A plasma welding device and method for hydraulic support surface repair

Abstract

The application relates to the technical field of plasma welding, in particular to a plasma welding device and method for hydraulic support surface repair. The device comprises a bottom plate, a three-axis machine arm arranged on the bottom plate, a fixing frame fixedly connected to the control end of the three-axis machine arm, a plasma welding head slidingly connected to the fixing frame, an infrared range finder fixedly connected to the control end of the three-axis machine arm, a connecting plate slidingly connected to the fixing frame, and a first elastic member fixedly connected between the fixing frame and the connecting plate. The infrared range finder is used for monitoring the distance between the plasma welding head and the stand column. When the distance between the plasma welding head and the stand column is lower than a set value, the limiting of the connecting plate is released, the first elastic member drives the plasma welding head to rapidly lift and move away from the stand column through the connecting plate, the probability of collision between the plasma welding head and the stand column is reduced, and thus active risk prevention of the plasma welding head is realized.

Description

Technical Field

[0001] This invention relates to the field of plasma welding technology, and in particular to a plasma welding apparatus and method for repairing the surface of hydraulic supports. Background Technology

[0002] Hydraulic supports are the core support equipment in fully mechanized coal mining faces. Their uprights (also known as piston columns or piston rods) bear enormous alternating loads during the support of the roof and the lifting and moving process. The surface of the uprights is constantly exposed to the high humidity, strong corrosion, and coal dust-laden mine water environment, and is subject to frequent expansion and contraction movements, making them highly susceptible to surface damage such as scratches, rust, pitting, and wear. Once the surface is damaged, it can lead to sealing failure and automatic unloading (self-lowering column), or even cause the entire support to become unstable, seriously endangering safe production in the mine. Therefore, surface repair of the uprights to restore their dimensional accuracy, corrosion resistance, and wear resistance is a key measure to extend the service life of hydraulic supports. Plasma repair technology, with its advantages of small heat-affected zone, high bonding strength, low dilution rate, and environmental friendliness, has been widely used in the surface repair of uprights.

[0003] In actual repair work, the maintenance workshop needs to frequently replace columns of different specifications for processing. After each model change, the operator must manually adjust or call the corresponding processing program in the control system to set coordinate parameters such as column radius and plasma nozzle starting position. Due to human negligence, the program parameters are often not updated in time. If the radius value is not corrected, the plasma nozzle will directly impact the column surface during operation, which will not only damage the plasma nozzle itself and cause economic losses, but also interrupt the repair process and affect production efficiency. Summary of the Invention

[0004] In order to overcome the shortcomings mentioned in the background art, the present invention provides a plasma welding device and method for repairing the surface of hydraulic supports.

[0005] The technical implementation of the present invention is as follows: a plasma welding device for surface repair of a hydraulic support includes a base plate, a clamping and rotating module for fixing and rotating a column is provided on the base plate, a three-axis robotic arm for changing the repair position of the column is provided on the base plate, a fixed frame is fixedly connected to the control end of the three-axis robotic arm, a plasma welding head is slidably connected to the fixed frame, an infrared rangefinder is fixedly connected to the control end of the three-axis robotic arm, the infrared rangefinder is used to monitor the distance between the column and the plasma welding head, the plasma welding head is provided with a connecting plate slidably connected to the fixed frame, a first elastic element is fixedly connected between the fixed frame and the connecting plate, a limiting rubber block for limiting the connecting plate is fixedly connected to the fixed frame, and a limiting component for limiting the connecting plate is provided on the fixed frame.

[0006] More preferably, the fixing frame is fixedly connected to a reset drive component, and the telescopic end of the reset drive component is used to push the connecting plate to move.

[0007] More preferably, the limiting component includes an electromagnet, which is fixedly connected to the fixing frame. The fixing frame is slidably connected to a limiting rod, which is used to limit the connecting plate. A magnetic block is fixedly connected to the limiting rod, and a second elastic element is fixedly connected between the magnetic block and the fixing frame.

