Matched continuous transportation system for quick excavation of coal mine tunnel and control method

Abstract

The invention relates to a continuous conveying system matched with coal mine tunnel quick digging and a control method, and the continuous conveying system comprises a short bridge type reversed loader, a crawler-type self-moving machine tail, a rigid belt frame extending device and an H-shaped belt frame, and the crawler-type self-moving machine tail is arranged between the short bridge type reversed loader and the rigid belt frame extending device; the crawler-type self-moving machine tail is used for adjusting the distance between the short bridge type reversed loader and the rigid belt frame extending device, the rigid belt frame extending device is arranged at the front end of the H-shaped belt frame, and the rigid belt frame extending device is used for continuously installing the H-shaped belt frame; the crawler-type self-moving tail comprises a master-slave walking synchronous control module and a parallel synchronous independent closed-loop control module. According to the invention, the conveying system is extended and transported along with tunneling under the condition that tunneling equipment is not stopped, the transportation efficiency and the system stability are improved, the safety of operators is guaranteed, the mining cost is reduced, and the system adapts to various complex coal mine tunnel environments.

Description

Technical Field

[0001] The invention relates to the technical field of coal mine tunnel excavation working face transportation, and in particular to a coal mine tunnel fast excavation matching continuous transportation system and a control method. Background Art

[0002] In coal mining operations, tunnel excavation is a crucial link. An efficient and stable transportation system plays a key role in ensuring the smooth progress of tunneling work. However, the traditional coal mine tunnel transportation system has many drawbacks, which seriously restricts the improvement of tunneling efficiency and mining benefits.

[0003] The conveying process of traditional transportation systems is often discontinuous. During the excavation process, frequent stops are required to adjust and extend the transportation equipment, which not only wastes a lot of time, but also increases equipment wear and energy consumption. For example, when the excavation face advances a certain distance, the belt frame needs to be manually disassembled, installed and adjusted. The whole process is cumbersome and time-consuming, resulting in a significant reduction in the effective working time of the excavation equipment.

[0004] Moreover, the traditional transportation system has limited ability to adapt to different roadway conditions. For low roadways, the installation and operation of the transportation system will be hindered due to the height limit of the equipment, which may easily lead to poor material transportation. In roadways with large floor fluctuations, it is difficult for the transportation equipment to remain stable, and the belt deviation phenomenon occurs frequently, which not only affects the transportation efficiency, but also may cause equipment damage and safety accidents.

[0005] In addition, the safety and reliability of traditional transportation systems are also insufficient during transportation. Operators need to pass through the space under the lower belt several times during the installation of the rack, carry the rack, etc., which increases the risk of injury to operators. At the same time, due to problems such as belt deviation, materials may also be scattered, causing resource waste and environmental pollution.

[0006] Therefore, it is of great practical significance to develop a continuous transportation system for fast excavation of coal mine tunnels that can overcome the above problems. Summary of the invention

[0007] The present invention aims to solve the problems of discontinuous transportation, difficulty in adapting to different tunnel working conditions, and poor safety and reliability of existing transportation systems. The present invention proposes a continuous transportation system and control method for fast excavation of coal mine tunnels, which can realize the transportation of the transportation system during excavation without stopping the tunneling equipment, thereby improving transportation efficiency and system stability, ensuring the safety of operators, reducing mining costs, and adapting to various complex coal mine tunnel environments.

[0008] To achieve the above object, the first aspect of the present invention provides a rapid excavation supporting continuous transportation system for coal mine roadways, including a short-bridge type transfer machine, a crawler self-propelled tail, a rigid belt frame extension device, and an H-type belt frame. The crawler self-propelled tail is arranged between the short-bridge type transfer machine and the rigid belt frame extension device. The crawler self-propelled tail is used to adjust the distance between the short-bridge type transfer machine and the rigid belt frame extension device. The rigid belt frame extension device is arranged at the front end of the H-type belt frame, and the rigid belt frame extension device is used to continuously install the H-type belt frame;

[0009] The crawler self-propelled tail includes a redirecting roller, a redirecting roller mounting frame, an upper idler assembly, a lower idler assembly, a lifting support, a lifting shoe, a deviation adjusting device, an idler mounting frame, a crawler moving chassis, a tail platform, a pumping station system, an electrical system, and a conveyor belt. A plurality of crawler moving chassis are provided with a master-slave type walking synchronization control module, and a plurality of the lifting shoes are provided with a parallel type synchronous independent closed-loop control module;

[0010] Both the master-slave type walking synchronization control module and the parallel type synchronous independent closed-loop control module are provided with a controller.

[0011] Further, the front part of the short-bridge type transfer machine is provided with an ear seat. The short-bridge type transfer machine is detachably connected to the roadheader-anchoring equipment through the ear seat and a pin shaft. The short-bridge type transfer machine includes a redirecting roller, a feeding trough, a buffer idler, a first idler support, a plurality of second idler supports, a third idler support, a belt, a plurality of troughed idlers, a self-aligning idler, a blanking chute, a driven roller, a walking trolley, a plurality of return idlers, and a screw take-up device;

[0012] Second idler supports are arranged between the first idler support and the third idler support. The first idler support, the plurality of second idler supports, and the third idler support are sequentially connected by pin shafts. The first idler support, the plurality of second idler supports, and the third idler support all include an upper part and a lower part. A plurality of clamping grooves are respectively arranged on both sides of the upper part and the lower part. U-shaped grooves are arranged inside the first idler support and the second idler supports. Return idlers are rotatably arranged between the lower clamping grooves of the first idler support, the plurality of second idler supports, and the third idler support;

[0013] The feeding trough is fixedly arranged on the first idler support. The redirecting roller is arranged in the U-shaped groove of the first idler support. The head of the first idler support is fixed to the screw take-up device. Buffer idlers are rotatably arranged between the upper clamping grooves arranged between the first idler support and the second idler supports;

[0014] Troughed idlers are arranged between the upper clamping grooves of the plurality of second idler supports;

[0015] A driven roller is arranged in the U-shaped groove of the third idler support. The walking trolley is fixedly arranged at the bottom of the third idler support. A blanking chute is fixedly arranged at the tail end of the third idler support. A centering idler is rotatably arranged between the upper clamping grooves arranged between the third idler support and the second idler support.

[0016] The belt bypasses the redirecting roller and the driven roller and is connected end to end, and is supported by buffer idlers, troughed idlers, centering idlers, and return idlers.

[0017] The short-bridge transfer machine straddles the crawler self-advancing tail of the shearer through the walking trolley. This unique connection method enables the short-bridge transfer machine to realize the self-adjustment function of the overlapping length. No matter how the advancing speed and position of the tunneling equipment change, the overlapping length between the short-bridge transfer machine and the crawler self-advancing tail of the shearer can always be kept within a suitable range, so as to realize autonomous follow-up and uninterrupted transportation.

[0018] Furthermore, the crawler self-advancing tail of the shearer overlaps and is overlapped with the short-bridge transfer machine. The crawler self-advancing tail of the shearer includes a redirecting roller, a redirecting roller mounting frame, an upper idler assembly, a lower idler assembly, a lifting support, a lifting shoe, a deviation adjusting device, an idler mounting frame, a crawler moving chassis, and a conveyor belt.

