A welding robot for machining

Abstract

This invention belongs to the field of welding robot technology, specifically a welding robot for machining. Addressing the issue that welding spatter generated during robot operation forms slag, clogging the welding head, increasing wire feeding resistance, reducing work efficiency, and affecting the aesthetics and strength of the weld, the following solution is proposed: a welding robot arm with a welding torch tail end. The welding head is fixedly connected to the outer wall of the welding torch head, and a main ring frame is connected to the outer wall of the welding torch via bearings. This invention discloses a welding robot for machining that utilizes the rotation of a slag cleaning component. This allows multiple inner and outer wall cleaning plates to clean the slag from the inner wall of the welding head, preventing hard slag from clogging the welding head and thus increasing wire feeding resistance. This improves work efficiency while ensuring the aesthetics and strength of the weld.

Description

Technical Field

[0001] This invention relates to the field of welding robot technology, and more particularly to a welding robot for machining. Background Technology

[0002] Welding is a manufacturing process that uses heating, pressurization, or both to achieve atomic bonding and form a permanent connection between the materials of a workpiece. By introducing welding robots, not only can production efficiency and welding quality be significantly improved, but manual operation can also be replaced in harsh environments such as high temperature and dust, thereby ensuring worker safety and realizing flexible automated production. Therefore, this technology is widely used in many industrial fields such as automobile manufacturing, shipbuilding, aerospace, heavy machinery, electronic equipment, and building structures.

[0003] Existing welding robots may generate a large amount of spatter during machining. This spatter easily adheres to the outer and inner walls of the welding head. When the spatter cools, it forms hard slag, which can clog the welding head. This increases the resistance to wire feeding, reduces work efficiency, and fails to guarantee the aesthetics and strength of the weld. Summary of the Invention

[0004] This invention discloses a welding robot for machining, aiming to solve the technical problem in the prior art where the spatter generated by welding robots during operation forms welding slag, which blocks the welding head, increases wire feeding resistance, thereby reducing work efficiency and affecting the aesthetics and strength of the weld.

[0005] This invention proposes a welding robot for machining, comprising a welding manipulator. The end of the welding manipulator is provided with the tail end of a welding torch. A welding head is fixedly connected to the outer wall of the welding torch's head end. A main ring frame is connected to the outer wall of the welding torch via a bearing. A vibration auxiliary component is provided on the lower side of the main ring frame. Two electrically operated telescopic rods are equally spaced on the upper side of the main ring frame. The telescopic ends of the two electric telescopic rods pass through the main ring frame and are fixedly connected to the same secondary ring frame. The secondary ring frame is fitted onto the outer wall of the welding torch and is located below the main ring frame. A slag cleaning component is provided on the lower side of the secondary ring frame. The slag cleaning component includes a connecting base plate. A grooving cylinder is fixedly connected to the upper side of the connecting base plate. The grooving cylinder is located inside the welding head. A serrated ring is fixedly connected to the upper side of the connecting base plate. The top end of the serrated ring contacts the lower end of the welding head. A slotted plate is fixedly connected to the upper end of the grooving cylinder. A conical drill bit is fixedly connected to the upper side of the slotted plate.

[0006] In a preferred embodiment, the connecting base plate and the slot plate are respectively provided with rotating holes on opposite sides. The two rotating holes are connected to the same lead screw through bearings. The lead screw is located inside the slide cylinder. The outer wall of the lead screw is fitted with a movable ring. The movable ring slides inside the slide cylinder. Multiple setting plates are fixedly connected to the outer wall of the movable ring at equal intervals. The opposite sides of every two adjacent setting plates are connected to the same movable shaft through bearings. The outer walls of the multiple movable shafts are respectively fixedly connected to one end of a linkage rod.

