Anchor and net breaking end support and method of use

Abstract

The application discloses an end support with anchor breaking and mesh breaking functions and a use method, comprising a plurality of support units, an anchor breaking device and a mesh breaking device, the plurality of support units are sequentially connected along a front-to-back direction, the anchor breaking device is assembled at a top beam of the support unit at the front end, and the mesh breaking device is arranged at a shield beam of the support unit at the rear end. The end support can realize mechanical and automatic shearing of the anchor, avoids time and labor consumption in manual removal of the anchor in the prior art, and can realize cutting of the roof anchor mesh, thereby avoiding the situation that the roof of the goaf is difficult to collapse in time due to the anchor mesh support.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mining, in particular to an end support with anchor breaking and net breaking functions and a use method. BACKGROUND

[0002] At present, with the development of fully mechanized caving technology, the super large mining height fully mechanized caving mining technology is constantly updated and improved. Since the larger the mining height (the smaller the caving thickness), the higher the resource recovery rate, the super large mining height top coal caving equipment is gradually popularized in the main coal producing areas in the west, which changes the previous mining status of "mining and caving three times" in 10-18m thick coal seam top coal caving mining, greatly reducing the resource waste caused by low coal cutting height and large caving height of fully mechanized caving face.

[0003] However, with the increase of mining height of fully mechanized caving face, corresponding roadway support problems are also brought. Because the top coal is easy to fall, the coal seam using top coal caving mining technology is relatively soft, and with the increase of mining height, the difficulty of roadway support increases, and only high-density anchor and net support can be used.

[0004] However, in the process of advancing the working face, the hydraulic support at the end of the transportation roadway is easily hindered by the exposed anchor rod during the advancing process. The current mining technology generally uses manual pre-removal, which not only wastes time and effort but also has a certain degree of danger, especially for super large mining height top coal caving mining face transportation roadway, anchor rod density is large, roadway height is high, original removal scheme is difficult to meet the current production conditions, and the contradiction between smooth removal of super large mining height top coal caving transportation roadway hydraulic support and safe support of the roof needs to be solved.

[0005] Secondly, with the increase of mining height of fully mechanized caving face, the contradiction between roadway support and timely unloading is also brought, that is, on the one hand, the top coal caving mining technology requires coal seam with soft coal quality, which requires high-quality roadway anchor net support, on the other hand, with the advancement of working face and the forward movement of end hydraulic support, the roof of roadway goaf is difficult to collapse in time due to the use of anchor net support, which affects the recovery of the top coal of the end "triangle area", and also aggravates the mine pressure appearance of the working face, which is not conducive to safe operation. SUMMARY

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

[0007] To this end, the present application provides an end support with anchor breaking and net breaking functions, which can meet the end support operation, and can realize mechanical and automatic shearing of anchor, avoiding the time-consuming and labor-intensive manual removal of anchor in the prior art, and the need to climb high and have high risk, solving the contradiction between end support removal and roof safe support;

[0008] Secondly, the end support can also realize cutting of the roof anchor net, thereby avoiding the situation that 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 triangular area, improving the mine pressure behavior of the working face, and improving the safety of the mining operation.

[0009] The application also provides a use method of the end support.

[0010] The end support with the anchor breaking and net breaking functions comprises a plurality of support units, an anchor breaking device and a net breaking device, the plurality of support units are sequentially connected in a front-to-back direction, the anchor breaking device is arranged at a top beam of the frontmost support unit, and the net breaking device is arranged at a shield beam of the last support unit.

[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 rotationally connected with the top beam, the first drive is connected between the swing arm and the top beam and is used for driving the swing arm to swing horizontally, the front bracket is rotationally connected with the top beam, the second drive is connected between the front bracket and the swing arm and is used for driving the front bracket to swing vertically, the tool holder is slidingly connected with the front bracket, the third drive is connected between the tool holder and the front bracket and is used for driving the tool holder to slide, and the execution device is arranged in the tool holder and is used for shearing an anchor.

[0013] The net breaking device comprises a fixing device, a rotating device, a rotating drive, a tool device and an extension drive.

[0014] The fixing device is embedded in the shield beam, the rotating drive is connected between the fixing device and the rotating device and is used for driving the rotating device to swing relative to the fixing device, the tool device is rotationally connected with the rotating device and comprises an execution tool, and the extension drive is connected between the tool device and the rotating device and is used for driving the tool device to swing relative to the rotating device, and the execution tool is used for cutting the anchor net through the swinging of the rotating device and / or the extension of the extension drive.

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

[0016] A rotating drum, the bottom of the top beam is provided with a yaw pin shaft, and the rotating drum is rotationally connected with the outer circumferential side of the yaw pin shaft.

[0017] a rear bracket, a front end of the rear bracket being rotatably connected with the front bracket, a rear end of the rear bracket being fixedly connected with the rotary drum, a connecting rod, one end of the connecting rod being fixedly connected with the rotary drum, the other end of the connecting rod being rotatably connected with the first drive, and a length dimension of the rear bracket being greater than a length dimension of the connecting rod;

[0018] an extension direction of the rear bracket and an extension direction of the connecting rod form an obtuse angle, the included angle formed by the rear bracket and the connecting rod of each swing arm protrudes outwardly from the top beam, and a connection between the connecting rod and the first drive is located inwardly from the rotary drum.

[0019] In some embodiments, the swing arm is swingable between a first limit position and a second limit position, in the first limit position, the rear bracket extends along a front-rear direction, the first drive and the connecting rod form an included angle a, in the second limit position, the rear bracket swings outwardly from the top beam, the first drive and the connecting rod form an included angle b, and the included angle a is greater than the included 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 a width direction of the rear bracket, the rear connecting plate is connected between the two rear rib plates and is arranged adjacent to a top side of the rear rib plates, the rear reinforcing plate is arranged above the rear connecting plate, and a height dimension of the rear reinforcing plate gradually increases in a direction close to the rotary drum;

[0021] each of the rear rib plates, the rear connecting plate, and the rear reinforcing plate is fixedly connected with the rotary drum, a front end and a bottom side of each of the rear rib plates are respectively provided with a first lug and a second lug, part of the front bracket is rotatably assembled between the two first lugs of the two rear rib plates, a rear end of the second drive is rotatably assembled between the two second lugs, and the front bracket, the rear bracket, the second drive, the second lugs form a four-bar linkage;

[0022] the front bracket includes a main rib plate and two third lugs, a top side of the main rib plate is rotatably assembled between the two first lugs, a rear end of the main rib plate is rotatably connected with the second drive, at least part of a height dimension of the main rib plate gradually increases in a direction from front to rear, the main rib plate is arranged between the two third lugs, each of the third lugs protrudes downwardly from the main rib plate and is adjacent to the rear end of the main rib plate, and the third drive is rotatably assembled between the two third lugs;

[0023] The tool holder comprises 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 tool holder plate is slidably assembled with the slide rails on both sides of the main rib plate, the bottom side of each tool holder plate is provided with a fourth ear seat, the front end of the second drive is rotatably assembled between the two fourth ear seats, and the clamping seat is fixedly connected to the front end of the two tool holder plates, and the clamping seat is used for mounting the execution device.

[0024] In some embodiments, the anchor breaking device comprises a visual sensor arranged on the tool holder;

[0025] And / or, a plurality of stroke sensors are arranged, the first drive, the second drive and the third drive are provided with the stroke sensors, and the stroke sensors are used for monitoring the telescopic stroke of the first drive, the second drive and the third drive.

