A dual-roller excavating intelligent coal mining robot

Abstract

The utility model relates to a kind of double-roller excavation intelligent coal mining robot, comprising: first cutting head subassembly, including first connecting arm, first motor and first cutting head, first connecting arm is rotatably connected with the one end of chassis, and first cutting head is rotatably connected with first connecting arm;Second cutting head subassembly, including second connecting arm, second motor and second cutting head, second connecting arm is rotatably connected with chassis, and second cutting head is rotatably connected with second connecting arm;Chassis, inside being equipped with conveying mechanism;Intelligent integrated component, including excavation environment monitoring module, communication module, control module;Power component, including first hydraulic cylinder and second hydraulic cylinder.Compared with prior art, the utility model has the advantages of improving coal mining efficiency by two-dimensional movement, reducing coal and ore accumulation and blockage, adapting to different thickness coal seam mining requirements, and real-time dynamic monitoring.

Description

Technical Field

[0001] This utility model relates to the field of coal mining equipment technology, and in particular to an intelligent coal mining robot with dual roller excavation. Background Technology

[0002] Currently, my country's shallow coal resources have been largely developed. Facing deeper coal resources with more complex geological conditions, on the one hand, compared to other technologies such as manual mining and blasting, drum mining equipment and supporting technologies are more efficient, simpler to operate, and safer; on the other hand, room-and-pillar mining divides the coal face into multiple rooms, each mined separately, with each room maintaining mine stability through coal pillars. Compared to longwall and shortwall mining, it is more suitable for deep coal seam mining; furthermore, the development patterns of the overlying strata during deep coal seam mining play a crucial role in guiding safe mining operations.

[0003] CN202111301144.7 discloses an intelligent cutting cantilever tunneling robot for coal mines, including a cutting mechanism, a shovel mechanism, a rear support mechanism, a working face condition monitoring system, a directional tunneling system, an adaptive cutting system, a data substation box, and a main control box electrically connected to the data substation box; the frame is mounted on the track assembly, the lower front end of the frame is hinged to the shovel mechanism, and a conveying mechanism is installed in the middle of the frame; two sets of shovel lifting cylinders are located on both sides of the rotary table, with their ends hinged to the rotary table and the frame respectively; two sets of cutting rotary cylinders are located on both sides of the rotary table, with their ends hinged to the connecting cylinder and the frame respectively; the rear support mechanism is hinged to the rear end of the frame, and the two ends of the rear support cylinder are hinged to the rear support mechanism and the frame, and the rear support cylinder adjusts the height and angle of the rear support mechanism by extension and retraction; the working face condition monitoring system includes a first camera, a second camera, a third camera, and a fourth camera. However, the single cantilever cutting design has limited degrees of freedom and only allows for one-dimensional movement.

[0004] Currently, most existing coal mining machines can only move linearly in one dimension, with a fixed cutting head height, making it impossible to change the coal seam excavation depth, resulting in low excavation efficiency and utilization rate. Utility Model Content

[0005] The purpose of this invention is to overcome the shortcomings of the existing technology and provide an intelligent coal mining robot with dual roller excavation, which improves coal mining efficiency through two-dimensional movement, reduces coal ore accumulation and blockage, adapts to the mining needs of coal seams of different thicknesses, and performs real-time dynamic monitoring.

[0006] The objective of this utility model can be achieved through the following technical solutions:

[0007] The robot uses tracked movement, transforming the traditional one-dimensional movement into two-dimensional movement, which has a higher degree of freedom of movement. It also uses an adjustable-height cutting head to enhance the adaptability of excavation in coal seams of different depths and improve the excavation utilization rate, so as to better study the development law of the three overburden zones under the room-and-pillar mining method.

[0008] This utility model provides an intelligent coal mining robot with dual-roller excavation, comprising:

[0009] The first cutting head assembly includes a first connecting arm, a first motor, and a first cutting head. The first connecting arm is rotatably connected to one end of the frame chassis, and the first cutting head is rotatably connected to the first connecting arm. The first motor is disposed inside the first connecting arm, and the output shaft of the first motor is connected to the first cutting head.

