Welding bead tracking welding equipment

Abstract

The invention discloses weld bead tracking welding equipment, and relates to the technical field of weld bead tracking welding, the weld bead tracking welding equipment comprises a bottom plate, the top of the bottom plate is fixedly connected with a fixing frame, and the fixing frame is provided with a transverse moving assembly. Through the arrangement of the swing cleaning unit, an air cylinder and an isomorphic extrusion rod drive an arc-shaped plate to swing, the arc-shaped plate swings to drive a swing arm, a fixing cover, a motor and a cylindrical brush to swing, the motor is started to drive the cylindrical brush to rotate, the swinging cylindrical brush can clean a welding seam, and then the cleaning range of the cylindrical brush is enlarged; an air pump sucks air through an air suction pipe, then the air enters a collecting box through a cylindrical brush and a fixing pipe, the cylindrical brush rotates to drive the air suction pipe to rotate, the air suction pipe with the end abutting against a fixing cover is blocked, air suction is stopped, and the welding seam is cleaned; and the air suction pipe which does not abut against the fixed cover can absorb impurities on the welding seam, and the cleaning effect on the welding seam is improved.

Description

Technical Field

[0001] The invention relates to the technical field of weld tracking welding, and in particular to a weld tracking welding device. Background Art

[0002] In automated welding, vision modules are often used to obtain the path of irregular welds, and the welds need to be cleaned.

[0003] A Chinese patent with publication number CN117773445A discloses a weld tracking welding device, including a welding device body, a welding head that moves forward along the weld, and a visual module on one side of the forward moving direction of the welding head; the visual module includes a fixed lens and a movable lens, the fixed lens faces the welding head and has a fixed inclination; the movable lens is movably arranged on the welding device body, the movable lens always faces the welding head during the movement process, and the inclination angle of the movable lens can be movably changed to be greater than or less than the inclination angle of the fixed lens, and the movable lens is rotatably arranged on the welding device body, and the movable lens changes its own inclination angle when rotating.

[0004] However, the above invention has the following shortcomings: in the process of tracking welding of existing irregular welds, a large amount of welding slag splashes everywhere, affecting the camera's tracking of the welds, and most of them only use a brush to clean the welds, and the cleaning method is relatively simple. In addition, the irregular welds cause the distribution area of ​​the welds to be larger, so the cleaning range of the cleaning mechanism is required to be higher. At the same time, the bristles of the brush are easily tangled and attached with impurities, thereby reducing the cleaning effect of the welds. Summary of the invention

[0005] The object of the present invention is to provide a weld tracking welding device to solve the problems raised in the above background technology.

[0006] The technical solution of the present invention is: a weld tracking welding device, comprising a base plate, a fixing frame fixedly connected to the top of the base plate, a lateral moving component installed on the fixing frame, a lifting component installed on the lateral moving component, a longitudinal moving component installed on the lifting component, and further comprising: A fixed cylinder, the fixed cylinder is fixedly connected to the longitudinal moving assembly, and a welding head is fixedly connected to the bottom end of the fixed cylinder; A cleaning mechanism, the cleaning mechanism being located on the fixed cylinder; The cleaning mechanism includes a swing cleaning unit, a driving unit, a blowing unit and an extrusion cleaning unit. The swing cleaning unit includes a swing arm rotatably connected to the fixed cylinder, the bottom end of the swing arm is fixedly connected to a fixed cover, one end of the fixed cover is fixedly connected to a motor, the output end of the motor is fixedly connected to a cylindrical brush, a plurality of suction pipes are fixedly connected to the cylindrical brush, the swing arm is fixedly connected to a collecting box, the fixed cover is fixedly connected to a fixed pipe, one end of the fixed pipe is rotatably connected to one end of the cylindrical brush, the top end of the fixed pipe is fixedly connected to the bottom of the collecting box, the collecting box is fixedly connected to an air pump, and the air inlet end of the air pump and the collecting box are fixedly connected to an air inlet pipe.

[0007] Preferably, a comb plate is detachably fixedly connected to the fixed cover, and the comb plate is in contact with the bristles of the cylindrical brush.

[0008] Preferably, the driving unit includes a driving cylinder fixedly connected to the longitudinal moving assembly, the output end of the driving cylinder is fixedly connected to an extrusion rod, the swing arm is fixedly connected to an arc plate, the arc plate is provided with an arc-shaped inclined groove, and one end of the extrusion rod extends into the arc-shaped inclined groove.

