Propelling arm auxiliary splicing device and end slope coal mining machine

Abstract

The invention discloses a propelling arm auxiliary splicing device and an end slope coal mining machine. The propelling arm auxiliary splicing device comprises a truss, a propelling arm storage frame and a propelling arm grabbing mechanism, wherein the propelling arm storage frame and the propelling arm grabbing mechanism are arranged on the truss; the propelling arm storage frame is located below the propelling arm grabbing mechanism. The propelling arm storage rack is used for storing the propelling arm and carrying the propelling arm to translate in the first horizontal direction; the propelling arm grabbing mechanism is used for grabbing the propelling arm in the propelling arm storage frame and carrying the propelling arm to ascend and descend relative to the truss and move horizontally in the first horizontal direction and the second horizontal direction, and the first horizontal direction is perpendicular to the second horizontal direction. Therefore, the auxiliary splicing device for the propelling arm improves the working efficiency and the working safety.

Description

Technical Field

[0001] This application relates to the field of mining technology, and in particular to a propulsion arm auxiliary splicing device and an end-side coal mining machine. Background Technology

[0002] In large-scale open-pit coal mining, a significant amount of coal resources often remain unmined in the end slope area (i.e., the end of the final slope of the mining area) due to safety distance limitations; this is known in the industry as "end slope coal embankment." This portion of coal reserves is considerable, typically accounting for 5% to 20% of the total recoverable reserves of the mining area. Its effective recovery is crucial for improving resource utilization, extending the mine's service life, and enhancing economic benefits. However, the mining of end slope coal embankment has long faced severe safety challenges: on the one hand, steep slopes are highly susceptible to overall instability or localized landslides under disturbance, potentially burying workers and equipment below; on the other hand, frequent small-scale rockfalls or rockfalls on the slope surface also pose a direct threat to adjacent working areas.

[0003] To address the aforementioned issues, several remote and unmanned coal mining solutions have been proposed in existing technologies. For example, CN120312221A discloses a propulsion arm device suitable for open-pit mine environments. Its core idea is to use extendable and connectable propulsion arms to allow operation and maintenance to be completed on safe ground outside the end face, thereby avoiding personnel entering high-risk goaf areas. This propulsion arm device consists of multiple propulsion arm sections connected sequentially. Each section includes a housing, two spirals with opposite directions of rotation, and structures such as cones and cone holes for docking, positioning, and fixing adjacent sections. Theoretically, it can achieve multi-stage extension to cover longer distances of end face coal seams.

[0004] However, the current multi-section propulsion arm splicing process relies heavily on manual intervention. Operators need to perform docking and locking operations in areas close to dangerous slopes, which consumes a certain amount of time and manpower, resulting in low work efficiency and remaining safety hazards. Summary of the Invention

[0005] The purpose of this application is to provide a propulsion arm auxiliary splicing device and an end-side coal mining machine, which improves operating efficiency and safety.

[0006] The embodiments of this application can be implemented as follows: In a first aspect, the present invention provides a propulsion arm auxiliary splicing device, including a truss and a propulsion arm storage frame and a propulsion arm gripping mechanism both disposed on the truss; The propulsion arm storage rack is located below the propulsion arm gripping mechanism; The propulsion arm storage rack is used to store the propulsion arm and carry the propulsion arm to translate along the first horizontal direction; The propulsion arm gripping mechanism is used to grip the propulsion arm in the propulsion arm storage frame and carry the propulsion arm to move up and down relative to the truss and to translate along the first horizontal direction and the second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular.

[0007] In an optional embodiment, the truss is a three-dimensional frame structure composed of multiple support beams, and the propulsion arm gripping mechanism and the propulsion arm storage frame are both located inside the truss.

[0008] In an optional embodiment, the truss is provided with a pair of first guide rails and a pair of second guide rails; The second guide rail is located above the first guide rail; Both the first guide rail and the second guide rail extend along the first horizontal direction; The propulsion arm storage frame is in rolling or sliding engagement with the first guide rail, and the propulsion arm gripping mechanism is in rolling or sliding engagement with the second guide rail.

[0009] In an optional embodiment, the propulsion arm storage rack includes a shelf, a first movable member connected to the shelf, and a first driving member connected to the shelf. The first movable component has a rolling or sliding fit with the truss; The shelf is used to store the propulsion arm; The first drive unit is mounted on the truss and is used to drive the shelf to translate along the first horizontal direction.