[0010] The second cutting head assembly includes a second connecting arm, a second motor, and a second cutting head. The second connecting arm is rotatably connected to the frame chassis, and the second cutting head is rotatably connected to the second connecting arm. The second motor is disposed inside the second connecting arm, and the output shaft of the second motor is connected to the second cutting head.

[0011] The frame chassis has an internal conveying mechanism. One end of the conveying mechanism is connected to one side of the first cutting head, and the other end is connected to the coal feeding mechanism.

[0012] Intelligent integrated components, including an excavation environment monitoring module, a communication module, and a control module;

[0013] The power assembly includes a first hydraulic cylinder and a second hydraulic cylinder, which are rotatably connected to the frame chassis, and the telescopic ends of the first hydraulic cylinder and the second hydraulic cylinder are rotatably connected to the first connecting arm and the second connecting arm, respectively.

[0014] By extending and retracting the first and second hydraulic cylinders, the angle and height of the first and second cutting heads are adjusted, thereby enhancing the applicability of the device under different coal mining conditions. Furthermore, the first excavating roller rotates from bottom to top, throwing the cut coal onto the conveying mechanism, thus solving the common problems of coal ore accumulation and blockage in traditional equipment. The combined use of the first and second cutting heads and the conveying mechanism expands the working area for coal mining and ensures that the cut coal can be smoothly transported to the conveying mechanism.

[0015] By setting a first connecting arm and a second connecting arm to support the cutting head, the two cutting heads can simultaneously perform excavation operations on the pit sidewall and the pit sidewall on the side of the device as the device moves along the pit sidewall.

[0016] Furthermore, the transmission mechanism includes:

[0017] There are two connectors, which are respectively located on both sides of the front end of the frame chassis;

[0018] The base has high-strength tracks at the bottom, which are connected to two connecting parts.

[0019] The driving roller and the driven roller are respectively located at both ends of the base;

[0020] The conveyor belt is wound around the outside of both the driving and driven rollers; the coal is transported to the roadway via the coal feeding mechanism through the operation of the conveyor belt.

[0021] The third motor is fixed on the base and is connected to the drive roller.

[0022] Furthermore, the conveying mechanism also includes a first rotating seat and a second rotating seat, both of which are mounted on the frame chassis, and the first hydraulic cylinder and the second hydraulic cylinder are respectively mounted on the first rotating seat and the second rotating seat.

[0023] Furthermore, the first cutting head includes:

[0024] The first rotating shaft is rotatably connected to the first connecting arm;

[0025] The first cutting tooth is located on the side wall of the first rotating shaft.

[0026] Furthermore, the second cutting head includes:

[0027] The second rotating shaft is rotatably connected to the second connecting arm;

[0028] The second cutting tooth is located on the side wall of the second rotating shaft.

[0029] Furthermore, the first and second rotating shafts rotate in opposite directions. The first and second motors control the operation of the first and second cutting heads respectively, and by rotating in opposite directions, the soil cut by the first and second cutting heads falls onto the conveyor belt.

[0030] Furthermore, it also includes a mounting component, which is disposed on the base of the conveying mechanism.

[0031] Furthermore, the communication module adopts a wired communication device, which is connected to the excavation environment monitoring module and the control module, and wirelessly connected to the handheld management and operation terminal;

[0032] The excavation environment monitoring module includes a rock pressure sensing shield, a clock synchronization unit, an excavation environment monitoring unit, an excavation attitude monitoring unit, and a camera detection unit.

[0033] The rock pressure sensing shield is located on the top of the robot and is connected to the communication module; the excavation environment monitoring unit is located at the front of the robot; the excavation posture monitoring unit and the clock synchronization unit are located inside the robot and are connected to the communication module; the clock synchronization unit can effectively simulate the real-time performance of various systems in the excavation environment and the corresponding environmental changes; the excavation posture monitoring unit displays the excavation posture in real time to prevent deformation of the excavation posture during the excavation process; and the excavation environment monitoring unit monitors the temperature, humidity, and pressure of the excavation environment in real time.

