CN114481265A - Rail type working device for automatic coating operation of frame - Google Patents
Rail type working device for automatic coating operation of frame Download PDFInfo
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- CN114481265A CN114481265A CN202011271089.7A CN202011271089A CN114481265A CN 114481265 A CN114481265 A CN 114481265A CN 202011271089 A CN202011271089 A CN 202011271089A CN 114481265 A CN114481265 A CN 114481265A
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- 239000011248 coating agent Substances 0.000 title claims abstract description 26
- 238000000576 coating method Methods 0.000 title claims abstract description 26
- 238000001962 electrophoresis Methods 0.000 claims abstract description 38
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 230000033001 locomotion Effects 0.000 claims abstract description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000013519 translation Methods 0.000 abstract description 14
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000007598 dipping method Methods 0.000 description 12
- 230000001360 synchronised effect Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 8
- 238000005507 spraying Methods 0.000 description 8
- 238000005406 washing Methods 0.000 description 6
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000010422 painting Methods 0.000 description 4
- 239000002245 particle Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000003973 paint Substances 0.000 description 3
- 239000007788 liquid Substances 0.000 description 2
- 238000002791 soaking Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005238 degreasing Methods 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 239000013505 freshwater Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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- C—CHEMISTRY; METALLURGY
- C25—ELECTROLYTIC OR ELECTROPHORETIC PROCESSES; APPARATUS THEREFOR
- C25D—PROCESSES FOR THE ELECTROLYTIC OR ELECTROPHORETIC PRODUCTION OF COATINGS; ELECTROFORMING; APPARATUS THEREFOR
- C25D13/00—Electrophoretic coating characterised by the process
- C25D13/22—Servicing or operating apparatus or multistep processes
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Materials Engineering (AREA)
- Metallurgy (AREA)
- Organic Chemistry (AREA)
- Automobile Manufacture Line, Endless Track Vehicle, Trailer (AREA)
Abstract
A frame automated coating operation rail type working device comprises a rail, a rail car and a folding kinematic chain, wherein the rail is an elevated rail and is laid right above an electrophoresis cell, the rail car is arranged on the rail through rail wheels, and the movement of the rail car is driven by a motor; the folding kinematic chain is arranged below the rail car and comprises a first driving arm, a second driving arm, a first driven arm, a second driven arm, a third driven arm, a fourth driven arm, a first rocker arm, a second rocker arm, a first shelf and a second shelf; the rail car, the first driving arm, the first shelf and the first driven arm form a parallelogram mechanism; the third driven arm, the first rocker arm, the first shelf and the second shelf form a parallelogram mechanism; each driving arm and each rocker arm are driven by a linear driver, the linear drivers are electro-hydraulic push rods, and under the cooperation of the linear drivers, the second shelf and the third shelf realize two-degree-of-freedom translation relative to the rail car, so that the requirements of a frame electrophoresis production line are met.
Description
Technical Field
The invention relates to the field of electrophoretic coating, in particular to a rail type working device for automatic coating operation of a frame.
Background
Electrophoretic coating is a special coating technology, and is originally originated from coating research on body-in-white primer by using anodic electrophoresis by ford motor companies in the united states, and is built into the first-generation electrophoretic coating equipment in 1963, and at present, electrophoresis has become one of the most common methods for coating metal workpieces, and plays an increasingly important role in the fields of automobiles, motorcycles, mechanical equipment, jewelry and the like. The electrophoresis process is divided into anodic electrophoresis and cathodic electrophoresis. If the paint particles are negatively charged, the workpiece is an anode, and the paint particles deposit and form a film on the workpiece under the action of an electric field force, which is called anode electrophoresis; conversely, if the coating particles are positively charged and the workpiece is a cathode, the deposition of the coating particles onto the workpiece is called cathodic electrophoresis. Before the metal piece electrophoretic coating operation, firstly, the surface of the metal piece is pretreated through the processes of high-pressure washing, hot water washing, pre-degreasing, water washing, surface conditioning, phosphating, water washing, pure water washing, fresh water washing and the like, so that the consistency of the surface conductivity of an electrophoretic piece is ensured, and then, before electrophoresis, the electrophoretic coating is carried out through spraying, cathode electrophoresis, tank outlet spraying, ultrafiltrate soaking, ultrafiltrate spraying, pure water soaking and fresh pure water spraying, and floating paint on the surface is removed.