[0019] The redirecting roller is fixedly arranged on the redirecting roller mounting frame. The upper part of the redirecting roller and the lifting support are connected by a pin shaft, and the lower part is connected by an oil cylinder. A plurality of clamping grooves are arranged on the redirecting roller, the lifting support, and the idler mounting frame. The upper idler assembly and the lower idler assembly are respectively connected to the redirecting roller, the lifting support, and the idler mounting frame through the clamping grooves. Lifting shoes are symmetrically arranged on both sides of the lifting support. A deviation adjusting device is arranged between the two lifting shoes. The deviation adjusting device includes a plurality of oil cylinders, and the plurality of oil cylinders are arranged in a central symmetry in pairs. One end of the plurality of oil cylinders is connected to the ear seat of the lifting support by a pin shaft, and the other end is connected to the ear seat of the lifting shoe by a pin shaft. A displacement sensor is arranged on the lifting shoe.

[0020] An idler mounting frame is arranged between two adjacent lifting supports. L-shaped limit grooves are arranged on the outer sides of the upper parts of the idler mounting frame and the lifting support. The short-bridge transfer machine rolls along the L-shaped limit.

[0021] A plurality of idler mounting frames are fixedly arranged at intervals on the crawler moving chassis. The crawler moving chassis is connected to the upper part of the lifting support by a pin shaft and to the lower part by an oil cylinder.

[0022] The conveyor belt is wound into by the redirecting roller, and successively passes through the upper idler assemblies at the redirecting roller mounting frame, the lifting support, and the idler mounting frame, and then winds back to the lower idler assemblies at the idler mounting frame, the lifting support, and the redirecting roller mounting frame to form a ring.

[0023] The crawler-type self-shifting tail of the shearer adopts a crawler-type traction walking method and can actively follow the development and bolting equipment forward. Its receiving part overlaps and lapped with the short-bridge-type conveyor. This overlapping method enables the material to smoothly transition from the short-bridge-type conveyor to the conveyor belt of the crawler-type self-shifting tail of the shearer, realizing continuous transportation. The crawler-type walking method has the advantage of large driving force and can meet the requirements of long-distance conveyor belt traction, ensuring the stability of the material during long-distance transportation.

[0024] In addition, combined with the master-slave type walking synchronization control module and the parallel type synchronous independent closed-loop control module, the master-slave type walking between each crawler is realized to ensure smooth walking. In addition, the lifting support shoes are adjusted through the parallel type synchronous independent closed-loop control to complete the synchronous lifting and falling of the whole.

[0025] Furthermore, a tail platform, a pump station system and an electrical system are arranged at the end of the crawler-type self-shifting tail of the shearer. The crawler moving chassis includes a motor and crawlers. The crawlers are driven by motors with the same displacement and in parallel. The pump station system provides power for the oil cylinders and the motors. The electrical system is used for centralized power supply and executing the control instructions of the controller.

[0026] Furthermore, the rigid belt rack extension device includes an upper belt elevation section, a belt rack installation window, an upper belt surface transition section, a roller support, a rotatable chute and a tensioning wheel. A lifting lug is arranged at the front of the upper belt elevation section. The upper belt elevation section is connected to the crawler-type self-shifting tail of the shearer through the lifting lug and an oil cylinder. A tensioning wheel and a belt rack installation window are arranged on the upper belt elevation section. The belt rack installation window is arranged behind the tensioning wheel, and a sliding shoe is arranged at the bottom of the belt rack installation window;

[0027] The upper belt surface transition section includes a front section and a rear section. The front section is fixedly connected to the belt rack installation window. The other side of the front section is hinged to the rear section. The rear section is fixedly connected to the belt rack installation window through a rope;

[0028] The rotatable chute is fixedly arranged on the upper belt surface transition section;

[0029] A plurality of the roller supports are respectively arranged on both sides of the rear section of the belt surface transition section.

[0030] The H-type belt rack is used for the auxiliary installation of H frames, longitudinal beams and rollers in the belt rack installation window. The lower belt runs in the box body, and the upper belt runs on the roller rack in the U-shaped protective groove. This design enables the installation of the fuselage H frames, longitudinal beams and rollers to be carried out in a protected space, effectively isolating the running belt from the space of the operators. When extending the belt rack without stopping the machine, it can provide safety protection for the operators, avoiding the operators from being injured by the running belt, and at the same time preventing the material from falling on the operators, realizing installation without stopping the machine.

[0031] Further, the H-shaped belt rack includes two H-rack connecting longitudinal beams, a roller rack, upper rollers, H-racks, lower rollers and connecting plates.

[0032] The H-rack connecting longitudinal beam is a long strip structure. The two H-rack connecting longitudinal beams are arranged in parallel and are respectively fixed to the tops of the two H-racks. A concave-shaped groove is provided inside the H-rack connecting longitudinal beam. Multiple roller racks are arranged inside the H-rack connecting longitudinal beam, and upper rollers are arranged in the card slots of the roller racks.

[0033] The H-rack is in an H shape, and lower rollers are arranged in the middle of the two H-racks.

[0034] A connecting plate is arranged at the end of the H-rack connecting longitudinal beam. The connecting plate is a concave-shaped plate. The connecting plate is sleeved on the end of the H-rack connecting longitudinal beam and is connected to the H-rack connecting longitudinal beam through a pin shaft.

[0035] Multiple H-shaped belt racks are detachably connected through connecting plates.

[0036] A second aspect of the present invention proposes a control method for a fast excavation supporting continuous transportation system in a coal mine roadway, including:

[0037] Step 1: Crawler synchronization control. The pumping station system includes a hydraulic synchronous shunt motor. The controller controls the pumping station system to distribute the flow in the same amount or in proportion through the hydraulic synchronous shunt motor, so that the parallel-operated motors can be started simultaneously, and it is ensured that each pair of crawlers has the same displacement and rotational speed.

[0038] Step 2: Master-slave type walking synchronization control. It is specified that in the crawler moving chassis of two connected segments along the roadway driving direction, the front segment is the front segment and the rear segment is the rear segment. Each motor is connected to a controller.

[0039] Through the master-slave type walking synchronization control module, the motor of the front segment is selected as the reference standard, and the feedback of the motor of the front segment is used as the input of the controller of the motor of the rear segment, so that an association is formed between the control systems of the front segment and the rear segment. The angular displacement or angular velocity output by the walking motor of the front segment is fed back to the controller of the walking motor of the rear segment through a sensor, constituting a master-slave type walking synchronization control with the walking motor of the front segment as the master and the walking motor of the rear segment as the slave.

[0040] Step 3: Parallel synchronous independent closed-loop control. Each segment of the lifting support boots includes a left lifting support boot and a right lifting support boot. The left lifting support boot and the right lifting support boot are respectively connected to a controller to form a closed-loop control system. The controller receives the detection signal of the displacement sensor, and the two controllers respectively output signals to the pumping station system. The pumping station system corrects the deviation to control the synchronous lifting and falling of the left lifting support boot and the right lifting support boot.

[0041] Combine two closed-loop control systems into one closed-loop system. The synchronous independent closed-loop control module includes N closed-loop systems to achieve synchronous independent control of multiple lifting support shoes, and then complete the synchronous lifting and falling of the overall crawler self-propelled tail.

[0042] Step 4: Deviation adjustment control. The deviation adjustment device drives the lifting bracket to adjust its position in the left-right direction through the synchronous telescoping or expansion of the center-symmetrically arranged pairs of oil cylinders, realizing the lateral adjustment of the crawler self-propelled tail.