[0026] In some embodiments, the fixing device is provided with a recess, the net breaking device has a storage state, in the storage state, the rotary device and the cutter device are stored in the recess, and the rotary device is located between the cutter 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 cutter device is rotatably connected to the other end of the rotary device, and the execution cutter is arranged at the other end of the cutter device;

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

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

[0030] The fixing base plate is arranged below the fixing cover plate and is spaced apart from the fixing cover plate, the fixing cover plate and the fixing base plate are both stepped to limit the recess on the front side of the fixing device, and the plurality of fixing inner rib plates are supported between the fixing cover plate and the fixing base plate and are spaced apart in the front-rear direction;

[0031] The fixed front vertical rib plate is arranged vertically on the front side of the recess, two fixed front vertical rib plates are arranged in the front-rear direction, a fixed front horizontal rib plate is arranged between the two fixed front vertical rib plates, a first fixed lug seat is arranged on the rear side of the rear fixed front vertical rib plate among the two fixed front vertical rib plates, the first fixed lug seat is connected with the rotary drive in rotation, the fixed cover plate is provided with a second fixed lug seat, the second fixed lug seat is arranged in the recess, and the rotary device is connected with the second fixed lug seat in rotation.

[0032] The fixed front reinforcing rib plate is arranged at the included angle formed by the fixed front vertical rib plate and the fixed cover plate, a plurality of fixed bottom reinforcing rib plates are arranged on the bottom side of the fixed base plate and are arranged in the front-rear direction, and the fixed bottom reinforcing rib plates are connected and fixed with the shield beam.

[0033] In some embodiments, the rotary device comprises a cover plate assembly, a rotary main rib plate, a third fixed lug seat, a fourth fixed lug seat, and a rotary push lug seat.

[0034] The cover plate assembly comprises an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are arranged in a spaced manner, and the cover plate assembly comprises a first section and a second section arranged at an included angle, in the storage state, the first section is fitted with the bottom wall of the recess, and the second section is fitted 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 lug seat is arranged on the first section, and the third fixed lug seat is connected with the telescopic drive in rotation, the fourth fixed lug seat is arranged on the second section, and the fourth fixed lug seat is connected with the tool device in rotation, the rotary push lug seat is arranged on the first section, and the rotary push lug seat is connected with the rotary drive in rotation.

[0036] The upper cover plate is provided with a first slot and a second slot, the third fixed lug seat is connected with the lower cover plate and extends out of the first slot, and the rotary push lug seat is connected with the lower cover plate and extends out of the second slot.

[0037] The upper cover plate is provided with a plurality of limiting seats, the first slot is arranged between two limiting seats, in the storage state, the limiting seats are limited by the telescopic drive.

[0038] And / or,

[0039] The tool device comprises a tool top plate, a plurality of tool main rib plates, an inner vertical rib plate, and a plurality of inner horizontal rib plates.

[0040] A plurality of said cutter main rib plates are connected with said cutter top plate and arranged at intervals in the width direction of said cutter top plate, said inner longitudinal rib plate is arranged extending along the extension direction of said cutter device, a plurality of said inner transverse rib plates are arranged at intervals in the extension direction of said inner longitudinal rib plate, and each said inner transverse rib plate is arranged intersecting said inner longitudinal rib plate;

[0041] One end of said cutter main rib plate and said inner longitudinal rib plate is provided with a plurality of said execution cutter, and the other end of said cutter main rib plate and said inner longitudinal rib plate is provided with a movable lug seat, said movable lug seat is rotatably connected with said fixed device.

[0042] In some embodiments, said support unit is provided with three, and the three said support units are respectively front support, middle support and rear support arranged in sequence from front to back;

[0043] Said front support includes a front top beam, a front column, a front base and a front stabilizing mechanism, said middle support includes a middle top beam, a middle column, a middle base, and said rear support includes a rear top beam, a rear column, a rear base and said shield beam;

[0044] Said front column is supported and assembled between said front top beam and said front base, said front stabilizing mechanism is provided on the front side of said front column and protrudes forward, said middle column is supported and assembled between said middle top beam and said middle base, said rear column is supported and assembled between said rear top beam and said rear base, said shield beam is assembled on the rear side of said rear top beam, and the number of said front column and said rear column is less than the number of said middle column;

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

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

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

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

[0049] Obtaining a roadway roof image and determining the anchor position of the front side exposed anchor;

[0050] Selecting the anchor breaking device closest to the anchor position for anchor breaking operation;

[0051] Planning the operation of the selected anchor breaking device, and the operation planning includes path and posture;

[0052] According to the operation planning, the first drive, the second drive and the third drive are operated to drive the execution device to a specified position, and during the operation of the first drive, the second drive and the third drive, the telescopic stroke of the first drive, the second drive and the third drive is monitored;

[0053] The anchor cutting is completed by the anchor breaking device at the specified position;

[0054] After the anchor cutting is completed, the anchor breaking device returns to the initial position;

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

[0056] The roof is observed, and the mesh breaking position is determined;

[0057] According to the determined mesh breaking position, the action planning is performed, and the action planning comprises a path and a position;

[0058] The rotary drive and the telescopic drive are operated to perform the action planning and complete the cutting of the anchor mesh by the execution cutter, and under the cooperative action of the rotary drive and the telescopic drive, the running track of the execution cutter is linear;

[0059] After the cutting of the anchor mesh at the mesh breaking position is completed, the rotary drive and the telescopic drive are reset.

[0060] Beneficial effects: The end support and the use method with the functions of anchor breaking and mesh breaking can meet the end support operation, realize the mechanical and automatic cutting of the anchor, avoid the time-consuming and labor-consuming, high climbing and high risk in the prior art, and solve the contradiction between the end support moving and the roof safety support.

[0061] Secondly, the end support can also cut the roof anchor mesh, thereby avoiding the situation that the roof of the goaf is difficult to collapse in time due to the anchor mesh support, improving the top coal recovery rate of the end triangular area, improving the mine pressure appearance of the working face, and improving the safety of the mining operation. BRIEF DESCRIPTION OF DRAWINGS

[0062] Figure 1 is a lateral schematic view of the end support of the embodiment of the present application.

[0063] Figure 2 is a top view schematic view of the end support of the embodiment of the present application.

[0064] Figure 3 is a schematic view of the anchor breaking device of the front end of the end support.

[0065] Figure 4 is a lateral schematic view of a net breaking device of an embodiment of the present application.

[0066] Figure 5 is a schematic view of an anchor breaking device of an embodiment of the present application.

[0067] Figure 6 is a schematic view of horizontal swing adjustment of two anchor breaking devices of an embodiment of the present application.

[0068] Figure 7 is a schematic view of a fixing device of a net breaking device of an embodiment of the present application.

[0069] Figure 8 is a schematic view of a rotating device of a net breaking device of an embodiment of the present application.

[0070] Figure 9 is a schematic view of an overall structure of a net breaking device of an embodiment of the present application.

[0071] Figure 10 is a schematic view of a cutter device of a net breaking device of an embodiment of the present application.

[0072] Figure 11 is a schematic view of form adjustment of an anchor breaking device of an embodiment of the present application.

[0073] Figure 12 is a flowchart of extension and retraction strokes of each drive in an operation process of an embodiment of the present application.

[0074] Figure 13 is a schematic view of rotating drive and extension and retraction drive of a net breaking device of an embodiment of the present application.

[0075] Figure 14 is a schematic view of a use state of a net breaking device of an embodiment of the present application.

[0076] Figure 15 is a flowchart of a net breaking process of a net breaking device of an embodiment of the present application.