[0034] Furthermore, the camera detection unit includes a first camera and a second camera. The first camera is installed at the front of the robot, and the second camera is installed at the rear of the robot. It records images of the excavation process in real time and is connected to the communication line group.

[0035] The construction method of this utility model includes the following steps:

[0036] S1: Determine the coal seam excavation section by measurement; determine the placement of the roadway according to the construction and transportation route; determine a corner of the coal seam as the excavation starting point; install the roadway from the excavation starting point to the receiving position;

[0037] S2: The dual-roller coal mining robot is positioned; the angles of the first and second cutting heads are adjusted via the first and second connecting arms; the first cutting tooth is rotated via the first rotating shaft, and the first cutting tooth cuts or excavates the coal seam. The cut coal is conveyed along the spiral direction and falls onto the conveyor belt. Subsequently, the coal is conveyed to the roadway via the conveyor belt and the coal feeding mechanism, thus ensuring continuous coal conveying; the second cutting tooth is rotated via the second rotating shaft, and the second cutting tooth cuts or excavates the coal seam. The cut coal is conveyed along the spiral direction and falls onto the conveyor belt. Subsequently, the coal is conveyed to the roadway via the conveyor belt and the coal feeding mechanism, thus ensuring continuous coal conveying.

[0038] S3: Excavate the coal seam downwards until the entire slope on one side is excavated; monitor the excavation environment parameters in real time through intelligent integrated components, monitor the pressure of the upper rock strata, control the operation through remote communication, record the image data of the excavation process, and output alarm information when the monitoring data exceeds the preset threshold;

[0039] S4: During the high-strength moving track, the conveyor belt moves along with it, relaying the coal to the designated location.

[0040] The rock pressure sensing shield includes: a high-precision pressure sensor array, a protective shell, a data preprocessing module, and a signal transmission interface. The clock synchronization unit includes: a high-stability crystal oscillator clock source, a Network Time Protocol (NTP) module, a local clock management unit, and a timestamp generator. The excavation environment monitoring unit includes: a temperature sensor, a humidity sensor, and a dust concentration sensor. The excavation attitude monitoring unit is a multi-axis inertial measurement unit (IMU), including: a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, a tilt sensor, and a data processing unit.

[0041] This invention achieves traditional one-dimensional linear movement through high-strength tracked vehicles. The working height of the first and second cutting heads can be independently adjusted through the telescopic movement of the first and second hydraulic cylinders. The stroke range of the hydraulic cylinders forms vertical movement capability, enabling adaptive mining of coal seam thickness.

[0042] Compared with the prior art, the present invention has the following advantages:

[0043] (1) Improve coal mining efficiency and reduce coal ore accumulation and blockage through two-dimensional movement. The first and second cutting heads are designed to rotate in opposite directions. The first cutting head rotates from bottom to top, and the second cutting head rotates from top to bottom, effectively solving the common problems of coal ore accumulation and blockage in traditional equipment. Two-dimensional movement freedom, using high-strength crawler as the moving parts, breaks through the one-dimensional linear movement limitation of traditional coal mining machines, realizes full coverage mining of the working face, and reduces blind spots.

[0044] (2) Adapting to the mining needs of coal seams of different thicknesses and conducting real-time dynamic monitoring. The cutting height is adjusted by the first and second hydraulic cylinders to adapt to the mining needs of coal seams of different thicknesses. The rock pressure sensing shield monitors the roof pressure in real time, the excavation environment monitoring unit collects temperature, humidity, and gas data, a multi-parameter fusion safety early warning mechanism, a clock synchronization system to ensure the time base of each subsystem is unified, the excavation posture monitoring unit provides real-time feedback on equipment status, the automatic leveling function maintains mining accuracy, and the anti-overturning early warning system improves operational safety. Attached Figure Description

[0045] Figure 1 A schematic diagram of the structure of an intelligent coal mining robot with dual roller excavation;

[0046] Figure 2 This is a schematic diagram of the transmission mechanism;

[0047] Figure 3 A schematic diagram illustrating the working process of an intelligent coal mining robot using dual roller excavation.