[0007] In a preferred embodiment, the outer wall of the slotted plate is provided with slots at equal intervals, and a fixed shaft is fixedly connected inside the slots. The outer walls of the fixed shafts are connected to rotating plates via bearings. The inner walls of the rotating plates are fixedly connected to connecting shafts. The other ends of the linkage rods are connected to the outer walls of the corresponding connecting shafts via bearings. The lower inner walls of the rotating plates are connected to setting shafts via bearings. The outer walls of the setting shafts are fixedly connected to inner wall cleaning plates.

[0008] In a preferred embodiment, torsion springs are respectively fitted at both ends of the outer wall of the corresponding rotating plate on the plurality of setting shafts. One end of two torsion springs on the same setting shaft is fixedly connected to the outer wall of the corresponding rotating plate, and the other end of two torsion springs on the same setting shaft is fixedly connected to the inner walls of both ends of the setting shaft. A drive motor is fixedly connected to the lower side of the connecting base plate, and the drive end of the drive motor is connected to one end of the lead screw through a coupling.

[0009] In a preferred embodiment, the outer wall of the secondary ring frame has two equally spaced mounting holes. The two mounting holes are respectively connected to rotating shafts via bearings. The outer walls of the two rotating shafts are respectively fixedly connected to rotating plates. The outer wall of the secondary ring frame is fixedly connected to a removing motor. The drive end of the removing motor is connected to one end of one of the rotating shafts via a coupling. The connecting base plate is fixedly connected to the opposite side of the two rotating plates.

[0010] In a preferred embodiment, two compression telescopic rods are fixedly connected to the sides of the two rotating plates that are far apart from each other. The telescopic ends of the two compression telescopic rods located on the same rotating plate pass through the corresponding rotating plate and are fixedly connected to the same U-shaped slide plate. Multiple outer wall cleaning plates are slidably connected at equal intervals inside the two U-shaped slide plates. One end of each of the multiple outer wall cleaning plates located on the same U-shaped slide plate is fixedly connected to one end of a compression spring. The other ends of the multiple compression springs are fixedly connected to the inner wall of the corresponding U-shaped slide plate.

[0011] In a preferred embodiment, the vibration assist assembly includes a secondary sleeve, which is connected to the outer wall of the welding torch via a bearing. The upper end of the secondary sleeve is fixedly connected to the lower side of the main ring frame, and a fixing plate is fixedly connected to the lower end of the secondary sleeve. The fixing plate is connected to the outer wall of the welding torch via a bearing, and multiple main wedges are fixedly connected at equal intervals to the lower side of the fixing plate.

[0012] In a preferred embodiment, a fixed base is fixedly connected to the outer wall of the welding torch, and multiple support plates are fixedly connected at equal intervals on the upper side of the fixed base. A sliding hole is opened on the opposite side of each pair of adjacent support plates, and the same striking rod is slidably connected inside the two sliding holes.

[0013] In a preferred embodiment, one end of each of the multiple striking rods is fixedly connected to a fixing plate, and the outer wall of one end of each of the multiple striking rods is fitted with a telescopic spring. One end of each of the multiple telescopic springs is fixedly connected to a corresponding fixing plate, and the other end of each of the multiple telescopic springs is fixedly connected to a corresponding support plate. A secondary wedge is fixedly connected to one side of each of the multiple fixing plates, and the inclined surface of each of the multiple secondary wedges is in contact with the inclined surface of a corresponding main wedge.

[0014] In a preferred embodiment, a drive plate is fixedly connected to the outer wall of the welding torch. A drive hole is provided on the upper side of the drive plate. A drive shaft is connected to the drive hole through a bearing. A drive gear is fixedly connected to the outer wall of one end of the drive shaft. A rotary motor is fixedly connected to the upper side of the drive plate. The drive end of the rotary motor is connected to the other end of the drive shaft through a coupling. A main sleeve is fixedly connected to the upper side of the main ring frame. The main sleeve is connected to the outer wall of the welding torch through a bearing. A driven gear is fixedly connected to the upper end of the main sleeve. The driven gear is sleeved on the outer wall of the welding torch and meshes with the drive gear.

