Lifting arm mechanism and container lifting and tipping loader

Abstract

The present application relates to the technical field of container loading and unloading equipment, and in particular to a lifting arm mechanism and a container lifting and flipping loader, wherein the lifting arm mechanism includes a first mechanical arm, a second mechanical arm, a first lifting cylinder, a second lifting cylinder, a first leveling cylinder, and a second leveling cylinder. The first mechanical arm is rotatably connected to a first target object, the second mechanical arm is rotatably connected to a second target object, and the two mechanical arms are rotatably connected; the first lifting cylinder connects the first mechanical arm and the first target object, the second lifting cylinder connects the second mechanical arm and the first target object; the first leveling cylinder connects the first mechanical arm and the second mechanical arm; the second leveling cylinder connects the second mechanical arm and the second target object; the rod chambers of the first leveling cylinder and the second leveling cylinder are connected, and the rodless chambers of the first leveling cylinder and the second leveling cylinder are connected. It can be seen that the two leveling cylinders are used to adjust the angle between the auxiliary tool and the second mechanical arm, thereby compensating for the angular difference between the auxiliary tool and the ground plane coordinate system.

Description

Technical Field

[0001] The present application relates to the technical field of container loading and unloading equipment, and in particular to a lifting arm mechanism and a container lifting and tipping loader. Background Art

[0002] With rapid economic development and increasing attention to environmental protection, containers have become an essential means of transportation in the modern logistics industry, widely used in sea, air, and land transportation. The advantage of containers lies in their standardized transport box and the complete transportation system they enable. They not only have a large cargo capacity, but also, thanks to the support of container handling equipment, enable standardized operations and rapid loading and unloading.

[0003] Existing equipment that can achieve container loading and unloading includes reach stackers, forklifts, etc., but during the container lifting process, they cannot automatically maintain the container angle to maintain stability, and the lifting height is limited. They cannot fully meet the working conditions of port container lifting, stacking, and train container loading and unloading. Summary of the Invention

[0004] The purpose of this application is to provide a lifting arm mechanism and a container lifting and tilting loader, which to a certain extent solves the problems existing in the prior art of container loading and unloading equipment, such as the inability to automatically maintain the angle of the container to maintain stability during the container lifting process, and the limited lifting height, which cannot fully meet the technical problems of working conditions such as port container lifting, stacking, and train container loading and unloading.

[0005] The present application provides a lifting arm mechanism, comprising: a first robotic arm, a second robotic arm, a first lifting cylinder, a second lifting cylinder, a first leveling cylinder, and a second leveling cylinder; wherein the first robotic arm is used to rotate and connect to a first target object, the second robotic arm is used to rotate and connect to a second target object, and the second robotic arm is rotationally connected to the first robotic arm;

[0006] The first lifting cylinder is connected between the first robotic arm and the first target object, and the second lifting cylinder is connected between the second robotic arm and the first target object;

[0007] The first leveling cylinder is connected between the first robotic arm and the second robotic arm; the second leveling cylinder is connected between the second robotic arm and the second target;

[0008] The rod cavity of the first leveling oil cylinder is communicated with the rod cavity of the second leveling oil cylinder, and the rodless cavity of the first leveling oil cylinder is communicated with the rodless cavity of the second leveling oil cylinder.

[0009] In the above technical solution, further, the hinge point between the first robotic arm and the second robotic arm is D, the hinge points between the first leveling cylinder and the first robotic arm and the second robotic arm are C and E respectively, and the hinge points C, D and E form a triangle ΔCDE;

[0010] The hinge point between the second robotic arm and the second target is M, the hinge points between the second leveling cylinder, the second robotic arm, and the second target are H and N respectively, and the hinge points H, M, and N form a triangle ΔHMN;

[0011] Among them, side length CD=MN=a; side length DE=HM=3.54a; side length CE+HN=6.88a, and the range of side length CE is 2.72a-4.15a, and the range of side length HM is 2.72a-4.15a.

[0012] In any of the above technical solutions, further, the first robotic arm and the second robotic arm are both V-shaped, and the openings of the first robotic arm and the second robotic arm are both set toward the first target object.

[0013] In any of the above technical solutions, further, the first mechanical arm includes a first bending arm, a second bending arm, and a first connecting member; wherein the first bending arm and the second bending arm are connected by the first connecting member, and the first bending arm and the second bending arm are symmetrically arranged at both ends of the first connecting member; the first bending arm and the second bending arm are both formed with a first hinged plate;

[0014] The second robotic arm includes a first support arm, a second support arm, and a second connecting member; wherein the first support arm and the second support arm are connected by the second connecting member, and the first support arm and the second support arm are symmetrically arranged at both ends of the second connecting member;

[0015] The first supporting arm is rotatably connected to the first bending arm; the second supporting arm is rotatably connected to the second bending arm.

