液压支架侧护板拆卸安装车回转机械臂机构设计

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中图分类号：TP311 文献标志码：A 文章编号：2095-2945（2026）01-0131-04

Abstract：Thispaper proposesanddesigsanintellgentdisasemblyandassemblymechanismbasedonasix-degree-offredomrotatingrobotarm.Thesystemintegratessub-modulessuchaselectro-permanentmagnetadsorption，hydraulicvibration andimpact，precisehydrauliccontrolandvisualrecognitionandpositioning，realizingflexibleclamping，precisealignmentand eficient disassemblyandassemblyundermultipleworkingconditions.Through kinematicmodelinganddynamicsimulation analysis，themechanismparameterswereoptimized，amulti-modalcontrolstrategywasconstructedandtheperformance verificationofarealmachineprototypewascariedout.Theresultsshowedthatthesystemhadexcelentspatialadaptabilityand control stability，meeting therequirementsof automated operationsundercomplex workingconditions in coal mines.

Keywords： hydraulic support; rotary robot arm; electro-permanent magnet adsorption; closed-loop control; design

液压支架侧护板是煤矿综采工作面关键防护部件，其拆装作业长期依赖人工与吊装配合，存在劳动强度大、定位精度低和作业风险高等问题。（剩余4312字）