WO2022017048A1

WO2022017048A1 - Intelligent roadway grooving robot

Info

Publication number: WO2022017048A1
Application number: PCT/CN2021/099374
Authority: WO
Inventors: 焦宏章; 杨喜; 石涛; 刘磊; 刘玉波; 郝建生; 李刚; 宋涛; 李建国; 赵海伟; 郑跃鹏
Original assignee: 中国煤炭科工集团太原研究院有限公司; 山西天地煤机装备有限公司
Priority date: 2020-07-23
Filing date: 2021-06-10
Publication date: 2022-01-27
Also published as: CN111810146A; CN111810146B; AU2021311338B2; AU2021311338A1

Abstract

An intelligent roadway grooving robot. The robot comprises a main rack (1), a traveling portion (2), a cutting portion (3), a cab (4), a power assembly (5) used for providing power for the intelligent roadway grooving robot, and a stable supporting system (6) used for stabilizing a machine body in a grooving process, wherein the cutting portion (3), the cab (4) and the power assembly (5) are arranged on the main rack (1) to form the machine body; and the cutting portion (3) comprises a base (3.1), a large arm (3.2), a middle arm (3.3), a small arm (3.4), a milling and excavating head (3.5), a first large arm connecting rod I (3.6), a second large arm connecting rod II (3.7), a first milling and excavating head connecting rod I (3.8), a second milling and excavating head connecting rod II (3.9), a large arm oil cylinder (3.10), a middle arm oil cylinder (3.11), a small arm oil cylinder (3.12), a milling and excavating head oil cylinder (3.13) and a rotary drive (3.14). According to the intelligent roadway grooving robot, a mechanical arm mechanism is used in a multi-arm hinged manner, such that the whole machine carrying out 360° grooving during one positioning is achieved; and since the whole machine is provided with an intelligent cutting control system, the milling and excavating head (3.5) can be controlled to automatically work in a horizontal direction and a vertical direction, and an operator only needs to complete corresponding direction switching at a corner of a roadway.

Description

Intelligent roadway slotting robot

technical field

The invention belongs to the technical field of coal mine underground equipment, and specifically discloses an intelligent roadway slotting robot.

Background technique

In the construction of underground tunnels in coal mines, based on the requirements of ventilation or safety, it is necessary to install dampers or airtight tunnels in the tunnels. Both of these two operating procedures require grooving operations around the tunnels. Currently, grooving operations mainly rely on manual use. Breaker construction is not only inefficient, but also has great potential safety hazards. Some mines use mechanized grooving equipment. The equipment described in the patent "Underground Coal Mine Grooving Machine (201710990248.0)" has the disadvantage that the manipulator arm mechanism is complicated, and it is impossible to groov directly below the equipment after one positioning. The equipment described in the patent "A Coal Mine Roadway Slotting Machine (201510818526.5)" needs to be telescopic with load during the operation of the manipulator, and the wear is serious. Due to the structure of the existing slotting machine, the working range of the working arm is small, and the adaptability of the roadway is poor, so it is impossible to open the whole groove (top groove, side groove, bottom groove) at one time. During the grooved process, the whole machine needs to be moved frequently to adapt to the roadway. Different section requirements. In addition, the process of roadway grooving mainly relies on manual operation, which has high labor intensity and low grooving accuracy. To sum up, there is currently no truly effective slotting equipment on the market.

SUMMARY OF THE INVENTION

Aiming at the deficiencies of the existing equipment, the invention provides an intelligent roadway grooving robot with simple structure, wide roadway adaptability and full grooves around the roadway after one positioning.