[0016] In any of the above technical solutions, further, the lifting arm mechanism further includes a support frame, the support frame including a main plate, a fixing pipe and two support assemblies; wherein the two support assemblies are spaced apart from each other on the main plate, and the fixing pipe is connected to the two support assemblies; each of the support assemblies includes a first support plate and a second support plate;

[0017] The first support plate and the second support plate are spaced apart and a receiving space is formed therebetween; one end of the first bending arm is disposed in the receiving space of one of the support assemblies and is rotatably connected to the corresponding first support plate and the second support plate; one end of the second bending arm is disposed in the receiving space of the other support assembly and is rotatably connected to the corresponding first support plate and the second support plate;

[0018] The fixing pipe is connected to the two supporting components; the main board is formed with a connecting plate, and the connecting plate is formed with a mounting through hole for connecting the first target object.

[0019] In any of the above technical solutions, further, the number of the first lifting cylinders is two, one of which is disposed in the accommodation space of one of the support assemblies and is rotatably connected to the corresponding first support plate and the second support plate;

[0020] wherein another one of the first lifting cylinders is disposed in the accommodation space of another one of the support assemblies and is rotatably connected to the corresponding first support plate and the second support plate;

[0021] There are multiple second lifting cylinders, and the multiple second lifting cylinders are arranged in sequence along the length direction of the fixed pipe; the second lifting cylinders are respectively rotatably connected to the fixed pipe and the adjacent first support plate or the second support plate.

[0022] In any of the above technical solutions, the lifting arm mechanism further includes a hydraulic system, which includes a reversing valve, a multi-way valve, and a pilot valve; wherein the rod chamber of the first leveling cylinder and the rod chamber of the second leveling cylinder are connected and are connected to the multi-way valve via a common first connecting line;

[0023] The rodless chamber of the first leveling cylinder is connected to the rodless chamber of the second leveling cylinder via the reversing valve, and is connected to the multi-way valve via a common second connecting line; the multi-way valve is connected to the hydraulic oil source; the pilot valve is respectively connected to the multi-way valve and the reversing valve.

[0024] In any of the above technical solutions, further, the hydraulic oil source is a main oil supply pipeline equipped with the first lifting cylinder and the second lifting cylinder;

[0025] The first connecting pipe and the second connecting pipe are both provided with a relief valve;

[0026] The multi-way valve is a three-position seven-way valve; the reversing valve is a two-position two-way valve; and the pilot valve is a three-position three-way valve.

[0027] The present application also provides a container lifting and tipping loader, comprising a lifting arm mechanism as described in any of the above technical solutions, and thus having all the beneficial technical effects of the lifting arm mechanism, which will not be described in detail here.

[0028] In the above technical solution, further, the container lifting and tipping loader includes a body, auxiliary tools and the aforementioned lifting arm mechanism; wherein, the support frame is hinged to the body; the second mechanical arm and the second leveling cylinder are respectively rotatably connected to the auxiliary tools.

[0029] In any of the above technical solutions, further, the container lifting and tilting loader includes a first operating handle, a second operating handle and a third operating handle, and the first operating handle and the second operating handle are respectively connected to the first lifting cylinder and the second lifting cylinder of the lifting arm mechanism, and the third operating handle is connected to the pilot valve of the lifting arm mechanism.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] In the lifting arm mechanism provided by the present application, the rod cavity of the first leveling cylinder is connected to the rod cavity of the second leveling cylinder, and the rodless cavity of the second leveling cylinder is connected to the rodless cavity of the second leveling cylinder. The two cylinders become an independent hydraulic system. When the angle between the first robotic arm or the second robotic arm changes, the first leveling cylinder will be driven to extend and retract. At the same time, the extension and retraction of the first leveling cylinder drives the extension and retraction of the second leveling cylinder, thereby causing the angle between the auxiliary tool and the second robotic arm to change. In this way, the angle difference between the auxiliary tool and the ground plane coordinate system during movement is compensated, thereby maintaining the stability of the angle of the auxiliary tool.

[0032] In addition, during the lifting and lowering process of the second robotic arm, due to the influence of the weight of the material and the sling, the oil in the rodless chamber of the first leveling cylinder is always in a high-pressure state, thereby generating thrust acting on the second robotic arm, further increasing the lifting capacity of the second robotic arm.

