A vibration suppression type tunneling machine cutting mechanism based on torsional pendulum pre-tension

Abstract

A kind of vibration suppression type tunneling machine cutting mechanism based on torsional pendulum pre-tightening force belongs to the technical field of mine equipment, in order to solve the vibration problem of existing roadway tunneling machine cutting mechanism;Including cutting head, piezoelectric actuator, displacement sensor and pre-tightening device etc., the vibration displacement amount of tunneling machine cutting working mechanism is obtained by displacement sensor, piezoelectric actuator is installed at the front end of cutting arm flexible shaft to assist vibration suppression, displacement sensor is fed back to active control system, fuzzy controller is designed by means of fuzzy control strategy, the input of controller is displacement response error and its rate of change, so as to change input voltage value, by means of the rapid response capability of piezoelectric actuator, the active force applied in the cutting feed direction is changed, and then the vibration generated by tunneling machine cutting working mechanism is controlled, the stability of tunneling machine work is greatly improved, which is beneficial to reduce equipment damage and improve roadway tunneling speed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mine equipment, in particular to a vibration suppression type tunneling machine cutting mechanism based on torsional pendulum pre-tension. BACKGROUND

[0002] In China, coal plays an important role in the primary energy system. Coal mines in China are mainly underground mined, and the rock properties under deep geology are complex, making tunneling difficult. Higher requirements are put forward for mining technology and equipment. At the same time, tunnel, highway, railway and other engineering projects are developing rapidly, and the above problems are faced with the efficient breaking of hard rock.

[0003] Cantilever type tunneling machines are widely used in roadway tunneling and coal mining. The tunneling machine uses cutters on the cutting working mechanism to break part of the cross section of rock or coal by moving the cutting arm with the help of the swing hydraulic cylinder of the tunneling machine, and finally completes the cutting to realize cross section tunneling. However, when the tunneling machine cutting working mechanism cuts coal and rock, it will produce a large vibration, resulting in a large amount of dust, which is not easy to form a cross section, and affects the health of the operator and the service life of the equipment. Therefore, vibration control of the tunneling machine cutting working mechanism is a key technical problem for efficient tunneling of hard rock roadways.

[0004] Therefore, a vibration suppression type tunneling machine cutting mechanism based on torsional pendulum pre-tension is proposed. SUMMARY

[0005] The present application aims to provide a reliable, stable and efficient tunneling machine cutting working mechanism vibration control device that can effectively control the vibration of the cutting working mechanism.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a vibration suppression type tunneling machine cutting mechanism based on torsional pendulum pre-tension, comprising a shell movably mounted on the tunneling machine and a movable support part movably arranged at the bottom of the shell, the shell is swung up and down by the movable support part, a cutting arm flexible shaft is fixedly connected to the side wall at the end of the shell, a fixed support is fixedly connected to the end of the cutting arm flexible shaft, a cutting head is fixedly connected to the end of the fixed support, cutting tooth tips are uniformly and interval fixedly arranged on the outer wall of the cutting head, a displacement sensor and a three-way acceleration sensor are sequentially arranged on the outer wall of the fixed support between the three-way acceleration sensor and the cutting head, a piezoelectric actuator is arranged on the outer wall of the fixed support between the three-way acceleration sensor and the cutting head through a support frame, pre-tensioning devices are uniformly and interval movably arranged on the side wall of the piezoelectric actuator, the end of the pre-tensioning device is fixedly arranged on the outer wall of the fixed support through a bearing mounting frame, and the piezoelectric actuator, the force gauge and the support frame are integrated into a vibration control device of the cutting head, the control system of the vibration control device comprises a signal collector, a power amplifier and a controller, the controller performs signal transmission based on a control signal output module;

[0007] The pre-tightening device is hingedly connected at the front and rear ends, and a flexible spring is connected between the two ends in the interior of the pre-tightening device.

[0008] Further, the cutting head, the cutting tooth tip and the flexible shaft of the cutting arm are coaxially arranged, the tail end of the cutting head extends into the flexible shaft of the cutting arm, and the cutting arm is extended and retracted forward and backward.

