CN105351003B - Scrapper conveyor horizontal motion angle measuring system and method - Google Patents
Scrapper conveyor horizontal motion angle measuring system and method Download PDFInfo
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- CN105351003B CN105351003B CN201510824990.5A CN201510824990A CN105351003B CN 105351003 B CN105351003 B CN 105351003B CN 201510824990 A CN201510824990 A CN 201510824990A CN 105351003 B CN105351003 B CN 105351003B
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 239000003245 coal Substances 0.000 claims abstract description 101
- 238000005065 mining Methods 0.000 claims abstract description 45
- 238000006073 displacement reaction Methods 0.000 claims abstract description 44
- 238000004364 calculation method Methods 0.000 claims description 10
- 230000000903 blocking effect Effects 0.000 claims description 5
- 238000005259 measurement Methods 0.000 claims description 4
- 238000012544 monitoring process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000178 monomer Substances 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 238000012216 screening Methods 0.000 description 1
Classifications
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F13/00—Transport specially adapted to underground conditions
- E21F13/06—Transport of mined material at or adjacent to the working face
- E21F13/066—Scraper chain conveyors
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21C—MINING OR QUARRYING
- E21C35/00—Details of, or accessories for, machines for slitting or completely freeing the mineral from the seam, not provided for in groups E21C25/00 - E21C33/00, E21C37/00 or E21C39/00
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- E—FIXED CONSTRUCTIONS
- E21—EARTH OR ROCK DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
- E21F17/18—Special adaptations of signalling or alarm devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
- G01B21/22—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring angles or tapers; for testing the alignment of axes
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- Mining & Mineral Resources (AREA)
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- Mechanical Engineering (AREA)
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- General Physics & Mathematics (AREA)
- Control Of Conveyors (AREA)
- Chutes (AREA)
Abstract
The present invention proposes a kind of scrapper conveyor horizontal motion angle measuring system and method, belongs to underground coal fully-mechanized mining working automation field.Scrapper conveyor horizontal motion angle measuring system, including：Coal-winning machine and scrapper conveyor, scrapper conveyor include chute, and chute includes spillplate；Also include：For measuring coal-winning machine at least two groups of displacement transducers and the master controller of distance between spillplate, every group includes at least two displacement transducers；Displacement transducer is fixedly arranged on coal-winning machine, and with spillplate face, the total length of every group of displacement transducer is less than the length of half of chute；Each displacement transducer electrically connects with master controller respectively.The invention further relates to above-mentioned scrapper conveyor horizontal motion angle measuring method, the sustainable misalignment for obtaining chute of the present invention, whether monitoring scrapper conveyor chute keeps straight line in the horizontal plane, to judge the misalignment of scrapper conveyor, is easy to the control of coal mine fully-mechanized mining working automation.
Description
Technical Field
The invention relates to the field of automatic control of underground coal fully mechanized coal mining working faces, in particular to a system and a method for measuring a horizontal movement included angle of a scraper conveyor.
Background
The transportation of the coal face is an important link of coal mine production, and the main transportation machinery widely used in the coal face of China is a scraper conveyor, which is called a scraper conveyor for short. The scraper conveyor operates normally, coal on the coal mining working face can be conveyed out in time, production can be carried out normally, and if a fault occurs, the whole working face is shut down and stopped. The scraper machine consists of head wheel, tail wheel, chute, scraper chain, driving unit, etc. and has also chain tightening unit and pushing unit. The scraper conveyor is arranged between the coal wall and the hydraulic support, the coal mining machine horizontally reciprocates on the scraper conveyor, and a single hydraulic pushing device (pushing device) is arranged at the bottom of the hydraulic support and pushes the scraper conveyor to move towards the coal wall.
