Intelligent dismounting method for balance oil cylinder of hydraulic support

Abstract

The application discloses a kind of hydraulic support balanced oil cylinder intelligent dismounting method, it is related to mechanical automation equipment technical field, comprising the following steps: step S1, special research and modeling;Step S2, equipment collaborative debugging;Step S3, vision-mechanical arm collaborative positioning and grabbing;Step S4, oil cylinder intelligent dismounting;Step S5, whole-process safety protection;Step S6, data-driven optimization.The application adopts the above-mentioned hydraulic support balanced oil cylinder intelligent dismounting method, realizes the mechanized intelligent dismounting of hydraulic support balanced oil cylinder, and eliminates the risk of falling, collision and the like through multiple safety protection mechanisms, greatly reduces the intensity of manual labor.

Description

Technical Field

[0001] This invention relates to the field of mechanical automation equipment technology, and in particular to an intelligent disassembly and assembly method for a hydraulic support balance cylinder. Background Technology

[0002] Hydraulic supports are the core support equipment for fully mechanized coal mining faces, and the balance cylinder, as a key actuating component, directly affects the support stability and service life of the hydraulic support. Currently, there are many prominent problems in the disassembly and assembly of balance cylinders.

[0003] Extremely high labor intensity: The weight range of the balance cylinder is 200-900kg. Manual handling, lifting, and pin alignment operations far exceed the limits of human endurance, easily causing operator fatigue and resulting in low efficiency; Insufficient positioning accuracy: Traditional operations rely on manual visual inspection for alignment, resulting in large pin alignment errors, which can easily cause the cylinder to jam after installation, or even damage the cylinder and support interface; Prominent safety risks: The lack of reliable anti-fall, anti-collision, and anti-tipping measures makes it easy for accidents such as cylinder falling, equipment collision, and machine overturning to occur during manual operation; Low operational efficiency: The manual disassembly and assembly process is cumbersome, and the disassembly and assembly of a single hydraulic cylinder takes a long time, which cannot meet the needs of rapid maintenance and continuous production in fully mechanized mining faces; Poor adaptability and versatility: The traditional disassembly and assembly method is not designed specifically for the parameters of the support and hydraulic cylinder, making it difficult to be compatible with different models and sizes of balance hydraulic cylinders, and it has poor adaptability to the working environment. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent disassembly and assembly method for hydraulic support balance cylinders, which realizes the mechanized and intelligent disassembly and assembly of hydraulic support balance cylinders, and eliminates the risks of falling and collision through multiple safety protection mechanisms, thereby significantly reducing the intensity of manual labor.

[0005] This invention provides an intelligent disassembly and assembly method for a hydraulic support balance cylinder, comprising the following steps: Step S1: Specialized research and modeling. Research the structural form of hydraulic supports, the disassembly and assembly process of balance cylinders, cylinder models and dimensions, and the stress conditions during disassembly and assembly. Integrate multidisciplinary knowledge to construct a theoretical calculation model, and verify the technical feasibility and optimize parameters through simulation software. Step S2: Equipment collaborative debugging. Subsystem pre-debugging is carried out sequentially for the chassis and walking mechanism, rotary robotic arm mechanism, precision control hydraulic system, vision-based positioning system, electrical control system, and safety protection system. After completion, multi-system collaborative debugging is carried out to ensure that each system responds accurately and moves synchronously. Step S3: Vision-robotic arm collaborative positioning and grasping. The TOF camera installed at the end of the rotary robotic arm mechanism acquires the point cloud data of the balance cylinder surface. Based on the intelligent recognition algorithm, the spatial position, attitude and pin hole coordinates of the cylinder are identified and located. The electronic control system plans a collision-free operation path according to the positioning data. The rotary robotic arm mechanism moves along the planned path and completes the precise grasping of the balance drive cylinder. Step S4: Intelligent disassembly and assembly of the hydraulic cylinder. The rotary robotic arm mechanism carries the gripping balance hydraulic cylinder and moves it within ±5cm of the work position to be disassembled or assembled, in conjunction with the chassis and walking mechanism. The operator can fine-tune the rotary robotic arm mechanism through the remote control within a safe distance to complete the precise alignment of the pin and the mounting hole. Then, the hydraulic system and drive tensioning mechanism are precisely controlled to achieve the smooth disassembly or installation of the balance hydraulic cylinder. Step S5: Full-process safety protection. Safety management is achieved throughout the entire operation cycle through multiple protection mechanisms, including real-time monitoring and automatic pressure replenishment of clamping force, 360° all-area obstacle avoidance and early warning, mechanical limit of mechanism, and over-distance remote control interlocking. When a risk is triggered, an audible and visual alarm or emergency stop is activated immediately. Step S6: Data-driven iterative optimization. The basic parameters of the hydraulic cylinder, the operation process parameters, and the environmental parameters are collected by the data acquisition expert system and stored in the knowledge base. The inference engine calls the knowledge base data through the control strategy of searching, matching, and backtracking to quickly match the optimal operation parameters of the hydraulic cylinder of the same specification, so as to realize the adaptive iterative optimization of the disassembly and assembly operation process.

