Multi-degree-of-freedom gas shielded welding robot

Abstract

The invention belongs to the field of welding equipment, and particularly relates to a multi-degree-of-freedom gas shielded welding robot which comprises at least one welding robot body and an operation room, and the welding robot body comprises a three-axis mechanical arm, a gas shielded welding gun and a mechanical arm base. At least one set of adsorption device for adsorbing waste gas in the operation room is arranged outside the operation room; a rotary disc used for driving the mechanical arm base to rotate by 360 degrees is arranged below the mechanical arm base. The multi-degree-of-freedom gas shielded welding robot disclosed by the invention has more degrees of freedom; by additionally arranging the operation room and the adsorption device used for adsorbing waste gas in the operation room, harmful gas and metal oxide particles generated in the gas shielded welding process can be effectively removed, the filtering and adsorption effects of a filter element in the adsorption device are good, filler in the adsorption device is convenient to replace and clean, blockage is not prone to occurring, and the service life of the gas shielded welding machine is prolonged. The cleaning or replacing period is long, and the operation is very simple and convenient.

Description

Technical Field

[0001] The invention belongs to the technical field of welding equipment, and in particular relates to a multi-degree-of-freedom gas shielded welding robot. Background Art

[0002] Welding robots are industrial robots that perform welding (including cutting and spraying). According to the definition of the International Organization for Standardization (ISO), industrial robots belong to standard welding robots. Industrial robots are multi-purpose, reprogrammable automatic control manipulators with three or more programmable axes used in the field of industrial automation. Welding robots are industrial robots with welding tongs or welding (cutting) guns installed on the end shaft flange, so that they can perform welding, cutting or thermal spraying.

[0003] Currently, robots equipped with gas shielded welding are generally three-axis with fewer degrees of freedom. In addition, gas shielded welding will produce a large amount of waste gas due to the shielding gas used. The waste gas contains harmful gases such as carbon monoxide, carbon dioxide, nitrogen oxides, etc. The waste gas also contains a large amount of metal oxide particles. Before purifying the waste gas, it is usually necessary to filter the metal oxide particles. Only after filtration can it be conducive to the next step of adsorption treatment. Since the content of harmful gases in the welding process is usually small, it can be treated by adsorption. Porous materials such as activated carbon and molecular sieves are used to adsorb pollutants in harmful gases. The operation is simple and the cost is low, but the adsorbent needs to be replaced regularly. If the metal oxide particles in the exhaust gas are not degassed, the adsorbent will be severely blocked, affecting the adsorption effect.

[0004] In existing filtering equipment, the filter element will usually be blocked by metal oxide particles after filtering for a period of time. At this time, it usually needs to be cleaned or replaced. The cleaning or replacement cycle is short and the operation is cumbersome.

[0005] Based on this, the present invention is proposed. Summary of the invention

[0006] The object of the present invention is to provide a multi-degree-of-freedom gas shielded welding robot to solve the above-mentioned problems.

[0007] A multi-degree-of-freedom gas shielded welding robot comprises at least one welding robot, wherein the welding robot comprises a three-axis mechanical arm, a gas shielded welding torch, a mechanical arm base, and an operation room, wherein all welding robots are located inside the operation room, wherein the operation room also comprises a fixture table for fixing the workpiece to be welded, wherein at least one set of adsorption device for adsorbing waste gas in the operation room is arranged outside the operation room, and a turntable for driving the mechanical arm base to rotate 360° is arranged below the mechanical arm base.

[0008] As a further improvement, the adsorption device includes a conical air collecting shell, an air suction pipe, an air pump, and an exhaust gas filter box arranged on the top of the operating room. The air collecting shell corresponds to the welding robot one by one and is located directly above the welding robot. One end of the air suction pipe is connected to the air collecting shell, and the other end of the air suction pipe is connected to the air pump. The exhaust gas in the operating room is drawn into the exhaust gas filter box for filtration under the drive of the air pump.

