Roadway/tunnel excavation robot and automatic cutting control method

A roadway/tunnel excavation robot, comprising:

• a rack;
• a walking platform, disposed at a bottom of the rack, and configured to move the rack;
• a supporting and stabilizing mechanism, disposed on the rack, and configured to support a roof and floor or sidewall of a roadway;
• a milling mechanism, configured to mill coal-rock masses;
• a telescoping mechanism, disposed between the milling mechanism and the rack to cause the milling mechanism to extend and retract;
• a horizontal swinging mechanism, disposed between the telescoping mechanism and the rack to cause the milling mechanism to swing leftwards and rightwards;
• an inclined cutting feed adjusting mechanism, disposed between the telescoping mechanism and the milling mechanism to cause an inclined cutting direction of the milling mechanism to be changed;
• a lifting mechanism, disposed between the horizontal swinging mechanism and the telescoping mechanism to swing up and down;
• a controller, configured to control a milling mechanism of the robot;
• wherein, the milling mechanism comprises:
• a drive unit, having a drive end that is in driving connection with an eccentric rotary casing, and fixedly connected to a milling mechanism housing;
• a milling shaft, provided with a milling cutter head at a milling end thereof, and provided with a limiting member at a middle section thereof, the limiting member being configured to counteract an axial force acting on the milling shaft;
• the eccentric rotary casing, disposed between the milling shaft and the drive unit, and internally provided with an inner hole, where the inner hole is in mating connection with the milling shaft, and an included angle exists between a first center line, of the inner hole and a second center line, of the eccentric rotary casing, such that the milling cutter head on the milling shaft performs rotational oscillation for milling and rock breaking;
• a high-pressure jet nozzle unit, disposed on a milling end of the milling shaft in the milling mechanism to form a high-pressure jet to assist the milling cutter head in breaking rocks;
• a tension and compression sensor, disposed on the milling mechanism housing, in signal connection with the controller, and configured to detect a force load of a connecting fastener in the milling mechanism;
• and
• a direction sensor, disposed on the milling mechanism housing, in signal connection with the controller, and configured to detect a movement direction of the milling cutter head.