[0048] Figure 4 This is a schematic diagram of the coal seam excavation face.

[0049] Reference numerals: 10. High-strength traveling track; 11. First connecting arm; 12. First rotating seat; 13. First cutting head; 131. First rotating shaft; 132. First cutting tooth; 14. First hydraulic cylinder; 15. Connecting component; 16. Driving roller; 17. Driven roller; 18. Conveying mechanism; 19. Mounting component; 20. Second connecting arm; 21. Second cutting head; 211. Second rotating shaft; 212. Second cutting tooth; 22. Second rotating seat; 23. Second hydraulic cylinder; 24. Coal feeding mechanism; 25. Rock pressure sensing shield; 26. Roadway; 27. Intelligent integrated module. Detailed Implementation

[0050] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. Component models, material names, connection structures, control methods, algorithms, and other features not explicitly described in this technical solution are considered common technical features disclosed in the prior art.

[0051] Example 1

[0052] This embodiment provides an intelligent coal mining robot with dual-roller excavation, such as... Figure 1-4 As shown, it includes:

[0053] The first cutting head assembly includes a first connecting arm 11, a first motor and a first cutting head 13. The first connecting arm 11 is rotatably connected to one end of the frame chassis. The first cutting head 13 is rotatably connected to the first connecting arm 11. The first motor is disposed in the first connecting arm 11 and the output shaft of the first motor is connected to the first cutting head 13.

[0054] The second cutting head assembly includes a second connecting arm 20, a second motor, and a second cutting head 21. The second connecting arm 20 is rotatably connected to the frame chassis, and the second cutting head 21 is rotatably connected to the second connecting arm 20. The second motor is disposed inside the second connecting arm 20, and the output shaft of the second motor is connected to the second cutting head 21.

[0055] The frame chassis has a conveying mechanism 18 inside. One end of the conveying mechanism 18 is connected to one side of the first cutting head 13, and the other end is connected to the coal feeding mechanism 24.

[0056] The intelligent integrated component 27 includes an excavation environment monitoring module, a communication module, and a control module;

[0057] The power assembly includes a first hydraulic cylinder 14 and a second hydraulic cylinder 23. The first hydraulic cylinder 14 and the second hydraulic cylinder 23 are rotatably connected to the frame chassis, and the telescopic ends of the first hydraulic cylinder 14 and the second hydraulic cylinder 23 are rotatably connected to the first connecting arm 11 and the second connecting arm 20, respectively.

[0058] By extending and retracting the first hydraulic cylinder 14 and the second hydraulic cylinder 23, the angle and height of the first cutting head 13 and the second cutting head 21 are adjusted, thereby enhancing the applicability of the device under different coal mining conditions. Furthermore, the first excavating roller rotates from bottom to top, throwing the cut coal onto the conveying mechanism 18, thus solving the common problems of coal ore accumulation and blockage in traditional equipment. The combined use of the first cutting head 13, the second cutting head 21, and the conveying mechanism 18 expands the working area for coal mining and ensures that the cut coal can be smoothly transported to the conveying mechanism 18.

[0059] By setting a first connecting arm 11 and a second connecting arm 20 to support the cutting head, the two cutting heads can simultaneously perform excavation operations on the pit sidewall and the pit sidewall on the side of the device as the device moves along the pit sidewall.

[0060] Example 2

[0061] This embodiment provides an intelligent coal mining robot with dual-roller excavation, such as... Figure 1-4 As shown, it includes:

[0062] The first cutting head assembly includes a first connecting arm 11, a first motor and a first cutting head 13. The first connecting arm 11 is rotatably connected to one end of the frame chassis. The first cutting head 13 is rotatably connected to the first connecting arm 11. The first motor is disposed in the first connecting arm 11 and the output shaft of the first motor is connected to the first cutting head 13.

