic diagram of the support transition unit of the self-moving tailstock device for coal mine roadway excavation disclosed in an embodiment of the present invention;

[0029] Figure 4 This is a schematic diagram of the lifting and adjusting mechanism of the self-moving tailstock device for coal mine roadway excavation disclosed in an embodiment of the present invention;

[0030] Figure 5 This is a schematic diagram of the hinged transition unit of the self-moving tailstock device for coal mine roadway excavation disclosed in an embodiment of the present invention;

[0031] Figure 6 This is a schematic diagram of the sliding shoe unit of the self-moving tail device for coal mine roadway excavation disclosed in the embodiments of the present invention.

[0032] In the diagram: 100, Self-propelled tailstock device for coal mine roadway excavation;

[0033] 101. Tailstock Unit; 102. Support Transition Unit; 103. Articulated Transition Unit; 104. Slipper Unit; 105. Power Unit; 106. Redirecting Tailstock Body; 107. Redirecting Drum; 108. Drum Adjustment Cylinder; 109. Floating Coal Cleaner; 110. Belt Sweeper; 111. Connecting Pin Hole; 112. Transition Frame Body; 113. Drive Track Unit; 114. Hydraulic Motor; 115. Reducer; 116. 117. Lifting and adjusting mechanism; 118. Buffer bed device; 119. Roller assembly; 120. Lifting support seat; 121. Lifting cylinder; 122. Adjusting sliding seat; 123. Sliding base; 124. Adjusting cylinder; 125. Lifting inner sleeve; 126. First hinge frame; 127. Second hinge frame; 128. Hinge hole; 129. Swing cylinder; 130. Universal joint; 131. Slipper frame; 132. Guide slipper. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] The purpose of this invention is to provide a self-moving tail device for coal mine roadway excavation, so as to solve the problems existing in the above-mentioned related technologies, realize the follow-up continuous operation of the supporting transportation system after excavation, improve the roadway excavation efficiency, and completely avoid the problems of long relocation time, low efficiency and poor safety of excavation and transportation equipment during the excavation operation.

[0036] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] Example 1

[0038] This invention provides a self-moving tailstock device 100 for coal mine roadway excavation. Please refer to [reference needed]. Figures 1-6 The system includes a tailstock unit 101, a support transition unit 102, an articulated transition unit 103, a slipper unit 104, and a power unit 105. The tailstock unit 101 includes a redirecting tailstock body 106 and a redirecting roller 107 rotatably mounted on the redirecting tailstock body 106. The redirecting roller 107 supports the conveyor belt and changes its running direction. The support transition unit 102 includes a transition frame 112, which is hinged to the redirecting tailstock body 106. The support transition unit 102 also includes a drive track 113, which is located on both sides of the transition frame 112 and drives the support transition unit 102. The articulated transition unit 103 includes a first articulated frame 125 and a second articulated frame 126, which are connected to each other. 26. The support transition unit 102 and the hinge transition unit 103 correspond one-to-one. When multiple sets of support transition units 102 and hinge transition units 103 are provided, the first hinge frame 125 is hinged to the transition frame 112 of the previous set of support transition units 102, and the second hinge frame 126 is hinged to the transition frame 112 of the next set of support transition units 102. The slipper unit 104 includes a slipper frame 130 and a guide slipper 131 provided on the slipper frame 130. The slipper frame 130 is hinged to the second hinge frame 126 of the last set of hinge transition units 103. The power unit 105 is provided on the slipper frame 130. The power unit 105 is used to provide running power for the tail frame unit 101, the support transition unit 102, the hinge transition unit 103 and the slipper unit 104.

[0039] When the self-moving tailstock device 100 for coal mine roadway excavation of the present invention is working, based on the overlapping transfer form of the belt transfer machine, the belt transfer machine overlaps with the self-moving tailstock device 100 for coal mine roadway excavation of the present invention. The overlapping stroke is determined according to the length of the belt transfer machine. When the overlapping stroke reaches the limit, the self-moving tailstock device 100 for coal mine roadway excavation of the present invention begins to move forward to supplement the stroke for the next round of excavation. The present invention changes the traditional self-moving tailstock movement method, adopts the drive track part 113 of the multi-support transition unit 102 to traction the tailstock of the belt transfer machine and the long-distance belt linkage control system, so as to realize the rapid movement of the tailstock without stopping the rear supporting transportation system, meet the continuous load of the bridge transfer machine, avoid the shutdown and extension of the conveying system during the tunneling operation, and realize the synchronous extension and continuous transportation of the conveying system with the tunneling advance. It completely avoids the problems of long relocation time, low efficiency and poor safety of tunneling transfer equipment during the tunneling operation, greatly reduces the intensity of manual labor, effectively improves the single advance level, and at the same time, based on the supporting device, ensures the safety of the operators and alleviates the tight situation of mine succession.

