Filling support automatic repairing equipment based on robot technology

Abstract

The invention discloses filling support automatic repairing equipment based on a robot technology, and belongs to the technical field of filling support repairing. The filling support automatic repairing equipment based on the robot technology comprises a repairing frame, an air suction frame is installed at the top of the inner wall of the repairing frame through a torsional spring rotating shaft, an air suction opening is formed in the bottom end face of the air suction frame, a connecting rod is welded to the outer wall of one end of the air suction frame, and a half gear is welded to the other end of the connecting rod; a transmission gear is installed on the outer wall of one end of the repairing frame through a rotating shaft, a double-shaft motor is in threaded connection with the top end face of the repairing frame, a driving gear is installed at one output end of the double-shaft motor through a coupler, and the transmission gear is engaged with the driving gear and the half gear. The problems that during use, due to the fact that the space in a coal hole is limited, smoke generated during repair welding is difficult to disperse, air can be polluted, and certain danger exists are effectively solved.

Description

Technical Field

[0001] The present invention relates to the technical field of filling stent repair, and in particular to a filling stent automatic repair device based on robot technology. Background Art

[0002] The filling support refers to a special hydraulic support that provides a filling operation space and is used for the filling method coal mining working face. The filling support is affected by the environment during long-term use and is prone to corrosion and wear. If it is not repaired in time, the supporting effect of the filling support will be reduced. Due to the limited space in the coal mine, manual repair is inconvenient, and a robot is required for automatic repair.

[0003] After searching, the prior art (Announcement No.: CN109973145A) is a filling bracket, which states "including: a filling bracket body and a moving device for driving the filling bracket body to move or stop along the direction of coal cutting depth, and the filling bracket is provided with an opening for fitting with the coal wall or the filling body to form a closed cavity for pouring paste." The filling bracket provided by the invention can move along the direction of coal cutting depth, making the moving process of the filling bracket more labor-saving, and can realize multiple continuous pouring of paste, thereby improving the filling efficiency of the coal mining area.

[0004] However, when the existing technology is used, the smoke generated during the repair welding is difficult to dissipate due to the limited space in the coal cave, which will pollute the air and has certain risks. Therefore, it is necessary to design an automatic repair device for filling brackets based on robot technology. Summary of the invention

[0005] The purpose of the present invention is to solve the problem that the smoke generated during the repair welding is difficult to dissipate due to the limited space in the coal hole in the existing design, which will pollute the air and have certain dangers.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A filling stent automatic repair device based on robot technology comprises a repair frame, an air suction frame is installed on the top of the inner wall of the repair frame through a torsion spring rotating shaft, and an air suction port is opened on the bottom end face of the air suction frame, a connecting rod is welded to the outer wall of one end of the air suction frame, and a half gear is welded to the other end of the connecting rod, a transmission gear is installed on the outer wall of one end of the repair frame through a rotating shaft, a double-axis motor is screwed on the top end face of the repair frame, and a driving gear is installed on one output end of the double-axis motor through a coupling, and the transmission gear is respectively meshed with the driving gear and the half gear, an air intake pipe is screwed on the top end face of the repair frame, and an air supply pipe is plugged into one end of the air intake pipe, and the other end of the air supply pipe is plugged and connected with the other end of the air suction frame, a connecting pipe is plugged into one side of the air intake pipe, and the other end of the connecting pipe A filter tube is inserted, and a filter screen is screwed inside the air inlet pipe. The other output end of the dual-axis motor extends into the air inlet pipe and is welded with a scraper. A sealing gasket is glued to the inner wall of the filter tube, and a partition is installed at the center of the inner part of the filter tube through a rotating shaft. The interior of the filter tube is filled with activated carbon, and the activated carbon is located on one side of the partition. A hidden groove is provided on the inner wall of the filter tube, and a push plate is provided inside the hidden groove. A push rod is inserted at one end of the filter tube, and one end of the push rod extends into the hidden groove and is welded and fixed to the push plate. A twisting rod is inserted at one side of the push rod, and one end of the twisting rod is welded and fixed to the partition. An outlet pipe is welded to the other end of the filter tube, and an air suction machine is provided on the other end of the outlet pipe. A discharge port is provided on the outer wall of the filter tube, and a sealing plate is hinged on the discharge port.

[0007] Preferably, a ventilation pipe is screwed on the top of the inner wall of the repair frame, and an air pipe is provided at one end of the ventilation pipe, a delivery pipe is inserted at the bottom of the ventilation pipe, a mechanical arm is screwed on the top of the inner wall of the repair frame, and a welding gun is screwed on the mechanical arm, and the other end of the delivery pipe is plugged and connected to the top of the welding gun.

