俄罗斯莫斯科近郊煤田研究所等研制的M型门式机械手包括一个安装在能任意回转平盘上的仿人手功能的机械手（1），以及沿底板自动移动的门架（2），门架上有能改变机械手间隙和横向位移的机构。机械手能使井下安装和拆除设备、架设装配式支架、翻修和维护巷道、铲平底板，以及装 The M-type gantry robot developed by Russia’s Moscow suburbs Coalfield Research Institute includes a hand-operated manipulator (1) mounted on an arbitrary revolving flat plate and a gantry (2) that moves automatically along the soleplate. The gantry has A mechanism that changes the gap and lateral displacement of a robot. Manipulators enable downhole installation and removal of equipment, erection of fabricated brackets, renovation and maintenance of roadways, shoveling of flat bottom panels, and mounting