Virtual straightening of scraper conveyor based on the position and attitude solution of industrial robot model  

作　　者：Suhua Li Jiacheng Xie Fang Ren Xin Zhang Xuewen Wang Binbin Wang 

机构地区：[1]Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment,College of Mechanical and Vehicle Engineering,Taiyuan University of Technology,Taiyuan 030024,China

出　　处：《International Journal of Coal Science & Technology》2021年第5期1149-1170,共22页国际煤炭科学技术学报（英文）

基　　金：This research was supported by the Project funded by National Natural Science Foundation of China(Grant No.52004174);China Postdoctoral Science Foundation(No.2019M651081);the Key Research and Development Program of Shanxi(201903D121141);the Natural Science Foundation of Shanxi Province(201901D211022);the Scientific and Technological Innovation Programs of Higher Education Institutions in Shan Xi(No.2019L0305).

摘　　要：The movement of the floating connecting mechanism between a hydraulic support and scraper conveyor is space movement;thus,when the hydraulic support pushes the scraper conveyor,there is an error between the actual distance of the scraper conveyor and the theoretical moving distance.As a result,the scraper conveyor cannot obtain the straightness requirement.Therefore,the movement law of the floating connecting mechanism between the hydraulic support and scraper conveyor is analyzed and programmed into the Unity3D to realize accurate pushing of the scraper conveyor via hydraulic support.The Coal Seam?Equipment Joint Virtual Straightening System is established,and a straightening method based on the motion law of a floating connection is proposed as the default method of the system.In addition,a straightening simulation of the scraper conveyor was performed on a complex coal seam floor,the results demonstrate that the average straightening error of the scraper conveyor is within 2-8 mm,and is in direct proportion to the fluctuation of the coal seam floor in the strike of the seam with high accuracy,the straightness of scraper conveyor is more affected by the subsidence terrain during straightening than by the bulge terrain.And some conclusions are verified by experiment.Based on the verification of the relevant conclusions,a comparison and analysis of Longwall Automation Steering Committee(LASC)straightening technology and default straightening method in the simulation system shows that the straightness accuracy of LASC straightening technology under complex floor conditions is slightly less than that of the default straightening method in the proposed system.

关 键 词：Virtual reality Scraper conveyor Hydraulic support Posture solution Straightness control 

分 类 号：TH22[机械工程—机械制造及自动化]