[0077] Reference numerals:

[0078] 1 - bracket unit; 11 - front bracket; 111 - front top beam; 1111 - fixing shaft; 1112 - yaw pin shaft; 112 - front upright column; 113 - front base; 114 - front stabilizing mechanism; 12 - middle bracket; 121 - middle top beam; 122 - middle upright column; 123 - middle base; 13 - rear bracket; 131 - rear top beam; 132 - rear upright column; 133 - rear base; 134 - shield beam; 135 - rear connecting rod; 14 - guard plate connecting seat; 15 - inner side guard plate; 16 - outer side 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 lug; 2125 - second lug; 213 - connecting rod; 22 - first drive; 23 - front bracket; 231 - main rib plate; 232 - third lug; 233 - slide rail; 24 - second drive; 25 - cutter holder; 251 - cutter holder plate; 252 - fourth lug; 253 - clamping seat; 26 - third drive; 27 - execution device; 28 - first device; 29 - second device;

[0080] 3 - net breaking device; 31 - fixing device; 311 - recess; 3111 - inclined side wall; 312 - fixing base plate; 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 horizontal rib plate; 319 - first fixing lug; 3110 - second fixing lug; 32 - rotating device; 321 - upper cover plate; 3211 - first slot; 3212 - second slot; 322 - lower cover plate; 323 - rotating main rib plate; 324 - third fixing lug; 325 - fourth fixing lug; 326 - rotating push lug; 327 - first section; 328 - second section; 329 - limiting seat; 33 - rotating drive; 34 - cutter device; 341 - execution cutter; 342 - cutter top plate; 343 - cutter main rib plate; 344 - inner vertical rib plate; 345 - inner horizontal rib plate; 346 - movable lug; 35 - telescopic drive. DETAILED DESCRIPTION

[0081] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings. The embodiments described below by reference to the drawings are exemplary and are intended to explain the present application, and cannot be understood as limiting the present application.

[0082] As shown in Figure 1 , the end support (hereinafter referred to as end support) with anchor breaking and net breaking functions of the embodiment of the present application comprises a plurality of support units 1, at least one anchor breaking device 2 and at least one net breaking device 3. The plurality of support units 1 are sequentially connected along the front-to-back direction, and the last support unit 1 comprises a shield beam 134.

[0083] For example, as shown in Figure 1 and Figure 2 , three support units 1 can be provided, and the top beams and bases of the three support units 1 can be sequentially connected along the front-to-back direction, and each support unit 1 can be an independent hydraulic support, thereby meeting the use needs of large-scale support in the recovery roadway. In other embodiments, the support units 1 can also be provided in two, four or other quantities.

[0084] The support unit 1 at the last end among the three support units 1 can include a shield beam 134, which can be arranged to be inclined along the front-up-to-back-down direction, so as to block the gangue in the goaf from falling into the working face.

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

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

[0087] For example, as shown in Figure 3 , the swing arm 21 can be generally V-shaped. The swing arm 21 can be rotationally assembled with the web of the roof beam at the corner through a pin shaft or the like, and the pin shaft can be arranged to extend along a direction perpendicular to the web, so that the swing arm 21 can swing left and right about the pin shaft. The first drive 22 can be a telescopic drive. 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 hingedly connected 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 roof beam. In use, the first drive 22 can be telescopic, so as to achieve the swing driving of the swing arm 21.

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

[0089] For example, as shown in Figure 3 , the front bracket 23 can be made by welding steel plates together. 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 shaft, which can extend generally along the horizontal direction. The second drive 24 can also be a telescopic drive. The second drive 24 as a whole can be located below the swing arm 21. The front end of the second drive 24 can be hingedly connected with 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. In use, the pitch swing adjustment of the front bracket 23 in the vertical plane can be achieved by the telescopic extension of the second drive 24.

[0090] The cutter holder 25 is slidingly 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 with the cutter holder 25, and the other end of the third drive 26 is rotationally connected with the front bracket 23.

[0091] For example, as shown in Figure 3 The tool holder 25 can be a tubular structure, and the tool holder 25 as a whole can be sleeved on the outer circumferential side of the front bracket 23 and can slide relative to the front bracket 23, so that the length of the whole formed by the tool holder 25 and the front bracket 23 can be adjusted. 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. In use, the telescopic extension of the third drive 26 can realize the sliding assembly of the tool holder 25 relative to the front bracket 23.

[0092] The execution device 27 is assembled on the tool holder 25 and is used for shearing the anchor. For example, the execution device 27 can be a hydraulic execution shear. When the execution device 27 is driven into position by the above-mentioned various drives, the exposed anchor rod, anchor cable and other anchors can be sheared off by the execution device 27, thereby playing a role of breaking the anchor, and facilitating the smooth movement of the end support.

[0093] As shown in Figure 4 The net 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 shield beam 134 and is provided with a recess 311. For example, the shield beam 134 can be provided with a groove, and the fixing device 31 as a whole can be plate-shaped. The fixing device 31 can be directly fixed in the groove of the shield beam 134 by welding. The fixing device 31 can provide a mounting base and block the groove of the shield beam 134, thereby playing a role of blocking gangue.

[0095] It should be noted that the fixing device 31 can be generally stepped, that is, the front side of the fixing device 31 can be lower than the rear side of the fixing device 31. The recess 311 is the area where the front side of the fixing device 31 is lower. The recess 311 can enhance the structural strength and provide installation space for the subsequent rotating device 32, thereby avoiding the protrusion of the rotating device 32.

[0096] The rotating device 32 is rotatably assembled in the recess 311, and the rotating 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. For example, as shown in Figure 4 The rotating device 32 can be generally plate-shaped, 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, and in use, the extension and retraction of the rotary drive 33 can realize the pulling and pushing of the rotary device 32, and further realize the swing adjustment of the rotary device 32 in the front-back direction.

[0098] The cutter device 34 is rotatably assembled on the rotary device 32 and comprises an execution cutter 341, and the extension drive 35 is connected between the cutter device 34 and the rotary device 32 and is used to drive the cutter device 34 to swing relative to the rotary device 32.

[0099] For example, as shown in Figure 4 The cutter device 34 can be provided above the rotary device 32, and the rear end of the cutter device 34 can be hinged to the rotary device 32, and the execution cutter 341 can be a blade or the like with a cutting function, and the execution cutter 341 can be integrally formed at the front end of the cutter device 34.

[0100] The extension drive 35 can be a hydraulic jack, one end of the extension drive 35 can be hinged to the cutter device 34, and the other end of the extension drive 35 can be hinged to the rotary device 32. In use, the extension and retraction of the extension drive 35 can realize the pushing or pulling of the cutter device 34, and further realize the swing driving of the cutter device 34 in the front-back direction.

[0101] During the net breaking operation of the net breaking device 3, the execution cutter 341 extends to the lower side of the anchor net under the action of the extension drive 35, and the execution cutter 341 realizes the cutting of the anchor net through the swing of the rotary device 32 and / or the extension and retraction of the extension drive 35.

[0102] For example, during the net breaking process, the cutter device 34 and the rotary device 32 can be swung out of the recess 311, after being swung out, the execution cutter 341 can move forward under the joint action of the rotary drive 33 and the extension drive 35, so as to realize the cutting of the anchor net of the roof of the roadway.

[0103] The end support of the embodiment of the present application can meet the end support operation, and can realize the mechanized and automatic shearing of the anchor, avoid the time-consuming and labor-intensive, the need to climb high and the high risk in the prior art, and solve the contradiction between the end support moving and the roof safety support.

[0104] Secondly, the end support can realize the cutting of the roof anchor net, so as to avoid the situation that the goaf roof is difficult to collapse in time due to the anchor net support, improve the top coal recovery rate of the end triangular area, improve the mine pressure appearance of the working face, and improve the safety of the mining operation.

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

[0106] The bottom of the top beam is provided with a swing pin 1112, and the rotating drum 211 is rotatably arranged on the outer circumferential side of the swing pin 1112. For example, as shown in Figure 5 The swing pin 1112 can include a flange plate or the like arranged on the top, which can be fixedly connected to the web of the top beam by bolts or other fasteners. The bottom of the swing pin 1112 can also be provided with a stop portion, which can be disc-shaped. The rotating drum 211 can be sleeved on the outer circumferential side of the swing pin 1112, and the top side of the rotating drum 211 can be limited and stopped by the flange plate, and the bottom side of the rotating drum 211 can be limited and stopped by the stop portion.

[0107] As shown in Figure 5 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 rotating drum 211, the front end of the connecting rod 213 can be fixedly connected to the rotating 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 rotating 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 end of the rear bracket 212 and the rotating drum 211 is greater than the distance between the rear end of the connecting rod 213 and the rotating drum 211. In this way, 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. On the other hand, since the rear bracket 212 extends 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, and 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 included angle formed by the rear bracket 212 and the connecting rod 213 of each swing arm 21 protrudes outwardly from the top beam, and the connection between the connecting rod 213 and the first drive 22 is located inwardly from the rotating drum 211.

