Single-stand-column double-arm automatic loading and unloading vehicle

Abstract

The single-stand-column double-arm automatic loading and unloading vehicle comprises a base, a crawler walking device is installed at the bottom of the base, a vertically-upward stand column is arranged at the front end of the base, and lifting seats are installed on the side faces of the two opposite sides of the stand column through multi-stage lifting mechanisms; each lifting base is provided with an independently-operated loading and unloading mechanical arm. The loading and unloading mechanical arms are arranged on the two sides of the stand column in a splayed opening mode, the mechanical arms move towards the two sides with the stand column as the center, in this way, a left large independent operation space and a right large independent operation space are reserved for the two loading and unloading mechanical arms, and the two loading and unloading mechanical arms can be better applied to do independent movement in the closed limited space; therefore, the working efficiency is effectively improved. The left and right independent spaces enable the left and right mechanical arms to have independent left and right grabbing stations and material channels, the system matching efficiency is not limited by front and back links, and the system efficiency is further improved.

Description

Technical Field

[0001] The present invention relates to the technical field related to loading and unloading vehicles, and in particular to a single-column double-arm automatic loading and unloading vehicle. Background Art

[0002] Box truck transportation is one of the main modes of transportation in the logistics industry. It is safe and efficient. With the rapid development of logistics in my country, the proportion will become higher and higher. Due to the special structure of box trucks, such as the height of the compartment, the internal dimensions and other different models, and the operation in a semi-enclosed space, it is very difficult to realize automated loading and unloading. At present, the loading and unloading of box trucks is mainly completed by manual and auxiliary conveyor belts or electric forklifts. Manual labor has the disadvantages of low efficiency, high intensity and high cost. Electric forklifts can reduce the intensity of manual labor, but cannot make full use of the cargo space in the box and cannot be completely separated from manual labor. With the increase in labor costs, it has become an inevitable trend to replace manual loading and unloading with machines. Most of the existing closed and limited space loading and unloading vehicles use single robotic arms to avoid the problem of limited space, but the work efficiency is low. There are also dual robotic arms arranged at a certain distance. The limited working space is divided into three parts, which makes the movement space of the dual robotic arms smaller. The dual robotic arms share the grabbing station, and the dual robotic arms need to avoid each other, which has limited efficiency improvement. Summary of the invention

[0003] In order to solve the defects in the prior art, the present invention provides a single-column double-arm automatic loading and unloading vehicle.

[0004] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0005] The present invention discloses a single-column double-arm automatic loading and unloading vehicle, comprising a base with a crawler walking device at the bottom, a vertical column upwardly disposed at the front end of the base, and lifting seats disposed on the side surfaces of the opposite sides of the column via a multi-stage lifting mechanism; each lifting seat is provided with an independently operated loading and unloading mechanical arm;

[0006] The loading and unloading robot arm includes a positioning seat arranged on a lifting seat, a vertically arranged rotating shaft is provided on the positioning seat, a horizontally swinging large arm is fixed at the end of the rotating large shaft, and a vertically arranged rotating small shaft is provided at the outer end of the large arm, and a horizontally swinging small arm is fixed at the end of the rotating small shaft, a rotating arm is provided at the end of the small arm, a vertically downward steering shaft is provided at the front end of the rotating arm, and a suction cup frame for adsorbing the box body is installed on the shaft end of the steering shaft, a first reduction motor for driving the rotating large shaft to rotate is provided on the positioning seat, a second reduction motor for driving the rotating small shaft to rotate is provided on the large arm, a third reduction motor for driving the rotating arm to rotate is provided on the small arm, and a fourth reduction motor for driving the steering shaft to rotate is provided on the rotating arm.