[0009] Preferably, the blowing unit includes a fixed plate fixedly connected to the longitudinal moving assembly, the bottom end of the fixed plate is fixedly connected to a fixed rod, one end of the fixed rod is rotatably connected to two swing rods, one end of the two swing rods are rotatably connected to a rotating rod, the top ends of the two rotating rods are rotatably connected to the extrusion rod together, and the connecting ends of the two rotating rods and the two swing rods are fixedly connected to nozzles.

[0010] Preferably, the air outlet end of the air pump is fixedly connected to an air outlet pipe, both ends of the air outlet pipe are fixedly connected to connecting hoses, and one end of the two connecting hoses is respectively fixedly connected to the two nozzles.

[0011] Preferably, an L-shaped rod is fixedly sleeved on the extrusion rod, one end of the L-shaped rod is fixedly connected to a cleaning ring, and the cleaning ring is slidably sleeved on the welding head.

[0012] Preferably, the extrusion cleaning unit includes two brackets fixedly connected to the fixed cylinder, the bottom ends of the two brackets are fixedly connected to cameras, the two brackets are rotatably connected to rotating shafts, one ends of the two rotating shafts are fixedly connected to cleaning brushes, the two brackets are fixedly connected to mounting plates, the two mounting plates are slidably connected to sliding racks, the two rotating shafts are fixedly sleeved with gears, and the two gears are respectively meshed with the two sliding racks.

[0013] Preferably, one end of the two sliding racks is fixedly connected with a bar block, and the swing arm is fixedly connected with an extrusion column, and the extrusion column is located between the two bar blocks.

[0014] Preferably, the two sliding racks are fixedly connected with a fixed block, the two fixed blocks are fixedly connected with a sliding rod, the two sliding rods are respectively slidably connected to the two mounting plates, the two sliding rods are respectively sleeved with a return spring, and the two ends of the return spring are respectively fixedly connected to the fixed block and the mounting plate.

[0015] The present invention provides a weld tracking welding device through improvement, which has the following improvements and advantages compared with the prior art: First, the present invention sets a swing cleaning unit, drives the cylinder to drive the extrusion rod to move back and forth, and the extrusion rod moves through the arc-shaped inclined groove to drive the arc plate to swing with the welding head as the center. The swing of the arc plate drives the swing arm, the fixed cover, the motor and the cylindrical brush to swing. The motor is started to drive the cylindrical brush to rotate, so that the swinging cylindrical brush can clean the weld, thereby expanding the cleaning range of the cylindrical brush, which is convenient for cleaning irregular welds. The air pump inhales through the suction pipe, and then enters the collection box through the cylindrical brush and the fixed pipe. The rotation of the cylindrical brush drives the suction pipe to rotate, and the suction pipe in contact with the fixed cover is blocked and stops inhaling. The suction pipe that is not in contact with the fixed cover can absorb impurities on the weld, thereby improving the cleaning effect of the weld.

[0016] Second, the present invention provides an air blowing unit, and the air pump sprays air from the nozzle through the air outlet end, the air outlet pipe and the connecting hose, thereby achieving air blowing on the weld, thereby allowing the weld to be quickly cooled. Since the two rotating rods and the two swinging rods can be combined into a diamond structure, the movement of the extrusion rod drives the diamond structure to extend and retract, allowing the two nozzles to reciprocate, thereby expanding the jet range of the nozzle, thereby improving the cooling effect on irregular welds.

[0017] Thirdly, the present invention sets an extrusion cleaning unit, and the movement of the swing arm drives the extrusion column to swing. When the extrusion column extrudes the bar block to move horizontally, the horizontal movement of the bar block drives the sliding rack to move horizontally, and the horizontal movement of the sliding rack drives the gear, the rotating shaft and the cleaning brush to rotate. Under the action of the reset spring, when the extrusion column is away from the bar block, the reset spring can reset the sliding rack, and the sliding rack reset spring gear, the rotating shaft and the cleaning brush are reset, thereby making the cleaning brush swing back and forth, so that the cleaning brush can swing back and forth to clean the camera, and only one camera is cleaned at a time, which will not affect the camera's tracking of the weld. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the three-dimensional structure of the cleaning mechanism in the present invention; Figure 3 It is a schematic diagram of the three-dimensional structure of the extrusion rod and the arc plate in the present invention; Figure 4 It is a schematic diagram of the three-dimensional structure of the swing arm and the arc plate in the present invention; Figure 5 It is a schematic diagram of the three-dimensional structure of the blowing unit in the present invention; Figure 6 It is a schematic diagram of the three-dimensional structure of the cylindrical brush and the comb plate in the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the extrusion cleaning unit in the present invention.

