Study on the Shovel and Support Bracket’s Compensation for Vertical Pose’s Deviation of Roadheader

Abstract

Automatic directional excavation technology in the coal mine laneway is the important research direction of integrated excavation project. Shovel and support bracket are the most key parts for keeping roadheader body stable in excavation. This paper studies the control ability and extreme position of boom-type roadheader’s shovel and support bracket, to calculate the adjustable vertical angles rang which is realized by shovel and support bracket, expanding roadheader’s automatic compensating excavation ability, meanwhile ensuring body stable. Vertical angle is one of the four kinds of basic body pose deviation parameters. This study is the research basis for the accuracy analysis of boom-type roadheader’s directional excavation. Because the depth that shovel and support brackets’ tip compress into laneway ground, is mainly determined by laneway ground hardness and body weight, and can’t be calculate accurately, paper’s end gives feedback control application of shovel and support bracket according to laneway conditions.