End support with anchor breaking and net breaking functions and using method

Abstract

The invention discloses an end support with anchor breaking and net breaking functions and a using method.The end support comprises a plurality of support units, an anchor breaking device and a net breaking device, the support units are sequentially connected from front to back, the anchor breaking device is assembled on a top beam of the support unit located at the foremost end, and the net breaking device is assembled on a top beam of the support unit located at the foremost end; and the net breaking device is arranged at the shield beam of the bracket unit at the rearmost end. According to the end support, mechanical and automatic shearing of the anchoring part can be achieved, the situation that in the prior art, time and labor are wasted when the anchoring part is manually dismantled is avoided, cutting of a roof anchor net can be achieved, and therefore the situation that a goaf roof is difficult to collapse in time due to anchor net supporting is avoided.

Description

Technical Field

[0001] The present invention relates to the field of mining technology, and in particular to an end bracket with both anchor breaking and net breaking functions and a use method thereof. Background Art

[0002] At present, with the development of fully-mechanized top-coal caving technology, the ultra-large mining height fully-mechanized top-coal caving mining process is constantly being updated and improved. Since the greater the mining height (the smaller the corresponding coal caving thickness), the higher the resource recovery rate, ultra-large mining height top-coal caving equipment is gradually being promoted in the main coal producing areas in the west, changing the previous "mine one and caving three" mining situation of top-coal caving in extra-thick coal seams of 10 to 18 meters, and greatly reducing the waste of resources caused by low coal cutting height and large coal caving height in the fully-mechanized top-coal caving working face.

[0003] However, with the increase in mining height of the fully mechanized caving working face, corresponding problems in tunnel support have also arisen. Because the top coal is prone to falling, the coal seam using the top coal caving mining technology is relatively soft, and the corresponding increase in mining height makes tunnel support more difficult, and only high-density anchors and mesh supports can be used.

[0004] However, during the advancement of the working face, the hydraulic support at the end of the transport tunnel is easily obstructed by exposed anchor rods. The current mining process generally adopts manual dismantling in advance, which is not only time-consuming and labor-intensive but also has certain risks. Especially for the transport tunnel of the ultra-large mining and top coal caving working face, the anchor rod density is large and the tunnel height is high. The original dismantling plan can hardly meet the current production conditions. It is urgent to solve the contradiction between the smooth movement of the hydraulic support at the end of the transport tunnel of the ultra-large mining and top coal caving and the safe support of the roof.

[0005] Secondly, with the increase in the mining height of the fully mechanized caving working face, there is also a contradiction between tunnel support and timely unloading. That is, on the one hand, the mining process of the top coal caving working face requires softer coal seams, which requires a tunnel anchor net support method with higher support quality. On the other hand, with the advancement of the working face and the forward movement of the end hydraulic support, the roof of the tunnel goaf is difficult to collapse in time due to the use of anchor net support. This affects the top coal recovery of the "triangle area" at the end, and also aggravates the mine pressure of the working face, which is not conducive to safe operation. Summary of the invention

[0006] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0007] To this end, the embodiment of the present invention proposes an end bracket with both anchor breaking and net breaking functions. The end bracket with both anchor breaking and net breaking functions can not only meet the end support operation, but also realize mechanized and automated shearing of anchors, thereby avoiding the time-consuming and labor-intensive manual removal of anchors in the prior art, and the need to climb high and have high risks, thereby solving the contradiction between the end bracket moving frame and the top plate safety support.

[0008] Secondly, the end bracket can also realize the cutting of the roof anchor net, thereby avoiding the situation where the roof of the goaf is difficult to collapse in time due to the anchor net support, improving the top coal recovery rate of the end triangle area, improving the mining pressure manifestation of the working face, and improving the safety of the mining operation.

[0009] The embodiment of the present invention also provides a method of using the terminal bracket.

[0010] The end bracket with both anchor breaking and net breaking functions of the embodiment of the present invention comprises a plurality of bracket units, an anchor breaking device and a net breaking device, wherein the plurality of bracket units are sequentially connected in a direction from front to back, the anchor breaking device is mounted on the top beam of the bracket unit at the front end, and the net breaking device is arranged on the shielding beam of the bracket unit at the rear end;

[0011] The anchor breaking device comprises a swing arm, a first drive, a front bracket, a second drive, a tool holder, a third drive and an execution device;

[0012] The swing arm is rotatably assembled with the top beam, the first drive is connected between the swing arm and the top beam and is used to drive the swing arm to swing horizontally, the front bracket is rotatably assembled with the top beam, the second drive is connected between the front bracket and the swing arm and is used to drive the front bracket to swing in pitch, the tool holder is slidably assembled with the front bracket, the third drive is connected between the tool holder and the front bracket and is used to drive the tool holder to slide, and the actuator is assembled on the tool holder and is used to shear the anchor;

[0013] The mesh breaking device comprises a fixing device, a rotating device, a rotating drive, a cutter device and a telescopic drive;

[0014] The fixing device is embedded in the shield beam, the rotary drive is connected between the fixing device and the rotary device and is used to drive the rotary device to swing relative to the fixing device, the tool device is rotatably assembled on the rotary device and includes an executing tool, the telescopic drive is connected between the tool device and the rotary device and is used to drive the tool device to swing relative to the rotary device, and the executing tool is used to cut the anchor net by the swing of the rotary device and / or the telescopic drive.

[0015] In some embodiments, two swing arms are provided, and the two swing arms are symmetrically arranged in the width direction of the top beam, and each of the swing arms includes:

[0016] A rotating drum, wherein a sway pin is provided at the bottom of the top beam, and the rotating drum is rotatably mounted on the outer peripheral side of the sway pin;

[0017] A rear bracket and a connecting rod, wherein the front end of the rear bracket is rotatably connected to the front bracket, the rear end of the rear bracket is fixedly connected to the rotating drum, one end of the connecting rod is fixedly connected to the rotating drum, the other end of the connecting rod is rotatably connected to the first drive, and the length of the rear bracket is greater than the length of the connecting rod;

[0018] The extension direction of the rear bracket and the extension direction of the connecting rod form an obtuse angle, the angle formed by the rear bracket and the connecting rod of each swing arm protrudes toward the outside of the top beam, and the connection between the connecting rod and the first drive is located on the inner side of the rotating drum.

[0019] In some embodiments, the swing arm can swing between a first extreme position and a second extreme position. In the first extreme position, the rear bracket extends along the front-to-back direction, and the first drive and the connecting rod form an angle a. In the second extreme position, the rear bracket swings outward from the top beam, and the first drive and the connecting rod form an angle b, and the angle a is greater than the angle b.

[0020] In some embodiments, the rear bracket includes two rear rib plates, a rear connecting plate and a rear reinforcing plate, the two rear rib plates are arranged in parallel and spaced apart in the width direction of the rear bracket, the rear connecting plate is connected between the two rear rib plates and arranged adjacent to the top sides of the rear rib plates, the rear reinforcing plate is arranged above the rear connecting plates, and the height dimension of the rear reinforcing plate gradually increases along the direction approaching the rotating drum;

[0021] Each of the rear rib plate, the rear connecting plate and the rear reinforcing plate is fixedly connected to the rotating drum, and the front end and the bottom side of each of the rear rib plate are respectively provided with a first ear seat and a second ear seat, part of the front bracket is rotatably assembled between the two first ear seats of the two rear rib plates, and the rear end of the second drive is rotatably assembled between the two second ear seats, and the front bracket, the rear bracket, the second drive and the second ear seat form a four-bar mechanism;

[0022] The front bracket includes a main rib plate and two third ear seats, the top side of the main rib plate is rotatably mounted between the two first ear seats, the rear end of the main rib plate is rotatably connected to the second drive, and the height dimension of at least part of the main rib plate gradually increases from the front to the rear, the main rib plate is arranged between the two third ear seats, each of the third ear seats protrudes below the main rib plate and is adjacent to the rear end of the main rib plate, and the third drive is rotatably mounted between the two third ear seats;

[0023] The tool holder includes two tool holder plates and a clamping seat. The main rib plate is provided with slide rails on both sides in the width direction. The slide rails extend along the extension direction of the main rib plate. The main rib plate is arranged between the two tool holder plates, and each of the tool holder plates is slidably assembled with the slide rails on both sides of the main rib plate. A fourth ear seat is provided on the bottom side of each tool holder plate, and the front end of the second drive is rotatably assembled between the two fourth ear seats. The clamping seat is fixedly connected to the front ends of the two tool holder plates, and the clamping seat is used to install the actuator.

[0024] In some embodiments, the anchor breaking device includes a visual sensor, and the visual sensor is disposed on the tool holder;

[0025] And / or, a plurality of stroke sensors are included, the first drive, the second drive, and the third drive are all provided with the stroke sensors, and the stroke sensors are used to monitor the telescopic strokes of the first drive, the second drive, and the third drive.

[0026] In some embodiments, the fixing device is provided with a recess, and the mesh breaking device has a storage state. In the storage state, the rotating device and the knife device are stored in the recess, and the rotating device is located between the knife device and the fixing device;

[0027] One end of the rotary device is rotatably connected to the bottom wall of the recess, one end of the tool device is rotatably connected to the other end of the rotary device, and the execution tool is arranged at the other end of the tool device;

[0028] In the storage state, the rotating device extends rearward from the connection with the recess, the tool device extends forward from the connection with the rotating device, and the connection between the rotating device and the fixing device is located between the execution tool and the connection between the tool device and the rotating device.