[0020] Reference numerals: 1. Bottom plate; 11. Fixed frame; 12. Horizontal moving assembly; 13. Lifting assembly; 14. Longitudinal moving assembly; 15. Fixed cylinder; 16. Welding head; 2. Swing arm; 21. Fixed cover; 22. Motor; 23. Cylindrical brush; 24. Suction pipe; 25. Fixed pipe; 26. Collecting box; 27. Air pump; 28. Intake pipe; 29. ​​Arc plate; 210. Arc chute; 211. Comb plate; 3. Driving cylinder; 31. Extrusion Pressure rod; 32, fixed plate; 33, fixed rod; 34, swing rod; 35, rotating rod; 36, nozzle; 37, connecting hose; 38, exhaust pipe; 4, L-shaped rod; 41, cleaning ring; 5, bracket; 51, camera; 52, rotating shaft; 53, cleaning brush; 54, gear; 55, mounting plate; 56, sliding rack; 57, fixed block; 58, sliding rod; 59, reset spring; 510, bar block; 511, extrusion column. DETAILED DESCRIPTION

[0021] The present invention is described in detail below, and the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] The present invention provides a weld tracking welding device through improvement. The technical solution of the present invention is: like Figures 1 to 7 As shown, an embodiment of the present invention provides a weld tracking welding device, including a base plate 1, a fixing frame 11 is fixedly connected to the top of the base plate 1, a lateral moving component 12 is installed on the fixing frame 11, a lifting component 13 is installed on the lateral moving component 12, and a longitudinal moving component 14 is installed on the lifting component 13, and further includes: A fixed cylinder 15, the fixed cylinder 15 is fixedly connected to the longitudinal moving assembly 14, and a welding head 16 is fixedly connected to the bottom end of the fixed cylinder 15; A cleaning mechanism, the cleaning mechanism is located on the fixed cylinder 15; The cleaning mechanism includes a swing cleaning unit, a driving unit, a blowing unit and an extrusion cleaning unit. The swing cleaning unit includes a swing arm 2 rotatably connected to a fixed cylinder 15. The bottom end of the swing arm 2 is fixedly connected to a fixed cover 21. One end of the fixed cover 21 is fixedly connected to a motor 22. The output end of the motor 22 is fixedly connected to a cylindrical brush 23. The cylindrical brush 23 is fixedly connected to a plurality of suction pipes 24. The swing arm 2 is fixedly connected to a collection box 26. The fixed cover 21 is fixedly connected to a fixed pipe 25. One end of the fixed pipe 25 is rotatably connected to one end of the cylindrical brush 23. The top end of the fixed pipe 25 is fixedly connected to the bottom of the collection box 26. The collection box 26 is fixedly connected to an air pump 27. The air inlet end of the air pump 27 and the collection box 26 are fixedly connected to an air inlet pipe 28. ; Through the setting of the swing cleaning unit, the driving unit drives the swing arm 2 to swing, and the swing arm 2 drives the fixed cover 21, the motor 22 and the cylindrical brush 23 to swing, and the starting motor 22 drives the cylindrical brush 23 to rotate, so that the swinging cylindrical brush 23 can clean the weld, thereby expanding the cleaning range of the cylindrical brush 23, so as to facilitate the cleaning of irregular welds, and the air pump 27 inhales through the suction pipe 24, and then enters the collection box 26 through the cylindrical brush 23 and the fixed pipe 25. The rotation of the cylindrical brush 23 drives the suction pipe 24 to rotate, and the suction pipe 24 whose end contacts the fixed cover 21 is blocked and stops suction. The suction pipe 24 that does not conflict with the fixed cover 21 can absorb impurities on the weld, thereby improving the cleaning effect of the weld.

