Intelligent automatic coal excavation guide deviation rectifying device

Abstract

The invention relates to the technical field of coal mine intelligent tunneling, and discloses an intelligent automatic coal digging tunneling guiding and deviation rectifying device which comprises a rack fixedly connected to a machine body of a tunneling machine through bolts; a bevel gear differential mechanism deviation rectifying mechanism comprises a differential mechanism shell, a driving bevel gear, a driven bevel gear, two half-shaft bevel gears and two planet bevel gears. The eccentric detection wheel set comprises two detection wheels, a connecting cross beam, an eccentric measuring rod, a brake control pull rod and a pendulum bob; the differential control mechanism comprises two brake drums, two brake belts and a bidirectional control cam; the output synthesis mechanism comprises two bevel gears and an intermediate shaft, the two bevel gears are connected to the outer ends of the two output shafts through bevel gear transmission mechanisms respectively, and the intermediate shaft is supported in a bearing seat of the rack through a bearing; according to the invention, automatic deviation correction control of the tunneling direction is realized, the problem of failure of the laser orientation instrument in a dust environment is solved, the problem of high energy consumption is solved, and automatic adjustment of the tunneling direction is realized.

Description

Technical Field

[0001] This invention relates to the field of intelligent coal mining technology, and more specifically, to an intelligent automatic coal mining and tunneling guidance and correction device. Background Technology

[0002] In coal mine tunneling operations, tunneling machines (TBMs) need to advance precisely along a predetermined trajectory to ensure the quality of tunnel formation. Existing TBMs generally use hydraulic cylinders to push and pull the cutting arm to adjust the tunneling direction, requiring the operator to manually control the hydraulic valves for directional correction based on a laser pointer. However, this manual correction method has the following technical problems: First, manual observation and operation have a lag in response, leading to untimely correction; second, frequent adjustments to the hydraulic system significantly increase energy consumption, reducing the equipment's economic efficiency; more seriously, in the high-dust environment of underground coal mines, the laser pointer's beam is often blocked by dust and malfunctions, making it impossible for the operator to accurately judge the degree of deviation. Ultimately, this leads to the continuous accumulation of tunneling trajectory deviations, affecting the accuracy of tunnel formation and the safety of subsequent support operations. Summary of the Invention

[0003] This invention provides an intelligent automatic coal mining tunneling guidance and correction device, which solves the problem of lag in manual operation in related technologies and solves the technical problem of accumulated tunneling trajectory deviation.

[0004] This invention provides an intelligent automatic coal mining tunneling guidance and correction device, comprising:

[0005] The frame is bolted to the body of the tunneling machine;

[0006] The bevel gear differential correction mechanism includes a differential housing, a driving bevel gear, a driven bevel gear, two half-shaft bevel gears, and two planetary bevel gears. The differential housing is installed in the bearing housing of the frame. The driving bevel gear is connected to the main drive shaft of the tunneling machine. The driven bevel gear is fixed on the outer periphery of the differential housing and meshes with the driving bevel gear. The two half-shaft bevel gears are respectively fitted with two output shafts. The two planetary bevel gears are installed inside the differential housing through planetary shafts in a cross shape. Each planetary bevel gear meshes with two half-shaft bevel gears simultaneously.

[0007] The eccentric detection wheel assembly includes two detection wheels, a connecting beam, an eccentric measuring rod, a pendulum, and a brake control rod. The two detection wheels are respectively installed at both ends of the connecting beam via a telescopic rod mechanism. The connecting beam is connected to the middle section of the eccentric measuring rod via a hinge. The lower end of the eccentric measuring rod is fixedly connected to the pendulum. The gravity of the pendulum keeps the eccentric measuring rod in a vertical state. One end of the eccentric measuring rod is rotatably connected to the brake control rod, and the other end of the brake control rod is hinged to a drive arm.

[0008] The differential control mechanism is mounted on two output shafts and includes a brake drum, a brake band, and a bidirectional control cam. The brake drum is fixed to the outer periphery of the middle section of the two output shafts by a key connection. The brake band is C-shaped and wraps around the brake drum. One end of the brake band is hinged to the frame by a pin, and the other end is connected to the brake control lever.