[0009] Further, the displacement sensor is fixedly installed through the clamp, one is installed in the x direction and the y direction, and the end is fixed with a bolt to collect displacement signals in two directions; the capacitive displacement sensor is based on the ideal flat plate capacitor principle, in the working process, input stable alternating current, demodulate after output analog signal, collect displacement signal and directly input the controller.

[0010] Further, the displacement sensor real-time monitors the vibration amplitude of the cutting arm and feeds back to the controller, calculates the control voltage through the fuzzy controller principle, and inputs to the piezoelectric actuator through the power amplifier, and then controls the vibration of the flexible shaft of the cutting arm.

[0011] Further, the piezoelectric actuator is installed in two pairs along the x and y directions outside the cutting arm, and the end is fixed with a bolt, so as to generate active control force to suppress vibration; a strain gauge is attached to the end of the cutting mechanism, and the strain gauge on the piezoelectric actuator is used for closed-loop position control.

[0012] Further, the cutting tooth tip comprises a fixed cylinder seat fixedly connected to the outer wall of the cutting head and a limiting cylinder movably engaged between the inner walls at the bottom plate of the fixed cylinder seat, the limiting cylinder is arranged in an inverted convex shape, and a buffer pad is arranged between the top plate of the limiting cylinder and the bottom plate of the fixed cylinder seat, a limiting clamp is movably arranged on the bottom plate of the fixed cylinder seat, and the end of the limiting clamp extends into the interior of the fixed cylinder seat and is fixedly connected to the bottom of the limiting cylinder, a cutting tooth body is fixedly arranged in the limiting cylinder, and the end of the cutting tooth body extends to the outside of the fixed cylinder seat.

[0013] Further, the limiting cylinder bottom plate is fixedly connected with a protruding block, the cutting tooth body bottom is provided with a receiving cavity corresponding to the protruding block, the inner wall on one side of the receiving cavity is provided with a passing hole, and the inner walls on both sides of the receiving cavity perpendicular to the passing hole are respectively provided with limiting holes.

[0014] Further, a positioning cavity is arranged at the corresponding delivery hole inside the convex block, the positioning cavity port extends to the side wall of one end of the convex block, the first adjusting rod and the second adjusting rod fixed together are movably clamped in the positioning cavity, the moving limiting rod is movably arranged on the side wall of the convex block at the lower end of the first adjusting rod and the second adjusting rod respectively, the adjusting tooth grooves are arranged on the bottom of the first adjusting rod and the second adjusting rod, and the meshing teeth are uniformly arranged on the top of the moving limiting rod at the corresponding adjusting tooth groove.

[0015] Further, the strong magnetic block is embedded on the side wall of the first adjusting rod away from the second adjusting rod, the adjusting tooth grooves at the bottom of the first adjusting rod and the second adjusting rod are arranged in opposite directions, and the first adjusting rod and the second adjusting rod are arranged perpendicular to the rotation direction of the cutting head.

[0016] Compared with the prior art, the beneficial effects of the present application are as follows:

[0017] The cutting mechanism of the tunneling machine provided by the present application can realize deformation compensation and vibration suppression of the cutting working mechanism, reduce the vibration generated by the cutting work of the tunneling machine, improve the tunneling efficiency, and is easy to form a roadway; and only the input voltage value needs to be changed to change the active force applied in the cutting feeding direction, so as to control the vibration amplitude generated by the cutting working mechanism of the tunneling machine. From the economic point of view, the problem of low service life caused by the vibration of the cutting arm in the traditional cutting mechanism is changed, the service life of the equipment is prolonged, the labor intensity of the workers is reduced, and the efficiency of the roadway tunneling and coal mining is further improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present application;

[0019] Figure 2 It is a schematic diagram of the cutting mechanism structure of the tunneling machine of the present application;

[0020] Figure 3 It is a signal flow chart of the vibration control module of the present application;