[0006] Preferably, in step S1, the special investigation specifically includes clarifying the frame dimensions of the hydraulic support, the cylinder installation interface and the boundary of the working space, sorting out the key procedures and operation sequence of the balancing cylinder disassembly and assembly; determining the weight range, cylinder body size and pin hole specifications of the balancing cylinder, and establishing a standardized cylinder specification database; and analyzing the normal pressure, friction and assembly preload of the contact surface during disassembly and assembly by combining theoretical calculations and on-site measurements.

[0007] Preferably, in step S2, the chassis and walking mechanism are AGV omnidirectional mobile vehicle structures. The AGV omnidirectional mobile vehicle structure includes a vehicle platform, steering wheels, auxiliary support legs, support feet, lithium battery pack, hydraulic pump station assembly, and electrical control cabinet. Four sets of steering wheels are distributed at the four corners of the bottom of the vehicle platform, and four sets of auxiliary support legs are installed inside the steering wheels. Support feet are provided at the ends of the auxiliary support legs. The lithium battery pack and hydraulic pump station assembly are arranged at the rear of the vehicle platform to form a counterweight, and the electrical control cabinet is arranged side by side with the lithium battery pack.

[0008] Preferably, in step S2, the rotary robotic arm mechanism is a six-degree-of-freedom heavy-duty robotic arm. The six-degree-of-freedom heavy-duty robotic arm includes a rotary base, a first joint arm, a first joint drive cylinder, a second joint arm, a second joint drive cylinder, a third joint arm, a third joint drive cylinder, an end-effector, a clamping mechanism, a TOF camera, and a pressure sensor. The rotary base is fixed to the front end of the vehicle platform. The first joint arm, the second joint arm, and the third joint arm are hinged in sequence. The first joint arm, the second joint arm, and the third joint arm are swing-controlled by corresponding drive cylinders. The end of the third joint arm is connected to the clamping mechanism through the end-effector. The TOF camera is installed at a high position next to the clamping mechanism, and the pressure sensor is integrated into the clamping mechanism.

[0009] Preferably, in step S4, the hydraulic system is precisely controlled to drive the actuator with rated flow and rated pressure; the clamping mechanism is hydraulically driven, and the driving tensioning mechanism is hydraulically driven by a servo motor; during operation, the displacement sensor monitors the cylinder stroke in real time, the pressure sensor provides real-time feedback of the system pressure, and the vision-based positioning system continuously corrects the position deviation.

[0010] Preferably, in step S5, the specific mechanism for full-process safety protection includes: a clamping force sensor monitoring the clamping force in real time, automatically compressing when the force is below the safety threshold, triggering an alarm and locking the rotary robotic arm mechanism if the compressing fails; an obstacle avoidance radar monitoring the working environment in 360°, triggering an audible and visual alarm when an obstacle is detected within 1m, and stopping the machine immediately when an obstacle is detected within 0.5m; the equipment immediately shuts down and stops when the safety anti-collision strip is touched; and the equipment automatically locks and stops when the remote control operation distance exceeds 5m.

[0011] Preferably, in step S5, the warning distance of the audible and visual alarm is adjustable within the range of 0-5m, and the emergency stopping distance is adjustable within the range of 0-3m.

[0012] Preferably, in step S6, the data acquisition expert system consists of a knowledge base, an inference engine, and a control strategy module; the knowledge base continuously stores basic cylinder parameters, operation process parameters, environmental parameters, and operation experience data; the inference engine, based on the control strategy of search, matching, and backtracking, quickly matches the optimal operation parameters and automatically adjusts the motion trajectory of the rotary robotic arm, the response speed of the hydraulic system, and the visual positioning compensation amount.

[0013] Preferably, in step S2, during the multi-system collaborative debugging, the linkage response time between the vision-based positioning system and the rotary robotic arm mechanism is no more than 0.5s, and the risk trigger response time of the safety protection system is no more than 1s.