[0043] Furthermore, Step 2 includes Formulas (1) to (5):

[0044]

[0045] Among them, Q q is the load flow rate of the front-segment motor control valve, m 3 / s, Q h is the load flow rate of the rear-segment motor control valve, m3 / s; K q is the flow rate gain of the front-segment control valve, m 2 / s, K h is the flow rate gain of the rear-segment motor control valve, m 2 / s, x q is the displacement of the front-segment control valve, m, x h is the displacement of the rear-segment motor control valve, m, K q1 is the flow rate-pressure coefficient of the front-segment control valve, (m 3. s -1 ) / Mpa, K h1 is the flow rate-pressure coefficient of the rear-segment motor control valve, (m 3. s -1 ) / Mpa, p q is the load pressure of the front-segment control valve, Mpa, p h is the load pressure of the rear-segment motor control valve, Mpa;

[0046] Flow equation of the motor:

[0047]

[0048] Among them, Q q1 is the load flow rate of the front-segment motor, m 3 / s, Q h1 is the load flow rate of the rear-segment motor, m 3 / s, D q1 is the displacement of the front-segment motor, m 3 / rad, D h1 is the displacement of the rear-segment motor, m 3 / rad, θ q is the angular displacement of the front-segment motor, rad, θh is the angular displacement of the rear segmented motor, rad, C q1 is the leakage coefficient of the front segmented motor, m 3 / (s·MPa), C h1 is the leakage coefficient of the rear segmented motor, m 3 / (s·MPa), p q1 is the load pressure of the front segmented motor, Mpa, P h1 is the load pressure of the rear segmented motor, Mpa, V q1 is the effective volume of the front segmented motor, m 3 , V h1 is the effective volume of the rear segmented motor, m 3 , β is the effective elastic modulus of the motor, Pa;

[0049] Torque equation of the motor:

[0050]

[0051] Among them, J q1 is the moment of inertia of the front segmented motor, kg / m 2 , J h1 is the moment of inertia of the rear segmented motor, kg / m 2 , B q1 is the load damping coefficient of the front segmented motor, N / (m·s -1 ), B h1 is the load damping coefficient of the rear segmented motor, N / (m·s -1 ), K is the load spring stiffness, N / m, T L is the external disturbance load of the front segmented motor, N / m, T R is the external disturbance load of the rear segmented motor, N / m;

[0052] Through Laplace transform, the transfer function of the corresponding motor control valve is obtained:

[0053]

[0054] Among them, I is the output current of the controller, A, ω q is the natural frequency of the front segmented motor control valve, rad / s, ω h is the natural frequency of the rear segmented motor control valve, rad / s, ζ q is the damping ratio of the front segmented motor control valve, ζ h is the damping ratio of the rear segmented motor control valve;

[0055] Hydraulic motor transfer function:

[0056]

[0057] Among them, ω q1is the hydraulic natural frequency of the front segmented motor, rad / s, ω h1 is the hydraulic natural frequency of the rear segmented motor, rad / s, ζ q1 is the hydraulic damping ratio of the front segmented motor, ζ h1 is the hydraulic damping ratio of the rear segmented motor.

[0058] Through the above technical solutions, the beneficial effects of the present invention are as follows:

[0059] 1. The present invention realizes continuous transportation and improves the tunneling efficiency. Through the coordinated work of the short-bridge type transfer machine, crawler self-propelled tail, rigid belt conveyor extension device and H-type belt conveyor, this system realizes the continuous extension transportation of the conveying system along with tunneling without stopping the tunneling equipment. During the working process of the tunneling equipment, materials can be continuously conveyed from the short-bridge type transfer machine to the crawler self-propelled tail, and then transported over a long distance through the rigid belt conveyor extension device and H-type belt conveyor. At the same time, the rigid belt conveyor extension device can extend and install the H-type belt conveyor without stopping the machine, greatly reducing the downtime caused by the adjustment of the transportation system and significantly improving the tunneling efficiency of the coal mine roadway.

[0060] 2. The present invention adapts to various working conditions and has good system stability. The short-bridge type transfer machine can rotate through the walking trolley to adapt to the roadway working conditions, creating space for the rear equipment, avoiding rollover at the same time, and improving the stability of the equipment. The lifting and deviation adjustment functions of the crawler self-propelled tail enable it to adapt to different working conditions such as low roadway and roadway with large floor undulations. By adjusting the lifting support shoes, the equipment can be kept horizontal, and the deviation adjustment device can correct the belt deviation in time to ensure the stable operation of the conveyor belt. The adjustable structure of the rigid belt conveyor extension device, the rotatable upper belt surface transition section and the rotatable chute can ensure the smooth transition and operation of the belt under different working conditions, further improving the stability and adaptability of the system.

[0061] 3. The present invention improves the transportation safety. When the rigid belt conveyor extension device extends the belt conveyor without stopping the machine, through the protective design that isolates the running belt from the operator's space, it effectively avoids the operator from being injured by the running belt. At the same time, the centering idler of the short-bridge type transfer machine, the deviation adjustment device of the crawler self-propelled tail and the rotatable chute of the rigid belt conveyor extension device can prevent the belt from deviating, reducing the risk of material spillage, reducing the environmental pollution and safety hazards caused by material spillage, and ensuring the health and safety of the operator.

[0062] 4. The present invention reduces the mining cost and improves the economic efficiency. The high-efficiency continuous transportation and the function of extending along with the excavation of the system reduce the downtime of the tunneling equipment, improve the utilization rate of the equipment, reduce the wear and energy consumption of the equipment. At the same time, since the system can adapt to various working conditions, the cost of replacing equipment or making large-scale adjustments due to changes in working conditions is reduced. In addition, the transportation safety and reliability are improved, and the losses caused by equipment failures and safety accidents are reduced, thereby reducing the comprehensive cost of coal mine mining and improving the economic efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is one of the schematic structural diagrams of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0064] Figure 2 It is the second schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0065] Figure 3 It is the third schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0066] Figure 4 It is the fourth schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0067] Figure 5 It is the fifth schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0068] Figure 6 It is the sixth schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0069] Figure 7 It is the seventh schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0070] Figure 8 It is the eighth schematic structural diagram of a fast-excavation supporting continuous transportation system for coal mine roadways according to the present invention.

[0071] Figure 9 It is one of the logic control diagrams of a control method for a fast-excavation supporting continuous transportation system for coal mine roadways.

[0072] Figure 10 It is the second logic control diagram of a control method for a fast-excavation supporting continuous transportation system for coal mine roadways.