[0009] As a further improvement, the exhaust gas filter box includes a box body, the interior of the box body is provided with a filter chamber, an adsorption chamber, and an outer chamber, the interior of the filter chamber is provided with a filter element, a first partition is provided at the connection between the filter chamber and the adsorption chamber, and a grille is provided at the lower end of the first partition; an ultrasonic vibration plate is provided on the inner wall of the filter chamber, the ultrasonic vibration plate is fixedly connected to the first partition, and one side of the filter element is in contact with the ultrasonic vibration plate; a U-shaped soft bag is provided on the outside of the filter element, the outer wall of the U-shaped soft bag is sealed and connected to the inner wall of the filter chamber, the interior of the U-shaped soft bag is filled with a non-Newtonian fluid, and the U-shaped soft bag and the ultrasonic vibration plate form an annular sealing structure sleeved on the outside of the filter element; a second partition is provided at the connection between the outer chamber and the filter chamber, and the second partition is A plurality of ultrasonic vibrators for applying ultrasonic vibration to the U-shaped soft bag are installed, and all of the ultrasonic vibrators are located in the outer chamber; the filter chamber is divided into an air inlet chamber and an air outlet chamber located below the air inlet chamber by an annular sealing structure and a filter element; a spray pipe is also provided at the second partition, and a spray port connected to the lower end of the spray pipe is provided on the second partition, and the spray port is arranged opposite to the grille; a porous support plate is provided at the lower part of the filter element, and a megasonic vibrator array is provided below the porous support plate; the lower end of the box body is open, and a cover is also provided at the lower end of the box body, and the cover is bolted to the lower end of the box body; the interior of the adsorption chamber is filled with an adsorbent layer; an air outlet is provided at the upper part of the adsorption chamber, and the air outlet is located above the adsorbent layer.

[0010] As a further improvement, the spray pipe is arranged to be inclined upward.

[0011] As a further improvement, the upper and lower surfaces of the porous support plate are both spherical cap structures, the megasonic vibrator array is composed of a plurality of cylindrical and vertically arranged megasonic vibrators, the lower end of the megasonic vibrator is fixedly connected to the cover, and the upper end of the megasonic vibrator extends to the porous support plate; the lower end of the filter element is provided with a groove adapted to the porous support plate.

[0012] As a further improvement, the ultrasonic frequency of the ultrasonic vibrator is 20 kHz, the ratio of the ultrasonic frequency of the ultrasonic vibration plate to the ultrasonic frequency of the ultrasonic vibrator is x, 10≤x≤25, and the megasonic frequency of the megasonic vibrator is 1.9 MHz.

[0013] As a further improvement, the non-Newtonian fluid is prepared by mixing starch, water and toothpaste in a mass ratio of 15:5:1.

[0014] As a further improvement, the upper end of the filter element is provided with an inclined surface, and the interior of the filter element is filled with sea urchin ball filler or 84 inner arc ring filler.

[0015] As a further improvement, the adsorbent layer is composed of perlite balls and activated carbon mixed and stacked in a mass ratio of 1:2.3, the diameter of the perlite balls is 12 to 15 mm, and the particle size of the activated carbon is 1 to 5 mm.

[0016] As a further improvement, a door for the welding robot to enter and exit is provided on one side of the operating room.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. The multi-degree-of-freedom gas shielded welding robot of the present invention has more degrees of freedom by adding a turntable to the three-axis mechanical arm.

[0019] 2. By adding an operating room and an adsorption device to absorb the exhaust gas in the operating room, the harmful gases and metal oxide particles generated during gas shielded welding can be effectively removed. The filter element in the adsorption device has good filtering and adsorption effects. The internal filler is easy to replace and clean, and is not prone to clogging. The cleaning or replacement cycle is long, and the operation is very simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the structure of the multi-degree-of-freedom gas shielded welding robot of the present invention;

[0021] Figure 2 This is a schematic diagram of the structure of the welding robot of the present invention;

[0022] Figure 3 It is a structural schematic diagram of the adsorption device of the present invention;

[0023] Figure 4 Photo of the manufacturer of the sea urchin ball stuffing;

[0024] Figure 5 This is the manufacturer's photo of the 84 inner arc ring packing;

[0025] Figure 6 This is a curve diagram of the change of x value and filler wear rate. DETAILED DESCRIPTION

[0026] The present invention is further described in detail below through specific embodiments in conjunction with the accompanying drawings.