[0023] Furthermore, a comb plate 211 is detachably fixedly connected to the fixed cover 21, and the comb plate 211 is in contact with the bristles of the cylindrical brush 23; through the setting of the comb plate 211, the bristles on the cylindrical brush 23 can be cleaned, thereby improving the cleaning effect of the cylindrical brush 23 on the weld.

[0024] Furthermore, the driving unit includes a driving cylinder 3 fixedly connected to the longitudinal moving component 14, the output end of the driving cylinder 3 is fixedly connected to the extrusion rod 31, the swing arm 2 is fixedly connected to the arc plate 29, the arc plate 29 is provided with an arc-shaped inclined groove 210, and one end of the extrusion rod 31 extends into the arc-shaped inclined groove 210; through the setting of the driving unit, the driving cylinder 3 drives the extrusion rod 31 to move back and forth, and the extrusion rod 31 moves through the arc-shaped inclined groove 210 to drive the arc plate 29 to swing around the welding head 16, thereby realizing that the arc plate 29 drives the swing arm 2 to swing.

[0025] Furthermore, the blowing unit includes a fixed plate 32 fixedly connected to the longitudinal moving assembly 14, the bottom end of the fixed plate 32 is fixedly connected to a fixed rod 33, one end of the fixed rod 33 is rotatably connected to two swing rods 34, one end of the two swing rods 34 is rotatably connected to a rotating rod 35, the top ends of the two rotating rods 35 are rotatably connected to the extrusion rod 31 together, the connecting ends of the two rotating rods 35 and the two swing rods 34 are fixedly connected to a nozzle 36, the outlet end of the air pump 27 is fixedly connected to an outlet pipe 38, and both ends of the outlet pipe 38 are fixedly connected to a connecting hose 37. One end of the two connecting hoses 37 is fixedly connected to the two nozzles 36 respectively; through the setting of the blowing unit, the air pump 27 is sprayed from the nozzle 36 through the outlet end, the outlet pipe 38 and the connecting hose 37, so that the weld is blown, so that the weld can be cooled quickly. Since the two rotating rods 35 and the two swinging rods 34 can be combined into a diamond structure, the extrusion rod 31 moves to drive the diamond structure to expand and contract, so that the two nozzles 36 can move back and forth, thereby expanding the injection range of the nozzle 36, thereby improving the cooling effect on irregular welds.

[0026] Furthermore, an L-shaped rod 4 is fixedly sleeved on the extrusion rod 31, and one end of the L-shaped rod 4 is fixedly connected to a cleaning ring 41, which is slidably sleeved on the welding head 16; through the setting of the cleaning ring 41, the movement of the extrusion rod 31 drives the L-shaped rod 4 and the cleaning ring 41 to move, thereby enabling the cleaning ring 41 to clean the welding slag on the welding head 16.

[0027] Furthermore, the extrusion cleaning unit includes two brackets 5 fixedly connected to the fixed cylinder 15, the bottom ends of the two brackets 5 are fixedly connected to the camera 51, the two brackets 5 are rotatably connected to the rotating shaft 52, one end of the two rotating shafts 52 is fixedly connected to the cleaning brush 53, the two brackets 5 are fixedly connected to the mounting plate 55, the two mounting plates 55 are slidably connected to the sliding rack 56, the two rotating shafts 52 are fixedly sleeved with gears 54, the two gears 54 are respectively meshed with the two sliding racks 56, one end of the two sliding racks 56 is fixedly connected to the bar block 510, and the swing arm 2 An extrusion column 511 is fixedly connected to the top and is located between the two bar blocks 510; through the setting of the extrusion cleaning unit, the swing arm 2 moves to drive the extrusion column 511 to swing, and when the extrusion column 511 squeezes the bar block 510 to move horizontally, the bar block 510 moves horizontally and drives the sliding rack 56 to move horizontally, and the sliding rack 56 moves horizontally and drives the gear 54, the rotating shaft 52 and the cleaning brush 53 to rotate, so that the cleaning brush 53 can clean the camera 51, and only one camera 51 is cleaned at a time, which will not affect the camera 51 to track the weld.

