Mooring chain welding burr removing device

Abstract

The invention relates to the technical field of deburring, in particular to a mooring chain welding burr removing device which comprises a mooring chain hanging frame, a mooring chain is hung on the mooring chain hanging frame, a deburring workbench is arranged on one side of the mooring chain hanging frame, a circular through groove is formed in the top of the deburring workbench, and an annular moving device is arranged at the top of the deburring workbench. Two anchor chain clamping mechanisms and two bidirectional moving mechanisms are arranged at the top of the annular moving device, and full-angle deburring devices are arranged at the tops of the bidirectional moving mechanisms; through cooperative work of a plurality of mechanical parts, welding burrs of the mooring chain can be comprehensively removed, through cooperative use of the full-angle deburring device and the bidirectional moving mechanism, the front face and the back face of a chain ring can be accurately cut, adjustment can be conducted at multiple angles, and it is ensured that the welding burrs of all parts can be removed.

Description

Technical Field

[0001] The present invention relates to the technical field of deburring, and in particular to a mooring chain welding burr removal device. Background Art

[0002] As an important fixing tool for ocean engineering, ships and offshore platforms, mooring chains need to be welded to connect chain links during the production process. After welding, welding burrs usually occur at the welding joints. If these burrs are not removed in time, they will affect the service life, mechanical properties and safety of the mooring chain, and may even lead to failures or accidents during offshore operations in severe cases.

[0003] However, most of the existing deburring devices on the market rely on manual operation or semi-automatic equipment, and use methods such as manual grinding and cutting to remove welding burrs. Manual deburring requires highly skilled workers, and due to the large influence of human factors during the operation process, it is difficult to ensure that the removal of burrs on each chain link is precisely consistent. Long-term manual operation may also cause worker fatigue, thereby affecting the safety and efficiency of the operation. Most traditional deburring devices rely on manual control or simple mechanical structures, and it is difficult to precisely adjust the cutting positions at various angles. Therefore, it is difficult to guarantee the deburring effect, especially on different parts of the chain link or chain links at special angles, where it is easy to have the situation of incomplete removal, affecting the quality of the final product. Summary of the Invention

[0004] In view of the above-mentioned defects existing in the prior art, the present invention provides a mooring chain welding burr removal device, which solves the problems of high risk of manual operation, low efficiency, poor deburring accuracy and unstable process existing in manual operation or semi-automatic equipment.

[0005] The object of the present invention is achieved through the following technical solutions. A mooring chain welding burr removal device includes a mooring chain suspension rack, on which a mooring chain is hung. One side of the mooring chain suspension rack is provided with a deburring workbench. A circular through groove is opened at the top of the deburring workbench. An annular moving device is arranged at the top of the deburring workbench. Two anchor chain clamping mechanisms and two bidirectional moving mechanisms are arranged at the top of the annular moving device. A full-angle deburring device is arranged at the top of the bidirectional moving mechanism;

[0006] The full-angle deburring device includes an L-shaped mounting plate. On one side of the L-shaped mounting plate, a first permanent magnet synchronous motor is installed. The output end of the first permanent magnet synchronous motor penetrates through the L-shaped mounting plate and is connected to a rotating square plate. A rotating shaft is fixedly connected to the center of the rotating square plate. Both ends of the rotating shaft are rotatably connected to a semi-closed annular rack. Semi-closed annular grooves are provided at the top and bottom of the semi-closed annular rack. A moving frame is slidably connected in the semi-closed annular groove. A second permanent magnet synchronous motor is installed in the moving frame. The output end of the second permanent magnet synchronous motor is connected to a first gear. A driving motor is installed on one side of the inner side wall of the moving frame. The output end of the driving motor penetrates through the moving frame and is connected to a deburring cutter head. A third permanent magnet synchronous motor is installed on one side of the rotating square plate. The output end of the third permanent magnet synchronous motor is connected to a driving gear. A driven gear is fixedly connected to the surface of the rotating shaft.