[0015] As can be seen from the above, the welding robot for machining provided by the present invention utilizes the rotation of the slag cleaning component to clean the slag on the inner wall of the welding head by multiple inner wall cleaning plates and outer wall cleaning plates, thereby avoiding the blockage of the welding head by hard slag, which would lead to increased resistance to wire feeding. This improves work efficiency while ensuring the aesthetics and strength of the weld. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a welding robot for machining proposed in this invention; Figure 2 This is a schematic diagram of the overall structure of the welding torch of a welding robot for machining proposed in this invention; Figure 3 This is a side view of the welding torch structure of a welding robot for machining proposed in this invention. Figure 4This is a schematic diagram of the overall structure of a slag cleaning component for a welding robot used in machining, as proposed in this invention. Figure 5 This is an exploded structural diagram of a slag cleaning component for a welding robot used in machining, as proposed in this invention. Figure 6 This is a schematic cross-sectional view of the internal structure of the chute cylinder in a slag cleaning assembly for a welding robot used in machining, as proposed in this invention. Figure 7 This is a schematic diagram of the overall structure of the movable ring in a slag cleaning assembly of a welding robot for machining, as proposed in this invention. Figure 8 This is a schematic diagram of a vibration-assisted component structure for a welding robot used in machining, as proposed in this invention.

[0017] In the diagram: 1. Welding robot; 2. Welding head; 3. Slag cleaning assembly; 301. Removal motor; 302. Connecting base plate; 303. Serrated ring; 304. Extrusion telescopic rod; 305. Rotating plate; 306. Rotating shaft; 307. U-shaped chute plate; 308. Extrusion spring; 309. Outer wall cleaning plate; 310. Tapered drill bit; 311. Chute cylinder; 312. Drive motor; 313. Groove plate; 314. Fixed shaft; 315. Movable ring; 316. Lead screw; 317. Connecting shaft; 318. Linkage rod; 319. Rotating plate; 320 1. Inner wall cleaning plate; 321. Setting shaft; 322. Movable shaft; 323. Setting plate; 324. Torsion spring; 4. Vibration auxiliary assembly; 401. Secondary sleeve; 402. Secondary wedge block; 403. Fixing plate; 404. Telescopic spring; 405. Striking rod; 406. Support plate; 407. Fixed chassis; 408. Main wedge block; 409. Fixing sleeve plate; 5. Welding torch; 6. Drive plate; 7. Driven gear; 8. Main ring frame; 9. Secondary ring frame; 10. Electric telescopic rod; 11. Drive gear; 12. Drive shaft; 13. Rotary motor; 14. Main sleeve. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0019] The welding robot disclosed in this invention is mainly used in scenarios where the spatter generated during welding robot operation forms welding slag, which blocks the welding head, increases wire feeding resistance, thereby reducing work efficiency and affecting the aesthetics and strength of the weld.

[0020] Reference Figures 1-7A welding robot for machining includes a welding manipulator 1, with a welding torch 5 at its end. A welding head 2 is fixedly connected to the outer wall of the welding torch 5. A main ring frame 8 is connected to the outer wall of the welding torch 5 via a bearing. A vibration auxiliary component 4 is provided on the lower side of the main ring frame 8. Two electrically operated telescopic rods 10 are equally spaced on the upper side of the main ring frame 8. The telescopic ends of the two electrically operated telescopic rods 10 pass through the main ring frame 8 and are fixedly connected to the same secondary ring frame 9. The secondary ring frame 9 is sleeved on the outer wall of the welding torch 5. The frame 9 is located below the main ring frame 8. The lower side of the secondary ring frame 9 is provided with a welding slag cleaning component 3. The welding slag cleaning component 3 includes a connecting base plate 302. A sliding groove cylinder 311 is fixedly connected to the upper side of the connecting base plate 302. The sliding groove cylinder 311 is located inside the welding head 2. A serrated ring 303 is fixedly connected to the upper side of the connecting base plate 302. The top end of the serrated ring 303 is in contact with the lower end of the welding head 2. A groove plate 313 is fixedly connected to the upper end of the sliding groove cylinder 311. A tapered drill bit 310 is fixedly connected to the upper side of the groove plate 313.