[0007] As a preferred technical solution of the present invention, the multi-stage lifting mechanism includes a lifting plate arranged on a column, and the lifting plate is provided with a vertically arranged first guide rail, the first guide rail is provided with a first sliding block moving along the first guide rail, and the lifting plate is also provided with a first spur rack arranged parallel to the first guide rail, the lifting seat is provided with a first gear meshing with teeth on the first spur rack, and the lifting seat is provided with a lifting motor driving the first gear to rotate;

[0008] An inward limiting slide groove is provided on the side surface of the column, and the lifting plate is installed in the limiting slide groove, a vertical second guide rail is provided on the groove wall of the limiting slide groove, and a second sliding block moving along the second guide rail is provided on the second guide rail, and the second sliding block is fixed to the lifting plate by bolts, and a driving mechanism for driving the lifting plate to move up and down is provided on the column.

[0009] As a preferred technical solution of the present invention, the driving mechanism includes a second spur rack arranged vertically on the back side of the lifting plate, and a cavity is provided inside the column, and a second gear meshing with the second spur rack is installed on the upper part of the cavity of the column, and a driving motor for driving the second gear to rotate is installed on the column.

[0010] As a preferred technical solution of the present invention, the lifting motor, the driving motor, the first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are all servo motors.

[0011] As a preferred technical solution of the present invention, a feeding telescopic roller line is provided at the end of the base, and a material dividing channel mechanism connected to the feeding telescopic roller line is provided on the base, and a flipping mechanism is connected to the end of the material dividing channel mechanism, and the flipping mechanism is used to adjust the posture of the box body, and the base is also provided with a waiting-to-grasp station connected to the flipping mechanism and corresponding one-to-one with the loading and unloading robot arm.

[0012] As a preferred technical solution of the present invention, the incoming material separation mechanism includes a first roller on a base, and feeding rollers are provided on both sides of the first roller, and the feeding rollers are aligned with and parallel to the first roller, and a pushing mechanism is provided on the base to push the box on the first roller toward the feeding pipes on both sides, and the pushing mechanism includes a pair of parallel light rods provided on the base, each light rod is provided with two sliders, a pair of parallel moving frames are provided between the sliders of the two light rods, and each moving frame is provided with a plurality of pushing rods inserted into the roller gaps of the first roller and the feeding roller, and a material separation mechanism is provided on the base to drive the moving frame to move.

[0013] As a preferred technical solution of the present invention, the material dividing mechanism includes two pulleys arranged on a base, a transmission belt is arranged between the pulleys, and the movable frame is fixed to the transmission belt via a positioning member, and a transmission motor is arranged on the base to drive the pulleys to rotate.

[0014] As a preferred technical solution of the present invention, the flipping mechanism includes a flipping roller arranged on a base, and docking rollers are arranged on both sides of the flipping roller, and steering mechanisms are arranged on both sides of the flipping roller, and the steering mechanism includes a rotating shaft arranged on the base and located at the roller placement, and the rotating shaft is provided with a cross-shaped flipping frame inserted into the roller gap of the flipping roller and rotating toward the docking roller, and the cross-shaped flipping frame is used to support the bottom of the box body, and flip the box body to the docking roller body as the rotating shaft flips, and the base is provided with a flipping motor that drives the rotating shaft to rotate.

[0015] As a preferred technical solution of the present invention, the loading and unloading method of the single-column double-arm automatic loading and unloading vehicle is to first drive to the corresponding position of the stacking pile, and then load and unload. During loading and unloading, the height of the lifting seat is adjusted by a multi-stage lifting mechanism, and then the height of the loading and unloading mechanical arm is adjusted. At the same time, the first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to respectively rotate and adjust the upper arm, the lower arm, the rotating arm and the steering shaft, so as to adjust the loading and unloading mechanical arm, and drive the suction cup frame to dock with the box body, and adsorb and position the box body, and then adjust the height of the loading and unloading mechanical arm and the lifting seat again, and move the adsorbed and positioned box body to the telescopic roller to complete the box unloading work;

[0016] During palletizing, the boxes to be palletized are placed on the conveyor roller and onto the telescopic track. The first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to respectively adjust the rotation of the upper arm, the lower arm, the rotating arm and the steering shaft, so as to adjust the loading and unloading robot arm and drive the suction cup frame to dock with the box, so that the box is adsorbed and positioned. The height of the loading and unloading robot arm and the lifting seat are adjusted again through the multi-stage lifting mechanism, and the boxes after adsorption and positioning are stacked on the stack to complete the palletizing work.

