Automobile metal plate welding robot

Abstract

The invention relates to the technical field of welding equipment, and discloses an automobile metal plate welding robot which comprises a base, a robot body is fixed to the base, a mounting base is fixed to the tail end of the robot body, a laser welding device is fixed to the mounting base, a welding gun is fixed to the laser welding device, and the welding gun is fixed to the welding device. The welding gun is rotatably connected with a rotating sleeve, two mounting blocks are fixed on the rotating sleeve, a cleaning box is fixed on one of the mounting blocks, a movable mounting back plate is arranged in the cleaning box, and a scraping piece and a wiping piece are arranged on the mounting back plate; the purpose that the scraping piece and the wiping piece abut against the welding gun at the same time for automatic cleaning can be achieved, time and labor are saved, convenience and rapidness are achieved, shutdown is not needed, the workpiece welding efficiency is improved, meanwhile, attached impurities can be cleaned away when the welding wire moves, the welding quality of the welding wire is improved, and welding defects are reduced.

Description

Technical Field

[0001] This invention relates to the field of welding equipment technology, specifically to an automotive sheet metal welding robot. Background Technology

[0002] Sheet metal welding robots are industrial welding robots specifically designed for sheet metal manufacturing. They achieve efficient, precise, and flexible welding operations through automation and intelligent technologies. Welding robots integrate multiple intelligent functions: weld seam location and tracking. Through contact sensing or arc sensing technology, the robot can automatically find the weld seam starting point and monitor the arc in real time during the welding process, dynamically adjusting its posture to correct weld seam deviation and ensuring that the welding trajectory is always accurate; laser welding process. For easily deformable materials such as stainless steel, laser welding robots, due to their concentrated energy and low heat input, can significantly reduce workpiece deformation, obtain high-quality weld seams, and eliminate the need for subsequent grinding.

[0003] During the welding process of welding robots, the spatter and slag produced not only affect the welding quality, but also easily adhere to the welding torch head, leading to unstable arc and reduced weld quality. Traditional cleaning methods rely on manual shutdown for cleaning, which requires interrupting the production process and affecting welding efficiency. In addition, the welding wire is affected by the processing environment, and some impurities easily adhere to its surface, which affects conductivity and welding effect. Summary of the Invention

[0004] This invention provides an automotive sheet metal welding robot that can automatically clean the welding gun by simultaneously applying a scraper and a wiping blade. This saves time and effort, is convenient and fast, and does not require machine downtime, thus improving the efficiency of workpiece welding. At the same time, the robot can clean the attached impurities as the welding wire moves, improving the welding quality and reducing welding defects. This solves the problems mentioned in the background art, where traditional cleaning methods rely on manual downtime for cleaning, requiring interruption of the production process and affecting welding efficiency. In addition, the welding wire is affected by the processing environment, and impurities easily adhere to the surface, affecting conductivity and welding effect.

[0005] The present invention provides the following technical solution: an automotive sheet metal welding robot, comprising a base, a robot body fixed on the base, a mounting seat fixed at the end of the robot body, a laser welder fixed on the mounting seat, a welding gun fixed on the laser welder, a rotating sleeve rotatably connected to the welding gun, two mounting blocks fixed on the rotating sleeve, a cleaning box fixed on one of the mounting blocks, a movable mounting back plate provided inside the cleaning box, and a scraper and a wiping plate respectively provided on the mounting back plate;

[0006] Another mounting block is fixed with a wire guide head, the mounting base is fixed with a protective cover, a wire feeding box is fixed on one side of the protective cover, and the wire feeding box is provided with a movable cleaning ring and a scraper bracket.

[0007] As an optional embodiment of the automotive sheet metal welding robot of the present invention, the cleaning box is provided with a track groove, and the mounting back plate is fixed with a rod on both sides. The rod is inserted into the track groove, and a strip slider is fitted on the rod. A first abutment rod is fixed on the strip slider. The first abutment rod is elastically connected to the cleaning box through a first spring, and a ball bearing is rotatably connected to the end of the first abutment rod.