[0021] In this invention, rotating holes are respectively provided on the opposite sides of the connecting base plate 302 and the slot plate 313. The same lead screw 316 is connected to the two rotating holes through bearings. The lead screw 316 is located inside the slide cylinder 311. A movable ring 315 is sleeved on the outer wall of the lead screw 316. The movable ring 315 slides inside the slide cylinder 311. Multiple setting plates 323 are fixedly connected at equal intervals on the outer wall of the movable ring 315. The same movable shaft 322 is connected to the opposite sides of every two adjacent setting plates 323 through bearings. One end of the linkage rod 318 is fixedly connected to the outer wall of each of the multiple movable shafts 322.

[0022] In this invention, the outer wall of the slotted plate 313 is provided with slots at equal intervals, and a fixed shaft 314 is fixedly connected inside the slots. The outer walls of the fixed shafts 314 are connected to rotating plates 319 via bearings. The inner walls of the rotating plates 319 are fixedly connected to connecting shafts 317. The other ends of the linkage rods 318 are connected to the outer walls of the corresponding connecting shafts 317 via bearings. The lower inner walls of the rotating plates 319 are connected to setting shafts 321 via bearings. The outer walls of the setting shafts 321 are fixedly connected to inner wall cleaning plates 320.

[0023] In this invention, multiple setting shafts 321 are respectively fitted with torsion springs 324 at both ends of the outer wall of the corresponding rotating plate 319. One end of two torsion springs 324 on the same setting shaft 321 is fixedly connected to the outer wall of the corresponding rotating plate 319, and the other end of two torsion springs 324 on the same setting shaft 321 is fixedly connected to the inner walls of both ends of the setting shaft 321. A drive motor 312 is fixedly connected to the lower side of the connecting base plate 302, and the drive end of the drive motor 312 is connected to one end of the lead screw 316 through a coupling.

[0024] In this invention, two mounting holes are equally spaced on the outer wall of the secondary ring frame 9. The two mounting holes are respectively connected to a rotating shaft 306 through a bearing. The outer walls of the two rotating shafts 306 are respectively fixedly connected to a rotating plate 305. The outer wall of the secondary ring frame 9 is fixedly connected to a removing motor 301. The driving end of the removing motor 301 is connected to one end of one of the rotating shafts 306 through a coupling. The connecting base plate 302 is fixedly connected to the opposite side of the two rotating plates 305.

[0025] In this invention, two compression telescopic rods 304 are fixedly connected to the sides of the two rotating plates 305 that are far apart from each other. The telescopic ends of the two compression telescopic rods 304 located on the same rotating plate 305 pass through the corresponding rotating plate 305 and are fixedly connected to the same U-shaped slide plate 307. Multiple outer wall cleaning plates 309 are slidably connected at equal intervals inside the two U-shaped slide plates 307. One end of the multiple outer wall cleaning plates 309 located on the same U-shaped slide plate 307 is fixedly connected to one end of a compression spring 308. The other end of the multiple compression springs 308 is fixedly connected to the inner wall of the corresponding U-shaped slide plate 307.