[0017] The beneficial effects of the present invention are:

[0018] 1. This single-column double-arm automatic loading and unloading vehicle is provided with a vertically upward column at the front end of the base, and the side surfaces on the opposite sides of the column are installed with lifting seats through a multi-stage lifting mechanism; each lifting seat is provided with an independently operated loading and unloading mechanical arm, and the loading and unloading mechanical arm is arranged on both sides of the column in an eight-shaped opening, and the upper arm swings to both sides with the column as the center, thus leaving a large operating space for the two loading and unloading mechanical arms, so that within the effective volume, the two loading and unloading mechanical arms can be well used for independent operation without interfering with each other, thereby effectively improving work efficiency.

[0019] 2. The loading and unloading robot arm in this single-column double-arm automatic loading and unloading vehicle includes a positioning seat arranged on a lifting seat, the positioning seat is provided with a vertically arranged rotating shaft, a horizontally swinging large arm is fixed at the end of the rotating large shaft, and a vertically arranged rotating small shaft is provided at the outer end of the large arm, and a horizontally swinging small arm is fixed at the end of the rotating small shaft. A rotating arm is provided at the end of the small arm, a vertically downward steering shaft of the rotating arm, and a suction cup frame for adsorbing the box body is installed at the shaft end of the steering shaft, a first reduction motor for driving the rotating large shaft to rotate is provided on the positioning seat, a second reduction motor for driving the rotating small shaft to rotate is provided on the large arm, a third reduction motor for driving the rotating arm to rotate is provided on the small arm, and a fourth reduction motor for driving the steering shaft to rotate is provided on the rotating arm, by setting a specific loading and unloading robot arm, wherein the loading and unloading robot arm is driven by the first reduction motor The first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to rotate and adjust the upper arm, the lower arm, the rotating arm and the steering shaft respectively, so as to adjust the loading and unloading robot arm, and drive the suction cup frame to dock with the box body, so that the box body is adsorbed and positioned, and then the loading and unloading robot arm and the height of the lifting seat are adjusted again to stack the adsorbed and positioned boxes on the pile to complete the palletizing or loading and unloading work, which is easy to operate; this robot arm can realize modular design between different arm spans, and can meet the needs of different loads and meet the conditions of different widths of carriages by replacing upper arms of different lengths and matching cables, and meet the adaptability of carriages of different specifications; the joint position is equipped with a high-precision planetary gear reducer, which significantly improves the rigidity and thus achieves more stable operation, especially in applications with high precision requirements.

[0020] 3. This type of single-column double-arm automatic loading and unloading vehicle drives the lifting seat to rise and fall through the cooperation of spur racks and gears. This has the characteristics of stable transmission and is not prone to slipping and shaking.

[0021] 4. This single-column double-arm automatic loading and unloading vehicle has good adaptability and good product adaptability. The double robotic arm structure is compatible with the contradiction between the adaptability of the stacking type and high efficiency in the transportation process. The finished box has good adaptability in appearance and can be stacked without loss. A feeding telescopic roller line is provided at the end of the base, and an incoming material dividing channel mechanism connected to the feeding telescopic roller line is provided on the base. A turning mechanism is connected to the end of the incoming material dividing channel mechanism, and the turning mechanism is used to adjust the posture of the box body. The base is also provided with a waiting station connected to the turning mechanism and corresponding to the loading and unloading robotic arm one by one. The channel and the robotic arm can work efficiently in coordination with the working rhythm, and basically can realize that after grabbing the box body, the waiting station can continue to load materials to achieve uninterrupted work, and there is no situation where the robotic arm waits for materials.