[0008] Preferably, one end of the repair frame is screwed with an electrical box, the other end of the repair frame is screwed with an ultrasonic detector, the top end face of the repair frame is screwed with a control host, and the control host is connected to the ultrasonic detector via a wire.

[0009] Preferably, both sides of the repair frame are provided with clamps, and a pair of driving grooves are opened at the bottom of the clamps, and the motor hub is screwed inside the driving grooves. Sub-brackets are welded to the outer walls of both sides of the repair frame, and support rods are inserted at both ends of the sub-brackets. A sliding groove is opened on the top of the clamps, and one end of the support rod is slidably connected to the sliding groove.

[0010] Preferably, a through hole is provided on the top end surface of the sub-bracket, a pulley is screwed on the top end surface of the sub-bracket, a traction rope is screwed on the other end of the support rod, an installation groove is provided in the center of the top end surface of the repair frame, and a winding post is inserted into the installation groove, and the other end of the traction rope passes through the through hole and is wound around the winding post.

[0011] Preferably, a reduction motor is fixed to one end of the top of the winding column, and a fixing frame is screwed to one end of the top of the reduction motor, damping telescopic rods are screwed to both sides of the bottom of the fixing frame, and the telescopic ends of the damping telescopic rods are screwed and fixed to the top end face of the repair frame.

[0012] Preferably, a limiting groove is provided at the bottom of the inner wall of the installation groove, and a positioning groove is provided at the top of the limiting groove, a vertical rod is welded to one end of the bottom of the winding column, and one end of the bottom of the vertical rod extends into the limiting groove, a positioning block is welded to one end of the bottom of the vertical rod, and the positioning block is plugged and installed in the positioning groove.

[0013] Preferably, the positioning groove and the positioning block are both cross-shaped.

[0014] Compared with the prior art, the present invention provides a filling stent automatic repair device based on robot technology, which has the following beneficial effects: 1. The present invention drives the driving gear to rotate by a double-axis motor, and utilizes the transmission gear and the half-gear transmission to drive the connecting rod to rotate, thereby adjusting the orientation of the suction frame, which is convenient for expanding the suction range. When the gear of the half-gear is separated from the transmission gear, the effect of the torsion spring rotating shaft on the suction frame can reset the suction frame, and a negative pressure can be generated in the suction frame by the suction machine. The fume generated by welding can be drawn into the suction frame from the suction port, and the gas can be allowed to enter the intake pipe through the gas transmission pipe. The impurities in the gas can be filtered through the filter net. The scraper driven by the double-axis motor rotates in the intake pipe, and the filter net can be scraped to avoid the mesh blockage of the filter net affecting the gas circulation. The filtered gas will flow into the filter pipe through the connecting pipe, and the odor in the gas can be filtered through the activated carbon. The filtered gas will enter the suction machine through the outlet pipe and then be discharged by the suction machine. This method can filter the fume generated by welding, avoid the fume being directly discharged into the air, and pollute the air in the coal cave, thereby improving the safety during repair.

[0015] 2. By twisting the partition to rotate, the activated carbon can be moved to the discharge port, and the push rod can be pushed under the pressure of the push plate to discharge the activated carbon. By lifting the sealing plate, activated carbon can be added to the filter tube, which is convenient for replacing activated carbon and ensuring the filtering effect. The winding column is driven by the reduction motor to rotate, and the traction rope can be reeled in, so that the support rod is moved into the sub-bracket and the splint is pulled to shrink, which can be clamped on the filling bracket. The fixing frame is pressed to make the positioning block enter the positioning groove, which can fix the winding column to prevent the splint from loosening, so that the equipment is suitable for different positions of the filling bracket, thereby improving the use effect of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is an overall isometric view of a filling stent automatic repair device based on robot technology proposed by the present invention; Figure 2 This is a schematic diagram of the bottom structure of a filling stent automatic repair device based on robot technology proposed by the present invention; Figure 3 This is a schematic diagram of the overall structure of an automatic repair device for filling stents based on robotic technology proposed by the present invention; Figure 4 A schematic diagram of the internal structure of a repair frame of an automatic repair device for filling stents based on robotic technology proposed by the present invention; Figure 5 This is a cross-sectional view of a filter tube of a filling stent automatic repair device based on robotic technology proposed by the present invention; Figure 6 for Figure 5 A magnified view of the structure; Figure 7 This is a schematic diagram of the external structure of a filter tube of an automatic repair device for filling stents based on robotic technology proposed by the present invention; Figure 8 This is an overall cross-sectional view of an automatic filling stent repair device based on robotic technology proposed by the present invention.