[0033] The container lifting and tipping loader provided in this application can automatically maintain the angle of the front auxiliary equipment stable when lifting or lowering. By replacing the auxiliary equipment with a lifting equipment, a supporting fork, a clamp, a rotating fork, etc., it can realize container lifting, transportation, tipping, stacking, or dumping and unloading of bulk materials in the container. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 A schematic structural diagram of the lifting arm mechanism provided in an embodiment of the present application;

[0036] Figure 2 Schematic diagram of the lifting arm mechanism provided in the embodiment of the present application in different working states;

[0037] Figure 3 A schematic structural diagram of a first support arm provided in an embodiment of the present application;

[0038] Figure 4 A schematic structural diagram of a second support arm provided in an embodiment of the present application;

[0039] Figure 5 A schematic diagram of the structure of the support frame provided in an embodiment of the present application;

[0040] Figure 6 Schematic diagram of different working states of the hydraulic system provided in the embodiment of the present application;

[0041] Figure 7 Another schematic diagram of different working states of the hydraulic system provided by an embodiment of the present application;

[0042] Figure 8 Another schematic diagram of different working states of the hydraulic system provided in an embodiment of the present application;

[0043] Figure 9 A schematic structural diagram of a container lifting and tilting loader provided in an embodiment of the present application;

[0044] Figure 10 Another structural schematic diagram of the container lifting and tilting loader provided in an embodiment of the present application;

[0045] Figure 11 Another structural schematic diagram of the container lifting and tilting loader provided in an embodiment of the present application;

[0046] Figure 12 Another structural schematic diagram of the container lifting and tilting loader provided in an embodiment of the present application;

[0047] Figure 13 This is another structural schematic diagram of the container lifting and tipping loader provided in an embodiment of the present application (note that the auxiliary tool in the figure clamps the container).

[0048] Reference numerals:

[0049] 1-first robotic arm, 11-first bending arm, 12-second bending arm, 13-first connecting member, 14-first hinged plate, 2-second robotic arm, 21-first supporting arm, 22-second supporting arm, 23-second connecting member, 3-first lifting cylinder, 4-second lifting cylinder, 5-first leveling cylinder, 6-second leveling cylinder, 7-support frame, 71-main board, 72-support assembly, 721-first supporting plate, 722-second supporting plate, 73-connecting plate, 731-mounting through hole, 74-fixing pipe, 8-hydraulic system, 81-pilot valve, 82-multi-way valve, 83-reversing valve, 84-overflow valve, 85-pump, 86-hydraulic oil tank, 10-lifting arm mechanism, 20-auxiliary tools, 30-carriage. DETAILED DESCRIPTION

[0050] The technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0051] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application.

[0052] Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making any creative work shall fall within the scope of protection of this application.

[0053] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0054] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0055] Refer to the following Figures 1 to 13 The present invention describes a lifting arm mechanism and a container lifting and tilting loader according to some embodiments of the present application.

[0056] Example 1

[0057] See also Figure 1 、 Figure 2 、 Figures 9 to 13 As shown, an embodiment of the present application provides a lifting arm mechanism 10, comprising: a first robotic arm 1, a second robotic arm 2, a first lifting cylinder 3, a second lifting cylinder 4, a first leveling cylinder 5, and a second leveling cylinder 6; wherein the first robotic arm 1 is used to rotatably connect to a first target object, and the second robotic arm 2 is used to rotatably connect to a second target object (the first target object may be a body 30 of a container lifting and tilting loader, and the second target object may be an auxiliary tool 20 of the container lifting and tilting loader, which will be described below as an example. Note that the auxiliary tool 20 is a conventional structure for grabbing containers, and therefore will not be described in detail), and the second robotic arm 2 is rotatably connected to the first robotic arm 1;

[0058] The first lifting cylinder 3 is connected between the first robotic arm 1 and the vehicle body 30, and preferably, the cylinder body of the first lifting cylinder 3 is connected to the vehicle body 30, and the cylinder rod of the first lifting cylinder 3 is connected to the first robotic arm 1;

[0059] The second lifting cylinder 4 is connected between the second robotic arm 2 and the vehicle body 30, and preferably, the cylinder body of the second lifting cylinder 4 is connected to the vehicle body 30, and the cylinder rod of the second lifting cylinder 4 is connected to the first robotic arm 1;

[0060] The first leveling oil cylinder 5 is connected between the first robotic arm 1 and the second robotic arm 2, and preferably, the cylinder body of the first leveling oil cylinder 5 is connected to the second robotic arm 2, and the cylinder rod of the first leveling oil cylinder 5 is connected to the first robotic arm 1; the second leveling oil cylinder 6 is connected between the second robotic arm 2 and the auxiliary tool 20, and preferably, the cylinder body of the second leveling oil cylinder 6 is connected to the second robotic arm 2, and the cylinder rod of the second leveling oil cylinder 6 is connected to the auxiliary tool 20;

[0061] The rod cavity of the first leveling oil cylinder 5 is connected to the rod cavity of the second leveling oil cylinder 6 , and the rodless cavity of the first leveling oil cylinder 5 is connected to the rodless cavity of the second leveling oil cylinder 6 .