[0021] Figure 4 It is a vibration active control block diagram of the present application;

[0022] Figure 5 It is a double fuzzy control strategy system structure diagram of the present application;

[0023] Figure 6 It is a schematic diagram of the cutting head and cutting tooth tip installation structure of the present application;

[0024] Figure 7 It is a schematic diagram of the cutting tooth tip structure of the present application;

[0025] Figure 8 is a sectional view of the pick tip of the present application;

[0026] Figure 9 is a schematic view of the pick body and limiting cylinder assembly structure of the present application;

[0027] Figure 10 is a sectional view of the protruding block of the present application;

[0028] Figure 11 is a schematic view of the assembly of the first adjusting rod, the second adjusting rod and the moving limiting rod of the present application.

[0029] In the figure: 1, piezoelectric actuator; 2, pick tip; 21, fixed cylinder seat; 22, limiting cylinder; 221, protruding block; 222, positioning cavity; 223, first adjusting rod; 2231, strong magnetic block; 224, second adjusting rod; 225, moving limiting rod; 2251, engaging tooth; 226, adjusting tooth groove; 23, buffer pad; 24, limiting chuck; 25, pick body; 251, accommodating cavity; 252, concession hole; 253, limiting hole; 3, cutting head; 4, pre-tightening device; 5, displacement sensor; 6, cutting arm flexible shaft; 7, three-axis acceleration sensor; 8, fixed support; 9, housing; 10, roadheader. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0031] As shown in Figure 1 , Figure 2 and Figure 6 , in order to solve the vibration problem of the existing cutting mechanism of the roadway heading machine, the following preferred technical solutions are provided:

[0032] The application discloses a torsional pendulum pre-tension vibration suppression type cutting mechanism of a tunneling machine, which comprises a shell 9 movably installed on the tunneling machine 10, a movable supporting part movably arranged at the bottom of the shell 9, the shell 9 is swung up and down by the movable supporting part, a cutting arm flexible shaft 6 is fixedly connected to the side wall of the tail end of the shell 9, a fixed support 8 is fixedly connected to the tail end of the cutting arm flexible shaft 6, a cutting head 3 is fixedly connected to the tail end of the fixed support 8, cutting tooth tips 2 are uniformly and interval fixedly arranged on the outer wall of the cutting head 3, the cutting head 3, the cutting tooth tips 2 and the cutting arm flexible shaft 6 are coaxially arranged, the tail end of the cutting head 3 extends into the cutting arm flexible shaft 6, the cutting head 3 extends and retracts forward and backward along with the cutting arm flexible shaft 6, a displacement sensor 5 and a three-way acceleration sensor 7 are sequentially arranged on the outer wall of the fixed support 8, a piezoelectric actuator 1 is arranged on the outer wall of the fixed support 8 between the three-way acceleration sensor 7 and the cutting head 3 through a supporting frame, pre-tightening devices 4 are uniformly and interval movably arranged on the side wall of the piezoelectric actuator 1, the pre-tightening devices 4 are installed on the fixed support 8 for the convenience of adjustment, so as to ensure the action direction of the control force, the tail end is fixed by bolts, so as to ensure the stability and reliability of the spring pre-tightening system, the piezoelectric actuator 1, the force meter and the supporting frame are integrated into the vibration control device of the cutting head 3, the control system of the vibration control device comprises a signal collector, a power amplifier and a controller, the controller performs signal transmission based on a control signal output module.

[0033] The displacement sensor 5 is fixedly installed through a clamp, one is installed in the x direction and the other is installed in the y direction, the tail end is fixed by bolts, so as to collect displacement signals in two directions; the capacitive displacement sensor 5 is based on the ideal flat plate capacitor principle, in the working process, stable alternating current is input, analog signal is output after demodulation, and the displacement signal is directly input into the controller.