[0063] The second cutting head assembly includes a second connecting arm 20, a second motor, and a second cutting head 21. The second connecting arm 20 is rotatably connected to the frame chassis, and the second cutting head 21 is rotatably connected to the second connecting arm 20. The second motor is disposed inside the second connecting arm 20, and the output shaft of the second motor is connected to the second cutting head 21.

[0064] The frame chassis has a conveying mechanism 18 inside. One end of the conveying mechanism 18 is connected to one side of the first cutting head 13, and the other end is connected to the coal feeding mechanism 24.

[0065] The intelligent integrated component 27 includes an excavation environment monitoring module, a communication module, and a control module;

[0066] The power assembly includes a first hydraulic cylinder 14 and a second hydraulic cylinder 23. The first hydraulic cylinder 14 and the second hydraulic cylinder 23 are rotatably connected to the frame chassis, and the telescopic ends of the first hydraulic cylinder 14 and the second hydraulic cylinder 23 are rotatably connected to the first connecting arm 11 and the second connecting arm 20, respectively.

[0067] By extending and retracting the first hydraulic cylinder 14 and the second hydraulic cylinder 23, the angle and height of the first cutting head 13 and the second cutting head 21 are adjusted, thereby enhancing the applicability of the device under different coal mining conditions. Furthermore, the first excavating roller rotates from bottom to top, throwing the cut coal onto the conveying mechanism 18, thus solving the common problems of coal ore accumulation and blockage in traditional equipment. The combined use of the first cutting head 13, the second cutting head 21, and the conveying mechanism 18 expands the working area for coal mining and ensures that the cut coal can be smoothly transported to the conveying mechanism 18.

[0068] By setting a first connecting arm 11 and a second connecting arm 20 to support the cutting head, the two cutting heads can simultaneously perform excavation operations on the pit sidewall and the pit sidewall on the side of the device as the device moves along the pit sidewall.

[0069] In a specific embodiment, the conveying mechanism 18 includes:

[0070] Two connectors 15 are provided, respectively located on both sides of the front end of the frame chassis;

[0071] The base has a high-strength track 10 at the bottom, which is connected to two connectors 15.

[0072] The driving roller 16 and the driven roller 17 are respectively disposed at both ends of the base;

[0073] A conveyor belt is simultaneously wound around the outside of both the driving roller 16 and the driven roller 17; the coal is transported to the roadway 26 via the coal feeding mechanism 24 through the operation of the conveyor belt.

[0074] The third motor is fixed on the base and is connected to the drive roller 16.

[0075] In a specific embodiment, the conveying mechanism 18 further includes a first rotating seat 12 and a second rotating seat 22, both of which are mounted on the frame chassis, and a first hydraulic cylinder 14 and a second hydraulic cylinder 23 are respectively mounted on the first rotating seat 12 and the second rotating seat 22.

[0076] In a specific embodiment, the first cutting head 13 includes:

[0077] The first rotating shaft 131 is rotatably connected to the first connecting arm 11;

[0078] The first cutting tooth 132 is disposed on the side wall of the first rotating shaft 131.

[0079] In a specific embodiment, the second cutting head 21 includes:

[0080] The second rotating shaft 211 is rotatably connected to the second connecting arm 20;

[0081] The second cutting tooth 212 is disposed on the side wall of the second rotating shaft 211.

[0082] In a specific embodiment, the first rotating shaft 131 and the second rotating shaft 211 rotate in opposite directions. The first and second motors control the operation of the first cutting head 13 and the second cutting head 21 respectively, and by ensuring that the rotation directions of the first cutting head 13 and the second cutting head 21 are opposite, the soil cut by the first cutting head 13 and the second cutting head 21 both fall onto the conveyor belt. The first cutting head 13 rotates from bottom to top, and the second cutting head 21 rotates from top to bottom.

[0083] In a specific embodiment, it also includes a mounting component 19, which is disposed on the base of the conveying mechanism 18.