[0062] Based on the structure described above, it can be seen that the rod cavity of the first leveling cylinder 5 is connected to the rod cavity of the second leveling cylinder 6, and the rodless cavity of the first leveling cylinder 5 is connected to the rodless cavity of the second leveling cylinder 6. The two cylinders become an independent hydraulic system. When the angle between the first robotic arm 1 or the second robotic arm 2 changes, the first leveling cylinder 5 will be driven to extend and retract. At the same time, the extension and retraction of the first leveling cylinder 5 will drive the extension and retraction of the second leveling cylinder 6, thereby causing the angle between the auxiliary tool 20 and the second robotic arm 2 to change. In this way, the angle difference between the auxiliary tool 20 and the ground plane coordinate system during movement is compensated, thereby maintaining the stability of the angle of the auxiliary tool 20.

[0063] In addition, during the lifting and lowering process of the second robotic arm 2, due to the influence of the weight of the materials and the sling, the oil in the rodless chamber of the first leveling cylinder 5 is always in a high-pressure state, thereby generating a thrust acting on the second robotic arm 2, further increasing the lifting capacity of the second robotic arm 2.

[0064] Further, preferably, Figure 1 As shown, the hinge point between the first robotic arm 1 and the second robotic arm 2 is D, the hinge points between the first leveling cylinder 5 and the first robotic arm 1 and the second robotic arm 2 are C and E respectively, and the hinge points C, D and E form a triangle ΔCDE;

[0065] The hinge point between the second robot arm 2 and the auxiliary tool 20 is M, the hinge points between the second leveling cylinder 6 and the second robot arm 2 and the auxiliary tool 20 are H and N respectively, and the hinge points H, M and N form a triangle ΔHMN.

[0066] First, combining the above structure and Figure 1 The principle of automatic angle maintenance of the auxiliary tool 20 is as follows:

[0067] When the third operating handle is not operated, the first leveling cylinder 5 and the second leveling cylinder 6 are disconnected from the main oil circuit, the oil inlet chamber between the first leveling cylinder 5 and the second leveling cylinder 6 is connected to the oil inlet chamber, and the oil return chamber is connected to the oil return chamber.

[0068] At this time, the angle between the first robotic arm 1 and the second robotic arm 2 is α, that is, ∠CDE=α, and the angle between the second robotic arm 2 and the auxiliary tool 20 is β, that is, ∠HMN=β;

[0069] Furthermore, preferably, the motion trajectory, angle change and cylinder lifting force change of the two-section boom working device are simulated by software, thereby obtaining a set of more reasonable parameters: side length CD = MN = a; side length DE = HM = 3.54a; side length CE + HN = 6.88a;

[0070] When the length CE of the second leveling cylinder 6 and the length HN of the first leveling cylinder 5 vary within the range of 2.72a-4.15a, Δα+Δβ≈0 can be obtained, that is, during the lifting and lowering of the second robotic arm 2, the angle of the auxiliary device 20 relative to the ground plane coordinate system remains basically unchanged, and the angle of the auxiliary device 20 can be automatically maintained. In this way, when the auxiliary device 20 is in the form of a sling, a clamping fork, a supporting fork, etc., the stability of the goods can be guaranteed, and stacking or stacking is convenient. When bulk materials are loaded in a container, it can also be ensured that the materials will not spill.

[0071] Second, combining the above structure and Figure 1 As shown, the principle by which the leveling cylinders increase the lifting force of the second robotic arm 2 is as follows: Assume the material weight is G, the center of mass is at point K, and the acceleration due to gravity is g. When the pilot handle is not operated during the material lifting process, both leveling cylinders are disconnected from the main oil circuit. The oil pressure in the inlet chamber of the second leveling cylinder 6 is F1 = G × g × L1 / L2. The pressure in the inlet chamber of the first leveling cylinder 5 is also F1, and the lifting torque exerted by the first leveling cylinder 5 on the second robotic arm 2 is F1 × L3 = G × g × L1 × L3 / L2. This significantly increases the lifting capacity of the second robotic arm 2.