[0034] Specifically, the pre-tightening device 4 is hingedly installed at the front and rear ends, and a flexible spring is connected between the two ends inside the pre-tightening device 4, so that two pre-tightening devices 4 are installed in parallel to form a group, and the mounting base is fixed to the support 8. Four groups of pre-tightening devices can bear larger loads, have simpler movements, have good dynamic responses, and work independently of each other. Different directions and sizes of loads are applied to the pre-tightening devices 4, so that axial and torsional pre-tightening forces are generated under the coupling action of the multi-spring pre-tightening system, and the angle in the arbitrary space is inhibited online to suppress the cutting vibration. The pre-tightening device 4 is based on the principle of spring pre-tightening. One end of the pre-tightening device 4 is movably installed on the piezoelectric actuator 1 through a hinge, and the other end is arranged on a bearing mounting rack on the outer wall of the fixed support 8. The spring of the pre-tightening device 4 pre-tightens the bearing mounting rack from different directions, and then pre-tightens the fixed support 8 to prevent the cutting arm flexible shaft 6 from shaking. By pre-tightening the bearing, the vibration and noise of the roadheader cutting mechanism during operation can be reduced. When the cutting arm vibrates, the displacement sensor 5 monitors the vibration amplitude of the cutting arm in real time and feeds back to the controller. The voltage of the control is calculated by the fuzzy controller principle, and then input to the piezoelectric actuator 1 through a power amplifier. The piezoelectric actuator 1 controls the vibration of the cutting arm flexible shaft 6.

[0035] As shown in Figure 2 and Figure 3 , the sensor is directly integrated into the shaft of the fixed support 8 for collision detection, bearing state diagnosis, etc. Each active control component can be directly installed and removed without disassembling the cutting arm cutting shaft, which facilitates the replacement and maintenance of the control components and greatly saves the installation and debugging time. In actual control, the displacement sensor 5 monitors the vibration amplitude of the cutting arm in real time and feeds back to the controller. The voltage of the control is calculated by the fuzzy controller principle, and then input to the piezoelectric actuator 1 through a power amplifier, so as to control the vibration of the cutting shaft. The controller determines the final control effect of the algorithm, and the real-time controller (FPGA) runs based on the real-time operating system. The real-time operating system calculates and processes the collected signals and outputs control signals. The control algorithm runs in LbaVIEW Real-Time, which can respond quickly and call enough resources to complete real-time tasks.

[0036] As shown in Figure 2 and Figure 4As shown, the vibration control module is a closed-loop control system. The displacement and velocity signals obtained by the signal collector are passed through the piezoelectric actuator 1 to generate an active control force and apply it to the cutting arm. The system signal, influenced by the control force, then enters the controller, forming a closed-loop control. The capacitive displacement sensor 5 is based on the principle of an ideal plate capacitor. During operation, it receives a stable AC input, demodulates it, and outputs an analog signal. After collecting the displacement signal, it is directly input into the controller. The piezoelectric actuator 1 is based on the principle of the inverse piezoelectric effect, using piezoelectric materials to convert electrical energy into mechanical energy. The piezoelectric actuator 1 uses mechanical packaging technology to encapsulate piezoelectric ceramics in a structure. The front end of the piezoelectric actuator 1 is a ball head. To facilitate adjustment of the actuator and prevent damage to the piezoelectric actuator 1 by non-vertical forces, it is mounted on a fixed bracket 8 to ensure the direction of the control force. Two pairs of piezoelectric actuators 1 are installed on the outer ring of the cutting arm along the x and y directions. The ends of the piezoelectric actuators 1 are fixed with bolts, thereby generating active control force to suppress vibration.

[0037] like Figure 5 As shown in the figure, due to the unstable vibration of the cutting mechanism during operation of the tunnel boring machine, it is difficult to establish an active control dynamic model for cutting. To address this problem, a dual fuzzy control strategy is proposed to design a fuzzy controller. Error, the difference between the actual response and the desired displacement, and Ec, the rate of change of the deviation, are used as the inputs of the fuzzy controller. These are fuzzified, and three parameters related to Error, KP, KI, and KD, are selected as output variables. The membership degrees and membership values ​​of these three parameters are calculated and substituted into the PID formula to control the voltage change. The controller input is the displacement response error and its rate of change. Leveraging the rapid response capability of piezoelectric actuator 1, a closed-loop control is established, generating active control force to achieve a vibration reduction effect. In addition, to facilitate the design of the fuzzy controller, the difference between the actual response and the desired displacement and Ec, the rate of change of the deviation, need to be normalized and mapped to a specified domain interval.