[0027] In the description of the present invention, it should be noted that, unless otherwise specified, "multiple" means two or more than two; the directions or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are 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, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0028] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" 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 indirectly connected 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.

[0029] Example 1

[0030] like Figure 1 , 2 As shown, the multi-degree-of-freedom gas shielded welding robot includes at least one welding robot, and the welding robot includes a three-axis robotic arm 32, a gas shielded welding gun 33, and a robotic arm base 31; the multi-degree-of-freedom gas shielded welding robot also includes an operation room 10, all welding robots are located inside the operation room 10, and the operation room 10 also includes a fixture table 11 for fixing the workpiece to be welded, and the outside of the operation room 10 is provided with at least one set of adsorption devices for adsorbing waste gas in the operation room 10; a turntable 30 is provided below the robotic arm base 31 for driving the robotic arm base 31 to rotate 360°.

[0031] In the present invention, the three-axis robot arm 32 has three degrees of freedom, and it has four degrees of freedom by adding a rotary disk 30. The gas shielded welding gun 33 is an existing technology and will not be described in detail here.

[0032] The workpiece to be welded is moved into the clamping table 11 inside the operating room 10 and clamped, and then the three-axis robot arm 32 drives the gas shielded welding torch 33 to weld the workpiece to be welded. The welding is gas shielded welding, which will produce a large amount of spatter, metal oxide particles and harmful gases. Therefore, the exhaust gas is adsorbed by the adsorption device, and the metal oxide particles and harmful gases in the exhaust gas are removed.

[0033] Example 2

[0034] In Example 1, the adsorption device includes a conical air collecting shell 13, an air intake pipe 14, an air pump 15, and an exhaust gas filter box 20 arranged at the top of the operating room 10. The air collecting shell 13 corresponds to the welding robot one by one and is located directly above the welding robot. One end of the air intake pipe 14 is connected to the air collecting shell 13, and the other end of the air intake pipe 14 is connected to the air pump 15. The exhaust gas in the operating room 10 is driven by the air pump 15 and is drawn into the exhaust gas filter box 20 for filtration. The exhaust gas filter box 20 is mainly used to filter out metal oxide particles and harmful gases contained in the exhaust gas.

[0035] Example 3

[0036] In Example 2, Figure 3 As shown, the exhaust gas filter box 20 includes a box body 21, and a filter chamber, an adsorption chamber 27, and an outer chamber 29 are arranged inside the box body 21. A filter element 22 is arranged inside the filter chamber, and a first partition is arranged at the connection between the filter chamber and the adsorption chamber 27, and a grille 261 is arranged at the lower end of the first partition; an ultrasonic vibration plate 26 is arranged on the inner wall of the filter chamber, and the ultrasonic vibration plate 26 is fixedly connected to the first partition, and one side of the filter element 22 is in contact with the ultrasonic vibration plate 26; a U-shaped soft bag 25 is arranged outside the filter element 22, and the outer wall of the U-shaped soft bag 25 is sealed and connected to the inner wall of the filter chamber, and the interior of the U-shaped soft bag 25 is filled with a non-Newtonian fluid, and the U-shaped soft bag 25 and the ultrasonic vibration plate 26 form an annular sealing structure sleeved on the outside of the filter element 22; a second partition is arranged at the connection between the outer chamber 29 and the filter chamber, and a plurality of ultrasonic vibration plates for the U-shaped soft bag are installed on the second partition. 25 ultrasonic vibrators 210 for applying ultrasonic vibration, all of which are located in the outer chamber 29; the filter chamber is divided into an air inlet chamber 24 and an air outlet chamber 23 located below the air inlet chamber 24 by the annular sealing structure and the filter element 22; a spray pipe 212 is also provided at the second partition, and a spray port connected to the lower end of the spray pipe 212 is provided on the second partition, and the spray port is arranged opposite to the grid 261; a porous support plate 215 is provided at the lower part of the filter element 22, and a megasonic vibrator array is provided below the porous support plate 215; the lower end of the box body 21 is open, and a cover 28 is also provided at the lower end of the box body 21, and the cover 28 is bolted to the lower end of the box body 21; the adsorption chamber 27 is filled with an adsorbent layer 271; an air outlet 272 is provided at the upper part of the adsorption chamber 27, and the air outlet 272 is located above the adsorbent layer 271.