[0008] As an optional embodiment of the automotive sheet metal welding robot of the present invention, wherein: an electric push rod is fixed on the mounting base, an abutment ring is fixed on the piston of the electric push rod, a gear ring is fixed on the rotating sleeve, a first servo motor is fixed on the mounting base, a gear is fixed on the motor shaft of the first servo motor, and the gear ring meshes with the gear.

[0009] As an optional embodiment of the automotive sheet metal welding robot of the present invention, the cleaning box is equipped with a first guide rod, and the cleaning box is provided with a brush plate. A contact frame is fixed on the brush plate. The contact frame is elastically connected to the first guide rod through a second spring. A contact head is provided on one side of the contact frame.

[0010] As an optional embodiment of the automotive sheet metal welding robot of the present invention, wherein: a rotating rod is fixed on the contact head, the rotating rod is elastically connected to the contact frame through a torsion spring, and a plurality of contact blocks are fixed on the circumferential surface of the welding gun.

[0011] As an optional embodiment of the automotive sheet metal welding robot of the present invention, a second guide rod and a third guide rod are respectively fixed on the mounting back plate, the scraper is elastically connected to the second guide rod through a third spring, and the lower end of the contact frame is located on one side of the scraper.

[0012] As an optional solution of the automotive sheet metal welding robot of the present invention, wherein: the wiping plate is slidably connected to the third guide rod, and a first insert is provided between the wiping plate and the scraper, and a first connecting strip is rotatably connected to the two first inserts.

[0013] As an optional embodiment of the automotive sheet metal welding robot of the present invention, the wire feeding box has two first guide wheels rotatably connected to it, and a second servo motor for driving the first guide wheels to rotate is fixed on the wire feeding box. A sliding bracket is provided inside the wire feeding box, and two second guide wheels are rotatably connected to the sliding bracket. A fourth spring is connected between the sliding bracket and the wire feeding box. A fourth guide rod is fixed on the wire feeding box, and a cleaning bracket is slidably connected to the fourth guide rod. The wire feeding box is connected to the wire guide head through a wire guide tube.

[0014] As an optional embodiment of the automotive sheet metal welding robot of the present invention, wherein: a second pin is fixed on both the cleaning bracket and one of the first guide wheels, a second connecting strip is rotatably connected to the two second pins, the cleaning ring is rotatably connected to the cleaning bracket, and a toothed ring is fixed on the cleaning ring, and the scraper bracket is fixed on the cleaning bracket.

[0015] As an optional embodiment of the automotive sheet metal welding robot of the present invention, wherein: a rack is meshed on the gear ring, a second abutment bracket is fixed on the rack, the second abutment bracket is elastically connected to the wire feeding box through a fifth spring, and another mounting block is fixed with an abutment strip.

[0016] The present invention has the following beneficial effects:

[0017] 1. In this automotive sheet metal welding robot, the welding position and trajectory of the welding gun are adjusted by the robot body. The laser welder can generate and precisely guide a high-energy laser beam so that the welding gun melts the welding wire and connects it to the weld seam of the workpiece. The trajectory groove opened on the cleaning box allows the mounting back plate to move the scraper and wiping plate out of the cleaning box and press against the surface of the welding gun. The scraper can fit against the surface of the welding gun and can scrape off the welding slag attached to the surface and end face of the welding gun when rotating, so as to prevent the welding slag from falling into the weld seam during welding. The wiping plate can wipe away the residual impurities on the welding gun, reduce the residue of impurities, and improve the welding quality and welding efficiency of the welding gun.

[0018] Through the cooperation of the first servo motor, gear ring, and gears, the two mounting blocks and cleaning box on the rotating sleeve are driven to rotate within a certain angle range. On the one hand, through the cooperation of the electric push rod and gear ring, the first abutment rod is pushed down, so that the mounting back plate moves along the track groove. This can realize the purpose of automatic cleaning by simultaneously pressing the scraper and wiping plate against the welding gun, which saves time and effort, is convenient and quick, and does not require stopping the machine, thus improving the efficiency of workpiece welding. On the other hand, the wire guide head can be adjusted according to the welding position during welding to reduce welding dead angles and improve welding efficiency.