[0009] The bidirectional control cam is rotatably mounted on the frame via a rotating shaft. The bidirectional control cam includes a cam body, and a drive arm is located at the radial extension end of the cam body. The cam body has two eccentric parts, which are symmetrically distributed at 180 degrees relative to the rotating shaft. The brake control lever is connected to the eccentric parts of the cam body via a connecting rod.

[0010] The output synthesis mechanism includes two helical gears and an intermediate shaft. The two helical gears are connected to the outer ends of the output shaft on both sides through a bevel gear transmission mechanism. The intermediate shaft is supported in the bearing seat of the frame by bearings. An intermediate gear is fixed on the intermediate shaft and meshes with the two helical gears.

[0011] Furthermore, the upper end of the eccentric measuring rod is provided with a longitudinal guide hole along the length direction of the eccentric measuring rod, the frame is provided with a transverse guide groove, a slider is provided in the transverse guide groove, a rotating shaft is provided on the slider, the rotating shaft passes through the longitudinal guide hole, a bearing sleeve is provided on the outer periphery of the rotating shaft, and the bearing sleeve contacts the inner wall of the longitudinal guide hole.

[0012] Furthermore, the brake control lever connecting end of one of the brake bands is connected to the first eccentric part of the cam body via a first connecting rod, and the brake control lever connecting end of the other brake band is connected to the second eccentric part of the cam body via a second connecting rod.

[0013] Furthermore, the differential control mechanism also includes a return spring, one end of which is fixed to the frame and the other end is connected to the return arm of the bidirectional control cam. The return arm extends from the cam body in another direction as a rod-shaped structure.

[0014] Furthermore, the bevel gear differential correction mechanism is a spiral bevel gear differential structure, in which both the driving bevel gear and the driven bevel gear are spiral bevel gears, and the two mesh progressively through the spiral tooth surfaces.

[0015] Furthermore, the telescopic rod mechanism includes two telescopic rods, which are respectively connected to both ends of the connecting crossbeam. Each telescopic rod is equipped with a compression spring inside for normal extension and retraction.

[0016] Furthermore, the pendulum is made of high-density alloy material, and the center of mass of the pendulum is located on the extension line of the axis of the eccentric measuring rod.

[0017] Furthermore, a friction pad is attached to the inner surface of the brake band, and the friction pad is made of a semi-metallic friction material.

[0018] Furthermore, the output synthesis mechanism also includes a final output shaft, which is connected to the intermediate shaft via a coupling, and the outer end of the final output shaft is connected to the cutting head drive shaft of the tunneling machine via a flange.

[0019] Furthermore, the intermediate gear is a double gear, which consists of two helical gears. Both helical gears are fixed on the same shaft, and the helix angles of the two helical gears are opposite. The two helical gears mesh with the intermediate double gear respectively.

[0020] The beneficial effects of this invention are as follows:

[0021] This invention replaces the traditional hydraulic correction system with a bevel gear differential correction mechanism, and realizes automatic correction control of the tunneling direction by utilizing the mechanical differential principle. This overcomes the problem of lag in manual operation and solves the technical problem of accumulated tunneling trajectory deviation.

[0022] The eccentric detection wheel set directly detects the deviation of the machine body relative to the roadway through a purely mechanical means. The gravity self-stabilizing structure of the pendulum and eccentric measuring rod converts the deviation information into a control signal, without relying on laser or other optical detection methods. Therefore, it overcomes the problem of laser pointer failure in dusty environments.

[0023] The differential control mechanism achieves differential control of the brake bands on both sides through a bidirectional control cam. While one brake band tightens, the other side loosens. The inherent torque automatic distribution characteristic of the differential generates a corrective torque. The entire corrective process is a continuous mechanical transmission, eliminating the need for frequent start-stop of the hydraulic system, thus solving the problem of high energy consumption.

[0024] The output synthesis mechanism converts differential motion into lateral correction torque through the superposition of axial force components of helical gears, realizing automatic adjustment of the tunneling direction. The entire device has a simple and reliable structure and is suitable for harsh underground working environments. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the intelligent automatic coal mining and tunneling guidance and correction device of the present invention;

[0026] Figure 2 This is a top view of the intelligent automatic coal mining and tunneling guidance and correction device of the present invention;

[0027] Figure 3 This is a partial side view of the intelligent automatic coal mining and tunneling guidance and correction device of the present invention;

[0028] Figure 4 This is a partial perspective view of the intelligent automatic coal mining and tunneling guidance and correction device of the present invention;

[0029] Figure 5This is a partial top view of the intelligent automatic coal mining and tunneling guidance and correction device of the present invention;

[0030] Figure 6 This is a structural diagram of the bevel gear differential correction mechanism of the present invention.