[0040] It should be noted that both the conveyor belt and the belt frame are part of the belt conveyor. The belt conveyor is an equipment in the tunneling roadway transportation system, which is common knowledge to those skilled in the art, and will not be elaborated here.

[0041] Among them, roller sets 118 and buffer bed devices 117 are provided on the transition frame 112, the first hinged frame 125, the second hinged frame 126 and the slipper frame 130. The roller sets 118 and buffer bed devices 117 can support the conveyor belt and buffer the impact force on the conveyor belt, thereby improving the working efficiency of the self-moving tail device 100 for coal mine roadway excavation and improving the quality of material conveying.

[0042] Specifically, the tailstock unit 101 includes a redirecting tailstock body 106 and a redirecting roller 107 rotatably mounted on the redirecting tailstock body 106. The redirecting roller 107 supports the conveyor belt and changes its running direction to ensure smooth conveying of coal. The tailstock unit 101 also includes a roller adjusting cylinder 108, a floating coal cleaner 109, and a belt cleaner 110. The redirecting roller 107 is connected to the redirecting tailstock body 106 via the roller adjusting cylinder 108 to adjust the relative position of the redirecting roller 107 and the redirecting tailstock body 106 to tension the conveyor belt. Along the direction of conveyor belt movement, the floating coal cleaner 109 is located behind the redirecting roller 107 to clean up spilled material, and the belt cleaner 110 is located in front of the redirecting roller 107 to clean up material on the conveyor belt. The tailstock unit 101 uses the redirecting tailstock body 106 as its frame. The redirecting roller 107 is installed at the front end of the redirecting tailstock body 106. Connecting lugs extending from both ends of the redirecting roller 107 are connected to the connecting lugs at both ends of the redirecting tailstock body 106 via roller adjusting cylinders 108, allowing for position adjustment of the redirecting roller 107 and tensioning of the conveyor belt to prevent belt slippage. A coal cleaner 109 is installed behind the redirecting roller 107 to facilitate manual cleaning of spilled coal near the redirecting roller 107, preventing coal jamming and damage to the redirecting roller 107. Before the conveyor belt passes over the redirecting roller 107, it passes through a belt scraper 110 to remove coal from the belt, enhancing protection of the redirecting roller 107 and extending the service life of the device.

[0043] The support transition unit 102 includes a transition frame 112, which is hinged to the redirecting tail frame 106 to adapt to the undulations of the roadway and ensure system transportation efficiency. The support transition unit 102 also includes drive tracks 113, which are located on both sides of the transition frame 112 and can drive the support transition unit 102. The support transition unit 102 serves as the body carrier of the self-propelled tail conveyor 100 for coal mine roadway excavation, and uses the drive tracks 113 to drive the self-propelled tail conveyor 100, coordinating the propulsion of the belt conveyor and the movement of the belt conveyor tail during the face advance, thereby improving excavation efficiency. The drive track unit 113 includes a track frame, a power element, a track sprocket, and a traveling track. The track frame is connected to the transition frame 112. The power element is mounted on the track frame, and its output end is connected to the track sprocket for transmission. The track sprocket is rotatably mounted on the track frame and can tension the traveling track to drive its movement. This invention uses the drive track unit 113 to achieve the walking motion function, improving the device's adaptability to the tunnel walking environment.

[0044] In this specific embodiment, the power element includes a hydraulic motor 114 and a reducer 115. The hydraulic motor 114 is connected to the track sprocket via the reducer 115, and the power element is connected to the power unit 105 to drive the power element.

[0045] It should also be noted that the support transition unit 102 also includes a lifting and adjustment mechanism 116. When the self-moving tail device 100 for coal mine roadway excavation needs to adjust the position of the machine body, the lifting and adjustment mechanism 116 can be used to raise the support transition unit 102 to adjust its position and angle, thereby achieving the purpose of adjusting the position of the machine body. The lifting and adjusting mechanism 116 includes a lifting support 119, an adjusting sliding seat 121, and a sliding base 122. Two sets of lifting support seats 119 are connected to both sides of the transition frame 112 in the width direction. A lifting cylinder 120 is installed inside each lifting support 119. The movable end of the lifting cylinder 120 is connected to the adjusting sliding seat 121, which is slidably mounted on the sliding base 122. The sliding direction of the adjusting sliding seat 121 is parallel to the width direction of the transition frame 112. An adjusting cylinder 123 is connected to the adjusting sliding seat 121. Each adjusting sliding seat 121 and adjusting cylinder 123 corresponds to one lifting support 119. When the lifting and adjusting mechanism 116 is not in operation, the lifting cylinder 120 is in a retracted state. When the machine body position needs to be adjusted, the lifting cylinder 120 extends to lower the lifting and adjusting mechanism 116 to contact the ground, and then continues to extend until the drive track 113 on the support transition unit 102 leaves the ground, at which point the lateral position is adjusted. The adjusting cylinder 123 drives the adjusting sliding seat 121 to move along the sliding base 122, thus achieving the purpose of adjusting the lateral position of the support transition unit 102.