[0008] More preferably, the connecting plate and the plasma welding head are slidably connected.

[0009] More preferably, a third elastic element is fixedly connected between the connecting plate and the plasma welding head, the third elastic element being used to buffer the plasma welding head.

[0010] More preferably, the connecting plate is fixedly connected to a serrated rod, the plasma welding head is slidably connected to a positioning frame, the serrated rod unidirectionally limits the positioning frame, and a fourth elastic element is fixedly connected between the positioning frame and the plasma welding head.

[0011] More preferably, the plasma welding head is threadedly connected to a reset shaft, the reset shaft is rotatably and slidably connected to the positioning frame, and the reset shaft is fixedly connected to a protrusion for pushing the corresponding positioning frame.

[0012] More preferably, the mounting bracket is slidably connected to a push rod, the push rod is used to push the magnetic block, the push rod is fixedly connected to a first extrusion block, and the plasma welding head is fixedly connected to a second extrusion block, the second extrusion block is used to extrude the first extrusion block.

[0013] More preferably, the fixed frame is slidably connected to a limiting block, the limiting block is used to limit the push rod, and a fifth elastic element is fixedly connected between the limiting block and the fixed frame.

[0014] A plasma welding method for repairing the surface of a hydraulic support, using the aforementioned plasma welding apparatus for repairing the surface of a hydraulic support, includes the following steps: Step 1: When the column needs to be repaired, the clamping and rotating module clamps the column and rotates it. The three-axis robotic arm drives the plasma welding head to move above the column through the fixed frame and begins the repair work until it is completed. Step 2: When the plasma welding head approaches the column due to the lack of program updates, the infrared rangefinder detects that the distance is lower than the set value, and energizes the electromagnet. The electromagnet attracts the magnetic block, and the magnetic block drives the limit rod to slide, releasing the limit on the connecting plate, so that the connecting plate drives the plasma welding head to rise rapidly. Step 3: After the connecting plate is raised to contact the limiting rubber block and stops, the plasma welding head continues to slide upward along the connecting plate due to inertia. The third elastic element is compressed for secondary buffering. At the same time, the positioning frame slides unidirectionally along the sawtooth rod. After the plasma welding head stops, the fourth elastic element pushes the positioning frame into the corresponding sawtooth groove to lock the position of the plasma welding head. Step 4: If the infrared rangefinder is damaged, the plasma welding head will directly contact the column. The plasma welding head will slide upward relative to the connecting plate due to the column's limitation. The second extrusion block on the plasma welding head will drive the limiting rod to release the limitation on the connecting plate through the first extrusion block, the push rod, and the magnetic block, thus achieving pure mechanical redundancy risk avoidance. Step 5: After troubleshooting, the telescopic end of the reset drive pushes the connecting plate down, and at the same time, the electromagnet is energized in the reverse direction to push the magnetic block and limit rod to reset and relock the connecting plate. Rotate the reset shaft to separate the clamping frame from the sawtooth rod. The third elastic element pushes the plasma welding head to slide down relative to the connecting plate to reset. Then release the reset shaft to relock the clamping frame and restore the equipment to standby state.

[0015] Compared with the prior art, the present invention achieves the following significant technical effects: 1. This invention monitors the distance between the plasma welding head and the column using an infrared rangefinder. When the distance between the plasma welding head and the column is lower than a set value, the limiting position of the connecting plate is released, allowing the first elastic element to drive the plasma welding head to quickly rise away from the column through the connecting plate, reducing the probability of collision between the plasma welding head and the column. This achieves active risk avoidance of the plasma welding head and reduces the probability of damage to the plasma welding head.