In order to achieve the above purpose, the present invention provides an intelligent roadway grooving robot, including a main frame, a walking part, a cutting part, a cab, a powertrain for providing power for the intelligent roadway grooving robot, and a A stable support system to stabilize the fuselage during the grooving process; the cutting part, the cab and the power assembly are installed on the main frame to form the fuselage; the cutting part includes the base, the big arm, the middle arm, the small arm, the milling and digging head, boom connecting rod I, boom connecting rod II, milling head connecting rod I, milling head connecting rod II, boom cylinder, middle arm cylinder, forearm cylinder, milling head cylinder and rotary drive; The main frame is hinged, and the hinge axis is perpendicular to the ground; the boom is hinged with the base, and the hinge axis is parallel to the ground; the middle arm is hinged with the big arm, and the hinge axis is parallel to the ground; the forearm is hinged with the middle arm, and the hinge axis is parallel to the ground; milling The head is hinged with the forearm, and the hinge axis is parallel to the ground; one end of the boom link I is hinged with the base, one end of the boom link II is hinged with the boom, the boom link I and the boom link II are hinged, the base, The boom, boom link I and boom link II constitute a double rocker mechanism; the milling head link I is hinged with the forearm, the milling head link II is hinged with the milling head, and the milling head link I and The milling head connecting rod II is hinged, and the forearm, the milling head, the milling head connecting rod I and the milling head connecting rod II constitute a double rocker mechanism; the two ends of the boom cylinder are hinged with the base and the boom connecting rod I respectively. ;The two ends of the middle arm oil cylinder are hinged with the big arm and the middle arm respectively; the two ends of the small arm oil cylinder are hinged with the middle arm and the small arm respectively; It is hinged with the hinge of the connecting rod II of the milling head; the rotary drive is fixed on the main frame, and the base is driven by a gear pair to achieve ±90° rotation relative to the main frame.

Further, there are two sets of boom connecting rod I, boom connecting rod II and boom oil cylinder, which are arranged on both sides of the boom;

Further, the stable support system includes four identical support leg assemblies, which are respectively installed at the four corners of the main frame; the support leg assemblies include a support leg, a support leg seat, a support oil cylinder and an extension oil cylinder; the support leg is hinged with the support leg seat, and the hinge axis is Parallel to the ground; the support leg base is hinged with the main frame, and the hinge axis is perpendicular to the ground; the two ends of the support cylinder are hinged with the support leg base and the support leg respectively; the two ends of the extension cylinder are hinged with the main frame and the support leg base respectively.

Further, the main frame includes a front frame, a middle frame and a rear frame connected by bolts; the cutting part is arranged on the front frame; the cab is arranged on the middle frame; and the power assembly is arranged on the rear frame.

Further, the powertrain includes an explosion-proof engine system and a hydraulic system; the explosion-proof engine outputs power, drives the hydraulic pump, and provides power for the hydraulic system; the hydraulic system drives the walking part to walk through the motor and the reducer, and provides walking power for the whole machine. Provides hydraulic oil supply for the cutting section and the cylinders of the stabilizing support system.

Further, the above-mentioned intelligent roadway slotting robot also includes an intelligent cutting control system, an angular displacement sensor I, an angular displacement sensor II, an angular displacement sensor III, an angular displacement sensor IV, a distance sensor I, a distance sensor II, and a distance sensor III. and distance sensor IV; angular displacement sensor I is used to collect the angle value between the arm and the base; angular displacement sensor II is used to collect the angle value between the middle arm and the big arm; angular displacement sensor III is used to collect the angle value between the forearm and the middle arm The angle value between the arms; the angular displacement sensor IV is used to collect the angle value between the milling head and the forearm; the distance sensor I is used to collect the elongation of the boom cylinder; the distance sensor II is used to collect the middle arm cylinder. Elongation; distance sensor III is used to collect the elongation of the forearm cylinder; distance sensor IV collects the elongation of the milling head cylinder; the intelligent cutting control system receives the angular displacement sensor I, angular displacement after manual tool setting is completed _{The initial values θ 10} , θ ₂₀ , θ ₃₀ , θ _{40 of} sensor II, angular displacement sensor III and angular displacement sensor IV, _{and the initial position coordinates (X 0} , Y ₀ ) of the milling head relative to the fuselage coordinate system are calculated according to the formula , Read the elongation of the boom cylinder, middle arm cylinder, forearm cylinder and milling head cylinder by looking up the table, and according to the cutting instructions up, down, left and right, the intelligent cutting control system controls the cylinder Automatic expansion and contraction, so as to realize automatic slotting;

In the formula: L ₁ is the length of the boom;

L ₂ is the length of the middle arm;

L ₃ is the length of the forearm;

L ₄ is the length of the milling head;

H is the height from the hinge point of the boom and the base to the bottom of the equipment;

X ₀ and Y _{0 are} rounded to non-negative integers;

Cylinder Elongation Data Sheet

In the table, m is 1/2 of the maximum roadway width adapted by the intelligent roadway grooving robot, and the unit is the same as _{X 0;}

n is the maximum roadway section height adapted by the intelligent roadway grooving robot, and the unit is the same as _{Y 0;}

p=1, 2, 3, 4, when p=1, it is the extension of the boom cylinder, when p=2, it is the extension of the middle arm cylinder, when p=3, it is the extension of the forearm cylinder, p When = 4, it is the elongation of the milling head cylinder. _{The actual data represented by L p} -mn in the table is the inherent characteristic of the intelligent roadway slotting robot, which is pre-stored in the control system by the designer.