[0046] In this specific embodiment, a lifting inner sleeve 124 is also provided inside the lifting support base 119. The lifting cylinder 120 is connected to the adjustment sliding seat 121 via the lifting inner sleeve 124. The lifting inner sleeve 124 provides guidance for the reciprocating motion of the lifting cylinder 120 in the vertical direction, thereby ensuring the motion accuracy of the lifting cylinder 120 and improving the working reliability of the lifting adjustment mechanism 116. It should also be noted that there are two sets of lifting adjustment mechanisms 116, which are respectively set at both ends of the length direction of the transition frame 112 to ensure the convenience of position adjustment operation.

[0047] Specifically, the articulated transition unit 103 includes a first articulated frame 125 and a second articulated frame 126. The first articulated frame 125 and the second articulated frame 126 are hinged together. Both the first articulated frame 125 and the second articulated frame 126 are equipped with idler roller groups 118 and buffer bed devices 117 to support the conveyor belt. The support transition unit 102 and the articulated transition unit 103 correspond one-to-one. When multiple sets of support transition units 102 and articulated transition units 103 are set, the first articulated frame 125 is hinged to the transition frame 112 of the previous set of support transition units 102, and the second articulated frame 126 is hinged to the transition frame 112 of the next set of support transition units 102. The support transition units 102 and the articulated transition units 103 are connected alternately. In practical applications, the number of support transition units 102 and articulated transition units 103 can be selectively set according to the overall overlap length and requirements to meet different tunneling and transportation needs.

[0048] The first hinge frame 125 and the second hinge frame 126 both have hinge holes 127. The first hinge frame 125 is hinged to the second hinge frame 126 through the hinge holes 127. The axis of the hinge holes 127 is parallel to the vertical direction. The first hinge frame 125 and the second hinge frame 126 rotate around the axis of the hinge holes 127 to cooperate with the adjustment operation.

[0049] To improve the operational reliability of the hinge transition unit 103, a swing cylinder 128 is also provided between the first hinge frame 125 and the second hinge frame 126. The two ends of the swing cylinder 128 are hinged to the first hinge frame 125 and the second hinge frame 126 respectively, and the hinge axis of the swing cylinder 128 with the first hinge frame 125 and the second hinge frame 126 is parallel to the axis of the hinge hole 127. Two sets of swing cylinders 128 are provided, each located on one side of the width direction of the first hinge frame 125 and the second hinge frame 126. The relative rotation of the first hinge frame 125 and the second hinge frame 126 is achieved through the corresponding extension and retraction of the two swing cylinders 128. A universal joint 129 is also provided between the first hinge frame 125 and the second hinge frame 126 to strengthen the connection structure and ensure the structural stability of the hinge transition unit 103.

[0050] More specifically, the redirecting tailstock body 106 is provided with a connecting pin hole 111. The redirecting tailstock body 106 is hinged to the transition frame body 112 using the connecting pin hole 111 and a hinge pin. The axis of the connecting pin hole 111 is parallel to the horizontal direction. The redirecting tailstock body 106 is connected to the subsequent transition frame body 112 by hinge using the connecting pin hole 111, which can better adapt to the changing slope of the roadway.

[0051] The power unit 105 includes a hydraulic system and an electrical system to provide power to the tailstock unit 101, the support transition unit 102, the articulated transition unit 103, and the slipper unit 104. In other specific embodiments of the present invention, the power unit 105 includes a pump station, an oil tank, an electrical control box, etc., serving as a power source to provide power to the hydraulic and electrical components, ensuring the normal operation of the equipment.

[0052] The self-moving tailstock device 100 for coal mine roadway excavation of the present invention revolutionizes traditional material transportation devices, meets the requirements of belt traction in roadways of 4000 meters or more, realizes multi-unit crawler traction of the tailstock of the belt conveyor, enables continuous operation of the supporting transportation system after excavation, improves roadway excavation efficiency by more than 10%, completely avoids the problems of long relocation time, low efficiency and poor safety of excavation and transfer equipment during excavation operations, greatly reduces the intensity of manual labor, effectively improves the single-entry level, and at the same time, based on this device, ensures the safety of operators and alleviates the tight situation of mine succession.

[0053] Example 2

[0054] This embodiment provides a transportation system for coal mine roadway excavation, including the self-moving tail device 100 for coal mine roadway excavation in Embodiment 1, which enables the transportation system to operate continuously and thereby improves the efficiency of coal mine roadway excavation.

