An automated welding robot

Abstract

This invention discloses an automated welding robot, relating to the field of metal cutting and welding equipment manufacturing technology. It includes a robot body with a welding head at the top of its robotic arm. An arc-shaped cover is located at the rear of the robot body. Adjustment components are installed between the bottom sides of an elastic dust suction pipe and the inner wall of the arc-shaped cover. Infrared temperature measuring heads are located on the left and right sides of the bottom of the arc-shaped cover. A striking rod is symmetrically slidably mounted on the rear of the arc-shaped cover, with a high-temperature resistant ultrasonic sensor mounted on the inner bottom of the striking rod. A frequency adjustment component is located at the bottom of the arc-shaped cover. This automated welding robot achieves integrated closed-loop operation—dynamic purification of welding fumes, interference-free infrared temperature measurement, and real-time detection of weld defects—through the coordinated operation of three core mechanisms: temperature self-sensing deformation adjustment, negative pressure airflow self-drive, and online acoustic defect prediction. This solves the industry pain points of dust collection and fixation in welding equipment, temperature measurement interference from fumes, and offline defect detection.

Description

Technical Field

[0001] This invention relates to the field of metal cutting and welding equipment manufacturing technology, specifically to an automated welding robot. Background Technology

[0002] Plasma arc welding, as a precision welding technology with high energy density and high arc stability, has been widely used in aerospace structural components, shipbuilding, pressure vessels, lightweight automotive parts, and precision metal cutting and welding equipment manufacturing due to its advantages such as strong arc penetration, narrow heat-affected zone, and large weld depth-to-width ratio. Existing automated welding robots typically use multi-degree-of-freedom robotic arms combined with fully digital plasma welding power sources and integrate vision or arc-type weld tracking systems, enabling automated welding operations with complex spatial trajectories, significantly improving production efficiency and welding consistency. However, during the operation of automated welding robots, the welding fumes diffused in the work area, affecting the welding field of vision.

[0003] To address the aforementioned shortcomings, existing technology (Chinese patent CN110961832B, published on 2021-09-14) describes an automated welding robot with automatic protection function. The rotation of a servo motor drives a fan, creating negative pressure inside the second device chamber to promptly expel welding fumes generated inside the protective plate. Simultaneously, the servo motor's rotation moves a wiping rod up and down, cleaning the surface of the camera mechanism. This keeps the camera mechanism clean, resulting in better imaging performance. The prior art (Chinese patent announcement number CN119658243A, announcement date 2025-03-21) describes a multi-functional automated welding robot. By setting up a foldable welding component with circumferential motion, the welding robot can have better maneuverability and is suitable for various pipelines and confined environments. At the same time, the flow guiding component can control the airflow circulation in confined environments according to needs during welding, which can effectively prevent the accumulation of welding fumes in confined environments and affect the welding robot's welding judgment, ensuring the accurate and reliable execution of the automated welding identification process.

[0004] The above solutions all rely on an external airflow adsorption component to absorb welding fumes and avoid obstructing the welding view during use. However, the position, size, and flow rate of the suction port are fixed during welding, or the parameters need to be manually adjusted each time according to the processing conditions. This makes it inconvenient to dynamically adjust with changes in welding heat input. When the welding current increases, the heat rises, and the fumes surge, the suction capacity is insufficient, and the fumes overflow and interfere with infrared detection. When the welding current decreases, excessive suction can disturb the protective gas flow field and even suck away the protective gas, leading to weld oxidation. When welding parameters, such as current and speed, change and cause fluctuations in heat input, the fumigation device cannot provide any feedback signal, making it difficult for operators to judge the stability of the welding process from the fumigation status. Summary of the Invention