Coal fully mechanized mining working face generally need erect a scraper conveyor of about 200 meters long, constitutes by a plurality of chutes are hard connected, adopts the dumbbell to be connected between chute and the chute, when hydraulic support passed the scraper conveyor, often can lead to producing different displacements when scraping the scraper conveyor forward because of every hydraulic pressure pusher jack of monomer passes the difference of chute, causes the scraper conveyor to can not keep a straight line in the horizontal direction. The quality standard requirements of three straight and two flat smooth fully mechanized mining working faces (three straight means that a hydraulic support is straight, a cut coal wall is straight, and a scraper conveyor is straight, two flat means that a top plate is flat and a bottom plate is flat, and two smooth means that an upper safety outlet and a lower safety outlet of the working face and a pedestrian passageway are smooth) cannot be met. As shown in fig. 1, the side view of the chute of the scraper conveyor is shown, the chute of the scraper conveyor is provided with a coal baffle 101, a coal mining machine rail 102 and a coal shoveling plate 103, the coal baffle 101 is erected on one side of the chute and is arranged corresponding to the chute one by one, and the length of the coal baffle 101 is the same as that of the chute. When the absolute value of the difference value between the horizontal plane motion included angle of the adjacent chute (namely the horizontal plane motion included angle of the two adjacent coal baffle plates) and the angle of 180 degrees is larger than 3 degrees, the dumbbell in hard connection can break, so that the scraper conveyor is damaged, finally, the fully mechanized mining face is stopped, and great loss is caused.
Disclosure of Invention
The invention provides a system and a method for measuring a horizontal movement included angle of a scraper conveyor, which solve the problem that the size of the horizontal movement included angle between two adjacent chutes cannot be monitored in the prior art.
The technical scheme of the invention is realized as follows:
a scrape trigger horizontal direction contained angle of motion measurement system includes: the device comprises a coal mining machine and a scraper conveyor, wherein the scraper conveyor comprises a chute, and the chute comprises a coal baffle; further comprising: the device comprises at least two groups of displacement sensors and a main controller, wherein each group of displacement sensors is used for measuring the distance between a coal mining machine and a coal baffle plate and comprises at least two displacement sensors; the displacement sensors are fixedly arranged on the coal mining machine and are opposite to the coal baffle plate, and the total length of each group of displacement sensors is less than the length of a half chute; and each displacement sensor is electrically connected with the main controller respectively.
The invention also relates to a method for measuring the horizontal movement included angle of the scraper conveyor, which comprises the following steps:
1) Measuring the distance between a coal blocking plate of a chute of a scraper conveyor and a coal mining machine in real time, wherein each chute corresponds to one group of data, one group of data comprises at least two groups of data, and at least two groups of data from adjacent chutes are acquired each time;
2) Selecting two groups of data from adjacent chutes optionally, wherein the two groups of data respectively select two data collected at the same time, and assuming that the distance from a coal mining machine to a coal baffle plate of a first chute is B and C, and the distance from the coal mining machine to a coal baffle plate of a second chute is D and E; the first chute and the second chute respectively form an included angle alpha and an included angle beta with the coal mining machine; the distance between two collection points of the first chute is A1, the distance between two collection points of the second chute is A2, and the distance can be calculated by the right-angle triangle theorem:
3) And assuming that the horizontal plane motion included angle of two adjacent chutes is theta, namely the horizontal plane motion included angle of two adjacent coal baffles is also theta, and stopping the scraper conveyor when | theta-180 ° | = alpha + beta >3 °.
The beneficial effects of the invention are as follows:
1. according to the invention, as the coal mining machine works on the scraper, the displacement sensor always monitors the relative position of the chute on the scraper, the displacement condition of the chute is continuously obtained, and whether the chute of the scraper keeps a straight line on the horizontal plane is monitored to judge the displacement condition of the scraper, so that the automation control of the fully-mechanized coal mining face is facilitated, workers can remotely obtain the position state of the scraper on the fully-mechanized coal mining face in real time, thereby realizing the purposes of liberating manpower, saving cost, being rapid in response, monitoring in real time, being small in accurate error and the like.