[0110] For example, as shown in Figure 3 The anchor breaking device 2 can be provided with two, and the two anchor breaking devices 2 can be rotatably arranged on the left side and the right side of the top beam, respectively, and the two anchor breaking devices 2 can be mirror-symmetrically arranged in the left-right direction.

[0111] As shown in Figure 6As shown, the swing arm 21 of the left-side anchor breaking device 2 can swing to the left of the top beam, while the swing arm 21 of the right-side anchor breaking device 2 can swing to the right of the top beam. This satisfies the needs of anchor breaking operations at corresponding positions in the width direction of the roadway and also improves the overall anchor breaking efficiency.

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

[0113] Therefore, while satisfying the driving function 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 is swayable between a first extreme position and a second extreme position. In the first extreme position, the rear bracket 212 extends in the front-rear direction, and in the second extreme position, the rear bracket 212 swings outward toward the top beam.

[0115] For example, such as Figure 6 As shown, the first extreme position can be either the initial position A or the initial position B, and the second extreme position can be either the extreme position A or the extreme position B. In use, the first drive 22 on the left can drive the left swing arm 21 to swing back and forth between the initial position A and the extreme position A, while the first drive 22 on the right can drive the right swing arm 21 to swing back and forth between the initial position B and the extreme position B.

[0116] In the first extreme position, the first drive 22 and the connecting rod 213 form an angle α, and in the second extreme position, they form an angle β, where angle α is greater than angle β. Therefore, in the first extreme position, the rear bracket 212 and the first drive 22 extend in roughly the same direction, allowing the force on the rear bracket 212 to be directly distributed to the first drive 22 along the front-rear direction, thus ensuring overall structural stability. In the second extreme position, because the angle between the connecting rod 213 and the first drive 22 is smaller, most of the force can be absorbed by the connecting rod 213, preventing damage to the first drive 22 during anchor breaking operations.

[0117] In some embodiments, the rear bracket 212 comprises two rear gussets 2121, a rear web 2122 and a rear stiffener 2123.

[0118] The two rear gussets 2121 are arranged in parallel and spaced apart in the width direction of the rear bracket 212. For example, as shown in Figure 5 The two rear gussets 2121 can each be a long plate, and the two rear gussets 2121 can be arranged in parallel and spaced apart in the left-right direction.

[0119] The rear web 2122 is connected between the two rear gussets 2121 and disposed adjacent to the top side of the rear gussets 2121, so as to connect the two rear gussets 2121, and since the rear web 2122 is close to the top side, it also avoids forming a groove between the two rear gussets 2121, thereby avoiding the situation that coal gangue and other impurities fall into the groove and cause the rear bracket 212 to be loaded.

[0120] The rear stiffener 2123 is provided above the rear web 2122, and the height dimension of the rear stiffener 2123 gradually increases along the direction close to the drum 211. For example, the rear stiffener 2123 can be generally triangular, and the rear stiffener 2123 can be fixed above the rear web 2122 by welding or the like. The rear web 2122 can be a horizontal plate, and the rear stiffener 2123 can be a vertical plate. The height dimension of the rear stiffener 2123 in the up-down direction can gradually increase along the direction from front to back, thereby fully meeting the use requirement of the rear bearing larger force, and fully ensuring the overall structural strength.

[0121] Each of the rear gusset 2121, the rear web 2122 and the rear stiffener 2123 is fixedly connected with the drum 211. For example, the rear side of each of the two rear gussets 2121, the rear side of the rear web 2122 and the rear side of the rear stiffener 2123 can be connected and fixed with the drum 211 by welding or the like, so that the rear bracket 212 can swing synchronously with the rotation of the drum 211.

[0122] As shown in Figure 5 The front end and the bottom side of each of the rear gussets 2121 are respectively provided with a first lug seat 2124 and a second lug seat 2125. Part of the front bracket 23 is rotatably assembled between the two first lug seats 2124 of the two rear gussets 2121, and the rear end of the second drive 24 is rotatably assembled between the two second lug seats 2125. The front bracket 23, the rear bracket 212, the second drive 24 and the second lug seat 2125 form a four-bar mechanism, thereby fully ensuring the overall structural stability of the rear half of the anchor breaking device 2.

[0123] In some embodiments, as shown in Figure 5As shown, the front bracket 23 comprises a main plate 231 and two third lugs 232. The main plate 231 can be generally long plate-shaped and can be a vertical plate, the top side of the main plate 231 is pivotally assembled between the two first lugs 2124, for example, the middle upper part of the top side of the main plate 231 can be provided with a lug, which can be fitted between the two first lugs 2124 and pivotally assembled with the two first lugs 2124 through a pivot.

[0124] The rear end of the main plate 231 is pivotally connected with the second drive 24, and the height dimension of at least part of the main plate 231 gradually increases along the front-to-rear direction. For example, as shown in Figure 5 The rear end of the main plate 231 can also be integrally formed with a lug, which can be pivotally assembled between the two lugs of the front end of the second drive 24. In the front-to-rear direction, the height dimension of the main plate 231 can gradually increase, so that on the one hand, the rear side of the main plate 231 can protrude upward, facilitating the pivotal assembly with the rear bracket 212, and on the other hand, it also ensures the overall structural strength and torsional properties of the rear part of the front bracket 23.

[0125] The main plate 231 is provided between the two third lugs 232, each third lug 232 protrudes downward from the main plate 231 and is adjacent to the rear end of the main plate 231, and the third drive 26 is pivotally assembled between the two third lugs 232.

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

[0127] In some embodiments, as shown in Figure 5 The tool holder 25 comprises two tool holder plates 251 and a clamping seat 253.

[0128] The main plate 231 is provided with sliding rails 233 on both sides in the width direction, the sliding rails 233 extend along the extension direction of the main plate 231, the main plate 231 is provided between the two tool holder plates 251, and each tool holder plate 251 is slidably assembled with the sliding rails 233 on both sides of the main plate 231, for example, the inner side of each tool holder plate 251 can be provided with a sliding groove, and the two sliding rails 233 on the main plate 231 can be slidably assembled in the corresponding sliding grooves of the two tool holder plates 251. Thus, the assembly of the tool holder 25 and the front bracket 23 is facilitated, and the overall structural strength and torsional properties are improved.

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

[0130] The front end of the third drive 26 can be provided with a lug plate or the like structure, which can be pivotally assembled between the two third lug seats 232, thereby ensuring the stability and convenience of the assembled structure.

[0131] The clamping seat 253 is fixedly connected to the front end of the two tool holder plates 251, and the clamping seat 253 is used to install the execution device 27. For example, as shown in Figure 4 The clamping seat 253 can be welded and fixed on the front side of the two tool holder plates 251, and the execution device 27 can be assembled on the clamping seat 253 by clamping, fastener fixing or the like, thereby facilitating the assembly of the execution device 27.

[0132] In some embodiments, the anchor breaking device 2 comprises a visual sensor, which is arranged on the tool holder 25. For example, one visual sensor can be installed on each tool holder 25 of the two anchor breaking devices 2 described above, and the visual sensor can realize image acquisition in the roadway, thereby facilitating identification of the specific position of the exposed anchor.

[0133] In some embodiments, the anchor breaking device 2 comprises a plurality of travel sensors, and the first drive 22, the second drive 24 and the third drive 26 are each provided with a travel sensor, and the travel sensor is used to monitor the extension and retraction travel of the first drive 22, the second drive 24 and the third drive 26.

[0134] For example, one travel sensor can be assembled in each of the first drive 22, the second drive 24 and the third drive 26, and the travel sensor facilitates monitoring of the extension and retraction travel of each drive, thereby confirming whether each drive is extended and retracted to the position, and realizing execution feedback in the process of anchor breaking operation.

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

[0136] For example, as shown in Figure 4As shown, when the net breaking operation needs to be performed, the net breaking device 3 can be switched to the storage state, in which the rotating device 32 and the cutter device 34 are 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 cutter device 34 can be stacked above the rotating device 32, and the cutter device 34 can be pressed on the top side of the rotating device 32.

