Dual-robot automatic loading and unloading vehicle and loading and unloading method thereof

Abstract

The application discloses a double-mechanical-arm automatic loading and unloading vehicle, which comprises a platform, two vertical columns fixedly installed on the two sides of the front end of the platform, a lead screw installed on the vertical column, a first lifting frame connected with the lead screw, the first lifting frame being sleeved on the periphery of the vertical column, a second lifting frame fixedly supported on the first lifting frame through a guide rail I, a second servo motor installed on the second lifting frame, a gear connected with the output end of the second servo motor, a rack engaged with the gear and installed on the first lifting frame, a mechanical gripper arm mechanism installed on the second lifting frame, a mechanical suction gripper mechanism connected with the mechanical gripper arm mechanism, a cargo turnover mechanism installed between the two vertical columns, a cargo lifting mechanism installed on the rear side of the cargo turnover mechanism and roller lines installed on the two sides of the cargo turnover mechanism. The automatic loading and unloading vehicle can realize the loading and unloading of cargos in various models and different box-type trucks, and solves the problem of difficult automatic loading and unloading of cargos caused by the fact that the heights of truck cabins, the internal dimensions and various truck models are different.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automatic loading and unloading of vehicles, in particular to a double-mechanical-arm automatic loading and unloading vehicle and a loading and unloading method thereof. BACKGROUND

[0002] Box truck transportation is one of the main transportation methods in the logistics industry, which is safe and efficient. With the rapid development of China's logistics, the proportion will be higher and higher. Due to the particularity of the structure of the box truck, such as the height and internal dimensions of the carriage, various vehicle models are not the same, and work is done in a semi-closed space. It is very difficult to achieve automatic loading and unloading. At present, the loading and unloading of box trucks are mainly completed by manual and auxiliary conveyor belt or electric forklift. Manual work has the disadvantages of low efficiency, high intensity and high cost. Electric forklifts can reduce the intensity of manual work, but cannot fully utilize the loading space in the box and cannot completely eliminate manual work. With the increase of labor cost, it is inevitable to replace manual work with machines. SUMMARY

[0003] The present application relates to the technical field of automatic loading and unloading of vehicles, in particular to a double-mechanical-arm automatic loading and unloading vehicle and a loading and unloading method thereof. To achieve the above-mentioned purpose, the present application provides the following technical scheme: a double-mechanical-arm automatic loading and unloading vehicle, comprising a platform, a driving assembly is installed at the bottom of the platform, two vertical columns are fixedly installed at the front end of the platform on both sides, a lead screw is installed on the vertical column, a first section of lifting frame is connected to the lead screw seat of the lead screw, the first section of lifting frame is sleeved on the outer periphery of the vertical column, a guide block is installed on the inner side of the first section of lifting frame, the guide block is slidingly connected to a guide rail, the guide rail is installed on the vertical column, a first servo motor is arranged on the side edge of the vertical column, the first servo motor is installed on the platform through a support, the first servo motor drives the lead screw through a belt and a belt pulley, a second section of lifting frame is fixedly supported on the first section of lifting frame through a guide rail I, a second servo motor is installed on the second section of lifting frame, a gear is connected to the output end of the second servo motor, the gear meshes with a rack, the rack is installed on the first section of lifting frame, a mechanical gripper arm mechanism is installed on the front side of the second section of lifting frame, a mechanical suction gripper mechanism is connected to the mechanical gripper arm mechanism, a goods turnover mechanism is installed between the two vertical columns, a goods lifting mechanism is installed on the rear side of the goods turnover mechanism, roller lines are installed on both sides of the goods turnover mechanism.

[0004] Preferably, the driving assembly comprises a driving motor, the driving motor is installed at the bottom of the platform, the driving motor is connected to a driving wheel, a driven wheel is installed at the bottom of the platform, and a track is installed between the driving wheel and the driven wheel.

[0005] Preferably, the mechanical gripper arm mechanism comprises a reducer support connected with the two-stage lifting frame, a first reducer is installed on the reducer support, the first reducer is connected with the third servo motor, the first reducer is connected with the large arm, a second reducer is installed at the end of the large arm, the second reducer is connected with the small arm, the second reducer is connected with the fourth servo motor, a planetary reducer is installed at the end of the small arm, the planetary reducer is connected with the L support, the planetary reducer is connected with the fifth servo motor, a third reducer is installed on the L support, the third reducer is connected with the sixth servo motor, a flange is installed at the lower end of the third reducer, and the flange is connected with the mechanical suction gripper mechanism.