[0029] In some embodiments, the fixing device includes a fixed cover plate, a fixed backing plate, a plurality of fixed inner rib plates, a fixed front vertical rib plate, a fixed front reinforcing rib plate and a plurality of fixed bottom reinforcing rib plates;

[0030] The fixed pad is arranged below the fixed cover and spaced apart from the fixed cover. Both the fixed cover and the fixed pad are stepped to limit the recess at the front side of the fixing device. A plurality of fixed inner ribs are supported between the fixed cover and the fixed pad and spaced apart along the front-rear direction.

[0031] The fixed front vertical rib plate is provided at the front side of the recess and arranged vertically, two fixed front vertical rib plates are provided, the two fixed front vertical rib plates are arranged at intervals in the front-to-back direction, and a fixed front transverse rib plate is provided between the two fixed front vertical rib plates, and a first fixed ear seat is provided at the rear side of the fixed front vertical rib plate located at the rear side of the two fixed front vertical rib plates, the first fixed ear seat is rotatably connected to the rotary drive, the fixed cover plate is provided with a second fixed ear seat, the second fixed ear seat is provided in the recess, and the rotary device is rotatably connected to the second fixed ear seat;

[0032] The fixed front reinforcing rib plate is arranged at the angle formed by the fixed front vertical rib plate and the fixed cover plate, and the plurality of fixed bottom reinforcing rib plates are arranged on the bottom side of the fixed pad plate and are arranged at intervals along the front-to-back direction, and the fixed bottom reinforcing rib plates are connected and fixed to the shield beam.

[0033] In some embodiments, the rotary device includes a cover plate assembly, a rotary main rib plate, a third fixed ear seat, a fourth fixed ear seat and a rotary push ear seat;

[0034] The cover plate assembly includes an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are arranged at an interval, and the cover plate assembly includes a first section and a second section arranged at an angle, in the storage state, the first section is in contact with the bottom wall of the recess, and the second section is in contact with the inclined side wall of the recess;

[0035] The rotary main rib plate is connected between the upper cover plate and the lower cover plate, the third fixed ear seat is arranged at the first section, and the third fixed ear seat is connected to the telescopic drive rotation, the fourth fixed ear seat is arranged at the second section, and the fourth fixed ear seat is connected to the tool device rotation, the rotary push ear seat is arranged at the first section, and the rotary push ear seat is connected to the rotary drive rotation;

[0036] The upper cover plate is provided with a first slot and a second slot, the third fixed ear seat is connected to the lower cover plate and extends from the first slot, and the rotary push ear seat is connected to the lower cover plate and extends from the second slot;

[0037] The upper cover plate is provided with a plurality of limit seats, the first slot is provided between two of the limit seats, and in the storage state, the limit seat and the telescopic drive stop and limit;

[0038] and / or,

[0039] The tool device comprises a tool top plate, a plurality of tool main ribs, an inner longitudinal rib and a plurality of inner transverse ribs;

[0040] The plurality of tool main ribs are connected to the tool top plate and are arranged at intervals in the width direction of the tool top plate, the inner longitudinal ribs are arranged extending along the extension direction of the tool device, the plurality of inner transverse ribs are arranged at intervals in the extension direction of the inner longitudinal ribs, and each of the inner transverse ribs is arranged crosswise with the inner longitudinal ribs;

[0041] One end of the tool main rib plate and the inner longitudinal rib plate is provided with a plurality of the execution tools, and the other end of the tool main rib plate and the inner longitudinal rib plate is provided with a movable ear seat, and the movable ear seat is rotatably connected to the fixing device.

[0042] In some embodiments, there are three bracket units, and the three bracket units are respectively a front bracket, a middle bracket and a rear bracket arranged in sequence from front to back;

[0043] The front support comprises a front top beam, a front column, a front base and a front stabilizing mechanism, the middle support comprises a middle top beam, a middle column and a middle base, and the rear support comprises a rear top beam, a rear column, a rear base and the shield beam;

[0044] The front pillar support is mounted between the front top beam and the front base, the front stabilizing mechanism is arranged at the front side of the front pillar and protrudes toward the front side, the middle pillar support is mounted between the middle top beam and the middle base, the rear pillar support is mounted between the rear top beam and the rear base, the shield beam is mounted at the rear side of the rear top beam, and the number of the front pillars and the rear pillars is less than the number of the middle pillars;

[0045] The inside of the front top beam, the middle top beam, and the rear top beam and the side facing the coal wall are all provided with side guard plates;

[0046] At least one of the front pillar, the middle pillar, and the rear pillar is provided with a pressure sensor, and the shield beam is provided with a distance measuring sensor.

[0047] The use method of the embodiment of the present invention includes an anchor breaking method and a net breaking method;

[0048] The anchor breaking method comprises the following steps:

[0049] Obtain the tunnel roof image and determine the anchoring position of the exposed anchors on the front side;

[0050] Select the anchor breaking device closest to the anchoring position to perform anchor breaking operation;

[0051] Performing operation planning for the selected anchor breaking device, wherein the operation planning includes a path and a posture;

[0052] Controlling the first drive, the second drive, and the third drive according to the operation plan to drive the actuator to a specified position, and monitoring the telescopic strokes of the first drive, the second drive, and the third drive during the first drive, the second drive, and the third drive;

[0053] Using the anchor breaking device at the designated position to shear the anchor;

[0054] After the shearing of the anchor piece is completed, the anchor breaking device is returned to its initial posture;

[0055] The network breaking method comprises the following steps:

[0056] Observe the roof and determine the location of the broken net;

[0057] Performing action planning according to the determined network breaking position, wherein the action planning includes a path and a posture;

[0058] Controlling the rotary drive and the telescopic drive to execute the action plan and complete the cutting of the anchor net through the execution tool, and under the coordinated action of the rotary drive and the telescopic drive, the moving trajectory of the execution tool is a straight line;

[0059] After the anchor net at the broken net position is cut, the rotary drive and the telescopic drive are reset.

[0060] Beneficial effects: The end bracket with both anchor breaking and net breaking functions and the use method of the embodiment of the present invention can not only meet the end support operation, but also realize the mechanization and automation of anchor shearing, thus avoiding the time-consuming and labor-intensive manual removal of anchors in the prior art, and the need to climb high and have high risks, thus solving the contradiction between the end bracket moving frame and the roof safety support;

[0061] Secondly, the end bracket can also realize the cutting of the roof anchor net, thereby avoiding the situation where the roof of the goaf is difficult to collapse in time due to the anchor net support, improving the top coal recovery rate of the end triangle area, improving the mining pressure manifestation of the working face, and improving the safety of the mining operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] Figure 1 It is a side schematic diagram of the end bracket of an embodiment of the present invention.

[0063] Figure 2 It is a top view schematic diagram of the end bracket according to an embodiment of the present invention.

[0064] Figure 3 It is a schematic diagram of the anchor breaking device at the front end of the end bracket.

[0065] Figure 4 It is a side schematic diagram of a net breaking device according to an embodiment of the present invention.

[0066] Figure 5 Schematic diagram of an anchor breaking device according to an embodiment of the present invention.

[0067] Figure 6 It is a schematic diagram of the horizontal swing adjustment of two anchor breaking devices according to an embodiment of the present invention.

[0068] Figure 7 It is a schematic diagram of a fixing device of a net breaking device according to an embodiment of the present invention.

[0069] Figure 8 It is a schematic diagram of a rotating device of a net breaking device according to an embodiment of the present invention.

[0070] Fig. 9 It is a three-dimensional schematic diagram of the overall structure of the net breaking device according to an embodiment of the present invention.

[0071] Fig.10 Schematic diagram of a cutter device of a mesh breaking device according to an embodiment of the present invention.

[0072] Fig.11 It is a schematic diagram of the shape adjustment of the anchor breaking device according to an embodiment of the present invention.

[0073] Fig.12 It is a flowchart of the telescopic stroke of each drive in the embodiment of the present invention during the action process.

[0074] Fig.13 It is a schematic diagram of the action of the rotary drive and telescopic drive of the net breaking device according to an embodiment of the present invention.

[0075] Fig.14 It is a schematic diagram of the use status of the net breaking device according to an embodiment of the present invention.

[0076] Fig.15 It is a flowchart of the network breaking process of the network breaking device according to an embodiment of the present invention.

[0077] Reference numerals:

[0078] 1-bracket unit; 11-front bracket; 111-front top beam; 1111-fixed axis; 1112-sway pin; 112-front column; 113-front base; 114-front stabilizing mechanism; 12-middle bracket; 121-middle top beam; 122-middle column; 123-middle base; 13-rear bracket; 131-rear top beam; 132-rear column; 133-rear base; 134-shielding beam; 135-rear connecting rod; 14-guard plate connecting seat; 15-inner guard plate; 16-outer guard plate; 17-guide cylinder;

[0079] 2-anchor breaking device; 21-swing arm; 211-rotating drum; 212-rear bracket; 2121-rear rib plate; 2122-rear connecting plate; 2123-rear reinforcing plate; 2124-first ear seat; 2125-second ear seat; 213-connecting rod; 22-first drive; 23-front bracket; 231-main rib plate; 232-third ear seat; 233-slide rail; 24-second drive; 25-tool holder; 251-tool holder plate; 252-fourth ear seat; 253-cage seat; 26-third drive; 27-executing device; 28-first device; 29-second device;

[0080] 3-net breaking device; 31-fixing device; 311-recess; 3111-inclined side wall; 312-fixing pad; 313-fixing cover plate; 314-fixing inner rib plate; 315-fixing front vertical rib plate; 316-fixing front reinforcing rib plate; 317-fixing bottom reinforcing rib plate; 318-fixing front transverse rib plate; 319-first fixing ear seat; 3110-second fixing ear seat; 32-rotating device; 321-upper cover plate; 3211-first slot; 3212 - second slot; 322 - lower cover plate; 323 - main swivel rib plate; 324 - third fixed ear seat; 325 - fourth fixed ear seat; 326 - swivel push ear seat; 327 - first section; 328 - second section; 329 - limit seat; 33 - swivel drive; 34 - tool device; 341 - execution tool; 342 - tool top plate; 343 - main swivel rib plate; 344 - inner longitudinal rib plate; 345 - inner transverse rib plate; 346 - movable ear seat; 35 - telescopic drive. DETAILED DESCRIPTION

[0081] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0082] like Figure 1 As shown, the end bracket with both anchor breaking and net breaking functions (hereinafter referred to as the end bracket) of the embodiment of the present invention includes a plurality of bracket units 1, at least one anchor breaking device 2 and at least one net breaking device 3. The plurality of bracket units 1 are sequentially connected along the direction from front to back, and the rearmost bracket unit 1 includes a shielding beam 134.