[0031] In the diagram: 100, frame; 200, bevel gear differential correction mechanism; 201, differential housing; 202, driving bevel gear; 203, driven bevel gear; 204, half-shaft bevel gear; 205, planetary bevel gear; 300, detection wheel; 301, connecting crossbeam; 302, eccentric measuring rod; 303, pendulum; 304, transverse guide groove; 305, brake control lever; 306, rotating shaft; 307, telescopic rod; 400, brake drum; 401, brake band; 402, bidirectional control cam; 403, return spring; 404, drive arm; 405, return arm; 500, output synthesis mechanism; 501, helical gear; 502, intermediate gear; 503, intermediate shaft; 504, final output shaft; 505, flange; 600, bevel gear transmission mechanism. Detailed Implementation

[0032] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and implement the subject matter described herein, and changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, some features described in the examples may be combined in other examples.

[0033] At least one embodiment of the present invention discloses an intelligent automatic coal mining tunneling guidance and correction device, such as... Figure 1 - Figure 6 As shown, this device achieves automatic deviation correction of the tunneling machine through the principle of mechanical differential speed. The device includes: a frame 100, a bevel gear differential deviation correction mechanism 200, an eccentricity detection wheel group, a differential control mechanism, and an output synthesis mechanism 500.

[0034] The frame 100 serves as the load-bearing foundation for the entire device and is bolted to the body of the tunneling machine. The bevel gear differential correction mechanism 200 is installed inside the frame 100 and includes a differential housing 201, a driving bevel gear 202, a driven bevel gear 203, two half-shaft bevel gears 204, and two planetary bevel gears 205. The differential housing 201 is rotatably supported within a bearing seat of the frame 100 by a pair of bearings. The driving bevel gear 202 is connected to the main drive shaft of the tunneling machine via a splined shaft to receive power input. The driven bevel gear 203 is fixed to the outer periphery of the differential housing 201 and meshes with the driving bevel gear 202. Two half-shaft bevel gears 204 are respectively installed on the inner ends of the left and right output shafts via spline engagement. Two planetary bevel gears 205 are installed inside the differential housing 201 via planetary shaft cross-shaped interlocking. Each planetary bevel gear 205 simultaneously meshes with two half-shaft bevel gears 204 to form a differential transmission relationship.

[0035] The bevel gear differential correction mechanism 200 is a spiral bevel gear differential structure. Both the driving bevel gear 202 and the driven bevel gear 203 adopt spiral bevel gears, which achieve smoother power transmission and lower noise through the progressive meshing of the spiral tooth surfaces.

[0036] An eccentric detection wheel assembly is installed on the front extension of the frame 100 to detect the deviation of the tunneling machine from the roadway centerline. The eccentric detection wheel assembly includes two detection wheels 300, a connecting beam 301, an eccentric measuring rod 302, a pendulum 303, and a brake control lever 305. The two detection wheels 300 are respectively mounted at both ends of the connecting beam 301 via telescopic rods 307. Each telescopic rod 307 has a compression spring inside, ensuring that the detection wheels 300 are always pressed outwards and tightly against the side walls of the roadway. The connecting beam 301 is connected to the middle section of the eccentric measuring rod 302 via a hinge. The lower end of the eccentric measuring rod 302 is fixedly connected to the pendulum 303, and the weight of the pendulum 303 keeps the eccentric measuring rod 302 in a vertical position. The upper section of the eccentric measuring rod 302 is provided with a longitudinal guide hole along the length of the eccentric measuring rod 302. The frame 100 is provided with a transverse guide groove 304. A slider is provided in the transverse guide groove 304. A rotating shaft 306 is provided on the slider. The rotating shaft 306 passes through the longitudinal guide hole and is rotatably connected to one end of the brake control lever 305. The other end of the brake control lever 305 is hinged to the drive arm 404.

