公开(公告)号：US12091977B2

公开(公告)日：2024-09-17

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 ,  E21C31/04 ,  E21C35/24 ,  E21D9/00

CPC classification number: E21D9/102 ,  E21D9/1066 ,  E21D9/108 ,  E21C31/04 ,  E21C35/24 ,  E21D9/003 ,  E21D9/1093

Abstract: A roadway/tunnel excavation robot and an automatic cutting control method are provided. The robot includes a rack, a walking 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. 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.