With the increasing of the output of heavy-duty automobiles, the quality requirement is continuously improved, and in order to improve the corrosion resistance of heavy-duty automobiles, the frames and cabs of trucks are generally coated by an electrophoresis process at present. The truck frame mostly adopts a continuous cathode electrophoresis system to carry out electrophoretic coating, the system mainly comprises an electrophoresis tank, a transfer tank and a circulating system, electrophoretic coating equipment is complex, once running, the running is generally not stopped, higher requirements are not only provided for equipment maintenance and repair, but also for equipment reliability. Because truck frame quality and bulky, in the in-process that the frame immerges the electrophoresis cell, current electrophoresis production line adopts linear guide type dipping device usually, reciprocates the dipping in-process at plummer hoist truck frame, has the guide rail jamming, unstable, plummer flexibility subalternation problem, and not only the fault rate is high, has restricted productivity ratio, and the electrophoresis production line who disposes linear guide type dipping device needs higher workshop height moreover, has increased investment cost by a wide margin.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provide a rail type working device for automatic coating operation of a frame, which can realize stable and reliable lifting and moving of the frame, reduce the failure rate, improve the dipping flexibility of the frame and reduce the manufacturing cost of an electrophoresis production line.
The invention achieves the above purpose by the following technical scheme: a frame automated coating operation rail type working device comprises a rail, a rail car and a folding kinematic chain, wherein the rail is an elevated rail and is laid right above an electrophoresis cell, the rail car is arranged on the rail through rail wheels, the movement of the rail car is driven by a motor and controlled by computer programming, and the rail car is driven by the motor to move controllably along the rail; the folding kinematic chain is arranged below the rail car and comprises a first driving arm, a second driving arm, a first driven arm, a second driven arm, a third driven arm, a fourth driven arm, a first rocker arm, a second rocker arm, a first shelf and a second shelf; the first shelf is respectively installed below the railcar through a first driving arm, a second driving arm, a first driven arm and a second driven arm, and the second shelf is respectively installed below the first shelf through a third driven arm, a fourth driven arm, a first rocker arm and a second rocker arm; a third shelf for hanging or bearing a truck frame is fixedly arranged at the lower end of the second shelf; the shelf is of a frame type steel structure;
one end of the first driving arm is connected with the rail car through a first revolute pair, and the other end of the first driving arm is connected with the first shelf through a second revolute pair; one end of the second driving arm is connected with the rail car through a third revolute pair, and the other end of the second driving arm is connected with the first shelf through a fourth revolute pair; the first driving arm and the second driving arm are respectively driven by a first linear driver and a second linear driver, one end of the first linear driver is connected with the railcar by a fifth revolute pair, and the other end of the first linear driver is connected with the first driving arm by a sixth revolute pair; one end of the second linear driver is connected with the rail car through a seventh revolute pair, and the other end of the second linear driver is connected with the second driving arm through an eighth revolute pair; when the first linear driver and the second linear driver are synchronously stretched, the first driving arm and the second driving arm synchronously swing relative to the rail car; one end of the first driven arm is connected with the rail car through a ninth revolute pair, and the other end of the first driven arm is connected with the first shelf through a tenth revolute pair; one end of the second driven arm is connected with the rail car through an eleventh revolute pair, and the other end of the second driven arm is connected with the first shelf through a twelfth revolute pair; the hole center distance of a rotating pair contained on the first driving arm is equal to the hole center distance of a rotating pair contained on the second driving arm, the hole center distance of a rotating pair contained on the first driven arm is equal to the hole center distance of a rotating pair contained on the second driven arm, and the rail car, the first driving arm, the first shelf and the first driven arm form a parallelogram mechanism; when the first driving arm and the second driving arm synchronously swing relative to the rail car, the first shelf translates with single degree of freedom relative to the rail car;
one end of the third driven arm is connected with the first shelf through a thirteenth revolute pair, the other end of the third driven arm is connected with the second shelf through a fourteenth revolute pair, one end of the fourth driven arm is connected with the first shelf through a fifteenth revolute pair, and the other end of the fourth driven arm is connected with the second shelf through a sixteenth revolute pair; the first rocker arm is mounted on the first shelf through a seventeenth revolute pair, the first rocker arm is connected with the second shelf through an eighteenth revolute pair, the second rocker arm is mounted on the first shelf through a nineteenth revolute pair, and the second rocker arm is connected with the second shelf through a twentieth revolute pair; the first rocker arm and the second rocker arm are respectively driven by a third linear driver and a fourth linear driver, one end of the third