[0007] Further, the semi-closed annular rack is meshed and connected with the first gear, and the driving gear is meshed and connected with the driven gear.

[0008] Further, the annular moving device includes an annular rack and an annular track. Both the annular rack and the annular track are installed on the top of the deburring workbench. Four track trolleys are installed on the annular track. Bottom plates are installed on the tops of the four track trolleys. Two chain clamping mechanisms and two bidirectional moving mechanisms are symmetrically installed on the tops of the four bottom plates respectively. A first servo motor is installed on the top of the bottom plate. The output end of the first servo motor penetrates through the bottom plate and is connected to a second gear. The second gear is meshed and connected with the annular rack.

[0009] Further, the track trolley includes a support plate. Four rollers are rotatably installed at the bottom of the support plate. The four rollers slide on both sides of the annular track respectively. The bottom plate is connected to the support plate.

[0010] Further, the chain clamping mechanism includes a cylinder. The cylinder is horizontally installed on the top of the bottom plate. An arc-shaped chuck is installed at the output end of the cylinder.

[0011] Further, the bidirectional moving mechanism includes two groups of bearing seats. The bearing seats are installed on the top of the bottom plate. A worm is rotatably connected between each group of bearing seats. A second servo motor is installed on one side of each group of bearing seats on the top of the bottom plate. The two second servo motors are respectively connected to the corresponding worms. A worm gear is meshed and connected between the two worms. A third gear is connected to the top of the worm gear through a connecting shaft. A first V-shaped guiding column is installed on the top of each group of bearing seats. A sliding block adapted to it is slidably connected on the first V-shaped guiding column. Two second V-shaped guiding columns are jointly installed on the tops of the two sliding blocks. A rack frame is slidably connected between the two second V-shaped guiding columns.

[0012] Furthermore, the rack frame includes two racks. Connecting plates are installed on both sides of the two racks. A V-shaped slider adapted to the second V-shaped guide post is connected to one side of each rack. A connecting vertical plate is connected to the top of the rack. The two connecting vertical plates are jointly connected to the L-shaped mounting plate, and the two racks are simultaneously meshed and connected to the third gear.

[0013] Furthermore, the annular rack and the annular track share the same geometric center with the circular through groove.

[0014] In summary, compared with the prior art, the present invention has the following advantages:

[0015] 1. The present invention adopts a highly automated work process. From the clamping of the endless chain to the removal of welding burrs, all steps are controlled mechanistically, significantly improving work efficiency, reducing the tediousness of manual operations, and greatly reducing the risks of worker operations.

[0016] 2. Through the coordinated work of multiple mechanical components, the present invention can achieve the comprehensive removal of welding burrs on the mooring chain. The combined use of the full-angle deburring device and the bidirectional moving mechanism can not only precisely cut the front and back surfaces of the chain links, but also be adjusted at multiple angles to ensure that the welding burrs at all parts can be removed.

[0017] 3. Through the anchor chain clamping mechanism on the annular moving device, the device can accurately clamp and position the mooring chain, avoiding the displacement or loosening of the chain links during the deburring process. It can ensure the high precision and high stability of the deburring process, and greatly reduce the influence of human factors on the operation precision.

[0018] 4. In the present invention, the annular moving device rotates the anchor chain clamping mechanism and the bidirectional moving mechanism to a suitable position to clamp the chain links at different angles and remove the welding burrs, enabling the device to adapt to different angles of the chain links and providing higher flexibility for clamping the chain links and removing the welding burrs. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a schematic structural diagram of the present invention;

[0020] Figure 2 is an enlarged schematic structural diagram of part A of the present invention;

[0021] Figure 3 is a schematic structural diagram of the annular moving device of the present invention;

[0022] Figure 4 is a schematic structural diagram of the annular moving device of the present invention;

[0023] Figure 5Schematic diagram of the track trolley structure of the present invention;

[0024] Figure 6 Schematic diagram of the anchor chain clamping mechanism of the present invention;

[0025] Figure 7 Schematic diagram of the bidirectional moving mechanism of the present invention;

[0026] Figure 8 Schematic diagram of the bidirectional moving mechanism of the present invention;

[0027] Figure 9 Schematic diagram of the rack frame of the present invention;

[0028] Figure 10 Schematic diagram of the full-angle deburring device of the present invention.