[0137] Thus, the whole formed by the net breaking device 3 and the canopy beam 134 can not protrude from the upper surface of the canopy beam 134, thereby avoiding the situation that the contact interference is easily caused, and in addition, the stacked arrangement of the cutter device 34, the rotating device 32 and the fixing device 31 can make the whole have higher impact structural strength, thereby fully meeting the use needs of blocking coal gangue.

[0138] In some embodiments, one end of the rotating device 32 is rotationally connected with the bottom wall of the recess 311, and one end of the cutter device 34 is rotationally connected with the other end of the rotating device 32, and the execution cutter 341 is arranged at the other end of the cutter device 34.

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

[0140] In the storage state, the rotating device 32 extends rearward from the connection with the recess 311, and the cutter device 34 extends forward from the connection with the rotating device 32, for example, as shown in Figure 7 In the process of being stored in the recess 311, the swinging directions of the rotating device 32 and the cutter device 34 are the same, wherein the rotating device 32 can swing downward rearward and until abutting against the fixing device 31, and the cutter device 34 can generally swing downward forward and be pressed on the rotating device 32.

[0141] In the front-rear direction, the connection between the rotating device 32 and the fixing device 31 is located between the execution cutter 341 and the connection between the cutter device 34 and the rotating device 32. Thus, on the one hand, the connection can be generally located in the middle position, thereby being beneficial to ensuring the stability of the whole structure, and on the other hand, the connection between the rotating device 32 and the fixing device 31 and the front side of the recess 311 can be spaced apart by a certain distance, thereby enabling the execution cutter 341 to be inserted into the space, and enhancing the compactness of the storage.

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

[0143] The fixing cushion plate 312 is arranged below the fixing cover plate 313 and spaced from the fixing cover plate 313, and both the fixing cover plate 313 and the fixing cushion plate 312 are stepped to limit a recess 311 on the front side of the fixing device 31. For example, as shown in Figure 7 As shown, both the fixing cushion plate 312 and the fixing cover plate 313 can be generally Z-shaped, i.e. the middle portions of the fixing cushion plate 312 and the fixing cover plate 313 are bent and are generally inclined along the direction from the front lower side to the rear upper side. The recess 311 is formed in the lower area on the front side of the fixing cover plate 313 and the fixing cushion plate 312.

[0144] The plurality of fixing inner rib plates 314 are supported between the fixing cover plate 313 and the fixing cushion plate 312 and are spaced along the front-rear direction. For example, as shown in Figure 7 As shown, the fixing inner rib plates 314 can extend along the left-right direction, and the fixing inner rib plates 314 can be perpendicular to the fixing cover plate 313 and the fixing cushion plate 312, thereby sufficiently meeting the use requirement of supporting and fixing the fixing cover plate 313 and the fixing cushion plate 312 and ensuring the overall structural strength of the fixing device 31.

[0145] The fixing front vertical rib plate 315 is arranged vertically on the front side of the recess 311 and is rotationally connected with the rotary drive 33. For example, as shown in Figure 7 As shown, the fixing front vertical rib plate 315 can be generally vertically arranged and extend along the left-right direction, and the bottom side of the fixing front vertical rib plate 315 can be welded with the fixing cushion plate 312. The recess 311 is formed between the inclined middle portion of the fixing front vertical rib plate 315 and the fixing cover plate 313, and the front end of the rotary drive 33 can be hingedly connected with the fixing front vertical rib plate 315.

[0146] The fixing front reinforcing rib plate 316 is arranged at the included angle between the fixing front vertical rib plate 315 and the fixing cover plate 313. For example, as shown in Figure 7 As shown, the fixing front reinforcing rib plate 316 can be triangular and can be provided with two, and the two fixing front reinforcing rib plates 316 can be spaced along the left-right direction, thereby enhancing the structural strength between the fixing front vertical rib plate 315 and the fixing cover plate 313.

[0147] The plurality of fixing bottom reinforcing rib plates 317 are arranged on the bottom side of the fixing cushion plate 312 and are spaced along the front-rear direction, and the fixing bottom reinforcing rib plates 317 are connected with the shield beam 134. For example, as shown in Figure 7As shown, there can be two fixed bottom reinforcing ribs 317. Both fixed bottom reinforcing ribs 317 can be long plates and can extend along the left and right directions. Both fixed bottom reinforcing ribs 317 are arranged vertically and spaced apart in the front and back directions.

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

[0149] In some embodiments, such as Figure 8 As shown, there are two fixed front vertical stiffeners 315, which are arranged at intervals in the front-rear direction, and a fixed front horizontal stiffener 318 is provided between the two fixed front vertical stiffeners 315, thereby enhancing the structural strength of the front part of the fixing device 31.

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

[0151] In some embodiments, such as Figure 8 As shown, the rotary device 32 includes a cover plate assembly, a rotary main stiffener plate 323, a third fixed lug 324, a fourth fixed lug 325, and a rotary pushing lug 326.

[0152] like Figure 8 As shown, the cover assembly includes an upper cover plate 321 and a lower cover plate 322, which are arranged at intervals. The cover assembly includes a first segment 327 and a second segment 328 arranged at an angle, i.e., the cover assembly is V-shaped. In the retracted state, the first segment 327 fits against the bottom wall of the recess 311, and the second segment 328 fits against the inclined side wall 3111 of the recess 311. This improves the overall structural strength of the rotating device 32 and allows the shape of the rotating device 32 to match the shape of the corresponding wall of the recess 311, ensuring a close fit between the rotating device 32 and the fixing device 31, thus guaranteeing structural stability and compactness in the retracted state.

[0153] The main slewing stiffener 323 is connected between the upper cover plate 321 and the lower cover plate 322. For example, as... Figure 8As shown, the rotary main rib plate 323 can be provided with two, both of which can be generally V-shaped, and both can be arranged on the left and right sides of the upper cover plate 321 and the lower cover plate 322 and connected between the upper cover plate 321 and the lower cover plate 322. Thus, the rotary device 32 as a whole is a box-shaped structure, ensuring the overall structural strength.

[0154] The third fixed lug 324 is arranged on the first section 327 and connected in rotation with the telescopic drive 35. The fourth fixed lug 325 is arranged on the second section 328 and connected in rotation with the tool device 34. The rotary push lug 326 is arranged on the first section 327 and connected in rotation with 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 lug 324 is connected with the lower cover plate 322 and extends from the first slot 3211, and the rotary push lug 326 is connected with the lower cover plate 322 and extends from the second slot 3212.

[0156] For example, as shown in the drawings, Figure 9 The first slot 3211 and the second slot 3212 can each be a rectangular long slot and can each extend along the front-rear direction, the third fixed lug 324 can be welded and fixed on the lower cover plate 322, and the top of the third fixed lug 324 can extend from the first slot 3211 and be connected with the telescopic drive 35. The rotary push lug 326 can also be welded and fixed on the lower cover plate 322, and the top of the rotary push lug 326 can extend from the second slot 3212 and be connected with the rotary drive 33.

[0157] The upper cover plate 321 is provided with a plurality of limiting seats 329, and the first slot 3211 is arranged between two limiting seats 329. In the storage state, the limiting seat 329 is limited by the telescopic drive 35. For example, the left and right sides of each first slot 3211 can each be provided with a limiting seat 329, and when in the storage state, the telescopic drive 35 can be clamped between the two limiting seats 329, thereby playing a role in limiting and restraining in the left-right direction, improving the overall structural stability. Secondly, the limiting seat 329 can also abut against the tool device 34, thereby limiting the maximum amplitude of the downward swing of the tool device 34.

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

[0159] For example, as shown in the drawings, Figure 10As shown, each rotary device 32 can be equipped with two cutting tool devices 34 and two telescopic drives 35. The two cutting tool devices 34 can be arranged at intervals in the left and right directions, and the two telescopic drives 35 can be connected to the two cutting tool devices 34 one-to-one. In this way, on the one hand, the working area for breaking the net can be increased, and on the other hand, the cutting tool devices 34 in different positions can operate independently, thereby meeting the needs of differential operations caused by uneven top plate undulations.