[0037] The pendulum 303 is made of high-density alloy material, and its center of mass is located on the extension line of the axis of the eccentric measuring rod 302, ensuring that the eccentric measuring rod 302 can quickly and accurately reflect the tilt state of the machine body. In order to reduce the frictional resistance between the slider and the transverse guide groove 304, a needle roller bearing is set on the outer periphery of the slider, so that the slider can slide smoothly in the transverse guide groove 304; in order to reduce the friction between the rotating shaft 306 and the longitudinal guide hole, a bearing sleeve is provided on the outer periphery of the rotating shaft 306, and the bearing sleeve contacts the inner wall of the longitudinal guide hole, ensuring that the rotating shaft 306 can slide smoothly in the longitudinal guide hole. The hinge is the rotating shaft 306 in conjunction with a bearing or a pin.

[0038] The differential control mechanism is mounted on the left and right output shafts and is used to adjust the speed difference between the two output shafts based on the eccentricity detection results. The differential control mechanism includes two brake drums 400, two brake bands 401, a bidirectional control cam 402, and a return spring 403. The two brake drums 400 are respectively fixed to the outer periphery of the middle section of the left and right output shafts by key connections. Each brake band 401 is C-shaped and surrounds the corresponding brake drum 400. One end of the brake band 401 is hinged to the frame 100 by a pin, and the other end is provided with a brake control lever 305 connection end. A bidirectional control cam 402 is rotatably mounted on the frame 100 via a pivot 306. The bidirectional control cam 402 includes a circular cam body and a drive arm 404 extending radially from the cam body. The cam body has two eccentric portions, symmetrically distributed 180 degrees with respect to the pivot 306. The brake control lever 305 of the left brake band 401 is connected to the first eccentric portion of the cam body via a first connecting rod, and the brake control lever 305 of the right brake band 401 is connected to the second eccentric portion of the cam body via a second connecting rod. The end of the drive arm 404 is hinged to the other end of the brake control lever 305 via a pin. One end of a return spring 403 is fixed to the frame 100, and the other end is connected to the return arm 405 of the bidirectional control cam 402. The return arm 405 is a rod-shaped structure extending from the cam body in the other direction, allowing the bidirectional control cam 402 to maintain a neutral position when no external force is applied.

[0039] The inner surface of the brake band 401 is covered with friction pads made of semi-metallic friction material, which provide a stable coefficient of friction and good wear resistance during braking.

[0040] The output synthesis mechanism 500 is located at the outer ends of the left and right output shafts and is used to convert differential motion into correction motion. The output synthesis mechanism 500 includes two helical gears 501, an intermediate shaft 503, and a final output shaft 504. The two helical gears 501 are connected to the outer ends of the left and right output shafts respectively via a bevel gear transmission mechanism 600. The helix angles of the two helical gears 501 are opposite in direction but have the same angle value. The intermediate shaft 503 is rotatably supported in a bearing seat of the frame 100 by bearings, and an intermediate gear 502 is fixed on the intermediate shaft 503, meshing simultaneously with the two helical gears 501. The final output shaft 504 is connected to the intermediate shaft 503 via a coupling, and the outer end of the final output shaft 504 is connected to the cutting head drive shaft of the tunneling machine via a flange 505.

[0041] The intermediate gear 502 is a double gear, which consists of two helical gears 501. These two helical gears 501 are fixed on the same shaft, but their helix angles are opposite, and they mesh with the corresponding parts of the intermediate double gear.

[0042] To compensate for assembly errors and thermal expansion deformation, the coupling adopts a flexible coupling structure, which transmits torque through rubber elastic elements while allowing small axial and radial displacements.

[0043] Execution steps

[0044] Step 1: After the tunneling machine is started, the main drive shaft drives the drive bevel gear 202 to rotate through the spline shaft. The drive bevel gear 202 drives the driven bevel gear 203 and the differential housing 201 to rotate together through gear meshing.

[0045] Step Two: When the tunneling machine advances in a straight line along the centerline of the tunnel, the contact height between the two detection wheels 300 and the tunnel wall is the same, and the connecting beam 301 remains horizontal. At this time, the eccentric measuring rod 302 remains vertical and without lateral displacement under the gravity of the pendulum 303, the brake control lever 305 does not generate tension, the bidirectional control cam 402 remains in a neutral position under the action of the return spring 403, and both brake bands 401 are in a relaxed state and do not contact the brake drum 400. The differential housing 201 drives the two planetary bevel gears 205 to revolve. Due to the equal resistance on both sides, the two half-shaft bevel gears 204 rotate at the same speed, and the left and right output shafts output the same speed and torque.