[0055] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A self-propelled tailstock device for coal mine roadway excavation, characterized in that, include: The tailstock unit includes a redirecting tailstock body and a redirecting roller rotatably mounted on the redirecting tailstock body. The redirecting roller can support the conveyor belt and change the running direction of the conveyor belt. A support transition unit includes a transition frame that is hinged to the redirecting tail frame; the support transition unit also includes a drive track that is disposed on both sides of the transition frame and is capable of driving the support transition unit to move. The articulated transition unit includes a first articulated frame and a second articulated frame, the first articulated frame and the second articulated frame being hinged together; the support transition unit corresponds one-to-one with the articulated transition unit, and the self-propelled tailstock device for coal mine roadway excavation is provided with multiple sets of the support transition unit and multiple sets of the articulated transition unit, the first articulated frame being hinged to the transition frame of the previous set of support transition units, and the second articulated frame being hinged to the transition frame of the next set of support transition units; A sliding shoe unit, the sliding shoe unit including a sliding shoe frame and a guide sliding shoe disposed on the sliding shoe frame, the sliding shoe frame being hinged to the second hinge frame of the last set of hinge transition units; A power unit is disposed on the skid frame, and the power unit is used to provide operating power for the tail frame unit, the support transition unit, the articulated transition unit and the skid unit.

2. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: Roller sets and buffer bed devices are provided on the transition frame, the first hinged frame, the second hinged frame, and the slipper frame. The roller sets and the buffer bed devices can support the conveyor belt and buffer the impact force on the conveyor belt.

3. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: The tailstock unit also includes a drum adjusting cylinder, a floating coal cleaner, and a belt cleaner. The redirecting drum is connected to the redirecting tailstock body via the drum adjusting cylinder to adjust the relative position of the redirecting drum and the redirecting tailstock body to tension the conveyor belt. Along the direction of movement of the conveyor belt, the floating coal cleaner is located behind the redirecting drum to clean up spilled materials, and the belt cleaner is located in front of the redirecting drum to clean up materials on the conveyor belt.

4. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: The drive track unit includes a track frame, a power element, a track sprocket, and a walking track. The track frame is connected to the transition frame. The power element is mounted on the track frame, and its output end is connected to the track sprocket. The track sprocket is rotatably mounted on the track frame and can tension the walking track to drive its movement.

5. The self-propelled tailstock device for coal mine roadway excavation according to claim 4, characterized in that: The power element includes a hydraulic motor and a reducer. The hydraulic motor is connected to the track sprocket via the reducer. The power element is connected to the power unit to drive the power element.

6. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: The supporting transition unit further includes a lifting and adjusting mechanism, which includes a lifting support seat, an adjusting sliding seat, and a sliding base. There are two sets of lifting support seats, which are respectively connected to both sides of the transition frame in the width direction. A lifting cylinder is provided inside the lifting support seat. The movable end of the lifting cylinder is connected to the adjusting sliding seat. The adjusting sliding seat is slidably disposed on the sliding base. The sliding direction of the adjusting sliding seat is parallel to the width direction of the transition frame. The adjusting sliding seat is connected to the adjusting cylinder. The adjusting sliding seat and the adjusting cylinder correspond one-to-one with the lifting support seat.

7. The self-propelled tailstock device for coal mine roadway excavation according to claim 6, characterized in that: The lifting support seat is also provided with a lifting inner sleeve, and the lifting cylinder is connected to the adjustment sliding seat through the lifting inner sleeve; The number of lifting and adjusting mechanisms is two sets, and the two sets of lifting and adjusting mechanisms are respectively set at both ends of the length direction of the transition frame.

8. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: Both the first hinge frame and the second hinge frame have hinge holes. The first hinge frame is hinged to the second hinge frame using the hinge holes, and the axis of the hinge holes is parallel to the vertical direction. A swing cylinder is also provided between the first hinge frame and the second hinge frame. The two ends of the swing cylinder are respectively hinged to the first hinge frame and the second hinge frame, and the hinge axis of the swing cylinder to the first hinge frame and the second hinge frame is parallel to the axis of the hinge hole. There are two sets of swing cylinders, and the two swing cylinders are respectively provided on both sides of the width direction of the first hinge frame and the second hinge frame. A universal joint is also provided between the first hinge frame and the second hinge frame.

9. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: The tailstock body is provided with a connecting pin hole. The tailstock body is hinged to the transition frame body using the connecting pin hole and the hinge pin shaft. The axis of the connecting pin hole is parallel to the horizontal direction.

10. The self-propelled tailstock device for coal mine roadway excavation according to claim 1, characterized in that: The power unit includes a hydraulic system and an electric system to provide power to the tailstock unit, the support transition unit, the articulated transition unit, and the slipper unit.

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