[0083] For example, Figure 1 and Figure 2 As shown, three support units 1 can be provided, and the top beams and bases of the three support units 1 can be connected in sequence from front to back, and each support unit 1 can be an independent hydraulic support, thereby meeting the use needs of large-scale support in the mining tunnel. In some other embodiments, the support unit 1 can also be provided in two, four, etc.

[0084] The rearmost support unit 1 among the three support units 1 may include a shielding beam 134, which may be arranged generally in an inclined direction from the upper front to the lower rear, thereby preventing the gangue falling from the goaf from entering the working face.

[0085] like Figure 3 As shown, the anchor breaking device 2 includes a swing arm 21 , a first drive 22 , a front bracket 23 , a second drive 24 , a tool holder 25 , a third drive 26 and an actuator 27 .

[0086] The swing arm 21 is rotatably assembled with the top beam and can swing horizontally. One end of the first drive 22 is rotatably connected to the swing arm 21 , and the other end of the first drive 22 is rotatably connected to the top beam. The first drive 22 is used to drive the swing arm 21 to swing.

[0087] For example, Figure 3 As shown, the swing arm 21 can be generally V-shaped, and the corner of the swing arm 21 can be rotatably assembled with the web of the top beam through a pin shaft, etc., and the pin shaft can be extended and arranged in a direction perpendicular to the web, so that the swing arm 21 can swing left and right around the pin shaft. The first drive 22 can be a telescopic drive, and the first drive 22 can be generally located at the rear side of the swing arm 21. The front end of the first drive 22 can be hinged with the rear end of the swing arm 21, and the rear end of the first drive 22 can be pivotally assembled with the web of the top beam. When in use, the first drive 22 can be telescopic, so that the swing drive of the swing arm 21 can be realized.

[0088] The front bracket 23 is rotatably assembled with the top beam and can pitch and swing. The second drive 24 is assembled below the top beam. One end of the second drive 24 is rotatably connected to the front bracket 23, and the other end of the second drive 24 is rotatably connected to the swing arm 21. The second drive 24 is used to drive the front bracket 23 to swing.

[0089] For example, Figure 3 As shown, the front bracket 23 can be welded by steel, and the middle or middle rear part of the front bracket 23 can be pivotally assembled with the front end of the swing arm 21 through a pivot, and the pivot can generally extend in the horizontal direction. The second drive 24 can also be a telescopic drive, and the second drive 24 can be located below the swing arm 21 as a whole, and the front end of the second drive 24 can be hinged to the rear bottom end of the front bracket 23, and the rear end of the second drive 24 can be hingedly assembled below the swing arm 21. When in use, the pitch and swing adjustment of the front bracket 23 in the vertical plane can be achieved through the telescopic movement of the second drive 24.

[0090] The tool holder 25 is slidably assembled with the front bracket 23 and can slide along the extension direction of the front bracket 23. The third drive 26 is assembled below the front bracket 23. One end of the third drive 26 is rotationally connected to the tool holder 25, and the other end of the third drive 26 is rotationally connected to the front bracket 23.

[0091] For example, Figure 3 As shown, the tool holder 25 can be a tubular structure, and the tool holder 25 as a whole can be sleeved on the outer peripheral side of the front bracket 23 and can slide relative to the front bracket 23, thereby achieving the adjustment of the length dimension of the whole formed by the tool holder 25 and the front bracket 23. The third drive 26 can also be a telescopic drive, and the third drive 26 as a whole can be assembled on the bottom side of the front bracket 23, the front end of the third drive 26 can be hinged to the tool holder 25, and the rear end of the third drive 26 can be hinged to the front bracket 23. When in use, the sliding assembly of the tool holder 25 relative to the front bracket 23 can be achieved by telescoping the third drive 26.

[0092] The actuator 27 is mounted on the tool holder 25 and is used to shear the anchor. For example, the actuator 27 can be a hydraulic actuator shear. When the actuator 27 is driven into place by the above-mentioned various drives, the actuator 27 can shear the exposed anchor rods, anchor cables and other anchors, thereby breaking the anchors and facilitating the smooth movement of the end bracket.

[0093] like Figure 4 As shown, the mesh breaking device 3 includes a fixing device 31 , a rotating device 32 , a rotating drive 33 , a tool device 34 and a telescopic drive 35 .

[0094] The fixing device 31 is embedded in the shielding beam 134 and is provided with a recess 311. For example, the shielding beam 134 may be provided with a recess, and the fixing device 31 may be plate-shaped as a whole, and the fixing device 31 may be directly fixed in the recess of the shielding beam 134 by welding. The setting of the fixing device 31 can provide a mounting base on the one hand, and can also block the recess on the shielding beam 134 on the other hand, thereby achieving a slag blocking effect.

[0095] It should be noted that the fixing device 31 can be roughly in the shape of a step, that is, the front side of the fixing device 31 can be lower than the rear side of the fixing device 31, and the recess 311 is the lower area on the front side of the fixing device 31. The setting of the recess 311 can, on the one hand, enhance the structural strength, and on the other hand, provide installation space for the subsequent rotating device 32, etc., thereby avoiding the protrusion of the rotating device 32, etc.

[0096] The rotating device 32 is rotatably mounted in the recess 311, and the rotary drive 33 is connected between the fixing device 31 and the rotating device 32 and is used to drive the rotating device 32 to swing relative to the fixing device 31. Figure 4 As shown, the rotating device 32 can be generally a plate-shaped structure, and the front side of the rotating device 32 can be hinged to the fixing device 31 .

[0097] The rotary drive 33 can be a hydraulic jack, one end of the rotary drive 33 can be hinged to the fixing device 31, and the other end of the rotary drive 33 can be hinged to the rotary device 32. When in use, the rotary device 32 can be pulled and pushed by the extension and retraction of the rotary drive 33, thereby realizing the swing adjustment of the rotary device 32 in the front and rear directions.

[0098] The tool device 34 is rotatably mounted on the rotating device 32 and includes an executing tool 341 . The telescopic drive 35 is connected between the tool device 34 and the rotating device 32 and is used to drive the tool device 34 to swing relative to the rotating device 32 .

[0099] For example, Figure 4 As shown, the tool device 34 as a whole can be a plate-like structure, the tool device 34 can be arranged above the rotating device 32, and the rear end of the tool device 34 can be hinged to the rotating device 32, the execution tool 341 can be a blade with a cutting function, etc., and the execution tool 341 can be integrally formed at the front end of the tool device 34.

[0100] The telescopic drive 35 may be a hydraulic jack, one end of the telescopic drive 35 may be hinged to the tool device 34, and the other end of the telescopic drive 35 may be hinged to the rotary device 32. When in use, the tool device 34 may be pushed or pulled by the telescopic drive 35, and the tool device 34 may be driven to swing in the front and rear directions.

[0101] During the net breaking operation of the net breaking device 3 , the execution cutter 341 is extended to the bottom of the anchor net under the action of the telescopic drive 35 , and the execution cutter 341 cuts the anchor net through the swing of the rotating device 32 and / or the extension and retraction of the telescopic drive 35 .

[0102] For example, in the process of breaking the net, the above-mentioned tool device 34 and the rotating device 32 can be swung out from the recess 311. After being swung out, the execution tool 341 can move forward under the joint action of the rotating drive 33 and the telescopic drive 35, so as to achieve the cutting of the anchor net on the top plate of the tunnel.

[0103] The end bracket of the embodiment of the present invention can meet the end support operation and realize mechanized and automated cutting of the anchor, thereby avoiding the time-consuming and labor-intensive manual removal of the anchor in the prior art, and the need for high climbing and high risk, thereby solving the contradiction between the end bracket moving frame and the top plate safety support.

[0104] Secondly, the end bracket can realize the cutting of the roof anchor net, thereby avoiding the situation where the roof of the goaf is difficult to collapse in time due to the anchor net support, improving the top coal recovery rate of the end triangle area, improving the mine pressure manifestation of the working face, and improving the safety of the mining operation.

[0105] In some embodiments, Figure 5 As shown, the swing arm 21 includes a rotating drum 211 , a rear bracket 212 and a connecting rod 213 .

[0106] A sway pin 1112 is provided at the bottom of the top beam, and the drum 211 is rotatably mounted on the outer peripheral side of the sway pin 1112. Figure 5 As shown, the sway pin 1112 may include a flange plate arranged on the top, and the flange plate may be connected and fixed to the web of the top beam by fasteners such as bolts. A stop portion may also be provided at the bottom of the sway pin 1112, and the stop portion may be disc-shaped. The rotating drum 211 may be sleeved on the outer peripheral side of the sway pin 1112, and the top side of the rotating drum 211 may be limited and stopped by the flange plate, and the bottom side of the rotating drum 211 may be limited and stopped by the stop portion.