[0072] Third, combining the above structure and Figure 2 The vertical lifting principle of the auxiliary tool 20 is as follows:

[0073] like Figure 2 As shown, when the first lifting cylinder 3 is at its longest position and the second lifting cylinder 4 is at its shortest position, the working device is in a transport state. At this time, the height of the whole machine is low and the auxiliary device 20 is located relatively close to the cab. The stability of the whole machine is high and it is suitable for container transfer transportation.

[0074] like Figure 2 As shown, when the first lifting cylinder 3 is at its shortest position and the second lifting cylinder 4 is at its longest position, the hinge point between the second robotic arm 2 and the auxiliary tool 20 is at M1, and the auxiliary tool 20 is in its highest lifting position. When the first lifting cylinder 3 and the second lifting cylinder 4 are at their shortest positions, the hinge point between the second robotic arm 2 and the auxiliary tool 20 is at M3, and the auxiliary tool 20 is in its lowest position. As can be seen, the auxiliary tool 20 has both a highest and lowest positions, facilitating container stacking (for example, the highest position allows stacking of three layers of containers, while the lowest position allows containers to be placed on the ground).

[0075] Figure 2The hinge points M2 and D1 are at the same level. While retracting the piston rod of the second lifting cylinder 4, that is, lowering the hinge point of the auxiliary device 20 from M1 to M2, the piston rod of the first lifting cylinder 3 is appropriately extended to move the hinge point of the first and second robotic arms 1 and 2 from D1 to D2, achieving a vertical descent from M1 to M2, and vice versa.

[0076] When retracting the piston rod of the second lifting cylinder 4, that is, when the hinge point of the auxiliary device 20 descends from M2 to M3, the piston rod of the first lifting cylinder 3 is appropriately retracted to move the hinge point of the first robotic arm 1 and the second robotic arm 2 from D2 to D1, thereby realizing a vertical descent process from M2 to M3, and vice versa, a vertical ascent can be achieved.

[0077] Combining these two operations, the auxiliary tool 20 can be lifted vertically from the lowest to the highest position. At this time, the center of mass of the auxiliary tool 20 and the material has no horizontal displacement, and the whole machine is stable. For working conditions such as container stacking or loading and unloading of train carriages, there is no need to fine-tune the whole machine by moving it back and forth to align the container.

[0078] In this embodiment, preferably, Figure 1 As shown, the first robotic arm 1 and the second robotic arm 2 are both V-shaped, and the openings of the first robotic arm 1 and the second robotic arm 2 are both disposed toward the vehicle body 30 .

[0079] According to the structure described above, it can be seen that the two robotic arms using the above structure can effectively avoid interference and make full use of space.

[0080] In this embodiment, preferably, Figure 3 and Figure 4 As shown, the first robotic arm 1 includes a first bending arm 11, a second bending arm 12 and a first connecting member 13; wherein the first bending arm 11 and the second bending arm 12 are both V-shaped;

[0081] The first bending arm 11 and the second bending arm 12 are connected by a first connecting member 13, and the first bending arm 11 and the second bending arm 12 are symmetrically arranged at both ends of the first connecting member 13; the first bending arm 11 and the second bending arm 12 are both formed with a first hinge plate 14;

[0082] The second robotic arm 2 includes a first support arm 21, a second support arm 22, and a second connecting member 23; wherein the first support arm 21 and the second support arm 22 are connected by the second connecting member 23, and the first support arm 21 and the second support arm 22 are symmetrically arranged at both ends of the second connecting member 23;

[0083] The first support arm 21 is rotatably connected to the first bending arm 11 ; the second support arm 22 is rotatably connected to the second bending arm 12 .

[0084] According to the structure described above, the first robotic arm 1 and the second robotic arm 2 both adopt a symmetrical double-arm structure to improve the overall strength, stability and load-bearing capacity.

[0085] Further, preferably, the number of the first connecting members 13 is three, wherein two first connecting members 13 are located at one end of the first bending arm 11 , and one first connecting member 13 is located at the other end of the first bending arm 11 .

[0086] Furthermore, preferably, the first connecting member 13 is a steel pipe, which not only ensures sufficient strength but also contributes to lightweight design.