[0073] Reference numerals: short - bridge type transfer machine 1, redirecting roller 101, material - guiding chute 102, buffer idler 103, first idler support 104, belt 105, troughed idler 106, self - aligning idler 107, blanking chute 108, driven roller 109, walking trolley 110, return idler 111, screw take - up device 112, second idler support 113, third idler support 114;

[0074] Crawler - type self - moving tail 2, redirecting roller 201, redirecting roller mounting bracket 202, upper idler assembly 203, lower idler assembly 204, lifting bracket 205, lifting shoe 206, deviation - adjusting device 207, idler mounting bracket 208, crawler moving chassis 209, conveyor belt 213, tail platform 210, pumping station system 211, electrical system 212;

[0075] Rigid belt - frame extension device 3, belt - elevation section 301, belt - frame installation window 302, upper - belt - surface transition section 303, idler support 304, rotatable chute 305, tensioning pulley 306;

[0076] H - type belt - frame 4, H - frame connecting longitudinal beam 401, idler frame 402, upper idler 403, H - frame 404, lower idler 405, connecting plate 406. Detailed implementation mode

[0077] Embodiment 1

[0078] As Figure 1 shown, a fast - tunneling supporting continuous transportation system for coal mine roadways includes a short - bridge type transfer machine 1, a crawler - type self - moving tail 2, a rigid belt - frame extension device 3 and an H - type belt - frame 4. The crawler - type self - moving tail 2 is arranged between the short - bridge type transfer machine 1 and the rigid belt - frame extension device 3. The crawler - type self - moving tail 2 is used to adjust the distance between the short - bridge type transfer machine 1 and the rigid belt - frame extension device 3. The rigid belt - frame extension device 3 is arranged at the front end of the H - type belt - frame 4, and the rigid belt - frame extension device 3 is used for continuously installing the H - type belt - frame 4;

[0079] The crawler - type self - moving tail 2 includes a redirecting roller, a redirecting roller mounting bracket, an upper idler assembly, a lower idler assembly, a lifting bracket, a lifting shoe, a deviation - adjusting device, an idler mounting bracket, a crawler moving chassis, a tail platform, a pumping station system, an electrical system and a conveyor belt. A master - slave type walking synchronization control module is arranged on multiple crawler moving chassis, and a parallel - type synchronous independent closed - loop control module is arranged on multiple lifting shoes;

[0080] Both the master - slave type walking synchronization control module and the parallel - type synchronous independent closed - loop control module are provided with controllers.

[0081] As Figure 2As shown in the figure, the front part of the short-bridge transfer machine 1 is provided with ear seats. The short-bridge transfer machine 1 is detachably connected to the roadheader-anchor equipment through the ear seats and pin shafts. The short-bridge transfer machine 1 includes a redirecting roller 101, a material guiding trough 102, a buffer idler 103, a first idler support 104, a plurality of second idler supports 113, a third idler support 114, a belt 105, a plurality of troughed idlers 106, a self-aligning idler 107, a blanking chute 108, a driven roller 109, a walking trolley 110, a plurality of return idlers 111, and a screw take-up device 112;

[0082] A second idler support 113 is arranged between the first idler support 104 and the third idler support 114. The first idler support 104, the plurality of second idler supports 113, and the third idler support 114 are sequentially connected by pin shafts. The first idler support 104, the plurality of second idler supports 113, and the third idler support 114 all include an upper part and a lower part. A plurality of card slots are respectively arranged on both sides of the upper part and the lower part. U-shaped grooves are arranged inside the first idler support 104 and the second idler support 113. Return idlers 111 are rotatably arranged between the lower card slots of the first idler support 104, the plurality of second idler supports 113, and the third idler support 114; The return idlers 111 can realize the lower support of the conveyor belt, make the belt run more smoothly, and ensure the continuity of the transportation process.

[0083] The material guiding trough 102 is fixedly arranged on the first idler support 104, which can prompt the smooth falling of the material at the tail of the tunneling equipment, effectively avoid the occurrence of overloading and pressing of materials, and provide stable starting conditions for the subsequent material transportation. The redirecting roller 101 is arranged in the U-shaped groove of the first idler support 104, which can realize the conveying direction change of the belt 105. The head of the first idler support 104 is fixed to the screw take-up device 112. The screw take-up device 112 is used to pull the redirecting roller 101 and adjust the distance between the redirecting roller 101 and the driven roller 109 to realize the tensioning of the belt 105. The buffer idler 103 is rotatably arranged between the upper card slots arranged between the first idler support 104 and the second idler support 113, which can significantly reduce the impact brought by the materials at the receiving place, protect the equipment components, and extend the service life of the equipment.

[0084] Troughed idlers 106 are arranged between the upper card slots of the plurality of second idler supports 113, which are used to support the conveyed materials, ensure the stability of the materials during transportation, and prevent the materials from spilling.

[0085] A driven roller 109 is arranged in the U-shaped groove of the third idler support 114, and the walking trolley 110 is fixedly arranged at the bottom of the third idler support 114. The walking trolley 110 is located below the tail section idler support 104 and can rotate around the longitudinal axis to realize the swing of the short-bridge transfer machine 1. On the one hand, it can adapt to the roadway working conditions, create space for the rear part, and meet the needs of material transportation and personnel passage; on the other hand, it can reserve the machine withdrawal space, without the need for a high-arch design, effectively prevent rollover, and greatly improve the stability of the equipment.

[0086] A blanking chute 108 is fixedly arranged at the tail end of the third idler support 114. The blanking chute 108 is a stepped blanking funnel, which can realize the buffered blanking of materials and reduce the impact force of the materials on the equipment. An alignment idler 107 is rotatably arranged between the upper clamping grooves arranged between the third idler support 114 and the second idler support 113; it can adjust the deviation of the conveyor belt, prevent the snake-like phenomenon, effectively ensure the stable operation of the conveyor belt, and improve the transportation efficiency. The belt 105 bypasses the redirecting roller 101 and the driven roller 109 and is connected end to end, and is supported by the buffer idler 103, trough idler 106, alignment idler 107, and return idler 111.

[0087] As Figures 3 to 6 shown, the crawler self-propelled tail 2 overlaps and lapped with the short-bridge transfer machine 1. The crawler self-propelled tail 2 includes a redirecting roller 201, a redirecting roller mounting frame 202, an upper idler assembly 203, a lower idler assembly 204, a lifting support 205, a lifting shoe 206, a deviation adjusting device 207, a roller mounting frame 208, a crawler moving chassis 209, and a conveyor belt 213;

[0088] The redirecting roller 201 is fixedly arranged on the redirecting roller mounting frame 202. The upper part of the redirecting roller 201 and the lifting support 205 are connected by a pin shaft, and the lower part is connected by an oil cylinder. By the telescopic movement of the oil cylinder, the redirecting roller mounting frame 202 can swing up and down, and then lift the receiving end of the crawler self-propelled tail 2. Multiple clamping grooves are arranged on the redirecting roller 201, the lifting support 205, and the roller mounting frame 208. The upper idler assembly 203 and the lower idler assembly 204 are connected to the redirecting roller 201, the lifting support 205, and the roller mounting frame 208 respectively through the clamping grooves,

[0089] Lifting support boots 206 are symmetrically arranged on both sides of the lifting support 205. A deviation adjustment device 207 is arranged between the two lifting support boots 206. The deviation adjustment device 207 includes a plurality of oil cylinders. The plurality of oil cylinders are arranged in pairs in central symmetry. One end of the plurality of oil cylinders is connected to the ear seat of the lifting support 205 through a pin shaft, and the other end is connected to the ear seat of the lifting support boot 206 through a pin shaft. A displacement sensor is arranged on the lifting support boot 206. By synchronously extending or contracting the oil cylinders arranged in pairs in central symmetry, the lifting support 205 is driven to adjust in the left-right direction, avoiding the installation belt of the idler mounting frame 208, the upper idler assembly 203, and the lower idler assembly 204 from running off due to the deviation of the frame body, and ensuring the stable operation of the conveyor belt 213.

[0090] An idler mounting frame 208 is arranged between two adjacent lifting supports 205. L-shaped limiting grooves are arranged on the outer sides of the upper parts of the idler mounting frame 208 and the lifting support 205. The short-bridge type transfer machine 1 rolls along the L-shaped limit; the L-shaped limiting groove allows the walking trolley 110 to roll along the L-shaped limiting groove, facilitating the installation and connection of various components of the equipment, and also being beneficial to the overall operation and collaborative work of the equipment.