[0107] like Figure 5 As shown, the front end of the rear bracket 212 is rotatably connected to the front bracket 23, the rear end of the rear bracket 212 is fixedly connected to the drum 211, the front end of the connecting rod 213 can be fixedly connected to the drum 211, and the rear end of the connecting rod 213 can be rotatably connected to the first drive 22. In some embodiments, the rear bracket 212, the drum 211 and the connecting rod 213 can be integrally formed by casting or the like.

[0108] The length of the rear bracket 212 is greater than the length of the connecting rod 213, that is, the distance between the front free end of the rear bracket 212 and the rotating drum 211 is greater than the distance between the rear free end of the connecting rod 213 and the rotating drum 211. Therefore, on the one hand, the overall length of the connecting rod 213 can be reduced, thereby facilitating the assembly of the connecting rod 213 in the relatively narrow space below the top beam, and on the other hand, since the rear bracket 212 is to extend to the outside of the top beam, the size of the rear bracket 212 is not limited by the space, thereby increasing the operating range and area of ​​the rear bracket 212, meeting the use needs of anchor breaking operations in a larger range.

[0109] In some embodiments, two swing arms 21 are provided, and the two swing arms 21 are symmetrically arranged in the width direction of the top beam. The extension direction of the rear bracket 212 and the extension direction of the connecting rod 213 form an obtuse angle. The angle formed by the rear bracket 212 and the connecting rod 213 of each swing arm 21 protrudes toward the outside of the top beam, and the connection between the connecting rod 213 and the first drive 22 is located on the inner side of the rotating drum 211.

[0110] For example, Figure 3 As shown, two anchor breaking devices 2 can be provided, and the two anchor breaking devices 2 can be rotatably assembled on the left and right sides of the top beam respectively, and the two anchor breaking devices 2 can be arranged in a mirror-symmetrical manner in the left and right directions as a whole.

[0111] like Figure 6As shown, the swing arm 21 of the left anchor breaking device 2 can swing to the left side of the top beam, and the swing arm 21 of the right anchor breaking device 2 can swing to the right side of the top beam. This meets the use needs of anchor breaking operations at corresponding positions in the lane width direction of the lane, and can also improve the overall anchor breaking efficiency.

[0112] like Figure 6 As shown, both swing arms 21 can be generally V-shaped structures, that is, the angle formed by the above-mentioned rear bracket 212 and the connecting rod 213 is an obtuse angle, wherein the corner of the left swing arm 21 can protrude to the left, and the corner of the right swing arm 21 can protrude to the right, and the connection between the first drive 22 of the left anchor breaking device 2 and the swing arm 21 can be located on the right side of the rotating drum 211 of the left anchor breaking device 2, and the connection between the first drive 22 of the right anchor breaking device 2 and the swing arm 21 can be located on the left side of the rotating drum 211 of the right anchor breaking device 2.

[0113] Therefore, while satisfying the driving requirement of the swing arm 21, the connecting rod 213 and the first drive 22 can be hidden under the top beam, and will not be exposed from the side of the top beam during the swinging process, so that the top beam can play a better protective role.

[0114] In some embodiments, the swing arm 21 can swing between a first extreme position and a second extreme position. In the first extreme position, the rear bracket 212 extends along the front-to-back direction. In the second extreme position, the rear bracket 212 swings outward from the top beam.

[0115] For example, Figure 6 As shown, the first limit position can be the initial position A or the initial position B, and the second limit position can be the limit position A or the limit position B. When in use, the first drive 22 on the left side can drive the swing arm 21 on the left side to swing back and forth between the initial position A and the limit position A, and the first drive 22 on the right side can drive the swing arm 21 on the right side to swing back and forth between the initial position B and the limit position B.

[0116] In the first extreme position, the first drive 22 and the connecting rod 213 form an angle a, and in the second extreme position, the first drive 22 and the connecting rod 213 form an angle b, and the angle a is greater than the angle b. Therefore, in the first extreme position, the extension directions of the rear bracket 212 and the first drive 22 are substantially consistent, so that the force on the rear bracket 212 can be directly relieved to the first drive 22 along the front-to-back direction, which is conducive to ensuring the overall structural stability. In the second extreme position, since the angle between the connecting rod 213 and the first drive 22 is small, most of the force can be borne by the connecting rod 213, avoiding damage to the first drive 22 during the anchor breaking operation.

[0117] In some embodiments, the rear bracket 212 includes two rear rib plates 2121 , a rear connecting plate 2122 and a rear reinforcing plate 2123 .

[0118] The two rear ribs 2121 are arranged in parallel and spaced apart in the width direction of the rear bracket 212. Figure 5 As shown, the two rear rib plates 2121 can both be in the shape of long plates, and the two rear rib plates 2121 can be arranged in parallel and spaced apart in the left-right direction.

[0119] The rear connecting plate 2122 is connected between the two rear rib plates 2121 and is arranged adjacent to the top side of the rear rib plates 2121, so that the two rear rib plates 2121 can be connected. Since the rear connecting plate 2122 is close to the top side, the formation of a groove between the two rear rib plates 2121 is avoided, thereby avoiding impurities such as coal gangue falling into the groove and causing the rear bracket 212 to be loaded.

[0120] The rear reinforcing plate 2123 is arranged above the rear connecting plate 2122, and the height dimension of the rear reinforcing plate 2123 gradually increases in the direction close to the rotating drum 211. For example, the rear reinforcing plate 2123 may be substantially in the shape of a triangular plate, and the rear reinforcing plate 2123 may be fixed above the rear connecting plate 2122 by welding or the like, the rear connecting plate 2122 may be a horizontal plate, and the rear reinforcing plate 2123 may be a vertical plate, and the height dimension of the rear reinforcing plate 2123 in the vertical direction may gradually increase in the direction from front to back, thereby fully meeting the use requirement of the rear side to bear a larger force, and fully ensuring the overall structural strength.

[0121] Each rear rib plate 2121, rear connecting plate 2122 and rear reinforcing plate 2123 are fixedly connected to the rotating drum 211. For example, the rear sides of the two rear rib plates 2121, the rear sides of the rear connecting plates 2122 and the rear sides of the rear reinforcing plates 2123 can be connected and fixed to the rotating drum 211 by welding or the like, so that the rear bracket 212 can swing synchronously with the rotation of the rotating drum 211.

[0122] like Figure 5 As shown, the front end and bottom side of each rear rib plate 2121 are respectively provided with a first ear seat 2124 and a second ear seat 2125, part of the front bracket 23 is rotatably assembled between the two first ear seats 2124 of the two rear rib plates 2121, and the rear end of the second drive 24 is rotatably assembled between the two second ear seats 2125, and the front bracket 23, the rear bracket 212, the second drive 24, and the second ear seat 2125 form a four-bar mechanism. Thus, the overall structural stability of the rear half of the anchor breaking device 2 is fully guaranteed.

[0123] In some embodiments, Figure 5As shown, the front bracket 23 includes a main rib plate 231 and two third ear seats 232. The main rib plate 231 can be generally in the shape of a long plate and can be a vertical plate, and the top side of the main rib plate 231 is rotatably assembled between the two first ear seats 2124. For example, an ear plate can be provided at the middle and upper part of the top side of the main rib plate 231, and the ear plate can be fitted between the two first ear seats 2124 and pivotally assembled with the two first ear seats 2124 through a pivot.

[0124] The rear end of the main rib plate 231 is rotatably connected to the second drive 24, and the height of at least part of the main rib plate 231 gradually increases from the front to the back. Figure 5 As shown, the rear end of the main rib plate 231 may also be integrally formed with an ear plate, which may be pivotally assembled between the two ear seats at the front end of the second drive 24. In the direction from front to rear, the height dimension of the main rib plate 231 may be gradually increased, so that on the one hand, the rear side of the main rib plate 231 may protrude upward, facilitating the pivotal assembly with the rear bracket 212, and on the other hand, the overall structural strength and torsion resistance of the rear portion of the front bracket 23 are ensured.

[0125] The main rib plate 231 is disposed between two third ear seats 232 . Each third ear seat 232 protrudes below the main rib plate 231 and is adjacent to the rear end of the main rib plate 231 . The third driver 26 is rotatably assembled between the two third ear seats 232 .

[0126] For example, Figure 5 As shown, the main rib plate 231 can be welded and fixed between two third ear seats 232, and the two third ear seats 232 both protrude from the bottom side edge of the main rib plate 231. The rear end of the third drive 26 can be pivotally assembled between the two third ear seats 232, thereby facilitating the assembly of the third drive 26.

[0127] In some embodiments, Figure 5 As shown, the tool holder 25 includes two tool holder plates 251 and a clamping seat 253 .

[0128] The main rib plate 231 is provided with slide rails 233 on both sides in the width direction, and the slide rails 233 extend along the extension direction of the main rib plate 231. The main rib plate 231 is provided between the two tool holder plates 251, and each tool holder plate 251 is slidably assembled with the slide rails 233 on both sides of the main rib plate 231. For example, a slide groove may be provided on the inner side of each tool holder plate 251, and the two slide rails 233 on the main rib plate 231 may be slidably assembled in the corresponding slide grooves of the two tool holder plates 251. This not only facilitates the assembly of the tool holder 25 and the front bracket 23, but also improves the overall structural strength and torsion resistance.

[0129] The bottom side of each tool holder plate 251 is provided with a fourth ear seat 252, and the front end of the second drive 24 is rotatably assembled between the two fourth ear seats 252. For example, the two main rib plates 231 can be connected by an intermediate plate, and the intermediate plate can be arranged adjacent to the bottom side edges of the two main rib plates 231. The two third ear seats 232 can be fixed on the lower side of the intermediate plate and arranged at intervals in the width direction of the front bracket 23. In some other embodiments, the two third ear seats 232 can also be integrally formed on the bottom sides of the two tool holder plates 251.