[0029] In the figure: 1 - Mooring chain suspension bracket, 2 - Deburring workbench, 21 - Circular through groove, 3 - Ring-shaped moving device, 4 - Anchor chain clamping mechanism, 5 - Bidirectional moving mechanism, 6 - Full-angle deburring device, 601 - L-shaped mounting plate, 602 - First permanent magnet synchronous motor, 603 - Rotating square plate, 604 - Rotating shaft, 605 - Semi-closed ring-shaped rack, 606 - Semi-closed ring-shaped groove, 607 - Moving frame, 608 - Second permanent magnet synchronous motor, 609 - First gear, 610 - Driving motor, 611 - Deburring cutter head, 612 - Third permanent magnet synchronous motor, 613 - Driving gear, 614 - Driven gear, 301 - Ring-shaped rack, 302 - Ring-shaped track, 303 - Track trolley, 304 - Bottom plate, 305 - First servo motor, 306 - Second gear, 3031 - Support plate, 3032 - Roller, 401 - Cylinder, 402 - Arc-shaped chuck, 501 - Bearing seat, 502 - Worm, 503 - Second servo motor, 504 - Worm gear, 505 - Third gear, 506 - First V-shaped guiding column, 507 - Sliding block, 508 - Second V-shaped guiding column, 509 - Rack frame, 5091 - Rack, 5092 - Connecting plate, 5093 - V-shaped slider, 5094 - Connecting vertical plate. Detailed implementation manners

[0030] The following are specific embodiments to further specifically illustrate the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0031] Combined with Figures 1 to 10As shown in the figure, a mooring chain burr removal device includes a mooring chain suspension rack 1, on which a mooring chain is hung. On one side of the mooring chain suspension rack 1, there is a deburring workbench 2. On the top of the deburring workbench 2, a circular through groove 21 is opened. On the top of the deburring workbench 2, there is an annular moving device 3. On the top of the annular moving device 3, there are two anchor chain clamping mechanisms 4 and two bidirectional moving mechanisms 5. On the top of the bidirectional moving mechanisms 5, there is a full-angle deburring device 6;

