A shipbuilding industry robot

Abstract

This invention provides an industrial robot for shipbuilding, belonging to the field of shipbuilding. It includes a slide rail, an electrically driven slider slidably mounted on the upper surface of the slide rail, a robot body fixedly mounted on the top surface of the electrically driven slider, a welding torch fixedly mounted on the left end of the robot body's output arm, an adjusting component on the robot body's output arm, and a striking mechanism on the robot body's output arm. This invention, through the coordinated design of a drive mechanism, a transmission mechanism, and a striking mechanism, uses a drive mechanism to drive a transmission mechanism, which in turn drives a striking hammer in a vertical reciprocating motion. This causes the bottom surface of the striking hammer to impact the two sides of the weld seam of the two welded metal materials. The impact force causes the welded metal materials to unfold, effectively reducing residual welding stress and avoiding the problems of low practicality and reduced shipbuilding efficiency associated with traditional industrial robots.

Description

Technical Field

[0001] This invention belongs to the field of shipbuilding technology, and in particular relates to an industrial robot for shipbuilding. Background Technology

[0002] In shipbuilding, ships have complex structures, consisting of the hull, power plant, outfitting and other equipment. The hull is the core component of the ship. The deck of a ship is generally made of plates spliced ​​and welded together to form a whole. Industrial robots are usually used when welding sections of a ship.

[0003] A search revealed that Chinese patent CN114178758A discloses a ship welding robot, whose main structure includes a scissor lift frame, a first guide rail, and a second guide rail. The robot is characterized in that one end of the first guide rail intersects with one end of the second guide rail, and the two are connected by an angle adjustment mechanism. One side of one end of the scissor lift frame is connected to the first guide rail and can slide along the length direction of the first guide rail, while the other side is connected to the second guide rail and can slide along the length direction of the second guide rail. A welding rod is provided at the other end of the scissor lift frame, and the length direction of the welding rod is perpendicular to the length direction of the scissor lift frame.

[0004] While this device is particularly suitable for automated welding of simple structures such as straight welds on ships, replacing manual operations for feeding, translating, and moving the welding rod, resulting in uniform welding specifications, high work efficiency, and low cost, its function is limited. It cannot quickly and effectively reduce residual welding stress after welding. After welding, the longitudinal and transverse shrinkage of the weld during cooling easily generates residual welding stress at the weld joint, reducing welding quality and effectiveness. Typically, the welded material needs to be transported to a residual stress treatment workshop for stress treatment through vibration, high-temperature tempering, or thermal stretching. This results in low practicality and reduced shipbuilding efficiency, thus requiring improvement. Summary of the Invention

[0005] This invention provides an industrial robot for shipbuilding, which aims to solve the problems mentioned in the background art.

[0006] This invention is implemented as follows: a shipbuilding industrial robot includes a slide rail, an electric slider slidably mounted on the upper surface of the slide rail, a robot body fixedly mounted on the top surface of the electric slider, a welding torch fixedly mounted on the left end of the output arm of the robot body, an adjusting component provided on the output arm of the robot body, and a striking mechanism provided on the output arm of the robot body; the striking mechanism includes a mounting shell, which is fixedly mounted on the bottom surface of the output arm of the robot body, four mounting cylinders are symmetrically and vertically fixedly mounted on the front and rear sides of the inner cavity of the mounting shell, a striking hammer is vertically slidably mounted in the inner cavity of the mounting cylinder, a transmission mechanism is provided above the mounting cylinder, the transmission mechanism drives the striking hammer to reciprocate vertically to strike both sides of the weld seam of two welded metal materials, the striking mechanism also includes a driving mechanism and a scraping and cleaning mechanism, the driving mechanism drives the four transmission mechanisms to operate synchronously, and the scraping and cleaning mechanism scrapes and cleans the flux residue generated after the weld seam cools.

[0007] Preferably, the transmission mechanism includes a rotating disk, a rotating rod, a pressing rod, and a first compression spring. The rotating disk is rotatably mounted on the upper side of the inner cavity of the mounting cylinder via a rotating shaft. The rotating rod is eccentrically mounted on one side wall of the rotating disk via a rotating shaft. The pressing rod is vertically slidably mounted in the inner cavity of the hammer, and the top end of the pressing rod extends to the outside of the inner cavity of the hammer. The top end of the pressing rod is rotatably connected to the bottom end of the rotating rod. The first compression spring is vertically disposed in the inner cavity of the hammer, and both ends of the first compression spring are fixedly connected to the bottom surface of the inner cavity of the hammer and the bottom end of the pressing rod, respectively.