[0026] Specifically, when a large amount of welding slag adheres to the outer and inner walls of the welding head 2, the removing motor 301 is activated to rotate the two rotating plates 305 until the connecting base plate 302 is moved directly below the welding head 2. Then, the two electric telescopic rods 10 retract. Since the secondary ring frame 9 is indirectly connected to the connecting base plate 302 through the two rotating plates 305, the connecting base plate 302 rises until the top of the serrated ring 303 contacts the welding port of the welding head 2. At this point, the grooving cylinder 311 is located inside the welding head 2. Then, the drive motor 312 is activated to rotate the lead screw 316, causing the movable ring 315 to move upward inside the grooving cylinder 311. During this process, as the movable ring 315 moves upward, multiple linkage rods 318 push the corresponding rotating plates 319, causing the multiple rotating plates 319 to rotate. Finally, the multiple inner wall cleaning plates 320 move outward. The cleaning plate is moved and unfolded until it contacts the inner wall of the welding head 2. Under the action of multiple torsion springs 324, the multiple inner wall cleaning plates 320 are kept in close contact with the inner wall of the welding head 2, thereby improving the cleaning efficiency. Then, multiple extrusion telescopic rods 304 extend, so that the two U-shaped sliding plates 307 drive the corresponding multiple outer wall cleaning plates 309 to approach the outer wall of the welding head 2 until the multiple outer wall cleaning plates 309 fully contact the outer wall of the welding head 2. After the preparation work is completed, the rotary motor 13 is turned on to drive the drive shaft 12 to drive the drive gear 11 to rotate. Since the drive gear 11 meshes with the driven gear 7, the driven gear 7 drives the main ring frame 8 to rotate through the main sleeve 14. Then, the main ring frame 8 drives the entire slag cleaning assembly 3 to rotate through the secondary ring frame 9, so that the multiple inner wall cleaning plates 320 and the outer wall cleaning plates 309 clean the slag on the inner wall of the welding head 2 respectively.

[0027] In specific application scenarios, the telescopic nature of the two electric telescopic rods 10 and the rotatability of the two rotating plates 305 allow the slag cleaning component 3 to be kept away from the welding head 2 during welding operations, thus avoiding interference with the welding process. Since multiple outer wall cleaning plates 309 slide independently inside the corresponding U-shaped chute plates 307, they can adapt to different shapes of welding heads 2 for cleaning, improving cleaning flexibility. Multiple inner wall cleaning plates 320 and outer wall cleaning plates 309 clean the slag on the inner wall of the welding head 2, thereby preventing hard slag from clogging the welding head 2 and increasing the resistance to wire feeding. This improves work efficiency while ensuring the aesthetics and strength of the weld.

[0028] Reference Figure 1 , Figure 2 , Figure 3 and Figure 8 In a preferred embodiment, the vibration auxiliary component 4 includes a secondary sleeve 401, which is connected to the outer wall of the welding torch 5 via a bearing. The upper end of the secondary sleeve 401 is fixedly connected to the lower side of the main ring frame 8, and a fixing plate 409 is fixedly connected to the lower end of the secondary sleeve 401. The fixing plate 409 is connected to the outer wall of the welding torch 5 via a bearing, and a plurality of main wedges 408 are fixedly connected at equal intervals to the lower side of the fixing plate 409.

[0029] In this invention, a fixed base 407 is fixedly connected to the outer wall of the welding torch 5. Multiple support plates 406 are fixedly connected at equal intervals on the upper side of the fixed base 407. Sliding holes are opened on the opposite side of each pair of adjacent support plates 406. The same striking rod 405 is slidably connected inside the two sliding holes.

[0030] In this invention, a fixing plate 403 is fixedly connected to one end of a plurality of striking rods 405, and a telescopic spring 404 is sleeved on the outer wall of one end of a plurality of striking rods 405. One end of a plurality of telescopic springs 404 is fixedly connected to the corresponding fixing plate 403, and the other end of a plurality of telescopic springs 404 is fixedly connected to the corresponding support plate 406. A secondary wedge block 402 is fixedly connected to one side of a plurality of fixing plates 403, and the inclined surface of a plurality of secondary wedge blocks 402 is in contact with the inclined surface of the corresponding main wedge block 408.

