A method and equipment for mining a boundary irregular working face in a coal mine underground

Abstract

This invention relates to the field of coal mining technology and discloses a method and equipment for mining irregular working faces with underground boundaries in coal mines. The method is applied to a system including a scraper conveyor, hydraulic supports, a transfer conveyor, and a belt conveyor. It includes: defining the mining conditions based on the angle and bending shape of the transport and return air roadways; pre-excavating equal-length arc-shaped roadways to maintain a constant working face length; configuring the scraper conveyor head and transfer conveyor tail as a rotating connection, assembling a rotating fixing device with a single support column at the scraper conveyor tail, and assembling the transfer conveyor landing section as a compliant connection structure with a limited lateral deflection angle; controlling the output differential step distance of the hydraulic supports to push the scraper conveyor according to the mining conditions, causing it to rotate in a fan shape with the head or tail as the fulcrum, and simultaneously adjusting the bending state of the transfer conveyor and the running length of the belt conveyor. This invention can adapt to dynamic changes in the geometric boundaries of the working face, ensuring continuous mining operations.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, specifically to a method and equipment for mining irregular working faces at underground boundaries in coal mines. Background Technology

[0002] In modern underground coal mining operations, fully mechanized coal mining equipment has been widely used. Conventional fully mechanized mining equipment typically consists of a coal mining machine, scraper conveyor, hydraulic supports, and transfer conveyors and belt conveyors arranged in the roadway. This type of heavy equipment is bulky, and the major components are mostly rigidly connected. Its system design is primarily for rectangular working faces with regular boundaries, relying on the parallel straight-line trajectory of the entire equipment for continuous mining operations.

[0003] Due to the complex geological structure, fault avoidance, and mine boundary demarcation, irregular working faces are frequently encountered in actual production. For example, the transport roadway and return air roadway may not be parallel, the roadway may deflect at an angle in its extension direction, or there may be a non-orthogonal angle between the initial cut of the working face and the roadway. Under these irregular conditions, as the working face advances, its actual span will dynamically change, and the geometry of the roadway cannot maintain a straight extension.

[0004] Faced with such irregular physical boundaries, existing conventional mining processes and equipment have significant limitations in practical applications. Because the complete sets of equipment lack the ability to adaptively adjust to changes in the angle of the roadway, forcibly advancing in the bending area can easily lead to mechanical interference and hard compression between the in-face scraper conveyor and the roadway transfer machine, causing deformation of the metal chute and jamming and breakage of the internal scraper chain. To avoid equipment damage and adapt to dynamic changes in the working face length, the existing conventional approach is to passively adopt face-shrinking or face-expanding processes during the mining process. This requires stopping the machine and frequently disassembling, removing, or replenishing the scraper conveyor chute manually, while simultaneously removing or adding corresponding hydraulic supports. For complex geological areas with large-angle bends in the roadway, existing processes often have no choice but to stop mining, completely disassemble the massive fully mechanized mining equipment, relocate it via an auxiliary transportation system to a new cut-off location behind the bending area, and then reassemble and debug the equipment. This approach, which relies on frequent manual dismantling and alteration of equipment components and complete relocation of the entire working face, directly disrupts the continuity of mechanized operations. It not only increases the number of underground construction procedures and safety management risks, but also causes a long period of production downtime, resulting in low overall mining efficiency in irregular working faces. Summary of the Invention

[0005] The technical problem this invention aims to solve is as follows: In the mining process of irregular working faces at underground coal mine boundaries, when the direction of the transport roadway or return air roadway bends, or when there is a non-perpendicular angle between the working face cut and the roadway, the physical dimensions of the in-face mining and roadway transport equipment and the roadway transport equipment are relatively fixed, and the existing equipment usually adopts a rigid connection method, making it difficult to adapt to the dynamic changes in the geometric boundary of the working face and the direction of the roadway. If forced advancement is carried out, it is easy to cause mutual squeezing of equipment, structural interference, abnormal wear of conveying components, and jamming of scraper chains. If conventional face reduction and expansion processes are used, it is necessary to frequently disassemble and reassemble chutes, add or remove hydraulic supports, or even disassemble and relocate the working face equipment as a whole, resulting in poor mining continuity, complicated construction procedures, long equipment adjustment time, and low operating efficiency.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution.

[0007] The first aspect of this invention provides a method for mining irregular working faces at underground boundaries in coal mines, applicable to a mining system including an in-face mining and haulage equipment system and a roadway haulage equipment system. The in-face mining and haulage equipment system includes a coal mining machine, a scraper conveyor, and multiple hydraulic supports; the roadway haulage equipment system includes a first transfer machine, a crusher, and a first belt conveyor. The mining method includes: The mining conditions are classified according to the angle and bending shape between the transport roadway and the return air roadway. According to the mining condition category, an equal-length arc-shaped roadway is pre-excavated in the return air roadway or the transport roadway. The set radius of the equal-length arc-shaped roadway is equal to the initial pushing length of the irregular working face, so as to limit the pushing trajectory of the in-face mining support and transport equipment system. Arrange and adjust the structural connection relationship of the mining system equipment, set the head part of the scraper conveyor and the tail part of the first transfer machine as a rotating connection structure, assemble a rotating fixing device with a single support column inside the tail part of the scraper conveyor, and assemble the multiple middle troughs included in the landing section of the first transfer machine as a compliant connection structure that limits the lateral deflection angle. After adjusting the structural connection relationship, dynamic pushing and equipment attitude control are performed. The output differential step distance of the hydraulic support is controlled according to the mining condition category to push the scraper conveyor forward. The head or tail of the scraper conveyor is used as a physical fixed fulcrum for planar fan-shaped rotation. The planar bending state of the landing section of the first transfer machine and the running length of the first belt conveyor are adjusted simultaneously to complete the pushing operation across the bending area.

[0008] Furthermore, the step of controlling the output differential step distance of the hydraulic support to push the scraper conveyor forward specifically includes: Measure and extract the physical straight-line distance between each hydraulic support and the current rotation fixed fulcrum, and call the target rotation angle according to the determined mining condition category; When the mining condition is determined to be an obtuse angle between the working face cut and the transport roadway or the return air roadway, the margin of the initial included angle variable relative to the right angle state is taken as the target rotation angle. When the mining condition is determined to be a roadway bend type, the bend angle variable of the transport roadway or the return air roadway is taken as the target rotation angle. Based on the geometric calculation model that the arc length in circular motion is equal to the radius multiplied by the central angle in radians, taking the physical fixed fulcrum as the center of rotation, and combining the extracted physical straight-line distance and the called target rotation angle, the required propulsion step distance for each of the hydraulic supports is calculated respectively. Each hydraulic support is controlled to move synchronously according to its calculated advance step distance and output thrust, driving the scraper conveyor to complete the overall fan-shaped attitude adjustment of the target rotation angle.

[0009] By adopting the above method, the angular changes of the roadway boundary and direction are converted into the corresponding pushing displacement of each hydraulic support. This allows the hydraulic supports at different positions to push according to the differential step distance adapted to the rotation radius, thereby ensuring that the scraper conveyor keeps the machine axis straight during rotation and reducing the risk of bending deformation or structural breakage of the scraper conveyor.

[0010] Furthermore, when the defined mining condition category is the case where the working face cut is at an obtuse angle to the transport roadway or the return air roadway, in the step of pre-excavating the equal-length arc-shaped roadway, the sidewall coal body of the roadway at the starting section of the transport roadway, near the rotating connection structure of the scraper conveyor head, is simultaneously expanded to form a support storage chamber. In the steps of dynamic pushing and equipment attitude control, at the beginning of the fan-shaped rotation propulsion stage, the pushing linkage pin between the end hydraulic support near the head and the scraper conveyor is disconnected, and the disconnected end hydraulic support is moved laterally into the support storage chamber for temporary storage. When the scraper conveyor body rotates clockwise to a relative angle of 90 degrees with the corresponding chute, the end hydraulic support is dragged out again and aligned in its original position along the head end of the scraper conveyor. All the hydraulic supports are then controlled to move forward synchronously at equal predetermined step distances.

[0011] By adopting the above method, the end hydraulic support that may interfere can be temporarily removed before the equipment is rotated and adjusted. This can release the rotation space around the scraper conveyor head, avoid collision or compression between the end hydraulic support and the rock mass on the side of the transport roadway, and restore the complete support and pushing structure after the posture is corrected.

[0012] Furthermore, when the defined mining condition category is a right turn with a large angle in the roadway, during the step of pre-excavating the equal-length arc-shaped roadway, the equipment transport roadway is pre-excavated outside the bending area of ​​the transport roadway, and the extension roadway is excavated simultaneously; the original transport system consisting of the first transfer machine and the first belt conveyor is reconfigured along the coal flow direction as the first transfer machine, the first belt conveyor, the second transfer machine, and the second belt conveyor arranged in the extension roadway; In the steps of dynamic pushing and mining and equipment attitude control, after the head section of the scraper conveyor is advanced to the geometric bending point of the transport roadway and completes the overall clockwise rotation, the first belt conveyor and the second transfer machine are disassembled and transported out through the equipment transport roadway; the head section of the retained first transfer machine is directly connected to the receiving end of the second belt conveyor.

[0013] By adopting the above method, a two-stage relay transportation system is constructed before the equipment enters the large angle area, which can form a continuous coal flow channel across the angle area. After the working face completes the rotation and attitude adjustment, the redundant equipment is removed and a secondary connection is made to restore the transportation system to a single-stage transportation structure that adapts to the direction of the roadway after the bend. This solves the problem of the large angle bend in the roadway exceeding the flexibility adaptation limit of the equipment itself, and the equipment is used to transport the roadway to improve the removal efficiency of the redundant equipment.

