The movement of the floating connecting mechanism between a hydraulic support and scraper conveyor is space movement; thus, when the hydraulic support pushes the scraper conveyor, there is an error between the actual distance of the scraper conveyor and the theoretical moving distance. As a result, the scraper conveyor cannot obtain the straightness requirement. Therefore, the movement law of the floating connecting mechanism between the hydraulic support and scraper conveyor is analyzed and programmed into the Unity3D to realize accurate pushing of the scraper conveyor via hydraulic support. The Coal Seam + Equipment Joint Virtual Straightening System is established, and a straightening method based on the motion law of a floating connection is proposed as the default method of the system. In addition, a straightening simulation of the scraper conveyor was performed on a complex coal seam floor, the results demonstrate that the average straightening error of the scraper conveyor is within 2–8 mm, and is in direct proportion to the fluctuation of the coal seam floor in the strike of the seam with high accuracy, the straightness of scraper conveyor is more affected by the subsidence terrain during straightening than by the bulge terrain. And some conclusions are verified by experiment. Based on the verification of the relevant conclusions, a comparison and analysis of Longwall Automation Steering Committee (LASC) straightening technology and default straightening method in the simulation system shows that the straightness accuracy of LASC straightening technology under complex floor conditions is slightly less than that of the default straightening method in the proposed system.

浮动连接机构在液压支架和刮板输送机之间的运动是空间运动。因此，当液压支架推动刮板输送机时，刮板输送机的实际距离与理论移动距离之间存在误差。结果，刮板输送机不能获得直线度要求。因此，分析了液压支架与刮板输送机之间的浮动连接机构的运动规律，并将其编程到Unity3D中，以通过液压支架实现刮板输送机的精确推入。建立了煤层+设备联合虚拟校直系统，并提出了一种基于浮动连接运动规律的校直方法。此外，在复杂的煤层底板上对刮板输送机进行校直模拟，结果表明，刮板输送机的平均校直误差在2-8 mm之内，并且与煤层底板在地面上的波动成正比。刮刀传送带的直线度较高时，刮板输送机的直线度受校直地形的影响比受鼓起地形的影响更大。并通过实验验证了一些结论。基于对相关结论的验证，