[0022] 4. The loading and unloading mechanical arms of this single-column double-arm automatic loading and unloading vehicle are set in an eight-shaped opening on both sides of the column. The mechanical arms move to both sides with the column as the center, which leaves two large independent operating spaces on the left and right for the two loading and unloading mechanical arms, so that the two loading and unloading mechanical arms can be better used to move independently in a closed and limited space, thereby effectively improving work efficiency. The two independent spaces on the left and right enable the left and right mechanical arms to have independent left and right grabbing stations and material channels, and the system matching efficiency will not be limited by the front and rear links, further improving the system efficiency.

[0023] 5. The sides of the columns of this single-column double-arm automatic loading and unloading vehicle are equipped with lifting seats on the opposite sides through a multi-stage lifting mechanism, which can realize the stacking of high carriages and can be suitable for various container specifications on site; the suction cup frame can absorb two cartons (most sizes of cartons on the market), thereby realizing a 2+1 stacking method, which enables the robotic arm to realize and efficiently meet the situation of stacking an odd number of boxes in a row. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0025] In the attached picture:

[0026] Figure 1 It is a structural schematic diagram of a single-column double-arm automatic loading and unloading vehicle of the present invention;

[0027] Figure 2 It is a structural schematic diagram of a multi-stage lifting mechanism of a single-column double-arm automatic loading and unloading vehicle of the present invention;

[0028] Figure 3 It is a schematic diagram of the installation of a lifting seat of a single-column double-arm automatic loading and unloading vehicle of the present invention;

[0029] Figure 4It is a structural schematic diagram of a second spur rack of a single-column double-arm automatic loading and unloading vehicle of the present invention;

[0030] Figure 5 It is a structural schematic diagram of a material separation mechanism of a single-column double-arm automatic loading and unloading vehicle of the present invention;

[0031] Figure 6 It is a schematic diagram of the motion state of a multi-stage lifting mechanism of a single-column double-arm automatic loading and unloading vehicle of the present invention;

[0032] Figure 7 The present invention is a schematic structural diagram of a rotating shaft of a single-column double-arm automatic loading and unloading vehicle.

[0033] In the figure: 1, base; 2, crawler walker; 3, multi-stage lifting mechanism; 301, lifting plate; 302, first guide rail; 303, first sliding block; 304, first straight rack; 305, first gear; 306, lifting motor; 307, limit slide; 308, second guide rail; 309, second sliding block; 310, second straight rack; 311, second gear; 312, driving motor; 4, lifting seat; 5, loading and unloading robot arm; 501, positioning seat; 502, rotating large shaft; 503, large arm; 504, rotating small shaft; 505, small arm; 506, rotating arm; 507, steering shaft; 508, suction cup frame; 509, first reduction motor; 510, second reduction motor; 512, fourth reduction motor; 6, feeding telescopic roller line; 7, incoming material separation mechanism; 701, first roller; 702, feeding roller; 703, bare rod; 704, slider; 705, moving frame; 706, pushing rod; 707, pulley; 708, transmission belt; 8, turning mechanism; 801, turning roller; 802, docking roller; 803, rotating shaft; 804, cross-shaped turning frame; 9, waiting to be grasped station. DETAILED DESCRIPTION

[0034] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0035] Example: Figure 1-7As shown, a single-column double-arm automatic loading and unloading vehicle of the present invention comprises a base 1 with a crawler walker 2 at the bottom, a vertically upward column 2 is provided at the front end of the base 1, and the sides of the opposite sides of the column 2 are installed with lifting seats 4 via a multi-stage lifting mechanism 3; each lifting seat 4 is provided with an independently operated loading and unloading mechanical arm 5; a vertically upward column is provided at the front end of the base 1, and the sides of the opposite sides of the column are installed with lifting seats 4 via a multi-stage lifting mechanism 3; each lifting seat 4 is provided with an independently operated loading and unloading mechanical arm 5, the loading and unloading mechanical arm 5 is opened and arranged on both sides of the column in an eight-shaped shape, and the upper arm 503 swings to both sides with the column as the center, thus leaving a large operating space for the two loading and unloading mechanical arms 5, so that within the effective volume, the two loading and unloading mechanical arms 5 can be well used to perform independent operations without interfering with each other, thereby effectively improving the work efficiency. The sides of the columns on both sides are equipped with lifting seats through a multi-stage lifting mechanism, which can realize the stacking of high carriages and can be suitable for various container specifications on site.

