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

International Journal of Coal Science & Technology 2021年第5期8卷 1149-1170页

作者： Suhua Li Jiacheng Xie Fang Ren Xin Zhang Xuewen Wang Binbin Wang Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment College of Mechanical and Vehicle EngineeringTaiyuan University of TechnologyTaiyuan 030024China

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 *** a result,the scraper conveyor cannot obtain the straightness ***,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 *** 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 *** 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 *** some conclusions are verified by *** 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

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