[0160] Secondly, it also helps to reduce the reverse force on a single tool device 34, so that the forces applied by the telescopic drive 35 and the rotary drive 33 can fully meet the operational needs of a single tool device 34.

[0161] In some embodiments, such as Figure 10 As shown, the cutting tool device 34 includes a cutting tool top plate 342, multiple cutting tool main stiffening plates 343, inner longitudinal stiffening plates 344, and multiple inner transverse stiffening plates 345.

[0162] Multiple main rib plates 343 of the cutting tool are connected to the top plate 342 of the cutting tool and are arranged at intervals along the width direction of the top plate 342. For example, as Figure 10 As shown, there can be two main rib plates 343 for the cutting tool. Both main rib plates 343 can be V-shaped and can be welded and fixed below the top plate 342 of the cutting tool. One main rib plate 343 is located on the left side of the top plate 342 of the cutting tool, and the other is located on the right side of the top plate 342 of the cutting tool.

[0163] The inner longitudinal stiffeners 344 extend along the extension direction of the cutting tool device 34, and a plurality of inner transverse stiffeners 345 are spaced apart along the extension direction of the inner longitudinal stiffeners 344, with each inner transverse stiffener 345 intersecting with the inner longitudinal stiffeners. For example, as... Figure 10 As shown, there may be one inner longitudinal stiffener 344, which may be located between two main cutter stiffeners 343. There may be four inner transverse stiffeners 345, which may extend in the left-right direction and be arranged at intervals in the front-back direction. Each inner transverse stiffener 345 may be connected to the two main cutter stiffeners 343 and the inner longitudinal stiffener 344, thereby ensuring the overall structural strength.

[0164] like Figure 1 As shown, one end of the main rib plate 343 and the inner longitudinal rib plate 344 of the cutting tool is provided with multiple cutting tools 341, and the other end of the main rib plate 343 and the inner longitudinal rib plate 344 of the cutting tool is provided with a movable ear seat 346, which is rotatably connected to the fixing device 31.

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

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

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

[0168] The shelter beam 134 is assembled on the rear side of the rear top beam 131, for example, as shown in the figure, Figure 1 The shelter beam 134 can be arranged obliquely along the front-up to the rear-down direction, and the shelter beam 134 and the rear base 133 can be connected through two rear connecting rods 135, the two rear connecting rods 135 can be arranged in sequence in the front-rear direction, and the two rear connecting rods 135 can be generally arranged obliquely along the front-down to the rear-up direction.

[0169] The shelter beam 134 can include two beam bodies arranged opposite in the left-right direction, and the distance measuring sensor can be arranged between the two beam bodies. The above-mentioned pressure sensor and distance measuring sensor can be used to calculate the inclination and pressure of the top plate behind the end support, thereby facilitating the operation of the net breaking device 3 to break the net.

[0170] The number of front upright columns 112 and rear upright columns 132 is less than the number of middle upright columns 122. For example, as shown in the figure, Figure 2As shown, the number of front upright columns 112 and rear upright columns 132 can be the same, for example, two front upright columns 112 and two rear upright columns 132 can be provided, and the two front upright columns 112 or the two rear upright columns 132 are oppositely arranged in the left-right direction. Four middle upright columns 122 can be provided, and the four middle upright columns 122 can be diagonally arranged, that is, the four middle upright columns 122 can be divided into two rows in the front-rear direction, and each row can include two middle upright columns 122 which are spaced apart in the front-rear direction.

[0171] In this way, the middle part of the end support has high support strength, which is beneficial to improve the overall support strength and structural stability of the end support.

[0172] The inside of the front roof beam 111, the middle roof beam 121, and the rear roof beam 131 and the side facing the coal wall are provided with side guards. For example, as shown in Figure 2 The side guards can be divided into inner side guards 15 and outer side guards 16 according to different assembly positions, and the front roof beam 111, the middle roof beam 121, and the rear roof beam 131 can each include two longitudinal beams oppositely arranged in the left-right direction, each longitudinal beam extends generally in the front-rear direction, and the inner side of each longitudinal beam can be assembled with two inner side guards 15 spaced apart in the front-rear direction, thereby meeting the use requirements of inner side protection.

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

[0174] In some embodiments, as shown in Figure 11 A guide cylinder 17 can also be installed between the two longitudinal beams of each roof beam, thereby preventing deformation and enhancing stability.

[0175] The breaking anchor method of the embodiment of the present application is described below.

[0176] The breaking anchor method of the embodiment of the present application includes the following steps:

[0177] S1: Obtain the image of the roadway roof and determine the anchoring position of the exposed anchor on the front side. For example, the two sides of the cutter holder plate 251 of the cutter holder 25 of the two broken anchor devices 2 can be respectively installed with a visual sensor. By virtue of the advantage that the broken anchor device 2 is fixed at the most front end of the front roof beam 111, the visual sensor can obtain a panoramic image of the roof in front of the end support, and then the position of the exposed anchor such as the anchor rod at the front end of the end support can be obtained by analyzing and processing the obtained image data.

[0178] S2: Select the broken anchor device 2 closest to the anchoring position for broken anchor operation. For example, according to the position of the anchor rod determined by the visual sensor, the processor can first select the broken anchor device 2 according to the position coordinate parameters and the like, and specifically, the broken anchor device 2 closest to the determined anchor rod position can be selected for the next action planning.

[0179] S3: Action planning for the selected broken anchor device 2, including path and posture. For example, the processor can perform data operation and path planning, and at the same time, the working path and working posture of the broken anchor device 2 can be determined, the stroke control instructions of each drive can be generated by virtue of the determined path planning and posture, and then the action control can be further performed through the electro-hydraulic control valve and the stroke sensor in each drive.

[0180] S4: According to the action planning, the first drive 22, the second drive 24 and the third drive 26 are controlled to drive the execution device 27 to the specified position, and in the process of the action of the first drive 22, the second drive 24 and the third drive 26, the extension stroke of the first drive 22, the second drive 24 and the third drive 26 is monitored.

[0181] For example, at the beginning of the action, the electro-hydraulic control valve controls the push rod of the first drive 22 to extend, so as to realize the pushing of the hinged point of the connecting rod 213, and then the rear bracket 212 is pushed to rotate around the roll pin 1112, so as to push the whole broken anchor device 2 to perform roll movement.

[0182] As shown in Figure 11 , then the electro-hydraulic control valve can control the push rod of the pitch jack (the second drive 24) to extend, the front bracket 23 is pushed to perform vertical pitch movement around the front hinged shaft of the rear bracket 212 through the rear ear seat (the first ear seat 2124) of the main rib plate 231 of the front bracket 23, and then the pitch posture of the cutter holder 25 is adjusted.

[0183] As shown in Figure 12 , then the electro-hydraulic control valve can control the push rod of the pitch jack (the second drive 24) to extend, the front bracket 23 is pushed to perform vertical pitch movement around the front hinged shaft of the rear bracket 212 through the rear ear seat (the first ear seat 2124) of the main rib plate 231 of the front bracket 23, and then the pitch posture of the cutter holder 25 is adjusted.

[0184] It should be noted that, as shown in Figure 1 The stroke sensor can be built in the first drive 22, the second drive 24 and the third drive 26, the push rod extension length command of each drive is preset by the controller, and the real-time feedback of the push rod extension length can be performed through the stroke sensor, until the push rod length of each drive reaches the specified position, so that the execution device 27 is conveniently driven to the position.

[0185] S5: The cutting of the anchor is completed by the anchor breaking device 2 at the specified position. Specifically, the execution device 27 is a hydraulic execution shear, and after the hydraulic execution shear reaches the specified position, the anchor breaking work can be performed by issuing an action control instruction to the hydraulic execution shear through the controller, so that the anchor can be removed.

