Research On The Method Of Measuring The Pose Of Scraper Conveyor And Floating Linkage Of Hydraulic Support

National energy development model has always been an important research object of energy development.At present,the direction of energy utilization and development in China is inclined to green energy.As a necessary means in the development of coal resources,the realization of automatic control of comprehensive mining equipment is a hot spot in the intelligent and green research of coal seam development.Scraper conveyor,hydraulic support and the moving mechanism connecting the two parts are important parts of the fully mechanized coal face.The research on the position and attitude of the three parts is the key to promote the transparency and green of the fully mechanized coal face.At present,there are few researches on the positioning and orientation of the middle groove,the pushing mechanism and the hydraulic support,and there is no effective prediction method.Many researches on the positioning and orientation of the scraper conveyor are under the horizontal working face,and there is no accurate alignment scheme.This paper unified the position and attitude change of the moving mechanism into the kinematic model of the comprehensive mining equipment group.The digital elevation model of coal seam floor was established,and the positioning of scraper conveyor in the model and the attitude prediction of middle trough were realized.Based on the connection between the moving mechanism and the middle groove,a precise straightening scheme was proposed.In addition,the relevant sliding test device was designed and manufactured,and the attitude prediction method and straightening scheme of the middle groove were verified by experiments.The main research contents and results are as follows:(1)Through the analysis of the adjacent sliding process,the analytical value of the attitude of the moving mechanism was substituted into the moving distance in the form of compensation value,so as to improve the accuracy of each straightening.(2)The accuracy,advantages and disadvantages of the digital model of coal seam floor under different interpolation conditions were compared.In order to reduce the interference of these shortcomings,TIN was used to build the digital model of coal seam floor,and the drilling data in real terrain was used to build the digital model of coal seam floor with higher accuracy.Using the established DEM map,the real-time positioning of scraper conveyor in the digital model was realized.And in the case of determining the sliding distance,the attitude of the middle groove of each section in the process of propulsion and the end position was predicted,and the corresponding sliding distance was adjusted reasonably according to the prediction results.(3)In view of the fact that it was very difficult to carry out the propulsion test of the relevant working face,the design and manufacture of the relevant sliding test device were carried out,and the layout method of the test device simulating the sliding process under the real terrain was proposed.Based on the test device,the relevant tests were designed for the straightening scheme and the attitude prediction mode of the middle trough,which were verified and analyzed by the test data.