[0016] 2. This invention uses a flexible material limiting rubber block and the compression deformation of a third elastic element to provide two-stage buffering for the plasma welding head, absorbing the impact energy when the plasma welding head stops rising. Then, the serrated rod and the positioning frame automatically lock the position of the plasma welding head to ensure the stability of the position of the plasma welding head, thereby reducing the probability of damage to the plasma welding head caused by vibration.

[0017] 3. The present invention achieves a redundant protection mechanism for the plasma welding head by having the plasma welding head move upward along the fixed frame when it is forced to contact the column. This is achieved through the mechanical linkage of the first extrusion block, the second extrusion block, the push rod, and the magnetic block, which drives the limit rod to release the limit on the connecting plate. This further reduces the probability of damage to the plasma welding head. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the fixing frame and plasma welding head of the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the first elastic element of the present invention; Figure 4 This is a three-dimensional structural diagram of the sawtooth rod of the present invention; Figure 5 This is a three-dimensional structural diagram of the card holder of the present invention; Figure 6 This is a three-dimensional structural diagram of the first extrusion block and the second extrusion block of the present invention.

[0019] in, 1: Base plate, 2: Clamping and rotating module, 3: Three-axis robotic arm, 4: Fixing frame, 5: Plasma welding head, 6: Infrared rangefinder, 7: Connecting plate, 8: First elastic element, 9: Limiting rubber block, 10: Reset drive element, 201: Electromagnet, 202: Limiting rod, 203: Magnetic block, 204: Second elastic element, 301: Third elastic element, 302: Serrated rod, 303: Positioning frame, 304: Fourth elastic element, 305: Reset shaft, 401: Push rod, 402: First pressing block, 403: Second pressing block, 404: Limiting block, 405: Fifth elastic element. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0021] In actual repairs, due to the frequent replacement of columns of different specifications, operators must manually adjust the processing program and coordinate parameters in the control system. If the parameters are not updated due to negligence, the plasma nozzle is prone to impacting the surface of the column, resulting in damage to the plasma nozzle, economic losses, interruption of repair work, and impact on production efficiency.

[0022] Example 1 This embodiment provides a plasma welding device for repairing the surface of a hydraulic support, which reduces the probability of damage to the device.

[0023] like Figures 1-3As shown, the device includes a base plate 1, which supports the entire equipment. A clamping and rotating module 2 is mounted on the base plate 1 to fix and rotate the column. The clamping and rotating module 2 consists of a three-jaw chuck, a servo motor, and a support mechanism. The three-jaw chuck clamps and fixes the left end of the column and, in conjunction with the servo motor, enables the column to rotate. The support mechanism supports the right end of the column (the support height can be adjusted according to the column's radius) and autonomously adapts to the column's rotation. A three-axis robotic arm 3 is mounted on the base plate 1 to change the column's repair position. The control end of the three-axis robotic arm 3 is fixedly connected to a mounting frame 4, and a plasma welding head 5 is slidably connected to the mounting frame 4. The plasma welding head 5 is existing equipment and mainly consists of a coaxial powder feeding system, an electrode system, a gas channel system, and a cooling water jacket. The control end of the three-axis robotic arm 3 can drive the plasma welding head 5 to perform three-dimensional movements in the left-right, forward-backward, and up-down directions. An infrared rangefinder 6 is fixedly connected to the control end of the three-axis robotic arm 3. The infrared rangefinder 6 is used to monitor the distance between the column and the plasma welding head 5. The infrared rangefinder 6 is relative to the plasma welding head. The position of 5 is a fixed value, that is, the actual value measured by the infrared rangefinder 6 minus the distance between the infrared rangefinder 6 and the bottom of the plasma welding head 5 is the measured value. The infrared rangefinder 6 uses a laser displacement sensor, which is non-contact measurement and has a fast response speed. The plasma welding head 5 is provided with a connecting plate 7 that is slidably connected to the fixing frame 4. In this embodiment, the connection relationship between the connecting plate 7 and the plasma welding head 5 is a fixed connection, that is, the connecting plate 7 drives the plasma welding head 5 to move synchronously. However, this is limited to this embodiment. A first elastic element 8 is fixedly connected between the fixing frame 4 and the connecting plate 7. The spring 8 is a tension spring, which is initially in a stretched state and is used to pull the connecting plate 7 upward. The fixing frame 4 is fixedly connected with two limiting rubber blocks 9 for limiting the connecting plate 7. The limiting rubber blocks 9 are made of polyurethane rubber blocks, which have good elasticity, wear resistance and strong shock absorption capacity. The fixing frame 4 is provided with a limiting component for limiting the connecting plate 7. The fixing frame 4 is fixedly connected with a reset drive 10, which is an electric push rod. The reset drive 10 is located above the connecting plate 7. The telescopic end of the reset drive 10 is used to push the connecting plate 7 to move.