[0008] Preferably, the drive mechanism includes a drive motor, two drive rods, a main pulley, two driven pulleys, and a drive belt. The drive motor is fixedly installed at the top of the inner cavity of the mounting housing. The two drive rods are rotatably mounted on two mounting cylinders located at the front and rear of the inner cavity of the mounting housing, respectively, via bearings. The two ends of the drive rods are fixedly connected to the center of one side wall of the corresponding two rotating disks. The main pulley is fixedly fitted onto the output shaft end of the drive motor. The two driven pulleys are symmetrically fixedly fitted onto the middle of the two drive rods. The drive belt is movably fitted onto the main pulley and the two driven pulleys.

[0009] Preferably, the scraping and cleaning mechanism includes an assembly shell, which is fixedly mounted on four mounting cylinders. The front of the assembly shell has an opening, and the inner cavity of the assembly shell communicates with the opening. The bottom surface of the assembly shell is at the same height as the bottom surface of the mounting cylinder. Two scraping plates are symmetrically arranged at the front of the inner cavity of the assembly shell. A support column is vertically fixedly mounted on the top surface of the scraping plate. The top end of the support column extends through to the top of the assembly shell and is slidably connected to the top surface of the assembly shell. A support rod is rotatably mounted on the top of the support column. One end of the support rod extends through to the adjacent mounting cylinder and is rotatably connected to the upper part of the outer surface of the hammer. A brush cleaning roller is provided at the rear of the two scraping plates. The brush cleaning roller is rotatably connected to the inner cavity of the assembly shell through a rotating shaft. The scraping and cleaning mechanism also includes a linkage mechanism.

[0010] Preferably, the linkage mechanism includes two crankshafts, which are symmetrically rotatably mounted on the left and right side walls of the assembly housing. One end of each crankshaft is fixedly connected to one end of the brush cleaning roller. A first connecting rod is mounted on the crankshaft via a bearing. A slide rod is rotatably mounted on the rear part of the first connecting rod via a rotating shaft. The slide rod is slidably connected to the side wall of the assembly housing. A second connecting rod is rotatably mounted on the rear part of the slide rod via a rotating shaft. The rear end of the second connecting rod extends into two mounting cylinders located at the rear of the inner cavity of the assembly housing. The second connecting rod is rotatably connected to the upper part of the outer surface of the corresponding striking hammer.

[0011] Preferably, two annular plates are symmetrically fixedly installed in the inner cavity of the mounting cylinder, the hammer passes through the inner cavity of the two annular plates, an annular block is fixedly sleeved in the middle of the hammer, and a second compression spring is movably sleeved on the outer surface of the hammer. The two ends of the second compression spring are fixedly connected to the bottom surface of the annular block and the upper surface of the annular plate, respectively.

[0012] Preferably, a discharge channel is provided on the rear side of the inner cavity of the assembly shell, and a sealing door is rotatably installed on the rear side wall of the assembly shell via a hinge. The shape of the sealing door is adapted to the shape of the discharge channel. Two magnetic sheets are symmetrically fixedly installed on the sealing door and the rear side wall of the assembly shell, and the two magnetic sheets are magnetically attracted to each other.

[0013] Preferably, the adjusting component is a hydraulic cylinder, which is rotatably mounted on an adjusting arm connected to the output arm of the robot body via a rotating shaft, and the output end of the hydraulic cylinder is rotatably connected to the upper surface of the output arm of the robot body.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This shipbuilding industrial robot utilizes a coordinated design of drive, transmission, and striking mechanisms. The drive mechanism powers the transmission mechanism, which in turn drives the striking hammer in a vertical reciprocating motion. This causes the hammer's base to impact the two sides of the weld seam between the two welded metal materials. The impact force unfolds the welded metal, effectively reducing residual welding stress. An external control system controls an electric slider to move the robot body, which in turn drives the striking mechanism to automatically strike along the weld seam. This facilitates rapid and effective reduction of residual welding stress after welding, improving the practicality of the device and the efficiency of shipbuilding. It solves the problem in existing technologies where residual welding stress easily arises at the weld joint due to longitudinal and lateral shrinkage during the cooling process after welding, which reduces welding quality and effectiveness. Typically, the welded material needs to be transported to a residual stress treatment workshop for stress treatment through vibration, high-temperature tempering, or thermal stretching, leading to the low practicality and reduced efficiency of traditional industrial robots in shipbuilding.