[0087] In this embodiment, preferably, Figure 5 、 Figure 8 and Figure 9 As shown, the lifting arm mechanism 10 further includes a support frame 7, which includes a main body 71, a fixing pipe 74, and two support assemblies 72; wherein the two support assemblies 72 are spaced apart from the main body, and the fixing pipe 74 is connected to the two support assemblies 72, and the two ends of the fixing pipe 74 can be extended and passed through the corresponding support assemblies 72 as needed; each support assembly 72 includes a first support plate 721 and a second support plate 722;

[0088] The first support plate 721 and the second support plate 722 are spaced apart and a receiving space is formed between them; one end of the first bending arm 11 is disposed in the receiving space of one of the support assemblies 72 and is rotatably connected to the corresponding first support plate 721 and the second support plate 722; one end of the second bending arm 12 is disposed in the receiving space of the other support assembly 72 and is rotatably connected to the corresponding first support plate 721 and the second support plate 722;

[0089] The main plate body 71 is formed with a connecting plate body 73 , and the connecting plate body 73 is formed with a mounting through hole 731 for connecting to the vehicle body 30 .

[0090] According to the structure described above, the first robotic arm 1 and the second robotic arm 2 are integrated on the support frame 7 according to the installation sequence to form a lifting arm mechanism 10, which makes it easy to install the whole on the vehicle body 30, and the operation is simple and convenient.

[0091] In addition to providing an installation position for the first robotic arm 1 of the double-arm structure, the support frame 7 also provides an installation position for the two first lifting cylinders 3 and multiple second lifting cylinders 4 described below. Moreover, the above structures are arranged in an orderly manner, and the overall structure is more regular.

[0092] In this embodiment, preferably, Figure 8 and Figure 9As shown, there are two first lifting cylinders 3, one of which is disposed in the accommodation space of one of the support assemblies 72 and is rotatably connected to the corresponding first support plate 721 and the second support plate 722;

[0093] The other first lifting cylinder 3 is disposed in the accommodation space of the other support assembly 72 and is rotatably connected to the corresponding first support plate 721 and the second support plate 722;

[0094] There are multiple second lifting cylinders 4, and the multiple second lifting cylinders 4 are arranged in sequence along the length direction of the fixed pipe 74; the second lifting cylinders 4 are respectively rotatably connected to the fixed pipe 74 and the adjacent first support plate 721 or the second support plate 722.

[0095] According to the structure described above, the use of multiple first lifting cylinders 3 and multiple second lifting cylinders 4 helps to improve the lifting capacity and ensure stability during the lifting process, making the lifting arm mechanism 10 safer and more reliable during operation.

[0096] In this embodiment, preferably, Figures 6 to 8 As shown, the lifting arm mechanism 10 further includes a hydraulic system 8, which includes a reversing valve 83, a multi-way valve 82, and a pilot valve 81. The rod chamber of the first leveling cylinder 5 and the rod chamber of the second leveling cylinder 6 are connected, and are connected to the multi-way valve 82 via a common first connecting line.

[0097] The rodless chamber of the first leveling cylinder 5 is connected to the rodless chamber of the second leveling cylinder 6 via the reversing valve 83, and is connected to the multi-way valve 82 via a common second connecting line; the multi-way valve 82 is connected to the hydraulic oil source, and further, preferably, the hydraulic oil source is the main oil supply line equipped with the first lifting cylinder 3 and the second lifting cylinder 4. Of course, it is not limited to this, and the hydraulic oil source can also be a separately equipped hydraulic oil tank 86 filled with hydraulic oil, and the oil is supplied by the pump 85;

[0098] The pilot valve 81 is connected to the multi-way valve 82 and the reversing valve 83 respectively.

[0099] Furthermore, preferably, both the first communicating pipeline and the second communicating pipeline are provided with an overflow valve 84 , which mainly plays the role of constant pressure and overflow.

[0100] In conjunction with the above structure, specifically, the reversing valve 83 is a two-position, two-way valve having the following interfaces P1, A1, B1, and T1; the multi-way valve 82 is a three-position, seven-way valve having the following interfaces P1', A1', B1', T1', P1", A1", B1", and T1", and the pilot valve 81 has two working modules, module a and module b. In conjunction with the above structure, it can be seen that the working principle of the above hydraulic system 8 is as follows:

[0101] The first working state: Figure 6 As shown, when the handle of the pilot valve 81 is not operated, the pilot valve 81 is in the middle position, and there is no pilot oil to control the reversing valve 83 and the multi-way valve 82. The status of each valve is as follows: Figure 6 As shown, the multi-way valve 82 is disconnected from the main oil circuit, and P1 and A1 of the reversing valve 83 are connected, so that the rodless chamber of the first leveling cylinder 5 is connected to the rodless chamber of the second leveling cylinder 6. In addition, the rod chamber of the first leveling cylinder 5 is also connected to the rod chamber of the second leveling cylinder 6, realizing the leveling function.