[0031] Specifically, as the main ring frame 8 rotates, the secondary sleeve 401 causes multiple main wedges 408 on the fixed sleeve plate 409 to rotate around the welding torch 5. During the rotation of the main wedges 408, when the main wedges 408 come into contact with one of the secondary wedges 402, the secondary wedges 402, under the squeezing and pushing of the main wedges 408, cause the corresponding striking rod 405 to move and stretch the telescopic spring 404 until the main wedges 408 and the secondary wedges 402 stop contacting each other, thus losing the squeezing and pushing of the main wedges 408. The striking rod 405 then strikes the outer wall of the welding torch 5 under the elastic force of the telescopic spring 404. Thus, during the rotation of the main wedges 408, multiple striking rods 405 continuously strike the outer wall of the welding torch 5, causing the welding slag inside the welding head 2 to loosen, thereby assisting the welding slag cleaning component 3 in cleaning the welding slag, improving cleaning efficiency and cleaning effect.

[0032] Reference Figure 1 , Figure 2 and Figure 3 In a preferred embodiment, a drive plate 6 is fixedly connected to the outer wall of the welding torch 5. A drive hole is provided on the upper side of the drive plate 6. A drive shaft 12 is connected inside the drive hole through a bearing. A drive gear 11 is fixedly connected to the outer wall of one end of the drive shaft 12. A rotary motor 13 is fixedly connected to the upper side of the drive plate 6. The drive end of the rotary motor 13 is connected to the other end of the drive shaft 12 through a coupling. A main sleeve 14 is fixedly connected to the upper side of the main ring frame 8. The main sleeve 14 is connected to the outer wall of the welding torch 5 through a bearing. A driven gear 7 is fixedly connected to the upper end of the main sleeve 14. The driven gear 7 is sleeved on the outer wall of the welding torch 5 and meshes with the drive gear 11.

[0033] Working principle: During use, when a large amount of welding slag adheres to the outer and inner walls of the welding head 2, the retraction motor 301 is activated to rotate the two rotating plates 305 until the connecting base plate 302 is moved directly below the welding head 2. Then, the two electric telescopic rods 10 retract. Since the secondary ring frame 9 is indirectly connected to the connecting base plate 302 through the two rotating plates 305, the connecting base plate 302 rises until the top of the serrated ring 303 contacts the welding port of the welding head 2. At this time, the grooving cylinder 311 is located inside the welding head 2, where the telescopic nature of the two electric telescopic rods 10 allows for... The rotatability of the two rotating plates 305 allows the slag cleaning assembly 3 to be kept away from the welding head 2 during welding, avoiding interference with the welding process. Then, by activating the drive motor 312, the lead screw 316 rotates, causing the movable ring 315 to move upwards inside the grooving cylinder 311. During this process, as the movable ring 315 moves upwards, multiple linkage rods 318 push the corresponding rotating plates 319, causing the multiple rotating plates 319 to rotate. Finally, the multiple inner wall cleaning plates 320 move outwards and unfold until they contact the inner wall of the welding head 2. Under the action of the torsion spring 324, the multiple inner wall cleaning plates 320 are kept in close contact with the inner wall of the welding head 2, thereby improving cleaning efficiency. Then, the multiple extrusion telescopic rods 304 extend, causing the two U-shaped sliding plates 307 to drive the corresponding multiple outer wall cleaning plates 309 closer to the outer wall of the welding head 2, until the multiple outer wall cleaning plates 309 fully contact the outer wall of the welding head 2. Since the multiple outer wall cleaning plates 309 slide independently inside the corresponding U-shaped sliding plates 307, they can adapt to the different shapes of the welding head 2 for cleaning work, improving the flexibility of cleaning. When preparing for work... After completion, the rotary motor 13 is turned on to drive the drive shaft 12 to drive the drive gear 11 to rotate. Since the drive gear 11 meshes with the driven gear 7, the driven gear 7 drives the main ring frame 8 to rotate through the main sleeve 14. Then, the main ring frame 8 drives the entire slag cleaning assembly 3 to rotate through the secondary ring frame 9. This allows multiple inner wall cleaning plates 320 and outer wall cleaning plates 309 to clean the slag on the inner wall of the welding head 2, thereby preventing the hard slag from clogging the welding head 2 and thus increasing the resistance to wire feeding. This improves work efficiency while ensuring the aesthetics and strength of the weld. As the main ring frame 8 rotates, the secondary sleeve 401 causes multiple main wedges 408 on the fixed sleeve plate 409 to rotate around the welding torch 5. During the rotation of the main wedges 408, when the main wedges 408 come into contact with one of the secondary wedges 402, the secondary wedges 402, under the squeezing and pushing of the main wedges 408, cause the corresponding striking rod 405 to move and stretch the telescopic spring 404 until the main wedges 408 and the secondary wedges 402 stop contacting each other, thus losing the squeezing and pushing of the main wedges 408. The striking rod 405 then strikes the outer wall of the welding torch 5 under the elastic force of the telescopic spring 404. Thus, during the rotation of the main wedges 408, multiple striking rods 405 continuously strike the outer wall of the welding torch 5, causing the welding slag inside the welding head 2 to loosen, thereby assisting the welding slag cleaning component 3 in cleaning the welding slag, improving the cleaning efficiency and cleaning effect.