[0017] Description of the figure numbers: 1. Repair frame; 2. Air intake frame; 3. Air intake port; 4. Connecting rod; 5. Half gear; 6. Transmission gear; 7. Dual-axis motor; 8. Driving gear; 9. Inlet pipe; 10. Air delivery pipe; 11. Connecting pipe; 12. Filter pipe; 13. Filter screen; 14. Scraper; 15. Sealing pad; 16. Partition; 17. Activated carbon; 18. Hidden groove; 19. Push plate; 20. Push rod; 21. Twist rod; 22. Exhaust pipe; 23. Air suction machine; 24. Exhaust port; 25. Sealing plate; 26. Ventilation pipe; 27. Insert air tube; 28. Delivery pipe; 29. ​​Robotic arm; 30. Welding gun; 31. Electrical box; 32. Ultrasonic detector; 33. Control host; 34. Clamp; 35. Drive slot; 36. Motor hub; 37. Sub-bracket; 38. Support rod; 39. Slide slot; 40. Through hole; 41. Pulley; 42. Traction rope; 43. Installation slot; 44. Winding column; 45. Reducer motor; 46. Fixed bracket; 47. Damping telescopic rod; 48. Limiting slot; 49. Positioning slot; 50. Vertical rod; 51. Positioning block. DETAILED DESCRIPTION

[0018] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0019] Embodiment 1: See also Figure 1-8A filling stent automatic repair device based on robot technology includes a repair frame 1, an air suction frame 2 is installed on the top of the inner wall of the repair frame 1 through a torsion spring shaft, and an air suction port 3 is opened on the bottom end face of the air suction frame 2, a connecting rod 4 is welded to the outer wall of one end of the air suction frame 2, and a half gear 5 is welded to the other end of the connecting rod 4, a transmission gear 6 is installed on the outer wall of one end of the repair frame 1 through a shaft, a double-axis motor 7 is screwed on the top end face of the repair frame 1, and a driving gear 8 is installed on one output end of the double-axis motor 7 through a coupling, and the transmission The moving gear 6 is meshed with the driving gear 8 and the half gear 5 respectively. The top end face of the repair frame 1 is screwed with an air intake pipe 9, and one end of the air intake pipe 9 is plugged with an air delivery pipe 10, and the other end of the air delivery pipe 10 is plugged and connected with the other end of the air suction frame 2. A connecting pipe 11 is plugged into one side of the air intake pipe 9, and a filter pipe 12 is plugged into the other end of the connecting pipe 11. A filter screen 13 is screwed inside the air intake pipe 9. The other output end of the dual-axis motor 7 extends into the air intake pipe 9 and is welded with a scraper 14. The inner wall of the filter pipe 12 is glued with a sealing gasket 1. 5. A partition 16 is installed at the center of the filter tube 12 through a rotating shaft. The filter tube 12 is filled with activated carbon 17, and the activated carbon 17 is located on one side of the partition 16. A hidden groove 18 is opened on the inner wall of the filter tube 12, and a push plate 19 is provided inside the hidden groove 18. A push rod 20 is inserted at one end of the filter tube 12, and one end of the push rod 20 extends into the hidden groove 18 and is welded and fixed to the push plate 19. A twist rod 21 is inserted at one side of the push rod 20, and one end of the twist rod 21 is welded and fixed to the partition 16. The filter tube 12 An air outlet pipe 22 is welded to the other end of the air outlet pipe 22, and an air suction machine 23 is sleeved on the other end of the air outlet pipe 22. A discharge port 24 is opened on the outer wall of the filter tube 12, and a sealing plate 25 is hinged on the discharge port 24. A vent pipe 26 is screwed to the top of the inner wall of the repair frame 1, and an air insertion pipe 27 is provided at one end of the vent pipe 26. A delivery pipe 28 is plugged into the bottom of the vent pipe 26. A mechanical arm 29 is screwed to the top of the inner wall of the repair frame 1, and a welding gun 30 is screwed to the mechanical arm 29. The other end of the delivery pipe 28 is plugged into and communicated with the top of the welding gun 30; The driving gear 8 is driven to rotate by the dual-axis motor 7, and the transmission gear 6 and the half gear 5 are used for transmission, so as to drive the connecting rod 4 to rotate, thereby adjusting the orientation of the air intake frame 2, so as to expand the air intake range. When the gear of the half gear 5 is separated from the transmission gear 6, the action of the torsion spring shaft on the air intake frame 2 can reset the air intake frame 2, and a negative pressure can be generated in the air intake frame 2 through the air suction machine 23. The fume generated by welding will be drawn into the air intake frame 2 from the air intake port 3, and the gas can enter the air intake pipe 9 through the air supply pipe 10. The impurities in the gas can be filtered through the filter 13. The scraper 14 driven by the dual-axis motor 7 to rotate in the air intake pipe 9 can scrape the filter 13 to prevent the mesh of the filter 13 from being blocked and affecting the gas circulation. The filtered gas will The gas will flow into the filter tube 12 through the connecting pipe 11, and the odor in the gas can be filtered by the activated carbon 17. The filtered gas will enter the air suction machine 23 through the outlet pipe 22 and then be discharged by the air suction machine 23. The activated carbon 17 can be moved to the discharge port 24 by twisting the partition plate 16. The push rod 20 can be pushed under the pressure of the push plate 19 to discharge the activated carbon 17. The activated carbon 17 can be added to the filter tube 12 by lifting the sealing plate 25. The welding gas delivery pipe can be connected by the air pipe 27. The welding gas enters the ventilation pipe 26 and enters the welding gun 30 through the delivery pipe 28. The welding gun 30 sprays flame to melt the metal layer at the repair welding position on its surface to achieve the repair effect. The position of the welding gun 30 can be adjusted by the mechanical arm 29.

