Virtual straightening of scraper conveyor based on the position and attitude solution of industrial robot model

Abstract

The movement of the floating connecting mechanism between a hydraulic support and scraper conveyor is space movement; thus, when the hydraulic support pushes the scraper conveyor, there is an error between the actual distance of the scraper conveyor and the theoretical moving distance. As a result, the scraper conveyor cannot obtain the straightness requirement. Therefore, the movement law of the floating connecting mechanism between the hydraulic support and scraper conveyor is analyzed and programmed into the Unity3D to realize accurate pushing of the scraper conveyor via hydraulic support. The Coal Seam + Equipment Joint Virtual Straightening System is established, and a straightening method based on the motion law of a floating connection is proposed as the default method of the system. In addition, a straightening simulation of the scraper conveyor was performed on a complex coal seam floor, the results demonstrate that the average straightening error of the scraper conveyor is within 2–8 mm, and is in direct proportion to the fluctuation of the coal seam floor in the strike of the seam with high accuracy, the straightness of scraper conveyor is more affected by the subsidence terrain during straightening than by the bulge terrain. And some conclusions are verified by experiment. Based on the verification of the relevant conclusions, a comparison and analysis of Longwall Automation Steering Committee (LASC) straightening technology and default straightening method in the simulation system shows that the straightness accuracy of LASC straightening technology under complex floor conditions is slightly less than that of the default straightening method in the proposed system.

A method of straightening armoured face conveyor based on space kinematics of reserve pushing mechanism

“…20–23 Therefore, the reverse floating connection mechanism can be transformed into an industrial robot manipulator model to study its motion law. The manipulator model of reverse floating connection mechanism and D-H coordinate system 19 are shown in Figure 5, the model can describe the motion of the reverse floating connection mechanism through translation, combined rotation and single rotation. The meaning of variables and symbols in the Figure 5 is shown in Table 2.…”

“…According to equation T0 5=T0 1⋅T1 2⋅T2 3⋅T3 4⋅T4 5, the forward kinematics model of manipulator model is established, and then the inverse kinematics technology is used to solve the motion parameters, 19 the motion law of each joint of the equivalent manipulator model of reverse floating connection mechanism is obtained. Due to the existence of multiple solutions, the optimal solution needs to be determined.…”

“…The straightness of the fully mechanized coal face is reflected in the straightness of its projection perpendicular to the inclined direction of the coal seam floor. The straightness of the armoured face conveyor increases 19 with the rise and fall of the floor.…”

Pushing Pose Sensing of Underground Mobile Supporting Robot

“…At present, the sensing approach for pose and straightness of hydraulic support mainly focus on simple on-site pull wire and infrared beam measurement. With the deep integration of intelligent detection technology into coal mine production, the inertial navigation technology [6,7], Unity3D technology [8][9][10][11], and visual technology [12,13] have been used gradually. Zhang et al and Chen et al [3,14] proposed a pose monitoring method of hydraulic support based on multisensor fusion technology.…”

Expected position and attitude adjustment control method of coal mine roadway support robot

“…Zhang et al, 2021). To realize the straightening of the scraper conveyor by using the push of the hydraulic support robot, a straightening method based on the motion law the floating linkage was proposed to realize precise push of the hydraulic support to the scraper conveyor and realize straightening of the scraper conveyor (Li, Xie, Ren, et al, 2021).…”