[0014] Therefore, the present invention adopts the above-mentioned intelligent disassembly and assembly method for hydraulic support balance cylinder, realizing the mechanized intelligent disassembly and assembly of hydraulic support balance cylinder, and eliminating the risks of falling and collision through multiple safety protection mechanisms, thereby greatly reducing the intensity of manual labor.

[0015] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0016] Figure 1 This is an overall flowchart of the intelligent disassembly and assembly method for a hydraulic support balance cylinder according to the present invention; Figure 2 This is a schematic diagram of the chassis and walking structure of a hydraulic support balance cylinder intelligent disassembly and assembly method according to the present invention; Figure 3 This is a schematic diagram of the rotary robotic arm of the intelligent disassembly and assembly method for the hydraulic support balance cylinder of the present invention.

[0017] Figure Labels 1. Vehicle platform; 2. Steering wheel; 3. Auxiliary support legs; 4. Support feet; 5. Lithium battery pack; 6. Hydraulic pump station assembly; 7. Electrical control cabinet; 8. Rotary base; 9. First articulated arm; 10. First articulated drive cylinder; 11. Second articulated arm; 12. Second articulated drive cylinder; 13. Third articulated arm; 14. Third articulated drive cylinder; 15. End rotating flange; 16. Clamping mechanism; 17. TOF camera; 18. Pressure sensor. Detailed Implementation

[0018] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention pertains.

[0020] The terms "first," "second," and similar words used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] Example 1 like Figures 1-3 As shown, the present invention discloses an intelligent disassembly and assembly method for hydraulic support balance cylinders, based on an intelligent disassembly and assembly vehicle for hydraulic support balance cylinders. The core of the vehicle consists of seven modules: chassis and walking mechanism, rotary robotic arm mechanism, precision control hydraulic system, vision-based positioning system, electrical control system, safety protection system, and data acquisition expert system.

[0022] The chassis and walking mechanism are AGV omnidirectional mobile vehicle structures, including vehicle platform 1, steering wheels 2, auxiliary support legs 3, support feet 4, lithium battery pack 5, hydraulic pump station assembly 6, and electrical control cabinet 7. Four sets of steering wheels 2 are distributed at the four corners of the bottom of the vehicle platform 1, which can realize forward, backward, 360° on-the-spot turning, translation, and diagonal omnidirectional movement.

[0023] Four sets of auxiliary support legs 3 are installed inside the steering wheel 2, and support feet 4 are set at the ends of the auxiliary support legs 3; they are deployed to form stable support during operation. The lithium battery pack 5 and the hydraulic pump station assembly 6 are arranged at the rear of the vehicle platform 1 to form a counterweight, and the electrical control cabinet 7 is arranged side by side with the lithium battery pack 5.

[0024] The rotary robotic arm mechanism is a six-degree-of-freedom heavy-duty robotic arm, which includes a rotary base 8, a first articulated arm 9, a first articulated drive cylinder 10, a second articulated arm 11, a second articulated drive cylinder 12, a third articulated arm 13, a third articulated drive cylinder 14, an end-effector 15, a clamping mechanism 16, a TOF camera 17, and a pressure sensor 18. The rotary base 8 is fixed to the front end of the vehicle platform 1. The first articulated arm 9, the second articulated arm 11, and the third articulated arm 13 are hinged sequentially. The first articulated arm 9, the second articulated arm 11, and the third articulated arm 13 are oscillating controlled by corresponding drive cylinders. The end of the third articulated arm 13 is connected to the clamping mechanism 16 through the end-effector 15. The TOF camera 17 is mounted at a high position next to the clamping mechanism 16, and the pressure sensor 18 is integrated into the clamping mechanism 16.

[0025] The core component of the precision-controlled hydraulic system is a digital load-sensitive proportional multi-way valve, integrated within the hydraulic pump station assembly 6, with a rated flow rate of 65 L / min and a rated pressure of 25 MPa, providing hydraulic power to the clamping mechanism 16, drive cylinders, and tensioning mechanism. The vision-based positioning system's core is a TOF camera 17, with a matching intelligent recognition algorithm module integrated within the electrical control cabinet 7. The electrical control system adopts a three-layer architecture: management layer, communication layer, and execution layer, with core control components integrated within the electrical control cabinet 7. The safety protection system includes a pressure sensor 11, obstacle avoidance radar, safety anti-collision strips, audible and visual alarm devices, an emergency stop button, and a remote control interlocking module. The data acquisition expert system is integrated within the main control unit of the electrical control cabinet 7, comprising a knowledge base, inference engine, and control strategy modules.