Further, the intelligent cutting system is integrated in the remote control transmitter.

The present invention has the following beneficial effects:

1. The mechanical arm mechanism in the form of dobby articulation is adopted, and the operating range covers all roadways with a width of 4.0 meters to 6.0 meters and a height of 3.0 meters to 5 meters.

2. Only one operator is needed for a single equipment, and the minimum slotting efficiency is about 5m ³ /h, which is about 30 times that of manual slotting;

3. The whole machine is equipped with an intelligent cutting control system, which can control the automatic operation of the milling head in the horizontal and vertical directions. The operator only needs to complete the corresponding direction switching at the corner of the roadway.

Description of drawings

Figure 1 is a perspective view of an intelligent roadway slotting robot;

Figure 2 is an assembly drawing of the main frame and the stable support system;

Figure 3 is a front view of an intelligent roadway slotting robot;

Figure 4 is a side view of an intelligent roadway slotting robot;

FIG. 5 is a schematic diagram of a remote control transmitter.

Among them, the names corresponding to the reference signs are:

1-main frame; 1.1-front frame; 1.2-intermediate frame; 1.3-rear frame; 2-walking part; 3-cutting part; 3.1-base; 3.2-big arm; 3.3-middle arm; 3.4-small Arm; 3.5-milling head; 3.6-boom connecting rod I; 3.7-boom connecting rod II; 3.8-milling head connecting rod I; 3.9-milling head connecting rod II; 3.10-boom cylinder; 3.11- Intermediate arm cylinder; 3.12- forearm cylinder; 3.13-milling head cylinder; 3.14-slewing drive; 3.15-gear pair; 4-cab; 5-powertrain; 6-stabilizing support system; 6.1-support leg; 6.2 - Supporting Legs; 6.3 - Supporting Oil Cylinder; 6.4 - Extending Oil Cylinder; 7 - Remote Control Transmitter.

detailed description

The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

This embodiment provides an intelligent roadway grooving robot, including a main frame 1, a walking part 2, a cutting part 3, a cab 4, a powertrain 5 for providing power for the intelligent roadway grooving robot, and A stable support system 6 for stabilizing the fuselage during the slotting process; the cutting part 3, the cab 4 and the power assembly 5 are installed on the main frame 1 to form the fuselage.

The main frame 1 includes a front frame 1.1, a middle frame 1.2 and a rear frame 1.3 connected by bolts; the cutting part 3 is arranged on the front frame 1.1; the cab 4 is arranged on the middle frame 1.2; the power assembly 5 is arranged on On the rear rack 1.3.

The running part 2 is in the form of a crawler.

The cutting part 3 includes the base 3.1, the big arm 3.2, the middle arm 3.3, the small arm 3.4, the milling head 3.5, the big arm connecting rod I3.6, the big arm connecting rod II 3.7, the milling head connecting rod I 3.8, The milling head connecting rod II 3.9, the big arm oil cylinder 3.10, the middle arm oil cylinder 3.11, the small arm oil cylinder 3.12, the milling head oil cylinder 3.13 and the rotary drive 3.14; the base 3.1 is hinged with the front frame 1.1, and the hinge axis is perpendicular to the ground; The arm 3.2 is hinged with the base 3.1, and the hinge axis is parallel to the ground; the middle arm 3.3 is hinged with the large arm 3.2, and the hinge axis is parallel to the ground; the forearm 3.4 is hinged with the middle arm 3.3, and the hinge axis is parallel to the ground; the milling head 3.5 is parallel to the forearm 3.4 Hinged, the hinge axis is parallel to the ground; one end of the boom link I3.6 is hinged with the base 3.1, one end of the boom link II3.7 is hinged with the boom 3.2, the boom link I3.6 and the boom link are hinged II3.7 is hinged, the base 3.1, the boom 3.2, the boom link I3.6 and the boom link II3.7 form a double rocker mechanism, so that the cutting part 3 has a larger folding ratio and realizes the grooving process. There is a large operating range, and the overall dimensions of the fuselage are small during the process of dropping; The connecting rod I 3.8 and the milling head connecting rod II 3.9 are hinged, and the forearm 3.4, the milling head 3.5, the milling head connecting rod I 3.8 and the milling head connecting rod II 3.9 constitute a double rocker mechanism; the big arm The two ends of the oil cylinder 3.10 are hinged with the base 3.1 and the big arm connecting rod I3.8 respectively; the two ends of the middle arm oil cylinder 3.11 are respectively hinged with the big arm 3.2 and the middle arm 3.3; the two ends of the small arm oil cylinder 3.12 are respectively connected with the middle arm 3.3 and The forearm 3.4 is hinged; one end of the milling head cylinder 3.13 is hinged with the forearm 3.4, and the other end is hinged with the hinges of the excavator link I 3.8 and the milling head link II 3.9; the rotary drive 3.14 is connected to the front frame through bolts 1.1 is connected, and the base 3.1 is driven by the gear pair 3.15 to achieve ±90° rotation relative to the front frame 1.1. Through the above structure, the intelligent roadway grooving robot has a large working range, and can realize the positioning and opening of all grooves (top groove, side groove, bottom groove) at one time, and the whole machine has a small external size when the machine is down.