[0005] The purpose of this invention is to provide an automated welding robot to solve the problem mentioned in the background art that existing automated welding robots, in order to avoid affecting the welding field of vision, have fixed positions, opening sizes, and air flow rates for the dust suction port, or require manual adjustment of parameters each time according to the processing situation, which is not convenient to dynamically adjust with changes in welding heat input, thus affecting the judgment of the stability during the welding process.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an automated welding robot, comprising a robot body, a welding head being provided at the top of the robotic arm of the robot body, an arc-shaped cover being provided on the rear side of the robot body, and an elastic dust suction tube being provided at the bottom inner side of the arc-shaped cover; The arc-shaped cover has a hollow structure in the middle. Adjustment components are provided between the bottom two sides of the elastic suction tube and the inner wall of the arc-shaped cover. The adjustment components can adjust the suction range and opening size of the elastic suction tube according to the welding temperature. Infrared temperature measuring heads are provided on the bottom left and right sides of the arc-shaped cover. A striking rod is symmetrically slidably provided on the rear side of the arc-shaped cover. A high-temperature resistant ultrasonic sensor is provided on the bottom inner side of the striking rod. A frequency adjustment component is provided at the bottom of the arc-shaped cover. The frequency adjustment component adjusts the striking frequency of the striking rod according to the welding temperature.

[0007] Furthermore, the flexible vacuum cleaner tube is designed to be wider at the bottom and narrower at the top, and the top of the flexible vacuum cleaner tube is connected to an external negative pressure device through a connecting tube. Guide strips are symmetrically arranged at the bottom opening of the flexible vacuum cleaner tube.

[0008] Furthermore, the adjustment component includes a first shape memory alloy disposed between the outer side of the bottom of the elastic suction tube and the inner wall of the arc-shaped cover, and a second shape memory alloy connected to the beginning and end of the two guide strips between the opening of the suction tube. The bottoms of the first shape memory alloy and the second shape memory alloy are respectively connected to a fixed heat-conducting plate and a movable heat-conducting plate.

[0009] Furthermore, both the fixed heat-conducting plate and the movable heat-conducting plate are configured with a "U"-shaped structure. The fixed heat-conducting plate and the movable heat-conducting plate absorb welding heat and conduct it to the first shape memory alloy and the second shape memory alloy to cause deformation. After the first shape memory alloy is deformed, it pulls the elastic suction tube to both sides to adjust the suction area. After the second shape memory alloy is deformed, it adjusts the spacing between the front and rear guide strips, thereby adjusting the size of the opening of the elastic suction tube. The outer side of the movable heat-conducting plate is slidably connected to the slide groove, and the slide groove is opened on the inner wall of the arc-shaped cover. A ceramic heat insulation sheet is connected between the contact surface of the first shape memory alloy and the elastic suction tube.

[0010] Furthermore, the infrared temperature measuring head detects the temperature of the molten pool during the welding process, and the elastic dust suction tube, together with the infrared temperature measuring head, constitutes a welding pre-inspection mechanism, allowing welding and inspection to be carried out simultaneously.

[0011] Furthermore, the frequency adjustment component includes a fan blade disposed at the bottom opening of the arc-shaped cover, with the fan blade facing the suction port of the elastic suction tube. The rotating shaft of the fan blade is rotatably connected to the left and right sides of the arc-shaped cover. Half gears are connected to both sides of the fan blade shaft. The outer side of the half gears meshes with the protruding teeth on the striking rod. A spring is connected between the striking rod and the outside of the arc-shaped cover.

[0012] Furthermore, a protrusion is fixed to the side of the striking rod, and the protrusion is slidably connected in the vertical groove. The vertical groove is opened outside the arc-shaped cover, and a spring is installed between the protrusion and the vertical groove. The striking rod forms a vertical sliding striking structure through the protrusion, the spring and the half gear, and the bottom of the striking rod contacts the surface of the workpiece after sliding.

[0013] Furthermore, the fan blade rotation speed varies with the air pressure of the elastic suction pipe, and the fan blade drives the half gear to rotate synchronously. The change in the rotation speed of the half gear synchronously adjusts the striking frequency of the striking rod.

[0014] Furthermore, the high-temperature resistant ultrasonic sensor is externally shielded, and the transmitting end of the high-temperature resistant ultrasonic sensor is equipped with a conical cover to concentrate the signal.

[0015] Furthermore, the striking rod is combined with a high-temperature resistant ultrasonic sensor to form a sound wave parameter difference recognition structure, and the higher the welding temperature, the higher the striking frequency.

[0016] Compared with the prior art, the beneficial effects of the present invention are: This automated welding robot, during use, achieves integrated closed-loop operation through the coordinated operation of three core mechanisms: temperature self-sensing deformation adjustment, negative pressure airflow self-drive, and acoustic wave online defect prediction. This enables dynamic purification of welding fumes to avoid affecting the welding field of view, interference-free infrared temperature measurement, and real-time detection of weld defects. The entire process requires no electrical control adjustment or external sensor drive, relying entirely on the welding heat and airflow to complete adaptive regulation. It creatively solves the industry pain points of traditional welding equipment, such as dust collection and fixation, fumes interfering with temperature measurement, and offline defect detection.