[0130] The front end of the third drive 26 may be provided with a structure such as an ear plate, and the ear plate may be pivotally assembled between the two third ear seats 232, thereby ensuring the structural stability and convenience of assembly.

[0131] The holder 253 is fixedly connected to the front ends of the two tool holder plates 251, and the holder 253 is used to install the execution device 27. Figure 5 As shown, the holder 253 can be welded and fixed on the front sides of the two tool holder plates 251, and the actuator 27 can be assembled on the holder 253 by means of clamping, fastening, etc., thereby facilitating the assembly of the actuator 27.

[0132] In some embodiments, the anchor breaking device 2 includes a visual sensor, which is disposed on the tool holder 25. For example, a visual sensor can be installed on the tool holder 25 of the above two anchor breaking devices 2, and the visual sensor can be used to collect images in the lane, thereby facilitating the identification of the specific position of the exposed anchor.

[0133] In some embodiments, the anchor breaking device 2 includes multiple travel sensors. The first drive 22 , the second drive 24 , and the third drive 26 are all provided with travel sensors, and the travel sensors are used to monitor the telescopic travel of the first drive 22 , the second drive 24 , and the third drive 26 .

[0134] For example, the first drive 22, the second drive 24, and the third drive 26 may be equipped with a stroke sensor, which facilitates the monitoring of the telescopic stroke of each drive, thereby confirming whether each drive is fully telescoped, thereby realizing execution feedback during the anchor breaking operation.

[0135] In some embodiments, the mesh breaking device 3 has a storage state. In the storage state, the rotating device 32 and the knife device 34 are stored in the recess 311 , and the rotating device 32 is located between the knife device 34 and the fixing device 31 .

[0136] For example, Figure 4As shown, when the net breaking operation is required, the net breaking device 3 can be switched to the storage state. In the storage state, the rotating device 32 and the tool device 34 are both swung into the recess 311, wherein the rotating device 32 can be in contact with the bottom wall and the side wall of the recess 311, and the tool device 34 can be overlapped on the top of the rotating device 32, and the tool device 34 can be pressed on the top side of the rotating device 32.

[0137] In this way, the whole formed by the mesh breaking device 3 and the shielding beam 134 can be prevented from protruding from the upper surface of the shielding beam 134, thereby avoiding the situation where contact interference is easy to occur. Secondly, the overlapping arrangement of the tool device 34, the rotating device 32, and the fixing device 31 can also make the whole have a higher impact resistance structural strength, which fully meets the use needs of blocking coal gangue.

[0138] In some embodiments, one end of the rotating device 32 is rotatably connected to the bottom wall of the recess 311 , one end of the tool device 34 is rotatably connected to the other end of the rotating device 32 , and the execution tool 341 is disposed at the other end of the tool device 34 .

[0139] For example, Figure 4 As shown, in the storage position, the rotating device 32 and the tool device 34 can generally extend along the front-to-back direction, wherein the front end of the rotating device 32 can be hinged to the bottom wall of the recess 311, and the rear end of the rotating device 32 can be hinged to the tool device 34, and the above-mentioned execution tool 341 can be integrally formed at the front end of the tool device 34.

[0140] In the stored state, the rotary device 32 extends rearward from the connection with the recess 311, and the cutter device 34 extends forward from the connection with the rotary device 32, for example, Figure 4 As shown, during the process of being stored in the recess 311, the rotating device 32 and the tool device 34 have the same swinging direction, wherein the rotating device 32 can swing toward the rearward and downward direction until it fits with the fixing device 31, and the tool device 34 can generally swing toward the forward and downward direction and be pressed onto the above-mentioned rotating device 32.

[0141] In the front-to-back direction, the connection between the rotating device 32 and the fixing device 31 is located between the execution tool 341 and the connection between the tool device 34 and the rotating device 32. Therefore, on the one hand, the connection can be roughly in the middle, which is conducive to ensuring the stability of the overall structure, and on the other hand, the connection between the rotating device 32 and the fixing device 31 can be spaced a certain distance from the front side of the recess 311, so that the execution tool 341 can be inserted into the space, which enhances the compactness of storage.

[0142] In some embodiments, Figure 7As shown, the fixing device 31 includes a fixed cover plate 313 , a fixed pad plate 312 , a plurality of fixed inner ribs 314 , a fixed front vertical rib plate 315 , a fixed front reinforcing rib plate 316 and a plurality of fixed bottom reinforcing rib plates 317 .

[0143] The fixing pad 312 is disposed below the fixing cover 313 and is spaced apart from the fixing cover 313. The fixing cover 313 and the fixing pad 312 are both stepped to limit the recess 311 at the front side of the fixing device 31. Figure 7 As shown, the fixed pad 312 and the fixed cover 313 can be generally Z-shaped, that is, the middle parts of the fixed pad 312 and the fixed cover 313 are bent and are generally arranged in an inclined direction from the front bottom to the rear top. The recess 311 is formed in the lower area of ​​the front side of the fixed cover 313 and the fixed pad 312.

[0144] The plurality of fixed inner ribs 314 are supported between the fixed cover plate 313 and the fixed pad plate 312 and are arranged at intervals along the front-to-back direction. Figure 7 As shown, the fixed inner ribs 314 can extend in the left-right direction, and the fixed inner ribs 314 can be perpendicular to the fixed cover plate 313 and the fixed pad plate 312, so as to fully support and fix the fixed cover plate 313 and the fixed pad plate 312, thereby ensuring the overall structural strength of the fixing device 31.

[0145] The fixed front rib plate 315 is disposed at the front side of the recess 311 and arranged vertically, and the rotary drive 33 is rotatably connected to the fixed front rib plate 315. Figure 7 As shown, the fixed front rib plate 315 can be generally arranged vertically and extend in the left-right direction, and the bottom side of the fixed front rib plate 315 can be welded and fixed to the fixed pad plate 312. The above-mentioned recess 311 is formed between the fixed front rib plate 315 and the middle inclined section of the fixed cover plate 313, and the front end of the slewing drive 33 can be hinged to the fixed front rib plate 315.

[0146] The fixed front reinforcing rib plate 316 is disposed at the angle formed by the fixed front vertical rib plate 315 and the fixed cover plate 313. Figure 7 As shown, the fixed front reinforcing rib plates 316 can all be triangular and two can be provided. The two fixed front reinforcing rib plates 316 can be arranged at intervals along the left-right direction, thereby enhancing the structural strength between the fixed front vertical rib plate 315 and the fixed cover plate 313.

[0147] A plurality of fixed bottom reinforcing ribs 317 are disposed on the bottom side of the fixed pad 312 and are arranged at intervals along the front-to-back direction, and the fixed bottom reinforcing ribs 317 are connected and fixed to the shielding beam 134. Figure 7As shown, two fixed bottom reinforcing ribs 317 may be provided, and both of the two fixed bottom reinforcing ribs 317 may be in the shape of long plates and may extend in the left-right direction, and both of the two fixed bottom reinforcing ribs 317 may be arranged vertically and spaced apart in the front-back direction.

[0148] During assembly, the left and right sides of the two fixed bottom reinforcing ribs 317 can be fixedly connected to the side walls of the shielding beam 134 by welding, thereby further enhancing the overall structural strength.

[0149] In some embodiments, Figure 7 As shown, two fixed front vertical rib plates 315 are provided, and the two fixed front vertical rib plates 315 are arranged at intervals in the front-to-back direction, and a fixed front transverse rib plate 318 is provided between the two fixed front vertical rib plates 315, so as to enhance the front structural strength of the fixing device 31.

[0150] The first fixed ear seat 319 is provided at the rear side of the rear fixed front rib plate 315 of the two fixed front rib plates 315, and the first fixed ear seat 319 is rotatably connected to the rotary drive 33. The fixed cover plate 313 is provided with a second fixed ear seat 3110, and the second fixed ear seat 3110 is provided in the recess 311, and the rotary device 32 is rotatably connected to the second fixed ear seat 3110. This facilitates the installation of the rotary drive 33 and the telescopic drive 35.

[0151] In some embodiments, Figure 8 As shown, the rotating device 32 includes a cover plate assembly, a rotating main rib plate 323 , a third fixed ear seat 324 , a fourth fixed ear seat 325 and a rotating sliding ear seat 326 .

[0152] like Figure 8 As shown, the cover plate assembly includes an upper cover plate 321 and a lower cover plate 322, which are arranged at intervals, and the cover plate assembly includes a first section 327 and a second section 328 arranged at an angle, that is, the cover plate assembly is V-shaped as a whole, and in the storage state, the first section 327 is in contact with the bottom wall of the recess 311, and the second section 328 is in contact with the inclined side wall 3111 of the recess 311. Thus, on the one hand, the overall structural strength of the rotating device 32 can be improved, and on the other hand, the shape of the rotating device 32 can be adapted to the shape of the corresponding wall of the recess 311, so that the rotating device 32 can be fully in contact with the fixing device 31, ensuring the structural stability and compactness in the storage state.

[0153] The rotary main rib plate 323 is connected between the upper cover plate 321 and the lower cover plate 322. Figure 8As shown, two rotating main ribs 323 may be provided, and both rotating main ribs 323 may be substantially V-shaped, and the two rotating main ribs 323 may be respectively provided on the left and right sides of the upper cover plate 321 and the lower cover plate 322 and are both connected between the upper cover plate 321 and the lower cover plate 322. Thus, the rotating device 32 is a box-type structure as a whole, ensuring the overall structural strength.