[0036] The loading and unloading robot arm 5 includes a positioning seat 501 arranged on the lifting seat 4, a vertically arranged rotating shaft 502 is arranged on the positioning seat 501, a horizontally swinging large arm 503 is fixed to the end of the rotating large shaft 502, and a vertically arranged rotating small shaft 504 is arranged at the outer end of the large arm 503, and a horizontally swinging small arm 505 is fixed to the end of the rotating small shaft 504, a rotating arm 506 is arranged at the end of the small arm 505, a vertically downward steering shaft 507 is arranged at the front end of the rotating arm 506, and a suction cup frame 508 for adsorbing the box is installed at the shaft end of the steering shaft 507, and the positioning seat 5 01 is provided with a first reduction motor 509 for driving the rotating shaft 502 to rotate, the large arm 503 is provided with a second reduction motor 510 for driving the rotating small shaft 504 to rotate, and the small arm 505 is provided with a third reduction motor for driving the rotating arm 506 to rotate. The third reduction motor is hidden inside the small arm 505 and is not drawn in the figure; the rotating arm 506 is provided with a fourth reduction motor 512 for driving the steering shaft 507 to rotate, which can be moved and oriented in a plane, and the large arm 503 and the small arm 505 are not heavier than the weight of any load supporting the mechanical arm, which effectively improves the service life of the mechanical arm. This mechanical arm can realize modular design between different arm spans, and can meet the needs of different loads and meet the conditions of different widths of carriages by replacing large arms of different lengths and matching cables, and meet the adaptability of carriages of different specifications; the joint position is equipped with a high-precision planetary gear reducer, which significantly improves the rigidity, thereby achieving more stable operation, especially in applications with high precision requirements. The robot arm of this mechanism can realize modular design between different arm spans. It can meet the needs of different loads and meet the conditions of different widths of carriages by replacing the arms of different lengths and the matching cables, so that this mechanism can meet the adaptability of carriages of different specifications. The suction cup frame can absorb two cartons (most sizes of cartons on the market), thereby realizing the 2+1 stacking method, which enables the robot arm to realize and efficiently meet the situation of stacking an odd number of boxes in a row.

[0037] The multi-stage lifting mechanism 3 includes a lifting plate 301 arranged on the column 2, and a first vertically arranged first guide rail 302 is arranged on the lifting plate 301, a first sliding block 303 moving along the first guide rail 302 is arranged on the first guide rail 302, and a first spur rack 304 arranged parallel to the first guide rail 302 is also arranged on the lifting plate 301, a first gear 305 meshing with the teeth on the first spur rack 304 is arranged on the lifting seat 4, and a first gear 305 driving the first gear 305 is arranged on the lifting seat 4. 5 rotating lifting motor 306; the side of the column 2 is provided with an inward limiting slide groove 307, and the lifting plate 301 is installed in the limiting slide groove 307, the groove wall of the limiting slide groove 307 is provided with a vertical second guide rail 308, and the second guide rail 308 is provided with a second sliding block 309 moving along the second guide rail 308, and the second sliding block 309 is fixed to the lifting plate 301 by bolts, and the column column 2 is provided with a driving mechanism for driving the lifting plate 301 to move up and down. In this way, multi-stage lifting can be performed, so that a larger lifting height can be achieved, and it can be stored and adjusted according to the size of the space, so it has greater flexibility and versatility. The driving mechanism includes a second spur rack 310 which is arranged vertically on the back side of the lifting plate 301, and a cavity is arranged inside the column 2, and a second gear 311 meshing with the second spur rack 310 is installed on the upper part of the cavity of the column 2, and a driving motor 312 is installed on the column to drive the second gear 311 to rotate. The transmission is carried out through the meshing of the gear and the rack, and has the characteristics of good transmission stability.