[0020] Embodiment 2: See also Figure 1-58. The embodiment 1 is different in that one end of the repair frame 1 is screwed with an electrical box 31, the other end of the repair frame 1 is screwed with an ultrasonic detector 32, the top end face of the repair frame 1 is screwed with a control host 33, and the control host 33 and the ultrasonic detector 32 are connected by a wire, both sides of the repair frame 1 are provided with clamping plates 34, and the bottom of the clamping plates 34 is provided with a pair of driving grooves 35, the inside of the driving grooves 35 is screwed with a motor hub 36, sub-brackets 37 are welded to the outer walls of both sides of the repair frame 1, and both ends of the sub-brackets 37 are plugged with support rods 38, the top of the clamping plates 34 is provided with a slide groove 39, and one end of the support rod 38 is slidably connected to the slide groove 39, the top end face of the sub-bracket 37 is provided with a through hole 40, the top end face of the sub-bracket 37 is screwed with a pulley 41, and the other end of the support rod 38 is screwed with a traction rope 42, and the repair frame 1 A mounting groove 43 is provided in the center of the top end surface of the repair frame 1, and a winding column 44 is plugged into the mounting groove 43. The other end of the traction rope 42 passes through the through hole 40 and is wound around the winding column 44. A reduction motor 45 is fixed to one end of the top of the winding column 44, and a fixing frame 46 is screwed to one end of the top of the reduction motor 45. Damping telescopic rods 47 are screwed to both sides of the bottom of the fixing frame 46, and the telescopic ends of the damping telescopic rods 47 are screwed and fixed to the top end surface of the repair frame 1. A limiting groove 48 is provided at the bottom of the inner wall of the mounting groove 43, and a positioning groove 49 is provided at the top of the limiting groove 48. A vertical rod 50 is welded to one end of the bottom of the winding column 44, and one end of the bottom of the vertical rod 50 extends into the limiting groove 48. A positioning block 51 is welded to one end of the bottom of the vertical rod 50, and the positioning block 51 is plugged and installed in the positioning groove 49. The positioning groove 49 and the positioning block 51 are both cross-shaped. The device on the repair frame 1 can be connected to electricity through the power connection box 31, and the device on the equipment can be automatically programmed by using the control host 33. The corroded and worn parts on the filling bracket can be identified by the ultrasonic detector 32. The repair frame 1 is placed on the filling bracket, and the fixing frame 46 is lifted up to separate the positioning groove 49 from the positioning block 51. The winding column 44 is driven to rotate by the reduction motor 45, and the traction rope 42 can be retracted, so that the support rod 38 is moved into the sub-bracket 37, and the splint 34 is pulled to retract and clamped on the filling bracket. The fixing frame 46 is pressed to make the positioning block 51 enter the positioning groove 49, and the winding column 44 can be fixed to prevent the splint 34 from loosening. The motor hub 36 is used to drive the repair frame 1 to move on the filling bracket, and the corroded and worn parts on the filling bracket are continuously scanned.