[0014] Furthermore, when the defined mining condition category is a right turn with a small bend in the roadway or a left turn with a small bend in the roadway, in the step of performing dynamic pushing and mining and equipment attitude control, the landing section of the first transfer machine equipped with the compliant connection structure directly crosses the bending area of ​​the transport roadway. Under the transmission of the pushing force of the hydraulic support and the physical limitation of the roadway rock mass, the landing section of the first transfer machine is caused to undergo geometric bending. During the fan-shaped rotational propulsion process of the scraper conveyor, the spatial deflection of the scraper conveyor head section applies a lateral traction torque to the tail of the first transfer machine through the pivot in the rotating connection structure. Based on the mechanical linkage effect, the entire body of the first transfer machine rotates in response until the body of the first transfer machine straightens and becomes parallel to the direction of the bend in the roadway.

[0015] By adopting the above method, the local flexible deformation capability of the landing section of the first transfer machine can be used to adapt to the small-angle bending of the roadway without cutting off the coal transport line or rebuilding the multi-stage transport system. At the same time, through the mechanical linkage between the scraper conveyor and the first transfer machine, the first transfer machine can gradually return to a straight state during the rotation and posture adjustment of the working face, reducing the need for equipment disassembly, re-attachment, and special straightening procedures.

[0016] Furthermore, when the defined mining condition category is a left turn with a large angle in the roadway, during the step of pre-excavating the equal-length arc-shaped roadway, a second pre-excavation is carried out simultaneously at the designed position behind the bend area of ​​the transport roadway, bridging the transport roadway and the return air roadway. In the step of performing dynamic mining and equipment attitude control, when the tail of the scraper conveyor comes into contact with the boundary of the solid coal wall on the left side of the bending area, the in-plane mining and transportation equipment system, which includes the coal mining machine, the scraper conveyor and multiple hydraulic supports, which is located in the original working face, is modularly disassembled. The disassembled coal mining machine, scraper conveyor, and multiple hydraulic supports were moved to the second cut and reassembled. The orthogonal overlap relationship between the head section of the scraper conveyor and the tail section of the first transfer machine was re-established, and normal movement was restored.

[0017] By using the above method, by pre-setting the second cut eye, a reassembly space is provided for the in-plane mining support and transportation equipment system after crossing the large left-turn angle interference area, so that the equipment can cross physical dead angles that cannot be crossed by the flexible deformation of the equipment or the rotation of the nodes in the form of skip mining and relocation.

[0018] A second aspect of the present invention provides mining equipment for irregular working faces at the boundaries of underground coal mines, used to implement the mining method described in the first aspect of the present invention. The mining equipment includes a scraper conveyor and multiple hydraulic supports arranged inside the irregular working face, as well as a first transfer conveyor and a first belt conveyor arranged in a transport roadway.

[0019] The scraper conveyor head is formed by the unloading section of the scraper conveyor head. The scraper conveyor head is designed as a cantilever structure and spans over the receiving section of the tail of the first transfer machine. The scraper conveyor head and the tail of the first transfer machine are hinged by a vertically set pivot to form a rotating connection structure. The side non-unloading area of ​​the scraper conveyor tail has a rigid anchor with an inherent rotating fixing device, and a single support column is detachably inserted into the socket cavity of the rotating fixing device. The landing section of the first transfer machine includes multiple central troughs, and a compliant connection structure with a defined lateral deflection angle is fitted between adjacent central troughs.

[0020] Furthermore, the rotating connection structure specifically includes a lower bearing base fixed to the bearing frame at the tail of the first transfer machine, and an upper rotary support frame connected below the head base frame of the scraper conveyor head; the lower bearing base and the upper rotary support frame are hinged through the pivot to limit the relative separation displacement of the lower bearing base and the upper rotary support frame in the horizontal projection plane, while enabling the scraper conveyor body to rotate in a planar fan shape around the pivot.

[0021] Using the above structure, the scraper conveyor and the first transfer machine are no longer connected by a completely rigid fixed connection. While maintaining the spatial overlap and coal flow exchange relationship between the two, it provides the scraper conveyor with the freedom of motion to rotate horizontally relative to the first transfer machine. This allows the scraper conveyor to adjust its posture in a fan shape with the pivot as the center of rotation, and reduces the risk of translational separation or rigid interference between the two conveying devices.

[0022] Furthermore, the rotating fixing device includes an annular limiting sleeve arranged in the vertical direction, and the interior of the annular limiting sleeve forms a socket chamber that extends in the vertical direction; the inner diameter of the socket chamber is larger than the outer diameter of the single support column, and a clearance fit allowance is reserved between the socket chamber and the single support column to allow the inner wall of the annular limiting sleeve to slide relative to the outer cylindrical surface of the single support column.

[0023] Using the above structure, after inserting the single support column into the socket chamber and having its top and bottom ends abut against the top and bottom plates of the working surface respectively, a temporary fixed support point that can withstand the lateral thrust of the hydraulic support can be formed at the tail of the scraper conveyor by utilizing the frictional resistance between the single support column and the top and bottom plates. The clearance fit between the single support column and the socket chamber provides lateral restraint and thrust resistance while allowing the rotating fixing device to rotate relative to the single support column, thereby reducing the risk of jamming and component damage.

[0024] Furthermore, the compliant connection structure includes semi-circular pin seats respectively disposed on the sidewalls of the adjacent central grooves, and dumbbell pins with thicker ends and narrower middle sections passing through the opposing semi-circular pin seats; the thicker diameter portions of the dumbbell pins at both ends are used to lock against the outside of the semi-circular pin seats to prevent the dumbbell pins from falling out of the semi-circular pin seats; an annular allowance is reserved between the narrower middle section of the dumbbell pins and the aperture of the semi-circular pin seats to rigidly constrain the maximum lateral deflection angle of the adjacent central grooves within the positive and negative extreme range.

[0025] Using the above structure, the expanded diameter portions at both ends of the dumbbell pin ensure the connection reliability of adjacent middle slots during longitudinal pushing and pulling. The annular play formed between the middle section of the dumbbell pin and the semi-circular pin seat allows adjacent middle slots to generate restricted lateral sway in the horizontal plane. After multiple middle slots are continuously arranged, the originally straight landing section of the first transfer machine can be transformed into a zigzag bend that matches the bend in the roadway. At the same time, by limiting the maximum lateral deflection angle of a single middle slot, abnormal friction, derailment, or jamming between the scraper chain and the sidewall of the slot caused by excessive deflection of the middle slot can be reduced.

[0026] This invention provides a method and equipment for mining irregular working faces at underground boundaries in coal mines. It has the following beneficial effects: 1. This invention changes the rigid locking state of traditional fully mechanized mining equipment by setting a pivotal rotational connection between the scraper conveyor and the transfer conveyor, and adding a rotating fixing device with a single support column at the tail of the scraper conveyor. Under the action of the differential thrust of the hydraulic support, the scraper conveyor can rotate in a planar fan shape with the head or tail as the physical fulcrum. Combined with pre-excavated equal-length arc-shaped roadways, the equipment can maintain a constant working face length when passing through geometrically bent areas, avoiding the complicated procedures of frequently disassembling and reassembling chutes and adding or removing hydraulic supports, thus ensuring the continuity of mining operations.

[0027] 2. This invention addresses the compliance modification of the central trough in the landing section of the transfer conveyor. Utilizing the annular play between the reduced diameter of the dumbbell pin and the pin seat bore, adjacent rigid troughs gain lateral swing freedom in the horizontal plane. When encountering small-angle roadway conditions, the linearly arranged transfer conveyor can undergo geometric bending under the thrust of the hydraulic support and the roadway side limit, thus directly bridging the bent roadway without dismantling the equipment. This structure also physically limits the maximum deflection angle, preventing internal scraper chain jamming or frictional wear caused by excessive bending.

[0028] 3. This invention establishes a systematic solution for irregular boundaries in underground coal mines. It objectively defines the working condition category based on the spatial angle and bending shape of the transport roadway and return air roadway, and matches the corresponding attitude adjustment process and auxiliary roadway design. For large bends or obtuse angles that exceed the equipment limits, the invention eliminates the physical interference dead angle between the equipment and the roadway sidewalls by pre-excavating support storage chambers, equipment transport roadways and second cuts, and by using methods such as temporary storage of end supports or equipment relocation relay, thus solving the engineering problem of making it difficult to achieve mechanized continuous mining in irregular working faces. Attached Figure Description