[0091] A plurality of idler mounting frames 208 are fixedly arranged at intervals on the crawler mobile chassis 209. The crawler mobile chassis 209 is connected to the upper part of the lifting support 205 through a pin shaft and to the lower part through an oil cylinder. By extending and contracting the oil cylinder, the idler assembly can be adjusted to adapt to low roadway or roadways with large floor undulations, enhancing the adaptability of the equipment to complex coal mine roadway environments.

[0092] The conveyor belt 213 is wound in from the deflecting roller 201, and successively passes through the upper idler assembly 203 at the deflecting roller mounting frame 202, the lifting support 205, and the idler mounting frame 208, and then winds back through the lower idler assembly 204 at the idler mounting frame 208, the lifting support 205, and the deflecting roller mounting frame 202 to form a loop.

[0093] A tail platform 210, a pump station system 211, and an electrical system 212 are arranged at the end of the crawler-type self-moving tail 2. The crawler mobile chassis 209 includes a motor and a crawler. The crawler is driven by motors with the same displacement and connected in parallel. The pump station system 211 provides power for the oil cylinder and the motor. The electrical system 212 is used for centralized power supply and executing the control instructions of the controller.

[0094] As Figure 7As shown in the figure, the rigid belt rack extension device 3 includes an upper belt elevation section 301, a belt rack installation window 302, an upper belt surface transition section 303, a roller support 304, a rotatable chute 305, and a tensioning pulley 306. The front part of the upper belt elevation section 301 is provided with a lifting lug. The upper belt elevation section 301 is connected to the crawler self - moving tail 2 of the shearer through the lifting lug and an oil cylinder. Through the connection of the oil cylinder, the distance between the two can be flexibly adjusted to ensure good cooperation under different working conditions. At the same time, the crawler self - moving tail 2 provides the forward power to realize the coordinated operation with other equipment and ensure the continuity of material transportation.

[0095] The tensioning pulley 306 and the belt rack installation window 302 are arranged on the upper belt elevation section 301. The belt rack installation window 302 is arranged behind the tensioning pulley 306. The bottom of the belt rack installation window 302 is provided with sliding shoes, which can effectively reduce the friction with the roadway floor, reduce the energy consumption of the equipment operation, improve the smoothness of movement, and facilitate the movement and operation in the complex roadway environment. The belt rack installation window 302 is used for the auxiliary installation of the H - type belt rack 4, realizing the extension of the belt rack without stopping the machine, improving the installation efficiency, reducing the time loss caused by stopping for installation, and ensuring the continuous progress of the tunneling work.

[0096] The belt rack installation window 302 isolates the installation space of the H - type belt rack 4 from the operator's space, providing safety protection for the operator when extending the belt rack without stopping the machine and reducing the risk of safety accidents.

[0097] The upper belt surface transition section 303 includes a front section and a rear section. The front section is fixedly connected to the belt rack installation window 302. The other side of the front section is hinged to the rear section. The rear section is fixed to the belt rack installation window 302 through a rope, making the upper belt transition smooth, avoiding situations such as jamming and bumping during the operation of the belt, ensuring the smoothness of material transportation, reducing material spillage and belt wear.

[0098] The rotatable chute 305 is fixedly arranged on the upper belt surface transition section 303, which can guide and limit the belt pulley and the vertical roller, effectively preventing the upper and lower belts from running off - track and ensuring that the belt always slides normally on the upper roller frame. At the same time, the rotatable chute 305 can also prevent the upper belt from fluttering and scattering materials, avoiding material waste and environmental pollution, and ensuring the integrity of material transportation and the cleanliness of the working environment.

[0099] A plurality of the roller supports 304 are respectively arranged on both sides of the rear section of the belt surface transition section 303.

[0100] As Figure 8 shown, the H - type belt rack 4 includes two H - frame connecting longitudinal beams 401, a roller frame 402, an upper roller 403, an H - frame 404, a lower roller 405, and a connecting plate 406.

[0101] The H-frame connecting longitudinal beam 401 is a long strip structure. Two such H-frame connecting longitudinal beams 401 are arranged in parallel and are respectively fixed to the tops of two H-frames 404. An inverted U-shaped groove is formed inside the H-frame connecting longitudinal beam 401. A plurality of idler supports 402 are arranged inside the H-frame connecting longitudinal beam 401. This design not only facilitates the adjustment of the position of the idler supports but also makes it convenient to assemble and disassemble the belt frame, providing convenience for subsequent maintenance and repair work. The H-frame connecting longitudinal beam 401 is bolted to the idler support 402, and the installation method is simple and convenient, facilitating the quick installation and replacement of the upper idler on-site. It can withstand the vibration and impact force during the material transportation process, ensuring that the belt frame will not easily become loose or deformed during long-term use, and ensuring the stability and reliability of the entire conveying system.

[0102] An upper idler 403 is arranged in the card slot of the idler support 402. The upper idler uses a trough-shaped idler. This shaped idler can better fit the material, provide stable support, effectively prevent the material from scattering during transportation, and ensure that the material can be smoothly transported on the belt.

[0103] The H-frame 404 is in the shape of an H. A lower idler 405 is arranged in the middle of the two H-frames 404. The lower idler 405 uses a return idler and is installed on the slot on the side of the H-frame vertical beam, used to support the return belt, ensuring the smooth operation of the belt during the return journey and making the entire conveying process form a stable cycle.

[0104] A connecting plate 406 is arranged at the end of the H-frame connecting longitudinal beam 401. The connecting plate 406 is an inverted U-shaped plate. The connecting plate 406 is sleeved on the end of the H-frame connecting longitudinal beam 401 and is connected to the H-frame connecting longitudinal beam 401 through a pin shaft;

[0105] A plurality of such H-shaped belt frames 4 are detachably connected through the connecting plate 406. Adjacent groups of belt frames are connected by inserting a pin shaft into the inverted U-shaped connecting plate of the H-frame, making the connection and disassembly of the belt frames easier and reducing the time and labor costs for installation and maintenance.

[0106] During operation, the slag of the tunneling equipment falls from the tail of the main machine onto the short-bridge transfer machine 1. The slag then falls onto the crawler self-propelled tail 2 at the tail of the short-bridge transfer machine. The slag then passes through the rigid belt frame extension device 3 connected to the crawler self-propelled tail, and then through the H-shaped belt frame 4 to achieve long-distance transportation of the slag. Among them, as the tunneling face moves forward, the tail of the short-bridge transfer machine 1 is driven forward by the tunneling equipment. The short-bridge transfer machine 1 is straddled by the walking trolley 110 on the crawler self-propelled tail 2 and slides on the crawler self-propelled tail 2. The crawler self-propelled tail 2 can move forward by itself and drives the rigid belt frame extension device 3 forward accordingly. On the rigid belt frame extension device 3, workers can add and install the H-shaped belt frame 4 without stopping the machine to achieve the extension of the conveying system. During the whole process, multiple extensions between the tunneling equipment and the short-bridge transfer machine 1, the short-bridge transfer machine 1 and the crawler self-propelled tail 2, the crawler self-propelled tail 2 and the rigid belt frame extension device 3, and the H-shaped belt frame 4 are ensured, so that the conveying system can be extended and transported along with the excavation without stopping the tunneling equipment.

