A cutting apparatus suitable for creating tunnels and subterranean roadways includes independently pivoting supports that each carries a respective independently pivoting arm and a rotatable cutting head. Each cutting head via the supports and arms is configured to slew laterally outward in a sideways direction and to pivot in a vertical upward and downward direction. The supports and arms are mounted on a linear moving sled carried by a main frame.

A cutting apparatus suitable for creating tunnels and subterranean roadways includes independently pivoting supports that each carry a respective independently pivoting arm and a rotatable cutting head. Each cutting head, via the supports and arms, is configured to slew laterally outward in a sideways direction and to pivot in a vertical upward and downward direction. The supports and arms are mounted on a linear moving sled carried by a main frame.

A cutting apparatus suitable for creating tunnels and subterranean roadways includes independently pivoting supports that each carry a respective, independently pivoting arm and a rotatable cutting head. Each cutting head, via the supports and arms, is configured to slew laterally outward in a sideways direction and to pivot in a vertical upward and downward direction. The supports and arms are mounted on a linear moving sled carried by a main frame.

The tunnel excavation device includes a front body section and a rear body section. The front body section includes a cutter head, a cutter head support, and a vertical shoe. The rear body section is disposed to a rear of the front body section and includes a gripper section for obtaining a reaction force when excavating. The cutter head includes a plurality of roller cutters. The cutter head support supports the cutter head. The vertical shoe is disposed below the cutter head support and is provided in a turnable manner to the cutter head support.

A tunnel excavation device includes a front body portion configured to support a cutter head and a rear body portion. The rear body portion includes a gripper carrier and a gripper portion. The gripper carrier is disposed in a rear of the front body portion. The gripper portion is provided on the gripper carrier. The gripper portion includes a groove portion and a wheel portion. The groove portion is formed in a recess shape toward the rear main body. The wheel portion is disposed in the groove portion.

An operating arrangement for operating a tunnel boring machine for constructing a tunnel in a ground, the operating arrangement including a feed drive that is configured to advance the tunnel boring machine in the ground; a tool drive that is configured to drive a mining tool of the tunnel boring machine so that a successive removal of the ground is performable; at least one fluid tank for storing a drive fluid; at least one filtering arrangement for filtering the drive fluid; at least one cooling arrangement for cooling the drive fluid; and at least one control arrangement by which the feed drive and/or the tool drive is controllable wherein at least the feed drive and the tool drive are jointly arrangeable in a container.

A cutting apparatus suitable for creating tunnels and subterranean roadways includes independently pivoting supports that each carry a respective independently pivoting arm and a rotatable cutting head. Each cutting head via the supports and arms, is configured to slew laterally outward in a sideways direction and to pivot in a vertical upward and downward direction. The supports and arms are mounted on a linear moving sled carried by a main frame.

A squeezing device for an underground project, comprising a guide body, a vibration system, a lubricating system, a guide system, a cutting mechanism and a gate, wherein the vibration system is located on four walls of the guide body, the lubricating system is internally provided with a lubricating pipeline along the four walls of the guide body and communicates with a corresponding lubricating nozzle, the guide system is located on four walls at a front end of the guide body, and the cutting mechanism is located at a front end of an inner cavity of the guide body, and the gate is located in a functional bin.

A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.

A roadway/tunnel excavation robot and an automatic cutting control method are provided. The robot includes a rack, a walking platform, a supporting and stabilizing mechanism, a milling mechanism, a telescoping mechanism, an inclined cutting feed adjusting mechanism, a horizontal swinging mechanism, a lifting mechanism and a controller. The milling mechanism includes a drive unit, a milling shaft, an eccentric rotary casing, a high-pressure jet nozzle unit, a tension and compression sensor and a direction sensor. Through the deflection of a center line of an inner hole of the eccentric rotary casing, the milling mechanism drives a milling cutter head to carry out a rotational oscillation motion for rock breaking. The telescoping mechanism, the inclined cutting feed adjusting mechanism, the lifting mechanism and the horizontal swinging mechanism are controlled such that the milling mechanism performs coal rocks milling.