[0102] The second working state: Figure 7 As shown, operate the handle of the pilot valve 81, the pilot oil passes through a, and the status of each valve is as follows Figure 7 , wherein T1 and B1 of the reversing valve 83 are in a disconnected state, that is, the rodless chamber of the first leveling cylinder 5 no longer flows with oil, and the first leveling cylinder 5 no longer moves. At this time, P1' and A1' of the multi-way valve 82 are connected and used for oil flow, and B1' and T1' are connected and used for oil return, so that the rodless chamber of the second leveling cylinder 6 can flow with oil, and the cylinder rod extends, thereby adjusting the angle of the auxiliary tool 20.

[0103] The third working state: Figure 8 As shown, operate the handle of the pilot valve 81, the pilot oil passes through b, and the status of each valve is as follows Figure 8 As shown, T1 and B1 of the reversing valve 83 are in a disconnected state, that is, the rodless chamber of the first leveling cylinder 5 no longer flows with oil, and the first leveling cylinder 5 no longer operates. At this time, P1" and A1" of the multi-way valve 82 are connected and used for oil inflow, and B1" and T1" are connected and used for oil return, so that the rod chamber of the second leveling cylinder 6 can flow with oil, and the cylinder rod retracts, thereby adjusting the angle of the auxiliary tool 20. Note: In both the second and third working states, the angle of the auxiliary tool 20 can be adjusted while the hydraulic system 8 is connected to the main oil circuit.

[0104] It can be seen that when the hydraulic system 8 is combined with two leveling cylinders, multiple working states can be achieved. On the one hand, it can ensure that the angle of the auxiliary device 20 remains unchanged during the lifting of the first robotic arm 1 and the second robotic arm 2, thereby ensuring the stability and reliability of the lifting; on the other hand, the angle of the auxiliary device 20 can also be adjusted separately according to actual needs.

[0105] In addition, the main oil circuit supplies oil to the hydraulic system 8, and there is no need to configure a separate hydraulic oil tank 86, which helps to reduce the investment in parts and contributes to miniaturization and lightweight design.

[0106] Example 2

[0107] See also Figures 1 to 13 As shown, the second embodiment of the present application also provides a container lifting and tipping loader, including the lifting arm mechanism 10 described in the above-mentioned embodiment 1, and thus, has all the beneficial technical effects of the lifting arm mechanism 10, and the same technical features and beneficial effects are no longer repeated.

[0108] In this embodiment, preferably, Figures 9 to 13 As shown, in the above technical solution, further, the container lifting and tipping loader includes a body 30, an auxiliary tool 20 and the aforementioned lifting arm mechanism 10; wherein, the support frame 7 is hinged to the body 30. Note: In general, the support frame 7 serves as the front frame and the body 30 serves as the rear frame, and the two are hinged to realize the overall steering of the lifting arm mechanism 10; the second mechanical arm 2 and the second leveling cylinder 6 are respectively rotatably connected to the auxiliary tool 20.

[0109] According to the structure described above, the lifting arm mechanism 10 can automatically maintain the angle of the front auxiliary device 20 stable during lifting or lowering. By replacing the auxiliary device 20 with a sling, a supporting fork, a clamp, a rotating fork, etc., the container can be lifted, transported, turned over, stacked, or the bulk materials in the container can be dumped and unloaded.

[0110] In this embodiment, preferably, the container lifting and tipping loader includes a first operating handle, a second operating handle and a third operating handle, and the first operating handle and the second operating handle are respectively connected to the first lifting cylinder 3 and the second lifting cylinder 4, that is, the first operating handle and the second operating handle are respectively used to control the first lifting cylinder 3 and the second lifting cylinder 4, and the third operating handle is connected to the pilot valve 81.

[0111] According to the structure described above, only three operating handles are needed to control the lifting cylinder and the leveling cylinder, which is convenient for the operator in the cab and avoids the problem of misoperation caused by too many handles.