linear driver is connected with the first shelf through a twenty-first revolute pair, and the other end of the third linear driver is connected with the first rocker arm through a twenty-second revolute pair; one end of the fourth linear driver is connected with the first shelf through a twenty-third rotating pair, and the other end of the fourth linear driver is connected with the second rocker arm through a twenty-fourth rotating pair; the pitch of the centers of the holes of the rotating pairs contained in the first rocker arm is equal to that of the rotating pairs contained in the second rocker arm; the hole center distance of a revolute pair contained in the third driven arm is equal to the hole center distance of a revolute pair contained in the fourth driven arm; the third driven arm, the first rocker arm, the first shelf and the second shelf form a parallelogram mechanism; the first rocker arm and the second rocker arm synchronously swing relative to the first shelf under the synchronous drive of the third linear driver and the fourth linear driver, so that the single-degree-of-freedom translation of the second shelf relative to the first shelf is realized; under the synchronous swing coordination of the first linear driver and the second linear driver, the second shelf and the third shelf can realize two-degree-of-freedom translation relative to the rail car, namely vertical up-down translation and horizontal translation through the synchronous swing of the third linear driver and the fourth linear driver, so that the requirements of the frame electrophoresis production line are met. The first linear driver, the second linear driver, the third linear driver and the fourth linear driver are all electro-hydraulic push rods, the problems that a servo electric cylinder is poor in starting load capacity and lack of overload protection are solved, a pump station is not needed to be arranged compared with a hydraulic cylinder, and transmission precision is high.
When the rail type working device for the automatic coating operation of the frame is used for electrophoretic coating operation, under the coordination of an overhead rail chain conveying system, a truck frame is hung or placed on a third-layer shelf, a rail car moves right above an electrophoretic pool along a rail, at the moment, a first driving arm and a second driving arm synchronously swing relative to the rail car under the synchronous driving of a first linear driver and a second linear driver, and a first rocker arm and a second rocker arm synchronously swing relative to the first shelf under the synchronous driving of a third linear driver and a fourth linear driver; under the coordination of all linear drivers, the second shelf and the third shelf realize two-degree-of-freedom translation relative to the rail car, namely, the third shelf is horizontally lowered to the liquid level of the electrophoretic pool to submerge the truck frame by realizing vertical up-down translation and horizontal posture adjustment, so that the dipping bath electrophoresis operation of the truck frame is realized; after this process is accomplished, the truck frame is vertical lifting to a take the altitude above the electrophoresis cell under folding motion chain drive control, and the railcar moves to next electrophoresis cell along the track and continues to carry out the dipping operation, and after the electrophoresis application operation was accomplished to the frame, the station such as spraying was carried out to follow-up spraying operation through overhead track chain conveying system conveying.
The invention has the outstanding advantages that:
1. this kind of automatic application operation rail mounted equipment of frame passes through the railcar and removes in the electrophoresis cell top, and stability is good, and the security is high, can cooperate the operation with overhead rail chain conveying system, improves frame electrophoresis production line production efficiency by a wide margin. The folding kinematic chain is driven by the electro-hydraulic push rod, so that the problems of poor starting load capacity and lack of overload protection of the servo electric cylinder are solved, a pump station is not required to be arranged compared with a hydraulic cylinder, the transmission precision is high, and the failure rate is reduced.
2. The rail type working device for the automatic coating operation of the frame adopts the folding kinematic chain to replace the vertical guide rail type dipping device of the existing frame electrophoresis production line, not only improves the stability of the dipping device, avoids mechanical faults caused by synchronous abnormity easily occurring due to the linear guide rail, but also can realize two-degree-of-freedom translation adjustment of the shelf in the vertical and horizontal directions through programming control of the linear driver, effectively increases the flexibility of the dipping device, and meets the requirements of the production process of complex electrophoresis lines.
3. This kind of frame automatic application operation rail mounted equipment makes this kind of dipping bath conveyor reduce vertical height through folding of folding kinematic chain because of adopting folding kinematic chain design, compares the vertical guide rail type dipping bath device of current frame electrophoresis production line, has reduced electrophoresis workshop height, has practiced thrift the cost.
Drawings
Fig. 1 is a front view of a folding kinematic chain of a rail-type working device for automated painting operation of a vehicle frame according to the present invention.
Fig. 2 is a three-dimensional view of a folding kinematic chain of the rail-type working device for automatic painting operation of a vehicle frame according to the present invention.
Fig. 3 is a schematic diagram of the operation of the rail-type working device for the automatic painting operation of the vehicle frame.