[0019] 2. In this automotive sheet metal welding robot, after the brush plate in the cleaning box is reset by the mounting back plate, it can brush away the impurities attached to the scraper and wiping plate, thereby improving the quality of the next welding gun cleaning. Through several abutment blocks on the circumferential surface of the welding gun, intermittent contact can be achieved with the abutment head on the abutment frame, causing the abutment frame to move horizontally back and forth on the first guide rod on the cleaning box. On the one hand, the abutment frame can drive the brush plate to move back and forth, reducing cleaning dead corners and improving the cleaning effect. On the other hand, during the movement of the abutment frame, it can push the scraper to slide back and forth on the second guide rod of the mounting back plate. With the cooperation of the first connecting strip, it can drive the wiping plate to move back and forth on the third guide rod. Through repeated scraping action, stubborn stains and residues can be effectively removed, further improving the cleaning effect of the welding gun.

[0020] 3. In this automotive sheet metal welding robot, the cooperation of the first guide wheel and the second guide wheel in the wire feeding box facilitates the smooth and precise feeding of the welding wire into the wire guide head connected to one end of the wire guide tube for welding. The cleaning ring on the cleaning bracket can be placed on the welding wire to clean the attached impurities when the welding wire moves, thereby improving the welding quality of the welding wire and reducing welding defects. The scraper bracket can remove impurities on the surface of the cleaning ring when it rotates, thereby improving the cleaning quality.

[0021] When the first guide wheel rotates, it can drive the cleaning bracket and cleaning ring to reciprocate on the fourth guide rod through the cooperation of the second connecting strip, which can improve the cleaning effect of stubborn impurities. When the abutment strip on the mounting block rotates, it can make contact with the second abutment bracket, causing the rack to drive the cleaning ring to rotate automatically, so that the scraper bracket can automatically clean the impurities on the cleaning ring. Attached Figure Description

[0022] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0023] Figure 2 This is one of the schematic diagrams of the internal structure of the protective cover of the present invention.

[0024] Figure 3 This is the second schematic diagram of the internal structure of the protective cover of the present invention.

[0025] Figure 4 This is one of the schematic diagrams of the cleaning box structure of the present invention.

[0026] Figure 5 This is the second schematic diagram of the cleaning box structure of the present invention.

[0027] Figure 6 This is a schematic diagram of the cleaning ring structure of the present invention.

[0028] Figure 7 for Figure 3 Enlarged view of point A in the middle.

[0029] Figure 8 for Figure 4 Enlarged view of section B in the middle.

[0030] In the diagram: 1. Base; 2. Robot body; 3. Mounting base; 4. Laser welder; 5. Welding gun; 6. Rotating sleeve; 7. Mounting block; 8. Cleaning box; 9. Mounting back plate; 10. Scraper; 11. Wiping plate; 12. Protective cover; 13. Wire feed box; 14. Cleaning ring; 15. Scraper bracket; 16. Track groove; 17. Insert rod; 18. Strip slider; 19. First contact rod; 20. First spring; 21. Electric push rod; 22. Contact ring; 23. Ball bearing; 24. Gear ring; 25. Wire guide head; 26. First servo motor; 27. Gear; 28. First guide rod; 29. ​​Brush plate; 30. Second spring; 31. Abutment frame; 32. Abutment head; 33. Rotating rod; 34. Torsion spring; 35. Second guide rod; 36. Third spring; 37. Third guide rod; 38. Abutment block; 39. First insert; 40. First connecting bar; 41. First guide wheel; 42. Sliding bracket; 43. Second guide wheel; 44. Fourth spring; 45. Fourth guide rod; 46. Cleaning bracket; 47. Second servo motor; 48. Second insert; 49. Second connecting bar; 50. Gear ring; 51. Gear rack; 52. Second abutment bracket; 53. Fifth spring; 54. Abutment bar; 55. Guide wire tube. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] Example 1, please refer to Figures 1 to 8 An automotive sheet metal welding robot includes a base 1, a robot body 2 fixed on the base 1, a mounting seat 3 fixed at the end of the robot body 2, a laser welder 4 fixed on the mounting seat 3, a welding gun 5 fixed on the laser welder 4, a rotating sleeve 6 rotatably connected to the welding gun 5, two mounting blocks 7 fixed on the rotating sleeve 6, a cleaning box 8 fixed on one of the mounting blocks 7, a movable mounting back plate 9 provided inside the cleaning box 8, and a scraper 10 and a wiping plate 11 respectively provided on the mounting back plate 9;

