Abstract
This article proposes a cooperatively analytic solving method that calculates the chute posture in the bending section. The method maintains a good posture of the scraper conveyor during its bending process and solves the feeding trajectory of the shearer accurately and precisely. This method modifies and perfects the existing method to obtain the main parameters of the bending section, including the postures of the chutes and pin rails, and the corresponding extension lengths of the advancing units. A virtual-reality software that can visually simulate this entire operation process under different conditions is developed. Considering the gap between the driving wheel and the pin rails, the relationship between the shearer yaw angle and shearer working trajectory in the feeding stage is investigated for different body lengths. The angular relationship between the left and right driving wheels and the pin rails is also researched. Finally, the proposal is verified in experiments on a test prototype and on physical equipment. This analytic method provides a theoretical basis for the cooperative three-dimension localization of three machines in a fully mechanized coal-mining face, ensuring safe automatic production of the mining face.
Highlights
As a key equipment of a fully mechanized coal-mining face, the scraper conveyor mainly completes tasks such as transporting and shipping out cutting coal, running orbit of shearer, overall forward with the all working face, and coupling with the floor in real time
The bending length and angle of the bending section of a scraper conveyor is decided by the extension lengths of the advancing units of the corresponding hydraulic supports of every chute in the bending section
Studies that account for the bending section presume a certain shape of the bending section,[10,11,12,13,14,15,16,17,18] and the actual chute posture of the bending section has been rarely investigated.[19]
Summary
As a key equipment of a fully mechanized coal-mining face, the scraper conveyor mainly completes tasks such as transporting and shipping out cutting coal, running orbit of shearer, overall forward with the all working face, and coupling with the floor in real time. 2. Assuming the left driving wheel as the location point of the shearer, increasing the shearer body length increases the corresponding yaw angle in the first half of the cycle. Assuming the left driving wheel as the location point of the shearer, increasing the shearer body length increases the corresponding yaw angle in the first half of the cycle This trend reverses in the second half of the cycle. The advancing units of the hydraulic supports are controlled by solving the pushing extension length, as explained in the section ‘‘Analysis of chute pin-rail coordinates.’’ As a wave passes, it successively acts on chute numbers 0, 1, 2, ., 2N – 1.
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