[0107] Embodiment 2

[0108] Based on a fast-excavation supporting continuous transportation system in a coal mine roadway in Embodiment 1, a control method for a fast-excavation supporting continuous transportation system in a coal mine roadway, which is used to control a fast-excavation supporting continuous transportation system in a coal mine roadway, includes:

[0109] Step 1: Crawler synchronization control. The pump station system 211 includes a hydraulic synchronous flow dividing motor. The controller controls the pump station system 211 to distribute the flow in the same amount or in equal proportion through the hydraulic synchronous flow dividing motor, so that the motors working in parallel can be started simultaneously, and it is ensured that each pair of crawlers has the same displacement and rotational speed;

[0110] Step 2: Master-slave type walking synchronization control. It is specified that in the two segmented crawler moving chassis 209 connected to each other, the one along the tunneling direction of the roadway is the front segment, and the one at the back is the rear segment. The motors are all connected with controllers;

[0111] Through the master-slave type walking synchronization control module, the motor of the front segment is selected as the reference standard, and the feedback of the motor of the front segment is used as the input of the controller of the motor of the rear segment, so that an association is formed between the control systems of the front segment and the rear segment. The angular displacement or angular velocity output by the walking motor of the front segment is fed back to the controller of the walking motor of the rear segment through a sensor, forming a master-slave type walking synchronization control with the walking motor of the front segment as the master and the walking motor of the rear segment as the slave;

[0112] Step 3: Parallel synchronous independent closed-loop control. Each lifting support shoe 206 of each segment includes a left lifting support shoe and a right lifting support shoe. A controller is connected to each of the left and right lifting support shoes to form a closed-loop control system. The controller receives the detection signal of the displacement sensor, and the two controllers respectively output signals to the pumping station system 211. The pumping station system 211 corrects the deviation to control the synchronous lifting and falling of the left and right lifting support shoes.

[0113] Combine the two closed-loop control systems into one closed-loop system. The synchronous independent closed-loop control module includes N closed-loop systems to achieve synchronous independent control of multiple lifting support shoes 206, and then complete the synchronous lifting and falling of the integral crawler self-propelled tail 2.

[0114] Step 4: Deviation adjustment control. The deviation adjustment device 207 drives the lifting bracket 205 to adjust its position in the left-right direction through the synchronous expansion or contraction of the center-symmetrically arranged cylinders in pairs, so as to achieve the lateral adjustment of the crawler self-propelled tail 2.

[0115] Step 2 includes formulas (1) to (5):

[0116]

[0117] Among them, Q q is the load flow of the motor control valve of the previous segment, m 3 / s, Q h is the load flow of the motor control valve of the rear segment, m3 / s; K q is the flow gain of the control valve of the previous segment, m 2 / s, K h is the flow gain of the motor control valve of the rear segment, m 2 / s, x q is the displacement of the control valve of the previous segment, m, x h is the displacement of the motor control valve of the rear segment, m, K q1 is the flow pressure coefficient of the control valve of the previous segment, (m 3. s -1 ) / Mpa, K h1 is the flow pressure coefficient of the motor control valve of the rear segment, (m 3. s -1 ) / Mpa, p q is the load pressure of the control valve of the previous segment, Mpa, p h is the load pressure of the motor control valve of the rear segment, Mpa;

[0118] Flow equation of the motor:

[0119]

[0120] Among them, Q q1is the load flow rate of the front segmented motor, m 3 / s, Q h1 is the load flow rate of the rear segmented motor, m 3 / s, D q1 is the displacement of the front segmented motor, m 3 / rad, D h1 is the displacement of the rear segmented motor, m 3 / rad, θ q is the angular displacement of the front segmented motor, rad, θ h is the angular displacement of the rear segmented motor, rad, C q1 is the leakage coefficient of the front segmented motor, m 3 / (s·MPa), C h1 is the leakage coefficient of the rear segmented motor, m 3 / (s·MPa), p q1 is the load pressure of the front segmented motor, Mpa, P h1 is the load pressure of the rear segmented motor, Mpa, V q1 is the effective volume of the front segmented motor, m 3 , V h1 is the effective volume of the rear segmented motor, m 3 , β is the effective elastic modulus of the motor, Pa;

[0121] Torque equation of the motor:

[0122]

[0123] Among them, J q1 is the moment of inertia of the front segmented motor, kg / m 2 , J h1 is the moment of inertia of the rear segmented motor, kg / m 2 , B q1 is the load damping coefficient of the front segmented motor, N / (m·s -1 ), B h1 is the load damping coefficient of the rear segmented motor, N / (m·s -1 ), K is the load spring stiffness, N / m, T L is the external disturbance load of the front segmented motor, N / m, T R is the external disturbance load of the rear segmented motor, N / m;

[0124] Through Laplace transform, the transfer function of the corresponding motor control valve is obtained:

[0125]

[0126] Among them, I is the output current of the controller, A, ω q is the natural frequency of the front segmented motor control valve, rad / s, ω his the natural frequency of the rear segmented motor control valve, rad / s, ζ q is the damping ratio of the front segmented motor control valve, ζ h is the damping ratio of the rear segmented motor control valve;

[0127] Hydraulic motor transfer function:

[0128]

[0129] where ω q1 is the natural frequency of the front segmented motor hydraulics, rad / s, ω h1 is the natural frequency of the rear segmented motor hydraulics, rad / s, ζ q1 is the damping ratio of the front segmented motor hydraulics, ζ h1 is the damping ratio of the rear segmented motor hydraulics.

[0130] In this embodiment, as Figures 9 to 10 shown, the motor of the front segmented crawler mobile chassis 209 is specified as the reference standard, and its feedback is used as the input of the rear segmented motor controller to form a master-slave type walking synchronous control. This can ensure that each pair of crawlers walks synchronously, effectively avoiding problems such as collision and lag between the front and rear connections, improving the stability and reliability of the equipment during walking, and ensuring the safe and stable operation of the equipment.

[0131] A hydraulic synchronous flow dividing motor is used for flow distribution, so that the motors working in parallel are turned on simultaneously, and each pair of crawlers is ensured to have the same displacement and rotational speed, thereby realizing the synchronous walking of the crawler mobile chassis 209, providing precise synchronous accuracy, improving the operation efficiency of the equipment, ensuring that the equipment can maintain a stable posture during walking, and reducing the damage to the equipment structure caused by asynchronous walking.

[0132] This master-slave type walking synchronous control method is adopted for each pair of connected crawler mobile chassis 209, realizing the synchronous collaborative walking control of the entire crawler self-propelled tail 2, enabling the equipment to better adapt to and cooperate in a complex roadway environment, and improving the overall performance and working efficiency of the equipment.

[0133] In addition, through a parallel synchronous independent closed-loop control logic, the lifting support boots 206 symmetrically arranged in each segment can achieve synchronous lifting and lowering. This synchronism ensures the stability of the crawler self-propelled tail 2 during lifting, avoiding the risk of equipment tilt or damage caused by inconsistent lifting, ensuring that the equipment can remain horizontal under different roadway conditions, and ensuring the stable operation of the conveyor belt and the normal transportation of materials.

[0134] An independent closed-loop control is added to the hydraulic system. Each left and right lifting support shoe of each segment uses a controller respectively to form a separate closed-loop control system, and the systems do not affect each other. This design improves the reliability of the system. Even if a certain closed-loop control system fails, other systems can still work normally, ensuring the basic functions of the equipment and reducing the downtime of the equipment due to control system failures. By arranging multiple lifting support shoes 206 and combining multiple separate closed-loop control systems, a synchronous lifting design for the whole crawler self-propelled tail 2 is realized, enabling the equipment to better adapt to different roadway heights and working conditions. When the crawler self-propelled tail 2 is not moving, the material transportation can also be carried out normally, improving the flexibility and practicability of the equipment and meeting the requirements of the complex and changeable working environment of the coal mine roadway.

