Support control system, gripper shoe type support device and method for vertical full-section hard rock heading machine

The invention provides a support control system for a vertical full-section hard rock heading machine, and a gripper shoe type support device and method, and the system comprises the following modules: a support structure control module configured to control the telescoping and locking actions of a support structure on the heading machine, and a sensor module. The system can adjust the state of the supporting structure in real time according to the change of geological conditions, the stability and safety in the tunneling process are ensured, the shutdown adjustment time caused by the change of the geological conditions is shortened by dynamically adjusting the supporting structure, the tunneling efficiency is improved, and through a human-computer interaction interface, the tunneling efficiency is improved. An operator can visually know the working state of the heading machine and the supporting system, the construction strategy can be adjusted in time, the operation convenience and the user experience are i