2. According to the invention, through the coordinate and right triangle theorem, the vertex coordinates of the side of the chute hydraulic support can be sequentially calculated, and then a displacement curve on the horizontal plane of the chute is drawn, so that a worker can drive the hydraulic pushing device to adjust the chute to level according to the displacement curve, and the coal mining machine can normally work.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a side view of a prior art flighter chute;
FIG. 2 is a schematic structural diagram of a system for measuring the included angle of movement of the scraper in the horizontal direction in one embodiment;
FIG. 3 is a schematic view of the operation state of the system for measuring the included angle of the scraper in the horizontal direction in the embodiment;
FIG. 4 is a schematic view of the operation state of the system for measuring the included angle of the scraper in the horizontal direction in another embodiment;
FIG. 5 is a schematic view of the horizontal movement angle of the scraper conveyor in the embodiment;
FIG. 6 is a schematic view of the horizontal movement angle of the scraper conveyor in another embodiment;
FIG. 7 is a schematic diagram of the horizontal movement included angle of each chute of the scraper conveyor in the embodiment;
FIG. 8 is a schematic diagram of coordinates of horizontal movement included angles of all chutes of the scraper conveyor in the embodiment;
FIG. 9 is a schematic diagram showing the coordinates of the included angle of the horizontal movement of each chute of the scraper conveyor in another embodiment.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 2-4 are schematic views of the system for measuring the included angle of movement of the scraper in the horizontal direction in the illustrative embodiment.
The scraper blade machine horizontal direction included angle measurement system in the embodiment comprises: the coal mining machine comprises a coal mining machine 1 and a scraper conveyor, wherein the scraper conveyor comprises a chute, and the chute comprises a coal baffle plate 2; it still includes: the device comprises at least two groups of displacement sensors 10 and a main controller, wherein each group of displacement sensors 10 is used for measuring the distance between the coal mining machine 1 and a coal baffle 2 and comprises at least two displacement sensors 10; the displacement sensors 10 are fixedly arranged on the coal mining machine 1 and are opposite to the coal baffle plate 2, and the total length of each group of displacement sensors is less than the length of a half chute; the displacement sensors 10 are electrically connected to a main controller.
As long as two adjacent chutes 2 are ensured to be on a straight line, the chutes 2 of the whole scraper conveyor are in a straight line, and therefore, two groups of displacement sensors 10 are arranged; for each chute, two collection points can form a triangle, so preferably, two displacement sensors are arranged in each group.
In order to facilitate the calculation and ensure the calculation accuracy, the distance between the two displacement sensors in each group is preferably a fixed value a; the fixed value A is more than or equal to 1m.
Preferably, the main controller is a single chip microcomputer or a computer.
Preferably, the system for measuring the included angle of the scraper in the horizontal direction in the embodiment further comprises an alarm electrically connected with the main controller.
When the scraper is pushed by the pushing device to generate a horizontal plane movement included angle, the displacement sensor measures the distance from the coal mining machine to the chute coal baffle plate, data are transmitted to the main controller, the main controller calculates the horizontal direction movement included angle of two adjacent chutes after screening the data, the included angle is judged, when the absolute value of the included angle and the 180-degree angle difference value is greater than 3 degrees, a warning is sent, and the scraper stops working. When the coal mining machine moves left and right on the scraper conveyor to work, the displacement sensor works continuously and can monitor whether the whole scraper conveyor keeps a straight line on the horizontal plane.
The invention also relates to a method for measuring the horizontal movement included angle of the scraper conveyor, which comprises the following steps:
1) Measuring the distance between a coal blocking plate of a chute of a scraper conveyor and a coal mining machine in real time, wherein each chute corresponds to one group of data, one group of data comprises at least two groups of data, and at least two groups of data from adjacent chutes are acquired each time;
2) Selecting two groups of data from adjacent chutes optionally, wherein the two groups of data respectively select two data collected at the same time, and assuming that the distance from a coal mining machine to a coal baffle plate 21 of a first chute is B and C, and the distance from the coal mining machine to a coal baffle plate 22 of a second chute is D and E; the first chute and the second chute respectively form included angles alpha and beta with the coal mining machine; the distance between two collection points of the first chute is A1, the distance between two collection points of the second chute is A2, and through the right-angled triangle theorem, the following calculation results:
3) Assuming that the horizontal plane motion included angle of two adjacent chutes is theta, namely the horizontal plane motion included angle of two adjacent coal baffles is also theta, when theta is less than 180 degrees, theta = 180-alpha-beta (as shown in fig. 5); when θ > 180 °, θ =180 ° + α + β (as shown in fig. 6); when the angle is theta-180 degrees or alpha and beta is larger than 3 degrees, the scraper machine stops working.