[0015] This shipbuilding industrial robot, through the coordinated design of scraping and cleaning mechanisms and linkage mechanisms, allows the scraping plates to reciprocate via a support rod when the hammer performs vertical reciprocating motion. The two scraping plates contact the surface of the welded metal material, and when they approach each other, they scrape away the flux residue generated during welding. Simultaneously, the hammer's movement drives a sliding rod via a second connecting rod, which in turn drives a crankshaft through a first connecting rod. This crankshaft then rotates a brush cleaning roller, which in turn transports the scraped flux residue to the inner cavity of the assembly shell for collection. This eliminates the need for manual cleaning of the scraped flux residue, further improving manufacturing efficiency. It solves the problem of traditional industrial robots lacking the ability to clean flux residue generated after welding, which previously required manual cleaning, resulting in high labor intensity and low cleaning efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of a shipbuilding industrial robot. Figure 2 This is a schematic diagram of the hammering mechanism, drive mechanism, linkage mechanism and scraping cleaning mechanism in a shipbuilding industrial robot. Figure 3 This is a front sectional view of a transmission mechanism, mounting cylinder, hammer, extrusion rod, first compression spring, second compression spring, assembly shell, scraper, and support rod in a shipbuilding industrial robot. Figure 4 for Figure 2 An enlarged schematic diagram of part A shown; Figure 5This is a schematic diagram of the left cross-sectional structure of a transmission mechanism, mounting cylinder, hammer, crankshaft, first connecting rod, slide rod, second connecting rod, and assembly shell in a shipbuilding industrial robot. Figure 6 This is a bottom view schematic diagram of the mounting cylinder, hammer, assembly shell, scraper, and brush cleaning roller in a shipbuilding industrial robot. Figure 7 An exploded view of the structure of a brush cleaning roller, linkage mechanism, scraper, assembly shell, discharge channel and sealing door in a shipbuilding industrial robot; Figure 8 for Figure 7 An enlarged schematic diagram of part B shown.

[0017] In the picture: 1. Slide rail; 2. Electric slider; 3. The robot itself; 4. Welding torch; 5. Adjusting components; 6. Striking mechanism; 61. Install the casing; 62. Install the cylinder; 63. Hammer; 7. Transmission mechanism; 71. Rotating disc; 72. Rotating rod; 73. Extrusion rod; 74. First compression spring; 8. Drive mechanism; 81. Drive motor; 82. Drive rod; 83. Main pulley; 84. From the pulley; 85. Drive belt; 9. Scraping and cleaning mechanism; 91. Assemble the shell; 92. Scraper; 93. Support rod; 94. Brush cleaning roller; 10. Linkage mechanism; 101. Crankshaft; 102. First link; 103. Sliding rod; 104. Second connecting rod; 11. Second compression spring. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0019] like Figures 1 to 8 As shown, the present invention provides a shipbuilding industrial robot, including a slide rail 1, an electric slider 2 slidably mounted on the upper surface of the slide rail 1, the electric slider 2 is prior art, and its structure and principle will not be described in detail here, a robot body 3 is fixedly mounted on the top surface of the electric slider 2, and is connected to the robot body 3 and the electric slider 2 through an external control system to facilitate the control of the robot body 3 and the electric slider 2, a welding torch 4 is fixedly mounted on the left end of the output arm of the robot body 3, the welding torch 4 is connected to an external power source through a wire, an adjustment component 5 is provided on the output arm of the robot body 3, and a striking mechanism 6 is provided on the output arm of the robot body 3; The striking mechanism 6 includes a mounting shell 61, which is fixedly mounted on the bottom surface of the output arm of the robot body 3. Four mounting cylinders 62 are symmetrically and vertically fixedly mounted on the front and rear sides of the inner cavity of the mounting shell 61. A striking hammer 63 is vertically and slidably mounted in the inner cavity of the mounting cylinder 62. A transmission mechanism 7 is provided above the mounting cylinder 62. The transmission mechanism 7 drives the striking hammer 63 to reciprocate vertically to strike both sides of the weld seam of the two welded metal materials. The striking mechanism 6 also includes a drive mechanism 8 and a scraping and cleaning mechanism 9. The drive mechanism 8 drives the four transmission mechanisms to operate synchronously. The scraping and cleaning mechanism 9 scrapes and cleans the flux residue generated after the weld seam cools down.