[0006] Preferably, the mechanical suction gripper mechanism comprises a gripper mounting plate, a flange is connected above the gripper mounting plate, suction cup seats are connected on both sides of the bottom of the gripper mounting plate, suction cups are installed on the suction cup seats, a pneumatic cylinder is connected to the bottom of the gripper mounting plate, the pneumatic cylinder is connected with a jacking plate, a limiting groove is opened on the jacking plate, the position of the limiting groove corresponds to the suction cup, a rodless pneumatic cylinder is installed in the middle of the bottom of the gripper mounting plate, the rodless pneumatic cylinder is connected with a push plate support, the push plate support is connected with a push plate, and guide wheels are installed at the bottom of the jacking plate.

[0007] Preferably, the cargo turnover mechanism comprises left and right mounting plates, the left and right mounting plates are installed in parallel on the platform, a turnover support is installed between the left and right mounting plates through a bearing, two conveyor belt assemblies are vertically installed on the turnover support, material protection plates are arranged on the sides of the conveyor belt assemblies, the material protection plates are installed on the platform, a turnover gear is connected to the end of the turnover support, the turnover gear is engaged with a drive gear, the drive gear is connected with a turnover motor, and the turnover motor is installed on the left mounting plate through a support.

[0008] Preferably, the cargo lifting mechanism comprises a lifting conveyor belt assembly, positioning plates are connected on both sides of the lifting conveyor belt assembly, a limiting plate is installed at the front end, lifting pneumatic cylinders and linear guide rods are connected to the bottom of the lifting conveyor belt assembly, the lifting pneumatic cylinders and linear guide rods are installed on the platform, and photoelectric switches I are installed on the positioning plates.

[0009] Preferably, the roller line comprises rollers, the rollers comprise driving rollers and driven rollers, the driving rollers and the driven rollers are installed on support plates at both ends, one end of the driving roller is connected with a roller motor and a driving roller wheel, the end of the driven roller is connected with a driven roller wheel, a conveyor belt is connected between the driving roller wheel and the driven roller wheel, limiting plates I are installed between the ends of the support plates, positioning plates I are installed on the inner sides of the ends of the support plates, and photoelectric switches are installed on the positioning plates I.

[0010] A loading and unloading method of a double-robot-arm automatic loading and unloading vehicle, specifically comprising the following contents:

[0011] (1), the material posture A (vertical posture) conveying mode: when the box truck needs to be loaded, the platform moves into the truck bed, a series of sensing, ranging, positioning are carried out, and then it is accurately fixed at the bottom of the truck bed. The material is conveyed to the conveying belt assembly of the goods turnover mechanism. The turnover motor drives the turnover support to turn over by about 90 degrees. The material turned over under the assistance of the material protection plate is carried on the roller line. The material is conveyed to the end of the roller line through the rollers. Under the action of the end limiting plate I and the positioning plate I, the material is accurately positioned. The mechanical gripper arm mechanism drives the mechanical suction gripper to take the material;

[0012] (2), the material posture B (flat posture) conveying mode: when the box truck needs to be loaded, the platform moves into the truck bed, a series of sensing, ranging, positioning are carried out, and then it is accurately fixed at the bottom of the truck bed. The material is conveyed to the conveying belt assembly of the goods turnover mechanism. At this time, the conveying belt assembly does not turn over. The lifting cylinder lifts the lifting conveying belt assembly to the same horizontal plane of the conveying belt assembly. The material is directly conveyed to the end of the lifting conveying belt assembly. After being blocked by the limiting plate, it is positioned left and right by the positioning plates on both sides. The mechanical gripper arm mechanism drives the mechanical suction gripper to take the material;

[0013] (3), stacking mode A (flat grabbing and flat stacking when the material is in a vertical state): the material is conveyed in the conveying mode of the material posture A. When the material is conveyed to the end of the roller line, after being positioned by the limiting plate I and the positioning plate I, the controller receives the signal that the photoelectric switch detects the material. At this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor respectively drive the first lifting frame, the second lifting frame, the large arm, the small arm and the mechanical suction gripper to move to the waiting grabbing position through multi-party linkage. Then the suction cup of the mechanical suction gripper negatively adsorbs and grabs the material. The grabbed material is horizontally lifted and moved. Through multi-party linkage, the material is translated to the waiting stacking point, realizing accurate stacking;