[0135] The deviation adjustment device 207 drives the lifting support 205 to adjust in the left and right directions through the synchronous telescopic or diastolic actions of the symmetrically arranged cylinders in pairs, so as to realize the lateral adjustment of the segmented-connected crawler self-propelled tail 2. This adjustment method can effectively avoid the deviation of the frame body, prevent the installation belt of the idler mounting frame 208, the upper idler assembly 203, and the lower idler assembly 204 from deviating due to the deviation of the frame body, ensure that the conveyor belt always runs on the correct track, improve the stability and reliability of the material transportation, and reduce problems such as material spillage and equipment damage caused by belt deviation.

[0136] The above-described embodiments are only preferred embodiments of the present invention and do not limit the scope of implementation of the present invention. Therefore, all equivalent changes or modifications made according to the structure, characteristics, and principles described in the scope of the present invention patent application should be included in the scope of the present invention patent application.

Claims

1. A rapid excavation supporting continuous transportation system for coal mine roadways, comprising a short-bridge type transfer machine (1), a crawler type self-shifting tail machine (2), a rigid belt rack extension device (3) and an H-type belt rack (4), characterized in that, The crawler self - moving tail (2) is arranged between the short - bridge transfer machine (1) and the rigid belt frame extension device (3). The crawler self - moving tail (2) is used to adjust the distance between the short - bridge transfer machine (1) and the rigid belt frame extension device (3). The rigid belt frame extension device (3) is arranged at the front end of the H - type belt frame (4), and the rigid belt frame extension device (3) is used for continuously installing the H - type belt frame (4). The crawler self - moving tail (2) includes a deflecting roller, a deflecting roller mounting frame, an upper idler assembly, a lower idler assembly, a lifting support, a lifting shoe, an alignment device, an idler mounting frame, a crawler moving chassis, a tail platform, a pumping station system, an electrical system, and a conveyor belt. A master - slave type walking synchronization control module is arranged on multiple crawler moving chassis, and a parallel type synchronous independent closed - loop control module is arranged on multiple lifting shoes. Controllers are arranged on both the master - slave type walking synchronization control module and the parallel type synchronous independent closed - loop control module.

2. The continuous transportation system for rapid driving of coal mine roadways according to claim 1, wherein, Lugs are arranged at the front part of the short - bridge transfer machine (1). The short - bridge transfer machine (1) is detachably connected to the tunneling and anchoring equipment through the lugs and pin shafts. The short - bridge transfer machine (1) includes a deflecting roller (101), a feed chute (102), a buffer idler (103), a first idler support (104), multiple second idler supports (113), a third idler support (114), a belt (105), multiple trough - shaped idlers (106), a self - aligning idler (107), a blanking chute (108), a driven roller (109), a walking trolley (110), multiple return idlers (111), and a screw take - up device (112). Second idler supports (113) are arranged between the first idler support (104) and the third idler support (114). The first idler support (104), multiple second idler supports (113), and the third idler support (114) are sequentially connected by pin shafts. The first idler support (104), multiple second idler supports (113), and the third idler support (114) all include an upper part and a lower part. Multiple card slots are respectively arranged on both sides of the upper part and the lower part. U - shaped grooves are arranged inside the first idler support (104) and the second idler support (113). Return idlers (111) are rotatably arranged between the lower - part card slots of the first idler support (104), multiple second idler supports (113), and the third idler support (114). The feed chute (102) is fixedly arranged on the first idler support (104). The deflecting roller (101) is arranged in the U - shaped groove of the first idler support (104). The head of the first idler support (104) is fixed to the screw take - up device (112). The buffer idler (103) is rotatably arranged between the upper - part card slots arranged between the first idler support (104) and the second idler support (113). Trough - shaped idlers (106) are arranged between the upper - part card slots of multiple second idler supports (113). A driven roller (109) is arranged in the U-shaped groove of the third idler support (114). The walking trolley (110) is fixedly arranged at the bottom of the third idler support (114). A blanking chute (108) is fixedly arranged at the tail end of the third idler support (114). A centering idler (107) is rotatably arranged between the upper clamping grooves arranged between the third idler support (114) and the second idler support (113); The belt (105) bypasses the redirecting roller (101) and the driven roller (109) and is connected end to end, and is supported by buffer idlers (103), troughed idlers (106), centering idlers (107), and return idlers (111).

3. A continuous transportation system for rapid excavation of coal mine roadways according to claim 1, characterized in that The crawler-type self-advancing tail (2) overlaps and lapped with the short-bridge type conveyor (1). The crawler-type self-advancing tail (2) includes a redirecting roller (201), a redirecting roller mounting frame (202), an upper idler assembly (203), a lower idler assembly (204), a lifting support (205), a lifting shoe (206), an alignment device (207), an idler mounting frame (208), a crawler moving chassis (209), and a conveyor belt (213); The redirecting roller (201) is fixedly arranged on the redirecting roller mounting frame (202). The upper part of the redirecting roller (201) and the lifting support (205) are connected by a pin shaft, and the lower part is connected by an oil cylinder. Multiple clamping grooves are arranged on the redirecting roller (201), the lifting support (205), and the idler mounting frame (208). The upper idler assembly (203) and the lower idler assembly (204) are respectively connected to the redirecting roller (201), the lifting support (205), and the idler mounting frame (208) through the clamping grooves. Lifting shoes (206) are symmetrically arranged on both sides of the lifting support (205). An alignment device (207) is arranged between the two lifting shoes (206). The alignment device (207) includes multiple oil cylinders, and the multiple oil cylinders are arranged in a central symmetry in pairs. One end of the multiple oil cylinders is connected to the ear seat of the lifting support (205) through a pin shaft, and the other end is connected to the ear seat of the lifting shoe (206) through a pin shaft. The lifting shoe (206) is provided with a displacement sensor; An idler mounting frame (208) is arranged between two adjacent lifting supports (205). L-shaped limiting grooves are arranged on the outer sides of the upper parts of the idler mounting frame (208) and the lifting support (205). The short-bridge type conveyor (1) rolls along the L-shaped limit; Multiple idler mounting frames (208) are fixedly arranged on the crawler moving chassis (209) at intervals. The crawler moving chassis (209) is connected to the upper part of the lifting support (205) by a pin shaft and connected to the lower part by an oil cylinder; The conveyor belt (213) is wound into by the redirecting roller (201), and successively passes through the upper idler assembly (203) at the redirecting roller mounting frame (202), the lifting support (205), and the idler mounting frame (208), and then winds back to the lower idler assembly (204) at the idler mounting frame (208), the lifting support (205), and the redirecting roller mounting frame (202) to form a ring.

4. A continuous transportation system for rapid excavation of coal mine roadways according to claim 3, characterized in that, At the end of the crawler self - moving tail (2), a tail platform (210), a pump station system (211) and an electrical system (212) are provided. The crawler moving chassis (209) includes a motor and crawlers, and the crawlers are driven by motors with the same individual displacement and in parallel connection. The pump station system (211) provides power for the oil cylinders and the motors, and the electrical system (212) is used for centralized power supply and executing the control instructions of the controller.