[0029] Figure 1 This is a flowchart illustrating the mining process under the condition where the cut and the roadway are at an obtuse angle, as described in this invention. Figure 2 This is a flowchart of the mining process under the right turn and large angle conditions of the roadway according to the present invention; Figure 3 This is a flowchart of the mining process under the right turn with a small bend in the roadway, as described in this invention. Figure 4 This is a flowchart of the mining process for the left turn with a large bend in the roadway according to the present invention; Figure 5 This is a schematic diagram showing the obtuse angle between the cut-off eye and the roadway in this invention; Figure 6 This is a diagram showing the layout of the mining area under obtuse angle conditions according to the present invention. Figure 7 This is a diagram showing the obtuse angle working condition rotation and translation stages of the present invention; Figure 8 This is a schematic diagram of the right-turn large bend angle in the groove of the present invention; Figure 9 This is a diagram of the right-turn large-angle mining area and equipment layout of the present invention; Figure 10 This is a diagram of the right-turn large-angle fan-shaped rotation propulsion stage of the present invention; Figure 11 This is a diagram showing the completed right-turn large-angle rotation state of the present invention; Figure 12 This is a diagram of the right-turn large angle secondary overlap and horizontal push stage of the present invention; Figure 13 This is a schematic diagram of the right-turn small bend angle in the groove of the present invention; Figure 14 This is a diagram showing the layout of the right-turn small-angle mining area and equipment according to the present invention; Figure 15 This is a diagram showing the bending and pushing stage of the right-turn small-angle transfer machine of the present invention; Figure 16 This is a diagram of the right-turning, small-angle fan-shaped rotation propulsion stage of the present invention; Figure 17 This is a diagram illustrating the right-turn small angle bending adjustment stage of the present invention; Figure 18 This is a diagram of the second straight-moving stage of the right-turn small angle in this invention; Figure 19 This is a schematic diagram of the large left turn angle in the groove according to the present invention; Figure 20 This is a diagram of the first straight-line pushing stage of the large left-turn angle of the present invention; Figure 21 This is a diagram of the left-turn large angle jump sampling stage of the present invention; Figure 22 This is a diagram of the second straight-line pushing stage of the large left-turn angle of the present invention; Figure 23 This is a schematic diagram of the small left-turn angle in the groove according to the present invention; Figure 24 This is a diagram of the first straight-line pushing stage of the left-turn small angle of the present invention; Figure 25 This is a diagram illustrating the leftward bending and shifting stage of the present invention at a small leftward turning angle. Figure 26 This is a diagram showing the counterclockwise rotation of the tail centering mechanism for the left-turning small-angle bend of the present invention. Figure 27 This is a diagram of the second straight-line pushing stage of the left-turn small angle in this invention; Figure 28 This is a schematic diagram of the rotating connection structure between the scraper conveyor head and the tail of the first transfer machine according to the present invention; Figure 29 This is a schematic diagram of the cooperation structure between the scraper conveyor tail rotation fixing device and the single support column of the present invention; Figure 30 This is a schematic diagram of the compliant connection structure of the middle groove of the landing section of the first transfer machine of the present invention; Figure 31 for Figure 30 Enlarged view of point A in the image.

[0030] Among them, 1. Transport roadway; 101. Support storage chamber; 102. Extension roadway; 103. Connecting roadway; 104. Equipment handling roadway; 2. Initial cut-in; 201. Second cut-in; 202. Equal-length arc-shaped roadway; 3. Return air roadway; 4. Scraper conveyor; 401. Scraper conveyor head; 402. Upper rotary support frame; 403. Rotary fixing device; 404. Socket chamber; 405. Annular limiting sleeve; 4 06. Single support column; 407. Scraper conveyor tail; 5. First transfer conveyor; 501. Crusher; 502. First transfer conveyor tail; 503. Middle trough of landing section; 504. Lower bearing base; 505. Pivot; 506. Compliant connection structure; 507. Dumbbell pin; 508. Semi-circular pin seat; 509. Annular play; 6. First belt conveyor; 7. Second transfer conveyor; 8. Second belt conveyor. Detailed Implementation

[0031] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] This invention provides a mining system for irregular working faces at underground boundaries in coal mines, which may include: The basic physical space underground in a coal mine includes an irregular working face, a transport roadway 1 located on one side of the irregular working face, and a return air roadway 3 located on the other side of the irregular working face. The extension directions of the transport roadway 1 and the return air roadway 3 change at an angle, forming a bending area. A triangular coal pillar area is formed between the end of the irregular working face and the bending area of ​​the corresponding roadway.

[0033] The overall mining system architecture of the present invention includes an in-face mining and haulage equipment system and a roadway haulage equipment system.

[0034] The in-face mining and haulage equipment system is located within the irregular working face. This system consists of a coal mining machine, a scraper conveyor 4, and multiple hydraulic supports. The scraper conveyor 4 is laid across the irregular working face. The coal mining machine is positioned above the scraper conveyor 4. Multiple hydraulic supports are arranged side-by-side along the length of the scraper conveyor 4 to support the roof space of the irregular working face and to move the scraper conveyor 4.

[0035] The roadway transport equipment system is located within transport roadway 1. This system consists of a first transfer conveyor 5, a crusher 501, and a first belt conveyor 6. The scraper conveyor head 401 is connected to the first transfer conveyor tail 502 via a rotating connection structure. The first transfer conveyor 5 connects sequentially with the crusher 501 and the first belt conveyor 6 along the coal flow output direction, and is used to transport coal mined from irregular working faces to the external system.

[0036] This invention provides a method for mining irregular working faces at underground boundaries in coal mines, which may include the following steps: S100. Determine the basic physical spatial geological conditions and boundary morphology classification. Based on the spatial angle and bending shape of the transport roadway 1 and return air roadway 3, define the current mining condition category. The mining condition categories are divided into: obtuse angle between the cut-in and the roadway; large left-turn angle of the roadway; large right-turn angle of the roadway; small left-turn angle of the roadway; and small right-turn angle of the roadway. The threshold angle for defining large and small angles is 10 degrees.

[0037] S200. Perform roadway collaborative design and pre-excavation operations. Based on the determined mining condition category, pre-excavate an equal-length arc-shaped roadway 202 in the return airway 3 or transport roadway 1. The set radius of the equal-length arc-shaped roadway 202 is equal to the initial pushing length of the irregular working face. Combined with the corresponding mining condition, simultaneously excavate the support storage chamber 101 or the second cut-out 201 at the designated location in the roadway. Through the geometric constraints of the equal-length arc-shaped roadway 202, the working face length dimension remains constant when the in-face mining support and transport equipment system passes through the triangular coal pillar area, eliminating the need for adding or removing hydraulic supports and the middle trough of the scraper conveyor 4.

[0038] S300. Arrange and adjust the structural connection relationships of the mining system equipment. Arrange the in-face mining support and haulage equipment system and the roadway haulage equipment system within the irregular working face. Configure the scraper conveyor head 401 and the first transfer conveyor tail 502 as a rotating connection structure consisting of an upper rotary support frame 402, a lower bearing base 504, and a pivot 505. Assemble a rotating fixing device 403 with a single support column 406 inserted inside the scraper conveyor tail 407. Assemble the middle trough 503 of the landing section of the first transfer conveyor 5 as a compliant connection structure 506 that limits the lateral deflection angle.

[0039] S400: Execute dynamic pushing and mining and face equipment attitude control. Based on the corresponding mining condition category, execute the predetermined pushing control logic. Control multiple hydraulic supports to push the scraper conveyor 4 forward with differential step distances. The scraper conveyor 4 rotates in a planar fan shape with its head or tail section as a physical fixed fulcrum. Synchronously adjust the planar curvature of the landing section of the first transfer machine 5 and the running length of the first belt conveyor 6. The in-face mining support and haulage equipment system and the roadway haulage equipment system sequentially complete the pushing and mining boundary crossing operation in the irregular working face bending boundary area through a combination of operations including straight pushing, rotating pushing, bending pushing, and straight adjustment.

[0040] The process of determining the classification of geological conditions and boundary morphology further includes: S101, Obtain the spatial morphological parameters of the irregular working face and associated roadways. Obtain the centerline vector of the initial cut 2 of the irregular working face, the strike extension vector of the transport roadway 1, and the strike extension vector of the return air roadway 3. For the mapping and acquisition of the centerline coordinates and strike vectors of the underground roadways, those skilled in the art can use a mine explosion-proof total station or laser measurement system for benchmark calibration and vector calculation. The spatial data acquisition operation is a well-known technology in this field and will not be described in detail here. S102, calculate the spatial angle parameters at the boundary of the irregular working face. Based on the centerline vector of the initial cut 2 and the extension vector of the roadway strike, calculate the initial angle between the initial cut 2 and the haulage roadway 1 or the return air roadway 3. Along the mining direction, measure and calculate the angular change of the haulage roadway 1 or the return air roadway 3 from its original straight line in the strike direction, and obtain the bending angle parameters and deflection direction. Set the initial angle variable between the initial cut 2 and the corresponding roadway as... The bending angle variable of transport roadway 1 or return air roadway 3 along the mining direction is set as follows: ; S103, perform boundary morphology classification based on spatial angle parameters. Establish logical judgment conditions with a 10-degree threshold to classify the geological morphology of irregular working faces into five mining conditions. When the initial angle variable is detected to meet the condition... At that time, the mining condition is defined as an obtuse angle between the cut-in and the roadway. When a rightward deflection is detected in the roadway along the advancing direction, and the bending angle variable satisfies... At that time, the mining condition is defined as a right-turn large angle turn in the roadway. When a rightward deflection is detected in the roadway along the advancing direction, and the bending angle variable meets the following conditions... At that time, the mining condition category is defined as a right turn with a small bend in the roadway. When a deflection to the left along the advancing direction of the roadway is detected, and the bend angle variable meets the following conditions... At that time, the mining condition is defined as a large left turn angle in the roadway. When a leftward deflection is detected in the roadway along the advancing direction, and the bending angle variable meets the following conditions... At that time, the mining condition is defined as a left turn with a small bend in the roadway. Based on the mining condition category defined above, the corresponding subsequent roadway excavation and equipment attitude control processes are triggered.