Fig. 4 is a left side view of the rail-type working device for automatic painting operation of the vehicle frame.
Fig. 5 is a top view of the rail-type working device for automated frame coating operation according to the present invention.
Detailed Description
The technical solution of the present invention is further illustrated by the accompanying drawings and examples.
Referring to fig. 1, 2, 3, 4, and 5, a rail-mounted working device for automated coating operation of a vehicle frame includes a rail 25, a rail car 2, and a folding kinematic chain, where the rail 25 is an overhead rail and is laid right above an electrophoresis cell 46, the rail car 2 is mounted on the rail 25 through rail wheels 1, the movement of the rail car 2 is driven by a motor 3, and is controlled by computer programming, and the rail car 2 is driven by the motor 3 to controllably move along the rail 25; the folding kinematic chain is arranged below the rail car 2 and comprises a first driving arm 24, a second driving arm 26, a first driven arm 23, a second driven arm 44, a third driven arm 16, a fourth driven arm 28, a first rocker arm 14, a second rocker arm 41, a first shelf 13 and a second shelf 19; the first shelf 13 is respectively installed below the rail car 2 through a first driving arm 24, a second driving arm 26, a first driven arm 23 and a second driven arm 44, and the second shelf 19 is respectively installed below the first shelf 13 through a third driven arm 16, a fourth driven arm 28, a first rocker arm 14 and a second rocker arm 41; a third shelf 22 for hanging or carrying a truck frame is fixedly arranged at the lower end of the second shelf 19; the shelf is of a frame type steel structure;
referring to fig. 1, 2, 3, 4 and 5, one end of the first driving arm 24 is connected to the rail car 2 through the first revolute pair 6, and the other end is connected to the first shelf 13 through the second revolute pair 12; one end of the second driving arm 26 is connected with the rail car 2 through a third revolute pair 35, and the other end of the second driving arm is connected with the first shelf 13 through a fourth revolute pair 27; the first driving arm 24 and the second driving arm 26 are respectively driven by a first linear driver 7 and a second linear driver 36, one end of the first linear driver 7 is connected with the rail car 2 through a fifth revolute pair 5, and the other end of the first linear driver is connected with the first driving arm 24 through a sixth revolute pair 8; one end of the second linear driver 36 is connected with the rail car through a seventh revolute pair 37, and the other end of the second linear driver is connected with the second driving arm 26 through an eighth revolute pair 31; when the first linear driver 7 and the second linear driver 36 are synchronously stretched, the first driving arm 24 and the second driving arm 26 synchronously swing relative to the rail car 2; one end of the first driven arm 23 is connected with the rail car 2 through a ninth revolute pair 4, and the other end of the first driven arm is connected with the first shelf 13 through a tenth revolute pair 10; one end of the second driven arm 44 is connected with the rail car 2 through an eleventh revolute pair 45, and the other end of the second driven arm is connected with the first shelf 13 through a twelfth revolute pair 43; the hole center distance of a rotating pair contained in the first driving arm 24 is equal to the hole center distance of a rotating pair contained in the second driving arm 26, the hole center distance of a rotating pair contained in the first driven arm 23 is equal to the hole center distance of a rotating pair contained in the second driven arm 44, and the rail car 2, the first driving arm 24, the first shelf 13 and the first driven arm 23 form a parallelogram mechanism; when the first driving arm 24 and the second driving arm 26 synchronously swing relative to the rail car 2, the first shelf 13 translates in a single degree of freedom relative to the rail car 2;
referring to fig. 1, 2, 3, 4 and 5, one end of the third driven arm 16 is connected to the first shelf 13 through a thirteenth revolute pair 15, the other end of the third driven arm is connected to the second shelf 19 through a fourteenth revolute pair 18, one end of the fourth driven arm 28 is connected to the first shelf 13 through a fifteenth revolute pair 29, and the other end of the fourth driven arm is connected to the second shelf 19 through a sixteenth revolute pair 30; the first rocker 14 is mounted on the first shelf 13 through a seventeenth revolute pair 39, the first rocker 14 is connected with the second shelf 19 through an eighteenth revolute pair 17, the second rocker 41 is mounted on the first shelf 13 through a nineteenth revolute pair 40, and the second rocker 41 is connected with the second shelf 19 through a twentieth revolute pair 42; the first rocker arm 14 and the second rocker arm 41 are respectively driven by a third linear driver 9 and a fourth linear driver 