конвертирайте NULL
стойности с празен низ, като го обвиете в COALESCE
SELECT CONCAT(COALESCE(`affiliate_name`,''),'-',COALESCE(`model`,''),'-',COALESCE(`ip`,''),'-',COALESCE(`os_type`,''),'-',COALESCE(`os_version`,'')) AS device_name
FROM devices