[0010] In an optional embodiment, the first movable element includes a rotatable roller whose axis of rotation is along the second horizontal direction; The first driving component includes a hydraulic cylinder, one end of which is connected to the shelf and the other end of which is connected to the truss.

[0011] In an optional embodiment, the push arm gripping mechanism includes a translation frame, a base, a gripping component, a second movable component, a second driving component, a third driving component, and a lifting driving component; The second movable component is connected to the translation frame and has a rolling or sliding engagement with the truss; The second driving component is mounted on the truss and connected to the translation frame, and is used to drive the translation frame to translate along the first horizontal direction; The base is movably or slidably fitted with the translation frame; The third driving component is mounted on the translation frame and connected to the base, and is used to drive the base to translate along the second horizontal direction; The lifting drive component is mounted on the base and connected to the gripper, and is used to drive the gripper to lift and lower. The gripper is used to hold or release the push arm.

[0012] In an optional embodiment, the second movable element includes a rotatable roller whose axis of rotation is along the second horizontal direction.

[0013] In an optional embodiment, the translation frame is a flat frame structure composed of multiple structural beams, and the base is slidably engaged with the translation frame via a slider.

[0014] In an optional embodiment, the second driving component is a motor assembly, which is connected to the translation frame via a rack and pinion mechanism; Both the third driving component and the lifting driving component are hydraulic cylinders. The two ends of the third driving component are respectively connected to the translation frame and the base. The cylinder body of the lifting driving component is fixedly installed in the base, and the piston rod is connected to the gripping component.

[0015] Secondly, the present invention provides an end-side coal mining machine, including the push arm auxiliary splicing device described in any of the foregoing embodiments.

[0016] Compared with the prior art, the beneficial effects of the embodiments of this application include, for example: By setting up a truss as the overall support structure and integrating the propeller arm storage rack and propeller arm gripping mechanism on it, a compact and functionally coordinated automated assembly platform is constructed. The propeller arm storage rack, located below the gripping mechanism, not only makes efficient use of vertical space but also facilitates the orderly storage and stable supply of the propeller arm, providing a reliable prerequisite for subsequent automated gripping and assembly.

[0017] Furthermore, the propulsion arm storage frame has the function of translating along the first horizontal direction, which can accurately transport the propulsion arm to be spliced ​​to the gripping station; while the propulsion arm gripping mechanism can move flexibly in three-dimensional space (i.e., translating along the first and second horizontal directions and rising and falling along the vertical direction), realizing automatic gripping, positioning, and docking of the propulsion arm. This multi-degree-of-freedom motion capability significantly improves the accuracy and adaptability of the splicing operation. The entire splicing process does not require personnel to approach the dangerous areas of steep slopes. The removal, transportation, and docking operations of the propulsion arm are completed automatically by mechanical devices, fundamentally eliminating the safety risks caused by manual intervention and greatly improving operational safety and efficiency. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the auxiliary splicing device for the propulsion arm according to an embodiment of this application; Figure 2 for Figure 1 A diagram from another perspective; Figure 3 for Figure 2 A schematic diagram of the gripping mechanism of the propulsion arm.

[0020] Icons: 1- Truss; 2- Propulsion arm storage rack; 3- Propulsion arm gripping mechanism; 4- Propulsion arm; 101- Second drive component; 102- Second guide rail; 103- First guide rail; 201- First movable component; 202- Shelf; 203- First drive component; 301- Second movable component; 302- Translation frame; 303- Slider; 304- Base; 305- Gripping component; 306- Lifting drive component; 307- Third drive component. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0022] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0023] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0024] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this application is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0025] Furthermore, terms such as "horizontal," "vertical," and "sag" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0026] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0027] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0028] This application discloses an end-side coal mining machine, which includes a propulsion arm device and a propulsion arm auxiliary splicing device. The propulsion arm device can adopt a splicable structure in the prior art, which will not be described in detail here. The propulsion arm auxiliary splicing device is used to store and realize the automated splicing of the propulsion arm 4 to improve splicing efficiency.