[0024] like Figure 3As shown, the limiting assembly includes an electromagnet 201, which is fixedly connected to a fixed frame 4. A limiting rod 202 is slidably connected to the fixed frame 4. The limiting rod 202 is used to limit the connecting plate 7, preventing the connecting plate 7 from sliding upward along the fixed frame 4. A magnetic block 203 is fixedly connected to the limiting rod 202. When the electromagnet 201 is energized in the forward direction, it generates an attractive force on the magnetic block 203. When the electromagnet 201 is energized in the reverse direction, it generates a pushing force on the magnetic block 203. In the initial state, the electromagnet 201 is not energized and does not exert any force on the magnetic block 203. There is a length between the two for the limiting rod 202 to separate from the connecting plate 7. A second elastic element 204 is fixedly connected between the magnetic block 203 and the fixed frame 4. The second elastic element 204 is a tension spring and is used to drive the limiting rod 202 to reset.

[0025] Working principle: When the column needs repair, the operator adjusts the clamping center, support height, and position of the clamping rotation module 2 to achieve stable and horizontal fixation of the column. Then, the three-axis robotic arm 3 is activated, and the control end of the three-axis robotic arm 3 drives the plasma welding head 5 to move through the fixing frame 4. The plasma welding head 5 moves to directly above the repair position on the left side of the column, and the distance between the plasma welding head 5 and the column reaches the required length (set according to the process, but generally between 8 mm and 16 mm). Then, the clamping rotation module 2 is activated to start rotating the column, and the plasma welding head 5 is activated to repair the column. At the same time, the control end of the three-axis robotic arm 3 drives the plasma welding head 5 to move from left to right through the fixing frame 4. This continues until the plasma welding head 5 reaches the right end of the column, at which point the column repair work is completed. The plasma welding head 5 is then turned off, and the movement of the control end of the three-axis robotic arm 3 and the clamping rotation module 2 are stopped. The column is then removed. When the column needs repair again, the above steps are repeated.

[0026] During the process of the control end of the three-axis robotic arm 3 driving the plasma welding head 5 to the working position, the control end of the three-axis robotic arm 3 drives the infrared rangefinder 6 on it to move synchronously. If the operator fails to update the program, causing the plasma welding head 5 to collide with the column, the control end of the three-axis robotic arm 3, through the fixing frame 4, will drive the plasma welding head 5 to the set position. During this process, the infrared rangefinder 6 will monitor the distance between itself and the column. When the infrared rangefinder 6 detects that the distance between the plasma welding head 5 and the column is lower than the set value, (The setting value is usually within 4 mm). When the electromagnet 201 is energized, the electromagnet 201 becomes magnetic and attracts the magnetic block 203, causing the magnetic block 203 to drive the limiting rod 202 to slide and release the limiting of the connecting plate 7. At the same time, the second elastic element 204 is stretched. At this moment, the tension accumulated by the first elastic element 8 drives the connecting plate 7 to move upward, so that the connecting plate 7 drives the plasma welding head 5 to move synchronously until the connecting plate 7 contacts the limiting rubber block 9, so that the plasma welding head 5 quickly moves away from the column to avoid subsequent collisions between the plasma welding head 5 and the column.

