摘要：This article proposes a cooperatively analytic solving method that calculates the chute posture in the bending section. The method maintains a good posture of the scraper conveyor during its bending process and solves the feeding trajectory of the shearer accurately and precisely. This method modifies and perfects the existing method to obtain the main parameters of the bending section, including the postures of the chutes and pin rails, and the corresponding extension lengths of the advancing units. A virtual-reality software that can visually simulate this entire operation process under different conditions is developed. Considering the gap between the driving wheel and the pin rails, the relationship between the shearer yaw angle and shearer working trajectory in the feeding stage is investigated for different body lengths. The angular relationship between the left and right driving wheels and the pin rails is also researched. Finally, the proposal is verified in experiments on a test prototype and on physical equipment. This analytic method provides a theoretical basis for the cooperative three-dimension localization of three machines in a fully mechanized coal-mining face, ensuring safe automatic production of the mining face.
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