[0037] The upper and lower surfaces of the porous support plate 215 are both spherical cap structures. The megasonic vibrator array is composed of a plurality of cylindrical and vertically arranged megasonic vibrators 213. The lower end of the megasonic vibrator 213 is fixedly connected to the cover 28, and the upper end of the megasonic vibrator 213 extends to the porous support plate 215. The lower end of the filter element 22 is provided with a groove adapted to the porous support plate 215.

[0038] The ultrasonic frequency of the ultrasonic vibrator 210 is 20 kHz, the ratio of the ultrasonic frequency of the ultrasonic vibration plate 26 to the ultrasonic frequency of the ultrasonic vibrator 210 is x, 10≤x≤25, preferably, x=13, and the megasonic frequency of the megasonic vibrator 213 is 1.9 MHz.

[0039] The non-Newtonian fluid is prepared by mixing starch, water and toothpaste in a mass ratio of 15:5:1.

[0040] The upper end of the filter element 22 is provided with an inclined surface 221, the interior of the filter element 22 is filled with sea urchin ball filler or 84 inner arc ring filler, and the exterior is a filter screen.

[0041] The adsorbent layer 271 is composed of pearlite balls and activated carbon mixed and stacked in a mass ratio of 1:2.3. The diameter of the pearlite balls is 12 to 15 mm, and the particle size of the activated carbon is 1 to 5 mm.

[0042] The working principle of the exhaust gas filter box 20 is as follows:

[0043] The exhaust gas first enters the air inlet chamber 24 through the air inlet 211 at the top of the air inlet chamber 24. The setting of the inclined surface 221 can prevent a large number of metal oxide particles from accumulating on the upper end of the filter element 22 to the greatest extent. Afterwards, due to the ultrasonic vibration of the ultrasonic vibrator 210 and the ultrasonic vibration plate 26, plus the megasonic vibration generated by the megasonic vibrator array, it can effectively prevent large-scale blockage of metal oxide particles in the filter element 22, and the filtering effect is good, which significantly extends the replacement / cleaning frequency of the filter element 22.

[0044] The filtered exhaust gas enters the air outlet chamber 23 , and then enters the adsorption chamber 27 through the grille 261 . The harmful gas in the exhaust gas is adsorbed by the activated carbon in the air outlet chamber 27 , and finally the purified gas is discharged from the air outlet 272 .

[0045] When the pressure drop ΔP of the filter element 22 exceeds 0.1 MPa, the filter element 22 and the adsorbent layer 271 need to be replaced, the cover 28 is opened, the filter element 22 is taken out, and the adsorbent layer 271 is poured out.

[0046] Since starch and water are composed of a non-Newtonian fluid in a mass ratio of 3:1, it has shear thickening properties. Under the high-frequency vibration of ultrasound, it will gradually harden and eventually become a "semi-solid" state, which can better transmit vibration; if the ultrasonic vibrator 210 and the ultrasonic vibration plate 26 are not started, it exhibits the properties of a fluid, which makes it convenient for the filter element 22 to be inserted into the middle of the U-shaped soft bag 25, thereby forming a sealed annular sealing structure.

