公开(公告)号：US20240141784A1

公开(公告)日：2024-05-02

申请号：US18031869

申请日：2022-09-30

Applicant: China University of Mining and Technology

Inventor： Hongxiang JIANG ,  Zhencai ZHU ,  Songyong LIU ,  Gang SHEN ,  Xiaodi ZHANG ,  Huihe ZHAO ,  Hongsheng LI

IPC: E21D9/10 ,  E21D9/00

CPC classification number: E21D9/108 ,  E21D9/003 ,  E21D9/1066 ,  E21D9/1093

Abstract: Disclose are a roadway/tunnel excavation robot and an automatic cutting control method. The robot includes a rack, a moving platform, a supporting and stabilizing mechanism, a milling mechanism, a telescoping mechanism, an inclined cutting feed adjusting mechanism, a horizontal swinging mechanism, a lifting mechanism and a controller. The milling mechanism includes a drive unit, a milling shaft, an eccentric rotary casing, a high-pressure jet nozzle unit, a tension and compression sensor and a direction sensor. Through the deflection of a center line of an inner hole of the eccentric rotary casing, the milling mechanism drives a milling cutter head to carry out a rotational oscillation motion for rock breaking; and the milling cutter head is in discontinuous contact with a rock mass. The telescoping mechanism, the inclined cutting feed adjusting mechanism, the lifting mechanism and the horizontal swinging mechanism are controlled such that the milling mechanism performs coal rocks milling.