Construction,Analysis And Application Of Spatial Motion Model Of Floating Connection Mechanism Of Fully Mechanized Support And Transportation Equipment In VR Environment

The fully mechanized support and transpotation equipment is the core equipment of support and promotion of the fully mechanized coal mining face.The realization of the coordinated promotion of the supporting equipment is one of the key links of the coordinated promotion of the comprehensive mining face,which is of great significance to realize the unmanned and transparent mining of the fully mechanized coal mining face.At present,the main factor hindering its cooperative propulsion is the complexity of the motion of the floating system connecting the fully mechanized support and transpotation equipment,which has characteristics of freedom and space.This makes scraper conveyor can not be moved to the specified position,which has an impact on the straightness of the scraper conveyor in the process of collaborative propulsion,and ultimately affects the collaborative propulsion of the whole fully mechanized coal mining face.The analysis and study on the movement of the floating connection system of the fully mechanized support and transportation equipment is one of the keys to realize their collaborative propulsion.In view of the above problems,the floating connection mechanism of fully mechanized support and transpotation equipment is taken as the virtual study target,the kinematics model is constructed,the path of its movement is planned,and the obtained kinematics model is applied to the research of scraper conveyor straightening.The main research contents and conclusions are as follows:(1)The motion law of the floating connecting mechanism of the fully mechanized support and transportation equipment is deduced.According to the motion characteristics of each structure of the pushing mechanism,it is transformed into an industrial robot model,and the DH coordinate system is established on the manipulator model.The theoretical pose information of the connector of the floating connection mechanism is established through forward kinematics.When the pose information of the connector is known,the motion law of each structure of the floating connection mechanism is analyzed through inverse kinematics.And according to whether there is interference between the equipments,the optimal motion law of the floating connecting mechanism of the fully mechanized support equipment is obtained,and the motion law is verified and applied.The results show that the motion law can accurately describe the motion of the floating connection mechanism,and can intuitively show the position relationship between the supporting equipment after virtual application.(2)The path planning method of floating connection mechanism of fully mechanized supporting equipment is studied.Based on the manipulator model established by the motion characteristics of floating connection mechanism,the paper combines the prediction algorithm of limit learning machine with Cartesian path planning technology to realize the motion planning of floating connection mechanism of fully mechanized supporting equipment.According to the wave characteristics of the trajectory,the path is modified by Gauss filtering correction technology,and the final planning path is obtained.The method realizes the process of changing the motion of the joint head from unknown to known,and provides a research idea for analyzing the spatial motion of the floating connection mechanism.(3)The virtual straightening method of scraper conveyor based on pose calculation of industrial robot model is studied.Based on the ideal straightening position of the scraper conveyor,and according to the motion law of the floating connection mechanism,the hydraulic support pushing mechanism can get the specific motion results of each structure for accurate pushing,so as to realize the straightening of the scraper conveyor in the virtual environment.By changing the relative fluctuation of the complex cutting floor,the straightening test of the scraper conveyor is carried out.The results show that the straightening effect of this method is better,and the high-precision straightening of scraper conveyor is realized,which provides a new idea for ensuring its straightness.(4)The method of scraper conveyor straightening based on the fusion of spatial kinematics and time series trajectory prediction is studied.The straightening method in the research achievement(3)is improved.According to the predicted target straightening trajectory,the relative position relationship between the fully mechanized mining support and transportation equipment is obtained.Based on the motion law of the floating connection mechanism,the hydraulic support pushing mechanism moves accurately according to the motion parameter value of each structure to push the scraper conveyor to the target position to complete the straightening process,the related experiments were carried out under the virtual environment and laboratory conditions.The results show that the straightening accuracy of the improved straightening method has been further improved.This paper studies the construction,analysis and application of the spatial motion model of the floating connection mechanism of the fully mechanized support and transportation equipment in the virtual environment,which can simulate the virtual collaborative propulsion process of the fully mechanized support and transportation equipment,and study the common engineering problem of the straightness of the scraper conveyor in the equipment propulsion process.