[0047] When the ultrasonic vibrator 210 and the ultrasonic vibration plate 26 are started, the non-Newtonian fluid in the U-shaped soft bag 25 will harden, thereby transmitting the ultrasonic vibration to the inside of the filter element 22 in a directionally controlled manner.

[0048] Since the ultrasonic vibrator 210 and the ultrasonic vibration plate 26 generally need to work continuously, in order to prevent mechanical damage caused by long-term excessive vibration, especially combined with megasonic vibration; by adding toothpaste (such as Lengshenling toothpaste), toothpaste is a pseudoplastic fluid, which itself has shear thinning properties, the above defects can be improved.

[0049] Because it is in a vibrating environment, the inventor unexpectedly discovered that spraying into the air outlet chamber 23 through the spray tube 212 keeps the relative humidity in the air outlet chamber 23 at 85% to 95% RH, which is more conducive to the downward discharge of the metal oxide particles in the filter element 22.

[0050] Example 4

[0051] To facilitate entry and exit, a door 12 for the welding robot to enter and exit is provided on one side of the operating room 10.

[0052] Example 5

[0053] In order to avoid clogging to the greatest extent, the spray pipe 212 is arranged to be inclined upward.

[0054] Example 6

[0055] The only difference between this example and Example 3 is that the ultrasonic vibrator 210 is not started in this example, and the rest are the same.

[0056] Example 7

[0057] The difference between this example and the third embodiment is that the ultrasonic vibration plate 26 is not started in this example, and the rest are the same.

[0058] Example 8

[0059] The difference between this example and the third embodiment is that the megasonic vibrator 213 is not started in this example, and the rest are the same.

[0060] Example 9

[0061] The only difference between this example and Example 3 is that in this example, an ultrasonic rod is used instead of the megasonic vibrator 213, and the ultrasonic frequency of the ultrasonic rod is 20 kHz. The rest is the same.

[0062] Example 10

[0063] The only difference between this example and Example 3 is that in this example, all megasonic vibrators 213 are of equal length, the porous support plate 215 is a flat plate structure, and the rest are the same.

[0064] In Example 3, the upper and lower surfaces of the porous support plate 215 are both spherical cap structures, which can also play a positioning role, so that the ultrasonic vibrations on both sides of the filter element 22 can act in a directionally directed manner inside the filter element 22.

[0065] Embodiment 11

[0066] The difference between this example and Example 3 is that the relative humidity in the air outlet cavity 23 in this example is maintained at 20% to 35% RH, which is a dry environment, and the rest are the same.

[0067] Example 12

[0068] The only difference between this example and Example 3 is that the non-Newtonian fluid in this example is prepared by mixing starch and water in a mass ratio of 3:1, and the rest are the same.

[0069] The performance characteristics of Example 3 and Examples 6 to 12 are shown in Table 1:

[0070] Table 1

[0071]

[0072]

[0073] Among them, in Table 1, the fillers filled inside the filter element are all sea urchin ball fillers, and the parts to be welded are made of iron.

[0074] Embodiment 13

[0075] Based on Example 3, when the welded parts are iron (carbon steel), aluminum alloy, and copper alloy (brass), the fillers filled in the filter element are sea urchin ball fillers (see Figure 4 ), 84 inner arc ring filler (see Figure 5 ), ball ring packing, arc saddle packing, the main influence is the packing weight gain rate, the results are shown in Table 2:

[0076] Table 2

[0077]

[0078]

[0079] It can be seen from Table 2 that when the parts to be welded are iron, the filler is preferably sea urchin ball filler; when the parts to be welded are aluminum alloy, the filler is preferably a combination of ball ring filler and arc saddle filler in a mass ratio of 1:1; when the parts to be welded are copper alloy, the filler is preferably 84 inner arc ring filler.

[0080] Embodiment 14

[0081] Based on Example 3, the fillers filled inside the filter element are all sea urchin ball fillers, and the welded parts are made of iron; when the ratio x value of the ultrasonic frequency of the ultrasonic vibration plate 26 and the ultrasonic frequency of the ultrasonic vibrator 210 changes, the corresponding filler wear rate change curve is shown in FIG. Figure 6 ;Depend on Figure 6 It can be seen that x is preferably 13, that is, the ultrasonic frequency of the ultrasonic vibration plate 26 is 260 kHz.