[0020] Specifically, during use, the drive mechanism 8 drives the transmission mechanism 7 to operate, and the transmission mechanism 7 drives the hammer 63 to move vertically and reciprocally, so that the bottom surface of the hammer 63 impacts the two sides of the weld seam of the two welded metal materials. The impact force causes the welded metal materials to unfold, which can effectively reduce the residual stress of welding. The external control system controls the electric slider 2 to drive the robot body 3 to move, so that the robot body 3 drives the hammering mechanism 6 to automatically hammer along the weld seam of the welded metal materials, which facilitates the rapid and effective reduction of residual stress after welding, improving the practicality of the device and the efficiency of shipbuilding.

[0021] The position of the welding torch 4 and the hammering mechanism can be quickly adjusted by controlling the adjustment component 5. After the welding torch 4 welds the metal material, the position of the hammering mechanism can be quickly adjusted to hammer the weld seam of the metal material.

[0022] like Figure 1 , Figure 5 and Figure 6As shown, the transmission mechanism 7 includes a rotating disk 71, a rotating rod 72, a pressing rod 73, and a first compression spring 74. The rotating disk 71 is rotatably mounted on one side of the inner cavity of the mounting cylinder 62 via a rotating shaft. The rotating rod 72 is eccentrically mounted on one side wall of the rotating disk 71 via a rotating shaft. The pressing rod 73 is vertically slidably mounted in the inner cavity of the hammer 63, and the top end of the pressing rod 73 extends to the outside of the inner cavity of the hammer 63. The top of the pressing rod 73 is rotatably connected to the bottom of the rotating rod 72. The first compression spring 74 is vertically arranged in the inner cavity of the hammer 63, and the two ends of the first compression spring 74 are fixedly connected to the bottom surface of the inner cavity of the hammer 63 and the bottom end of the pressing rod 73, respectively.

[0023] Specifically, during use, when the rotating disk 71 rotates, it drives the rotating rod 72 to rotate, thereby the rotating rod 72 drives the pressing rod 73 to move vertically back and forth. The pressing rod 73 pushes the first compression spring 74 to move downward, and the first compression spring 74 can push the hammer 63 to impact the surface of the welded metal material.

[0024] like Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the drive mechanism 8 includes a drive motor 81, two drive rods 82, a main pulley 83, two driven pulleys 84, and a drive belt 85. The drive motor 81 is fixedly installed on the top of the inner cavity of the mounting housing 61. The two drive rods 82 are rotatably mounted on two mounting cylinders 62 at the front and two mounting cylinders 62 at the rear of the inner cavity of the mounting housing 61 respectively through bearings. The two ends of the drive rods 82 are fixedly connected to the center of one side wall of the corresponding two rotating disks 71. The main pulley 83 is fixedly fitted on the output shaft end of the drive motor 81. The two driven pulleys 84 are symmetrically fixedly fitted on the middle of the two drive rods 82. The drive belt 85 is movably fitted on the main pulley 83 and the two driven pulleys 84.

[0025] Specifically, during operation, the drive motor 81 drives the main pulley 83 to rotate, which in turn drives the two drive rods 82 to rotate synchronously via the drive belt 85 and two slave pulleys 84. Thus, the two drive rods 82 can synchronously drive the four hammers 63 to strike the surface of the welded metal material through the transmission mechanism. The synchronous drive improves the stability of the equipment operation.