[0014] (4), stacking mode B (flat grabbing and rotating stacking when the material is in a vertical state): the material is conveyed in the conveying mode of the material posture A. When the material is conveyed to the end of the roller line, after being positioned by the limiting plate I and the positioning plate I, the controller receives the signal that the photoelectric switch detects the material. At this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor respectively drive the first lifting frame, the second lifting frame, the large arm, the small arm and the mechanical suction gripper to move to the waiting grabbing position through multi-party linkage. Then the suction cup of the mechanical suction gripper negatively adsorbs and grabs the material. The grabbed material is driven by the fifth servo motor and the planetary reducer to turn over horizontally by 90 degrees. The rotated material is translated to the waiting stacking point through multi-party linkage, realizing accurate stacking;

[0015] (5), stacking mode C (flat grab and push when the material is in an upright state): the material is conveyed in the conveying mode of material posture A, when the material is conveyed to the end of the roller line, after positioning by the limiting plate I and the positioning plate I, the controller receives the signal that the photoelectric switch detects the material, at this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor drive the first lifting frame, the second lifting frame, the large arm, the small arm and the mechanical suction gripper to move to the waiting grabbing position through multi-party linkage, then the suction cup of the mechanical suction gripper negatively adsorbs and grabs the material, the grabbed material is turned over by 180 degrees under the drive of the fifth servo motor and the planetary reducer, then the material is translated to the front of the waiting stacking point through multi-party linkage, the suction cup releases the vacuum, the cylinder drives the lifting plate to lift the material to a certain height, so that the material is separated from the surface of the suction cup, then the rodless cylinder drives the push plate to push the material to the waiting stacking point, realizing accurate stacking;

[0016] (6), stacking mode D (flat grab and push when the material is in a flat lying state): the material is conveyed in the conveying mode of material posture B, when the material is conveyed to the end of the lifting conveyor belt assembly, after being blocked by the limiting plate and positioned left and right by the positioning plate, the controller receives the signal that the photoelectric switch I detects the material, at this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor drive the first lifting frame, the second lifting frame, the large arm, the small arm and the mechanical suction gripper to move to the waiting grabbing position through multi-party linkage, then the suction cup of the mechanical suction gripper negatively adsorbs and grabs the material, the grabbed material is turned over by 180 degrees under the drive of the fifth servo motor and the planetary reducer, then the material is translated to the front of the waiting stacking point through multi-party linkage, the suction cup releases the vacuum, the cylinder drives the lifting plate to lift the material to a certain height, so that the material is separated from the surface of the suction cup, then the rodless cylinder drives the push plate to push the material to the waiting stacking point, realizing accurate stacking.

[0017] The automatic loading and unloading vehicle can realize loading and unloading of goods in various models of box-type trucks, solves the problem of automatic loading and unloading of goods due to different heights, internal dimensions and various models of truck compartments, reduces the number of personnel, saves labor costs, replaces manual labor with machines, improves labor efficiency, solves the safety problems of environmental lighting and ventilation of operating workers in a semi-closed space, eliminates safety hazards, automatically calculates the maximum volume of the truck compartment by using computer technology in combination with the actual size of each model of truck and truck compartment, uses the most reasonable stacking mode to stack goods, maximizes the space utilization of the truck compartment, replaces the suction cups with different grabbing devices, and can realize loading and stacking of goods of different varieties and shapes by making small changes and investment, providing a good early preparation platform for future product upgrading, and changing the movement direction of the loaded goods of the automatic loading and unloading vehicle to easily realize automatic unloading of the box-type truck, realize complete automation of loading and unloading of the box-type truck, completely liberate manpower and improve the efficiency of loading and unloading goods. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a front side view of the present application;

[0019] Figure 2 is a rear side view of the present application.

[0020] In the figure, 1. platform; 2. driving motor; 3. track; 4. stand; 5. one section of lifting frame; 6. first servo motor; 7. belt; 8. lead screw; 9. guide rail; 10. two sections of lifting frame; 11. second servo motor; 12. gear; 13. rack; 14. guide rail I; 15. speed reducer support; 16. first speed reducer; 17. third servo motor; 18. large arm; 19. second speed reducer; 20. small arm; 21. fourth servo motor; 22. planetary speed reducer; 23. L support; 24. fifth servo motor; 25. sixth servo motor; 26. flange; 27. gripper mounting plate; 28. suction cup; 29. air cylinder; 30. jacking plate; 31. push plate; 32. left mounting plate; 33. right mounting plate; 34. conveyor belt assembly; 35. material protection plate; 36. turnover motor; 37. turnover gear; 38. roller; 39. limit plate I; 40. positioning plate I; 41. lifting conveyor belt assembly; 42. lifting air cylinder; 43. straight guide rod; 45. limit plate; 46. positioning plate; 47. third speed reducer; 48. rodless air cylinder; 49. guide block; 50. driving wheel; 51. driven wheel; 52. push plate support; 53. guide wheel; 54. turnover support; 55. support plate. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, purposes and effects of the present application easy to understand, the present application is further described below in combination with specific drawings. In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting" and "connection" should be understood in a broad sense. For example, it can be fixed connection, detachable connection, integral connection or mechanical connection, or electrical connection. It can be direct connection or indirect connection through an intermediate medium. It can be the internal connection of two elements.