[0046] Step 3: When the tunneling machine body deviates to one side of the roadway, the detection wheel 300 on that side moves down along the roadway wall, while the detection wheel 300 on the opposite side moves up along the roadway wall, creating a height difference. The connecting beam 301 tilts accordingly, and the hinged joint acts as a fulcrum, allowing the eccentric measuring rod 302 to rotate relative to the connecting beam 301.

[0047] Step 4: Under the influence of gravity from the pendulum 303, the eccentric measuring rod 302 remains vertical. Due to the tilt of the connecting beam 301, the position of the hinge changes, causing the eccentric measuring rod 302 to swing. As the eccentric measuring rod 302 swings, the driving slider slides along the transverse guide groove 304, while the rotating shaft 306 slides within the longitudinal guide hole to adapt to the change in the vertical position of the eccentric measuring rod 302, thereby causing the brake control lever 305 to swing. The brake control lever 305 transmits force to the end of the drive arm 404 of the bidirectional control cam 402 through the hinge point, causing the drive arm 404 and the bidirectional control cam 402 to rotate around the rotating shaft 306 by a specific angle.

[0048] In some embodiments, the rotation angle of the bidirectional control cam 402 in step four is proportional to the body deviation angle. The correction sensitivity can be adjusted by adjusting the eccentricity of the two eccentric parts of the bidirectional control cam 402 body.

[0049] Step 5: After the bidirectional control cam 402 rotates, since the two eccentric parts are symmetrically distributed 180 degrees with respect to the rotating shaft 306, when the bidirectional control cam 402 rotates clockwise, the first eccentric part pushes the first connecting rod outward, tightening the left brake band 401, while the second eccentric part retracts inward, releasing the right brake band 401 through the second connecting rod; conversely, when the bidirectional control cam 402 rotates counterclockwise, the second eccentric part pushes the second connecting rod outward, tightening the right brake band 401, while the first eccentric part retracts inward, releasing the left brake band 401. The inner surface of the tightened brake band 401 contacts the outer circumference of the corresponding brake drum 400, generating friction, which reduces the speed of the output shaft on that side, and the speed of the corresponding half-shaft bevel gear 204 also decreases.

[0050] Step Six: Based on the torque distribution characteristics of the differential, when the speed of one half-shaft bevel gear 204 decreases, the differential automatically transmits more torque to the other half-shaft bevel gear 204, increasing the speed of the opposite output shaft. A speed difference is formed between the two output shafts, and this speed difference is proportional to the degree of deviation from the engine body.

[0051] Step 7: When the two helical gears 501 rotate at different speeds, they generate axial force through meshing with the intermediate gear 502. Since the helix angles of the two helical gears 501 are opposite, the axial force generated is in the same direction and is superimposed. It is transmitted to the cutting head through the intermediate shaft 503 and the final output shaft 504, causing the cutting head to generate a lateral correction torque.

[0052] Step 8: Under the action of the correction torque, the cutting head adjusts the cutting direction, allowing the tunneling machine to gradually return to the center line of the roadway. As the machine body returns to center, the height difference between the two detection wheels 300 decreases, the lateral displacement of the eccentric measuring rod 302 decreases, and the bidirectional control cam 402 gradually rotates back to the neutral position under the action of the return spring 403. The two eccentric parts return to their initial positions simultaneously, the brake bands 401 on both sides are released, and the output shafts on both sides resume the same speed, completing one correction cycle.

[0053] To avoid overcorrection leading to reverse deviation, in step eight, when the fuselage approaches the centerline, the preload of the reset spring 403 gradually overcomes the tension of the brake control lever 305, thus gradually weakening the braking effect and achieving a smooth transition.

[0054] The embodiments of the present invention have been described above. However, the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make more equivalent embodiments under the guidance of the present embodiments, and all of them are within the protection scope of the present embodiments.