[0017] 1. Furthermore, a heat-sensing adjustment mechanism is constructed by using a first shape memory alloy, a second shape memory alloy, a fixed heat-conducting plate, and a movable heat-conducting plate. This mechanism can automatically adjust the suction coverage area and opening size of the elastic suction tube according to the real-time deformation of the welding temperature, achieving dynamic matching between the amount of smoke generated and the suction capacity. Under high temperature and large smoke conditions, the suction range and opening are automatically expanded to prevent smoke dispersion from blocking the optical path of the infrared temperature measuring head; under low temperature and small smoke conditions, the opening is automatically reduced to prevent excessive negative pressure from disturbing the welding protective gas field. No manual adjustment or electric control drive is required throughout the process. From a structural perspective, this ensures stable and reliable infrared temperature detection and weld tracking, and significantly improves detection accuracy.

[0018] 2. Furthermore, the suction airflow drives the fan blades and half-gear to rotate, which in turn drives the striking rod to achieve temperature-adaptive striking. The higher the temperature, the higher the striking frequency, forming a natural linkage between welding temperature, airflow intensity, and striking frequency. Combined with a high-temperature resistant ultrasonic sensor, it completes the acquisition of acoustic signals inside the weld and defect identification. It can predict potential problems such as porosity, lack of fusion, and cracks in real time during the welding process, replacing traditional offline flaw detection. It enables welding and inspection to be carried out simultaneously, significantly reducing rework rates and improving production continuity and product qualification rate.

[0019] 3. Furthermore, the functions of flue gas purification, temperature detection, defect prediction, and welding torch protection are integrated into the arc-shaped cover's integrated structure. All adjustments and drives are achieved using welding residual heat and negative pressure airflow, eliminating the need for complex components such as motors, solenoid valves, and independent drive sources, thus reducing equipment energy consumption and failure rate. The high-temperature resistant ultrasonic sensor is equipped with a shielding shell and a conical sound-concentrating cover, which can resist the high temperature of the electric arc, electromagnetic interference, and spatter erosion. The overall structure is suitable for harsh welding environments, has a long service life, low maintenance costs, and strong adaptability to industrial scenarios.

[0020] Furthermore, by ensuring the accuracy of infrared temperature measurement through flue gas purification, using temperature signals to link dust collection adjustment and tapping frequency, and using sound wave detection to provide feedback on the internal state of the weld, a closed-loop control system of temperature field, airflow field, and stress wave field is formed. This system can suppress welding defects in real time, stabilize the formation of the molten pool, and optimize the heat input distribution, effectively improving common problems such as uneven weld formation, oxidation, porosity, and incomplete penetration. It is especially suitable for high-precision, high-energy-density welding processes such as plasma arc welding, significantly improving welding consistency and the mechanical properties of structural components. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the connection structure between the welding head and the arc-shaped cover of the present invention; Figure 3 This is a schematic diagram of the structure of the arc-shaped cover and the welding head in the separated state of the present invention; Figure 4 This is a schematic diagram of the rear view of the arc-shaped cover structure of the present invention; Figure 5 This is a top view of the cross-section of the arc-shaped cover of the present invention; Figure 6 This is a schematic diagram of the internal structure of the arc-shaped cover of the present invention from below; Figure 7 This is a schematic diagram of the internal exploded structure of the arc-shaped cover of the present invention; Figure 8 This is a partial cross-sectional view of the flexible vacuum tube of the present invention; Figure 9 This is a cross-sectional view of the connection between the striking rod and the arc-shaped cover of the present invention. Figure 10 This is a schematic diagram of the distribution structure of the fan blade, half gear, and striking rod of the present invention.

[0022] In the diagram: 1. Robot body; 2. Welding head; 3. Arc-shaped cover; 4. Elastic suction tube; 5. First shape memory alloy; 6. Fixed heat conduction plate; 7. Second shape memory alloy; 8. Movable heat conduction plate; 9. Slide; 10. Infrared temperature measuring head; 11. Tapping rod; 12. Protrusion; 13. Vertical groove; 14. Spring; 15. Fan blade; 16. Half gear; 17. High-temperature resistant ultrasonic sensor. Detailed Implementation

[0023] 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.