[0029] For details, please refer to the following: Figures 1 to 3 The push arm auxiliary splicing device includes a truss 1 and a push arm storage frame 2 and a push arm gripping mechanism 3, both of which are installed on the truss 1. The push arm storage rack 2 is located below the push arm gripping mechanism 3; The propulsion arm storage rack 2 is used to store the propulsion arm 4 and carry the propulsion arm 4 to move along the first horizontal direction; The push arm gripping mechanism 3 is used to grip the push arm 4 in the push arm storage frame 2 and carry the push arm 4 to rise and fall relative to the truss 1 and to translate along the first horizontal direction and the second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular.

[0030] It should be noted that the first horizontal direction mentioned above is the length direction of truss 1, which is roughly a rectangular three-dimensional frame in the figure, and the second horizontal direction is the width direction of truss 1 in the figure.

[0031] As described above, by setting truss 1 as the overall support structure and integrating propulsion arm storage frame 2 and propulsion arm gripping mechanism 3 on it, a compact and functionally coordinated automated splicing platform is constructed. Among them, propulsion arm storage frame 2 is located below the gripping mechanism, which not only makes reasonable use of vertical space, but also facilitates the orderly storage and stable supply of propulsion arms 4, providing a reliable prerequisite for subsequent automatic gripping and splicing.

[0032] Furthermore, the propulsion arm storage frame 2 has the function of translating along the first horizontal direction, which can accurately transport the propulsion arm 4 to be spliced ​​to the gripping station; while the propulsion arm gripping mechanism 3 can move flexibly in three-dimensional space (i.e., translating along the first horizontal direction and the second horizontal direction, and rising and falling along the vertical direction), realizing automatic gripping, positioning and docking of the propulsion arm 4. This multi-degree-of-freedom motion capability significantly improves the accuracy and adaptability of the splicing operation. The entire splicing process does not require personnel to approach the dangerous area of ​​the steep slope. The removal, transportation and docking operations of the propulsion arm 4 are completed automatically by mechanical devices, fundamentally eliminating the safety risks caused by manual intervention and greatly improving the safety and efficiency of the operation.

[0033] Truss 1 is a three-dimensional frame structure composed of multiple support beams, and the propulsion arm storage frame 2 and the propulsion arm gripping mechanism 3 are both located inside truss 1.

[0034] This truss 1 not only possesses excellent structural rigidity and load-bearing capacity, stably supporting the dynamic operational loads of the boom grabbing mechanism 3 and the boom storage frame 2 in three-dimensional space, but also achieves a high degree of equipment integration and spatial compactness by integrating the boom grabbing mechanism 3 and the boom storage frame 2 entirely within the truss 1. Furthermore, the three-dimensional frame truss 1 facilitates modular manufacturing and rapid on-site assembly, which is beneficial for equipment transportation, deployment, and maintenance, significantly improving the engineering applicability and operational efficiency of the end-side coal mining system.

[0035] Understandably, the open sides of truss 1 can be enclosed with steel plates. This creates a closed working area inside truss 1, effectively isolating the splicing mechanism from interference from complex external environments (such as slope rockfalls, wind and sand, rainwater, etc.), thus improving the reliability and durability of the system. In addition, it allows the propulsion arm 4 to remain within a controlled structural protection range throughout the entire process of storage, conveying, and grabbing, further ensuring operational safety and preventing component displacement or collisions caused by external disturbances, thereby ensuring the accuracy and continuity of automated splicing.

[0036] The truss 1 is provided with a pair of first guide rails 103 and a pair of second guide rails 102; the second guide rails 102 are located above the first guide rails 103; the first guide rails 103 and the second guide rails 102 both extend along the first horizontal direction; the push arm storage frame 2 is in rolling or sliding engagement with the first guide rails 103, and the push arm gripping mechanism 3 is in rolling or sliding engagement with the second guide rails 102.

[0037] Thus, by setting a pair of first guide rails 103 extending along the first horizontal direction and a second guide rail 102 above them on the truss 1, and forming rolling or sliding engagements with the push arm storage frame 2 and the push arm gripping mechanism 3 respectively, independent, stable, and high-precision guiding movements of the two in the first horizontal direction are achieved. On the one hand, the push arm storage frame 2 moves along the lower first guide rail 103, which can stably and accurately transport the push arm 4 stored thereon to the preset gripping position; on the other hand, the push arm gripping mechanism 3 translates along the upper second guide rail 102, which facilitates precise positioning and docking operations of the push arm 4 in the push arm storage frame 2 after gripping.