[0084] In a specific implementation, the communication module adopts a wired communication device, which is connected to the excavation environment monitoring module and the control module, and wirelessly connected to the handheld management and operation terminal;

[0085] The excavation environment monitoring module includes a rock pressure sensing shield 25, a clock synchronization unit, an excavation environment monitoring unit, an excavation posture monitoring unit, and a camera detection unit;

[0086] The rock pressure sensing shield 25 is located on the top of the robot and is connected to the communication module; the excavation environment monitoring unit is located at the front of the robot; the excavation posture monitoring unit and the clock synchronization unit are located inside the robot and are connected to the communication module; the clock synchronization unit can effectively simulate the real-time performance of various systems in the excavation environment and the corresponding environmental changes; the excavation posture monitoring unit displays the excavation posture in real time to prevent deformation of the excavation posture during the excavation process; and the excavation environment monitoring unit monitors the temperature, humidity, and pressure of the excavation environment in real time.

[0087] In a specific implementation, the camera detection unit includes a first camera and a second camera. The first camera is installed at the front of the robot, and the second camera is installed at the rear of the robot. It records images of the excavation process in real time and is connected to the communication line group.

[0088] The construction method of this embodiment includes the following steps:

[0089] S1: Measure and determine the coal seam excavation section; determine the placement position of roadway 26 according to the construction and transportation route; determine a corner of the coal seam as the excavation starting point; install roadway 26 from the excavation starting point to the receiving position;

[0090] S2: The dual-roller coal mining robot is in place; the angles of the first cutting head 13 and the second cutting head 21 are adjusted via the first connecting arm 11 and the second connecting arm 20; the first cutting tooth 132 is driven to rotate via the first rotating shaft 131, and the first cutting tooth 132 cuts or excavates the coal seam. The cut coal is conveyed along the spiral direction and falls onto the conveyor belt. Subsequently, the coal is conveyed to the roadway 26 via the conveyor belt and the coal feeding mechanism 24, thereby ensuring continuous coal conveying; the second cutting tooth 212 is driven to rotate via the second rotating shaft 211, and the second cutting tooth 212 cuts or excavates the coal seam. The cut coal is conveyed along the spiral direction and falls onto the conveyor belt. Subsequently, the coal is conveyed to the roadway 26 via the conveyor belt and the coal feeding mechanism 24, thereby ensuring continuous coal conveying.

[0091] S3: Excavate the coal seam downwards until the entire slope on one side is excavated; monitor the excavation environment parameters in real time through the intelligent integrated component 27, monitor the pressure of the upper rock strata, control the operation through remote communication, record the image data of the excavation process, and output alarm information when the monitoring data exceeds the preset threshold;

[0092] S4: During the movement of the high-strength track 10, the conveyor belt moves along with it, relaying the coal to the designated location.

[0093] The rock pressure sensing shield 25 includes: a high-precision pressure sensor array, a protective shell, a data preprocessing module, and a signal transmission interface. The clock synchronization unit includes: a high-stability crystal oscillator clock source, a Network Time Protocol (NTP) module, a local clock management unit, and a timestamp generator. The excavation environment monitoring unit includes: a temperature sensor, a humidity sensor, and a dust concentration sensor. The excavation attitude monitoring unit is a multi-axis inertial measurement unit (IMU), including: a three-axis accelerometer, a three-axis gyroscope, a three-axis magnetometer, a tilt sensor, and a data processing unit.

[0094] Components not described in detail in this embodiment are all existing components that can be purchased through public channels.

[0095] The above description of the embodiments is provided to enable those skilled in the art to understand and use the utility model. It will be apparent to those skilled in the art that various modifications can be easily made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present utility model is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present utility model without departing from its scope should be within the protection scope of the present utility model.