[0082] Performance characterization test

[0083] 1. Continuous filtration test

[0084] Connect one end of the air pump to the powder sprayer so that the metal particle concentration in the gas output from the output end of the air pump is 50-55 mg / m3, and the output air pressure of the air pump is 0.6 MPa. Continue to pass the above-mentioned exhaust gas into the filter element. When the pressure drop △P of the filter element reaches 0.1 MPa, stop ventilation and calculate the cumulative ventilation time.

[0085] 2. Wear test of packing in filter element

[0086] The fillers in the filter element are all made of polypropylene. Under the long-term impact caused by high-frequency vibration, if not handled properly, some fillers may be worn. The wear amount is measured as follows:

[0087] Randomly sample 100 to 120 fillers, weigh them and count their total number, and calculate the average weight of each filler as m1.

[0088] The concentration of metal particles in the gas initially input to the filter element is 1000-1050 mg / m3. After continuous filtration for 120 hours, the fillers in the filter element are taken out, placed in an ultrasonic cleaning tank for cleaning for 30 minutes, rinsed 3 times, and dried at 55°C; then 100-120 fillers are randomly sampled, their mass is weighed and their total number is counted, and the average weight of each filler is calculated as m2.

[0089] Packing wear rate = (m1-m2) / m 1。

[0090] 3. Filter element self-draining function

[0091] Under high-frequency vibration, some of the metal oxide particles adsorbed inside the filter element will be automatically discharged from the filter element under the action of vibration force and gravity. Therefore, if the weight gain rate of the filter element remains at a low level after a certain filtering time, it means that its self-draining function is excellent; filler weight gain rate = (total weight of filler after filtration - total weight of filler before filtration) / total weight of filler before filtration; the total weight of filler after filtration is the concentration of metal particles in the gas initially input to the filter element of 1000-1050mg / m3, measured after continuous filtration for 120h. In addition, the cumulative ventilation time is not positively correlated with the self-draining function of the filter element, because the filter element may suddenly become blocked due to some factors, causing the pressure drop of the filter element to suddenly and rapidly decrease, but at this time, there may not be a large number of metal oxide particles adsorbed inside the filter element.

[0092] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A multi-degree-of-freedom gas shielded welding robot, comprising at least one welding robot, wherein the welding robot comprises a three-axis mechanical arm (32), a gas shielded welding gun (33), and a mechanical arm base (31), wherein: The invention also comprises an operation room (10), wherein all welding robots are located inside the operation room (10), wherein a fixture table (11) is also provided inside the operation room (10) for fixing the workpieces to be welded, and at least one set of adsorption devices for adsorbing waste gas in the operation room (10) is arranged outside the operation room (10); and a turntable (30) for driving the robot arm base (31) to rotate 360 ​​degrees is arranged below the robot arm base (31).

2. A multi-degree-of-freedom gas shielded welding robot according to claim 1, characterized in that: The adsorption device comprises a conical gas collecting shell (13) arranged at the top of the operating room (10), an air suction pipe (14), an air pump (15), and an exhaust gas filter box (20); the gas collecting shell (13) corresponds to the welding robot one by one and is located directly above the welding robot; one end of the air suction pipe (14) is connected to the gas collecting shell (13), and the other end of the air suction pipe (14) is connected to the air pump (15); the exhaust gas in the operating room (10) is driven by the air pump (15) and is drawn into the exhaust gas filter box (20) for filtration.