[0154] The third fixed ear seat 324 is disposed in the first section 327, and the third fixed ear seat 324 is rotatably connected to the telescopic drive 35. The fourth fixed ear seat 325 is disposed in the second section 328, and the fourth fixed ear seat 325 is rotatably connected to the tool device 34. The rotary push ear seat 326 is disposed in the first section 327, and the rotary push ear seat 326 is rotatably connected to the rotary drive 33.

[0155] In some embodiments, the upper cover plate 321 is provided with a first slot 3211 and a second slot 3212 , the third fixed ear seat 324 is connected to the lower cover plate 322 and extends from the first slot 3211 , and the rotary push ear seat 326 is connected to the lower cover plate 322 and extends from the second slot 3212 .

[0156] For example, Figure 8 As shown, the first slot 3211 and the second slot 3212 can both be rectangular slots and can extend in the front-to-back direction, the third fixed ear seat 324 can be welded and fixed on the lower cover plate 322, and the top of the third fixed ear seat 324 can extend from the first slot 3211 and be connected to the telescopic drive 35. The rotary push ear seat 326 can also be welded and fixed on the lower cover plate 322, and the top of the rotary push ear seat 326 can extend from the second slot 3212 and be connected to the rotary drive 33.

[0157] The upper cover 321 is provided with a plurality of limit seats 329, and the first slot 3211 is provided between two limit seats 329. In the storage state, the limit seats 329 and the telescopic drive 35 are blocked and limited. For example, a limit seat 329 can be provided on both sides of each first slot 3211. When in the storage state, the telescopic drive 35 can be stuck between the two limit seats 329, thereby playing the role of limiting the left and right directions and improving the overall structural stability. Secondly, the limit seat 329 can also stop against the tool device 34, thereby limiting the maximum amplitude of the downward swing of the tool device 34.

[0158] In some embodiments, each rotating device 32 is provided with a plurality of tool devices 34 and a telescopic drive 35, the plurality of tool devices 34 are arranged at intervals along the width direction of the rotating device 32, the plurality of telescopic drives 35 are rotatably connected to the plurality of tool devices 34 one by one, and the rotating drive 33 is arranged between two adjacent tool devices 34.

[0159] For example, Fig. 9As shown, each rotating device 32 can be provided with two tool devices 34 and two telescopic drives 35. The two tool devices 34 can be arranged at intervals in the left-right direction, and the two telescopic drives 35 can be connected to the two tool devices 34 in a one-to-one correspondence. Therefore, on the one hand, the operating area for breaking the net can be increased, and on the other hand, the tool devices 34 at different positions can operate independently, thereby meeting the needs of differential operations caused by the uneven ups and downs of the top plate.

[0160] Secondly, it is also beneficial to reduce the reverse force on the single tool device 34 , so that the force applied by the telescopic drive 35 and the rotary drive 33 can fully meet the use requirements of the single tool device 34 operation.

[0161] In some embodiments, Fig.10 As shown, the tool device 34 includes a tool top plate 342 , a plurality of tool main ribs 343 , an inner longitudinal rib 344 and a plurality of inner transverse ribs 345 .

[0162] The plurality of tool main ribs 343 are connected to the tool top plate 342 and are arranged at intervals in the width direction of the tool top plate 342. Fig.10 As shown, two tool main ribs 343 can be provided, both of which can be V-shaped and can be welded and fixed under the tool top plate 342, one of the tool main ribs 343 is located on the left side of the tool top plate 342, and the other is located on the right side of the tool top plate 342.

[0163] The inner longitudinal ribs 344 are arranged to extend along the extension direction of the cutter device 34, and a plurality of inner transverse ribs 345 are arranged at intervals in the extension direction of the inner longitudinal ribs 344, and each inner transverse rib 345 is arranged to cross the inner longitudinal ribs. Fig.10 As shown, one inner longitudinal rib plate 344 may be provided, and the inner longitudinal rib plate 344 may be provided between two tool main rib plates 343. Four inner transverse rib plates 345 may be provided, and the four inner transverse rib plates 345 may extend in the left-right direction and be arranged at intervals in the front-back direction, and each inner transverse rib plate 345 may be connected to the two tool main rib plates 343 and the inner longitudinal rib plate 344, thereby ensuring the overall structural strength.

[0164] like Fig.10 As shown, one end of the tool main rib plate 343 and the inner longitudinal rib plate 344 are each provided with a plurality of execution tools 341 , and the other end of the tool main rib plate 343 and the inner longitudinal rib plate 344 are each provided with a movable ear seat 346 , and the movable ear seat 346 is rotatably connected to the fixing device 31 .

[0165] In some embodiments, Figure 1As shown, there are three bracket units 1, which are respectively a front bracket 11, a middle bracket 12 and a rear bracket 13 arranged in sequence from front to back. The front bracket 11 includes a front top beam 111, a front column 112, a front base 113 and a front stabilizing mechanism 114, the middle bracket 12 includes a middle top beam 121, a middle column 122, a middle base 123, and the rear bracket 13 includes a rear top beam 131, a rear column 132, a rear base 133 and a shielding beam 134. The front column 112, the middle column 122 and the rear column 132 all constitute support columns, and each support column can be provided with at least one set of pressure sensors.

[0166] The front column 112 is supported and assembled between the front top beam 111 and the front base 113. For example, two front columns 112 may be provided, and the two front columns 112 may be arranged in parallel and spaced apart in the left-right direction. The front stabilizing mechanism 114 is provided at the front side of the front column 112 and protrudes toward the front side. For example, the front stabilizing mechanism 114 may include two front connecting rods, and the two front connecting rods may be connected in the up-down direction. The top end of the front connecting rod located at the upper side may be hinged to the front top beam 111, and the bottom end of the front connecting rod located at the lower side may be hinged to the front base 113. The two front connecting rods are generally V-shaped, and the connection between the two front connecting rods may protrude forward.

[0167] The middle column 122 is supported and assembled between the middle top beam 121 and the middle base 123, for example, Figure 1 As shown, the top end of the middle column 122 can be hinged to the middle top beam 121, and the bottom end of the middle column 122 can be hinged to the middle base 123. The rear column 132 is supported and assembled between the rear top beam 131 and the rear base 133, for example, Figure 1 As shown, the top end of the rear pillar 132 can be hinged to the rear top beam 131 , and the bottom end of the rear pillar 132 can be hinged to the rear base 133 .

[0168] The shield beam 134 is mounted on the rear side of the rear top beam 131, for example Figure 1 As shown, the shielding beam 134 can be arranged tilted from the front upper to the rear lower direction, the shielding beam 134 and the rear base 133 can be connected by two rear connecting rods 135, the two rear connecting rods 135 can be arranged in sequence in the front and rear directions, and the two rear connecting rods 135 can be arranged tilted generally from the front lower to the rear upper direction.

[0169] The shielding beam 134 may include two beam bodies arranged opposite to each other in the left-right direction, and the distance measuring sensor may be arranged between the two beam bodies. The above-mentioned pressure sensor and distance measuring sensor may be used to calculate the inclination angle and pressure of the top plate behind the end bracket, thereby facilitating the control of the net breaking device 3 to perform the net breaking operation.

[0170] The number of the front pillars 112 and the rear pillars 132 are both less than the number of the center pillars 122. For example, Figure 1As shown, the number of the front pillars 112 and the rear pillars 132 can be the same, for example, there can be two front pillars 112 and two rear pillars 132, and the two front pillars 112 or the two rear pillars 132 are arranged opposite to each other in the left-right direction. There can be four middle pillars 122, and the four middle pillars 122 can be arranged diagonally, that is, the four middle pillars 122 can be divided into two rows in the front-to-back direction, and each row can include two middle pillars 122 arranged at intervals in the front-to-back direction.

[0171] As a result, the middle part of the end bracket has a higher supporting strength, which is beneficial to improving the overall supporting strength and structural stability of the end bracket.

[0172] The front top beam 111, the middle top beam 121, and the rear top beam 131 are provided with side guard plates inside and on the side facing the coal wall. Figure 2 As shown, the side guard plates can be divided into inner guard plates 15 and outer guard plates 16 according to different assembly positions. The front top beam 111, the middle top beam 121, and the rear top beam 131 can include two longitudinal beams arranged relatively in the left-right direction, each longitudinal beam generally extends along the front-to-back direction, and the inner side of each longitudinal beam can be equipped with two inner guard plates 15 arranged at intervals in the front-to-back direction, so as to meet the need of inner protection.

[0173] like Figure 2 As shown, in actual use, the side of the front top beam 111, the middle top beam 121, and the rear top beam 131 facing the coal wall can be the left side, and the left side of the longitudinal beam on the left side of each top beam can be equipped with an outer guard plate 16, so as to also play a protective role. Specifically, as Figure 1 As shown, a guard plate connecting seat 14 can be installed on the left side of the left longitudinal beam, and the outer guard plate 16 can be installed and fixed to the corresponding top beam through the guard plate connecting seat 14.

[0174] In some embodiments, Figure 2 As shown, a guide cylinder 17 may be installed between the two longitudinal beams of each top beam, so as to prevent deformation and enhance stability.

[0175] The anchor breaking method according to an embodiment of the present invention is described below.

[0176] The anchor breaking method of the embodiment of the present invention comprises the following steps:

[0177] S1: Obtain the image of the tunnel roof and determine the anchoring position of the exposed anchors on the front side. For example, the tool holder plates 251 on both sides of the tool holders 25 of the two anchor breaking devices 2 can be respectively installed with visual sensors. Taking advantage of the anchor breaking device 2 being fixed at the front end of the front top beam 111, the panoramic view of the tunnel roof in front of the end bracket can be obtained with the help of the visual sensor, and then the position of the anchors such as the exposed anchor rods at the front end of the end bracket can be obtained by analyzing and processing the acquired image data.