Claims

1. A dual-roller excavating intelligent coal mining robot, characterized in that, include: The first cutting head assembly includes a first connecting arm (11), a first motor and a first cutting head (13). The first connecting arm (11) is rotatably connected to one end of the frame chassis. The first cutting head (13) is rotatably connected to the first connecting arm (11). The first motor is disposed inside the first connecting arm (11) and the output shaft of the first motor is connected to the first cutting head (13). The second cutting head assembly includes a second connecting arm (20), a second motor, and a second cutting head (21). The second connecting arm (20) is rotatably connected to the frame chassis, and the second cutting head (21) is rotatably connected to the second connecting arm (20). The second motor is located inside the second connecting arm (20), and the output shaft of the second motor is connected to the second cutting head (21). The frame chassis has a conveying mechanism (18) inside. One end of the conveying mechanism (18) is connected to one side of the first cutting head (13), and the other end is connected to the coal feeding mechanism (24). The intelligent integrated component (27) includes an excavation environment monitoring module, a communication module, and a control module; The power assembly includes a first hydraulic cylinder (14) and a second hydraulic cylinder (23). The first hydraulic cylinder (14) and the second hydraulic cylinder (23) are rotatably connected to the frame chassis, and the telescopic ends of the first hydraulic cylinder (14) and the second hydraulic cylinder (23) are rotatably connected to the first connecting arm (11) and the second connecting arm (20), respectively.

2. The intelligent coal mining robot with dual-roller excavation as described in claim 1, characterized in that, The transmission mechanism (18) includes: Two connectors (15) are provided, respectively located on both sides of the front end of the frame chassis; The base has a high-strength track (10) at the bottom, which is connected to two connectors (15). The driving roller (16) and the driven roller (17) are respectively disposed at both ends of the base; The conveyor belt is simultaneously wound around the outside of both the drive roller (16) and the driven roller (17); the coal is transported to the roadway (26) via the coal feeding mechanism (24) through the operation of the conveyor belt. The third motor is fixed on the base and is connected to the drive roller (16).

3. The intelligent coal mining robot with dual-roller excavation as described in claim 2, characterized in that, The conveying mechanism (18) also includes a first rotating seat (12) and a second rotating seat (22), both of which are mounted on the frame chassis. The first hydraulic cylinder (14) and the second hydraulic cylinder (23) are respectively mounted on the first rotating seat (12) and the second rotating seat (22).

4. The intelligent coal mining robot with dual-roller excavation as described in claim 1, characterized in that, The first cutting head (13) includes: The first rotating shaft (131) is rotatably connected to the first connecting arm (11); The first cutting tooth (132) is disposed on the side wall of the first rotating shaft (131).

5. The intelligent coal mining robot with dual-roller excavation according to claim 4, characterized in that, The second cutting head (21) includes: The second rotating shaft (211) is rotatably connected to the second connecting arm (20); The second cutting tooth (212) is disposed on the side wall of the second rotating shaft (211).

6. The intelligent coal mining robot with dual-roller excavation according to claim 5, characterized in that, The first rotating shaft (131) and the second rotating shaft (211) rotate in opposite directions.

7. The intelligent coal mining robot with dual-roller excavation according to claim 1, characterized in that, It also includes a mounting component (19) which is disposed on the base of the conveying mechanism (18).

8. The intelligent coal mining robot with dual-roller excavation according to claim 1, characterized in that, The communication module adopts a wired communication device, which is connected to the excavation environment monitoring module and the control module, and wirelessly connected to the handheld management and operation terminal; The excavation environment monitoring module includes a rock pressure sensing shield (25), a clock synchronization unit, an excavation environment monitoring unit, an excavation posture monitoring unit, and a camera detection unit.

9. The intelligent coal mining robot with dual-roller excavation according to claim 8, characterized in that, The rock pressure sensing shield (25) is located on the top of the robot and is connected to the communication module; the excavation environment monitoring unit is located at the front end of the robot; the excavation posture monitoring unit and the clock synchronization unit are located inside the robot and are connected to the communication module; the clock synchronization unit can effectively simulate the real-time performance of various systems in the excavation environment and environmental changes; the excavation posture monitoring unit displays the excavation posture in real time to prevent excavation posture deformation during excavation; and the excavation environment monitoring unit monitors the temperature, humidity, and pressure of the excavation environment in real time.

10. The intelligent coal mining robot with dual-roller excavation according to claim 8, characterized in that, The camera detection unit includes a first camera and a second camera. The first camera is installed at the front of the robot, and the second camera is installed at the rear of the robot. It records images of the excavation process in real time and is connected to the communication line group.

Images