[0033] Another mounting block 7 is fixed with a wire guide head 25, and a protective cover 12 is fixed on the mounting base 3. A wire feeding box 13 is fixed on one side of the protective cover 12. The wire feeding box 13 is equipped with a movable cleaning ring 14 and a scraper bracket 15.

[0034] The cleaning box 8 has a track groove 16. The mounting back plate 9 has two fixed rods 17 on both sides. The rods 17 are inserted into the track groove 16. A strip slider 18 is fitted on the rod 17. A first abutment rod 19 is fixed on the strip slider 18. The first abutment rod 19 is elastically connected to the cleaning box 8 through a first spring 20. A ball bearing 23 is rotatably connected to the end of the first abutment rod 19.

[0035] An electric push rod 21 is fixed on the mounting base 3. An abutment ring 22 is fixed on the piston of the electric push rod 21. A gear ring 24 is fixed on the rotating sleeve 6. A first servo motor 26 is fixed on the mounting base 3. A gear 27 is fixed on the motor shaft of the first servo motor 26. The gear ring 24 and the gear 27 mesh with each other.

[0036] Two first guide wheels 41 are rotatably connected to the wire feeding box 13, and a second servo motor 47 that drives the first guide wheels 41 to rotate is fixed on the wire feeding box 13. A sliding bracket 42 is provided inside the wire feeding box 13. Two second guide wheels 43 are rotatably connected to the sliding bracket 42. A fourth spring 44 is connected between the sliding bracket 42 and the wire feeding box 13. A fourth guide rod 45 is fixed on the wire feeding box 13. A cleaning bracket 46 is slidably connected to the fourth guide rod 45. The wire feeding box 13 is connected to the wire guide head 25 through the wire guide tube 55.

[0037] refer to Figures 1 to 7 During workpiece welding, the robot body 2 determines the welding position through the coordinate system and adjusts the nozzle angle of the welding gun 5 to ensure that the welding gun 5 and the wire guide head 25 are aligned with the weld seam of the workpiece. The laser beam generated by the laser welder 4 is focused on the welding wire through the welding gun 5, thereby heating the welding wire to form a molten pool and connecting the weld seam. One end of the welding wire passes through the wire feeding box 13 and is located between the two first guide wheels 41 and the two second guide wheels 43. Through the fourth spring 44 connected on the sliding bracket 42, the two second guide wheels 43 are pressed firmly against the welding wire to increase the contact force with the welding wire. The second servo motor 47 is started to make the first guide wheel 41 rotate, so as to guide the welding wire smoothly and accurately into the wire guide head 25 connected to one end of the wire guide tube 55 for welding.