[0027] After the connecting plate 7 contacts the limiting rubber block 9, the operator controls the control end of the three-axis robotic arm 3 to reset to the initial position, then updates the program and activates the reset drive 10, causing the telescopic end of the reset drive 10 to move downward to contact and push the connecting plate 7. The connecting plate 7 drives the plasma welding head 5 to move downward synchronously, while the first elastic element 8 stretches and accumulates tension. After the plasma welding head 5 resets to the initial position relative to the fixed frame 4, the electromagnet 201 is energized in the reverse direction. The electromagnet 201 generates a pushing force on the magnetic block 203, and the magnetic block 203 drives the limiting rod 202 to reset and slide along the fixed frame 4. At the same time, the second elastic element 204 resets and releases tension, causing the limiting rod 202 to limit the connecting plate 7 again. Then, the energization of the electromagnet 201 is stopped and the repair work on the column is restarted.

[0028] Example 2 This embodiment provides a plasma welding device for surface repair of hydraulic supports, which is a further improvement on embodiment 1.

[0029] like Figures 3-5As shown, the connecting plate 7 and the plasma welding head 5 are slidably connected. A third elastic element 301, which is a spring, is fixedly connected between the connecting plate 7 and the plasma welding head 5. The third elastic element 301 is used to buffer the plasma welding head 5. In the initial state, the third elastic element 301 is in an uncompressed state. Four serrated rods 302 are fixedly connected to the connecting plate 7. Two serrated rods 302 form a group, and the two groups of serrated rods 302 are located on both sides of the connecting plate 7. The plasma welding head 5 is slidably connected to two locking brackets 303. Each group of two serrated rods 302 unidirectionally limits the adjacent locking brackets 303, causing the plasma welding head 5 to move and lock. The frame 303 can slide upward along the serrated bar 302 but cannot slide downward. A fourth elastic element 304 is fixedly connected between the positioning frame 303 and the plasma welding head 5. The fourth elastic element 304 is a tension spring and is used to drive the corresponding positioning frame 303 to reset. The fourth elastic element 304 is initially in an unstretched state. The plasma welding head 5 is threadedly connected to a reset shaft 305. The reset shaft 305 is rotatably and slidably connected to the positioning frame 303. The reset shaft 305 is fixedly connected to a protrusion for pushing the corresponding positioning frame 303. The reset shaft 305 can pull the positioning frame 303 and the corresponding serrated bar 302 apart through the protrusion.

[0030] Working principle: During the process of the first elastic element 8 releasing tension to drive the connecting plate 7 to move upward, the connecting plate 7 will drive the plasma welding head 5 to move upward synchronously through the two serrated rods 302 and the two locking brackets 303 on it. When the connecting plate 7 moves upward to contact the limiting rubber block 9, the limiting rubber block 9, being made of rubber, will absorb some of the impact energy. At this time, the connecting plate 7 can no longer move upward, and the plasma welding head 5 continues to slide along the connecting plate 7. At the same time, the third elastic element 301 is compressed to further buffer the plasma welding head 5. During this period, the plasma welding head 5 drives the two locking brackets 303 to move upward, so that the locking brackets 303 move upward along the corresponding serrated rods 302 while continuously sliding back and forth along the plasma welding head 5. The fourth elastic element 304 continuously stretches and resets to adapt to the position change of the locking brackets 303 until the plasma welding head 5 stops moving. At this moment, the fourth elastic element 304 resets and pushes the locking brackets 303 to lock into the corresponding serrated rods 302, thereby locking the position of the plasma welding head 5 and ensuring the stability of the position of the plasma welding head 5.