[0022] Embodiment

[0023] As Figure 1 and Figure 2 A double-robot arm automatic loading and unloading vehicle is shown, which comprises a platform 1, a driving assembly is mounted at the bottom of the platform 1, two vertical columns 4 are fixedly mounted at the front end of the platform 1, a lead screw 8 is mounted on the vertical column 4, a lead screw seat of the lead screw 8 is connected to a one-section lifting frame 5, the one-section lifting frame 5 is sleeved on the outer periphery of the vertical column 4, a guide block 49 is mounted on the inner side of the one-section lifting frame 5, the guide block 49 is slidingly connected to a guide rail 9, the guide rail 9 is mounted on the vertical column 4, a first servo motor 6 is arranged on the side edge of the vertical column 4, the first servo motor 6 is mounted on the platform 1 through a support, the first servo motor 6 drives the lead screw 8 through a belt 7 cooperating with a belt pulley, a two-section lifting frame 10 is fixedly supported on the one-section lifting frame 5 through a guide rail I 14, a second servo motor 11 is mounted on the two-section lifting frame 10, a gear 12 is connected to the output end of the second servo motor 11, the gear 12 meshes with a rack 13, the rack 13 is mounted on the one-section lifting frame 5, a mechanical gripper arm mechanism is mounted on the front side of the two-section lifting frame 10, a mechanical suction gripper mechanism is connected to the mechanical gripper arm mechanism, a cargo turnover mechanism is mounted between the two vertical columns 4, a cargo lifting mechanism is mounted on the rear side of the cargo turnover mechanism, roller lines are mounted on the two sides of the cargo turnover mechanism; the first servo motor 6 drives the belt 7 cooperating with the belt pulley to drive the lead screw 8 to move, the lead screw 8 can drive the one-section lifting frame 5 to lift, the second servo motor 11 drives the gear 12 to mesh with the rack 13, thereby realizing the lifting of the two-section lifting frame 10, the lifting of the one-section lifting frame 5 and the two-section lifting frame 10 can finally adjust the positions of the mechanical gripper arm mechanism and the mechanical suction gripper mechanism;

[0024] The driving assembly comprises a driving motor 2, the driving motor 2 is mounted at the bottom of the platform 1, the driving motor 2 is connected to a driving wheel 50, a driven wheel 51 is mounted at the bottom of the platform 1, and a track 3 is mounted between the driving wheel 50 and the driven wheel 51; the track 3 is driven by the servo motor 2 to realize the overall movement of the platform 1;

[0025] The mechanical gripper arm mechanism comprises a reducer support 15 connected with the two-stage lifting frame 10, a first reducer 16 installed on the reducer support 15, a third servo motor 17 connected with the first reducer 16, a large arm 18 connected with the first reducer 16, the large arm 18 being swung under the rotation of the third servo motor 17 and the first reducer 16; a second reducer 19 installed at the end of the large arm 18, a small arm 20 connected with the second reducer 19, the second reducer 19 being connected with a fourth servo motor 21, the small arm 20 being swung under the transmission of the second reducer 19 and the fourth servo motor 21; a planetary reducer 22 installed at the end of the small arm 20, the planetary reducer 22 being connected with an L support 23, the planetary reducer 22 being connected with a fifth servo motor 24, the fifth servo motor 24 being connected with the L support 23 to realize swinging and overturning in the vertical direction; a third reducer 47 installed on the L support 23, the third reducer 17 being connected with a sixth servo motor 25, a flange plate 26 installed at the lower end of the third reducer 17, the flange plate 26 being connected with the mechanical suction gripper mechanism, the mechanical suction gripper mechanism being overturned through the transmission of the servo motor 25 and the third reducer 47;