As above, preferably, in step 1), two sets of data from adjacent chutes are collected at a time, each set comprising two data sets.
In order to facilitate and guarantee the accuracy of the calculation, it is preferable that the distance between two collection points of the same group is a fixed value a, i.e. A1= A2= a,1m ≦ a < half chute length.
The included angles of the various chutes of the scraper machine in the embodiments may be more than 180 ° and less than 180 ° apart (as shown in fig. 7), or may all be more than 180 ° or all be less than 180 °.
As shown in fig. 8 and 9, the displacement curve in the horizontal direction of the scraper can be drawn by establishing a coordinate system measurement calculation.
According to the alpha and beta calculation method, a coordinate system is established by collecting images of the top of the coal baffle plate in a top view mode, the coordinates of two end points of the top of the coal baffle plate of each chute are calculated, the included angle of the initial two chutes is more than 180 degrees and less than 180 degrees, the initial two chutes of a scraper conveyor are taken as an example, and the included angles between the first chute and the second chute and a coal mining machine are alpha and beta respectively; two end points of the coal baffle 21 of the first chute and the coal baffle 22 of the second chute are O, a, b and c respectively, and a displacement curve of two ends of the coal baffle of the chute connected with the top point is drawn; the specific method comprises the following steps:
setting the initial vertex of a coal baffle plate 21 of a first chute as a coordinate origin O (0, 0), setting L as the length of a section of chute and H as the width of the top of the section of coal baffle plate;
when the included angle theta between the first chute and the second chute is smaller than 180 degrees (as shown in figure 8);
firstly, the coordinate of a point is obtained, and according to alpha:
M1＝L*cosα；
h1＝L*sinα；
the coordinates (Xa, ya) of the point a are (M1, -h 1);
the b point coordinate is the same as the a point coordinate, and then the b point coordinate (Xb, yb) is (M1, -h 1);
the coordinate (Xc, yc) of the point c is calculated according to the inclination angle beta as follows:
Xc＝Xb+L*cosβ；
Yc＝Yb+L*sinβ；
by analogy, the end point coordinates of other rear coal blocking plates are obtained, for example, the included angle of each chute of the scraper conveyor in the embodiment may be more than 180 degrees and less than 180 degrees, and the included angle between the third chute and the coal mining machine is assumed to be gamma; and the two end points of the coal baffle plate 23 of the third chute are d and e respectively, and then the coordinate (Xp, yp) of the point P is calculated according to the coordinate of the point c:
Xp＝Xc+H*sinβ；
Yp＝Yc-H*cosβ；
coordinates of point d:
Xd＝Xp+H*sinγ；
Yd＝Yp+H*cosγ；
coordinates of point e:
Xe＝Xd+L*cosγ；
Ye＝Yd-L*sinγ；
drawing a chute displacement curve according to the coordinates of each point;
when the included angle theta between the first chute and the second chute is larger than 180 degrees (as shown in figure 9);
firstly, the coordinate of a point is obtained, and according to alpha:
M1＝L*cosα；
h1＝L*sinα；
the coordinate (Xa, ya) of the point a is (M1, h 1);
firstly, calculating the coordinates (Xp, yp) of the point P according to the coordinates of the point a:
Xp＝Xa+H*sinα；
Yp＝Ya-H*cosα；
similarly, the coordinates of point b:
Xb＝Xp+H*sinβ；
Yb＝Yp+H*cosβ；
the coordinates (Xc, yc) of the point c are calculated according to the inclination angle beta, and are as follows:
Xc＝Xb+L*cosβ；
Yc＝Yb-L*sinβ；
by analogy, the end point coordinates of other rear coal blocking plates are obtained, for example, the included angle of each chute of the scraper conveyor in the embodiment may be more than 180 degrees and less than 180 degrees, and the included angle between the third chute and the coal mining machine is assumed to be gamma; d and e are respectively arranged at two end points of the coal baffle plate 23 of the third chute, then
The coordinates of point d are the same as point c:
Xd＝Xc＝Xb+L*cosβ；
Yd＝Yc＝Yb-L*sinβ；
coordinates of point e:
Xe＝Xd+L*cosγ；
Ye＝Yd+L*sinγ；
and drawing a chute displacement curve according to the coordinates of each point.