[0031] When the device needs to be reset to the working state, the operator rotates the two reset shafts 305, causing the protrusions on the reset shafts 305 to drive the adjacent positioning frame 303 to move synchronously. The positioning frame 303 separates from the corresponding serrated rod 302, and at the same time, the fourth elastic element 304 is stretched. At this moment, the third elastic element 301 pushes the plasma welding head 5 downward, so that the third elastic element 301 returns to the unloaded state. After the operator corrects the program and resets the plasma welding head 5 and controls the limit rod 202 to limit the connecting plate 7, the operator resets and rotates the reset shaft 305, so that the reset shaft 305 drives the positioning frame 303 to engage with the corresponding serrated rod 302 again. At the same time, the fourth elastic element 304 resets and releases the tension. When the program is not corrected again, the above steps are repeated.

[0032] Example 3 This embodiment provides a plasma welding device for surface repair of hydraulic supports, which is a further improvement on embodiment 2.

[0033] like Figure 6 As shown, a push rod 401 is slidably connected to the fixed frame 4. The push rod 401 is used to push the magnetic block 203. A first pressing block 402 is fixedly connected to the push rod 401. The first pressing block 402 has an inclined surface. A second pressing block 403 is fixedly connected to the plasma welding head 5. The second pressing block 403 has an inclined surface that cooperates with the first pressing block 402. The inclined surface of the second pressing block 403 is used to press the inclined surface of the first pressing block 402, thereby causing the first pressing block 402 to be forced to drive the push rod. 401 slides along the fixed frame 4. The fixed frame 4 is slidably connected to a limiting block 404. The limiting block 404 has symmetrically distributed inclined surfaces. The limiting block 404 is used to limit the push rod 401. The push rod 401 presses against the inclined surfaces of the limiting block 404, thereby causing the limiting block 404 to move downward along the fixed frame 4. A fifth elastic element 405 is fixedly connected between the limiting block 404 and the fixed frame 4. The fifth elastic element 405 is a tension spring. The fifth elastic element 405 is used to drive the limiting block 404 to reset.

[0034] Working principle: During the process of the plasma welding head 5 being moved to the required position by the fixed frame 4 through the control end of the three-axis robotic arm 3, if the operator does not correct the program and the infrared rangefinder 6 is damaged and not triggered, the plasma welding head 5 will contact the column. At this moment, the column pushes the plasma welding head 5 to move upward along the connecting plate 7, and at the same time, the third elastic element 301 is compressed. The plasma welding head 5 drives the second extrusion block 403 on it to move synchronously, so that the second extrusion block 403 extrudes the first extrusion block 402. The first extrusion block 402 is forced to drive the push rod 401 to slide along the fixed frame 4. The fixed frame 4 pushes the magnetic block 203 to move synchronously, while the second elastic element 204 is stretched. The magnetic block 203 drives the limiting rod 202 to move synchronously. The push rod 401 squeezes the limiting block 404, causing the limiting block 404 to move downward along the fixed frame 4. At the same time, the fifth elastic element 405 is stretched. When the push rod 401 passes the limiting block 404, the limiting rod 202 releases its restriction on the connecting plate 7. At the same time, the fifth elastic element 405 pushes the limiting block 404 to reset, so that the limiting block 404 restricts the push rod 401. The connecting plate 7 drives the plasma welding head 5 to move upward and quickly move away from the column.

[0035] After the plasma welding head 5 moves upward and away from the column, the operator needs to check whether the electromagnet 201 is activated to determine the triggering method. When the electromagnet 201 is not activated, meaning the plasma welding head 5 is in contact with the column, it is necessary to check whether the plasma welding head 5 is damaged. If the plasma welding head 5 is not damaged or the repair is completed, the operator operates the reset drive 10 to reset the connecting plate 7, causing the connecting plate 7 to reset the plasma welding head 5, and simultaneously resetting the connecting plate 7 and the plasma welding head 5 relative to each other (the process is as described above and will not be repeated). Then, the electromagnet 201 is energized in the reverse direction. Electromagnet 201 applies a pushing force to magnetic block 203, causing magnetic block 203 to drive limiting rod 202 to limit the connecting plate 7. At the same time, second elastic element 204 resets and magnetic block 203 pushes push rod 401 to reset, causing push rod 401 to drive first pressing block 402 to fit with second pressing block 403. During this period, push rod 401 pushes limiting block 404, causing limiting block 404 to move downward. At the same time, fifth elastic element 405 stretches. When push rod 401 separates from limiting block 404, fifth elastic element 405 resets and pushes limiting block 404 to reset. Repeat this step when the above problem occurs again.