[0026] The mechanical suction gripper mechanism comprises a gripper mounting plate 27, the flange plate 26 being connected above the gripper mounting plate 27, the suction disc seat being connected at the bottom of the gripper mounting plate 27, the suction disc 28 being installed on the suction disc seat, the air cylinder 29 being connected at the bottom of the gripper mounting plate 27, the air cylinder 29 being connected with the jacking plate 30, the jacking plate 30 being provided with a limiting groove, the limiting groove being corresponding to the suction disc 28, the rodless air cylinder 48 being installed at the middle of the bottom of the gripper mounting plate 27, the rodless air cylinder 48 being connected with the push plate support 52, the push plate 31 being connected with the push plate support 52, the guide wheel 53 being installed at the bottom of the jacking plate 30; the mechanical suction gripper mechanism is moved to the position to be gripped through the one-stage lifting frame 5, the two-stage lifting frame 10 and the mechanical gripper arm mechanism, then the suction disc 28 is used to perform negative pressure suction and gripping on the material, then the material is translated to the front of the position to be stacked through the multi-party linkage, the suction disc 28 is released, the air cylinder 29 drives the jacking plate 30 to lift the material to a certain height, so that the material is separated from the surface of the suction disc 28, then the rodless air cylinder 48 drives the push plate 31 to push the material to the position to be stacked, so that precise stacking is realized;

[0027] The goods overturning mechanism comprises a left mounting plate 32 and a right mounting plate 33, the left mounting plate 32 and the right mounting plate 33 are installed in parallel on the platform 1, a bearing is installed between the left mounting plate 32 and the right mounting plate 33, a turnover bracket 54 is installed on the bearing, two conveying belt assemblies 34 are installed vertically on the turnover bracket 54, a material protection plate 35 is arranged on the side of the conveying belt assembly 34, the material protection plate 35 is installed on the platform 1, the turnover bracket 54 is connected with a turnover gear 37 at the end, the turnover gear 37 is engaged with a driving gear, the driving gear is connected with a turnover motor 36, the turnover motor 36 is installed on the left mounting plate 33 through a bracket; when the goods need to be overturned, the turnover motor 36 drives the turnover bracket 54 to rotate through the turnover gear 37 and the driving gear, the turnover bracket 54 drives the conveying belt assembly 34 to realize left-right overturning, and the material protection plate 35 assists in supporting the material during overturning;

[0028] The goods lifting mechanism comprises a lifting conveying belt assembly 41, the lifting conveying belt assembly 41 and the conveying belt assembly 34 are both common conveying belt assemblies; the lifting conveying belt assembly 41 is connected with positioning plates 46 at both sides, a limiting plate 45 is installed at the front end, the bottom of the lifting conveying belt assembly 41 is connected with a lifting cylinder 42 and a linear guide rod 43, the lifting cylinder 42 and the linear guide rod 43 are installed on the platform 1, and are used for driving and guiding the lifting of the lifting conveying belt assembly 41; a photoelectric switch I is installed on the positioning plate 46;

[0029] The roller line comprises a roller 38, the roller 38 comprises a driving roller and a driven roller, the driving roller and the driven roller are installed at both ends of a support plate 55, one end of the driving roller is connected with a roller motor and a driving roller wheel, the end of the driven roller is connected with a driven roller wheel, the driving roller wheel and the driven roller wheel are connected with a conveying belt, a limiting plate I 39 is installed between the ends of the support plate 55, a positioning plate I 40 is installed at the end of the inner side of the support plate 55, and a photoelectric switch is installed on the positioning plate I 40; when the material is transported to the end of the roller line through the roller 38, the photoelectric switch detects the material after the material is positioned by the limiting plate I 39 and the positioning plate I 40, and sends a signal to the controller.

[0030] A loading and unloading method of a double-mechanical-arm automatic loading and unloading vehicle, specifically comprising the following contents:

[0031] (1) Material posture A (vertical posture) conveying mode: when the box-type truck needs to be loaded, the platform 1 is moved into the truck compartment, is accurately fixed at the bottom of the truck compartment after a series of sensing, distance measuring and positioning, the material is conveyed to the conveying belt assembly 34 of the goods overturning mechanism, the turnover motor 36 drives the turnover bracket 54 to overturn by about 90 degrees, the overturned material is loaded on the roller line under the assistance of the material protection plate 35, is conveyed to the end of the roller line through the roller 38, is accurately positioned under the action of the limiting plate I 39 and the positioning plate I 40 at the end of the roller line, and waits for the mechanical suction gripper mechanism to take the material;

[0032] (2), the material posture B (flat posture) conveying mode: when the box truck needs to be loaded, the platform 1 is moved into the truck compartment, a series of sensing, ranging and positioning are carried out, and then it is accurately fixed at the bottom of the truck compartment. The material is conveyed to the conveying belt assembly 34 of the material turnover mechanism. At this time, the conveying belt assembly 34 does not overturn, the lifting cylinder 42 lifts the lifting conveying belt assembly 41 to the same horizontal plane of the conveying belt assembly 34, the material is directly conveyed to the end of the lifting conveying belt assembly 41, and after being blocked by the limiting plate 45, it is positioned left and right by the positioning plates 46 on both sides, and waits for the mechanical suction gripper mechanism to take the material;