[0038] The lifting motor 306, the driving motor 312, the first reduction motor 509, the second reduction motor 510, the third reduction motor and the fourth reduction motor 512 are all servo motors, so that the rotation angle and distance can be conveniently controlled by controlling the servo motors.

[0039] Among them, the end of the base 1 is provided with a feeding telescopic roller line 6, and the base 1 is provided with a material dividing channel mechanism 7 connected to the feeding telescopic roller line 6, and the end of the material dividing channel mechanism 7 is connected with a flipping mechanism 8, and the flipping mechanism 8 is used to adjust the posture of the box, and the base 1 is also provided with a waiting position 9 connected to the flipping mechanism 8 and corresponding to the loading and unloading robot arm 5. In this way, the box can be transported to the corresponding roller according to the posture, and when the posture of the box is incorrect, the flipping mechanism 8 can be flipped.

[0040] Among them, the incoming material separation mechanism 7 includes a first roller 701 on the base 1, and feeding rollers 702 are provided on both sides of the first roller 701, and the feeding rollers 702 are aligned with and parallel to the first roller 701, and the base 1 is provided with a pushing mechanism for pushing the box on the first roller 701 to the feeding pipes on both sides, and the pushing mechanism includes a pair of parallel light rods 703 arranged on the base 1, each light rod 703 is provided with two sliders 704, and a pair of parallel moving frames 705 are provided between the sliders 704 of the two light rods 704, and each moving frame 705 is provided with a plurality of pushing rods 706 inserted into the roller gaps of the first roller 701 and the feeding roller 702, and a positioning cavity for positioning the box is formed between the pushing rods 706, and the base 1 is provided with a material separation mechanism for driving the moving frame 705 to move.

[0041] The material distribution mechanism includes two pulleys 707 provided on the base 1, a transmission belt 708 is sleeved between the pulleys 707, and the mobile frame 705 is fixed to the transmission belt 708 via a positioning member, and a transmission motor for driving the pulley 707 is provided on the base 1. In this way, the mobile frame is driven to move left and right by the transmission belt, and the rollers on both sides of the box are divided, which is convenient for the robot arm to operate.

[0042] The flipping mechanism 8 includes a flipping roller 801 arranged on the base 1, and docking rollers 802 are arranged on both sides of the flipping roller 801, and steering mechanisms are arranged on both sides of the flipping roller 802, and the steering mechanism includes a rotating shaft 803 arranged on the base and located at the roller placement, and the rotating shaft 803 is provided with a cross-shaped turning frame 804 inserted into the roller gap of the flipping roller 801 and rotating toward the docking roller 801, and the cross-shaped turning frame 804 is used to support the bottom of the box body, and turn the box body to the docking roller 803 as the rotating shaft is turned, and a flip motor is provided on the base to drive the rotating shaft 803 to rotate, so as to adjust the posture of the box body, and the cross-shaped turning frame 804 is turned by the rotating shaft, so that the L-shaped turning frame 804 is used to support the bottom of the box body, and turn the box body to the docking roller 803 as the rotating shaft is turned, thereby realizing posture adjustment.

[0043] The loading and unloading method of the single-column double-arm automatic loading and unloading vehicle is as follows: first, the vehicle drives to the corresponding position of the stacking pile, and then the loading and unloading is performed. During the loading and unloading, the height of the lifting seat is adjusted by a multi-stage lifting mechanism, and then the height of the loading and unloading mechanical arm is adjusted. At the same time, the first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to respectively rotate and adjust the upper arm, the lower arm, the rotating arm and the steering shaft, so as to adjust the loading and unloading mechanical arm, and drive the suction cup frame to dock with the box body, and adsorb and position the box body, and then the loading and unloading mechanical arm and the height of the lifting seat are adjusted again, and the box body after adsorption and positioning is moved to the telescopic roller table to complete the unloading of the box body;

[0044] During palletizing, the boxes to be palletized are placed on the conveyor roller and onto the telescopic track. The first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to respectively adjust the rotation of the upper arm, the lower arm, the rotating arm and the steering shaft, so as to adjust the loading and unloading robot arm and drive the suction cup frame to dock with the box, so that the box is adsorbed and positioned. The height of the loading and unloading robot arm and the lifting seat are adjusted again through the multi-stage lifting mechanism, and the boxes after adsorption and positioning are stacked on the stack to complete the palletizing work.