[0026] like Figure 2 , Figure 3 , Figure 6 and Figure 7As shown, the scraping and cleaning mechanism 9 includes an assembly shell 91, which is fixedly mounted on four mounting cylinders 62. The front of the assembly shell 91 has an opening, and the inner cavity of the assembly shell 91 communicates with the opening. The bottom surface of the assembly shell 91 is at the same height as the bottom surface of the mounting shell 61. Two scraping plates 92 are symmetrically arranged at the front of the inner cavity of the assembly shell 91. A support column is vertically fixedly mounted on the top surface of the scraping plate 92. The top end of the support column extends through to the top of the assembly shell 91, and the support column is slidably connected to the top surface of the assembly shell 91. A support rod 93 is rotatably mounted on the top of the support column. One end of the support rod 93 extends through to the adjacent mounting cylinder 62, and the support rod 93 is rotatably connected to the upper part of the outer surface of the hammer 63. A brush cleaning roller 94 is provided at the rear of the two scraping plates 92. The brush cleaning roller 94 is rotatably connected to the inner cavity of the assembly shell 91 through a rotating shaft. The scraping and cleaning mechanism also includes a linkage mechanism.

[0027] Specifically, during use, when the hammer 63 reciprocates vertically, the support rod 93 drives the scraper 92 to reciprocate. The two scraper 92 come into contact with the surface of the welded metal material. When the two scraper 92 approach each other, they can scrape off the flux residue generated during welding. This avoids the problem that traditional industrial robots do not have the function of cleaning flux residue generated after welding, which requires manual cleaning of flux residue, resulting in high labor intensity and low cleaning efficiency.

[0028] like Figure 2 , Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, the linkage mechanism 10 includes two crankshafts 101, which are symmetrically and rotatably mounted on the left and right side walls of the assembly housing 91. One end of the crankshaft 101 is fixedly connected to one end of the brush cleaning roller 94. A first connecting rod 102 is mounted on the crankshaft 101 via a bearing. A slide rod 103 is rotatably mounted on the rear part of the first connecting rod 102 via a rotating shaft. The slide rod 103 is slidably connected to the side wall of the assembly housing 91. A second connecting rod 104 is rotatably mounted on the rear part of the slide rod 103 via a rotating shaft. The rear end of the second connecting rod 104 extends into two mounting cylinders 62 located at the rear of the inner cavity of the mounting housing 61. The second connecting rod 104 is rotatably connected to the upper part of the outer surface of the corresponding hammer 63.

[0029] Specifically, during use, when the hammer 63 moves, it drives the slide bar 103 to move via the second connecting rod 104. The slide bar 103 drives the crankshaft 101 to rotate via the first connecting rod 102. As a result, the crankshaft 101 drives the brush cleaning roller 94 to rotate. When the brush cleaning roller 94 rotates, the bristles can transport the scraped medicine skin to the inner cavity of the assembly shell 91 for collection. There is no need for manual cleaning of the scraped medicine skin, which further improves manufacturing efficiency.

[0030] like Figure 3 and Figure 6 As shown, two annular plates are symmetrically fixedly installed in the inner cavity of the mounting cylinder 62. The hammer 63 passes through the inner cavity of the two annular plates. An annular block is fixedly sleeved in the middle of the hammer 63. A second compression spring 11 is movably sleeved on the outer surface of the hammer 63. The two ends of the second compression spring 11 are fixedly connected to the bottom surface of the annular block and the upper surface of the annular plate, respectively.

[0031] Specifically, during use, after the hammer 63 moves downward to strike the welding metal material, the second compression spring 11 can drive the hammer 63 to move upward to reset, so that the hammer 63 can continue to reciprocate to strike the welding metal material.

[0032] like Figure 7 As shown, a discharge channel is provided on the rear side of the inner cavity of the assembly shell 91. A sealing door is rotatably installed on the rear side wall of the assembly shell 91 via a hinge, and the shape of the sealing door is adapted to the shape of the discharge channel. Two magnetic sheets are symmetrically fixedly installed on the sealing door and the rear side wall of the assembly shell 91, and the two magnetic sheets are attracted to each other magnetically.

[0033] Specifically, when the equipment stops operating, the operator can open the sealed door to easily remove and clean the collected shavings, avoiding the shavings from scattering and affecting environmental hygiene.