[0021] The dual-axis motor 7, the suction machine 23, the mechanical arm 29, the welding gun 30, the power connection box 31, the ultrasonic detector 32, the control host 33, the motor hub 36 and the reduction motor 45 used in the present invention are all existing mature technologies, so they are not described in detail below. When in use, the staff will set a wear-resistant, corrosion-resistant, heat-resistant and other performance metal layer on the corroded and worn parts on the filling bracket in advance, and the device on the repair frame 1 can be powered by the power connection box 31. The control host 33 can be used to automatically program the device on the equipment. The corroded and worn parts on the filling bracket can be identified by the ultrasonic detector 32, and the repair frame 1 is placed on the filling bracket, and the fixing frame 46 is lifted upward. The positioning groove 49 is separated from the positioning block 51, and the winding column 44 is driven to rotate by the reduction motor 45, so that the traction rope 42 can be reeled in, so that the support rod 38 is moved into the sub-bracket 37, and the clamping plate 34 is pulled to shrink, so that it can be clamped on the filling bracket, and the fixing frame 46 is pressed to make the positioning block 51 enter the positioning groove 49, so that the winding column 44 can be fixed to prevent the clamping plate 34 from loosening, and the motor hub 36 is used to drive the repair frame 1 to move on the filling bracket, and continuously scan the corrosion and wear on the filling bracket. The welding gas delivery pipe can be connected through the insert pipe 27. The welding gas enters the ventilation pipe 26 and enters the welding gun 30 through the delivery pipe 28. When the ultrasonic detector 32 scans the corrosion on the filling bracket When worn, the welding torch 30 is used to spray flame to melt the metal layer at the repair welding position on its surface to achieve a repair effect. The position of the welding torch 30 can be adjusted by the mechanical arm 29. The driving gear 8 is driven to rotate by the dual-axis motor 7. The transmission gear 6 and the half gear 5 are used for transmission, which can drive the connecting rod 4 to rotate, thereby adjusting the orientation of the suction frame 2 to facilitate the expansion of the suction range. When the gear of the half gear 5 is separated from the transmission gear 6, the torsion spring shaft on the suction frame 2 can reset the suction frame 2. The suction machine 23 can generate negative pressure in the suction frame 2. The smoke generated by welding will be drawn into the suction frame 2 from the suction port 3. The gas can enter the intake pipe 9 through the gas pipe 10. The filter 13 can filter out impurities in the gas. The scraper 14 is driven by the dual-axis motor 7 to rotate in the air inlet pipe 9, so as to scrape the filter 13 to prevent the mesh of the filter 13 from being blocked and affecting the gas circulation. The filtered gas will flow into the filter tube 12 through the connecting pipe 11. The odor in the gas can be filtered by the activated carbon 17. The filtered gas will enter the air suction machine 23 through the outlet pipe 22 and then be discharged by the air suction machine 23. The activated carbon 17 can be moved to the discharge port 24 by twisting the partition 16 to rotate. The push rod 20 can be pushed under the squeezing of the push plate 19 to discharge the activated carbon 17. The activated carbon 17 can be added to the filter tube 12 by lifting the sealing plate 25.

[0022] The above is only a preferred embodiment of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of this template.

[0023] In the description of the present invention, it should be understood that the terms "upper", "lower", "left", "right", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, and a specific direction structure and operation, and therefore, cannot be understood as a limitation on the present invention. In addition, "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0024] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0025] The above is a detailed description of an embodiment of the present invention, but the content is only a preferred embodiment of the present invention and cannot be considered to limit the scope of implementation of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the patent coverage of the present invention.