[0024] This invention provides an automated welding robot, comprising a robot body 1, a welding head 2 at the top of the robotic arm of the robot body 1, an arc-shaped cover 3 at the rear of the robot body 1, an elastic suction tube 4 at the bottom inner side of the arc-shaped cover 3, a hollow structure in the middle of the arc-shaped cover 3, and an adjustment component between the bottom two sides of the elastic suction tube 4 and the inner wall of the arc-shaped cover 3. The adjustment component adapts to the welding temperature to adjust the suction range and opening size of the elastic suction tube 4. Infrared temperature measuring heads 10 are provided on the left and right sides of the bottom of the arc-shaped cover 3. A striking rod 11 is symmetrically slidably arranged on the rear side of the arc-shaped cover 3, and a high-temperature resistant ultrasonic sensor 17 is equipped on the bottom inner side of the striking rod 11. A frequency adjustment component is provided at the bottom of the arc-shaped cover 3, and the frequency adjustment component adjusts the striking frequency of the striking rod 11 as the welding temperature changes.

[0025] refer to Figure 1 - Figure 10 As shown, the overall operation of the scheme is as follows: when the robot body 1 drives the welding head 2 to perform plasma arc welding, the arc-shaped cover 3 covers the welding area synchronously with the robotic arm; the welding heat drives the first memory alloy 5 and the second memory alloy 7 to deform, adaptively adjusting the suction range and opening size of the elastic suction pipe 4 to achieve efficient absorption of fumes and eliminate interference with the infrared temperature measuring head 10; at the same time, the negative pressure airflow of the elastic suction pipe 4 drives the fan blade 15 to rotate, driving the half gear 16 and the striking rod 11 to form a striking action that changes with temperature and airflow, and cooperates with the high-temperature resistant ultrasonic sensor 17 to complete the acoustic defect detection of the weld seam, ultimately realizing the synchronous operation of four stations: welding, dust collection, temperature measurement, and defect prediction, with full self-adaptation and no human intervention.

[0026] Example 1: An adaptive flue gas purification and temperature protection mechanism is disclosed in the embodiments of the present invention. Please refer to... Figure 2 - Figure 3 , Figure 5 - Figure 8 As shown, its specific structure is as follows: Specifically, the flexible vacuum cleaner tube 4 is designed to be wider at the bottom and narrower at the top, and the top of the flexible vacuum cleaner tube 4 is connected to an external negative pressure device through a connecting tube. Guide strips are symmetrically arranged at the bottom opening of the flexible vacuum cleaner tube 4.

[0027] refer to Figure 2 - Figure 3 and Figure 5 - Figure 6 As shown, after welding begins, the welding head 2 generates a plasma arc to weld the workpiece. During the welding process, a large amount of high-temperature fumes are generated, and the temperature of the molten pool and surrounding area rises. An arc-shaped cover 3 is placed outside the welding head 2, and an elastic dust suction pipe 4 is installed at the bottom of its inner side. The dust suction pipe is tapered in shape, wider at the bottom and narrower at the top, and its top is connected to an external negative pressure device through a connecting pipe.

[0028] Specifically, the adjustment component includes a first shape memory alloy 5 disposed between the outer bottom of the elastic suction tube 4 and the inner wall of the arc-shaped cover 3. The two guide strips at the opening of the elastic suction tube 4 are connected to the first and second shape memory alloys 7. The bottoms of the first shape memory alloy 5 and the second shape memory alloy 7 are respectively connected to the fixed heat-conducting plate 6 and the movable heat-conducting plate 8. Both the fixed heat-conducting plate 6 and the movable heat-conducting plate 8 are set in a "U" shape. The fixed heat-conducting plate 6 and the movable heat-conducting plate 8 absorb the welding heat and conduct it to the first shape memory alloy 5 and the second shape memory alloy 7 to cause deformation. After the first shape memory alloy 5 is deformed, it pulls the elastic suction tube 4 to both sides to adjust the suction area.