[0038] In addition, the layered guide rail layout effectively avoids motion interference between the storage and gripping actions, improving the system's collaborative operation capability; at the same time, the use of rolling or sliding cooperation not only reduces motion resistance and improves driving efficiency, but also enhances the stability and durability of the device under the harsh working conditions of open-pit mines.

[0039] In this embodiment, the propulsion arm storage rack 2 includes a shelf 202, a first movable member 201 connected to the shelf 202, and a first driving member 203 connected to the shelf 202. The first movable component 201 is in rolling or sliding engagement with the first guide rail 103 on the truss 1; Shelf 202 is used to store the propulsion arm 4; The first driving component 203 is installed on the truss 1 and is used to drive the shelf 202 to translate along the first horizontal direction.

[0040] In this way, the shelf 202 is used to store multiple sections of the push arm 4 in an orderly manner, ensuring that the push arm 4 can be stably and neatly stored inside the truss 1, avoiding equipment damage or docking failure due to shaking or tipping; the first movable part 201 forms a rolling or sliding engagement with the first guide rail 103 on the truss 1, providing low-friction and high-precision motion support for the translation of the shelf 202 along the first horizontal direction; while the first drive part 203 is directly installed on the truss 1, which can remotely control the shelf 202 to move precisely to the designated position, realize the automatic feeding of the push arm 4, simplify the power transmission path, and improve the system rigidity.

[0041] Of course, it is understandable that the controlled translation of the shelving unit 202 and the actions of the propulsion arm gripping mechanism 3 can be programmed together to form a continuous and efficient "arm supply-grip-assembly" operation process, significantly shortening the assembly cycle and improving overall operation efficiency. The entire process requires no manual intervention, completely avoiding the risks of workers approaching steep slopes and effectively ensuring the safety and intelligent level of end-side coal mining.

[0042] The structure of the shelving unit 202 is not specifically limited. For example, it can be a frame type, tray type, slide type or modular bracket with positioning slots, as long as it can stably support and orderly store the push arm 4, and prevent it from shifting, overturning or colliding with each other during transportation or translation.

[0043] Optionally, the first movable component 201 includes a rotatable roller with its rotation axis along a second horizontal direction. This allows the roller to roll smoothly along the first guide rail 103, effectively converting the sliding friction during the translation of the shelf 202 into rolling friction, significantly reducing motion resistance, and improving operational stability and energy efficiency.

[0044] In addition, the roller has a simple structure, high reliability, and is easy to maintain, making it especially suitable for working conditions in open-pit coal mines with high dust levels, heavy loads, and high intensity of continuous operation.

[0045] Of course, in some embodiments, the first movable member 201 can also be a sliding block that slides with the first guide rail 103. This alternative can also achieve stable translation of the propulsion arm storage frame 2 along the first horizontal direction.

[0046] Optionally, the first drive unit 203 includes a hydraulic cylinder, one end of which is connected to the shelf 202 and the other end of which is connected to the truss 1.

[0047] Firstly, the use of hydraulic cylinders as the driving element provides high thrust, high rigidity, and good overload protection, making it particularly suitable for the heavy-load, low-speed, and frequent start-stop conditions required in open-pit coal mines. The propulsion arm 4 typically has a large mass, and the hydraulic cylinders ensure that the storage rack 202 can still smoothly and reliably complete precise translational movements along the first horizontal direction while carrying multiple sections of the propulsion arm 4, effectively guaranteeing the stability and safety of the arm supply process.

[0048] Secondly, the two ends of the hydraulic cylinder are directly connected to the shelf 202 and the truss 1, forming a simple and efficient linear drive mechanism. This eliminates the need for complex intermediate transmission links (such as gears, chains, or lead screws), reducing mechanical failure points and improving system response speed and control accuracy. Simultaneously, this arrangement ensures that the line of action of the driving force is highly aligned with the direction of motion, avoiding additional wear on the guide rails and moving parts caused by off-center loading or lateral forces, thus extending the service life of critical components.

[0049] Of course, in some embodiments, the first drive element 203 can also use other power sources, such as electric actuators, servo cylinders, pneumatic cylinders, linear motors, or a motor coupled with a lead screw / rack transmission mechanism. Such alternatives can be flexibly selected according to specific working conditions, environmental adaptability, and the level of automation control.