Claims

1. A filling stent automatic repair device based on robot technology, comprising a repair frame (1), characterized in that: An air suction frame (2) is mounted on the top of the inner wall of the repair frame (1) via a torsion spring shaft, and an air suction port (3) is provided on the bottom end surface of the air suction frame (2). A connecting rod (4) is welded to the outer wall of one end of the air suction frame (2), and a half gear (5) is welded to the other end of the connecting rod (4). A transmission gear (6) is mounted on the outer wall of one end of the repair frame (1) via a shaft. A dual-axis motor (7) is screwed to the top end surface of the repair frame (1), and a driving gear (8) is mounted on one output end of the dual-axis motor (7) via a coupling. The transmission gear (6) is meshed with the driving gear (8) and the half gear (5) respectively; an air intake pipe (9) is screwed to the top end surface of the repair frame (1); an air supply pipe (10) is plugged into one end of the air intake pipe (9); the other end of the air supply pipe (10) is plugged into and communicated with the other end of the air suction frame (2); a connecting pipe (11) is plugged into one side of the air intake pipe (9); a filter pipe (12) is plugged into the other end of the connecting pipe (11); a filter screen (13) is screwed into the interior of the air intake pipe (9); the dual-axis motor (7 ) extends into the air inlet pipe (9) and is welded with a scraper (14); a sealing gasket (15) is glued to the inner wall of the filter tube (12); a partition (16) is installed in the center of the inner part of the filter tube (12) via a rotating shaft; the inner part of the filter tube (12) is filled with activated carbon (17), and the activated carbon (17) is located on one side of the partition (16); a hidden groove (18) is opened on the inner wall of the filter tube (12), and a push plate (19) is provided inside the hidden groove (18); one side of the filter tube (12) A push rod (20) is inserted into the end of the filter tube (12), and one end of the push rod (20) extends into the hidden groove (18) and is welded to the push plate (19); a screw rod (21) is inserted into one side of the push rod (20), and one end of the screw rod (21) is welded to the partition (16); an air outlet pipe (22) is welded to the other end of the filter tube (12), and an air suction machine (23) is sleeved on the other end of the air outlet pipe (22); an exhaust port (24) is opened on the outer wall of the filter tube (12), and a sealing plate (25) is hinged on the exhaust port (24).

2. The filling stent automatic repair device based on robot technology according to claim 1 is characterized in that: A ventilation pipe (26) is screwed to the top of the inner wall of the repair frame (1), and an air insertion pipe (27) is provided at one end of the ventilation pipe (26), a delivery pipe (28) is plugged into the bottom of the ventilation pipe (26), a mechanical arm (29) is screwed to the top of the inner wall of the repair frame (1), and a welding gun (30) is screwed to the mechanical arm (29), and the other end of the delivery pipe (28) is plugged into and communicated with the top of the welding gun (30).

3. The filling stent automatic repair device based on robot technology according to claim 1 is characterized by: One end of the repair frame (1) is screwed with an electrical connection box (31), the other end of the repair frame (1) is screwed with an ultrasonic detector (32), the top end surface of the repair frame (1) is screwed with a control host (33), and the control host (33) and the ultrasonic detector (32) are connected via a wire.

4. The filling stent automatic repair device based on robot technology according to claim 1 is characterized in that: Clamps (34) are provided on both sides of the repair frame (1), and a pair of driving grooves (35) are provided at the bottom of the clamps (34), and motor hubs (36) are screwed inside the driving grooves (35). Sub-brackets (37) are welded to the outer walls of both sides of the repair frame (1), and support rods (38) are inserted at both ends of the sub-brackets (37). A sliding groove (39) is provided on the top of the clamps (34), and one end of the support rod (38) is slidably connected to the sliding groove (39).

5. The filling stent automatic repair device based on robot technology according to claim 4 is characterized in that: A through hole (40) is formed on the top end surface of the sub-bracket (37), a pulley (41) is screwed on the top end surface of the sub-bracket (37), a traction rope (42) is screwed on the other end of the support rod (38), a mounting groove (43) is formed in the center of the top end surface of the repair frame (1), a winding post (44) is inserted into the mounting groove (43), and the other end of the traction rope (42) passes through the through hole (40) and is wound around the winding post (44).

6. The robotic-based filling stent automatic repair device according to claim 5, characterized in that: A reduction motor (45) is fixed to one end of the top of the winding column (44), and a fixing frame (46) is screwed to one end of the top of the reduction motor (45), damping telescopic rods (47) are screwed to both sides of the bottom of the fixing frame (46), and the telescopic ends of the damping telescopic rods (47) are screwed and fixed to the top end surface of the repair frame (1).

7. The robotic-based filling stent automatic repair device according to claim 5, characterized in that: A limiting groove (48) is provided at the bottom of the inner wall of the installation groove (43), and a positioning groove (49) is provided at the top of the limiting groove (48); a vertical rod (50) is welded to one end of the bottom of the winding column (44), and one end of the bottom of the vertical rod (50) extends into the limiting groove (48); a positioning block (51) is welded to one end of the bottom of the vertical rod (50), and the positioning block (51) is plugged and installed in the positioning groove (49).

8. The filling stent automatic repair device based on robot technology according to claim 7 is characterized in that: The positioning groove (49) and the positioning block (51) are both cross-shaped.

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