[0033] (3), stacking mode A (flat grabbing and flat placing when the material is in a vertical state): the material is conveyed in the conveying mode of the material posture A. After the material is positioned by the limiting plate I 39 and the positioning plate I 40 at the end of the roller line, the controller receives the signal that the photoelectric switch detects the material. At this time, the first servo motor 6, the second servo motor 11, the third servo motor 17, the fourth servo motor 21 and the sixth servo motor 25 respectively drive the first lifting frame 5, the second lifting frame 10, the large arm 18, the small arm 20 and the mechanical suction gripper mechanism to move to the waiting grabbing position through multi-party linkage. Then the suction cup 28 of the mechanical suction gripper mechanism negatively adsorbs and grabs the material. The grabbed material is lifted and moved horizontally, and is translated to the waiting stacking point through multi-party linkage, so as to realize accurate stacking;

[0034] (4), stacking mode B (flat grabbing and rotating placing when the material is in a vertical state): the material is conveyed in the conveying mode of the material posture A. After the material is positioned by the limiting plate I 39 and the positioning plate I 40 at the end of the roller line, the controller receives the signal that the photoelectric switch detects the material. At this time, the first servo motor 6, the second servo motor 11, the third servo motor 17, the fourth servo motor 21 and the sixth servo motor 25 respectively drive the first lifting frame 5, the second lifting frame 10, the large arm 18, the small arm 20 and the mechanical suction gripper mechanism to move to the waiting grabbing position through multi-party linkage. Then the suction cup 28 of the mechanical suction gripper mechanism negatively adsorbs and grabs the material. The grabbed material is driven by the fifth servo motor 24 and the planetary reducer 22 to be horizontally turned by 90 degrees. The rotated material is translated to the waiting stacking point through multi-party linkage, so as to realize accurate stacking;

[0035] (5), stacking mode C (flat grab and push when the material is in an upright state): the material is conveyed in the conveying mode of material posture A, when the material is conveyed to the end of the roller line, after positioning by limiting plate 139 and positioning plate 140, the controller receives the signal that the photoelectric switch detects the material, at this time, the first servo motor 6, the second servo motor 11, the third servo motor 17, the fourth servo motor 21 and the sixth servo motor 25 drive the first lifting frame 5, the second lifting frame 10, the large arm 18, the small arm 20 and the mechanical suction gripper multi-party linkage to move to the waiting grabbing position, then the suction cup 28 of the mechanical suction gripper grabs the material by negative pressure adsorption, the grabbed material is turned over by 180 degrees under the drive of the fifth servo motor 24 and the planetary reducer 22, then the material is translated to the front of the waiting stacking point under the multi-party linkage, the suction cup 28 releases the vacuum, the cylinder 29 drives the lifting plate 30 to lift the material to a certain height, so that the material is separated from the surface of the suction cup 28, then the rodless cylinder 48 drives the push plate 31 to push the material to the waiting stacking point, realizing accurate stacking;

[0036] (6), stacking mode D (flat grab and push when the material is in a flat lying state): the material is conveyed in the conveying mode of material posture B, when the material is conveyed to the end of the lifting conveyor belt assembly 41, after being blocked by the limiting plate 45 and positioned by the positioning plate 46, the controller receives the signal that the photoelectric switch I detects the material, at this time, the first servo motor 6, the second servo motor 11, the third servo motor 17, the fourth servo motor 21 and the sixth servo motor 25 drive the first lifting frame 5, the second lifting frame 10, the large arm 18, the small arm 20 and the mechanical suction gripper multi-party linkage to move to the waiting grabbing position, then the suction cup 28 of the mechanical suction gripper grabs the material by negative pressure adsorption, the grabbed material is turned over by 180 degrees under the drive of the fifth servo motor 24 and the planetary reducer 22, then the material is translated to the front of the waiting stacking point under the multi-party linkage, the suction cup 28 releases the vacuum, the cylinder 29 drives the lifting plate 30 to lift the material to a certain height, so that the material is separated from the surface of the suction cup 28, then the rodless cylinder 48 drives the push plate 31 to push the material to the waiting stacking point, realizing accurate stacking.

[0037] Finally, it should be pointed out that: the above only for the preferred embodiments of the present application, and not for limiting the present application, although the present application has been described in detail with reference to the foregoing embodiments, for those skilled in the art, the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced, any modification, equivalent replacement, improvement, etc. within the spirit and principles of the present application, should be included in the protection scope of the present application.