[0038] To prevent the pick tip 2 from being excessively damaged by colliding with hard objects during digging, refer to Figures 6-8 , provide the following preferred technical solutions:

[0039] The cutting tooth tip 2 includes a fixed cylinder seat 21 fixedly connected to the outer wall of the cutting head 3 and a limiting cylinder 22 movably engaged with the inner wall of the bottom plate of the fixed cylinder seat 21. The limiting cylinder 22 is arranged in an inverted convex shape, and a buffer pad 23 is arranged between the top plate of the limiting cylinder 22 and the bottom plate of the fixed cylinder seat 21. A limiting clamp 24 is movably provided on the bottom plate of the fixed cylinder seat 21, and a calibration mark is provided at the bottom of the limiting clamp 24. The end of the limiting clamp 24 extends to the inside of the fixed cylinder seat 21 and is fixedly connected to the bottom of the limiting cylinder 22. A cutting tooth body 25 is fixed in the limiting cylinder 22, and the end of the cutting tooth body 25 extends to the outside of the port of the fixed cylinder seat 21. Calibration marks are provided on the outer walls of the cutting tooth body 25 and the fixed cylinder seat 21.

[0040] Specifically, after placing the cutting tooth body 25 inside the fixed cylinder seat 21, the bottom of the cutting tooth body 25 is clamped by the limiting cylinder 22. When the cutting head 3 rotates to excavate the rock or coal, the cutting tooth body 25 rotates with the cutting head 3 through the fixed cylinder seat 21. The end of the cutting tooth body 25 breaks the rock or coal and contacts the hard object. The limiting cylinder 22 cooperates with the buffer pad 23 to buffer the cutting tooth body 25. The tip of the cutting tooth body 25 contacts the hard object, and the hard object collides with the curved side wall of the tip of the cutting tooth body 25. After being pushed by the collision, the cutting tooth body 25 rotates in the fixed cylinder seat 21 based on the limiting cylinder 22 and the limiting clamp 24. The rotation of the cutting tooth body 25 unloads part of the damage stress acting vertically on itself, avoiding damage after direct collision with the hard object.

[0041] As shown in Figures 8-11 In order to facilitate quick replacement and maintenance of the cutting tooth tip 2, the following preferred technical solutions are provided.

[0042] The protruding block 221 is fixedly connected to the bottom plate of the limiting cylinder 22. The cutting tooth body 25 is provided with a receiving cavity 251 corresponding to the protruding block 221 at the bottom. The inner wall of one side of the receiving cavity 251 is provided with a passing hole 252, and the inner walls of the two sides of the receiving cavity 251 perpendicular to the direction of the passing hole 252 are respectively provided with limiting holes 253.

[0043] The protruding block 221 is fixedly connected to the bottom plate of the limiting cylinder 22. The cutting tooth body 25 is provided with a receiving cavity 251 corresponding to the protruding block 221 at the bottom. The inner wall of one side of the receiving cavity 251 is provided with a passing hole 252, and the inner walls of the two sides of the receiving cavity 251 perpendicular to the direction of the passing hole 252 are respectively provided with limiting holes 253.

[0044] The protruding block 221 is fixedly connected to the bottom plate of the limiting cylinder 22. The cutting tooth body 25 is provided with a receiving cavity 251 corresponding to the protruding block 221 at the bottom. The inner wall of one side of the receiving cavity 251 is provided with a passing hole 252, and the inner walls of the two sides of the receiving cavity 251 perpendicular to the direction of the passing hole 252 are respectively provided with limiting holes 253.