33, one end of the third linear driver 9 is connected with the first shelf 13 through a twenty-first revolute pair 11, and the other end of the third linear driver is connected with the first rocker arm 14 through a twenty-second revolute pair 32; one end of the fourth linear driver 33 is connected with the first shelf 13 through a twenty-third revolute pair 38, and the other end is connected with the second rocker arm 41 through a twenty-fourth revolute pair 34; the pitch of the centers of the revolute pairs contained in the first rocker arm 14 is equal to the pitch of the centers of the revolute pairs contained in the second rocker arm 41; the hole center distance of the revolute pair contained in the third driven arm 16 is equal to the hole center distance of the revolute pair contained in the fourth driven arm 28; the third driven arm 16, the first rocker arm 14, the first shelf 13 and the second shelf 19 form a parallelogram mechanism; the first rocker arm 14 and the second rocker arm 41 synchronously swing relative to the first shelf 13 under the synchronous drive of the third linear driver 9 and the fourth linear driver 33, so that the single-degree-of-freedom translation of the second shelf 19 relative to the first shelf 13 is realized; under the synchronous swing matching of the first linear driver 7 and the second linear driver 36, through the synchronous swing of the third linear driver 9 and the fourth linear driver 33, the second shelf 19 and the third shelf 22 can realize two-degree-of-freedom translation relative to the rail car 2, namely vertical up-down translation and horizontal translation, so that the requirements of a frame electrophoresis production line are met. The first linear driver 7, the second linear driver 36, the third linear driver 9 and the fourth linear driver 33 are all electro-hydraulic push rods, the problems of poor starting load capacity and lack of overload protection of the servo electric cylinder are solved, and compared with a hydraulic cylinder, a pump station is not needed to be arranged, and the transmission precision is high.
Referring to fig. 1, 2, 3, 4 and 5, when the rail-mounted automatic coating operation device is used for electrophoretic coating operation, a truck frame is hung or placed on the third-layer shelf 22 under the coordination of the overhead rail chain conveying system, the rail car 2 moves along the rail 25 to a position right above the electrophoretic bath 46, at this time, the first driving arm 24 and the second driving arm 26 synchronously swing relative to the rail car 2 under the synchronous driving of the first linear driver 7 and the second linear driver 36, and the first rocker arm 14 and the second rocker arm 41 synchronously swing relative to the first shelf 13 under the synchronous driving of the third linear driver 9 and the fourth linear driver 33; under the coordination of all linear drivers, the second shelf 19 and the third shelf 22 realize two-degree-of-freedom translation relative to the rail car 2, namely, the third shelf 22 horizontally descends until the liquid level of the electrophoresis cell is over the truck frame by realizing vertical up-down translation and horizontal posture adjustment, so as to realize bath electrophoresis operation of the truck frame; after this process is accomplished, the truck frame is vertical lifting to a take the altitude above the electrophoresis cell under folding motion chain drive control, and the railcar moves to next electrophoresis cell along the track and continues to carry out the dipping operation, and after the electrophoresis application operation was accomplished to the frame, the station such as spraying was carried out to follow-up spraying operation through overhead track chain conveying system conveying.
Claims (2)
1. The utility model provides a frame automation application operation rail mounted equipment, includes track, railcar, folding kinematic chain, its characterized in that: the rail is an elevated rail and is laid right above the electrophoresis cell, the rail vehicle is arranged on the rail through rail wheels, the movement of the rail vehicle is driven by a motor and controlled by computer programming, and the rail vehicle can controllably move along the rail under the driving of the motor; the folding kinematic chain is arranged below the rail car and comprises a first driving arm, a second driving arm, a first driven arm, a second driven arm, a third driven arm, a fourth driven arm, a first rocker arm, a second rocker arm, a first shelf and a second shelf; the first shelf is respectively installed below the railcar through a first driving arm, a second driving arm, a first driven arm and a second driven arm, and the second shelf is respectively installed below the first shelf through a third driven arm, a fourth driven arm, a first rocker arm and a second rocker arm; a third shelf for hanging or bearing a truck frame is fixedly arranged at the lower end of the second shelf; the shelf is of a frame type steel structure.