[0029] refer to Figure 5 - Figure 8 As shown, during the welding process, a large amount of heat and fumes are generated around the molten pool and weld seam when the temperature of the dust collection range is adaptively adjusted. The heat is quickly conducted to the first shape memory alloy 5 and the second shape memory alloy 7 through the fixed heat conduction plate 6 and the movable heat conduction plate 8. The "U"-shaped arrangement can effectively absorb the heat radiated from the welding area. When the welding temperature rises, the fixed heat conduction plate 6 conducts heat to the first shape memory alloy 5, causing its temperature to exceed the phase change temperature. After being heated, the first shape memory alloy 5 undergoes a phase change, resulting in shrinkage and deformation. This pulls the bottom outer wall of the elastic dust collection tube 4 to both sides, causing the bottom of the elastic dust collection tube 4 to expand laterally, thereby expanding the dust collection coverage area and adapting to high temperature and large amount of fumes. When the temperature drops, the shape memory alloy resets, reducing the dust collection range and avoiding excessive negative pressure that disturbs the protective gas. This achieves a positive correlation between the dust collection range and the welding heat input and the amount of fumes generated: the greater the current, the higher the temperature, and the more fumes, the wider the dust collection range.

[0030] Specifically, after the second shape memory alloy 7 is deformed, the spacing between the front and rear guide strips is adjusted to adjust the opening size of the elastic suction tube 4. The outer side of the movable heat conduction plate 8 is slidably connected to the slide groove 9, and the slide groove 9 is opened on the inner wall of the arc-shaped cover 3. A ceramic heat insulation sheet is connected between the contact surface of the first shape memory alloy 5 and the elastic suction tube 4. The infrared temperature measuring head 10 detects the temperature of the molten pool during the welding process. The elastic suction tube 4 and the infrared temperature measuring head 10 together form a welding pre-inspection mechanism, and welding and inspection are carried out simultaneously.

[0031] refer to Figure 5 - Figure 8As shown, when the temperature adaptively adjusts the size of the suction opening, as the welding temperature rises, the movable heat-conducting plate 8 is heated, and the second shape memory alloy 7 undergoes a phase change and shrinks, pulling the guide strips on both sides closer together. This reduces the opening width at the bottom of the elastic suction tube 4, thus expanding the smoke extraction range while reducing the suction area and increasing suction power. The higher the temperature, the greater the smoke, and the greater the suction power of the suction port; the lower the temperature, the lower the suction power of the suction port. This precisely matches the amount of smoke generated. When the temperature rises, the suction demand increases, and the opening is appropriately narrowed to increase the airflow speed at the suction port and enhance the suction power of the smoke; when the temperature decreases, the opening... The suction is expanded and reduced to avoid disturbing the protective gas. The movable heat-conducting plate 8 slides smoothly within the groove 9 as the elastic suction tube 4 deforms, ensuring smooth and unobstructed deformation. A ceramic heat-insulating sheet prevents the shape memory alloy from conducting heat backwards and damaging the elastic suction tube 4. The elastic suction tube 4 is wider at the bottom and narrower at the top, forming a directional airflow with the external negative pressure equipment to quickly remove welding fumes. This ensures that the detection optical path of the infrared thermometer 10 is unobstructed and free from fumes interference, achieving stable and high-precision temperature acquisition. The infrared thermometer 10 collects the infrared radiation intensity of the molten pool and heat-affected zone in real time, converting it into a temperature signal that is transmitted to the control system. Because the fumigation device and the infrared thermometer 10 are integrated within the arc-shaped cover 3 in the spatial structure, and the fumigation airflow does not directly impact the temperature measurement optical path, the two form a functional synergy rather than mutual interference. The clean temperature measurement field ensures the accuracy and stability of the temperature data, providing reliable feedback for the closed-loop control of the welding process.