[0034] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A welding robot for machining, comprising a welding robotic arm (1), characterized in that, The welding robot (1) is equipped with the tail end of a welding torch (5). A welding head (2) is fixedly connected to the outer wall of the head end of the welding torch (5). The outer wall of the welding torch (5) is connected to a main ring frame (8) via a bearing. A vibration auxiliary component (4) is provided on the lower side of the main ring frame (8). Two electric telescopic rods (10) are equally spaced on the upper side of the main ring frame (8). The telescopic ends of the two electric telescopic rods (10) pass through the main ring frame (8) and are fixedly connected to the same secondary ring frame (9). The secondary ring frame (9) is sleeved on the outer wall of the welding torch (5) and is located below the main ring frame (8). A slag cleaning assembly (3) is provided on the lower side of the sub-ring frame (9). The slag cleaning assembly (3) includes a connecting base plate (302). A grooving cylinder (311) is fixedly connected to the upper side of the connecting base plate (302). The grooving cylinder (311) is located inside the welding head (2). A serrated ring (303) is fixedly connected to the upper side of the connecting base plate (302). The top end of the serrated ring (303) is in contact with the lower end of the welding head (2). A slotted plate (313) is fixedly connected to the upper end of the grooving cylinder (311). A tapered drill bit (310) is fixedly connected to the upper side of the slotted plate (313).

2. The welding robot for machining according to claim 1, characterized in that, The connecting base plate (302) and the slot plate (313) are respectively provided with rotating holes on opposite sides. The two rotating holes are connected to the same lead screw (316) through bearings. The lead screw (316) is located inside the slide cylinder (311). The outer wall of the lead screw (316) is fitted with a movable ring (315). The movable ring (315) slides inside the slide cylinder (311). Multiple setting plates (323) are fixedly connected at equal intervals on the outer wall of the movable ring (315). The opposite sides of every two adjacent setting plates (323) are connected to the same movable shaft (322) through bearings. The outer walls of the multiple movable shafts (322) are respectively fixedly connected to one end of the linkage rod (318).

3. A welding robot for machining according to claim 2, characterized in that, The outer wall of the slotted plate (313) is provided with slots at equal intervals. A fixed shaft (314) is fixedly connected inside the slots. A rotating plate (319) is connected to the outer wall of the fixed shaft (314) through a bearing. A connecting shaft (317) is fixedly connected inside the rotating plate (319). The other end of the linkage rod (318) is connected to the outer wall of the corresponding connecting shaft (317) through a bearing. A setting shaft (321) is connected to the lower inner wall of the rotating plate (319) through a bearing. An inner wall cleaning plate (320) is fixedly connected to the outer wall of the setting shaft (321).

4. A welding robot for machining according to claim 3, characterized in that, Multiple setting shafts (321) are respectively fitted with torsion springs (324) at both ends of the outer wall of the corresponding rotating plate (319). One end of two torsion springs (324) on the same setting shaft (321) is fixedly connected to the outer wall of the corresponding rotating plate (319), and the other end of two torsion springs (324) on the same setting shaft (321) is fixedly connected to the inner walls of both ends of the setting shaft (321). A drive motor (312) is fixedly connected to the lower side of the connecting base plate (302). The drive end of the drive motor (312) is connected to one end of the lead screw (316) through a coupling.