[0026] Based on the above-mentioned equipment, the present invention provides an intelligent disassembly and assembly method for a hydraulic support balance cylinder, comprising the following steps: Step S1: Specialized research and modeling. Research the structural form of the 3-7m hydraulic support, the disassembly and assembly process of the balance cylinder, the cylinder model and size, and the stress conditions during disassembly and assembly. Integrate multidisciplinary knowledge to construct a theoretical calculation model, and verify the technical feasibility and optimize parameters through simulation software.

[0027] In step S1, the special investigation specifically includes: clarifying the frame dimensions, cylinder installation interfaces, and work space boundaries of the 3-7m hydraulic support; sorting out the key procedures and operation sequences for disassembling and assembling the balancing cylinder; determining the weight range of the balancing cylinder (200-900kg), cylinder body dimensions, and pin hole specifications; and establishing a standardized cylinder specification database. Through a combination of theoretical calculations and on-site measurements, the normal pressure, friction, and assembly preload of the contact surfaces during disassembly and assembly are analyzed to determine the core technical requirements that the minimum clamping force of the robotic gripper should not be less than 10000N and the rated pressure of the hydraulic system should not be less than 25MPa.

[0028] Step S2: Equipment collaborative debugging. Subsystem pre-debugging is carried out sequentially for the chassis and walking mechanism, rotary robotic arm mechanism, precision control hydraulic system, vision-based positioning system, electrical control system, and safety protection system. After completion, multi-system collaborative debugging is carried out to ensure that each system responds accurately and moves synchronously.

[0029] In step S2, the debugging parameters for the chassis and running gear include: vehicle platform 1 dimensions of 3200×2500×700mm, movement speed of 0-5km / h, rotation speed of 10rpm, 120kWh lithium battery pack range of no less than 8 hours, charging time of no more than 7 hours, number of charge cycles of no less than 2000, auxiliary support legs 3 with force point dimensions of no less than 3600×3600mm after deployment, and rear counterweight of the vehicle body greater than 2t. The chassis and running gear adopt a fully closed-loop position and speed control to achieve real-time speed and position feedback.

[0030] In step S2, the debugging parameters of the rotary robotic arm mechanism include: rated load not less than 1t, maximum working height not less than 6.5m, automatic control positioning accuracy ±50mm, remote control fine adjustment accuracy not greater than 2mm, and the main material performance of the rotary robotic arm mechanism not lower than Q235A.

[0031] In step S2, during the multi-system collaborative debugging, the linkage response time between the vision-based positioning system and the rotary robotic arm mechanism is no more than 0.5s, and the risk trigger response time of the safety protection system is no more than 1s.

[0032] Step S3: Vision-robotic arm collaborative positioning and grasping. The TOF camera 17 installed at the end of the rotary robotic arm mechanism acquires the point cloud data of the balance cylinder surface. Based on the intelligent recognition algorithm, the spatial position, attitude and pin hole coordinates of the cylinder are identified and located. The electronic control system plans a collision-free operation path according to the positioning data. The rotary robotic arm mechanism moves along the planned path and completes the precise grasping of the balance cylinder.

[0033] In step S3, the technical parameters of the TOF camera 17 are: field of view 72°×50°, working distance 0.3~2m, depth measurement accuracy ±1mm@0.6m, and depth map resolution 1280×800@7fps.

[0034] Step S4: Intelligent disassembly and assembly of the hydraulic cylinder. The rotary robotic arm mechanism carries the gripping balance hydraulic cylinder and moves it within ±5cm of the work position to be disassembled or assembled, in conjunction with the chassis and walking mechanism. The operator can fine-tune the rotary robotic arm mechanism through the remote control within a safe distance to complete the precise alignment of the pin and the mounting hole. Then, the hydraulic system and drive tensioning mechanism are precisely controlled to achieve the smooth disassembly or installation of the balance hydraulic cylinder.

[0035] In step S4, the hydraulic system is precisely controlled to drive the actuator at a rated flow rate of 65 L / min and a rated pressure of 25 MPa. The clamping mechanism is hydraulically driven, and the tensioning mechanism is hydraulically driven by a servo motor. During operation, a displacement sensor monitors the cylinder stroke in real time, a pressure sensor provides real-time feedback of the system pressure, and a vision-based positioning system continuously corrects positional deviations.