[0045] The loading and unloading mechanical arms of the present invention are arranged on both sides of the column in an eight-shaped opening, and the mechanical arms move to both sides with the column as the center, thus leaving two large independent operation spaces on the left and right for the two loading and unloading mechanical arms, so that the two loading and unloading mechanical arms can be better used to move independently in a closed and limited space, thereby effectively improving work efficiency. The two independent spaces on the left and right enable the left and right mechanical arms to have independent left and right grabbing stations and material channels, and the system matching efficiency will not be limited by the front and rear links, further improving the system efficiency.

[0046] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A single-column, double-arm automatic loading and unloading vehicle, characterized in that: The invention comprises a base (1) with a crawler walking device (2) at the bottom, a vertical column (2) is provided at the front end of the base (1), and lifting seats (4) are installed on the side surfaces of the opposite sides of the column (2) via a multi-stage lifting mechanism (3); each lifting seat (4) is provided with an independently operated loading and unloading mechanical arm (5); The loading and unloading robot arm (5) comprises a positioning seat (501) arranged on the lifting seat (4), the positioning seat (501) is provided with a vertically arranged rotating shaft (502), a horizontally swinging large arm (503) is fixed at the end of the rotating large shaft (502), and a vertically arranged rotating small shaft (504) is provided at the outer end of the large arm (503), and a horizontally swinging small arm (505) is fixed at the end of the rotating small shaft (504), and a rotating arm (506) is provided at the end of the small arm (505), and the vertically downward rotating shaft at the front end of the rotating arm (506) is provided. The steering shaft (507) is provided with a suction cup frame (508) for adsorbing the box body at the shaft end of the steering shaft (507); the positioning seat (501) is provided with a first reduction motor (509) for driving the rotating shaft (502) to rotate; the large arm (503) is provided with a second reduction motor (510) for driving the rotating small shaft (504) to rotate; the small arm (505) is provided with a third reduction motor for driving the rotating arm (506) to rotate; and the rotating arm (506) is provided with a fourth reduction motor (512) for driving the steering shaft (507) to rotate.

2. A single-column dual-arm automatic loading and unloading vehicle according to claim 1, characterized in that: The multi-stage lifting mechanism (3) comprises a lifting plate (301) arranged on a column (2), and a first vertically arranged guide rail (302) is arranged on the lifting plate (301), a first sliding block (303) moving along the first guide rail (302) is arranged on the first guide rail (302), and a first spur rack (304) arranged parallel to the first guide rail (302) is also arranged on the lifting plate (301), a first gear (305) meshing with teeth on the first spur rack (304) is arranged on the lifting seat (4), and a lifting motor (306) driving the first gear (305) to rotate is arranged on the lifting seat (4); An inward limiting slide groove (307) is provided on the side surface of the column (2), and the lifting plate (301) is installed in the limiting slide groove (307), a vertical second guide rail (308) is provided on the groove wall of the limiting slide groove (307), and a second sliding block (309) is provided on the second guide rail (308) for moving along the second guide rail (308), and the second sliding block (309) is fixed to the lifting plate (301) by bolts, and a driving mechanism for driving the lifting plate (301) to move up and down is provided on the column column (2).

3. A single-column dual-arm automatic loading and unloading vehicle according to claim 2, characterized in that: The driving mechanism comprises a second spur rack (310) which is arranged vertically on the back side of the lifting plate (301), a cavity is arranged inside the column (2), a second gear (311) meshing with the second spur rack (310) is installed on the upper part of the cavity of the column (2), and a driving motor (312) for driving the second gear (311) to rotate is installed on the column.

4. The single-column dual-arm automatic loading and unloading vehicle according to claim 3, characterized in that: The lifting motor (306), the driving motor (312), the first reduction motor (509), the second reduction motor (510), the third reduction motor and the fourth reduction motor (512) are all servo motors.