[0032] Combined Figure 10As shown, the full-angle deburring device 6 includes an L-shaped mounting plate 601. On one side of the L-shaped mounting plate 601, a first permanent magnet synchronous motor 602 is installed. The output end of the first permanent magnet synchronous motor 602 penetrates through the L-shaped mounting plate 601 and is connected to a rotating square plate 603. A rotating shaft 604 is fixedly connected to the center of the rotating square plate 603. Both ends of the rotating shaft 604 are rotatably connected to a semi-closed annular rack 605. Semi-closed annular grooves 606 are formed at the top and bottom of the semi-closed annular rack 605. A moving frame 607 is slidably connected in the semi-closed annular grooves 606. A second permanent magnet synchronous motor 608 is installed in the moving frame 607. The output end of the second permanent magnet synchronous motor 608 is connected to a first gear 609. On one side of the inner side wall of the moving frame 607, a driving motor 610 is installed. The output end of the driving motor 610 penetrates through the moving frame 607 and is connected to a deburring cutter head 611. On one side of the rotating square plate 603, a third permanent magnet synchronous motor 612 is installed. The output end of the third permanent magnet synchronous motor 612 is connected to a driving gear 613. A driven gear 614 is fixedly connected to the surface of the rotating shaft 604; the first permanent magnet synchronous motor 602 drives the rotating square plate 603 to rotate. The rotating square plate 603 drives the semi-closed annular rack 605 to rotate, thereby driving the deburring cutter head 611 of the moving frame 607 to rotate. The third permanent magnet synchronous motor 612 drives the driving gear 613 to mesh with the driven gear 614. At this time, the driven gear 614 is fixedly connected to the rotating shaft 604, and both ends of the rotating shaft 604 are rotatably connected to the semi-closed annular rack 605. Therefore, the semi-closed annular rack 605 will rotate along the rotating shaft 604. At the same time, the deburring cutter head 611 of the moving frame 607 will also rotate along the rotating shaft 604. The deburring cutter head 611 can perform up and down cutting on the position to be deburred. The second permanent magnet synchronous motor 608 drives the first gear 609 to mesh with the semi-closed annular rack 605, so that the moving frame 607 will rotate along the semi-closed annular groove 606. When the cutting of the front position to be deburred is completed, the deburring cutter head 611 is moved to the side position to be deburred through the bidirectional moving mechanism 5 and the second permanent magnet synchronous motor 608, and the side position to be deburred is cut. In this process, the deburring cutter head 611 will perform multi-angle cutting. The driving motor 610 drives the deburring cutter head 611 to cut. Two full-angle deburring devices 6 will simultaneously cut the front and back positions to be deburred, and then cut the two side positions to be deburred. At this time, the welding burrs of the chain link are completely removed, and the various parts of the chain link can be accurately cut at multiple angles to ensure that the welding burrs of each part are removed.

[0033] Combined with Figure 10 As shown, the semi-closed annular rack 605 is meshed and connected with the first gear 609, and the driving gear 613 is meshed and connected with the driven gear 614, which can provide a more stable transmission and avoid uneven deburring caused by uneven transmission.

[0034] Combined withFigure 3 and Figure 4 As shown in Figure 4 , the annular moving device 3 includes an annular rack 301 and an annular track 302. Both the annular rack 301 and the annular track 302 are installed on the top of the deburring workbench 2. Four track trolleys 303 are installed on the annular track 302. Bottom plates 304 are installed on the tops of the four track trolleys 303. Two anchor chain clamping mechanisms 4 and two bidirectional moving mechanisms 5 are symmetrically installed on the tops of the four bottom plates 304 respectively. A first servo motor 305 is installed on the top of the bottom plate 304. The output end of the first servo motor 305 penetrates through the bottom plate 304 and is connected to a second gear 306. The second gear 306 is meshed with the annular rack 301. By driving the second gear 306 to rotate through the first servo motor 305, and the second gear 306 is meshed with the annular rack 301, the track trolley 303 moves on the annular track 302, and the annular rack 301 and the annular track 302 share the same geometric center. Thus, the four bottom plates 304 make circular motions on the annular track 302, and can rotate the anchor chain clamping mechanism 4 and the bidirectional moving mechanism 5 to appropriate positions to clamp the chain links at different angles and remove the welding burrs, enabling the device to adapt to different angles of the chain links and providing higher flexibility for clamping the chain links and removing the welding burrs.

[0035] Combined with Figure 5 As shown in Figure 5 , the track trolley 303 includes a support plate 3031. Four rollers 3032 are rotatably installed at the bottom of the support plate 3031. The four rollers slide on both sides of the annular track 302 respectively. The bottom plate 304 is connected to the support plate 3031, which can reduce the friction with the track and ensure the stable operation of the device.

[0036] Combined with Figure 6 As shown in Figure 6 , the anchor chain clamping mechanism 4 includes a cylinder 401. The cylinder 401 is horizontally installed on the top of the bottom plate 304. An arc-shaped chuck 402 is installed at the output end of the cylinder 401, enabling the chain link to be accurately clamped, avoiding the displacement or loosening of the chain link during the deburring process, and improving the stability and precision of deburring.