[0041] The principle for defining the threshold for boundary morphology classification further includes: S104, determine the bending capacity parameters of the roadway transport equipment system. Specifically, it is necessary to evaluate the ability of the first transfer machine 5 to adapt to roadway turns through local deformation without disassembling the equipment. In this embodiment, the physical connection attributes of the landing section of the first transfer machine 5 in the roadway transport equipment system are obtained. Since the middle slots of the first transfer machine 5 are usually assembled using dumbbell pins, this connection method has a certain mechanical clearance, allowing adjacent middle slots to produce slight lateral relative movement and rotation. The maximum lateral deflection angle allowed between adjacent middle slots of the transfer machine landing section due to this compliant connection is set as... Meanwhile, considering that if too many chutes participate in bending, the longer bending sections may cause lateral jamming of the internal scraper chain or exacerbate frictional wear on the chute sidewalls, a reasonable structural upper limit needs to be set. To prevent overload and abnormal wear of the equipment operating resistance, the maximum number of middle chute sections allowed to participate in bending is set as follows: For the calibration of the limiting angle and operating resistance of the middle trough of underground coal mine conveying equipment, those skilled in the art can obtain its mechanical interference extreme values ​​by static load test or three-dimensional kinematic simulation. The method for obtaining the limiting parameters is a well-known technology in this field and will not be elaborated here. S105, calculate the threshold for boundary classification. Estimate the system's limit curvature that the roadway transport equipment system can adapt to while maintaining continuous coal flow transport. As a preferred embodiment, by connecting multiple sections of the middle roadway with slight deflections end-to-end, a flexible curved trajectory approximating a circular arc can be formed macroscopically. The limit flexible deflection angle threshold is set as follows: By controlling the maximum lateral deflection angle of a single section With the maximum number of middle groove sections allowed to participate in bending By performing multiplication and summation, the threshold value of the ultimate flexible deflection angle can be obtained. The numerical value. Considering the limitations of the on-site operating environment of the in-plane mining support and haulage equipment system and the roadway haulage equipment system, the maximum lateral deflection angle is typically determined based on the actual assembly clearance of the dumbbell pin. The absolute value is approximately Taking into account both the overall rigidity of the equipment and the service life of the scraper chain, the maximum number of middle groove sections allowed to participate in bending is set. The value is 10. Substituting the above basic parameters into the aforementioned accumulation logic, the threshold for the ultimate flexible deflection angle can be obtained. for The calculated angle can be used as a criterion for subsequently distinguishing the size and shape of irregular working surfaces. S106, Establish the mapping conditions between the roadway bending angle and the judgment criteria. Extract the bending angle variables of transport roadway 1 or return air roadway 3 in the direction of strike. To clarify the specific equipment and posture adjustment process required, the bending angle variable will be... With the threshold of the limit flexible deflection angle Perform an algebraic comparison. When the comparison result satisfies... When the actual bending amount of the roadway is within the structural flexibility adaptation range of the first transfer machine 5, the probability of the roadway transport equipment system directly passing through the bending area and causing severe mechanical rigidity interference is low. At this time, the mining condition can be defined as a right-turn small-angle condition or a left-turn small-angle condition based on the deflection direction. When the comparison result meets the requirements... At this point, it means that the actual bending amount of the roadway exceeds the physical structural extreme value of the first transfer machine 5, and direct advancement of the roadway transport equipment system may cause mechanical interference. In this situation, the mining condition needs to be defined as either a large right-turn or large left-turn, depending on the deflection direction. This comparison process transforms quantitative mapping variables into qualitative categories that constrain specific mining actions.

[0042] The process of designing the centering and excavation parameters for the 202 arc-shaped roadway of equal length further includes: S201, determine the design reference dimensions for the arc-shaped roadway. Extract the net coal wall length of the initial cut 2 within the irregular working face. This dimension represents the overall equipment span of the in-face mining and haulage equipment system in a conventional straight state, specifically corresponding to the physical extension extreme value of the total width of the hydraulic supports side by side and the total length of the scraper conveyor 4 chute. In this embodiment, to achieve push mining without disassembly when the equipment passes through irregular areas, this net coal wall length is directly set as the fixed radius parameter for the subsequent arc-shaped roadway design, denoted as... ; S202, anchor the spatial rotation center according to the mining condition category. Based on the determined mining condition category, establish the corresponding geometric centering reference point. When the condition is determined to be an obtuse angle between the cut-in and the roadway, a large right turn in the roadway, or a small right turn in the roadway, the entire system needs to be adjusted with the head end of the scraper conveyor 4 as the reference. Accordingly, the corresponding measuring point near the bend point in the transport roadway 1 is anchored as the center reference point. When the condition is determined to be a small left turn in the roadway, the entire system needs to be adjusted with the tail end of the scraper conveyor 4 as the reference, and the measuring point in the corresponding bend area in the return air roadway 3 is anchored as the center reference point. It should be noted that when the condition is determined to be a large left turn in the roadway, due to the existence of an insurmountable physical interference dead angle, the center rotation logic is not applicable to this condition. Therefore, the subsequent second cut-in 201 tunneling operation is directly triggered, and it does not participate in the center anchoring in this stage. S203, the geometric excavation trajectory of the planned equal-length arc-shaped tunnel 202. The spatial rotation center is based on the anchored circular base point, with a fixed radius parameter. To determine the design radius, a spatial circular arc trajectory is generated within the coal seam plane in the direction of advance mining. For cases where the cut-in and roadway form an obtuse angle, and for right-turning cases, the excavation path for the corresponding section of the return airway 3 is planned based on this circular arc trajectory. For cases where the roadway makes a small left turn, the excavation path for the bending section of the transport roadway 1 is planned based on this circular arc trajectory. This ensures that the boundary line of the outer roadway strictly conforms to this circular arc trajectory, thereby artificially constructing a physical boundary that meets the conditions for equal-length mining in irregular geological blocks. S204 involves the physical excavation and shaping of the boundary roadway. Following the planned geometric excavation trajectory, coal and rock excavation is performed on a designated section of the return airway 3 or transport roadway 1, forming a continuous arc-shaped roadway 202. Because the straight-line distance from any point on the continuous arc-shaped roadway 202 to the opposite center point is always equal to a fixed radius parameter... This ensures that when the in-face mining and haulage equipment system advances in a planar fan-shaped rotation around the central pivot point, its two ends can always remain tightly fitted to the boundary rock walls of the side roadways. This collaborative design mechanism, which adapts the machine dimensions to the roadway morphology, largely eliminates the physical span changes in the working face caused by the triangular coal pillar area, ensuring that no additions or subtractions to the hydraulic supports or scraper conveyors are required throughout the mining process. For the cutting and waste rock removal and anchor cable support construction during roadway excavation, those skilled in the art can make conventional arrangements based on the specific surrounding rock geological conditions. The specific mining construction techniques are well-known in the field and will not be elaborated here.

[0043] The operational process for the coordinated deployment of auxiliary chambers and pre-excavation of the cut-off eye further includes: S205, a support storage chamber 101 is installed to eliminate spatial interference. When the determined mining condition is an obtuse angle between the cut and the roadway, since the initial angle between the initial cut 2 and the transport roadway 1 is greater than 90 degrees, in the initial stage of the clockwise rotation of the in-face mining support and transport equipment system with the head of the scraper conveyor 4 as the fulcrum, the end hydraulic supports near the head of the machine will usually physically interfere with the side rock mass of the transport roadway 1. As a preferred method, the roadway side coal body near the hinge point of the scraper conveyor 4 in the initial section of the transport roadway 1 is widened to form the support storage chamber 101. The spatial dimensions of the support storage chamber 101 are set according to the physical outline of the end hydraulic supports to be temporarily stored and the allowance for handling operation space. By pre-setting this auxiliary space, the hydraulic supports in the interference zone can be temporarily moved into it before the rotation operation begins, thereby releasing the rotation space around the head and ensuring the smooth adjustment of the scraper conveyor 4. S206, Construct an auxiliary channel for equipment removal and relay extension. When the mining condition is defined as a right-turn large-angle bend in the roadway, the roadway transport equipment system will generate redundant transport length during the follow-up mining process due to the geometric path limitation of the large-angle bend in the roadway, requiring the dismantling and removal of some equipment units. In this embodiment, at the corresponding position outside the bend area of ​​the transport roadway 1, the equipment transport roadway 104 is pre-excavated, and the extension roadway 102 is simultaneously excavated according to the needs of double-stage relay transport. The equipment transport roadway 104 connects the transport roadway 1 with the outer main roadway system. Its specific function is to provide a dedicated equipment logistics channel for the dismantling and removal of the excess first transfer machine 5 and first belt conveyor 6 in subsequent process stages, preventing the removed equipment from causing congestion in the narrow roadway. Meanwhile, the extension roadway 102 continues to advance a distance along the original straight direction of the transport roadway 1 before the bend. Its function is to provide space for the body and tensioning device of the first belt conveyor 6, which cannot be bent, and to support the physical connection of the two-stage relay transport system at the roadway intersection. S207, the second cut 201 for the planned skip-mining and boundary-crossing process. For the large left-turn angle of the roadway, due to the large left-angle deflection of the transport roadway 1, a physical dead angle will be formed to the left front of the irregular working face's advancing direction, creating a dead angle that the in-face mining support and haulage equipment system cannot cross by its own flexibility or node rotation. To overcome this structural obstacle area, at the designed position behind the bend, the transport roadway 1 and the return air roadway 3 are connected, and the second cut 201 is pre-excavated. The cross-sectional dimensions and orientation parameters of the second cut 201 are consistent with the initial cut 2. Its practical business meaning is to provide a completely new assembly, debugging, and starting space for the overall crossing and relocation of the core equipment of the in-face mining support and haulage equipment system. This spatially skip-type collaborative roadway design constitutes the hardware foundation for crossing the dead angle area. For the cutting and waste rock removal and roof and sidewall anchor cable support processes during the excavation of the aforementioned roadways and chambers, those skilled in the art can arrange conventional procedures according to the specific surrounding rock geological conditions. The construction methods for these mine roadway engineering are well-known technologies in this field and will not be elaborated here.

