摘要
针对目前液压支架直线度测量方法存在测量维度低、误差较大、易受粉尘影响等问题,提出了一种基于架间行走机器人的液压支架直线度测量方法。该方法主要用于支撑掩护式支架,在架间行走机器人上布置传感器,用于直接测量液压支架底座的横向偏移、纵向偏移、横向斜角和纵向倾角等多维位置偏移信息,从而通过支架位置偏移量表征液压支架的直线度信息。试验结果表明,相邻两架偏移误差值在0.2cm以内,相邻两架角度误差在10′以内;当模型增加到100架支架,依据常规液压支架1.5m的中心距计算,在工作面长度为150m时,预计会产生位置偏移累计误差10cm,角度累计误差8°20′,对于长度不超过150m的短距离综采工作面,这个累计误差在可接受的范围内,可满足液压支架直线度的测量需求。相比于传统的一维测量信息,该方法通过4维位置偏移信息可为液压支架群的控制提供参考。
In view of the problems of low measurement dimension,large error and easy to be affected by dust in current straightness measurement method of hydraulic support,a straightness measurement method of hydraulic support based on inter supports walking robot was proposed.This measurement method is mainly used to chock-shield hydraulic support,sensors are arranged on the inter supports walking robot,which is used for directly measuring multi-dimensional position offset information such as transverse offset,longitudinal offset,transverse bevel angle and longitudinal dip angle of hydraulic support base,then the straightness information of the hydraulic support is indicated by the support position offset.The experimental results show that the deviation error of the two adjacent supports is within0.2cm and the angle error of the two adjacent supports is within10′.When the experimental supports model increased to100units,the accumulative error of position offset is expected to10cm,angle cumulative error is8°20′according to center distance of1.5m for conventional hydraulic support on the working face length of150m.For length of fully mechanized working face is less than150m,the accumulated error is in the acceptable range,can meet measurement demand of hydraulic support straightness.Compared with the traditional one-dimensional measurement information,the method can provide more detailed reference for the control of hydraulic support group through the four-dimensional position offset information.
作者
白晋铭
王然风
付翔
BAI Jinming;WANG Ranfeng;FU Xiang(College of Mining Engineering, Taiyuan University of Technology, Taiyuan 030024, China)
出处
《工矿自动化》
北大核心
2019年第1期45-51,共7页
Journal Of Mine Automation
基金
国家自然科学基金资助项目(51404167)
关键词
煤炭开采
液压支架直线度测量
支撑掩护式支架
架间行走机器人
位置偏移量
角度偏移量
激光传感器
coal mining
straightness measurement of hydraulic support
chock-shield hydraulic support
inter supports walking robot
position offset
angle offset
laser sensor