5. A welding robot for machining according to claim 1, characterized in that, The outer wall of the sub-ring frame (9) has two equally spaced mounting holes. The two mounting holes are connected to rotating shafts (306) through bearings. The outer walls of the two rotating shafts (306) are fixedly connected to rotating plates (305). The outer wall of the sub-ring frame (9) is fixedly connected to a removing motor (301). The driving end of the removing motor (301) is connected to one end of one of the rotating shafts (306) through a coupling. The connecting base plate (302) is fixedly connected to the opposite side of the two rotating plates (305).

6. A welding robot for machining according to claim 5, characterized in that, Two compression telescopic rods (304) are fixedly connected to the opposite sides of the two rotating plates (305). The telescopic ends of the two compression telescopic rods (304) located on the same rotating plate (305) pass through the corresponding rotating plate (305) and are fixedly connected to the same U-shaped slide plate (307). Multiple outer wall cleaning plates (309) are slidably connected at equal intervals inside the two U-shaped slide plates (307). One end of the multiple outer wall cleaning plates (309) located on the same U-shaped slide plate (307) is fixedly connected to one end of a compression spring (308). The other end of the multiple compression springs (308) is fixedly connected to the inner wall of the corresponding U-shaped slide plate (307).

7. A welding robot for machining according to claim 1, characterized in that, The vibration assist component (4) includes a secondary sleeve (401), which is connected to the outer wall of the welding torch (5) via a bearing. The upper end of the secondary sleeve (401) is fixedly connected to the lower side of the main ring frame (8), and a fixing plate (409) is fixedly connected to the lower end of the secondary sleeve (401). The fixing plate (409) is connected to the outer wall of the welding torch (5) via a bearing, and multiple main wedges (408) are fixedly connected at equal intervals on the lower side of the fixing plate (409).

8. A welding robot for machining according to claim 7, characterized in that, The outer wall of the welding torch (5) is fixedly connected to a fixed base plate (407). Multiple support plates (406) are fixedly connected at equal intervals on the upper side of the fixed base plate (407). Sliding holes are opened on the opposite side of each pair of adjacent support plates (406), and the same striking rod (405) is slidably connected inside the two sliding holes.

9. A welding robot for machining according to claim 8, characterized in that, One end of each of the multiple striking rods (405) is fixedly connected to a fixing plate (403). The outer wall of one end of each of the multiple striking rods (405) is fitted with a telescopic spring (404). One end of each of the multiple telescopic springs (404) is fixedly connected to the corresponding fixing plate (403). The other end of each of the multiple telescopic springs (404) is fixedly connected to the corresponding support plate (406). One side of each of the multiple fixing plates (403) is fixedly connected to a secondary wedge (402). The inclined surfaces of the multiple secondary wedges (402) are in contact with the inclined surfaces of the corresponding main wedges (408).

10. A welding robot for machining according to claim 1, characterized in that, A drive plate (6) is fixedly connected to the outer wall of the welding torch (5). A drive hole is opened on the upper side of the drive plate (6). A drive shaft (12) is connected inside the drive hole through a bearing. A drive gear (11) is fixedly connected to the outer wall of one end of the drive shaft (12). A rotary motor (13) is fixedly connected to the upper side of the drive plate (6). The drive end of the rotary motor (13) is connected to the other end of the drive shaft (12) through a coupling. A main sleeve (14) is fixedly connected to the upper side of the main ring frame (8). The main sleeve (14) is connected to the outer wall of the welding torch (5) through a bearing. A driven gear (7) is fixedly connected to the upper end of the main sleeve (14). The driven gear (7) is sleeved on the outer wall of the welding torch (5). The driven gear (7) meshes with the drive gear (11).

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