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工程设计学报
工程设计学报  2018, Vol. 25 Issue (5): 495-502    DOI: 10.3785/j.issn.1006-754X.2018.05.001
设计理论与方法学     
基于采煤机运行轨迹的刮板输送机竖直面形态解算方法
乔春光1,2, 王学文1,2, 谢嘉成1,2, 杨兆建1,2
1. 太原理工大学 机械工程学院, 山西 太原 030024;
2. 太原理工大学 煤矿综采装备山西省重点实验室, 山西 太原 030024
Vertical plane shape calculation method of scraper conveyor based on running track of shearer
QIAO Chun-guang1,2, WANG Xue-wen1,2, XIE Jia-cheng1,2, YANG Zhao-jian1,2
1. College of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, China;
2. Shanxi Key Laboratory of Fully Mechanized Coal Mining Equipment, Taiyuan University of Technology, Taiyuan 030024, China
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摘要：

针对在综采工作面底板不平整的复合工况条件下，刮板输送机竖直面形态检测时需布置大量传感器，导致测量困难及精度不高的问题，利用捷联惯导系统，提出了一种基于采煤机运行轨迹的刮板输送机竖直面形态解算方法。首先，利用等效旋转矢量法解算捷联惯导系统的信息以得到采煤机运动轨迹；其次，对采煤机与刮板输送机中部槽的实时形状耦合关系进行研究，建立了基于采煤机运行轨迹的刮板输送机竖直面形态解算模型，测量刮板输送机初始位置处4~6节中部槽的俯仰角作为先验信息，再滚动计算出采煤机运行过程中所经过各节中部槽的俯仰角，从而获得工作面刮板输送机竖直面的形态；最后，搭建了采煤机与刮板输送机联合模拟实验平台进行实验验证。实验结果表明：刮板输送机模型的解算形态与实际形态的误差小于15 mm，满足实际工作要求的检测精度。利用该解算方法可以实时准确地掌握刮板输送机竖直面的形态变化，避免刮板输送机因弯曲角度过大而损坏，保证刮板输送机正常工作，同时可为采煤机下滚筒的调高提供信息，保证综采工作面的平整性。
关键词： 采煤机;  刮板输送机形态;  运行轨迹;  捷联惯导系统    
Abstract:

In view of the complex condition of unevenness in the fully mechanized coal mining face, a large number of sensors need to be arranged in the shape detection for the vertical plane of the scraper conveyor, which leads to the problem of difficult measurement and low precision. A method of calculating the vertical plane shape of the scraper conveyor based on the running track of the shearer is put forward by using strapdown inertial navigation system. Firstly, the shearer trajectory was obtained by solving the information of strapdown inertial navigation system using the equivalent rotation vector method. Secondly, the real time shape coupling relationship between the shearer and the middle trough of scraper conveyor was studied, and the vertical plane shape solving model of the scraper conveyor based on the running track of shearer was established. By measuring the pitch angles of the middle troughs of the 4~6 sections at the initial position of the scraper conveyor as the priori information, the pitch angles of the middle troughs of each section in the running process of the shearer could be calculated in a rolling manner, thus the vertical plane shape of the scraper conveyor in the working face was obtained. Finally, a joint simulation experiment platform for shearer and scraper conveyor was built to verify the experiment. The experimental results showed that the error between the scraper conveyor model's solution shape and the actual shape was less than 15 mm, which met the detection accuracy of the actual work requirements. The use of the calculation method can accurately grasp the shape change of the scraper conveyor in real time, avoid the damage of the scraper conveyor due to the excessive bending angle, and make the scraper conveyor work normally. It can provide information for the height adjustment of the lower drum of the shearer, and ensure the smoothness of the fully mechanized coal mining face.
Key words: shearer    scraper conveyor shape    running track    strapdown inertial navigation system
收稿日期: 2018-03-29 出版日期: 2018-10-28
CLC:  TD679  
基金资助:

国家自然科学基金资助项目（51875386）；山西省留学人员科技活动择优资助重点项目（2016年度）；山西省回国留学人员科研资助项目（2016-043）
通讯作者: 王学文(1979-),男,山西长治人,教授,硕士生导师,博士,从事机械现代设计方法、机械CAD/CAE、计算固体力学和摩擦学等研究,E-mail:wxuew@163.com,https://orcid.org/0000-0001-6028-9430     E-mail: wxuew@163.com
作者简介: 乔春光(1992-),男,山西忻州人,硕士生,从事现代设计方法研究,E-mail:524339769@qq.com
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引用本文:

乔春光, 王学文, 谢嘉成, 杨兆建. 基于采煤机运行轨迹的刮板输送机竖直面形态解算方法[J]. 工程设计学报, 2018, 25(5): 495-502.

QIAO Chun-guang, WANG Xue-wen, XIE Jia-cheng, YANG Zhao-jian. Vertical plane shape calculation method of scraper conveyor based on running track of shearer[J]. Chinese Journal of Engineering Design, 2018, 25(5): 495-502.

链接本文:

https://www.zjujournals.com/gcsjxb/CN/10.3785/j.issn.1006-754X.2018.05.001    或    https://www.zjujournals.com/gcsjxb/CN/Y2018/V25/I5/495

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