The staff can drive the hydraulic pushing device to adjust the chute to level according to the displacement curve, so that the coal mining machine can work normally. The coordinate system can also be established at the top point or other positions of the lower part of the coal baffle plate, and the calculation formula is different and the calculation method is the same.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (9)
1. A scrape trigger horizontal direction contained angle measurement system that moves includes: the coal mining machine comprises a coal mining machine and a scraper conveyor, wherein the scraper conveyor comprises a chute, and the chute comprises a coal baffle; it is characterized by also comprising: the system comprises at least two groups of displacement sensors and a main controller, wherein the at least two groups of displacement sensors are used for measuring the distance between the coal mining machine and the coal baffle plate, and each group comprises at least two displacement sensors; the displacement sensors are fixedly arranged on the coal mining machine and are opposite to the coal baffle plate, and the total length of each group of displacement sensors is less than the length of a half chute; and each displacement sensor is electrically connected with the main controller.
2. The system of claim 1, wherein the number of displacement sensors is two, each comprising two sets.
3. The system for measuring the included angle of movement of the scraper conveyor in the horizontal direction as claimed in claim 2, characterized in that the distance between the two displacement sensors of each set is a fixed value A; the fixed value A is more than or equal to 1m.
4. The system for measuring the included angle of the scraper conveyor in the horizontal direction according to claim 1, wherein the main controller is a single chip microcomputer or a computer.
5. The system for measuring the included angle of the scraper conveyor in the horizontal direction as claimed in any one of claims 1 to 4, further comprising an alarm electrically connected to the main controller.
6. A method for measuring a horizontal movement included angle of a scraper conveyor is characterized by comprising the following steps:
1) Measuring the distance between a coal baffle plate of a chute of a scraper machine and a coal mining machine in real time, wherein each chute corresponds to one group of data, one group of data comprises at least two groups of data, and at least two groups of data from adjacent chutes are acquired each time;
2) Selecting two groups of data from adjacent chutes optionally, wherein the two groups of data respectively select two data collected at the same time, and assuming that the distance from a coal mining machine to a coal baffle plate of a first chute is B and C, and the distance from the coal mining machine to a coal baffle plate of a second chute is D and E; the first chute and the second chute respectively form included angles alpha and beta with the coal mining machine; the distance between two collection points of the first chute is A1, the distance between two collection points of the second chute is A2, and through the right-angled triangle theorem, the following calculation results:
3) Assuming that the horizontal plane motion included angle of two adjacent chutes is theta, namely the horizontal plane motion included angle of two adjacent coal blocking plates is also theta, and stopping the scraper conveyor when | theta-180 ° | = alpha + beta >3 °;
4) According to the alpha and beta calculation method, a top image of the coal baffle plate is collected in a top view mode to establish a coordinate system, coordinates of two end points of the top of the coal baffle plate of each chute are calculated, two chutes at the beginning of a scraper conveyor are taken as an example, and included angles between a first chute and a second chute and a coal mining machine are alpha and beta respectively; two end points of the coal baffle plate of the first chute and the coal baffle plate of the second chute are respectively O, a, b and c, and a displacement curve of two ends of the coal baffle plate of the chute connected with a vertex is drawn; the specific method comprises the following steps:
setting the initial vertex of a coal baffle plate of a first chute as a coordinate origin O (0, 0), setting L as the length of a chute and H as the width of the top of the coal baffle plate;
when the included angle theta between the first chute and the second chute is smaller than 180 degrees;
firstly, the coordinate of a point is obtained, and according to alpha, the following can be obtained:
M1＝L*cosα；
h1＝L*sinα；
the coordinates (Xa, ya) of the point a are (M1, -h 1);
the b point coordinate is the same as the a point coordinate, and then the b point coordinate (Xb, yb) is (M1, -h 1);
the coordinate (Xc, yc) of the point c is calculated according to the inclination angle beta as follows:
Xc＝Xb+L*cosβ；
Yc＝Yb+L*sinβ；
by analogy, obtaining the end point coordinates of other coal baffle plates, and drawing a chute displacement curve according to the coordinates of each point;
when the included angle theta between the first chute and the second chute is larger than 180 degrees;
firstly, the coordinate of a point is obtained, and according to alpha:
M1＝L*cosα；
h1＝L*sinα；
the coordinate (Xa, ya) of the point a is (M1, h 1);
firstly, calculating the coordinates (Xp, yp) of the point P according to the coordinates of the point a:
Xp＝Xa+H*sinα；
Yp＝Ya-H*cosα；
similarly, the coordinates of point b:
Xb＝Xp+H*sinβ；
Yb＝Yp+H*cosβ；
the coordinate (Xc, yc) of the point c is calculated according to the inclination angle beta as follows:
Xc＝Xb+L*cosβ；
Yc＝Yb-L*sinβ；
and analogizing in turn to obtain the end point coordinates of other coal baffle plates, and drawing the chute displacement curve according to the coordinates of each point.