[0050] In this embodiment, the push arm gripping mechanism 3 includes a translation frame 302, a base 304, a gripping component 305, a second movable component 301, a second driving component 101, a third driving component 307, and a lifting driving component 306. The second movable component 301 is connected to the translation frame 302 and is in rolling or sliding engagement with the second guide rail 102 on the truss 1; the second driving component 101 is installed on the truss 1 and connected to the translation frame 302, for driving the translation frame 302 to translate along the first horizontal direction; the base 304 is in movable or sliding engagement with the translation frame 302; the third driving component 307 is installed on the translation frame 302 and connected to the base 304, for driving the base 304 to translate along the second horizontal direction; the lifting driving component 306 is installed on the base 304 and connected to the gripper 305, for driving the gripper 305 to lift; the gripper 305 is used to clamp or release the push arm 4.

[0051] The multi-degree-of-freedom structural design of the aforementioned propulsion arm gripping mechanism 3 enables high-precision, automated gripping and positioning of the propulsion arm 4 in three-dimensional space. In detail: First, by setting up a translation frame 302 as the first-level moving platform, and having the second movable component 301 roll or slide in cooperation with the second guide rail 102 on the truss 1, and further cooperating with the second drive component 101 installed on the truss 1, the entire gripping mechanism can be stably and controllably translated along the first horizontal direction. This movement is used to align the gripping component 305 with the axial position of the push arm 4 to be picked up in the shelf 202, laying the foundation for subsequent precise gripping.

[0052] Secondly, the base 304 and the translation frame 302 are connected by a movable or sliding fit, and are driven to move along the second horizontal direction by a third drive component 307 mounted on the translation frame 302, thereby achieving lateral fine-tuning. This degree of freedom allows the gripper 305 to be precisely aligned with the radial center or docking interface of the push arm 4, effectively compensating for lateral misalignment caused by manufacturing tolerances, thermal deformation, or positioning deviations of the shelf 202, and significantly improving the splicing success rate.

[0053] Furthermore, the lifting drive component 306 is mounted on the base 304 and connected to the gripper 305, which can drive the gripper 305 to rise and fall vertically to adapt to the storage position or docking posture requirements of the propulsion arm 4 at different heights. Combined with the aforementioned translational capabilities in the two horizontal directions, the gripping mechanism as a whole has complete three-dimensional spatial positioning capabilities, which can flexibly cope with the three-dimensional layout of multiple propulsion arms 4 inside the truss 1, and realize a fully automatic, interference-free gripping-lifting-translation-docking operation process.

[0054] In addition, the gripper 305 is configured to clamp or release the pusher arm 4. Its structure can take the form of hydraulic grippers, electric clamps, magnetic suction devices or mechanical locks to ensure reliable fixation of the pusher arm 4 during the handling process, prevent slippage or shaking, and release quickly after docking to improve the work cycle.

[0055] Optionally, the second movable component 301 includes a rotatable roller with its rotation axis along the second horizontal direction, so that the roller can smoothly roll along the second guide rail 102, effectively converting the sliding friction during the translation process of the translation frame 302 into rolling friction, significantly reducing motion resistance and improving operational stability and energy efficiency.

[0056] In addition, the roller has a simple structure, high reliability, and is easy to maintain, making it especially suitable for working conditions in open-pit coal mines with high dust levels, heavy loads, and high intensity of continuous operation.

[0057] Of course, in some embodiments, the second movable element 301 can also be a sliding block that slides with the second guide rail 102. This alternative can also achieve stable translation of the push arm gripping mechanism 3 along the first horizontal direction.

[0058] The translation frame 302 is a flat-plate frame structure composed of multiple structural beams. This flat-plate frame structure is formed by welding or bolting together multiple structural beams (such as I-beams, square tubes, or channel steel), combining lightweight design with high rigidity. This structure can effectively support the upper assembly consisting of the base 304, the lifting drive component 306, and the gripping component 305, and resist the inertial forces and bending moments generated during acceleration, braking, or gripping of the heavy-duty propulsion arm 4, ensuring smooth overall operation and avoiding positioning deviations caused by structural deformation.