[0037] Combined with Figure 7 and Figure 8As shown in the figure, the bidirectional moving mechanism 5 includes two groups of bearing seats 501. The bearing seats 501 are installed on the top of the bottom plate 304. A worm 502 is rotatably connected between each group of bearing seats 501. A second servo motor 503 is installed on the top of the bottom plate 304 on one side of each group of bearing seats 501. The two second servo motors 503 are respectively connected to the corresponding worms 502. A worm gear 504 is meshed and connected between the two worms 502. A third gear 505 is connected to the top of the worm gear 504 through a connecting shaft. A first V-shaped guiding column 506 is installed on the top of each group of bearing seats 501. A sliding block 507 adapted to it is slidably connected to the first V-shaped guiding column 506. Two second V-shaped guiding columns 508 are jointly installed on the tops of the two sliding blocks 507. A rack frame 509 is slidably connected between the two second V-shaped guiding columns 508. By driving the two worms 502 to rotate respectively through the two second servo motors 503, and the two worms 502 are simultaneously meshed and connected to the worm gear 504. When the rotation directions of the two worms 502 are the same, the worm gear 504 will move along the worm 502. At this time, the rack frame 509 will move along the first V-shaped guiding column 506. When the rotation directions of the two worms 502 are opposite, the worm gear 504 will rotate on its own. After the worm gear 504 rotates on its own, it drives the third gear 505 to rotate. The third gear 505 is meshed with the rack 5091 of the rack frame 509. At this time, the rack frame 509 will move along the direction of the second V-shaped guiding column 508, so that the full-angle deburring device 6 can perform precise movements in the X and Y axis directions.

[0038] Combined with Figure 9 As shown in the figure, the rack frame 509 includes two racks 5091. Connecting plates 5092 are installed on both sides of the two racks 5091. A V-shaped slider 5093 adapted to the second V-shaped guiding column 508 is connected to one side of each rack 5091. A connecting vertical plate 5094 is connected to the top of the rack 5091. The two connecting vertical plates 5094 are jointly connected to the L-shaped mounting plate 601. The two racks 5091 are simultaneously meshed and connected to the third gear 505. The third gear 505 is meshed with the rack 5091. The rack frame 509 will move along the direction of the second V-shaped guiding column 508, providing more stable guiding.

[0039] Combined with Figure 3 As shown in the figure, the annular rack 301 and the annular track 302 share the same geometric center with the circular through groove 21, making the cooperation between each component closer and reducing the instability and inaccuracy caused by errors.