[0032] Example 2: Based on Example 1, an online acoustic detection mechanism for weld defects is also disclosed. Please refer to [link / reference]. Figure 4 and Figure 9 - Figure 10As shown, its specific structure is as follows: The frequency adjustment component includes a fan blade 15 located at the bottom opening of the arc-shaped cover 3, with the fan blade 15 facing the suction port of the elastic suction tube 4. The rotating shaft of the fan blade 15 is rotatably connected to the left and right sides of the arc-shaped cover 3. Half gears 16 are connected to both sides of the shaft of the fan blade 15. The outer side of the half gear 16 meshes with the protruding teeth on the striking rod 11. A spring 14 is connected between the striking rod 11 and the outside of the arc-shaped cover 3. A protrusion 12 is fixed to the side of the striking rod 11, and the protrusion 12 is slidably connected in the vertical groove 13. The vertical groove 13 is opened on the outside of the arc-shaped cover 3, and a spring is installed between the protrusion 12 and the vertical groove 13. Spring 14 and striking rod 11 form a vertical sliding striking structure through protrusion 12, spring 14 and half gear 16. After the striking rod 11 slides, its bottom contacts the surface of the workpiece. The rotation speed of fan blade 15 changes with the air pressure of elastic suction pipe 4, and fan blade 15 drives half gear 16 to rotate synchronously. The change in rotation speed of half gear 16 synchronously adjusts the striking frequency of striking rod 11. High temperature resistant ultrasonic sensor 17 is equipped with a shielding shell, and the transmitting end of high temperature resistant ultrasonic sensor 17 is equipped with a conical cover to concentrate the signal. The striking rod 11 and high temperature resistant ultrasonic sensor 17 form a sound wave parameter difference recognition structure, and the higher the welding temperature, the higher the striking frequency.

[0033] refer to Figure 4 and Figure 9 - Figure 10As shown, the flexible suction pipe 4 continuously draws in welding fumes under the action of the negative pressure device, and the airflow flows from bottom to top through the inside of the suction pipe. At the bottom opening of the arc-shaped cover 3, a fan blade 15 is positioned directly opposite the suction port of the elastic suction pipe 4. The suction airflow impacts the fan blade 15, driving it to rotate continuously around its axis. When the fan blade 15 drives the half gear 16 to rotate, the teeth of the half gear 16 mesh with the protruding teeth on the striking rod 11, pushing the striking rod 11 downwards. When the half gear 16 rotates to the toothless area, i.e., the missing tooth section of the half gear 16, the meshing disengages, and the striking rod 11 returns to its original position under the elastic force of the spring 14. The half gear 16 continues to rotate, and the striking rod 11 forms an intermittent up-and-down reciprocating motion, with its bottom repeatedly striking the surface of the workpiece. The higher the rotation speed of the fan blade 15, the higher the striking frequency, achieving a natural linkage of higher temperature → larger smoke → stronger suction airflow → faster fan blade 15 → denser striking. The bottom of the striking rod 11 gently taps the base material on both sides of the weld, with a gentle impact force that does not disturb the molten pool or affect the welding formation. When the welding temperature decreases... When the airflow speed decreases, the striking frequency automatically decreases, thus achieving a positive correlation and adaptive adjustment between the striking frequency and the welding heat input. The stress wave generated by the striking rod 11 propagates along the base material and inside the weld. Different states, such as defect-free welds, porosity, lack of fusion, and cracks, correspond to different sound wave propagation speeds, amplitudes, and frequency characteristics. The high-temperature resistant ultrasonic sensor 17 is arranged at the bottom inside the striking rod 11 and uses a non-contact method to receive reflected sound wave signals. The external shielding shell shields against arc electromagnetic interference, and the front conical cover concentrates sound to enhance signal strength. The sensor transmits the sound wave characteristics to the control system and compares them with the standard waveform. Abnormal sound wave attenuation, abrupt reflection, and frequency deviation indicate the presence of defects inside the weld, enabling real-time prediction during the welding process and replacing traditional offline flaw detection. The infrared temperature measuring head 10 and the high-temperature resistant ultrasonic sensor 17 are linked, and the sound wave detection is synchronously enhanced in areas with abnormal temperature fields, improving the accuracy of defect location.

[0034] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0035] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An automated welding robot, comprising a robot body (1), wherein a welding head (2) is provided at the top of the robotic arm of the robot body (1), an arc-shaped cover (3) is provided on the rear side of the robot body (1), and an elastic dust suction pipe (4) is provided on the bottom inner side of the arc-shaped cover (3). Its features are: The middle part of the arc-shaped cover (3) is set as a hollow structure. An adjustment component is set between the bottom two sides of the elastic suction tube (4) and the inner wall of the arc-shaped cover (3). The adjustment component adjusts the suction range and opening size of the elastic suction tube (4) according to the welding temperature. An infrared temperature measuring head (10) is set on the bottom left and right sides of the arc-shaped cover (3). A striking rod (11) is symmetrically slidably set on the rear side of the arc-shaped cover (3). A high-temperature resistant ultrasonic sensor (17) is equipped on the bottom inner side of the striking rod (11). A frequency adjustment component is set on the bottom of the arc-shaped cover (3). The frequency adjustment component adjusts the striking frequency of the striking rod (11) according to the welding temperature.