[0044] See attached document Figure 28 The assembly process of the scraper conveyor head 401 and the first transfer conveyor tail 502 in the equipment connection structure is further included as follows: S301, adjust the end space overlap relationship of the conveying equipment to avoid interference. Due to changes in the angle of the geological boundary, the overall orientation of the equipment often needs to be adjusted during the mining process. Therefore, it is no longer possible to continue using multi-point distributed high-strength bolts to rigidly lock the two conveying devices in the face and the roadway. In this embodiment, the unloading section of the scraper conveyor 4 is used as the scraper conveyor head 401, and the scraper conveyor head 401 is designed as a cantilever structure with a certain height. This cantilever structure directly spans above the receiving section of the tail section 502 of the first transfer machine. By setting a reasonable vertical height difference, an overlapping coal flow junction area is constructed between the two. This layered physical arrangement provides sufficient physical avoidance space for the scraper conveyor 4 when it subsequently swings horizontally relative to the first transfer machine 5. S302, an assembly rotational connection structure is provided to offer horizontal rotational freedom. After establishing the upper and lower overlapping relationship, to prevent the scraper conveyor 4 from translating and separating from the first transfer machine 5 when pushed laterally by the hydraulic support, a reliable motion constraint needs to be established between them. As a preferred approach, the scraper conveyor head 401 and the first transfer machine tail 502 are configured as a rotational connection structure. Specifically, a lower support base 504 is fixed to the support frame of the first transfer machine tail 502, and an upper rotary support frame 402 is connected below the head base frame of the scraper conveyor head 401. The two are hinged by a vertically set pivot 505. The scraper conveyor head 401, with the pivot 505 as its rotation center, forms a planar rotational pair with the first transfer machine tail 502. This mechanical assembly method is used to limit the relative separation displacement of the two in the horizontal projection plane, while allowing the scraper conveyor 4 body to rotate in a fan-shaped plane around the central node. When scraper conveyor 4 deflects, its unloading cantilever will trace an arc above the receiving section of the first transfer conveyor 5, allowing coal within the overlap area to still fall into the first transfer conveyor 5 by gravity. (Appendix) Figure 28 The assembly relationship between the upper slewing support frame 402, the lower bearing base 504, and the pivot 505 is shown. The pivot 505 forms a rotation axis set in the vertical direction, allowing the scraper conveyor head 401 to rotate in the horizontal plane relative to the tail 502 of the first transfer machine. For the selection of thrust bearings and the external sealing structure required for connecting heavy-duty underground equipment, those skilled in the art can refer to the design specifications for mining slewing bearings for conventional matching. The component assembly process is well-known in the field and will not be elaborated here.

[0045] See attached document Figure 29 The process of adjusting the setting of the rotating fixing device 403 and the single support column 406 in the equipment connection structure further includes: S303, an auxiliary slewing structure externally mounted at the tail. When handling certain left-turn conditions, the in-plane mining and conveying equipment system no longer uses the machine head as a reference for attitude adjustment, but instead needs to use the scraper conveyor tail 407 as a fixed spatial center of rotation. To address this force conversion requirement, a dedicated rotating fixing device 403 is installed at the scraper conveyor tail 407. In this embodiment, the rotating fixing device 403 is rigidly anchored to the non-unloading area of ​​the tail sidewall by bolts or flanges to ensure that it can synchronously withstand the push-pull forces from the hydraulic support along with the scraper conveyor tail 407. The rotating fixing device 403 includes an annular limiting sleeve 405 arranged vertically, with a socket chamber 404 extending vertically inside the annular limiting sleeve 405, providing a geometric limiting boundary for the insertion of external support components. S304, Implanting a single prop and constructing a temporary load-bearing hinge point. According to the mining process control instructions, when the system is about to enter the tail centering and rotation stage, the operator vertically places the mine single prop 406 into the socket chamber 404 of the rotating fixing device 403. The prop is then raised by injecting fluid into it, ensuring its top is tightly connected to the top plate of the working face and its bottom is tightly connected to the bottom plate. Due to the significant frictional resistance between the single prop 406 and the top and bottom plates, its position in the horizontal plane is forcibly locked, thus forming a rigid vertical shaft penetrating the tail section 407 of the scraper conveyor. As a preferred method, the inner diameter of the socket chamber 404 is designed to be larger than the outer diameter of the single prop 406, with a clearance allowance between them. This fit ensures that the single prop 406 provides sufficient lateral thrust while allowing the inner wall of the annular limiting sleeve 405 to slide relative to the outer cylindrical surface of the single prop 406, preventing damage to components due to jamming under stress. S305 utilizes a rigid vertical shaft for full-body fan-shaped attitude adjustment. After the column raising operation is completed, the single support column 406, in a taut state, acts as a fixed hinge point in the kinematics of the entire in-face mining support and transportation equipment system. When the hydraulic support pushes the equipment forward, the single support column 406 applies a lateral counter-thrust force to the inner wall of the rotating fixing device 403, forcing the displacement of the tail section 407 of the scraper conveyor to approach zero. Under the coordinated thrust of the differential step distance of each hydraulic support, the scraper conveyor 4, together with the tail section of the first transfer machine 5 hinged to it, will rotate counterclockwise in a fan shape around the axis where the single support column 406 is located. When the system completes the out-of-bounds attitude adjustment and needs to return to straight mining, it is only necessary to lower the single support column 406 to relieve pressure and remove it from the socket chamber 404 to release the rotational constraint on the tail section. For the specific operating procedures of single-prop injection and lifting and depressurization recovery, those skilled in the art can follow the support operation manual of conventional coal mining face. The hydraulic control method is a well-known technology in this field and will not be described in detail here.

[0046] See attached document Figure 30 and attached Figure 31 The assembly process for the compliant connection structure 506 of the transfer crane landing section in the equipment connection structure further includes: S306, Identify the middle section of the roadway involved in bending deformation. Under small bends in the roadway, the roadway transport transfer system needs to utilize its own physical deformation to adapt to the bend in the roadway, rather than directly cutting off the transport line for relay. Since the climbing section of the first transfer machine 5 typically bears a large gravity load and needs to maintain structural rigidity, the landing section behind it is selected as the target component for performing bending attitude adjustment. Obtain the current bending angle variable. The corresponding bending requirements are defined in the first transfer machine's 5th landing section as not exceeding the maximum number of intermediate trough sections. The continuous landing section of the middle groove 503 section serves as the functional range of the assembly compliant connection structure 506; S307, assembling dumbbell pins 507 to construct a mechanical connection with a gap. For the middle grooves 503 of two adjacent landing sections within a defined segment, the traditional tight-fitting pins or rigid bolts are abandoned, and dumbbell pins 507 are used for splicing and assembly. In specific operation, the semi-circular pin seats 508 on the side walls of the middle grooves 503 of adjacent landing sections are joined together, and then the dumbbell pins 507, which are thicker at both ends and have a reduced diameter in the middle, are hammered into the pin seat holes. In this embodiment, in order to balance longitudinal tensile strength and lateral deflection capability, the expanded diameter portions at both ends of the dumbbell pins 507 are used to lock on the outside of the semi-circular pin seats 508 to prevent them from falling off, ensuring the connection strength of the chute during longitudinal pushing and pulling. At the same time, relying on the reduced diameter feature of the middle section of the dumbbell pins 507 and the annular play 509 reserved between them and the diameter of the semi-circular pin seats 508, the adjacent rigid metal grooves gain a certain degree of lateral swing freedom in the horizontal plane. The above-mentioned assembly method with clearance fit constitutes the compliant connection structure 506 of the landing section of the transfer machine; S308, the limiting constraint ensures the stable operation of the internal scraper chain. Although the clearance fit provides deformation capability, excessive single-section rotation angle can cause severe friction between the internal scraper chain and the chute sidewalls, or even disengagement and jamming. To constrain this degree of freedom, the deflection limit of adjacent chutes is physically limited by adjusting the diameter of the middle section of the dumbbell pin 507 and the clearance tolerance of the semi-circular pin seat 508. This limits the maximum lateral deflection angle. Rigidly constrained to positive and negative Within the extreme range. Under this constraint, the multiple sections of the landing section trough 503 equipped with compliant connection structures 506 are combined together to present a spatially variable curvature polygonal line state on a macroscopic scale. This allows the straight-arranged first transfer machine 5 to conform to the bottom plate boundary of the bent roadway by local deformation, thereby crossing the small-angle bend area without disintegration. Regarding the material selection and wear-resistant surface treatment process of the bottom plate of the middle trough and the scraper chain of the first transfer machine 5, those skilled in the art can refer to the conventional manufacturing specifications of heavy-duty mining conveyors. The material selection and heat treatment methods are well-known technologies in this field and will not be elaborated here.

[0047] The process of constructing the kinematic control model for the differential step distance movement during dynamic mining and equipment attitude control further includes: S401 establishes the kinematic basis for attitude control. When the in-plane mining and conveying equipment system needs to cross irregular boundaries, the scraper conveyor 4 cannot be pushed forward in a parallel state, but needs to rotate in a planar fan shape around a fixed fulcrum. To ensure that the axis of the scraper conveyor 4 remains straight and does not bend or break during this rotation, multiple hydraulic supports arranged at the rear must output pushing displacements of varying lengths. The distribution of these pushing displacements must strictly follow the laws of circular motion, that is, the pushing stroke of a single hydraulic support should be directly proportional to its radius from the center of rotation, thus establishing the theoretical basis for differential step pushing. S402, Extract the geometric position parameters required for the model. Before implementing control, it is necessary to obtain the position variables of the equipment involved in the pushing operation and the target rotation angle variables. Number the multiple hydraulic supports along the laying direction of the scraper conveyor 4, and measure and extract the... The physical straight-line distance between the hydraulic support and the current rotating fixed fulcrum (pivot 505 at the head 401 of the scraper conveyor or single support 406 at the tail 407 of the scraper conveyor) is denoted as . As a preferred method, since the hydraulic support has a certain physical width, to ensure the accuracy of the force calculation, when extracting the above distance, the position of the thrust axis of the hydraulic support's jack is used as the measurement reference point. The target rotation angle is called based on the previously determined mining condition category. When the condition is determined to be an obtuse angle between the cut-in and the roadway, the scraper conveyor 4 only needs to eliminate the excess angle of the cut-in exceeding the vertical state; therefore, the initial included angle variable is called. And extract the remaining amount. The target rotation angle is used. When the condition is determined to be a roadway bend, the system needs to completely rotate through the deflection angle of the roadway, so the bend angle variable is directly called. As the target rotation angle; S403, construct a calculation model for the propulsion step distance of a single piece of equipment. Based on the geometric principle that the arc length in circular motion equals the radius multiplied by the central angle in radians, the pushing trajectory of the hydraulic support is approximated as a circular arc. The first step distance is set... The precise pushing distance required for the hydraulic support is the advance step distance. For the case where the cut-off point and the roadway form an obtuse angle, the algebraic formula for calculating the advance step distance is established as follows: ; For the angled working conditions of the roadway, the algebraic formula for calculating the advance step distance is established as follows: ; In the formula, To increase the stride length; For the first The physical straight-line distance between the hydraulic support and the current rotating fixed fulcrum; The initial included angle variable; This represents the bending angle variable.