[0040] Working principle: During the production process of the mooring chain, first, one end of the mooring chain is hung on the mooring chain suspension rack 1 to ensure that the chain links can be stably suspended for subsequent operations. After the chain links are buckled, the interface is welded. After welding, welding burrs will appear on the chain links and need to be further removed. After welding, the mooring chain suspension rack 1 drives the shaft roller thereon to rotate through a reduction motor, causing one end of the mooring chain to move upward, and then moving the welded chain link to a suitable position of the burr removal device. At this time, the two anchor chain clamping mechanisms 4 and the bidirectional moving mechanism 5 are moved to suitable positions through the annular moving device 3. The second gear 306 is driven to rotate by the first servo motor 305. The second gear 306 is meshed and connected with the annular rack 301. The rail trolley 303 moves on the annular track 302, and the annular rack 301 and the annular track 302 share the same geometric center. Thus, the four bottom plates 304 make a circular motion on the annular track 302. The anchor chain clamping mechanisms 4 at the tops of two opposite bottom plates 304 drive the arc-shaped chucks 402 to expand and contract through the cylinders 401. The two arc-shaped chucks 402 clamp the welded chain link, and the clamping position is below the burrs. At this time, the chain link is fixed to prevent movement.For the two opposite two-way moving mechanisms 5 at the top of the other two bottom plates 304, two second servo motors 503 drive two worms 502 to rotate respectively. The two worms 502 are simultaneously meshed with worm wheels 504. When the two worms 502 rotate in the same direction, the worm wheels 504 will move along the worms 502. At this time, the rack frame 509 will move along the first V-shaped guide post 506. When the two worms 502 rotate in opposite directions, the worm wheels 504 will rotate on their own axes. After the worm wheels 504 rotate on their own axes, they drive the third gears 505 to rotate. The third gears 505 are meshed with the racks 5091 of the rack frame 509. At this time, the rack frame 509 will move along the direction of the second V-shaped guide post 508, so that the full-angle deburring device 6 can move in the X and Y axis directions to adjust the position of the deburring cutter head 611 so that the deburring cutter head 611 contacts the position to be deburred. The rotation square plate 603 is driven to rotate by the first permanent magnet synchronous motor 602. The rotation square plate 603 drives the semi-closed annular rack 605 to rotate, thereby driving the deburring cutter head 611 of the moving frame 607 to rotate. The driving gear 613 is driven to mesh with the driven gear 614 by the third permanent magnet synchronous motor 612. At this time, the driven gear 614 is fixedly connected to the rotating shaft 604. The two ends of the rotating shaft 604 are rotatably connected to the semi-closed annular rack 605. Therefore, the semi-closed annular rack 605 will rotate along the rotating shaft 604. At the same time, the deburring cutter head 611 of the moving frame 607 will also rotate along the rotating shaft 604, and the deburring cutter head 611 can perform up-and-down cutting on the position to be deburred. The first gear 609 is driven to mesh with the semi-closed annular rack 605 by the second permanent magnet synchronous motor 608, so that the moving frame 607 will rotate along the semi-closed annular groove 606. After the cutting of the front position to be deburred is completed, the deburring cutter head 611 is moved to the side position to be deburred through the two-way moving mechanism 5 and the second permanent magnet synchronous motor 608 for cutting the side position to be deburred. In this process, the deburring cutter head 611 will perform multi-angle cutting. The deburring cutter head 611 is driven to cut by the driving motor 610. The two full-angle deburring devices 6 will simultaneously cut the front and back positions to be deburred, and then cut the two side positions to be deburred. At this time, the welding burrs of the chain links are completely removed. The mooring chain suspension bracket 1 drives the shaft roller thereon to rotate through the reduction motor, so that one end of the mooring chain moves upward. After a new chain link is buckled on one end of the mooring chain, the new chain link and the previous chain link are basically at a ninety-degree angle. At this time, after the anchor chain clamping mechanism 4, the two-way moving mechanism 5 and the full-angle deburring device 6 are rotated to a suitable position by the annular moving device 3, the chain link is clamped and the welding burrs are removed. This process is repeated until all the welding burrs of the chain links are removed.

[0041] The embodiments of the present invention are not limited to those described in the above embodiments. Without departing from the spirit and scope of the present invention, those of ordinary skill in the art can make various changes and improvements in form and detail, and all of these are considered to fall within the protection scope of the present invention.

Claims

1. A mooring chain welding burr removal device, comprising a mooring chain suspension frame (1), on which a mooring chain is hung, characterized in that: A deburring workbench (2) is arranged on one side of the mooring chain hanging frame (1); a circular through groove (21) is provided on the top of the deburring workbench (2); an annular moving device (3) is arranged on the top of the deburring workbench (2); two anchor chain clamping mechanisms (4) and two bidirectional moving mechanisms (5) are arranged on the top of the annular moving device (3); a full-angle deburring device (6) is arranged on the top of the bidirectional moving mechanism (5); The full-angle deburring device (6) comprises an L-shaped mounting plate (601), a first permanent magnet synchronous motor (602) is mounted on one side of the L-shaped mounting plate (601), an output end of the first permanent magnet synchronous motor (602) passes through the L-shaped mounting plate (601) and is connected to a rotating square plate (603), a rotating shaft (604) is fixedly connected to the center of the rotating square plate (603), both ends of the rotating shaft (604) are rotatably connected to a semi-enclosed annular rack (605), the top and bottom of the semi-enclosed annular rack (605) are both provided with a semi-enclosed annular groove (606), a movable frame (606) is slidably connected in the semi-enclosed annular groove (606) 7), a second permanent magnet synchronous motor (608) is installed in the movable frame (607), the output end of the second permanent magnet synchronous motor (608) is connected to a first gear (609), a driving motor (610) is installed on one side of the inner wall of the movable frame (607), the output end of the driving motor (610) passes through the movable frame (607) and is connected to a deburring cutter head (611), a third permanent magnet synchronous motor (612) is installed on one side of the rotating square plate (603), the output end of the third permanent magnet synchronous motor (612) is connected to a driving gear (613), and a driven gear (614) is fixedly connected to the surface of the rotating shaft (604).