[0038] Welding slag will adhere to the surface of the welding gun 5 after prolonged use. To improve welding quality, the welding gun 5 needs to be cleaned regularly. Activating the electric push rod 21 extends the piston rod of the electric push rod 21, causing the contact ring 22 to abut against the first contact rod 19. This causes the first contact rod 19 to slide on the cleaning box 8. The first spring 20 stores force, and the strip-shaped slider 18 fixed at the lower end of the first contact rod 19 moves downwards synchronously. This causes the two insert rods 17 fixed on both sides of the mounting back plate 9 to slide along the track groove 16, so that the mounting back plate 9 can automatically move the scraper 10 and wiping plate 11 out of the cleaning box 8 and abut against the welding... On the surface of the receiving gun 5, the first servo motor 26 is started. The motor shaft of the first servo motor 26 drives the gear 27 to rotate, so that the gear ring 24 drives the rotating sleeve 6 to rotate, so as to drive the two mounting blocks 7 and the cleaning box 8 to reciprocate within a certain angle range. At the same time, it can prevent the wire guide tube 55 connected to the wire guide head 25 from getting tangled, thus affecting the wire output effect. When the ball 23 rotatably connected to the end of the first abutting rod 19 contacts the abutting ring 22, the first abutting rod 19 rotates against the abutting ring 22, thereby reducing friction and preventing the first abutting rod 19 from wearing out and affecting its use.

[0039] When the cleaning box 8 rotates, it drives the scraper 10 and the wiping plate 11 to rotate synchronously around the welding gun 5, achieving the purpose of self-cleaning the welding gun 5. The scraper 10 is in contact with the surface of the welding gun 5, making it easy to scrape off the welding slag attached to the welding gun 5 and prevent the welding slag from falling into the weld during welding. The wiping plate 11 is also in contact with the surface of the welding gun 5, which can wipe away the residual impurities on the welding gun 5 and reduce the residue of impurities. Through the cooperation of the scraper 10 and the wiping plate 11, the welding quality and welding efficiency of the welding gun 5 are improved, saving time and effort, and making it convenient and quick. The wire guide head 25 fixed on the mounting block 7 can rotate synchronously with the mounting block 7. During welding, the wire exit angle of the wire guide head 25 can be adjusted according to the welding position to reduce welding dead angles and improve welding efficiency.

[0040] Example 2 is an improvement upon Example 1. For details, please refer to [link / reference]. Figures 1 to 8 A first guide rod 28 is installed on the cleaning box 8, and a brush plate 29 is provided inside the cleaning box 8. A contact frame 31 is fixed on the brush plate 29. The contact frame 31 is elastically connected to the first guide rod 28 through a second spring 30. A contact head 32 is provided on one side of the contact frame 31.

[0041] A rotating rod 33 is fixed on the contact head 32. The rotating rod 33 is elastically connected to the contact frame 31 through a torsion spring 34. Several contact blocks 38 are fixed on the circumferential surface of the welding gun 5.

[0042] The second guide rod 35 and the third guide rod 37 are fixed on the mounting back plate 9 respectively. The scraper 10 is elastically connected to the second guide rod 35 through the third spring 36. The lower end of the contact frame 31 is located on one side of the scraper 10.

[0043] The wiping pad 11 is slidably connected to the third guide rod 37, and a first insert post 39 is provided between the wiping pad 11 and the scraper 10. A first connecting strip 40 is rotatably connected to the two first insert posts 39.

[0044] refer to Figures 1 to 8 To further improve the cleaning effect of the scraper 10 and the wiping plate 11 on the impurities on the welding gun 5, when the cleaning box 8 rotates around the welding gun 5, it can achieve the purpose of intermittent contact between several contact blocks 38 on the welding gun 5 and contact heads 32 on the contact frame 31. Since the elastic force of the torsion spring 34 is greater than the elastic force of the second spring 30, when the contact blocks 38 and contact heads 32 are in contact, the contact frame 31 can be pushed to slide on the first guide rod 28 of the cleaning box 8. The second spring 30 stores energy. When the contact frame 31 stops moving, when the contact head 32 is affected by the contact force of the contact block 38, it causes the contact head 32 to drive the rotating rod 33 to rotate on the contact frame 31. The torsion spring 34 stores energy, which can achieve the purpose of automatically releasing the contact head 32 from the contact block 38 so that the contact frame 31 can reciprocate on the first guide rod 28.