[0048] The above calculation model converts the macroscopic tunnel morphology angle into microscopic displacement commands for each hydraulic support at a specific location; S404 performs low-level hydraulic stroke control. It obtains the advance step distance of each hydraulic support. After calculating the result, the working face control system sends the displacement data to the corresponding support electro-hydraulic control unit. The electro-hydraulic control unit adjusts the hydraulic circuit of the pushing jack to precisely match the actual extension of the piston rod with the pushing step distance. Under the combined force of all hydraulic supports moving synchronously according to their calculated pushing strokes, the scraper conveyor 4 is precisely driven to complete the overall fan-shaped posture adjustment at a predetermined angle. Regarding the oil pressure regulation and closed-loop feedback mechanism of the displacement sensor inside the hydraulic support pushing jack, those skilled in the art can refer to the standard control logic of the electro-hydraulic control system of the fully mechanized mining face. Its hydraulic valve group drive and stroke monitoring technology are well-known technologies in this field and will not be elaborated upon here.

[0049] See attached document Figure 1 and appendix Figure 5 To be continued Figure 7 For the end-interference handling and rotation process in the case of an obtuse angle between the cut-in and the roadway during dynamic mining and equipment attitude control, the following further includes: S405, dismantle and temporarily store the interference components at the end. When the mining condition is determined to be an obtuse angle between the cut-in and the roadway, the system enters the fan-shaped rotation propulsion stage. Since the initial angle between the initial cut-in 2 and the transport roadway 1 is greater than 90 degrees, if the equipment is directly driven to rotate as a whole, the hydraulic support at the end near the head area of ​​the scraper conveyor 4 is easily restricted by the limited roadway width and will physically interfere with the side rock mass. To eliminate this physical interference, disconnect the push-link pin between this part of the hydraulic support and the scraper conveyor 4, and disconnect the corresponding hydraulic supply line. Move the dismantled hydraulic support laterally into the pre-excavated support storage chamber 101 for physical temporary storage, thereby freeing up sufficient clockwise adjustment space for the head area of ​​the scraper conveyor 4. For the lateral traction and repositioning of hydraulic supports in short distances underground, those skilled in the art can use mine winches or monorail cranes as auxiliary equipment for operation. The heavy equipment moving method is a well-known technology in the field and will not be described in detail here. S406, clockwise differential step adjustment for head centering. After clearing interference obstacles around the head, the in-face mining support and transportation equipment system uses the pivot 505 between the scraper conveyor head 401 and the tail of the first transfer machine 502 as the spatial geometric support point. The remaining hydraulic supports arranged in the irregular working face obtain and execute specific stroke commands according to the aforementioned propulsion step calculation model for obtuse angle working conditions. The farther the hydraulic support is from the head, the longer the extension stroke of its pushing jack. Under the combined drive of the uneven thrust of multiple hydraulic supports, the scraper conveyor 4 body rotates clockwise in a fan shape with the head as the center in the direction of mining. S407, monitor equipment attitude and terminate rotation. During the fan-shaped rotation propulsion phase, the working face measurement system continuously monitors the change in the relative angle between the axis of the scraper conveyor 4 and the direction line of the transport roadway 1. As the scraper conveyor 4 continuously deflects clockwise, this relative angle gradually decreases from an initial obtuse angle. When the relative angle is precisely monitored to reach 90 degrees, it indicates that the in-face mining and transport equipment system has completely eliminated the skew margin and returned to a standard orthogonal physical attitude perpendicular to the roadway. At this time, the system triggers a control command to stop all hydraulic supports from their current differential step-by-step pushing operation, officially ending the fan-shaped rotation propulsion phase; S408, reset the end components and restore full-line horizontal movement. As the equipment posture returns to normal, the system action naturally transitions from rotation to the horizontal pushing stage. The operator drags the end hydraulic support, temporarily stored in the support storage chamber 101, out and aligns it in its original position along the end of the scraper conveyor 4. The pushing connecting rod pin is re-inserted and the electro-hydraulic control pipeline connection is restored, so that the in-face mining support and transportation equipment system restores a complete support and pushing structure. After the equipment reset is completed, the differential step control logic is released, and all hydraulic supports are controlled to move forward synchronously with equal prescribed step distances. The coal mining machine straddles the scraper conveyor 4 and resumes normal bidirectional coal cutting operations, with the system continuing to advance forward in a horizontal posture.

[0050] See attached document Figure 2 and appendix Figure 8 To be continued Figure 10 For the equipment retreat and rotation process in the case of a large right turn during dynamic mining and equipment attitude control, the following further includes: S409, Constructing a Two-Stage Relay Transportation System. When the mining condition is determined to be a right-hand sharp turn in the roadway, the turning angle exceeds the physical flexibility limit of the equipment, necessitating a segmented relay method for coal flow transportation. As a preferred approach, a two-stage transportation structure is pre-arranged in the transportation roadway 1 before the face-mounted mining support transportation equipment system reaches the turning area. Specifically, the originally single-deployed roadway transportation equipment system is divided into two stages: a first transfer machine 5, a first belt conveyor 6, a second transfer machine 7, and a second belt conveyor 8, arranged sequentially along the coal flow direction. The tail of the first transfer machine 5 is connected to the head of the scraper conveyor 4, and its head is attached to the first belt conveyor 6. After the first belt conveyor 6 extends to the turning area, its unloading end is attached to the second transfer machine 7, which then transfers the coal to the second belt conveyor 8 in the extended roadway 102. This constructs a continuous coal flow channel spanning the turning area. S410, the initial straight-line advance and belt retraction operation is performed. Before reaching the bending point, the in-face mining and transportation equipment system is in the first straight-line advance stage. All hydraulic supports advance synchronously with equal step distances. As the irregular working face moves forward as a whole, the spatial distance between the unloading point at the head of the scraper conveyor 4 and the fixed unloading point at the front end of the first belt conveyor 6 is continuously compressed. To adapt to this dynamic reduction in conveying distance, operators need to intermittently remove the intermediate frame and part of the belt of the first belt conveyor 6 according to the forward speed of the equipment, thereby shortening the physical length of the first-level transportation trunk line and preventing equipment compression during the advance. S411, implement clockwise large-angle attitude adjustment for head centering. When the head section of the scraper conveyor 4 advances to the geometric bend point of the transport chute 1, the straight-moving phase stops. At this time, the in-face mining and transport equipment system enters the fan-shaped rotation propulsion phase with the pivot 505 between the scraper conveyor head 401 and the tail of the first transfer machine 502 as the fixed center. Each hydraulic support extracts its required extension stroke based on the aforementioned propulsion step distance calculation model established for angled working conditions. Driven by the differential step distance thrust, the scraper conveyor 4 body rotates clockwise around the head. Because a section with a radius of 100 mm was pre-excavated on one side of the return air chute 3, with the head as the center, the straight-moving phase is stopped. In the arc-shaped tunnel, the tail end of the scraper conveyor 4 can smoothly slide along the outer wall of the arc-shaped tunnel, ensuring that the length of the equipment does not need to be physically increased or decreased throughout the rotation process. S412, redundant equipment removal and secondary system connection are executed. When the working face measurement system detects that the scraper conveyor 4 has rotated to be perpendicular to the direction of the bent transport roadway 1, the fan-shaped attitude adjustment is completed. With the attitude corrected, the originally arranged first belt conveyor 6 and second transfer conveyor 7 have become redundant components in spatial structure. The system interrupts the transport operation, disassembles it, and quickly transports it out of the mining area through the pre-excavated equipment transport roadway 104. At the same time, as the scraper conveyor 4 rotates clockwise, the first transfer conveyor 5, which is hinged to it, also undergoes spatial translation and deflection, and its unloading end has naturally transitioned to the area above the tail of the second belt conveyor 8. After a slight centering adjustment based on this position, the head of the retained first transfer conveyor 5 is directly connected to the receiving end of the second belt conveyor 8, thereby simplifying the two-stage relay transport system back into a single-stage standard configuration; S413, resume full-line flat movement after the bend. After completing the secondary system connection and confirming the coal flow channel is unobstructed, the system enters the second straight-moving phase. Release the previous differential step control command and control all hydraulic supports to resume synchronous forward movement with equal step distances. After crossing the large bend boundary, the in-face mining and haulage equipment system continues to execute the conventional straight coal cutting process along the new roadway.