[0036] Example 4 This embodiment provides a plasma welding method for surface repair of hydraulic supports, such as... Figures 1-6 As shown, the plasma welding apparatus for surface repair of hydraulic supports described above includes the following steps: Step 1: When it is necessary to repair the column, the clamping and rotating module 2 clamps the column and rotates it. The three-axis robotic arm 3 drives the plasma welding head 5 to move above the column through the fixed frame 4 to start the repair work on the column until it is completed. Step 2: When the plasma welding head 5 approaches the column due to the lack of program updates, the infrared rangefinder 6 detects that the distance is lower than the set value, and powers on the electromagnet 201. The electromagnet 201 attracts the magnetic block 203, and the magnetic block 203 drives the limit rod 202 to slide, releasing the limit on the connecting plate 7, so that the connecting plate 7 drives the plasma welding head 5 to rise rapidly. Step 3: After the connecting plate 7 is raised to contact the limiting rubber block 9 and stops, the plasma welding head 5 continues to slide upward along the connecting plate 7 due to inertia. The third elastic element 301 is compressed for secondary buffering. At the same time, the positioning frame 303 slides unidirectionally along the serrated rod 302. After the plasma welding head stops, the fourth elastic element 304 pushes the positioning frame 303 to engage in the corresponding serrated groove and lock the position of the plasma welding head 5. Step 4: If the infrared rangefinder 6 is damaged, the plasma welding head 5 will directly contact the column. The plasma welding head 5 will slide upward relative to the connecting plate 7 due to the column's limitation. The second extrusion block 403 on the plasma welding head 5 will drive the limiting rod 202 to release the limitation on the connecting plate 7 through the first extrusion block 402, the push rod 401 and the magnetic block 203, thus achieving pure mechanical redundancy risk avoidance. Step 5: After troubleshooting, the telescopic end of the reset drive 10 pushes the connecting plate 7 down, and at the same time, the electromagnet 201 is energized in the reverse direction to push the magnetic block 203 and the limit rod 202 to reset and relock the connecting plate 7. The reset shaft 305 is rotated to separate the clamping frame 303 from the sawtooth rod 302. The third elastic element 301 pushes the plasma welding head 5 to slide down relative to the connecting plate 7 to reset. Then the reset shaft 305 is released to relock the clamping frame 303, and the equipment returns to standby status.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A plasma welding device for surface repair of a hydraulic support, comprising a base plate, wherein a clamping and rotating module for fixing and rotating a column is disposed on the base plate, and a three-axis robotic arm for changing the repair position of the column is disposed on the base plate, wherein a fixing frame is fixedly connected to the control end of the three-axis robotic arm, characterized in that... The fixed frame is slidably connected to a plasma welding head, and the control end of the three-axis robotic arm is fixedly connected to an infrared rangefinder. The infrared rangefinder is used to monitor the distance between the column and the plasma welding head. The plasma welding head is provided with a connecting plate that is slidably connected to the fixed frame. A first elastic element is fixedly connected between the fixed frame and the connecting plate. The fixed frame is fixedly connected with a limiting rubber block for limiting the connecting plate. The fixed frame is provided with a limiting component for limiting the connecting plate.

2. The plasma welding device for surface repair of hydraulic supports according to claim 1, characterized in that, The fixed frame is fixedly connected to a reset drive component, and the telescopic end of the reset drive component is used to push the connecting plate to move.