[0034] like Figure 1 As shown, the adjusting component 5 is a hydraulic cylinder. The hydraulic cylinder is rotatably mounted on the adjusting arm connected to the output arm of the robot body 3 via a rotating shaft. The output end of the hydraulic cylinder is rotatably connected to the upper surface of the output arm of the robot body 3.

[0035] Specifically, during use, the hydraulic cylinder can adjust the position of the welding torch 4 and the striking mechanism 6. When the hydraulic cylinder retracts, it facilitates the striking mechanism 6 to relieve welding stress on the metal material. When the hydraulic cylinder extends, it facilitates the welding torch 4 to weld the metal material. The adjustment method is simple and quick.

[0036] Working principle and usage process of this invention: In use, the hydraulic cylinder first adjusts the positions of the welding torch 4 and the striking mechanism 6. When the hydraulic cylinder retracts, the striking mechanism 6 facilitates stress relief treatment of the welded metal material. When the hydraulic cylinder extends, the welding torch 4 facilitates welding of the welded metal material. When the drive motor 81 is started, it drives the main pulley 83 to rotate. Through the drive belt 85 and two driven pulleys 84, the two drive rods 82 rotate synchronously. The rotation of the drive rods 82 drives the rotating disk 71 to rotate. When the rotating disk 71 rotates, it drives the rotating rod 72 to rotate. Thus, the rotating rod 72 drives the pressing rod 73 to move vertically back and forth. The pressing rod 73 pushes the first compression spring 74 to move downward. The first compression spring 74 can push the striking hammer 63 to impact the surface of the welded metal material. The impact force causes the welded metal material to unfold, thus achieving... To effectively reduce welding residual stress, the electric slider 2 is controlled by an external control system to move the robot body 3. The robot body 3 then drives the hammering mechanism 6 to automatically hammer along the weld seam of the welded metal material. When the hammering hammer 63 moves vertically back and forth, the support rod 93 drives the scraping plate 92 to move back and forth. The two scraping plates 92 contact the surface of the welded metal material. When the two scraping plates 92 approach each other, they can scrape off the flux generated during welding. At the same time, when the hammering hammer 63 moves, it drives the slide rod 103 to move through the second connecting rod 104. The slide rod 103 drives the crankshaft 101 to rotate through the first connecting rod 102. The crankshaft 101 drives the brush cleaning roller 94 to rotate. When the brush cleaning roller 94 rotates, the bristles can transport the scraped flux to the inner cavity of the assembly shell 91 for collection.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A shipbuilding industrial robot, comprising a slide rail (1), characterized in that: An electric slider (2) is slidably mounted on the upper surface of the slide rail (1). A robot body (3) is fixedly mounted on the top surface of the electric slider (2). A welding torch (4) is fixedly mounted on the left end of the output arm of the robot body (3). An adjustment component (5) is provided on the output arm of the robot body (3). A knocking mechanism (6) is provided on the output arm of the robot body (3). The striking mechanism (6) includes a mounting shell (61), which is fixedly mounted on the bottom surface of the output arm of the robot body (3). Four mounting cylinders (62) are symmetrically and vertically fixedly mounted on the front and rear sides of the inner cavity of the mounting shell (61). A striking hammer (63) is vertically slidably mounted in the inner cavity of the mounting cylinder (62). A transmission mechanism (7) is provided above the mounting cylinder (62). The transmission mechanism (7) drives the striking hammer (63) to move vertically back and forth to strike both sides of the weld seam of the two welded metal materials. The striking mechanism (6) also includes a driving mechanism (8) and a scraping and cleaning mechanism (9). The driving mechanism (8) drives the four transmission mechanisms (7) to operate synchronously. The scraping and cleaning mechanism (9) scrapes off the flux residue generated after the weld seam is cooled. The transmission mechanism (7) includes a rotating disk (71), a rotating rod (72), a pressing rod (73), and a first compression spring (74). The rotating disk (71) is rotatably mounted on the upper side of the inner cavity of the mounting cylinder (62) via a rotating shaft. The rotating rod (72) is eccentrically mounted on one side wall of the rotating disk (71) via a rotating shaft. The pressing rod (73) is vertically slidably mounted in the inner cavity of the hammer (63), and the top end of the pressing rod (73) extends to the outside of the inner cavity of the hammer (63). The top of the pressing rod (73) is rotatably connected to the bottom of the rotating rod (72). The first compression spring (74) is vertically arranged in the inner cavity of the hammer (63), and the two ends of the first compression spring (74) are fixedly connected to the bottom surface of the inner cavity of the hammer (63) and the bottom end of the pressing rod (73), respectively. The drive mechanism (8) includes a drive motor (81), two drive rods (82), a main pulley (83), two driven pulleys (84), and a drive belt (85). The drive motor (81) is fixedly installed on the top of the inner cavity of the mounting housing (61). The two drive rods (82) are respectively rotatably installed on two mounting cylinders (62) at the front and two mounting cylinders (62) at the rear of the inner cavity of the mounting housing (61) through bearings. The two ends of the drive rods (82) are respectively fixedly connected to the center of one side wall of the corresponding two rotating disks (71). The main pulley (83) is fixedly fitted on the output shaft end of the drive motor (81). The two driven pulleys (84) are symmetrically fixedly fitted on the middle of the two drive rods (82). The drive belt (85) is movably fitted on the main pulley (83) and the two driven pulleys (84). The scraping and cleaning mechanism (9) includes an assembly shell (91), which is fixedly mounted on four mounting cylinders (62). The front of the assembly shell (91) has an opening, and the inner cavity of the assembly shell (91) communicates with the opening. The bottom surface of the assembly shell (91) is at the same height as the bottom surface of the mounting shell (61). Two scraping plates (92) are symmetrically arranged at the front of the inner cavity of the assembly shell (91). A support column is vertically fixedly mounted on the top surface of the scraping plate (92), and the top end of the support column extends through the assembly shell (91). Above the support column (91), the support column is slidably connected to the top surface of the assembly shell (91). A support rod (93) is rotatably installed on the top of the support column. One end of the support rod (93) passes through the adjacent mounting cylinder (62). The support rod (93) is rotatably connected to the upper part of the outer surface of the hammer (63). A brush cleaning roller (94) is provided at the rear of the two scraping plates (92). The brush cleaning roller (94) is rotatably connected to the inner cavity of the assembly shell (91) through a rotating shaft. The scraping and cleaning mechanism (9) also includes a linkage mechanism (10). The linkage mechanism (10) includes two crankshafts (101), which are symmetrically rotated and mounted on the left and right side walls of the assembly housing (91). One end of each crankshaft (101) is fixedly connected to one end of the brush cleaning roller (94). A first connecting rod (102) is mounted on the crankshaft (101) via a bearing. A slide rod (103) is rotatably mounted on the rear part of the first connecting rod (102) via a rotating shaft. The slide rod (103) is slidably connected to the side wall of the assembly housing (91). A second connecting rod (104) is rotatably mounted on the rear part of the slide rod (103) via a rotating shaft. The rear end of the second connecting rod (104) extends into two mounting cylinders (62) located at the rear of the inner cavity of the mounting housing (61). The second connecting rod (104) is rotatably connected to the upper outer surface of the corresponding hammer (63).

