Study On The Measurement Method Of Scraper Conveyor Straightness In Fully Mechanized Mining Face

As one of the important energy sources,the safe and efficient development and utilization of coal resources is a hot topic for scholars at home and abroad.It is an effective way to achieve safe and efficient coal production that realizing the unmanned or small-scale mining of the underground fully mechanized mining face,realizing the automation of the mining “three machines”,that is,the shearer,the scraper conveyor and the hydraulic support.The scraper conveyor is not only the running track of the shearer,but also the fulcrum of the hydraulic support,and bears the work of transporting coal.When the "three machines" coordinate operation makes the scraper conveyor appear curved,the running resistance of the scraper conveyor and the cutting resistance of the shearer will increase,increasing energy consumption.Moreover,if the degree of bending is too large,the card chain,the broken chain or even the shearer will be separated from the scraper conveyor,resulting in unplanned shutdown and casualties,so accurately detecting and ensuring the straightness of the scraper conveyor for safe and efficient mining under the coal mine.It is of great significance.Scraper conveyor is selected as the research object,and the straightness detection technology of the scraper conveyor is researched.The straightness detection method of the scraper conveyor based on the position of the shearer is proposed,and the method of strapdown inertial error compensation under the shearer dynamics model is studied.The SINS/ultrasonic combination positioning system is established.The experimental platform for straightness detection of scraper conveyor under SINS/ultrasonic integrated navigation was built and experimental research was carried out.The main research contents include:(1)Research on straightness detection model of scraper conveyor based on shearer position.Based on the analysis of the "three-machine" movement characteristics of fully mechanized mining face mining,the mechanical properties of scraper conveyor and shearer are studied.A straightness detection method of scraper conveyor based on the position and posture information of shearer is proposed.Analyze the influence law of the pose information under the influence of the span of the shearer on the straightness calculation of the scraper conveyor,and establish the conversion model between the position of the shearer and the straightness of the scraper conveyor.(2)Research on Straightness Detection of Scraper Conveyor with Strapdown Inertial Vibration Error Compensation under Shearer Dynamics Model.According to the working characteristics of mining "three machines" in fully mechanized mining face,the trajectory and motion characteristics of the shearer are analyzed,and the shearer dynamics model of is established based on a mass-spring-damping system.The rotation vector algorithm is used to study the cone error and rowing error compensation under the dynamic environment of the shearer,which lays a foundation for the detection of the straightness of the scraper conveyor.(3)Research on straightness detection method of scraper conveyor for SINS/ultrasonic integrated navigation.The SINS/ultrasonic combination positioning system is established,and the data transmission characteristics of the SINS/ultrasonic combined positioning system are analyzed.The space state equation and observation equation of the combined system are constructed.The volume Kalman filter algorithm is used to accurately filter the data of the combined positioning system,and the precise position and posture information of the shearer under the combined positioning system is obtained.The accurate calculation of the straightness of the scraper conveyor is realized by using the conversion model between the position of the shearer and the straightness of the scraper conveyor.(4)Simulation analysis and experimental research.The simulation system of the straightness detection method of the scraper conveyor was established,and the simulation research was carried out based on Matlab programming.Set up the shearing machine-scraper conveyor straightness simulation experiment platform,carry out the shearer vibration error compensation experiment and the scraper conveyor straightness test to verify the feasibility and accuracy of the straightness detection scheme and vibration error compensation of the scraper conveyor.