3. The plasma welding device for surface repair of hydraulic supports according to claim 2, characterized in that, The limiting component includes an electromagnet, which is fixedly connected to the fixing frame. The fixing frame is slidably connected to a limiting rod, which is used to limit the connecting plate. A magnetic block is fixedly connected to the limiting rod, and a second elastic element is fixedly connected between the magnetic block and the fixing frame.

4. The plasma welding device for surface repair of hydraulic supports according to claim 3, characterized in that, The connecting plate and the plasma welding head are slidably connected.

5. The plasma welding device for surface repair of hydraulic supports according to claim 4, characterized in that, A third elastic element is fixedly connected between the connecting plate and the plasma welding head, and the third elastic element is used to buffer the plasma welding head.

6. The plasma welding device for surface repair of hydraulic supports according to claim 5, characterized in that, The connecting plate is fixedly connected to a serrated rod, the plasma welding head is slidably connected to a positioning frame, the serrated rod unidirectionally limits the positioning frame, and a fourth elastic element is fixedly connected between the positioning frame and the plasma welding head.

7. The plasma welding apparatus for surface repair of hydraulic supports according to claim 6, characterized in that, The plasma welding head is threadedly connected to a reset shaft, which is rotatably and slidably connected to the positioning frame. The reset shaft is fixedly connected to a protrusion for pushing the corresponding positioning frame.

8. The plasma welding apparatus for surface repair of hydraulic supports according to claim 7, characterized in that, The fixed frame is slidably connected to a push rod, which is used to push the magnetic block. The push rod is fixedly connected to a first extrusion block, and the plasma welding head is fixedly connected to a second extrusion block, which is used to extrude the first extrusion block.

9. The plasma welding apparatus for surface repair of hydraulic supports according to claim 8, characterized in that, The fixed frame is slidably connected to a limiting block, which is used to limit the push rod. A fifth elastic element is fixedly connected between the limiting block and the fixed frame.

10. A plasma welding method for repairing the surface of a hydraulic support, using the plasma welding apparatus for repairing the surface of a hydraulic support as described in claim 9, characterized in that... Includes the following steps: Step 1: When the column needs to be repaired, the clamping and rotating module clamps the column and rotates it. The three-axis robotic arm drives the plasma welding head to move above the column through the fixed frame and begins the repair work until it is completed. Step 2: When the plasma welding head approaches the column due to the lack of program updates, the infrared rangefinder detects that the distance is lower than the set value, and energizes the electromagnet. The electromagnet attracts the magnetic block, and the magnetic block drives the limit rod to slide, releasing the limit on the connecting plate, so that the connecting plate drives the plasma welding head to rise rapidly. Step 3: After the connecting plate is raised to contact the limiting rubber block and stops, the plasma welding head continues to slide upward along the connecting plate due to inertia. The third elastic element is compressed for secondary buffering. At the same time, the positioning frame slides unidirectionally along the sawtooth rod. After the plasma welding head stops, the fourth elastic element pushes the positioning frame into the corresponding sawtooth groove to lock the position of the plasma welding head. Step 4: If the infrared rangefinder is damaged, the plasma welding head will directly contact the column. The plasma welding head will slide upward relative to the connecting plate due to the column's limitation. The second extrusion block on the plasma welding head will drive the limiting rod to release the limitation on the connecting plate through the first extrusion block, the push rod, and the magnetic block, thus achieving pure mechanical redundancy risk avoidance. Step 5: After troubleshooting, the telescopic end of the reset drive pushes the connecting plate down, and at the same time, the electromagnet is energized in the reverse direction to push the magnetic block and limit rod to reset and relock the connecting plate. Rotate the reset shaft to separate the clamping frame from the sawtooth rod. The third elastic element pushes the plasma welding head to slide down relative to the connecting plate to reset. Then release the reset shaft to relock the clamping frame and restore the equipment to standby state.

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