[0059] The base 304 slides with the translation frame 302 through the slider 303 to form a precision guide pair along the second horizontal direction. The slider 303 usually adopts a high-rigidity linear guide pair or a self-lubricating wear-resistant slider, which cooperates with the corresponding guide surface on the translation frame 302. This not only reduces frictional resistance and improves repeatability, but also effectively suppresses the pitch, yaw and other undesirable degrees of freedom of the base 304 during lateral movement, ensuring the attitude stability of the gripper 305 when it translates in the second horizontal direction, and providing reliable support for the precise docking of the propulsion arm 4.

[0060] Of course, in some embodiments, the base 304 can also roll in conjunction with the translation frame 302 via rollers, which can significantly reduce the motion resistance of the base 304 when it translates along the second horizontal direction, especially suitable for scenarios that bear heavy propulsion arms 4 or require frequent reciprocating motion. In addition, the roller structure is simple and low in cost, and the requirements for the machining accuracy of the mounting surface are relatively relaxed, making it easy to integrate directly onto the base 304, which is beneficial for rapid assembly and on-site adjustment.

[0061] In addition, the rollers are arranged flexibly, and the load can be distributed through multiple support points, which improves the overall stability of operation.

[0062] Optionally, the second drive component 101 is a motor assembly, which is connected to the translation frame 302 through a gear and rack mechanism. The gear and rack transmission can efficiently and directly convert the rotational motion of the motor assembly into the linear motion of the translation frame 302. It has the advantages of compact structure, high transmission rigidity, and fast response speed. It is easier to achieve precise position control and repeatable positioning accuracy, and is especially suitable for the gripping and splicing operations of the push arm 4 that require multiple round trips and precise alignment.

[0063] Furthermore, the motor components (such as servo motors or stepper motors) combined with the rack and pinion mechanism support closed-loop control and can integrate encoders or position sensors to provide real-time feedback on the translational position. This facilitates integration with the overall automation system, enabling intelligent path planning and collaborative operation. For example, when gripping the push arm 4 at different positions, the control system can automatically adjust the translational stroke according to a preset program, improving operational flexibility and efficiency.

[0064] In addition, the gear and rack mechanism has good overload protection and self-locking characteristics (especially when using helical gears or motors with brakes). Even in the event of power failure or sudden shutdown, it can effectively prevent the translation frame 302 from slipping unexpectedly due to gravity or inertia, thus enhancing the safety redundancy of the system operation.

[0065] Of course, in some embodiments, the second drive element 101 can also be other power sources, such as hydraulic cylinders, pneumatic cylinders, electric actuators, linear motors, or transmission mechanisms such as motors in conjunction with lead screws and synchronous belts. Such diverse drive solutions can be flexibly selected according to actual working conditions.

[0066] Both the third drive component 307 and the lifting drive component 306 are hydraulic cylinders. The two ends of the third drive component 307 are connected to the translation frame 302 and the base 304, respectively. The hydraulic cylinder has high output thrust and strong anti-eccentric load capacity. Even when the base 304 is carrying the heavy lifting drive component 306, gripping component 305 and push arm 4, the hydraulic cylinder can still provide sufficient driving force and effectively overcome the lateral resistance caused by assembly errors or external disturbances. Moreover, by adjusting the throttle valve of the hydraulic system or using a proportional valve for control, soft start and soft stop can be achieved during the translation process of the base 304, reducing impact and improving docking accuracy.

[0067] The cylinder of the lifting drive component 306 is fixedly mounted on the base 304, and the piston rod is connected to the gripper 305. In this way, the cylinder of the lifting drive component 306 is embedded in the structure of the base 304, serving as both a drive element and a guide support, effectively limiting the swaying or deflection of the gripper 305 during the lifting process, and ensuring the stability of the gripping posture of the push arm 4. The lifting drive component 306 can be designed as a multi-stage telescopic or long-stroke single-stage structure to meet the gripping and docking requirements of the push arm 4 at different heights, while reliably bearing the self-weight and dynamic inertial load of the push arm 4. In the inactive state, the hydraulic system can realize the "cylinder locking" function through the hydraulic control check valve or balance valve to prevent the gripping component 305 from falling accidentally, significantly improving the safety of operation.

[0068] Furthermore, it should be noted that this embodiment adopts a unified hydraulic cylinder scheme for both the third drive component 307 and the lifting drive component 306. This not only achieves high-load, high-reliability drive in both lateral and vertical degrees of freedom, but also facilitates the sharing of pump stations, valve groups, and control circuits with the overall hydraulic system, simplifying power configuration and reducing system complexity. Simultaneously, the inherent overload protection characteristics and strong environmental adaptability of hydraulic drives are particularly well-suited to the unmanned, heavy-load, and high-safety requirements of end-face coal mining operations.