[0045] Specifically, the cutting tooth body 25 is inserted into the limiting cylinder 22, the protruding block 221 is clamped in the accommodating cavity 251, rotation calibration is performed by using the calibration mark line, the delivery hole 252 is in the same straight line with the first adjusting rod 223 and the second adjusting rod 224 on the protruding block 221, a magnet is held to adhere to the outer wall of the fixed cylinder seat 21 corresponding to the delivery hole 252, the magnet held and the strong magnetic block 2231 at the end of the first adjusting rod 223 are opposite in the same magnetic pole, the first adjusting rod 223 and the second adjusting rod 224 are pulled to slide along the positioning cavity 222 through the magnetic force between the magnets, until the end of the first adjusting rod 223 is inserted into the delivery hole 252, when the first adjusting rod 223 and the second adjusting rod 224 slide, the two slide along the meshing teeth 2251 at the top of the limiting rod 225 below the two through the adjusting tooth grooves 226 at the bottom, so that the limiting rod 225 at the bottom of the first adjusting rod 223 and the second adjusting rod 224 respectively extends to both sides of the protruding block 221, until the end of the limiting rod 225 is inserted into the limiting hole 253 on the inner wall at both ends of the accommodating cavity 251, so that the fixing of the cutting tooth body 25 and the limiting cylinder 22 is completed, conversely, the magnetic pole of the held magnetic block is reversed, the first adjusting rod 223 and the second adjusting rod 224 are reversely moved to reset the limiting rod 225, that is, the cutting tooth body 25 can be taken out of the limiting cylinder 22, and the quick replacement operation of the cutting tooth body 25 is realized.

[0046] It should be noted that, in this document, the terms such as first and second are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between such entities or operations. In addition, the terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed or inherent to such process, method, article or device.

[0047] Although the embodiments of the present application have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made thereto without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A vibration suppression type roadheader cutting mechanism based on torsional preload, comprising a housing (9) movably mounted on a roadheader (10) and a movable support component movably arranged at the bottom of the housing (9), wherein the housing (9) swings up and down by means of the movable support component, and is characterized in that: A cutting arm flexible shaft (6) is fixedly connected to the side wall at the end of the shell (9), a fixed bracket (8) is fixedly connected to the end of the cutting arm flexible shaft (6), a cutting head (3) is fixedly connected to the end of the fixed bracket (8), a cutting tooth tip (2) is fixedly arranged at even intervals on the outer wall of the cutting head (3), a displacement sensor (5) and a three-axis acceleration sensor (7) are arranged in sequence on the outer wall of the fixed bracket (8), a piezoelectric actuator (1) is arranged on the outer wall of the fixed bracket (8) between the three-axis acceleration sensor (7) and the cutting head (3) through a support frame, a pre-tightening device (4) is movably arranged at even intervals on the side wall of the piezoelectric actuator (1), the end of the pre-tightening device (4) is fixed to the outer wall of the fixed bracket (8) through a bearing mounting frame, and the piezoelectric actuator (1), the dynamometer and the support frame are integrated into a vibration control device of the cutting head (3), and the control system of the vibration control device includes a signal collector, a power amplifier and a controller, and the controller performs signal transmission based on a control signal output module; The front and rear ends of the pre-tightening device (4) are hingedly mounted with ball heads. A flexible spring is provided in the middle of the pre-tightening device (4) to connect the two ends. One end of the pre-tightening device (4) is movably mounted on the piezoelectric actuator (1) through a hinge, and the other end is arranged on the bearing mounting frame on the outer wall of the fixed bracket (8). The pre-tightening device (4) is based on the principle of spring pre-tightening. The spring of the pre-tightening device (4) pre-tightens the bearing mounting frame from different directions, thereby pre-tightening the fixed bracket (8).

2. The vibration suppression type cutting mechanism for a roadheader based on torsional preload according to claim 1, characterized in that: The cutting head (3), the cutting tooth tip (2), and the cutting arm flexible shaft (6) are coaxially arranged, and the tail end of the cutting head (3) extends into the cutting arm flexible shaft (6) and moves forward and backward with the cutting arm flexible shaft (6).

3. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 1, characterized in that: The displacement sensor (5) is fixedly installed by a fixture, one in each of the orthogonal x-direction and y-direction, and the ends are fixed with bolts to collect displacement signals in two directions; the capacitive displacement sensor (5) is based on the principle of ideal flat plate capacitor. During operation, a stable alternating current is input, and an analog signal is output after demodulation. After the displacement signal is collected, it is directly input into the controller.

4. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 3, characterized in that: The displacement sensor (5) monitors the vibration amplitude of the cutting arm in real time and feeds back to the controller. The control voltage is calculated by the fuzzy controller principle and then input to the piezoelectric actuator (1) with the help of a power amplifier, thereby controlling the vibration of the flexible shaft (6) of the cutting arm.

5. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 1, characterized in that: Two pairs of piezoelectric actuators (1) are installed on the outer ring of the cutting arm along the x and y directions, and the ends are fixed with bolts, thereby generating active control force to suppress vibration; a strain gauge is attached to the end of the cutting mechanism, and closed-loop position control is performed with the help of the strain gauge on the piezoelectric actuator (1).

6. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 1, characterized in that: The cutting tooth tip (2) comprises a fixed cylinder seat (21) fixedly connected to the outer wall of the cutting head (3) and a limiting cylinder (22) movably engaged with the inner wall of the bottom plate of the fixed cylinder seat (21). The limiting cylinder (22) is arranged in an inverted convex shape, and a buffer pad (23) is arranged between the top plate of the limiting cylinder (22) and the bottom plate of the fixed cylinder seat (21). A limiting clamp (24) is movably provided on the bottom plate of the fixed cylinder seat (21). The end of the limiting clamp (24) extends to the inside of the fixed cylinder seat (21) and is fixedly connected to the bottom of the limiting cylinder (22). A cutting tooth body (25) is fixedly provided in the limiting cylinder (22), and the end of the cutting tooth body (25) extends to the outside of the port of the fixed cylinder seat (21).

7. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 6, characterized in that: A protruding block (221) is fixedly connected to the bottom plate of the limiting cylinder (22), and an accommodating cavity (251) is provided at the bottom of the pick body (25) corresponding to the protruding block (221). A transfer hole (252) is provided on the inner wall of one side of the accommodating cavity (251), and limiting holes (253) are respectively provided on the inner walls of both sides of the accommodating cavity (251) perpendicular to the direction of the transfer hole (252).

8. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 7, characterized in that: A positioning cavity (222) is provided inside the raised block (221) at a position corresponding to the transfer hole (252), and a port of the positioning cavity (222) extends to the side wall of one end of the raised block (221). A first adjustment rod (223) and a second adjustment rod (224) fixed together are movably engaged in the positioning cavity (222), and a movable limiting rod (225) is movably provided on the side wall of the raised block (221) adjacent to the lower ends of the first adjustment rod (223) and the second adjustment rod (224). The bottoms of the first adjustment rod (223) and the second adjustment rod (224) are both provided with adjustment teeth (226), and meshing teeth (2251) are evenly provided at the top of the movable limiting rod (225) corresponding to the adjustment teeth (226). The movable limiting rod (225) is meshed and connected with the first adjustment rod (223) and the second adjustment rod (224) through the meshing teeth (2251) and the adjustment teeth (226).

9. The vibration suppression type cutting mechanism for a roadheader based on torsional preload as claimed in claim 8, characterized in that: A strong magnetic block (2231) is embedded on the side wall of the first adjustment rod (223) away from one end of the second adjustment rod (224), the adjustment tooth grooves (226) at the bottom of the first adjustment rod (223) and the second adjustment rod (224) are arranged in opposite directions, and the first adjustment rod (223) and the second adjustment rod (224) are arranged perpendicular to the rotation direction of the cutting head (3).

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