[0186] S6: After the anchor is cut, the anchor breaking device 2 returns to the initial position. For example, after the cutting 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 sequentially perform the retracting action, and the anchor breaking device 2 quickly returns to the 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 does not hinder the overall moving support activity of the end support in the subsequent process. For example, as shown in Figure 13 The front side of the end support can be provided with a pushing jack, and the moving operation of the end support can be realized by means of the pushing jack.

[0187] The network breaking method of the embodiment of the application will be described below.

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

[0189] A1: The roof is observed, and the network breaking position is determined. For example, two groups of pressure sensors are respectively installed on the front upright column 112, the middle upright column 122 and the rear upright column 132, and a group of distance measuring sensors are installed on the inner sides of the two pieces of shield beams 134. The roof angle and pressure behind the support can be calculated by means of the pressure sensors and the distance measuring sensors, so that the observation of the roof can be realized. The distance between the anchor net and the end support can be measured by means of the distance measuring sensors, that is, the network breaking position can be obtained.

[0190] A2: Action planning is performed according to the determined network breaking position, and the action planning comprises a path and a posture. For example, according to the roof position determined by the distance measuring sensor, the path planning of the cutter 341 can be performed through data operation of the processor, so that the working path and the posture of the network breaking device 3 can be determined. The jack stroke control instruction can be generated through the determined working path and the posture, and the action control can be performed through the electro-hydraulic control valve and the jack stroke sensor.

[0191] A3: control the rotary drive 33 and the telescopic drive 35 to perform the action planning and complete the cutting of the anchor net by the execution cutter 341, and under the cooperative action of the rotary drive 33 and the telescopic drive 35, the travel trajectory of the execution cutter 341 is linear.

[0192] For example, as shown in Figure 14 , when the net breaking operation is performed, the rotary posture control can be performed first, that is, the push rod of the rotary drive 33 can be retracted, the rotary device 32 as a whole is driven to rotate counterclockwise around the second fixed lug 3110 of the rotary device 32 through the hinge point of the rotary drive 33 and the rotary push lug seat 326, so that the rotary device 32 can be placed out of the recess 311.

[0193] Then the push rod of the telescopic drive 35 can be extended, and the execution cutter 341 can be pushed to rotate clockwise around the two groups of hinge holes at the front end of the rotary device 32 through the hinge hole of the inner longitudinal rib plate 344 of the cutter device 34 and the push rod of the telescopic drive 35, so that the cutter device 34 can be placed out.

[0194] When the above-mentioned cutter device 34 and rotary device 32 are placed out, as shown in Figure 14 , the execution cutter 341 can be moved to the initial point of the net breaking, and then the execution cutter 341 can be driven to move forward by driving the rotary drive 33 to extend and driving the telescopic drive 35 to retract, etc. During the movement of the execution cutter 341, the cutting of the anchor net on the roof of the roadway can be realized, thereby realizing the net breaking operation.

[0195] It should be noted that during the movement of the execution cutter 341 from back to front, the cooperative action of the rotary drive 33 and the telescopic drive 35 can realize the control of the travel trajectory of the execution cutter 341, that is, as shown in Figure 15 , the execution cutter 341 as a whole can move linearly, that is, the above-mentioned action sequence and amplitude can be controlled by an intelligent control algorithm, and the action sequence and the rotation angle of each rotary device 32 can be dynamically adjusted according to the specific situation of the roof, so as to ensure that the net breaking device 3 is attached to the roof coal wall, thereby avoiding the situation that the execution cutter 341 cuts into the roof of the roadway too deep, while meeting the cutting of the anchor net, unnecessary loss and resistance can be reduced, and good net breaking effect can be achieved.

[0196] It should be noted that, as shown in ​ , the rotary drive and the telescopic drive are provided with a special travel sensor, which can monitor the telescopic amount during the telescopic movement of the rotary drive 33 and the telescopic drive 35, so as to facilitate the real-time acquisition of the actual telescopic amount of the rotary drive 33 and the telescopic drive 35, and further realize the real-time monitoring and confirmation of the moving position of the execution cutter 341, and the path trajectory monitoring of the execution cutter 341 can also be realized through the monitoring result.

[0197] A4: after the cutting of the anchor net at the broken net position is completed, the rotary drive 33 and the telescopic drive 35 are reset. Thus, the cutter device 34 and the rotary device 32 can be reset to the storage state. It should be noted that during the process of swinging out the cutter device 34 and the rotary device 32, the rotary drive 33 and the telescopic drive 35 can be operated simultaneously, so that the two-stage mechanism pose coupling can be achieved. Similarly, when the cutter 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 operated simultaneously under the instruction of the processor, so that the two-stage mechanism pose coupling can also be achieved, and thus the simultaneous recovery can be achieved.

[0198] Although the above-mentioned embodiments have been shown and described, it can be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present application, and the changes, modifications, replacements and variations of the above-mentioned embodiments made by those skilled in the art are within the protection scope of the present application.

Claims

1. A head support with both anchor breaking and net breaking functions, characterized in that, The anchor breaking device comprises a plurality of support units, an anchor breaking device and a mesh breaking device, the plurality of support units are sequentially connected along a front-to-back direction, the anchor breaking device is arranged at a top beam of a frontmost support unit, and the mesh breaking device is arranged at a shield beam of a rearmost support unit; 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 rotationally connected to the top beam, the first drive is connected between the swing arm and the top beam and used to drive the swing arm to swing horizontally, the front bracket is rotationally connected to the top beam, the second drive is connected between the front bracket and the swing arm and used to drive the front bracket to swing vertically, the tool holder is slidingly connected to the front bracket, the third drive is connected between the tool holder and the front bracket and used to drive the tool holder to slide, and the execution device is arranged in the tool holder and used to cut an anchor. The mesh breaking device comprises a fixing device, a rotating device, a rotating drive, a tool device and an extension drive; The fixing device is embedded in the shield beam, the rotating drive is connected between the fixing device and the rotating device and used to drive the rotating device to swing relative to the fixing device, the tool device is rotationally connected to the rotating device and comprises an execution tool, and the extension drive is connected between the tool device and the rotating device and used to drive the tool device to swing relative to the rotating device, and the execution tool is used to cut a mesh by swinging of the rotating device and / or extension of the extension drive.

2. The anchor and web breaking end fitting of claim 1, wherein, The swing arm is provided with two swing arms which are symmetrically arranged in a width direction of the top beam, and each swing arm comprises: A rotating drum, a bottom of the top beam is provided with a yaw pin shaft, and the rotating drum is rotationally connected to an outer circumferential side of the yaw pin shaft; A rear bracket and a connecting rod, a front end of the rear bracket is rotationally connected to the front bracket, a 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, and the other end of the connecting rod is rotationally connected to the first drive, and a length of the rear bracket is greater than a length of the connecting rod; An extension direction of the rear bracket and an extension direction of the connecting rod form an obtuse angle, the rear bracket and the connecting rod of each swing arm form an angle which protrudes outward of the top beam, and a connection between the connecting rod and the first drive is located inward of the rotating drum.

3. The anchor and web breaking end fitting of claim 2, wherein, The swing arm can swing between a first limit position and a second limit position, in the first limit position, the rear bracket extends along a front-to-back direction, the first drive and the connecting rod form an angle a, in the second limit position, the rear bracket swings outward of the top beam, the first drive and the connecting rod form an angle b, and the angle a is greater than the angle b.