[0069] Of course, in some embodiments, the second drive unit 101 and the lifting drive unit 306 can also use other power sources, such as electric actuators, servo cylinders, pneumatic cylinders, linear motors, or transmission mechanisms such as ball screws and synchronous belts through a motor. Such alternatives can be flexibly selected according to the different requirements of load capacity, control accuracy, response speed and environmental adaptability in specific application scenarios.

[0070] The working principle of the propulsion arm auxiliary splicing device in this embodiment is illustrated below: 1. Feeding stage of boom 4: The first driving component 203 is activated, and its output force acts on the shelf 202, driving the shelf 202 to move horizontally along the first guide rail 103. The push arm 4 to be assembled, carried by the shelf 202, is then precisely transported to the preset gripping position. During this process, the first movable component 201 and the first guide rail 103 form a rolling or sliding engagement, providing low-resistance, high-precision motion support to ensure that the push arm 4 is smoothly positioned.

[0071] 2. Grasping phase of the propulsion arm 4: After the push arm 4 reaches the gripping position, the second drive unit 101 drives the translation frame 302 to move along the first horizontal direction, aligning the gripping mechanism as a whole with the axial center of the push arm 4. Subsequently, the third drive unit 307 actuates, pushing the base 304 to make a slight adjustment along the second horizontal direction, so that the gripper 305 is precisely aligned with the clamping part of the push arm 4. Next, the lifting drive unit 306 drives the gripper 305 to descend, bringing it to the clamping height of the push arm 4. Finally, the gripper 305 closes, applying clamping force to reliably clamp the push arm 4.

[0072] 3. Handling and docking stage of boom 4: After clamping is completed, the lifting drive 306 retracts, driving the push arm 4 to rise to a safe height; then, the second drive 101 and the third drive 307 work together to control the translation frame 302 and the base 304 to move in linkage in the first and second horizontal directions, transporting the push arm 4 to the end docking position of the installed push arm 4.

[0073] 4. Assembling and releasing phase of propulsion arm 4: After the push arm 4 is transported to the docking point, the lifting drive component 306 makes a fine adjustment to its height, and the third drive component 307 makes a lateral fine adjustment to achieve precise alignment between the cone head and the cone hole (or other docking structure). With the cooperation of the push arm device's own push mechanism or auxiliary jacking mechanism, axial insertion and locking are completed. After the splicing is completed, the gripper 305 is released, and each drive component resets in sequence, ready for the next splicing cycle.

[0074] In summary, the propulsion arm auxiliary splicing device and end-side coal mining machine of this embodiment have at least the following advantages: 1. Achieve fully automated splicing throughout the entire process, significantly improving operational safety: The entire process of storing, transporting, grabbing, positioning, and docking the propulsion arm 4 is completed automatically by mechanical devices. There is no need for personnel to enter the dangerous area near the steep slope, which fundamentally eliminates the threat to workers from slope instability risks such as landslides and rockfalls, and truly realizes "unmanned and minimally manned" safe mining.

[0075] 2. Establish high-precision three-dimensional spatial positioning capabilities to ensure the reliability of splicing: The propulsion arm gripping mechanism 3 has three degrees of freedom of motion capability, including translation along the first horizontal direction and the second horizontal direction, and lifting and lowering in the vertical direction. It can perform multi-dimensional fine-tuning of the propulsion arm 4, effectively compensate for manufacturing tolerances, thermal deformation or positional deviations, and significantly improve the success rate of docking of multiple propulsion arm sections 4 and the reliability of sealing / locking.

[0076] 3. Improve resource recycling efficiency and economic benefits: By efficiently and reliably extending the coverage of the thrust arm 4, the "end-side coal" that could not be mined due to safety distance limitations can be safely recovered, effectively improving the utilization rate of coal resources (usually releasing 5%–20% of the covered reserves), extending the service life of the mine, and significantly improving the economic benefits of the enterprise.