2. The shipbuilding industrial robot as described in claim 1, characterized in that, Two annular plates are symmetrically fixedly installed in the inner cavity of the mounting cylinder (62). The hammer (63) passes through the inner cavity of the two annular plates. An annular block is fixedly sleeved in the middle of the hammer (63). A second compression spring (11) is movably sleeved on the outer surface of the hammer (63). The two ends of the second compression spring (11) are fixedly connected to the bottom surface of the annular block and the upper surface of the annular plate, respectively.

3. The shipbuilding industrial robot as described in claim 1, characterized in that, The inner cavity of the assembly shell (91) is provided with a discharge channel. The rear side wall of the assembly shell (91) is fitted with a sealing door by a hinge. The shape of the sealing door is adapted to the shape of the discharge channel. Two magnetic sheets are symmetrically fixedly installed on the sealing door and the rear side wall of the assembly shell (91), and the two magnetic sheets are attracted to each other.

4. The shipbuilding industrial robot as described in claim 1, characterized in that, The adjusting component (5) is a hydraulic cylinder. The hydraulic cylinder is rotatably mounted on the adjusting arm connected to the output arm of the robot body (3) via a rotating shaft. The output end of the hydraulic cylinder is rotatably connected to the upper surface of the output arm of the robot body (3).

Images