[0051] See attached document Figure 3 and appendix Figure 13 To be continued Figure 18 For the compliant bending and reorientation process in the right-turn small-angle condition during dynamic mining and equipment attitude control, it further includes: S414, the initial horizontal push is executed, and the equipment length is gradually reduced. Before reaching the bending point, the in-face mining and transportation equipment system performs its first straight-pushing phase. Due to the limited space in the roadway and the impending route deflection, in order to reserve physical extension space for subsequent compliant adjustment, the operators, along with the overall advancement of the working face, gradually dismantle the intermediate frame of the first belt conveyor 6 in the transportation roadway 1, and simultaneously dismantle the unnecessary middle trough of the landing section of the first transfer conveyor 5. Through this dismantling action, the overall physical length of the roadway transportation equipment system is reduced to the limit operating specifications that maintain the minimum unloading function; S415, utilizing the compliant characteristics of the landing section, a rightward bending and pushing motion is performed. When the head of the scraper conveyor 4 reaches the bend point of the roadway, the system needs to cross the deflection area. In this embodiment, the remaining components of the first belt conveyor 6 are removed and transported to the surface. The landing section of the first transfer conveyor 5, which has lateral deflection capability as determined in the previous step, directly crosses the bend area. By gradually adding a middle trough with a dumbbell pin compliant connection structure to each section of the landing section, under the combined action of the pushing stroke of the hydraulic support and the lateral restriction of the solid coal wall on the right side of the roadway, the gap at the connection of the middle trough 503 of the landing section is forcibly squeezed and closed on one side. This causes the landing section of the first transfer conveyor 5 to naturally bend to the right, conforming to the direction of the right-turn small bend roadway in a geometric deformation manner, and its unloading head directly extends and overlaps the receiving surface of the second belt conveyor 8 behind the bend section; S416, clockwise fan-shaped attitude adjustment is implemented for head centering. After the relay system is connected, the scraper conveyor 4, with the rotating hinge point between the head and the tail of the first transfer machine 5 as the spatial fixed center, starts the clockwise fan-shaped rotation propulsion stage. The working face control system calls the preset differential step distance kinematic control model to control each hydraulic support to accurately output the corresponding non-equal length push distance. Under the combined drive of multi-point differential thrust, the scraper conveyor 4 rotates and adjusts its attitude to the right front, and its tail moves smoothly forward along the pre-excavated equal-length arc return air roadway 3; S417, the first transfer conveyor 5 is adjusted to eliminate system curvature. As the clockwise rotation angle of the scraper conveyor 4 gradually increases, the angle between its body and the direction of the new bend in the tunnel continuously approaches perpendicularity. During the rotation of the scraper conveyor 4, the spatial deflection at its head applies a lateral traction torque to the tail 502 of the first transfer conveyor through the pivot 505. Based on this mechanical linkage effect, and with the assistance of the push cylinders arranged on the side of the first transfer conveyor 5, the entire body of the first transfer conveyor 5 rotates clockwise with the head, which is attached to the second belt conveyor 8, as the relative fulcrum. The previous rightward bending state is gradually flattened under this rotational pulling force, the dumbbell pin engagement gap between adjacent middle troughs is released in the reverse direction, and the system curvature continues to decrease; S418, restore the vertical orthogonal state of the equipment and the full-line horizontal push. When the working face measurement system detects that the body of scraper conveyor 4 has completely rotated to be perpendicular to the direction of the new roadway after the bend, the differential step push command automatically terminates. At this time, the body of the first transfer machine 5 has synchronously completed the straightening adjustment, completely eliminated the bending state, and restored the standard orthogonal vertical position relationship with scraper conveyor 4. After confirming that the coal flow transmission at the equipment junction is stable and without interference, the differential step state is released, and all hydraulic supports are controlled to restore equal step horizontal push. The face mining support and transportation equipment system performs the second horizontal push operation along the direction of the new roadway.

[0052] See attached document Figure 4 and appendix Figure 19 To be continued Figure 22 For the skip-mining boundary crossing process in the dynamic pushing and mining and equipment attitude control operation under the condition of large left-turn angle, it further includes: S419, execute the extreme straight-line push and reduce the belt system. When the mining condition is determined to be a large left turn angle in the roadway, due to the excessive leftward deflection angle of the transport roadway 1, if conventional rotation or bending adjustment technology is used, the head or tail of the in-face mining support and transport equipment system will inevitably embed itself into the solid coal and rock on the roadway sidewall, forming a physical dead angle that cannot be overcome by the flexibility of the mechanical structure. Faced with this interference limit, the in-face mining support and transport equipment system performs the first straight-line push stage in front of the bend point. Along with the overall advancement of the irregular working face, the intermediate frame and excess belt surface of the first belt conveyor 6 in the transport roadway 1 are simultaneously removed. All hydraulic supports push forward synchronously at equal steps until the tail of the scraper conveyor 4 touches the solid coal wall boundary on the left side of the bend area, losing the space to continue maintaining the equal-length flat push. At this time, the stop command is triggered, and the original continuous pushing operation is stopped. S420 involves the complete dismantling and relocation of core equipment across boundaries. To overcome the aforementioned physical stagnation, a relocation procedure across interference dead zones is initiated. Operators perform modular dismantling of the in-face equipment remaining in the original working face. The cutting and traction sections of the coal mining machine are separated, the connecting rods of each section of the scraper conveyor 4 are disconnected, and the top beam of the hydraulic support is lowered for column reduction.

[0053] S421, Clean up redundant components and reconstruct the relay transportation link. While relocating equipment within the core face, systematically clean and reset the main transportation lines in the roadway. Since the transportation starting point has crossed the bend area, the first belt conveyor 6, originally located in the first straight roadway, is no longer necessary. It is completely dismantled and transported out of the mining area to free up roadway space.

[0054] S422, complete equipment assembly and repositioning tests in the new cut. Reassemble all components of the in-face mining and haulage equipment system relocated to the second cut 201. This includes sequentially completing the docking and laying of the scraper conveyor 4 chute, the parallel positioning and pipeline connection of the hydraulic supports, and the straddle repositioning of the coal mining machine. After assembly, re-establish the orthogonal overlap relationship between the scraper conveyor 4 head and the first transfer conveyor 5 tail at the new roadway entrance after the bend. Conduct a joint trial run of the entire set of electromechanical equipment to ensure that the physical state of the hydraulic, electrical, and coal flow systems meets the requirements for full-load operation. S423, overcoming the interference dead angle and resuming the horizontal pushing operation. After confirming that the equipment assembly in the second cut 201 is correct and the overlapping system is running smoothly, the face mining and support equipment system enters the second horizontal pushing stage. Since the equipment has passed the geometric dead angle caused by the large left turn, the working face as a whole is restored to the standard physical configuration perpendicular to the direction of the new roadway. All special attitude control logic is released, and multiple hydraulic supports are controlled to perform normal pushing at equal step distances, continuing the horizontal coal cutting process along the newly established mining direction. For the operation procedures involving the disassembly and assembly of heavy equipment in the fully mechanized mining face, the emptying and injection of hydraulic pipelines, etc., those skilled in the art can refer to the standardized operation guide for the relocation of fully mechanized mining faces. The specific electromechanical disassembly and assembly procedures are well-known technologies in this field and will not be elaborated here.

[0055] See attached document Figure 23 To be continued Figure 27 For the tail pivot reversal process in the dynamic pushing and mining and equipment attitude control operation under the condition of turning left at a small angle, it further includes: S424, the initial push is executed, causing the first transfer conveyor 5 to bend smoothly to the left. Before reaching the bending point, the in-face mining and haulage equipment system maintains a straight push along the direction of the initial cut 2. When the head area of ​​the scraper conveyor 4 reaches the bending point of the left-deflecting transport roadway 1, the physical length of the system is reduced by removing the first belt conveyor 6. Utilizing the lateral fit clearance of the landing section of the first transfer conveyor 5, which was previously equipped with dumbbell pins, and under the transmission of the pushing force of the hydraulic support and the physical limitation of the rock mass on the left side of the roadway, the landing section of the first transfer conveyor 5 is geometrically bent to the left, causing its unloading head to cross over the second belt conveyor 8 behind the bend area; S425, activate the tail rotation fixing device to construct the force-bearing pivot. To cope with the geological conditions where left-turning space is limited and to ensure a constant working face length, the reference center for system orientation is shifted from the head side to the tail side. The operator inserts a mining single support 406 into the pre-set rotation fixing device 403 at the tail of the scraper conveyor 407. By injecting fluid into the single support to raise it, high-intensity frictional self-locking is achieved between its upper and lower ends and the top and bottom plates of the working face, thereby establishing a physical fixed support point at the tail that can withstand the lateral thrust of the hydraulic support. S426 implements counter-clockwise fan-shaped attitude adjustment centered on the tail. After establishing the tail pivot point, the control system constructs and invokes a differential step distance propulsion kinematic control model suitable for tail rotation. Based on the laws of circular motion, the algebraic formula for calculating the propulsion step distance is established as follows: ; In the formula, To increase the stride length; For the first The physical straight-line distance between the hydraulic support and the current rotating fixed fulcrum; This represents the bending angle variable. Due to the shift in the spatial rotation center, the current fixed rotation point here specifically corresponds to the centerline of the single support column 406 at the tail of the scraper conveyor (407). Each hydraulic support is based on its own calculated... With synchronous output thrust, the scraper conveyor 4, together with the tail section of the first transfer conveyor 5, rotates counterclockwise around the tail pivot. During this process, the head end of the scraper conveyor 4 smoothly advances along the pre-excavated, equal-length arc-shaped transport roadway 1 with the tail as the center. S427 utilizes kinematic linkage to eliminate the adjustment phase and resume horizontal pushing. As the counter-clockwise deflection angle of scraper conveyor 4 continues to increase, its body gradually approaches perpendicularity to the new, bent roadway. Since the center of rotation is located at the tail end, far from the first transfer conveyor 5, during the large-scale arc translation of scraper conveyor 4, the hinge point between the head and the tail of the first transfer conveyor 5 is gradually brought into the central area of ​​the bent transport roadway 1. Under the influence of this geometric positional change, the orientation of the unloading end of scraper conveyor 4 naturally aligns with the extension direction of the new roadway. The landing section of the first transfer conveyor 5, hinged to it, is guided by this spatial orientation, and its original leftward bending deflection angle is naturally offset, causing the dumbbell pin engagement clearance to return to a centrally distributed state. When the working face measurement system detects that scraper conveyor 4 is completely orthogonal and perpendicular to the direction of the new roadway, the body of the first transfer conveyor 5 has automatically aligned parallel to the bent transport roadway 1 based on mechanical linkage. This physical process directly bypasses the dedicated bending adjustment stage required in right-turn small-angle operations. At this point, the individual support 406 is depressurized and removed from the socket chamber 404 of the rotating fixing device 403, releasing the centering constraint on the tail of the scraper conveyor 407. The entire hydraulic support system is then restored to equal step distance parameters, and the in-face mining and haulage equipment system resumes full-line horizontal pushing operations along the new roadway after the bend.