[0077] 4. Reduce reliance on manual labor and operational costs: The automated feeding, gripping, and splicing process significantly reduces manpower input and avoids high-intensity, high-risk manual labor. At the same time, the standardized, low-failure-rate mechanical structure and mature power components (such as hydraulic cylinders, rollers, and linear guides) reduce the frequency of daily maintenance and spare parts costs, thereby improving the economic efficiency of the equipment throughout its entire life cycle.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. A propulsion arm auxiliary splicing device, characterized in that, It includes a truss (1) and a propulsion arm storage frame (2) and a propulsion arm gripping mechanism (3) both disposed on the truss (1). The push arm storage rack (2) is located below the push arm gripping mechanism (3); The propulsion arm storage rack (2) is used to store the propulsion arm (4) and carry the propulsion arm (4) to translate along the first horizontal direction; The propulsion arm gripping mechanism (3) is used to grip the propulsion arm (4) in the propulsion arm storage frame (2) and carry the propulsion arm (4) to rise and fall relative to the truss (1) and to translate along the first horizontal direction and the second horizontal direction, wherein the first horizontal direction and the second horizontal direction are perpendicular.

2. The propulsion arm auxiliary splicing device according to claim 1, characterized in that, The truss (1) is a three-dimensional frame structure composed of multiple support beams. The propulsion arm grabbing mechanism (3) and the propulsion arm storage frame (2) are both located inside the truss (1).

3. The propulsion arm auxiliary splicing device according to claim 1 or 2, characterized in that, The truss (1) is provided with a pair of first guide rails (103) and a pair of second guide rails (102). The second guide rail (102) is located above the first guide rail (103); Both the first guide rail (103) and the second guide rail (102) extend along the first horizontal direction; The push arm storage rack (2) is in rolling or sliding engagement with the first guide rail (103), and the push arm gripping mechanism (3) is in rolling or sliding engagement with the second guide rail (102).

4. The propulsion arm auxiliary splicing device according to claim 1, characterized in that, The propulsion arm storage rack (2) includes a shelf (202), a first movable component (201) connected to the shelf (202), and a first driving component (203) connected to the shelf (202). The first movable component (201) is in rolling or sliding engagement with the truss (1); The shelf (202) is used to store the propulsion arm (4); The first driving member (203) is mounted on the truss (1) and is used to drive the shelf (202) to translate along the first horizontal direction.

5. The propulsion arm auxiliary splicing device according to claim 4, characterized in that, The first movable component (201) includes a rotatable roller whose axis of rotation is along the second horizontal direction; The first drive unit (203) includes a hydraulic cylinder, one end of which is connected to the shelf (202) and the other end of which is connected to the truss (1).

6. The propulsion arm auxiliary splicing device according to claim 1, characterized in that, The push arm gripping mechanism (3) includes a translation frame (302), a base (304), a gripping component (305), a second movable component (301), a second driving component (101), a third driving component (307), and a lifting driving component (306). The second movable component (301) is connected to the translation frame (302) and has a rolling or sliding fit with the truss (1); The second driving member (101) is mounted on the truss (1) and connected to the translation frame (302) for driving the translation frame (302) to translate along the first horizontal direction; The base (304) and the translation frame (302) are either movably or slidably engaged; The third driving component (307) is mounted on the translation frame (302) and connected to the base (304) for driving the base (304) to translate along the second horizontal direction; The lifting drive (306) is mounted on the base (304) and connected to the gripper (305) for driving the gripper (305) to lift. The gripper (305) is used to grip or release the pusher arm (4).

7. The propulsion arm auxiliary splicing device according to claim 6, characterized in that, The second movable element (301) includes a rotatable roller whose axis of rotation is along the second horizontal direction.

8. The propulsion arm auxiliary splicing device according to claim 6, characterized in that, The translation frame (302) is a flat frame structure composed of multiple structural beams, and the base (304) is slidably engaged with the translation frame (302) through a slider (303).

9. The propulsion arm auxiliary splicing device according to claim 6, characterized in that, The second driving component (101) is a motor assembly, which is connected to the translation frame (302) via a gear and rack mechanism; Both the third driving component (307) and the lifting driving component (306) are hydraulic cylinders. The two ends of the third driving component (307) are respectively connected to the translation frame (302) and the base (304); the cylinder body of the lifting driving component (306) is fixedly installed on the base (304), and the piston rod is connected to the gripping component (305).

10. A coal mining machine for end walls, characterized in that, Includes the propulsion arm auxiliary splicing device as described in any one of claims 1-9.

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