[0178] S2: Select the anchor breaking device 2 closest to the anchor position to perform the anchor breaking operation. For example, according to the anchor rod position determined by the visual sensor, the processor can first select the anchor breaking device 2 according to the position coordinate parameters, etc. Specifically, the anchor breaking device 2 on the side closest to the determined anchor rod position can be selected for the next action planning.

[0179] S3: Perform operation planning for the selected anchor breaking device 2, and the operation planning includes path and posture. For example, the processor can perform data calculation and path planning, and can determine the working path and working posture of the anchor breaking device 2. The stroke control instructions of each drive can be generated by the determined path planning, posture, etc., and then the action can be further controlled through the electro-hydraulic control valve and the stroke sensor in each drive.

[0180] S4: According to the operation plan, the first drive 22, the second drive 24, and the third drive 26 are controlled to drive the actuator 27 to the specified position, and during the operation of the first drive 22, the second drive 24, and the third drive 26, the telescopic strokes of the first drive 22, the second drive 24, and the third drive 26 are monitored.

[0181] For example, when the action starts, the electro-hydraulic control valve controls the push rod of the first drive 22 to extend, thereby pushing the hinge point of the connecting rod 213, and then pushing the rear bracket 212 to rotate around the sway pin 1112, thereby pushing the anchor breaking device 2 to roll as a whole.

[0182] like Fig.11 As shown, the electro-hydraulic control valve can then control the push rod of the pitch jack (second drive 24) to extend, and push the front bracket 23 to perform a vertical pitch movement around the front end hinge axis of the rear bracket 212 through the rear ear seat (first ear seat 2124) of the main rib plate 231 of the front bracket 23, thereby adjusting the pitch posture of the tool holder 25.

[0183] like Fig.11 As shown, the push rod of the pitch and telescopic jack (third drive 26) can be extended through the electro-hydraulic control valve, and the fourth ear seat 252 can be pushed by the third drive 26, thereby pushing the tool holder 25 to move forward as a whole along the slide rail 233 of the front bracket 23.

[0184] It should be noted that if Fig.12 As shown, the first drive 22, the second drive 24, and the third drive 26 can be built with stroke sensors. The push rod extension length instructions of each drive are preset according to the controller, and the push rod extension length can be fed back in real time through the stroke sensor until the push rod length of each drive reaches the specified position, thereby facilitating driving the actuator 27 into place.

[0185] S5: Using the anchor breaking device 2 at the designated position to shear the anchor. Specifically, the execution device 27 is a hydraulic execution shear. After the hydraulic execution shear reaches the designated position, the controller can send an action control instruction to it to shear the anchor, thereby achieving the removal of the anchor.

[0186] S6: After the anchor is sheared, the anchor breaking device 2 returns to its initial position. For example, after the shearing action is completed, the controller can issue a work completion instruction, and the push rods of the first drive 22, the second drive 24, and the third drive 26 are retracted in sequence, and the anchor breaking device 2 quickly returns to its initial position, that is, the anchor breaking device 2 can be retracted to the lower end of the front top beam 111, so that it will not hinder the overall moving activity of the end bracket in the future. For example, Figure 1 As shown, a push jack can be installed on the front side of the end bracket, and the end bracket can be moved by means of the push jack.

[0187] The following describes a method for breaking a network according to an embodiment of the present invention.

[0188] The network breaking method of the embodiment of the present invention comprises the following steps:

[0189] A1: Observe the roof and determine the position of the broken net. For example, two sets of pressure sensors are installed on the front column 112, the middle column 122, and the rear column 132, respectively, and a set of distance sensors are installed on the inner side of the two shield beams 134. The pressure sensor and the distance sensor can be used to calculate the inclination angle and pressure of the roof behind the bracket. In this way, the observation of the roof can be achieved, and the distance between the anchor net and the end bracket can be measured by the distance sensor, that is, the position of the broken net can be obtained.

[0190] A2: Action planning is performed according to the determined net breaking position, and the action planning includes path and posture. For example, according to the top plate position determined by the ranging sensor, the processor can perform data calculation and execute the path planning of the tool 341, so as to determine the working path and posture of the net breaking device 3. The jack stroke control instruction can be generated through the determined working path and posture, and the action control is further performed through the electro-hydraulic control valve and the jack stroke sensor.

[0191] A3: The rotary drive 33 and the telescopic drive 35 are controlled to execute the action plan and the cutting of the anchor net is completed by executing the tool 341 , and under the coordinated action of the rotary drive 33 and the telescopic drive 35 , the moving trajectory of the executing tool 341 is a straight line.

[0192] For example, Fig.13 As shown, when performing the net breaking operation, the rotation posture control can be performed first, that is, the push rod of the rotation drive 33 can be retracted, and through the hinge point of the rotation drive 33 and the rotation push ear seat 326, the rotation device 32 as a whole is driven to rotate counterclockwise around the second fixed ear seat 3110 of the rotation device 32, so that the rotation device 32 can be swung out of the recess 311.

[0193] Then the push rod of the telescopic drive 35 can be extended, and the tool device 34 can be pushed to rotate clockwise around the two sets of hinge holes at the front end of the rotating device 32 through the push rod of the telescopic drive 35 and the hinge holes of the inner longitudinal rib plate 344 of the tool device 34, so that the tool device 34 can be swung out.

[0194] When the tool device 34 and the rotating device 32 are both swung out, Fig.14 As shown, the execution tool 341 can be moved to the initial point of the net breaking, and then the execution tool 341 can be driven to move forward by driving the rotary drive 33 to extend, driving the telescopic drive 35 to retract, etc. During the movement of the execution tool 341, the anchor net on the top plate of the tunnel can be cut, thereby realizing the net breaking operation.

[0195] It should be noted that, in the process of the execution tool 341 moving from the back to the front, the movement trajectory of the execution tool 341 can be controlled by the coordinated action of the rotary drive 33 and the telescopic drive 35, that is, Fig.14 As shown, the execution tool 341 can move in a straight line as a whole, that is, the above action sequence and amplitude can be centrally controlled by an intelligent control algorithm, and the action sequence and the rotation angle of each level of the rotating device 32 can be dynamically adjusted according to the specific conditions of the roof to ensure that the mesh breaking device 3 fits the roof coal wall, thereby avoiding the situation where the execution tool 341 cuts too deeply into the tunnel roof, while satisfying the cutting of the anchor net, it can reduce unnecessary loss and resistance, and achieve a good mesh breaking effect.

[0196] It should be noted that if Fig.15 As shown, the rotary drive and telescopic drive are equipped with special stroke sensors. During the extension and retraction of the rotary drive 33 and the telescopic drive 35, the stroke sensor can monitor the extension amount, thereby facilitating real-time acquisition of the actual extension amount of the rotary drive 33 and the telescopic drive 35, and then can realize real-time monitoring and confirmation of the moving position of the execution tool 341, and can also realize path trajectory monitoring of the execution tool 341 through the monitoring results.

[0197] A4: After the cutting of the anchor net at the broken net position is completed, reset the rotary drive 33 and the telescopic drive 35. Thereby, the tool device 34 and the rotary device 32 can be reset to the storage state. It should be noted that in the process of swinging out the tool device 34 and the rotary device 32, the rotary drive 33 and the telescopic drive 35 can be carried out at the same time, so that the two-level mechanism posture coupling can be achieved. Similarly, when the tool device 34 and the rotary device 32 are switched to the storage state, the rotary drive 33 and the telescopic drive 35 can also be carried out simultaneously under the processor instruction, so that the two-level mechanism posture coupling can be achieved, and then simultaneous recovery can be achieved.

[0198] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. An end bracket with both anchor breaking and net breaking functions, characterized in that: It comprises a plurality of bracket units, an anchor breaking device and a net breaking device, wherein the plurality of bracket units are sequentially connected in a direction from front to back, the anchor breaking device is mounted on the top beam of the bracket unit at the front end, and the net breaking device is arranged on the shielding beam of the bracket unit at the rear end; The anchor breaking device comprises a swing arm, a first drive, a front bracket, a second drive, a tool holder, a third drive and an execution device; The swing arm is rotatably assembled with the top beam, the first drive is connected between the swing arm and the top beam and is used to drive the swing arm to swing horizontally, the front bracket is rotatably assembled with the top beam, the second drive is connected between the front bracket and the swing arm and is used to drive the front bracket to swing in pitch, the tool holder is slidably assembled with the front bracket, the third drive is connected between the tool holder and the front bracket and is used to drive the tool holder to slide, and the actuator is assembled on the tool holder and is used to shear the anchor; The mesh breaking device comprises a fixing device, a rotating device, a rotating drive, a cutter device and a telescopic drive; The fixing device is embedded in the shield beam, the rotary drive is connected between the fixing device and the rotary device and is used to drive the rotary device to swing relative to the fixing device, the tool device is rotatably assembled on the rotary device and includes an executing tool, the telescopic drive is connected between the tool device and the rotary device and is used to drive the tool device to swing relative to the rotary device, and the executing tool is used to cut the anchor net by the swing of the rotary device and / or the telescopic drive.

2. The end bracket with both anchor breaking and net breaking functions according to claim 1 is characterized in that: The swing arms are provided with two, and the two swing arms are symmetrically arranged in the width direction of the top beam, and each of the swing arms comprises: A rotating drum, wherein a sway pin is provided at the bottom of the top beam, and the rotating drum is rotatably mounted on the outer peripheral side of the sway pin; A rear bracket and a connecting rod, wherein the front end of the rear bracket is rotatably connected to the front bracket, the rear end of the rear bracket is fixedly connected to the rotating drum, one end of the connecting rod is fixedly connected to the rotating drum, the other end of the connecting rod is rotatably connected to the first drive, and the length of the rear bracket is greater than the length of the connecting rod; The extension direction of the rear bracket and the extension direction of the connecting rod form an obtuse angle, the angle formed by the rear bracket and the connecting rod of each swing arm protrudes toward the outside of the top beam, and the connection between the connecting rod and the first drive is located on the inner side of the rotating drum.