5. A continuous transportation system for rapid excavation of coal mine roadways according to claim 1, characterized in that, The rigid belt frame extension device (3) includes an upper belt elevation section (301), a belt frame installation window (302), an upper belt surface transition section (303), a roller support (304), a rotatable chute (305) and a tensioning wheel (306). At the front of the upper belt elevation section (301), there are lifting lugs. The upper belt elevation section (301) is connected to the crawler self - moving tail (2) through the lifting lugs and an oil cylinder. A tensioning wheel (306) and a belt frame installation window (302) are arranged on the upper belt elevation section (301). The belt frame installation window (302) is arranged behind the tensioning wheel (306), and a sliding shoe is provided at the bottom of the belt frame installation window (302); The upper belt surface transition section (303) includes a front section and a rear section. The front section is fixedly connected to the belt frame installation window (302), the other side of the front section is hinged to the rear section, and the rear section is fixedly connected to the belt frame installation window (302) through a rope; The rotatable chute (305) is fixedly arranged on the upper belt surface transition section (303); A plurality of the roller supports (304) are respectively arranged on both sides of the rear section of the belt surface transition section (303).

6. A continuous transportation system for rapid excavation of coal mine roadways according to claim 1, characterized in that, The H - type belt frame (4) includes two H - frame connecting longitudinal beams (401), a roller frame (402), an upper roller (403), an H - frame (404), a lower roller (405) and a connecting plate (406), The H - frame connecting longitudinal beam (401) is a long - strip structure. The two H - frame connecting longitudinal beams (401) are arranged in parallel and are respectively fixed to the tops of two H - frames (404). A concave - shaped groove is provided inside the H - frame connecting longitudinal beam (401). A plurality of roller frames (402) are arranged inside the H - frame connecting longitudinal beam (401), and an upper roller (403) is arranged in the card slot of the roller frame (402); The H - frame (404) is in an H - shape, and a lower roller (405) is arranged in the middle of the two H - frames (404); A connecting plate (406) is arranged at the end of the H - frame connecting longitudinal beam (401). The connecting plate (406) is a concave - shaped plate. The connecting plate (406) is sleeved on the end of the H - frame connecting longitudinal beam (401) and is connected to the H - frame connecting longitudinal beam (401) through a pin shaft; A plurality of the H - type belt frames (4) are detachably connected through the connecting plate (406).

7. A control method for a continuous transportation system supporting rapid excavation of coal mine roadways based on the system according to any one of claims 1 to 6, characterized in that, Including: Step 1: Crawler synchronous control. The pump station system (211) includes a hydraulic synchronous shunt motor. The controller controls the pump station system (211) to distribute the flow rate in the same amount or in proportion through the hydraulic synchronous shunt motor, so that the motors working in parallel can be started simultaneously, and it is ensured that each pair of crawlers has the same displacement and rotational speed; Step 2: Master-slave walking synchronous control. It is specified that in the crawler moving chassis (209) of two connected segmented parts, the part along the roadway driving direction is the front segment and the rear part is the rear segment, and each motor is connected with a controller. Through the master-slave walking synchronous control module, the motor of the front segment is selected as the reference standard, and the feedback of the motor of the front segment is used as the input of the controller of the motor of the rear segment, so as to establish a connection between the control systems of the front segment and the rear segment. The angular displacement or angular velocity output by the walking motor of the front segment is fed back to the controller of the walking motor of the rear segment through a sensor, forming a master-slave walking synchronous control with the walking motor of the front segment as the master and the walking motor of the rear segment as the slave. Step 3: Parallel synchronous independent closed-loop control. Each lifting support shoe (206) of each segment includes a left lifting support shoe and a right lifting support shoe. The left lifting support shoe and the right lifting support shoe are respectively connected with a controller to form a closed-loop control system. The controller receives the detection signal of the displacement sensor, and the two controllers respectively output signals to the pumping station system (211). The pumping station system (211) corrects the deviation to control the synchronous lifting and falling of the left lifting support shoe and the right lifting support shoe. The two closed-loop control systems are combined into one closed-loop system. The synchronous independent closed-loop control module includes N closed-loop systems to realize the synchronous independent control of multiple lifting support shoes (206), and then complete the synchronous lifting and falling of the whole crawler self-shifting tail (2). Step 4: Deviation adjustment control. The deviation adjustment device (207) drives the lifting bracket (205) to adjust its position in the left-right direction through the synchronous expansion or contraction of the oil cylinders arranged symmetrically about the center, so as to realize the lateral adjustment of the crawler self-shifting tail (2).

8. A control method for a rapid excavation supporting continuous transportation system in a coal mine roadway according to claim 7, characterized in that, Step 2 includes formulas (1) to (5): Among them, Q q is the load flow rate of the front-stage motor control valve, m 3 / s, Q h is the load flow rate of the rear-stage motor control valve, m3 / s; K q is the flow rate gain of the front-stage control valve, m 2 / s, K h is the flow rate gain of the rear-stage motor control valve, m 2 / s, x q is the displacement of the front-stage control valve, m, x h is the displacement of the rear-stage motor control valve, m, K q1 is the flow rate-pressure coefficient of the front-stage control valve, (m 3. s -1 ) / Mpa, K h1 is the flow rate-pressure coefficient of the rear-stage motor control valve, (m 3. s -1 ) / Mpa, p q is the load pressure of the front-stage control valve, Mpa, p h is the load pressure of the rear-stage motor control valve, Mpa; Flow equation of the motor: Among them, Q q1 is the load flow rate of the front-stage motor, m 3 / s, Q h1 is the load flow rate of the rear-stage motor, m 3 / s, D q1 is the displacement of the front-stage sectional motor, m 3 / rad, D h1 is the displacement of the rear-stage motor, m 3 / rad, θ q is the angular displacement of the front-stage motor, rad, θ h is the angular displacement of the rear-stage motor, rad, C q1 is the leakage coefficient of the front-stage motor, m 3 / (s·MPa), C h1 is the leakage coefficient of the rear-stage motor, m 3 / (s·MPa), p q1 is the load pressure of the front-stage motor, Mpa, P h1 is the load pressure of the rear-stage motor, Mpa, V q1 is the effective volume of the front-stage motor, m 3 、V h1 is the effective volume of the rear-stage motor, m 3 、β is the effective elastic modulus of the motor, Pa; Torque equation of the motor: Among them, J q1 is the rotational inertia of the front segmented motor, kg / m 2 , J h1 is the rotational inertia of the rear segmented motor, kg / m 2 , B q1 is the load damping coefficient of the front segmented motor, N / (m·s -1 ), B h1 is the load damping coefficient of the rear segmented motor, N / (m·s -1 ), K is the load spring stiffness, N / m, T L is the external disturbance load of the front segmented motor, N / m, T R is the external disturbance load of the rear segmented motor, N / m; Through Laplace transform, the transfer function of the corresponding motor control valve is obtained: where I is the output current of the controller, A and ω q are the natural frequencies of the front segmented motor control valve, in rad / s, and ω h are the natural frequencies of the rear segmented motor control valve, in rad / s, ζ q is the damping ratio of the front segmented motor control valve, and ζ h is the damping ratio of the rear segmented motor control valve; Transfer function of the hydraulic motor: Among them, ω q1 is the hydraulic natural frequency of the front segmented motor, rad / s, ω h1 is the hydraulic natural frequency of the rear segmented motor, rad / s, ζ q1 is the hydraulic damping ratio of the front segmented motor, ζ h1 is the hydraulic damping ratio of the rear segmented motor.

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