[0045] When the contact frame 31 reciprocates along the first guide rod 28, it can push the scraper 10 to slide back and forth on the second guide rod 35 on the mounting back plate 9. The third spring 36 continuously stores and releases its elasticity, causing the scraper 10 to reciprocate to scrape away impurities on the surface of the welding gun 5, thereby reducing cleaning dead angles and improving cleaning effect. Through the wiping plate 11 and the first insert 39 on the scraper 10, it can be rotatably connected to the first connecting strip 40 within a certain angle range. Through the first connecting strip 40, the wiping plate 11 can be driven to reciprocate on the third guide rod 37. Through repeated scraping action, stubborn stains and residues can be effectively removed, further improving the cleaning effect of the welding gun 5.

[0046] After the wiping blade 11 and the scraper blade 10 have finished cleaning and returned to their original positions, the rotating sleeve 6 is in a rotating state. The contact frame 31 continues to reciprocate on the first guide rod 28, which can drive the brush plate 29 in the cleaning box 8 to move synchronously. This allows the brush plate 29 to brush away the impurities attached to the scraper blade 10 and the wiping blade 11, so as to improve the quality of the next cleaning of the welding gun 5.

[0047] Example 3 is an improvement upon Example 1. For details, please refer to [link / reference]. Figures 1 to 8The cleaning bracket 46 and one of the first guide wheels 41 are each fixed with a second insert 48. The two second inserts 48 are rotatably connected with a second connecting strip 49. The cleaning ring 14 is rotatably connected to the cleaning bracket 46, and a toothed ring 50 is fixed on the cleaning ring 14. The scraper bracket 15 is fixed on the cleaning bracket 46.

[0048] A rack 51 is meshed on the gear ring 50, and a second abutment bracket 52 is fixed on the rack 51. The second abutment bracket 52 is elastically connected to the wire feeding box 13 through a fifth spring 53. Another mounting block 7 is fixed with an abutment strip 54.

[0049] refer to Figures 1 to 7 Dust easily adheres to the exposed surface of welding wire during storage or use. At high temperatures, this dust decomposes into gas or forms slag, leading to defects such as porosity, slag inclusions, and cracks in the weld, severely weakening the strength and toughness of the weld. Therefore, cleaning is necessary during the feeding of the welding wire. The cleaning ring 14 is fitted onto the welding wire to clean the attached impurities as the wire moves. When the first guide wheel 41 rotates, the two second inserts 48 and the second connecting strip 49 work together to facilitate the reciprocating motion of the cleaning bracket 46 and the cleaning ring 14 on the fourth guide rod 45, thereby cleaning the stubborn impurities on the welding wire, reducing residue, improving the welding quality of the welding wire, and reducing welding defects.

[0050] The scraper bracket 15 is fixed on the cleaning bracket 46 and abuts against the surface of the cleaning ring 14. The rack 51 fixed on the cleaning ring 14 meshes with the rack 51, and the width of the rack 51 is greater than the width of the rack 51 so that the rack 51 can maintain the meshing state during the horizontal movement of the cleaning bracket 46. When the mounting block 7 rotates, it can drive the abutment strip 54 to rotate synchronously, so that the second abutment bracket 52 fixed on the rack 51 can abut against the rack 51, causing the second abutment bracket 52 to drive the rack 51 to slide on the wire feeding box 13. The fifth spring 53 stores force so that the cleaning ring 14 rotates automatically, and the scraper bracket 15 automatically cleans the impurities on the cleaning ring 14.

[0051] The robot body 2, laser welder 4, electric push rod 21, first servo motor 26 and second servo motor 47 are all electrically connected to the controller via wires.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0053] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. An automotive sheet metal welding robot, comprising a base (1), characterized in that: The robot body (2) is fixed on the base (1), and the end of the robot body (2) is fixed with a mounting base (3). A laser welder (4) is fixed on the mounting base (3), and a welding gun (5) is fixed on the laser welder (4). A rotating sleeve (6) is rotatably connected to the welding gun (5). Two mounting blocks (7) are fixed on the rotating sleeve (6). A cleaning box (8) is fixed on one of the mounting blocks (7). A movable mounting back plate (9) is provided inside the cleaning box (8). A scraper (10) and a wiping plate (11) are respectively provided on the mounting back plate (9). Another mounting block (7) is fixed with a wire guide head (25), and a protective cover (12) is fixed on the mounting base (3). A wire feeding box (13) is fixed on one side of the protective cover (12). The wire feeding box (13) is provided with a movable cleaning ring (14) and a scraper bracket (15).