3. The end bracket with both anchor breaking and net breaking functions according to claim 2 is characterized in that: The swing arm can swing between a first extreme position and a second extreme position. In the first extreme position, the rear bracket extends along the front-to-back direction, and the first drive and the connecting rod form an angle a. In the second extreme position, the rear bracket swings outward from the top beam, and the first drive and the connecting rod form an angle b, and the angle a is greater than the angle b.

4. The end bracket with both anchor breaking and net breaking functions according to claim 3 is characterized in that: The rear bracket includes two rear rib plates, a rear connecting plate and a rear reinforcing plate, the two rear rib plates are arranged in parallel and spaced apart in the width direction of the rear bracket, the rear connecting plate is connected between the two rear rib plates and arranged adjacent to the top sides of the rear rib plates, the rear reinforcing plate is arranged above the rear connecting plates, and the height dimension of the rear reinforcing plate gradually increases along the direction approaching the rotating drum; Each of the rear rib plate, the rear connecting plate and the rear reinforcing plate is fixedly connected to the rotating drum, and the front end and the bottom side of each of the rear rib plate are respectively provided with a first ear seat and a second ear seat, part of the front bracket is rotatably assembled between the two first ear seats of the two rear rib plates, and the rear end of the second drive is rotatably assembled between the two second ear seats, and the front bracket, the rear bracket, the second drive and the second ear seat form a four-bar mechanism; The front bracket includes a main rib plate and two third ear seats, the top side of the main rib plate is rotatably mounted between the two first ear seats, the rear end of the main rib plate is rotatably connected to the second drive, and the height dimension of at least part of the main rib plate gradually increases from the front to the rear, the main rib plate is arranged between the two third ear seats, each of the third ear seats protrudes below the main rib plate and is adjacent to the rear end of the main rib plate, and the third drive is rotatably mounted between the two third ear seats; The tool holder includes two tool holder plates and a clamping seat. The main rib plate is provided with slide rails on both sides in the width direction. The slide rails extend along the extension direction of the main rib plate. The main rib plate is arranged between the two tool holder plates, and each of the tool holder plates is slidably assembled with the slide rails on both sides of the main rib plate. A fourth ear seat is provided on the bottom side of each tool holder plate, and the front end of the second drive is rotatably assembled between the two fourth ear seats. The clamping seat is fixedly connected to the front ends of the two tool holder plates, and the clamping seat is used to install the actuator.

5. The end bracket with both anchor breaking and net breaking functions according to claim 1 is characterized in that: The anchor breaking device comprises a visual sensor, and the visual sensor is arranged on the tool holder; And / or, a plurality of stroke sensors are included, the first drive, the second drive, and the third drive are all provided with the stroke sensors, and the stroke sensors are used to monitor the telescopic strokes of the first drive, the second drive, and the third drive.

6. The end bracket with both anchor breaking and net breaking functions according to any one of claims 1 to 5, characterized in that: The fixing device is provided with a recessed portion, and the mesh breaking device has a storage state. In the storage state, the rotating device and the cutter device are stored in the recessed portion, and the rotating device is located between the cutter device and the fixing device; One end of the rotary device is rotatably connected to the bottom wall of the recess, one end of the tool device is rotatably connected to the other end of the rotary device, and the execution tool is arranged at the other end of the tool device; In the storage state, the rotating device extends rearward from the connection with the recess, the tool device extends forward from the connection with the rotating device, and the connection between the rotating device and the fixing device is located between the execution tool and the connection between the tool device and the rotating device.

7. The end bracket with both anchor breaking and net breaking functions according to claim 6, characterized in that: The fixing device comprises a fixed cover plate, a fixed pad plate, a plurality of fixed inner rib plates, a fixed front vertical rib plate, a fixed front reinforcing rib plate and a plurality of fixed bottom reinforcing rib plates; The fixed pad is arranged below the fixed cover and spaced apart from the fixed cover. Both the fixed cover and the fixed pad are stepped to limit the recess at the front side of the fixing device. A plurality of fixed inner ribs are supported between the fixed cover and the fixed pad and spaced apart along the front-rear direction. The fixed front vertical rib plate is provided at the front side of the recess and arranged vertically, two fixed front vertical rib plates are provided, the two fixed front vertical rib plates are arranged at intervals in the front-to-back direction, and a fixed front transverse rib plate is provided between the two fixed front vertical rib plates, and a first fixed ear seat is provided at the rear side of the fixed front vertical rib plate located at the rear side of the two fixed front vertical rib plates, the first fixed ear seat is rotatably connected to the rotary drive, the fixed cover plate is provided with a second fixed ear seat, the second fixed ear seat is provided in the recess, and the rotary device is rotatably connected to the second fixed ear seat; The fixed front reinforcing rib plate is arranged at the angle formed by the fixed front vertical rib plate and the fixed cover plate, and the plurality of fixed bottom reinforcing rib plates are arranged on the bottom side of the fixed pad plate and are arranged at intervals along the front-to-back direction, and the fixed bottom reinforcing rib plates are connected and fixed to the shield beam.

8. The end bracket with both anchor breaking and net breaking functions according to claim 6, characterized in that: The rotary device comprises a cover plate assembly, a rotary main rib plate, a third fixed ear seat, a fourth fixed ear seat and a rotary push ear seat; The cover plate assembly includes an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are arranged at an interval, and the cover plate assembly includes a first section and a second section arranged at an angle, in the storage state, the first section is in contact with the bottom wall of the recess, and the second section is in contact with the inclined side wall of the recess; The rotary main rib plate is connected between the upper cover plate and the lower cover plate, the third fixed ear seat is arranged at the first section, and the third fixed ear seat is connected to the telescopic drive rotation, the fourth fixed ear seat is arranged at the second section, and the fourth fixed ear seat is connected to the tool device rotation, the rotary push ear seat is arranged at the first section, and the rotary push ear seat is connected to the rotary drive rotation; The upper cover plate is provided with a first slot and a second slot, the third fixed ear seat is connected to the lower cover plate and extends from the first slot, and the rotary push ear seat is connected to the lower cover plate and extends from the second slot; The upper cover plate is provided with a plurality of limit seats, the first slot is provided between two of the limit seats, and in the storage state, the limit seat and the telescopic drive stop and limit; and / or, The tool device comprises a tool top plate, a plurality of tool main ribs, an inner longitudinal rib and a plurality of inner transverse ribs; The plurality of tool main ribs are connected to the tool top plate and are arranged at intervals in the width direction of the tool top plate, the inner longitudinal ribs are arranged extending along the extension direction of the tool device, the plurality of inner transverse ribs are arranged at intervals in the extension direction of the inner longitudinal ribs, and each of the inner transverse ribs is arranged crosswise with the inner longitudinal ribs; One end of the tool main rib plate and the inner longitudinal rib plate is provided with a plurality of the execution tools, and the other end of the tool main rib plate and the inner longitudinal rib plate is provided with a movable ear seat, and the movable ear seat is rotatably connected to the fixing device.

9. The end bracket with both anchor breaking and net breaking functions according to claim 6, characterized in that: There are three bracket units, which are respectively a front bracket, a middle bracket and a rear bracket arranged in sequence from front to back; The front support comprises a front top beam, a front column, a front base and a front stabilizing mechanism, the middle support comprises a middle top beam, a middle column and a middle base, and the rear support comprises a rear top beam, a rear column, a rear base and the shield beam; The front pillar support is mounted between the front top beam and the front base, the front stabilizing mechanism is arranged at the front side of the front pillar and protrudes toward the front side, the middle pillar support is mounted between the middle top beam and the middle base, the rear pillar support is mounted between the rear top beam and the rear base, the shield beam is mounted at the rear side of the rear top beam, and the number of the front pillars and the rear pillars is less than the number of the middle pillars; The inside of the front top beam, the middle top beam, and the rear top beam and the side facing the coal wall are all provided with side guard plates; At least one of the front pillar, the middle pillar, and the rear pillar is provided with a pressure sensor, and the shield beam is provided with a distance measuring sensor.

10. A method for using the end bracket with both anchor breaking and net breaking functions based on any one of claims 1 to 9, characterized in that: Including anchor breaking methods and net breaking methods; The anchor breaking method comprises the following steps: Obtain the tunnel roof image and determine the anchoring position of the exposed anchors on the front side; Select the anchor breaking device closest to the anchoring position to perform anchor breaking operation; Performing operation planning for the selected anchor breaking device, wherein the operation planning includes a path and a posture; Controlling the first drive, the second drive, and the third drive according to the operation plan to drive the actuator to a specified position, and monitoring the telescopic strokes of the first drive, the second drive, and the third drive during the first drive, the second drive, and the third drive; Using the anchor breaking device at the designated position to shear the anchor; After the shearing of the anchor piece is completed, the anchor breaking device is returned to its initial posture; The network breaking method comprises the following steps: Observe the roof and determine the location of the broken net; Performing action planning according to the determined network breaking position, wherein the action planning includes a path and a posture; Controlling the rotary drive and the telescopic drive to execute the action plan and complete the cutting of the anchor net through the execution tool, and under the coordinated action of the rotary drive and the telescopic drive, the moving trajectory of the execution tool is a straight line; After the anchor net at the broken net position is cut, the rotary drive and the telescopic drive are reset.

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