[0028] Furthermore, the two sliding racks 56 are fixedly connected with a fixed block 57, the two fixed blocks 57 are fixedly connected with a sliding rod 58, the two sliding rods 58 are respectively slidably connected to the two mounting plates 55, and the two sliding rods 58 are sleeved with a reset spring 59, and the two ends of the reset spring 59 are respectively fixedly connected to the fixed block 57 and the mounting plate 55; through the setting of the reset spring 59, when the extrusion column 511 is away from the bar block 510, the reset spring 59 drives the fixed block 57 and the sliding rack 56 to reset, and the sliding rack 56 drives the gear 54, the rotating shaft 52 and the cleaning brush 53 to reset, so that the cleaning brush 53 can swing back and forth to clean the camera 51.

[0029] Specific implementation steps: through the arrangement of the lateral moving component 12, the lifting component 13 and the longitudinal moving component 14, it is realized that the fixed cylinder 15 and the welding head 16 can be controlled to move in the directions of the X-axis, the Y-axis and the Z-axis. Through the arrangement of the two cameras 51, it is realized to track the weld. In the process of welding the weld, the driving cylinder 3 is started to drive the extrusion rod 31 to move back and forth. The extrusion rod 31 moves through the arc-shaped inclined groove 210 to drive the arc plate 29 to swing around the welding head 16. The swing of the arc plate 29 drives the swing arm 2, the fixed cover 21, the motor 22 and the cylindrical brush 23 to rotate. The motor 22 is started to drive the cylindrical brush 23 to swing, so that the swinging cylindrical brush 23 can clean the weld, thereby expanding the weld. The cleaning range of the cylindrical brush 23 is enlarged, so that it is convenient to clean irregular welds. Through the arrangement of the comb plate 211, the bristles on the cylindrical brush 23 can be cleaned, thereby improving the cleaning effect of the cylindrical brush 23 on the welds. The air pump 27 is started to inhale air through the suction pipe 24, and then enters the collection box 26 through the cylindrical brush 23 and the fixed pipe 25, so that impurities enter the collection box 26 for collection. The rotation of the cylindrical brush 23 drives the suction pipe 24 to rotate, and the suction pipe 24 whose end contacts the fixed cover 21 is blocked, and the suction is stopped. The suction pipe 24 that does not contact the fixed cover 21 can absorb impurities on the weld, thereby improving the cleaning effect of the weld. Then the inhaled gas enters the air pump 27 through the intake pipe 28, and then The air is sprayed out from the nozzle 36 through the outlet end of the air pump 27, the outlet pipe 38 and the connecting hose 37, so that the weld is blown, thereby allowing the weld to be cooled quickly. Since the two rotating rods 35 and the two swinging rods 34 can be combined into a diamond structure, the extrusion rod 31 moves to drive the diamond structure to extend and retract, so that the two nozzles 36 move back and forth, thereby expanding the spray range of the nozzle 36, thereby improving the cooling effect on irregular welds. The movement of the extrusion rod 31 drives the L-shaped rod 4 and the cleaning ring 41 to move, so that the cleaning ring 41 cleans the welding slag on the welding head 16. The swing arm 2 moves to drive the extrusion column 511 to swing. When the extrusion column 511 squeezes the bar block 510 to move, the bar block 5 10 movement drives the sliding rack 56 to move, the movement of the sliding rack 56 drives the gear 54, the rotating shaft 52 and the cleaning brush 53 to rotate, the sliding rack 56 moves horizontally and drives the fixed block 57 and the sliding rod 58 to move horizontally, the movement of the fixed block 57 drives the reset spring 59 to stretch and elastically deform, when the extrusion column 511 is away from the bar block 510, the reset spring 59 drives the fixed block 57 and the sliding rack 56 to reset, the sliding rack 56 drives the gear 54, the rotating shaft 52 and the cleaning brush 53 to reset, so that the cleaning brush 53 swings back and forth, so that the cleaning brush 53 swings back and forth to clean the camera 51, and only one camera 51 is cleaned at a time, so that it will not affect the camera 51 to track the weld.