Further, there are two sets of boom connecting rod I 3.6, boom connecting rod II 3.7 and boom oil cylinder 3.10, which are arranged on both sides of boom 3.2 respectively; there are two milling and excavating head connecting rod I 3.8, respectively. Arranged on both sides of the forearm 3.4.

Further, the powertrain 5 includes an explosion-proof engine system and a hydraulic system; the explosion-proof engine outputs power, drives the hydraulic pump, and provides power for the hydraulic system; the hydraulic system drives the walking part to walk through the motor and the reducer, and provides walking power for the whole machine to walk, At the same time, the hydraulic oil source is provided for the cutting part 3 and the oil cylinder of the stable support system 6 .

Further, the stable support system 6 includes four identical support leg assemblies, which are respectively installed at the four corners of the main frame 1; the support leg assemblies include a support leg 6.1, a support leg base 6.2, a support oil cylinder 6.3 and an extension oil cylinder 6.4; the support leg 6.1 and The support leg base 6.2 is hinged, and the hinge axis is parallel to the ground; the support leg base 6.2 is hinged with the main frame 1, and the hinge axis is perpendicular to the ground; the two ends of the support cylinder 6.3 are hinged with the support leg base 6.2 and the support leg 6.1 respectively; Both ends are hinged with the main frame 1 and the support leg base 6.2 respectively. The extension cylinder 6.4 drives the support leg base 6.2 to rotate relative to the main frame 1, thereby pushing the support leg 6.1 to unfold relative to the main frame 1, and then supports the whole machine through the support cylinder 6.3 to ensure that the whole machine remains stable during the grooving process.

Further, the above-mentioned intelligent roadway slotting robot also includes an intelligent cutting control system, an angular displacement sensor I, an angular displacement sensor II, an angular displacement sensor III, an angular displacement sensor IV, a distance sensor I, a distance sensor II, and a distance sensor III. and distance sensor IV; angular displacement sensor I is used to collect the angle value between the boom 3.2 and the base 3.1; angular displacement sensor II is used to collect the angle value between the middle arm 3.3 and the boom 3.2; angular displacement sensor III is used to collect The angle value between the forearm 3.4 and the middle arm 3.3; the angular displacement sensor IV is used to collect the angle value between the milling head 3.5 and the forearm 3.4; the distance sensor I is used to collect the elongation of the boom cylinder 3.10; the distance Sensor II is used to collect the elongation of the middle arm cylinder 3.11; distance sensor III is used to collect the elongation of the forearm cylinder 3.12; distance sensor IV collects the elongation of the milling head cylinder 3.13; _{After completing the tool setting, receive the initial values θ 10} , θ ₂₀ , θ ₃₀ , and θ _{40 of the} angular displacement sensor I, angular displacement sensor II, angular displacement sensor III and angular displacement sensor IV, and calculate according to the formula that the milling head 3.5 relative to the machine _{The initial position coordinates (X 0} , Y ₀ ) of the body coordinate system (take the hinge point of the boom 3.2 and the base 3.1 in Figure 3 as the origin, the horizontal right direction is the positive direction of the X axis, and the vertical upward direction is the positive direction of the Y axis) , by looking up Table 1, Table 2, Table 3, Table 4 to read the elongation of the boom cylinder 3.10, the middle arm cylinder 3.11, the forearm cylinder 3.12, and the milling head cylinder 3.13, according to the upward, downward, left, The cutting command to the right, the intelligent cutting control system controls the automatic expansion and contraction of the oil cylinder, so as to realize automatic grooving;

In the formula: L ₁ is the length of the boom;

L ₂ is the length of the middle arm;

L ₃ is the length of the forearm;

L ₄ is the length of the milling head;

X ₀ and Y _{0 are} rounded to non-negative integers.