2. A mooring chain welding burr removal device according to claim 1, characterized in that: The semi-enclosed annular rack (605) is meshedly connected with the first gear (609), and the driving gear (613) is meshedly connected with the driven gear (614).

3. A mooring chain welding burr removal device according to claim 2, characterized in that: The annular moving device (3) comprises an annular rack (301) and an annular track (302), the annular rack (301) and the annular track (302) are both mounted on the top of the deburring workbench (2), four track trolleys (303) are mounted on the annular track (302), a bottom plate (304) is mounted on the top of the four track trolleys (303), two anchor chain clamping mechanisms (4) and two bidirectional moving mechanisms (5) are symmetrically mounted on the top of the four bottom plates (304), a first servo motor (305) is mounted on the top of the bottom plate (304), an output end of the first servo motor (305) passes through the bottom plate (304) and is connected to a second gear (306), and the second gear (306) is meshedly connected to the annular rack (301).

4. A mooring chain welding burr removal device according to claim 3, characterized in that: The track trolley (303) comprises a support plate (3031), and four rollers (3032) are rotatably mounted at the bottom of the support plate (3031). The four rollers slide on both sides of the annular track (302) respectively, and the bottom plate (304) is connected to the support plate (3031).

5. A mooring chain welding burr removal device according to claim 4, characterized in that: The anchor chain clamping mechanism (4) comprises a cylinder (401), the cylinder (401) is transversely mounted on the top of the bottom plate (304), and an arc-shaped clamp (402) is mounted on the output end of the cylinder (401).

6. A mooring chain welding burr removal device according to claim 5, characterized in that: The bidirectional moving mechanism (5) comprises two groups of bearing seats (501), the bearing seats (501) being mounted on the top of the base plate (304), a worm (502) being rotatably connected between each group of the bearing seats (501), a second servo motor (503) being mounted on one side of each group of the bearing seats (501) at the top of the base plate (304), two of the second servo motors (503) being respectively connected to the corresponding worm (502), and the two worms (502) being meshed together. A worm gear (504) is connected, and the top of the worm gear (504) is connected to a third gear (505) via a connecting shaft. A first V-shaped guide column (506) is installed on the top of each group of bearing seats (501), and a sliding block (507) adapted thereto is slidably connected to the first V-shaped guide column (506). Two second V-shaped guide columns (508) are installed on the top of the two sliding blocks (507), and a rack frame (509) is slidably connected between the two second V-shaped guide columns (508).

7. A mooring chain welding burr removal device according to claim 6, characterized in that: The rack frame (509) comprises two racks (5091), connecting plates (5092) are installed on both sides of the two racks (5091), one side of each rack (5091) is connected to a V-shaped sliding block (5093) adapted to the second V-shaped guide column (508), the top of the rack (5091) is connected to a connecting vertical plate (5094), the two connecting vertical plates (5094) are jointly connected to the L-shaped mounting plate (601), and the two racks (5091) are simultaneously meshed and connected to the third gear (505).

8. A mooring chain welding burr removal device according to claim 7, characterized in that: The annular rack (301) and the annular track (302) share the same geometric center as the circular through groove (21).

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