刮板输送机自动调直是自动化工作面保持直线度的重要前提,为了实现刮板输送机自动调直,结合综采工作面采煤工艺利用刮板输送机检测轨迹,建立了刮板输送机调直方法,实现了在综采工作面不停机情况下的刮板输送机连续调直。通过数值仿真和试验验证,发现所提出的刮板输送机调直方法可有效地减小刮板输送机的初始粗大直线度误差,并使刮板输送机的直线度误差稳定在一定范围内。刮板输送机直线度误差稳定范围由刮板输送机轨迹检测误差与液压支架的推移误差的偏差(δm,δl)决定。当检测误差与执行误差服从正态分布时,由于检测误差和推移误差在刮板输送机推溜点可以部分相互补偿,而使刮板输送机的直线度误差稳定在6(σm+σl)范围内。刮板输送机的稳态直线度误差只与本次调直过程有关,而与之前的调直过程无关,有效地避免了误差累积。

Auto-alignment of scraper conveyor is an important precondition for the straightness of a longwall face. In or- der to realize the auto-alignment of scraper conveyor,an alignment method of scraper conveyor integrated with the working process of longwall face was developed on the basis of the survey track of a scraper conveyor. According to this method,the scraper conveyor can be continuously adjusted for alignment without the interrupt of longwall face. Through numerical simulating and experimental verification,the initial large straightness error of the scraper conveyor can be re- duced with the method. The straightness error was limited within a certain range. The range of straightness error was decided by the deviation (δm,δl ) of detection error and the advancing error of the scraper conveyor. When the detec- tion error and advancing error obeyed a normal distribution,the straightness error of the scraper conveyor was lower than 6(σm +σl ) for the mutual offset between the detection error and advancing error at the advancing points of the scraper conveyor. The straightness error was related to the current alignment and independent of the previous align- ment. This avoids error accumulation effectively.