Claims

1. An intelligent automatic coal mining and tunneling guidance and correction device, characterized in that, include: The frame is bolted to the body of the tunneling machine; The bevel gear differential correction mechanism includes a differential housing, a driving bevel gear, a driven bevel gear, two half-shaft bevel gears, and two planetary bevel gears. The differential housing is installed in the bearing housing of the frame. The driving bevel gear is connected to the main drive shaft of the tunneling machine. The driven bevel gear is fixed on the outer periphery of the differential housing and meshes with the driving bevel gear. The two half-shaft bevel gears are respectively fitted with two output shafts. The two planetary bevel gears are installed inside the differential housing through planetary shafts in a cross shape. Each planetary bevel gear meshes with two half-shaft bevel gears simultaneously. The eccentric detection wheel assembly includes two detection wheels, a connecting beam, an eccentric measuring rod, a pendulum, and a brake control rod. The two detection wheels are respectively installed at both ends of the connecting beam via a telescopic rod mechanism. The connecting beam is connected to the middle section of the eccentric measuring rod via a hinge. The lower end of the eccentric measuring rod is fixedly connected to the pendulum. The gravity of the pendulum keeps the eccentric measuring rod in a vertical state. One end of the eccentric measuring rod is rotatably connected to the brake control rod, and the other end of the brake control rod is hinged to a drive arm. The differential control mechanism is mounted on two output shafts and includes a brake drum, a brake band, and a bidirectional control cam. The brake drum is fixed to the outer periphery of the middle section of the two output shafts by a key connection. The brake band is C-shaped and wraps around the brake drum. One end of the brake band is hinged to the frame by a pin, and the other end is connected to the brake control lever. The bidirectional control cam is rotatably mounted on the frame via a rotating shaft. The bidirectional control cam includes a cam body, and a drive arm is located at the radial extension end of the cam body. The cam body has two eccentric parts, which are symmetrically distributed at 180 degrees relative to the rotating shaft. The brake control lever is connected to the eccentric parts of the cam body via a connecting rod. The output synthesis mechanism includes two helical gears and an intermediate shaft. The two helical gears are connected to the outer ends of the output shaft on both sides through a bevel gear transmission mechanism. The intermediate shaft is supported in the bearing seat of the frame by bearings. An intermediate gear is fixed on the intermediate shaft and meshes with the two helical gears.

2. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The upper end of the eccentric measuring rod is provided with a longitudinal guide hole along the length of the eccentric measuring rod. The frame is provided with a transverse guide groove, and a slider is provided in the transverse guide groove. A rotating shaft is provided on the slider, and the rotating shaft passes through the longitudinal guide hole. A bearing sleeve is provided on the outer circumference of the rotating shaft, and the bearing sleeve contacts the inner wall of the longitudinal guide hole.

3. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, One of the brake bands has its brake control lever connecting end connected to the first eccentric part of the cam body via a first connecting rod, and the other brake band has its brake control lever connecting end connected to the second eccentric part of the cam body via a second connecting rod.

4. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The differential control mechanism also includes a return spring, one end of which is fixed to the frame and the other end is connected to the return arm of the bidirectional control cam. The return arm extends from the cam body in the other direction as a rod-shaped structure.

5. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The bevel gear differential correction mechanism is a spiral bevel gear differential structure, in which both the driving bevel gear and the driven bevel gear are spiral bevel gears, and the two mesh progressively through the spiral tooth surfaces.

6. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The telescopic rod mechanism includes two telescopic rods, which are respectively connected to both ends of the connecting beam. Each telescopic rod is equipped with a compression spring for normal extension and retraction.

7. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The pendulum is made of high-density alloy material, and the center of mass of the pendulum is located on the extension line of the axis of the eccentric measuring rod.

8. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 3, characterized in that, The inner surface of the brake band is covered with a friction pad, which is made of a semi-metallic friction material.

9. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The output synthesis mechanism also includes a final output shaft, which is connected to the intermediate shaft via a coupling, and the outer end of the final output shaft is connected to the cutting head drive shaft of the tunneling machine via a flange.

10. The intelligent automatic coal mining and tunneling guidance and correction device according to claim 1, characterized in that, The intermediate gear is a double gear, which consists of two helical gears. Both helical gears are fixed on the same shaft, and the helix angles of the two helical gears are opposite. The two helical gears mesh with the intermediate double gear respectively.

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