2. The rail-type working device for automatic coating operation of frame as claimed in claim 1, wherein: one end of the first driving arm is connected with the rail car through a first revolute pair, and the other end of the first driving arm is connected with the first shelf through a second revolute pair; one end of the second driving arm is connected with the rail car through a third revolute pair, and the other end of the second driving arm is connected with the first shelf through a fourth revolute pair; the first driving arm and the second driving arm are respectively driven by a first linear driver and a second linear driver, one end of the first linear driver is connected with the railcar by a fifth revolute pair, and the other end of the first linear driver is connected with the first driving arm by a sixth revolute pair; one end of the second linear driver is connected with the rail car through a seventh revolute pair, and the other end of the second linear driver is connected with the second driving arm through an eighth revolute pair; one end of the first driven arm is connected with the rail car through a ninth revolute pair, and the other end of the first driven arm is connected with the first shelf through a tenth revolute pair; one end of the second driven arm is connected with the rail car through an eleventh revolute pair, and the other end of the second driven arm is connected with the first shelf through a twelfth revolute pair; the hole center distance of a rotating pair contained on the first driving arm is equal to the hole center distance of a rotating pair contained on the second driving arm, the hole center distance of a rotating pair contained on the first driven arm is equal to the hole center distance of a rotating pair contained on the second driven arm, and the rail car, the first driving arm, the first shelf and the first driven arm form a parallelogram mechanism;
one end of the third driven arm is connected with the first shelf through a thirteenth revolute pair, the other end of the third driven arm is connected with the second shelf through a fourteenth revolute pair, one end of the fourth driven arm is connected with the first shelf through a fifteenth revolute pair, and the other end of the fourth driven arm is connected with the second shelf through a sixteenth revolute pair; the first rocker arm is mounted on the first shelf through a seventeenth revolute pair, the first rocker arm is connected with the second shelf through an eighteenth revolute pair, the second rocker arm is mounted on the first shelf through a nineteenth revolute pair, and the second rocker arm is connected with the second shelf through a twentieth revolute pair; the first rocker arm and the second rocker arm are respectively driven by a third linear driver and a fourth linear driver, one end of the third linear driver is connected with the first shelf through a twenty-first revolute pair, and the other end of the third linear driver is connected with the first rocker arm through a twenty-second revolute pair; one end of the fourth linear driver is connected with the first shelf through a twenty-third rotating pair, and the other end of the fourth linear driver is connected with the second rocker arm through a twenty-fourth rotating pair; the pitch of the centers of the holes of the rotating pairs contained in the first rocker arm is equal to that of the rotating pairs contained in the second rocker arm; the hole center distance of a revolute pair contained in the third driven arm is equal to the hole center distance of a revolute pair contained in the fourth driven arm; the third driven arm, the first rocker arm, the first shelf and the second shelf form a parallelogram mechanism; the first linear driver, the second linear driver, the third linear driver and the fourth linear driver are all electro-hydraulic push rods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011271089.7A CN114481265A (en) | 2020-11-13 | 2020-11-13 | Rail type working device for automatic coating operation of frame |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011271089.7A CN114481265A (en) | 2020-11-13 | 2020-11-13 | Rail type working device for automatic coating operation of frame |
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| CN114481265A true CN114481265A (en) | 2022-05-13 |
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| CN202011271089.7A Pending CN114481265A (en) | 2020-11-13 | 2020-11-13 | Rail type working device for automatic coating operation of frame |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106865460A (en) * | 2017-03-25 | 2017-06-20 | 山东交通学院 | A kind of cnc mechanism formula two-freedom crank arm type lifts robot |
| CN109551451A (en) * | 2017-09-27 | 2019-04-02 | 山东交通学院 | It is a kind of containing linear actuator Three Degree Of Freedom suction sweep robot mechanism |
| CN110592602A (en) * | 2019-10-11 | 2019-12-20 | 刘安胜 | Forging processing is with forging surface scale clearing device |
| CN209901855U (en) * | 2019-04-26 | 2020-01-07 | 谢文明 | Full-automatic ultrasonic cleaning device |
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2020
- 2020-11-13 CN CN202011271089.7A patent/CN114481265A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104729843A (en) * | 2015-02-25 | 2015-06-24 | 中国科学院力学研究所 | Loading system for simulating pipe and soil power interaction under ocean current loads |
| CN105945915A (en) * | 2016-05-31 | 2016-09-21 | 清华大学 | Rope parallel device based on translation constraint structure |
| CN106865460A (en) * | 2017-03-25 | 2017-06-20 | 山东交通学院 | A kind of cnc mechanism formula two-freedom crank arm type lifts robot |
| CN109551451A (en) * | 2017-09-27 | 2019-04-02 | 山东交通学院 | It is a kind of containing linear actuator Three Degree Of Freedom suction sweep robot mechanism |
| CN209901855U (en) * | 2019-04-26 | 2020-01-07 | 谢文明 | Full-automatic ultrasonic cleaning device |
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