2. The automotive sheet metal welding robot according to claim 1, characterized in that: The cleaning box (8) is provided with a track groove (16). The mounting back plate (9) is fixed with a rod (17) on both sides. The rod (17) is inserted into the track groove (16). A strip slider (18) is fitted on the rod (17). A first abutment rod (19) is fixed on the strip slider (18). The first abutment rod (19) is elastically connected to the cleaning box (8) through a first spring (20). A ball bearing (23) is rotatably connected to the end of the first abutment rod (19).

3. The automotive sheet metal welding robot according to claim 1, characterized in that: An electric push rod (21) is fixed on the mounting base (3). An abutment ring (22) is fixed on the piston of the electric push rod (21). A gear ring (24) is fixed on the rotating sleeve (6). A first servo motor (26) is fixed on the mounting base (3). A gear (27) is fixed on the motor shaft of the first servo motor (26). The gear ring (24) meshes with the gear (27).

4. The automotive sheet metal welding robot according to claim 1, characterized in that: The cleaning box (8) is equipped with a first guide rod (28) and a brush plate (29) is provided inside the cleaning box (8). A contact frame (31) is fixed on the brush plate (29). The contact frame (31) is elastically connected to the first guide rod (28) through a second spring (30). A contact head (32) is provided on one side of the contact frame (31).

5. The automotive sheet metal welding robot according to claim 4, characterized in that: A rotating rod (33) is fixed on the contact head (32). The rotating rod (33) is elastically connected to the contact frame (31) through a torsion spring (34). Several contact blocks (38) are fixed on the circumferential surface of the welding gun (5).

6. The automotive sheet metal welding robot according to claim 5, characterized in that: The mounting back plate (9) is fixed with a second guide rod (35) and a third guide rod (37). The scraper (10) is elastically connected to the second guide rod (35) through a third spring (36). The lower end of the abutment frame (31) is located on one side of the scraper (10).

7. The automotive sheet metal welding robot according to claim 6, characterized in that: The wiping pad (11) is slidably connected to the third guide rod (37), and a first insert (39) is provided between the wiping pad (11) and the scraper (10), and a first connecting strip (40) is rotatably connected to the two first inserts (39).

8. The automotive sheet metal welding robot according to claim 1, characterized in that: Two first guide wheels (41) are rotatably connected to the wire feeding box (13), and a second servo motor (47) that drives the first guide wheels (41) to rotate is fixed on the wire feeding box (13). A sliding bracket (42) is provided inside the wire feeding box (13). Two second guide wheels (43) are rotatably connected to the sliding bracket (42). A fourth spring (44) is connected between the sliding bracket (42) and the wire feeding box (13). A fourth guide rod (45) is fixed on the wire feeding box (13). A cleaning bracket (46) is slidably connected to the fourth guide rod (45). The wire feeding box (13) is connected to the wire guide head (25) through the wire guide tube (55).

9. The automotive sheet metal welding robot according to claim 8, characterized in that: The cleaning bracket (46) and one of the first guide wheels (41) are each fixed with a second insert (48), and a second connecting strip (49) is rotatably connected to the two second inserts (48). The cleaning ring (14) is rotatably connected to the cleaning bracket (46), and a toothed ring (50) is fixed on the cleaning ring (14). The scraper bracket (15) is fixed on the cleaning bracket (46).

10. The automotive sheet metal welding robot according to claim 9, characterized in that: A rack (51) is meshed on the gear ring (50), and a second abutment bracket (52) is fixed on the rack (51). The second abutment bracket (52) is elastically connected to the wire feeding box (13) through a fifth spring (53). Another mounting block (7) is fixed with an abutment strip (54).

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