4. The anchor and web breaking end fitting of claim 3, wherein, The rear bracket comprises two rear gussets, a rear web and a rear reinforcement plate, the two rear gussets are arranged in parallel and spaced apart in the width direction of the rear bracket, the rear web is connected between the two rear gussets and is arranged adjacent to the top side of the rear gussets, the rear reinforcement plate is arranged above the rear web, and the height dimension of the rear reinforcement plate gradually increases along the direction close to the drum; The front end and the bottom side of each rear gusset are respectively provided with a first lug and a second lug, part of the front bracket is rotatably assembled between the two first lugs of the two rear gussets, the rear end of the second drive is rotatably assembled between the two second lugs, and the front bracket, the rear bracket, the second drive and the second lugs form a four-bar mechanism; The front bracket comprises a main gusset and two third lugs, the top side of the main gusset is rotatably assembled between the two first lugs, the rear end of the main gusset is rotatably connected with the second drive, and the height dimension of at least part of the main gusset gradually increases along the direction from front to rear, the main gusset is arranged between the two third lugs, each third lug protrudes downward of the main gusset and is adjacent to the rear end of the main gusset, and the third drive is rotatably assembled between the two third lugs; The cutter holder comprises two cutter plates and a clamping seat, the main gusset is provided with a slide rail on both sides in the width direction, the slide rail extends along the extension direction of the main gusset, the main gusset is arranged between the two cutter plates, each cutter plate is slidably assembled with the slide rail on both sides of the main gusset, the bottom side of each cutter plate is provided with a fourth lug, the front end of the second drive is rotatably assembled between the two fourth lugs, and the clamping seat is fixedly connected to the front end of the two cutter plates and is used for mounting the execution device.

5. The anchor and web breaking end fitting of claim 1, wherein, The breaking anchor device comprises a visual sensor, and the visual sensor is arranged on the cutter holder; And / or, a plurality of stroke sensors are arranged on the first drive, the second drive and the third drive, and the stroke sensors are used for monitoring the extension and retraction strokes of the first drive, the second drive and the third drive.

6. The anchor and web breaking end fitting of any one of claims 1-5, wherein, The fixing device is provided with a recess, and the net breaking device has a storage state, in which the rotary device and the cutter device are stored in the recess, and the rotary device is located between the cutter device and the fixing device; One end of the rotary device is rotatably connected with the bottom wall of the recess, one end of the cutter device is rotatably connected with the other end of the rotary device, and the execution cutter is arranged at the other end of the cutter device; In the storage state, the rotary device extends rearward from the connection with the recess, the cutter device extends forward from the connection with the rotary device, and the connection between the rotary device and the fixing device is located between the execution cutter and the connection between the cutter device and the rotary device. In the storage state, the rotary device extends rearward from the connection with the recess, the cutter device extends forward from the connection with the rotary device, and the connection between the rotary device and the fixing device is located between the execution cutter and the connection between the cutter device and the rotary device.

7. The anchor and web breaking end fitting of claim 6, wherein, The fixing device comprises a fixing cover plate, a fixing base plate, a plurality of fixing inner rib plates, a fixing front vertical rib plate, a fixing front reinforcing rib plate and a plurality of fixing bottom reinforcing rib plates; The fixing base plate is arranged below the fixing cover plate and is spaced apart from the fixing cover plate, and the fixing cover plate and the fixing base plate are both stepped to limit the recess on the front side of the fixing device, and the plurality of fixing inner rib plates are all supported between the fixing cover plate and the fixing base plate and are spaced apart along the front-rear direction; The fixing front vertical rib plate is arranged on the front side of the recess and is vertically arranged, the fixing front vertical rib plate is provided with two, the two fixing front vertical rib plates are spaced apart in the front-rear direction, and a fixing front horizontal rib plate is arranged between the two fixing front vertical rib plates, the rear side of the fixing front vertical rib plate located on the rear side of the two fixing front vertical rib plates is provided with a first fixing lug seat, the first fixing lug seat is connected in rotation with the rotary drive, the fixing cover plate is provided with a second fixing lug seat, the second fixing lug seat is arranged in the recess, and the rotary device is connected in rotation with the second fixing lug seat; The fixing front reinforcing rib plate is arranged at the included angle formed by the fixing front vertical rib plate and the fixing cover plate, the plurality of fixing bottom reinforcing rib plates are all arranged on the bottom side of the fixing base plate and are spaced apart along the front-rear direction, and the fixing bottom reinforcing rib plates are connected and fixed with the canopy beam.

8. The anchor and web breaking end fitting of claim 6, wherein, The rotary device comprises a cover plate assembly, a rotary main rib plate, a third fixing lug seat, a fourth fixing lug seat and a rotary push lug seat; The cover plate assembly comprises an upper cover plate and a lower cover plate, the upper cover plate and the lower cover plate are spaced apart, and the cover plate assembly comprises a first section and a second section arranged at an included angle, in the storage state, the first section is fitted with the bottom wall of the recess, and the second section is fitted 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 fixing lug seat is arranged on the first section, and the third fixing lug seat is connected in rotation with the telescopic drive, the fourth fixing lug seat is arranged on the second section, and the fourth fixing lug seat is connected in rotation with the tool device, and the rotary push lug seat is arranged on the first section, and the rotary push lug seat is connected in rotation with the rotary drive; The upper cover plate is provided with a first slot and a second slot, the third fixing lug seat is connected with the lower cover plate and extends out from the first slot, and the rotary push lug seat is connected with the lower cover plate and extends out from the second slot; The upper cover plate is provided with a plurality of limiting seats, the first slot is arranged between two limiting seats, in the storage state, the limiting seats are limited by the telescopic drive; And / or, The tool device comprises a tool top plate, a plurality of tool main rib plates, an inner longitudinal rib plate and a plurality of inner horizontal rib plates; The plurality of tool main rib plates are all connected with the tool top plate and are spaced apart in the width direction of the tool top plate, the inner longitudinal rib plate is arranged to extend along the extension direction of the tool device, the plurality of inner horizontal rib plates are spaced apart in the extension direction of the inner longitudinal rib plate, and each inner horizontal rib plate is arranged to cross the inner longitudinal rib plate; The tool main rib plate and one end of the inner longitudinal rib plate are provided with a plurality of 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, which is rotationally connected with the fixing device.

9. The anchor and web breaking end fitting of claim 6, wherein, The support units are three, and the three support units are front support, middle support and rear support arranged in sequence from front to back; The front support includes a front top beam, a front stand column, a front base and a front stabilizing mechanism, the middle support includes a middle top beam, a middle stand column and a middle base, and the rear support includes a rear top beam, a rear stand column, a rear base and the shield beam; The front stand column is supported and assembled between the front top beam and the front base, the front stabilizing mechanism is arranged on the front side of the front stand column and protrudes forward, the middle stand column is supported and assembled between the middle top beam and the middle base, the rear stand column is supported and assembled between the rear top beam and the rear base, and the shield beam is assembled on the rear side of the rear top beam, the number of the front stand column and the rear stand column is less than the number of the middle stand column; The inside and the side for the coal wall of the front top beam, the middle top beam and the rear top beam are provided with side guards; At least one of the front stand column, the middle stand column and the rear stand column is provided with a pressure sensor, and the shield beam is provided with a distance measuring sensor.

10. A method of using the end-of-wire support with both anchor breaking and web breaking functions according to any one of the preceding claims 1-9, characterized in that, The method comprises an anchor breaking method and a mesh breaking method. The anchor breaking method comprises the following steps: An image of a roadway roof is acquired, and an anchor position of a front exposed anchor is determined; The anchor breaking device closest to the anchor position is selected for anchor breaking operation; Operation planning is performed on the selected anchor breaking device, and the operation planning comprises a path and a posture; The first drive, the second drive and the third drive are controlled to drive the execution device to a specified position according to the operation planning, and the telescopic stroke of the first drive, the second drive and the third drive is monitored during the operation of the first drive, the second drive and the third drive; The anchor is sheared by the anchor breaking device at the specified position; After the anchor is sheared, the anchor breaking device returns to an initial posture. The mesh breaking method comprises the following steps: The roof is observed, and a mesh breaking position is determined; Operation planning is performed according to the determined mesh breaking position, and the operation planning comprises a path and a posture; The rotary drive and the telescopic drive are controlled to execute the operation planning and cut the anchor mesh by the execution tool, and the execution tool has a straight line trajectory under the cooperative action of the rotary drive and the telescopic drive; After the anchor mesh at the mesh breaking position is cut, the rotary drive and the telescopic drive are reset.

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