[0036] Step S5: Full-process safety protection. Safety management is achieved throughout the entire operation cycle through multiple protection mechanisms, including real-time monitoring and automatic pressure replenishment of clamping force, 360° all-area obstacle avoidance and early warning, mechanical limit of mechanism, and over-distance remote control interlocking. When a risk is triggered, an audible and visual alarm or emergency stop is activated immediately.

[0037] In step S5, the specific mechanisms for full-process safety protection include: a clamping force sensor monitors the clamping force in real time; if the force falls below a safety threshold, it automatically applies additional pressure; if additional pressure fails, an alarm is triggered and the rotary robotic arm mechanism is locked. An obstacle avoidance radar monitors the working environment 360°; if an obstacle is detected within 1 meter, an audible and visual alarm is triggered; if an obstacle is detected within 0.5 meters, an emergency stop is initiated. In step S5, the warning distance for the audible and visual alarm is adjustable within 0-5 meters, and the emergency stop distance is adjustable within 0-3 meters. The equipment immediately shuts down and stops when the safety anti-collision strip is touched. When the remote control operation distance exceeds 5 meters, the equipment automatically locks and stops; mechanical limits are set for the rotary robotic arm mechanism and hydraulic cylinders to restrict the safe working space.

[0038] Step S6: Data-driven iterative optimization. The basic parameters of the hydraulic cylinder, the operation process parameters, and the environmental parameters are collected by the data acquisition expert system and stored in the knowledge base. The inference engine calls the knowledge base data through the control strategy of searching, matching, and backtracking to quickly match the optimal operation parameters of the hydraulic cylinder of the same specification, so as to realize the adaptive iterative optimization of the disassembly and assembly operation process.

[0039] In step S6, the data acquisition expert system consists of a knowledge base, an inference engine, and a control strategy module. The knowledge base continuously stores basic cylinder parameters, operation process parameters, environmental parameters, and operation experience data. The inference engine, based on the control strategy of search, matching, and backtracking, quickly matches the optimal operation parameters and automatically adjusts the motion trajectory of the rotary robotic arm, the response speed of the hydraulic system, and the visual positioning compensation.

[0040] Therefore, the present invention adopts the above-mentioned intelligent disassembly and assembly method for hydraulic support balance cylinder, realizing the mechanized intelligent disassembly and assembly of hydraulic support balance cylinder, and eliminating the risks of falling and collision through multiple safety protection mechanisms, thereby greatly reducing the intensity of manual labor.

[0041] The above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A method for intelligent disassembly and assembly of a hydraulic support balance cylinder, characterized in that, Includes the following steps: Step S1: Specialized research and modeling. Research the structural form of hydraulic supports, the disassembly and assembly process of balance cylinders, cylinder models and dimensions, and the stress conditions during disassembly and assembly. Integrate multidisciplinary knowledge to construct a theoretical calculation model, and verify the technical feasibility and optimize parameters through simulation software. Step S2: Equipment collaborative debugging. Subsystem pre-debugging is carried out sequentially for the chassis and walking mechanism, rotary robotic arm mechanism, precision control hydraulic system, vision-based positioning system, electrical control system, and safety protection system. After completion, multi-system collaborative debugging is carried out to ensure that each system responds accurately and moves synchronously. Step S3: Vision-robotic arm collaborative positioning and grasping. The TOF camera installed at the end of the rotary robotic arm mechanism acquires the point cloud data of the balance cylinder surface. Based on the intelligent recognition algorithm, the spatial position, attitude and pin hole coordinates of the cylinder are identified and located. The electronic control system plans a collision-free operation path according to the positioning data. The rotary robotic arm mechanism moves along the planned path and completes the precise grasping of the balance drive cylinder. Step S4: Intelligent disassembly and assembly of the hydraulic cylinder. The rotary robotic arm mechanism carries the gripping balance hydraulic cylinder and moves it within ±5cm of the work position to be disassembled or assembled, in conjunction with the chassis and walking mechanism. The operator can fine-tune the rotary robotic arm mechanism through the remote control within a safe distance to complete the precise alignment of the pin and the mounting hole. Then, the hydraulic system and drive tensioning mechanism are precisely controlled to achieve the smooth disassembly or installation of the balance hydraulic cylinder. Step S5: Full-process safety protection. Safety management is achieved throughout the entire operation cycle through multiple protection mechanisms, including real-time monitoring and automatic pressure replenishment of clamping force, 360° all-area obstacle avoidance and early warning, mechanical limit of mechanism, and over-distance remote control interlocking. When a risk is triggered, an audible and visual alarm or emergency stop is activated immediately. Step S6: Data-driven iterative optimization. The basic parameters of the hydraulic cylinder, the operation process parameters, and the environmental parameters are collected by the data acquisition expert system and stored in the knowledge base. The inference engine calls the knowledge base data through the control strategy of searching, matching, and backtracking to quickly match the optimal operation parameters of the hydraulic cylinder of the same specification, so as to realize the adaptive iterative optimization of the disassembly and assembly operation process.

2. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S1, the special investigation specifically includes clarifying the frame dimensions of the hydraulic support, the cylinder installation interface and the boundary of the working space, sorting out the key procedures and operation sequence of the balancing cylinder disassembly and assembly; determining the weight range, cylinder body size and pin hole specifications of the balancing cylinder, and establishing a standardized cylinder specification database; and analyzing the normal pressure, friction and assembly preload of the contact surface during disassembly and assembly by combining theoretical calculations and on-site measurements.

3. The intelligent disassembly and assembly method for the hydraulic support balance cylinder according to claim 1, characterized in that, In step S2, the chassis and walking mechanism are AGV omnidirectional mobile vehicle structures. The AGV omnidirectional mobile vehicle structure includes a vehicle platform, steering wheels, auxiliary support legs, support feet, lithium battery pack, hydraulic pump station assembly, and electrical control cabinet. Four sets of steering wheels are distributed at the four corners of the bottom of the vehicle platform, and four sets of auxiliary support legs are installed inside the steering wheels. Support feet are provided at the ends of the auxiliary support legs. The lithium battery pack and hydraulic pump station assembly are arranged at the rear of the vehicle platform to form a counterweight, and the electrical control cabinet is arranged side by side with the lithium battery pack.

4. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S2, the rotary robotic arm mechanism is a six-degree-of-freedom heavy-duty robotic arm. The six-degree-of-freedom heavy-duty robotic arm includes a rotary base, a first joint arm, a first joint drive cylinder, a second joint arm, a second joint drive cylinder, a third joint arm, a third joint drive cylinder, an end-rotating flange, a clamping mechanism, a TOF camera, and a pressure sensor. The rotary base is fixed to the front end of the vehicle platform. The first joint arm, the second joint arm, and the third joint arm are hinged in sequence. The first joint arm, the second joint arm, and the third joint arm are oscillating controlled by corresponding drive cylinders. The end of the third joint arm is connected to the clamping mechanism through the end-rotating flange. The TOF camera is installed at a high position next to the clamping mechanism, and the pressure sensor is integrated into the clamping mechanism.

5. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S4, the hydraulic system is precisely controlled to drive the actuator with rated flow and rated pressure; the clamping mechanism is hydraulically driven, and the driving tensioning mechanism is hydraulically driven by a servo motor; during operation, the displacement sensor monitors the cylinder stroke in real time, the pressure sensor provides real-time feedback of the system pressure, and the vision-based positioning system continuously corrects the position deviation.

6. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S5, the specific mechanisms for full-process safety protection include: a clamping force sensor that monitors the clamping force in real time and automatically applies pressure when it falls below the safety threshold; if pressure application fails, an alarm is triggered and the rotary robotic arm mechanism is locked; an obstacle avoidance radar that monitors the working environment in 360° and triggers an audible and visual alarm when an obstacle is detected within 1m and an emergency stop is triggered when an obstacle is detected within 0.5m; the equipment is immediately powered off and stopped when the safety anti-collision strip is touched; and the equipment is automatically locked and stopped when the remote control operation distance exceeds 5m.

7. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S5, the warning distance of the audible and visual alarm is adjustable within the range of 0-5m, and the emergency stopping distance is adjustable within the range of 0-3m.

8. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S6, the data acquisition expert system consists of a knowledge base, an inference engine, and a control strategy module. The knowledge base continuously stores basic cylinder parameters, operation process parameters, environmental parameters, and operation experience data. The inference engine, based on the control strategy of search, matching, and backtracking, quickly matches the optimal operation parameters and automatically adjusts the motion trajectory of the rotary robotic arm mechanism, the response speed of the hydraulic system, and the visual positioning compensation.

9. The intelligent disassembly and assembly method for a hydraulic support balance cylinder according to claim 1, characterized in that, In step S2, during the multi-system collaborative debugging, the linkage response time between the vision-based positioning system and the rotary robotic arm mechanism is no more than 0.5s, and the risk trigger response time of the safety protection system is no more than 1s.

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