3. A multi-degree-of-freedom gas shielded welding robot according to claim 2, characterized in that: The exhaust gas filter box (20) comprises a box body (21), wherein a filter chamber, an adsorption chamber (27) and an outer chamber (29) are arranged inside the box body (21), a filter element (22) is arranged inside the filter chamber, a first partition is arranged at the connection between the filter chamber and the adsorption chamber (27), and a grille (261) is arranged at the lower end of the first partition; an ultrasonic vibration plate (26) is arranged on the inner wall of the filter chamber, the ultrasonic vibration plate (26) is fixedly connected to the first partition, and one side of the filter element (22) is in contact with the ultrasonic vibration plate. The filter element (22) is in contact with the ultrasonic plate (26); a U-shaped soft bag (25) is arranged outside the filter element (22); the outer wall of the U-shaped soft bag (25) is sealed with the inner wall of the filter chamber; the interior of the U-shaped soft bag (25) is filled with a non-Newtonian fluid; the U-shaped soft bag (25) and the ultrasonic vibration plate (26) form an annular sealing structure sleeved on the outside of the filter element (22); a second partition is arranged at the connection between the outer chamber (29) and the filter chamber, and a plurality of components for applying ultrasonic vibration to the U-shaped soft bag (25) are installed on the second partition. The invention relates to an ultrasonic vibrator (210) for acoustic vibration, wherein all the ultrasonic vibrators (210) are located in the outer chamber (29); the filter chamber is divided into an air inlet chamber (24) and an air outlet chamber (23) located below the air inlet chamber (24) by the annular sealing structure and the filter element (22); a spray pipe (212) is also provided at the second partition plate, and a spray port connected to the lower end of the spray pipe (212) is provided on the second partition plate, and the spray port is arranged opposite to the grille (261); the lower part of the filter element (22) is provided with a A porous support plate (215), wherein a megasonic vibrator array is arranged below the porous support plate (215); the lower end of the box body (21) is open, and a cover (28) is also arranged at the lower end of the box body (21), and the cover (28) is bolted to the lower end of the box body (21); the adsorption chamber (27) is filled with an adsorbent layer (271); an air outlet (272) is arranged at the upper part of the adsorption chamber (27), and the air outlet (272) is located above the adsorbent layer (271).

4. A multi-degree-of-freedom gas shielded welding robot according to claim 3, characterized in that: The spray pipe (212) is arranged to be inclined upward.

5. The multi-degree-of-freedom gas shielded welding robot according to claim 1, characterized in that: The upper and lower surfaces of the porous support plate (215) are both spherical cap structures; the megasonic vibrator array is composed of a plurality of cylindrical and vertically arranged megasonic vibrators (213); the lower end of the megasonic vibrator (213) is fixedly connected to the cover (28); the upper end of the megasonic vibrator (213) extends to the porous support plate (215); and the lower end of the filter element (22) is provided with a groove adapted to the porous support plate (215).

6. A multi-degree-of-freedom gas shielded welding robot according to claim 5, characterized in that: The ultrasonic frequency of the ultrasonic vibrator (210) is 20 kHz, the ratio of the ultrasonic frequency of the ultrasonic vibration plate (26) to the ultrasonic frequency of the ultrasonic vibrator (210) is x, 10≤x≤25, and the megasonic frequency of the megasonic vibrator (213) is 1.9 MHz.

7. A multi-degree-of-freedom gas shielded welding robot according to claim 4, characterized in that: The non-Newtonian fluid is prepared by mixing starch, water and toothpaste in a mass ratio of 15:5:

1.

8. The multi-degree-of-freedom gas shielded welding robot according to claim 3, characterized in that: The upper end of the filter element (22) is provided with an inclined surface (221), and the interior of the filter element (22) is filled with sea urchin ball filler or 84 inner arc ring filler.

9. A multi-degree-of-freedom gas shielded welding robot according to claim 3, characterized in that: The adsorbent layer (271) is composed of pearlite balls and activated carbon mixed and stacked in a mass ratio of 1:2.3, the diameter of the pearlite balls is 12 to 15 mm, and the particle size of the activated carbon is 1 to 5 mm.

10. The multi-degree-of-freedom gas shielded welding robot according to claim 1, characterized in that: An access door (12) for the welding robot to enter and exit is provided on one side of the operating room (10).

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