基于采煤机运动轨迹的刮板输送机布置形态检测研究

为了准确检测采煤工作面中刮板输送机的布置形状，提出了基于采煤机运动轨迹的刮板输送机布置形态检测方法。根据工作面中采煤机与刮板输送机之间的几何空间位置关系，建立以采煤机运行轨迹反演刮板输送机形状数学模型，并搭建刮板输送机布置形态检测试验平台进行试验验证。在刮板输送机轨道模型分别直线、水平曲线、垂直曲线布置形状下，通过刮板输送机形状反演模型获得刮板输送机布置形态；在该试验条件下，通过试验表明：刮板输送机轨道模型的检测形态与实际布置形态的测量误差为±18 mm，满足工作面刮板输送机弯曲检测精度要求。该刮板输送机形态检测模型可实现在线监测，取代人工测量的方法，为实现工作面自动化弯曲检测和校直提供理论基础。

Shape detection of scraper conveyor based on shearer trajectory

In order to accurately detect the shape of scraper conveyor at longwall face,this paper proposed a shape detection method of scraper conveyor based on the trajectory of shearer.According to the geometric spatial relationship between shearer and scraper conveyor at longwall face,a mathematical model was established,which the shearer trajectory retrieved the shape of scraper conveyor.An experimental verification was also made through building an experimental platform for detecting the shape of scraper conveyor track model.When the scraper conveyor track model was in straight,horizontal curve and vertical curve,the arrangement shape of scraper conveyor track was obtained through the scraper conveyor shape inversion model.The experiment shows that the measurement accuracy through comparing the measured shape and the actual arranged shape of scraper conveyor track model could reach ±18 mm,which met the scraper conveyor bending detection accuracy.The method of scraper conveyor shape detection model could achieve online monitoring,replace the manual measurement method,and provide a theoretical basis for achieving bending detection and alignment on longwall face.