2. The automated welding robot according to claim 1, characterized in that: The elastic vacuum tube (4) is designed as a tapered shape with a wider bottom and a narrower top. The top of the elastic vacuum tube (4) is connected to an external negative pressure device through a connecting pipe. Guide strips are symmetrically arranged at the bottom opening of the elastic vacuum tube (4).

3. The automated welding robot according to claim 2, characterized in that: The adjustment assembly includes a first shape memory alloy (5) disposed between the outer bottom of the elastic suction tube (4) and the inner wall of the arc-shaped cover (3), and a second shape memory alloy (7) connected to the two guide strips between the openings of the suction tube (4). The bottoms of the first shape memory alloy (5) and the second shape memory alloy (7) are respectively connected to the fixed heat-conducting plate (6) and the movable heat-conducting plate (8).

4. An automated welding robot according to claim 3, characterized in that: The fixed heat-conducting plate (6) and the movable heat-conducting plate (8) are both set as "U" shaped structures. The fixed heat-conducting plate (6) and the movable heat-conducting plate (8) absorb welding heat and conduct it to the first memory alloy (5) and the second memory alloy (7) to cause deformation. After the first memory alloy (5) is deformed, it pulls the elastic suction tube (4) to both sides to adjust the suction area. After the second memory alloy (7) is deformed, it adjusts the spacing between the front and rear guide strips and thus adjusts the opening size of the elastic suction tube (4). The outer side of the movable heat-conducting plate (8) is slidably connected to the slide groove (9), and the slide groove (9) is opened on the inner wall of the arc-shaped cover (3). A ceramic heat insulation sheet is connected between the contact surface of the first memory alloy (5) and the elastic suction tube (4).

5. An automated welding robot according to claim 1, characterized in that: The infrared thermometer (10) detects the temperature of the molten pool during the welding process, and the elastic dust suction tube (4) works in conjunction with the infrared thermometer (10) to form a welding pre-inspection mechanism, so that welding and inspection are carried out simultaneously.

6. An automated welding robot according to claim 1, characterized in that: The frequency adjustment component includes a fan blade (15) located at the bottom opening of the arc-shaped cover (3), with the fan blade (15) facing the suction port of the elastic suction pipe (4). The rotating shaft of the fan blade (15) is rotatably connected to the left and right sides of the arc-shaped cover (3). Half gears (16) are connected to both sides of the shaft of the fan blade (15). The outer side of the half gear (16) is meshed with the convex teeth on the striking rod (11). A spring (14) is connected between the striking rod (11) and the outside of the arc-shaped cover (3).

7. An automated welding robot according to claim 6, characterized in that: The side of the striking rod (11) is fixed with a protrusion (12), and the protrusion (12) is slidably connected in the vertical groove (13). The vertical groove (13) is opened outside the arc-shaped cover (3), and a spring (14) is installed between the protrusion (12) and the vertical groove (13). The striking rod (11) forms a vertical sliding striking structure through the protrusion (12), the spring (14) and the half gear (16), and the bottom of the striking rod (11) contacts the surface of the workpiece after sliding.

8. An automated welding robot according to claim 7, characterized in that: The rotation speed of the fan blade (15) changes with the air pressure of the elastic suction pipe (4), and the fan blade (15) drives the half gear (16) to rotate synchronously. The rotation speed of the half gear (16) synchronously adjusts the striking frequency of the striking rod (11).

9. An automated welding robot according to claim 8, characterized in that: The high-temperature resistant ultrasonic sensor (17) is provided with a shielding shell on the outside, and the transmitting end of the high-temperature resistant ultrasonic sensor (17) is provided with a conical cover to concentrate the signal.

10. An automated welding robot according to claim 9, characterized in that: The striking rod (11) is combined with a high-temperature resistant ultrasonic sensor (17) to form a sound wave parameter difference identification structure, and the higher the welding temperature, the higher the striking frequency.

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