Table 1 Boom cylinder extension data table

Table 2 Data sheet for the extension of the middle arm cylinder

Table 3 Forearm Cylinder Elongation Data Sheet

Table 4 Elongation data table of milling head cylinder

_{For example, X 0} =3, Y ₀ =3 are obtained by formula calculation, when cutting to the left, the extension of the boom cylinder is in sequence L ₁ -3-3, L ₁ -2-3, L ₁ -1- 3. The _{corresponding actual data in L 1} -0-3 is automatically expanded and retracted. When cutting to the right, the extension of the boom cylinder will follow L ₁ -3-3, L ₁ -4-3, L ₁ -5- The corresponding actual data in 3... automatically expands and contracts. When cutting upwards, the extension of the boom cylinder is in turn according to the corresponding ones _{in L 1} -3-3, L ₁ -3-4, L _{1 -3-5...} The actual data automatically expands and contracts. When cutting downwards, the extension of the boom cylinder is in accordance with the corresponding L ₁ -3-3, L ₁ -3-2, L ₁ -3-1, and L ₁ -3-0. The actual data is automatically telescopic, and the middle arm cylinder, forearm cylinder and milling head cylinder are similar.

Further, the intelligent cutting system is integrated in the remote control transmitter 7 .

Some parameters of the above intelligent roadway slotting robot are:

(1) Weight of the whole machine (kg): 20000

(2) Installed power (kW): 90kw

(3) Cutting power (kW): 45

(4) Cutting hardness: ≤f4

(5) Adapt to the roadway height (mm): 3000 ~ 5000

(6) Adapt to roadway width (mm): 4000～6000

(7) Maximum adaptable slope: ±12°

(8) Ground clearance: 250mm.

The above intelligent roadway grooving robot is a special grooving equipment developed and designed for closed roadway and installation of dampers. Suitable for roadway width: 4.0-6.0 meters, suitable for roadway height: 3.0-5.0 meters, 360° grooving along the roadway section, and the grooving efficiency is not less than 5m ³ /h, which is about 30 times the efficiency of manual grooving. Automatically work in horizontal and vertical directions.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features thereof can be equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. Scope.

Claims

An intelligent roadway grooving robot is characterized in that it includes a main frame, a walking part, a cutting part, a cab, a power assembly for providing power for the intelligent roadway grooving robot, and a grooving process. Stable support system for the fuselage in the middle;

The cutting part, the cab and the power assembly are installed on the main frame to form the fuselage;

The cutting part includes a base, a large arm, an intermediate arm, a small arm, a milling head, a boom connecting rod I, a large boom connecting rod II, a milling head connecting rod I, a milling head connecting rod II, and a boom oil cylinder. , Intermediate arm cylinder, forearm cylinder, milling head cylinder and rotary drive;

The base is hinged with the main frame, and the hinge axis is perpendicular to the ground;

The boom is hinged with the base, and the hinge axis is parallel to the ground;

The middle arm is hinged with the big arm, and the hinge axis is parallel to the ground;

The small arm is hinged with the middle arm, and the hinge axis is parallel to the ground;

The milling head is hinged with the forearm, and the hinge axis is parallel to the ground;

One end of the boom link I is hinged with the base, one end of the boom link II is hinged with the boom, the boom link I and the boom link II are hinged, and the base, the boom, the boom link I and the boom are hinged. The arm link II constitutes a double rocker mechanism;

The milling head connecting rod I is hinged with the forearm, the milling head connecting rod II is hinged with the milling head, the milling head connecting rod I and the milling head connecting rod II are hinged, the forearm, the milling head and the milling head are hinged. The connecting rod I and the milling head connecting rod II constitute a double rocker mechanism;

Both ends of the boom oil cylinder are hinged with the base and the boom connecting rod I respectively;

