With the rapid development of the coal industry, the cantilever roadheader is widely used in coal mining. In the cutting process of the roadheader, the wrong selection of the structural parameters of the cutting head and the cutting motion parameters will not only accelerate the wear of the cutting head and reduce the life of the pick, but also reduce the reliability of the operation of the roadheader. In order to reduce the wear of picks and improve the cutting efficiency, based on the theory of coal cutting by picks, the stress state of single pick cutting process is analyzed, and the random load spectrum function of single pick cutting load and cutting head cutting load under yaw condition is constructed. Based on the theory of active vibration assisted rock breaking, a mechanical model of pick rock breaking process under vibration excitation force is constructed. By building a cutting test bench, the cutting load experiments with or without excitation and different excitation frequencies were carried out. The results show that the active excitation reduces the cutting load of the cutting head during the cutting process and reduces the impact damage to the cutting head. There is no linear relationship between the excitation frequency and the cutting load. With the increase of the excitation frequency, the cutting load decreases first and then increases. The cutting load reaches the minimum when the excitation frequency is 30 Hz. The experimental results verify the feasibility of the theoretical analysis and are beneficial to improve the existing cutting rock breaking theory.