Claims

1. A dual-arm automated loading and unloading vehicle, comprising a platform, characterized in that: A drive assembly is installed at the bottom of the platform. Columns are fixedly installed on both sides of the front end of the platform. A lead screw is installed on each column, and the lead screw seat is connected to a lifting frame. The lifting frame is fitted around the column, and a guide block is installed inside the lifting frame. The guide block is slidably connected to a guide rail, which is mounted on the column. A first servo motor is located on the side of each column and is mounted on the platform via a bracket. The first servo motor drives the lead screw via a belt and pulley. A second lifting frame is fixedly supported on the first lifting frame via guide rail I. A second servo motor is installed on the second lifting frame, and its output end is connected to a gear that meshes with a rack. The rack is mounted on the first lifting frame. A mechanical gripper arm mechanism is installed at the front of the second lifting frame, and this mechanism is connected to a mechanical suction gripper mechanism. A cargo tilting mechanism is installed between the two columns, and a cargo lifting mechanism is installed behind the cargo tilting mechanism. Roller lines are installed on both sides of the cargo tilting mechanism. The mechanical adsorption gripper mechanism includes a gripper mounting plate, suction cup seats connected to both sides of the bottom of the gripper mounting plate, suction cups mounted on the suction cup seats, a cylinder connected to the bottom of the gripper mounting plate, a lifting plate connected to the cylinder, a limit groove opened on the lifting plate, the position of the limit groove corresponding to the suction cup, a rodless cylinder installed in the middle of the bottom of the gripper mounting plate, a push plate bracket connected to the rodless cylinder, a push plate bracket connected to the push plate, and a guide wheel installed at the bottom of the lifting plate. The cargo tilting mechanism includes a left mounting plate and a right mounting plate, which are mounted parallel to each other on the platform. A tilting bracket is mounted between the left and right mounting plates via a bearing. Two conveyor belt assemblies are vertically mounted on the tilting bracket. Each conveyor belt assembly has a protective plate on its side, which is mounted on the platform. A tilting gear is connected to the end of the tilting bracket. The tilting gear meshes with a drive gear, which is connected to a tilting motor. The tilting motor is mounted on the left mounting plate via the bracket. The cargo lifting mechanism includes a lifting conveyor belt assembly, with positioning plates connected to both sides of the lifting conveyor belt assembly and a limit plate installed at the front end. A lifting cylinder and a linear guide rod are connected to the bottom of the lifting conveyor belt assembly. The lifting cylinder and the linear guide rod are installed on the platform, and a photoelectric switch I is installed on the positioning plate.

2. The dual-arm automated loading and unloading vehicle according to claim 1, characterized in that: The drive assembly includes a drive motor mounted on the bottom of the platform, the drive motor being connected to a drive wheel, a driven wheel mounted on the bottom of the platform, and a track being installed between the drive wheel and the driven wheel.

3. The dual-arm automated loading and unloading vehicle according to claim 1, characterized in that: The mechanical gripper arm mechanism includes a reducer bracket connected to a two-section lifting frame. A first reducer is mounted on the reducer bracket and connected to a third servo motor. The first reducer is connected to the boom. A second reducer is mounted at the end of the boom and connected to the forearm. The second reducer is connected to a fourth servo motor. A planetary reducer is mounted at the end of the forearm and connected to an L-bracket. The planetary reducer is connected to a fifth servo motor. A third reducer is mounted on the L-bracket and connected to a sixth servo motor. A flange is mounted at the lower end of the third reducer and connected to the top of the gripper mounting plate.

4. The dual-arm automated loading and unloading vehicle according to claim 1, characterized in that: The roller conveyor includes rollers, which include a driving roller and a driven roller. The driving roller and the driven roller are mounted on support plates at both ends. One end of the driving roller is connected to a roller motor and a driving roller wheel. The end of the driven roller is connected to a driven roller wheel. A conveyor belt is connected to the driving roller wheel and the driven roller wheel. A limit plate I is installed between the ends of the support plates. A positioning plate I is installed on the inner end of the support plates. A photoelectric switch is installed on the positioning plate I.