Both ends of the middle arm oil cylinder are respectively hinged with the boom and the middle arm;

The two ends of the forearm oil cylinder are respectively hinged with the middle arm and the forearm;

One end of the milling head oil cylinder is hinged with the forearm, and the other end is hinged with the hinges of the milling head connecting rod I and the milling head connecting rod II;

The rotary drive is fixed on the main frame, and the base is driven by a gear pair to achieve ±90° rotation relative to the main frame.
intelligent roadway grooving robot according to claim 1, is characterized in that, described boom connecting rod I, boom connecting rod II and boom oil cylinder are two sets, respectively arranged on both sides of the boom;

There are two connecting rods I of the milling and excavating head, which are respectively arranged on both sides of the forearm.
The intelligent roadway slotting robot according to claim 2, wherein the stable support system comprises four identical support leg assemblies, which are respectively installed at the four corners of the main frame;

The support leg assembly includes a support leg, a support leg base, a support oil cylinder and an extension oil cylinder;

The support leg is hinged with the support leg base, and the hinge axis is parallel to the ground;

The support leg base is hinged with the main frame, and the hinge axis is perpendicular to the ground;

Both ends of the support oil cylinder are hinged with the support leg seat and the support leg respectively;

The two ends of the extending oil cylinder are respectively hinged with the main frame and the supporting leg seat.
The intelligent roadway slotting robot according to claim 3, wherein the main frame comprises a front frame, a middle frame and a rear frame connected by bolts;

the cutting part is arranged on the front frame;

The cab is arranged on the intermediate frame

The powertrain is provided on the rear frame.
The intelligent roadway grooving robot according to claim 4, wherein the power assembly comprises an explosion-proof engine system and a hydraulic system;

The explosion-proof engine outputs power, drives the hydraulic pump, and provides power for the hydraulic system;

The hydraulic system drives the walking part to walk through the motor and the reducer, provides walking power for the whole machine to walk, and provides hydraulic oil source for the cutting part and the oil cylinder of the stable support system.
The intelligent roadway grooving robot according to claim 5, characterized in that, further comprising an intelligent cutting control system, an angular displacement sensor I, an angular displacement sensor II, an angular displacement sensor III, an angular displacement sensor IV, a distance sensor I, Distance sensor II, distance sensor III and distance sensor IV;

The angular displacement sensor I is used to collect the angle value between the boom and the base;

The angular displacement sensor II is used for the angle value between the middle arm and the big arm;

The angular displacement sensor III is used to collect the angle value between the forearm and the middle arm;

The angular displacement sensor IV is used to collect the angle value between the milling head and the forearm;

The distance sensor I is used to collect the elongation of the boom cylinder;

The distance sensor II is used to collect the elongation of the middle arm oil cylinder;

The distance sensor III is used to collect the elongation of the forearm oil cylinder;

The distance sensor IV collects the elongation of the oil cylinder of the milling head;

The intelligent cutting control system receives the initial values θ 10 , θ 20 , θ 30 , θ 40 of angular displacement sensor I, angular displacement sensor II, angular displacement sensor III and angular displacement sensor IV after manual tool setting, according to the formula Calculate the initial position coordinates (X 0 , Y 0 ) of the milling head relative to the fuselage coordinate system, and read the elongation of the boom cylinder, middle arm cylinder, forearm cylinder, and milling head cylinder by looking up the table. , downward, left and right cutting commands, the intelligent cutting control system controls the automatic expansion and contraction of the oil cylinder, so as to realize automatic grooving;

In the formula: L 1 is the length of the boom;

L 2 is the length of the middle arm;

L 3 is the length of the forearm;

L 4 is the length of the milling head;

H is the height from the hinge point of the boom and the base to the bottom of the equipment;

X 0 and Y 0 are rounded to non-negative integers;

Cylinder Elongation Data Sheet

In the table, m is 1/2 of the maximum roadway width adapted by the intelligent roadway grooving robot, and the unit is the same as X 0;

n is the maximum roadway section height adapted by the intelligent roadway grooving robot, and the unit is the same as Y 0;

p=1, 2, 3, 4, when p=1, it is the extension of the boom cylinder, when p=2, it is the extension of the middle arm cylinder, when p=3, it is the extension of the forearm cylinder, p When =4, it is the elongation of the milling head cylinder.
The intelligent roadway slotting robot according to claim 6, wherein the intelligent cutting system is integrated in a remote control transmitter.