7. The method for measuring the included angle of motion of the scraper conveyor in the horizontal direction according to claim 6, wherein in step 1), two sets of data from adjacent chutes are collected each time, and each set comprises two data.
8. The method for measuring the included angle of motion of the scraper conveyor in the horizontal direction as claimed in claim 7, wherein the distance between two collection points of the same group is a fixed value A, i.e. A1= A2= A,1 m.ltoreq.A < half chute length.
9. The method for measuring the included angle of movement of the scraper conveyor in the horizontal direction according to claim 6,
when the included angle theta between the first chute and the second chute is smaller than 180 degrees, and the included angle between the chutes of the scraper conveyor is larger than 180 degrees and smaller than 180 degrees at intervals, the included angle between the third chute and the coal mining machine is assumed to be gamma; and (3) respectively setting two end points of a coal baffle plate of the third chute as d and e, and firstly calculating a P point coordinate (Xp, yp) according to the coordinate of the c point:
Xp＝Xc+H*sinβ；
Yp＝Yc-H*cosβ；
coordinates of point d:
Xd＝Xp+H*sinγ；
Yd＝Yp+H*cosγ；
coordinates of point e:
Xe＝Xd+L*cosγ；
Ye＝Yd-L*sinγ；
when the included angle theta between the first chute and the second chute is larger than 180 degrees, and the included angles of all the chutes of the scraper conveyor are alternately larger than 180 degrees and smaller than 180 degrees, the included angle between the third chute and the coal mining machine is assumed to be gamma; d and e are respectively arranged at two end points of the coal baffle plate of the third chute, then
The coordinates of point d are the same as point c:
Xd＝Xc＝Xb+L*cosβ；
Yd＝Yc＝Yb-L*sinβ；
coordinates of point e:
Xe＝Xd+L*cosγ；
Ye＝Yd+L*sinγ。
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| CN110271813B (en) * | 2019-06-26 | 2020-05-19 | 中国矿业大学 | Embedded scraper rotation angle detection device and detection method for scraper conveyor |
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| CN102102512B (en) * | 2009-12-22 | 2013-05-22 | 张永亮 | Fully mechanized mining working face bending detection and straightening method and system |
| CN202451158U (en) * | 2012-02-13 | 2012-09-26 | 北京天地玛珂电液控制系统有限公司 | Scraper conveyer body straightening device |
| CN102661162B (en) * | 2012-05-10 | 2015-02-18 | 北京天地玛珂电液控制系统有限公司 | Coalface straightness control method |
| CN103021898B (en) * | 2012-12-17 | 2016-03-02 | 华中科技大学 | Measure chip and substrate relative inclination method of measurement and system |
| CN104776826A (en) * | 2015-04-09 | 2015-07-15 | 江苏省东方世纪网络信息有限公司 | Attitude measurement system and attitude measurement method |
| CN205154248U (en) * | 2015-11-24 | 2016-04-13 | 山西科达自控股份有限公司 | Scrape trigger horizontal direction motion contained angle measurement system |
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