5. A loading and unloading method for a dual-arm automated loading and unloading vehicle according to any one of claims 1-4, characterized in that: Specifically, it includes the following: (1) Vertical posture conveying method: When the box truck needs to be loaded, the platform moves into the truck bed, performs a series of sensing, distance measurement and positioning and is then accurately fixed at the bottom of the truck bed. The material is conveyed to the conveyor belt assembly of the cargo flipping mechanism. The flipping motor drives the flipping bracket to flip about 90 degrees. With the assistance of the material protection plate, the flipped material is carried on the roller line and conveyed to the end of the roller line. Under the action of the end limit plate I and the positioning plate I, the material is accurately positioned and waits for the mechanical grab arm mechanism to drive the mechanical suction grab mechanism to pick up the material. (2) Flat-lying conveying mode: When the box truck needs to be loaded, the platform moves into the truck bed, performs a series of sensing, distance measurement and positioning and then is accurately fixed at the bottom of the truck bed. The material is conveyed to the conveyor belt assembly of the cargo flipping mechanism. At this time, the conveyor belt assembly does not flip. The lifting cylinder lifts the lifting conveyor belt assembly to the same level as the conveyor belt assembly. The material is directly conveyed to the end of the lifting conveyor belt assembly. After being blocked by the limit plate, it is positioned left and right by the positioning plates on both sides. Wait for the mechanical grab arm mechanism to drive the mechanical suction grab mechanism to pick up the material. (3) When the material is in the vertical state, it is flat gripped and placed: The material is conveyed in the conveying mode of material posture A. When the material is conveyed to the end of the roller line, after being positioned by the limit plate I and the positioning plate I, the controller receives the signal that the photoelectric switch detects the presence of material. At this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor drive the first section of the lifting frame, the second section of the lifting frame, the upper arm, the lower arm and the mechanical adsorption gripper mechanism to move to the position to be gripped under the multi-party linkage. Then the suction cup of the mechanical adsorption gripper mechanism performs negative pressure adsorption gripping on the material. After being gripped, the material is horizontally lifted and moved horizontally. Under the multi-party linkage, the material is moved to the stacking point to achieve precise stacking. (4) Flat gripping and rotating when the material is in the vertical state: The material is conveyed in the conveying mode of material posture A. When the material is conveyed to the end of the roller line, after being positioned by the limit plate I and the positioning plate I, the controller receives the signal that the photoelectric switch detects the presence of material. At this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor drive the first section of the lifting frame, the second section of the lifting frame, the upper arm, the lower arm and the mechanical adsorption gripper mechanism to move to the gripping position under the multi-party linkage. Then the suction cup of the mechanical adsorption gripper mechanism performs negative pressure adsorption gripping on the material. After gripping, the material is rotated 90 degrees horizontally under the drive of the fifth servo motor and the planetary reducer. After rotation, the material is moved horizontally to the stacking point under the multi-party linkage to achieve precise stacking. (5) Flat grabbing and pushing when the material is in the vertical state: The material is conveyed in the conveying mode of material posture A. When the material is conveyed to the end of the roller line, after being positioned by the limit plate I and the positioning plate I, the controller receives the signal that the photoelectric switch detects the presence of material. At this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor, and the sixth servo motor drive the first lifting frame, the second lifting frame, the upper arm, the lower arm, and the mechanical adsorption gripper mechanism to move to the grab position under the multi-party linkage. Then, the suction cup of the mechanical adsorption gripper mechanism performs negative pressure adsorption and grabbing of the material. After being grabbed, the material is flipped 180 degrees under the drive of the fifth servo motor and the planetary reducer. Then, under the multi-party linkage, the material is moved horizontally to the front of the stacking point. The suction cup releases the vacuum, and the cylinder drives the lifting plate to lift the material to a certain height, so that the material is removed from the surface of the suction cup. Then, the rodless cylinder drives the push plate to push the material to the stacking point to achieve precise stacking. (6) Flat grabbing and pushing when the material is lying flat: The material is conveyed in the conveying mode of material posture B. When the material is conveyed to the end of the lifting conveyor belt assembly, after being blocked by the limit plate and the positioning plate is positioned left and right, the controller receives the signal that the photoelectric switch I detects the presence of material. At this time, the first servo motor, the second servo motor, the third servo motor, the fourth servo motor and the sixth servo motor drive the first section of the lifting frame, the second section of the lifting frame, the upper arm, the lower arm and the mechanical adsorption gripper mechanism to move to the grab position under the multi-party linkage. Then the suction cup of the mechanical adsorption gripper mechanism performs negative pressure adsorption and grabbing of the material. After being grabbed, the material is flipped 180 degrees under the drive of the fifth servo motor and the planetary reducer. Then, under the multi-party linkage, the material is moved to the front of the stacking point. The suction cup releases the vacuum, the cylinder drives the lifting plate to lift the material to a certain height, so that the material is removed from the surface of the suction cup. Then the rodless cylinder drives the push plate to push the material to the stacking point to achieve precise stacking.

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