[0112] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A lifting arm mechanism, characterized in that: include: A first robotic arm, a second robotic arm, a first lifting cylinder, a second lifting cylinder, a first leveling cylinder, and a second leveling cylinder; wherein the first robotic arm is used to rotatably connect to a first target object, the second robotic arm is used to rotatably connect to a second target object, and the second robotic arm is rotatably connected to the first robotic arm; The first lifting cylinder is connected between the first robotic arm and the first target object, and the second lifting cylinder is connected between the second robotic arm and the first target object; The first leveling cylinder is connected between the first robotic arm and the second robotic arm; the second leveling cylinder is connected between the second robotic arm and the second target; The rod cavity of the first leveling oil cylinder is connected to the rod cavity of the second leveling oil cylinder, and the rodless cavity of the first leveling oil cylinder is connected to the rodless cavity of the second leveling oil cylinder; The hinge point between the first robotic arm and the second robotic arm is D, the hinge points between the first leveling cylinder and the first robotic arm and the second robotic arm are C and E respectively, and the hinge points C, D and E form a triangle ΔCDE; The hinge point between the second robotic arm and the second target is M, the hinge points between the second leveling cylinder, the second robotic arm, and the second target are H and N respectively, and the hinge points H, M, and N form a triangle ΔHMN; Among them, side length CD=MN=a; side length DE=HM=3.54a; side length CE+HN=6.88a, and the range of side length CE is 2.72a-4.15a, and the range of side length HM is 2.72a-4.15a; The first mechanical arm includes a first bending arm, a second bending arm, and a first connecting member; wherein the first bending arm and the second bending arm are connected by the first connecting member, and the first bending arm and the second bending arm are symmetrically arranged at two ends of the first connecting member; the first bending arm and the second bending arm are both formed with a first hinged plate; The second robotic arm includes a first support arm, a second support arm, and a second connecting member; wherein the first support arm and the second support arm are connected by the second connecting member, and the first support arm and the second support arm are symmetrically arranged at both ends of the second connecting member; The first support arm is rotatably connected to the first bending arm; the second support arm is rotatably connected to the second bending arm; The lifting arm mechanism further includes a support frame, which includes a main plate, a fixing pipe and two support assemblies; wherein the two support assemblies are spaced apart from each other on the main plate, and the fixing pipe is connected to the two support assemblies; each support assembly includes a first support plate and a second support plate; The first support plate and the second support plate are spaced apart and a receiving space is formed therebetween; one end of the first bending arm is disposed in the receiving space of one of the support assemblies and is rotatably connected to the corresponding first support plate and the second support plate; one end of the second bending arm is disposed in the receiving space of the other support assembly and is rotatably connected to the corresponding first support plate and the second support plate; The main body is formed with a connecting plate body, and the connecting plate body is formed with a mounting through hole for connecting the first target object; There are two first lifting cylinders, one of which is disposed in the accommodation space of one of the support assemblies and is rotatably connected to the corresponding first support plate and the second support plate; wherein another one of the first lifting cylinders is disposed in the accommodation space of another one of the support assemblies and is rotatably connected to the corresponding first support plate and the second support plate; There are multiple second lifting cylinders, and the multiple second lifting cylinders are arranged in sequence along the length direction of the fixed pipe; the second lifting cylinders are respectively rotatably connected to the fixed pipe and the adjacent first support plate or the second support plate.

2. The lifting arm mechanism according to claim 1, characterized in that: The first robotic arm and the second robotic arm are both V-shaped, and the openings of the first robotic arm and the second robotic arm are both arranged toward the first target object.

3. The lifting arm mechanism according to claim 1, characterized in that: The lifting arm mechanism further includes a hydraulic system, which includes a reversing valve, a multi-way valve, and a pilot valve; wherein the rod chamber of the first leveling cylinder and the rod chamber of the second leveling cylinder are connected, and are connected to the multi-way valve via a common first connecting pipe; The rodless chamber of the first leveling cylinder is connected to the rodless chamber of the second leveling cylinder via the reversing valve, and is connected to the multi-way valve via a common second connecting line; the multi-way valve is connected to the hydraulic oil source; the pilot valve is respectively connected to the multi-way valve and the reversing valve.

4. The lifting arm mechanism according to claim 3, characterized in that: The hydraulic oil source is the main oil supply pipeline provided for the first lifting cylinder and the second lifting cylinder; The first connecting pipe and the second connecting pipe are both provided with a relief valve; The multi-way valve is a three-position seven-way valve; the reversing valve is a two-position two-way valve; and the pilot valve is a three-position three-way valve.

5. A container lifting and tilting loader, characterized in that: It comprises a vehicle body, an auxiliary tool and the lifting arm mechanism as claimed in claim 1; wherein the support frame is hinged to the vehicle body; the second mechanical arm and the second leveling cylinder are respectively rotatably connected to the auxiliary tool.

6. The container lifting and tilting loader according to claim 5, characterized in that: The container lifting and tipping loader includes a first operating handle, a second operating handle and a third operating handle, and the first operating handle and the second operating handle are respectively connected to the first lifting cylinder and the second lifting cylinder of the lifting arm mechanism, and the third operating handle is connected to the pilot valve of the lifting arm mechanism.

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