Claims

1. A method for mining irregular working faces at underground boundaries in coal mines, characterized in that, Includes the following steps: Based on the angle and bending shape of the transport roadway (1) and the return air roadway (3), the mining conditions are defined. According to the mining condition category, an equal-length arc-shaped roadway (202) is pre-excavated in the return air roadway (3) or the transport roadway (1). The set radius of the equal-length arc-shaped roadway (202) is equal to the initial pushing length of the irregular working face, so as to limit the pushing trajectory of the in-face mining support and transport equipment system. Arrange and adjust the structural connection relationship of the mining system equipment, set the head part of the scraper conveyor (4) and the tail part of the first transfer machine (5) as a rotating connection structure, assemble a rotating fixing device (403) with a single support column (406) inside the tail part of the scraper conveyor (4), and assemble the multi-section middle trough included in the landing section of the first transfer machine (5) as a compliant connection structure (506) that limits the lateral deflection angle. After the structural connection relationship is adjusted, dynamic pushing and equipment attitude control is performed. According to the mining condition category, the hydraulic support output differential step distance is controlled to push the scraper conveyor (4) forward. The head or tail of the scraper conveyor (4) is used as a physical fixed fulcrum for planar fan-shaped rotation. The planar bending state of the landing section of the first transfer machine (5) and the running length of the first belt conveyor (6) are adjusted simultaneously to complete the pushing operation across the bending area.

2. The method for mining an irregular working face at the underground boundary of a coal mine according to claim 1, characterized in that, The step of controlling the output differential step of the hydraulic support to push the scraper conveyor (4) forward specifically includes: Measure and extract the physical straight-line distance between each hydraulic support and the current rotation fixed fulcrum, and call the target rotation angle according to the determined mining condition category; When the mining condition is determined to be an obtuse angle between the working face cut and the transport roadway (1) or the return air roadway (3), the remaining amount of the initial included angle variable is used as the target rotation angle. When the mining condition is determined to be a roadway bend type, the bend angle variable of the transport roadway (1) or the return air roadway (3) is used as the target rotation angle. Based on the geometric calculation model that the arc length in circular motion is equal to the radius multiplied by the central angle in radians, taking the physical fixed fulcrum as the center of rotation, and combining the extracted physical straight-line distance and the called target rotation angle, the required propulsion step distance for each of the hydraulic supports is calculated respectively. Each hydraulic support outputs thrust in sync with its calculated propulsion step distance, driving the scraper conveyor (4) to complete the overall fan-shaped attitude adjustment of the target rotation angle.

3. The method for mining an irregular working face at the underground boundary of a coal mine according to claim 1, characterized in that: When the defined mining condition category is that the working face cut is at an obtuse angle to the transport roadway (1) or the return air roadway (3), in the step of pre-excavating the equal-length arc roadway (202), the sidewall of the roadway is simultaneously expanded and excavated in the sidewall coal body on the side of the rotating connection structure near the head of the scraper conveyor (4) in the starting section of the transport roadway (1) to form a support storage chamber (101). In the step of performing dynamic pushing and equipment attitude control, at the beginning of the fan-shaped rotation pushing stage, the pushing connecting rod pin between the end hydraulic support near the machine head and the scraper conveyor (4) is disconnected, and the disconnected end hydraulic support is moved laterally into the support storage chamber (101) for physical temporary storage. When the body of the scraper conveyor (4) rotates clockwise to a relative angle of 90 degrees with the corresponding chute, the end hydraulic support is dragged out again and aligned in place along the end of the scraper conveyor (4), and all the hydraulic supports are controlled to move forward synchronously at equal steps.

4. The method for mining an irregular working face at the underground boundary of a coal mine according to claim 1, characterized in that: When the defined mining condition category is a right turn with a large angle in the roadway, in the step of pre-excavating the equal-length arc roadway (202), the equipment transport roadway (104) is pre-excavated outside the bending area of ​​the transport roadway (1), and the extension roadway (102) is excavated simultaneously. The original first belt conveyor (6) and the first transfer machine (5) are reconfigured along the coal flow direction as the first transfer machine (5), the first belt conveyor (6), the second transfer machine (7), and the second belt conveyor (8) arranged in the extension roadway (102). In the step of performing dynamic pushing and equipment attitude control, after the head part of the scraper conveyor (4) is advanced to the geometric bending point of the transport roadway (1) and completes the overall clockwise rotation, the first belt conveyor (6) and the second transfer machine (7) are disassembled and transported out through the equipment transport roadway (104), and the head part of the retained first transfer machine (5) is directly connected to the receiving end of the second belt conveyor (8).

5. A method for mining irregular working faces at underground boundaries in coal mines according to claim 1, characterized in that: When the defined mining condition category is a right turn with a small bend in the roadway or a left turn with a small bend in the roadway, in the step of performing dynamic pushing and mining and equipment attitude control, the landing section of the first transfer machine (5) equipped with the compliant connection structure (506) directly crosses the bending area of ​​the transport roadway (1). Under the transmission of the pushing force of the hydraulic support and the physical limitation of the roadway rock mass, the landing section of the first transfer machine (5) is caused to undergo geometric bending. During the fan-shaped rotation propulsion phase of the scraper conveyor (4), the spatial deflection of the head of the scraper conveyor (4) applies a lateral traction torque to the tail of the first transfer machine (5) through the pivot (505) in the rotating connection structure. Based on the mechanical linkage effect, the entire body of the first transfer machine (5) rotates until the body of the first transfer machine (5) straightens and becomes parallel to the direction of the roadway after the bend.

6. A method for mining irregular working faces at underground boundaries in coal mines according to claim 1, characterized in that: When the defined mining condition category is a left turn with a large angle in the roadway, in the step of pre-excavating the equal-length arc roadway (202), at the design position behind the bend area of ​​the transport roadway (1), the second cut (201) is pre-excavated across the transport roadway (1) and the return air roadway (3). In the step of performing dynamic mining and equipment attitude control, when the tail of the scraper conveyor (4) comes into contact with the boundary of the solid coal wall on the left side of the bending area, the in-plane mining and support equipment system containing the coal mining machine, the scraper conveyor (4) and multiple hydraulic supports that are stationed in the original working face is modularly disassembled. The disassembled coal mining machine, scraper conveyor (4) and multiple hydraulic supports were dragged and moved as a whole to the second cut (201) for reassembly, and the orthogonal overlapping relationship between the head part of the scraper conveyor (4) and the tail part of the first transfer machine (5) was re-established, and normal movement was restored.

7. A mining equipment for irregular working faces at underground coal mine boundaries, used to implement the mining method described in any one of claims 1-6, characterized in that, The mining equipment includes a scraper conveyor (4) and multiple hydraulic supports arranged inside the irregular working face, as well as a first transfer machine (5) and a first belt conveyor (6) arranged in the transport roadway (1). The scraper conveyor (4) has an unloading section at its head that forms the scraper conveyor head (401). The scraper conveyor head (401) is designed as a cantilever structure that spans over the receiving section of the tail section (502) of the first transfer machine. The two are hinged together by a vertically set pivot (505) to form the rotating connection structure. The scraper conveyor tail (407) has a rigid anchor with an inherent rotating fixing device (403) in the non-unloading area of ​​the side. A single support column (406) is detachably inserted into the socket chamber (404) of the rotating fixing device (403). The landing section of the first transfer machine (5) includes multiple central troughs (503), and a compliant connection structure (506) with a defined lateral deflection angle is assembled between adjacent central troughs (503).

8. The mining equipment for irregular working faces at underground boundaries in coal mines according to claim 7, characterized in that: The rotating connection structure specifically includes a lower bearing base (504) fixed on the bearing frame of the tail (502) of the first transfer machine, and an upper rotating support frame (402) connected to the head base frame of the scraper conveyor (401). The lower support base (504) and the upper rotary support frame (402) are hinged through the pivot (505) to limit the relative separation displacement of the two in the horizontal projection plane, while enabling the scraper conveyor (4) body to rotate in a planar fan shape around the pivot (505).

9. The mining equipment for irregular working faces at underground boundaries in coal mines according to claim 7, characterized in that: The rotating fixing device (403) includes an annular limiting sleeve (405) arranged in the vertical direction, and the interior of the annular limiting sleeve (405) forms a socket chamber (404) that runs through in the vertical direction. The inner diameter of the socket chamber (404) is designed to be larger than the outer diameter of the single support column (406), with a clearance allowance between them, allowing the inner wall of the annular limiting sleeve (405) to slide relative to the outer cylindrical surface of the single support column (406).

10. The mining equipment for irregular working faces at underground boundaries in coal mines according to claim 7, characterized in that: The compliant connection structure (506) includes semi-circular pin seats (508) respectively disposed on the side walls of the adjacent central groove (503), and dumbbell pins (507) that are thicker at both ends and narrower in the middle section and pass through the semi-circular pin seats (508) respectively. The thicker, expanded diameter portions at both ends of the dumbbell pin (507) are used to lock against the outside of the semi-circular pin seat (508) to prevent it from falling off. An annular allowance (509) is reserved between the reduced diameter portion of the middle section of the dumbbell pin (507) and the diameter of the hole in the semi-circular pin seat (508), which rigidly constrains the maximum lateral deflection angle of the adjacent middle groove (503) within the positive and negative extreme range.

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