5. The single-column dual-arm automatic loading and unloading vehicle according to claim 1, characterized in that: The end of the base (1) is provided with a feeding telescopic roller line (6), and the base (1) is provided with a material dividing channel mechanism (7) connected to the feeding telescopic roller line (6), and the end of the material dividing channel mechanism (7) is connected to a turning mechanism (8), and the turning mechanism (8) is used to adjust the posture of the box body, and the base (1) is also provided with a waiting grasping station (9) connected to the turning mechanism (8) and corresponding to the loading and unloading robot arm (5) one by one.

6. The single-column dual-arm automatic loading and unloading vehicle according to claim 5, characterized in that: The incoming material separation mechanism (7) comprises a first roller (701) on a base (1), and feeding rollers (702) are provided on both sides of the first roller (701), and the feeding rollers (702) are aligned with and arranged in parallel with the first roller (701), and a pushing mechanism is provided on the base (1) for pushing the box on the first roller (701) to the feeding pipes on both sides, and the pushing mechanism comprises a pair of parallel light rods (703) arranged on the base (1), each light rod (703) is provided with two sliders (704), a pair of parallel moving frames (705) are provided between the sliders (704) of the two light rods (704), and each moving frame (705) is provided with a plurality of pushing rods (706) inserted into the roller gaps of the first roller (701) and the feeding roller (702), and a material separation mechanism is provided on the base (1) for driving the moving frame (705) to move.

7. The single-column dual-arm automatic loading and unloading vehicle according to claim 6, characterized in that: The material distributing mechanism comprises two pulleys (707) arranged on a base (1), a transmission belt (708) is sleeved between the pulleys (707), the movable frame (705) is fixed to the transmission belt (708) via a positioning member, and a transmission motor is arranged on the base (1) to drive the pulleys (707) to rotate.

8. The single-column dual-arm automatic loading and unloading vehicle according to claim 5, characterized in that: The turning mechanism (8) comprises a turning roller (801) arranged on the base (1), and docking rollers (802) are arranged on both sides of the turning roller (801), and steering mechanisms are arranged on both sides of the turning roller (802), and the steering mechanism comprises a rotating shaft (803) arranged on the base and located at the roller, and the rotating shaft (803) is provided with a cross-shaped turning frame (804) inserted into the roller gap of the turning roller (801) and rotating toward the docking roller (801), and the cross-shaped turning frame (804) is used to support the bottom of the box body and turn the box body to the docking roller (803) as the rotating shaft turns, and a turning motor is provided on the base to drive the rotating shaft (803) to rotate.

9. A single-column dual-arm automatic loading and unloading vehicle according to claims 1-8, characterized in that: The loading and unloading method of the single-column double-arm automatic loading and unloading vehicle is as follows: first, the vehicle drives to the corresponding position of the stacking pile, and then the loading and unloading is performed. During the loading and unloading, the height of the lifting seat is adjusted by a multi-stage lifting mechanism, and then the height of the loading and unloading mechanical arm is adjusted. At the same time, the first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to respectively rotate and adjust the upper arm, the lower arm, the rotating arm and the steering shaft, so as to adjust the loading and unloading mechanical arm, and drive the suction cup frame to dock with the box body, and adsorb and position the box body, and then the loading and unloading mechanical arm and the height of the lifting seat are adjusted again, and the box body after adsorption and positioning is moved to the telescopic roller table to complete the unloading of the box body; During palletizing, the boxes to be palletized are placed on the conveyor roller and onto the telescopic track. The first reduction motor, the second reduction motor, the third reduction motor and the fourth reduction motor are used to respectively adjust the rotation of the upper arm, the lower arm, the rotating arm and the steering shaft, so as to adjust the loading and unloading robot arm and drive the suction cup frame to dock with the box, so that the box is adsorbed and positioned. The height of the loading and unloading robot arm and the lifting seat are adjusted again through the multi-stage lifting mechanism, and the boxes after adsorption and positioning are stacked on the stack to complete the palletizing work.

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