[0030] The above description enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A weld tracking welding device, comprising a base plate (1), characterized in that: The top of the bottom plate (1) is fixedly connected to a fixing frame (11), a lateral moving assembly (12) is mounted on the fixing frame (11), a lifting assembly (13) is mounted on the lateral moving assembly (12), and a longitudinal moving assembly (14) is mounted on the lifting assembly (13), and further comprising: A fixed cylinder (15), the fixed cylinder (15) being fixedly connected to the longitudinal moving assembly (14), and a welding head (16) being fixedly connected to the bottom end of the fixed cylinder (15); a cleaning mechanism, the cleaning mechanism being located on the fixed cylinder (15); The cleaning mechanism comprises a swing cleaning unit, a driving unit, a blowing unit and an extrusion cleaning unit. The swing cleaning unit comprises a swing arm (2) rotatably connected to the fixed cylinder (15). The bottom end of the swing arm (2) is fixedly connected to a fixed cover (21). One end of the fixed cover (21) is fixedly connected to a motor (22). The output end of the motor (22) is fixedly connected to a cylindrical brush (23). The cylindrical brush (23) is fixedly connected to a plurality of suction pipes (24). The swing arm (2) is fixedly connected to a collection box (26). The fixed cover (21) is fixedly connected to a fixed pipe (25). One end of the fixed pipe (25) is rotatably connected to one end of the cylindrical brush (23). The top end of the fixed pipe (25) is fixedly connected to the bottom of the collection box (26). The collection box (26) is fixedly connected to an air pump (27). The air inlet end of the air pump (27) and the collection box (26) are fixedly connected to an air inlet pipe (28).

2. A weld tracking welding device according to claim 1, characterized in that: A comb plate (211) is detachably fixedly connected to the fixed cover (21), and the comb plate (211) is in contact with the bristles of the cylindrical brush (23).

3. A weld tracking welding device according to claim 1, characterized in that: The driving unit comprises a driving cylinder (3) fixedly connected to the longitudinal moving assembly (14); an output end of the driving cylinder (3) is fixedly connected to an extrusion rod (31); an arc-shaped plate (29) is fixedly connected to the swing arm (2); an arc-shaped inclined groove (210) is formed on the arc-shaped plate (29); and one end of the extrusion rod (31) extends into the arc-shaped inclined groove (210).

4. A weld tracking welding device according to claim 3, characterized in that: The blowing unit comprises a fixed plate (32) fixedly connected to the longitudinal moving assembly (14); a fixed rod (33) is fixedly connected to the bottom end of the fixed plate (32); one end of the fixed rod (33) is rotatably connected to two swing rods (34); one end of the two swing rods (34) is rotatably connected to a rotating rod (35); the top ends of the two rotating rods (35) are rotatably connected to the extrusion rod (31); and the connecting ends of the two rotating rods (35) and the two swing rods (34) are fixedly connected to a nozzle (36).

5. A weld tracking welding device according to claim 4, characterized in that: The air outlet end of the air pump (27) is fixedly connected to an air outlet pipe (38), both ends of the air outlet pipe (38) are fixedly connected to connecting hoses (37), and one end of the two connecting hoses (37) is fixedly connected to the two spray heads (36) respectively.

6. A weld tracking welding device according to claim 4, characterized in that: An L-shaped rod (4) is fixedly sleeved on the extrusion rod (31), one end of the L-shaped rod (4) is fixedly connected to a cleaning ring (41), and the cleaning ring (41) is slidably sleeved on the welding head (16).

7. A weld tracking welding device according to claim 6, characterized in that: The extrusion cleaning unit comprises two brackets (5) fixedly connected to the fixed cylinder (15), the bottom ends of the two brackets (5) are fixedly connected to cameras (51), the two brackets (5) are rotatably connected to rotating shafts (52), one ends of the two rotating shafts (52) are fixedly connected to cleaning brushes (53), the two brackets (5) are fixedly connected to mounting plates (55), the two mounting plates (55) are slidably connected to sliding racks (56), the two rotating shafts (52) are fixedly sleeved with gears (54), and the two gears (54) are respectively meshed with the two sliding racks (56).

8. A weld tracking welding device according to claim 7, characterized in that: One end of each of the two sliding racks (56) is fixedly connected to a bar block (510); an extrusion column (511) is fixedly connected to the swing arm (2); and the extrusion column (511) is located between the two bar blocks (510).

9. A weld tracking welding device according to claim 8, characterized in that: The two sliding racks (56) are fixedly connected to a fixed block (57), the two fixed blocks (57) are fixedly connected to a sliding rod (58), the two sliding rods (58) are respectively slidably connected to the two mounting plates (55), the two sliding rods (58) are sleeved with a return spring (59), and the two ends of the return spring (59) are respectively fixedly connected to the fixed block (57) and the mounting plate (55).

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