Single-column double-arm automatic loading and unloading vehicle

Abstract

The application discloses a single-column double-arm automatic loading and unloading vehicle, which comprises a base provided with a caterpillar walking device at the bottom, a vertical upward column is arranged at the front end of the base, and a lifting seat is arranged on the side surface of the opposite sides of the column through a multi-stage lifting mechanism; an independently operated loading and unloading mechanical arm is arranged on each lifting seat; the loading and unloading mechanical arms are arranged in a splayed manner on the two sides of the column, the mechanical arms move to the two sides with the column as the center, thus leaving two larger independent operation spaces for the two loading and unloading mechanical arms, so that the two loading and unloading mechanical arms can be better used for independent movement in a closed limited space, and thus 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 the front and rear links, and the system efficiency is further improved.

Description

Technical Field

[0001] This invention relates to the technical field of loading and unloading vehicles, specifically to a single-column, double-arm automatic loading and unloading vehicle. Background Technology

[0002] Box truck transportation is one of the main modes of transport in the logistics industry, known for its safety and efficiency; its share will continue to increase with the rapid development of my country's logistics sector. Due to the unique structure of box trucks—various models with varying heights and internal dimensions—and the fact that they operate in semi-enclosed spaces, achieving automated loading and unloading is extremely challenging. Currently, box truck loading and unloading is mainly done manually and with the aid of conveyor belts or electric forklifts. Manual labor suffers from low efficiency, high intensity, and high cost. Electric forklifts can reduce manual labor intensity, but they cannot fully utilize the cargo space inside the box and cannot completely eliminate manual labor. With rising labor costs, replacing manual loading and unloading with machines is becoming an inevitable trend. Most existing methods for loading and unloading in enclosed, limited spaces use a single robotic arm to circumvent the space constraints, but this results in lower efficiency. Some systems use a dual-robotic arm arrangement, dividing the limited working space into three parts, further reducing the movement space for the two robotic arms. The two arms share a gripping station and must avoid each other, limiting efficiency improvements. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides a single-column, double-arm automated loading and unloading vehicle.

[0004] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0005] The present invention discloses a single-column double-arm automatic loading and unloading vehicle, comprising a base with a tracked walker at the bottom, a vertically upward column at the front end of the base, and lifting seats installed on the opposite sides of the column via a multi-stage lifting mechanism; each lifting seat is equipped with an independently operated loading and unloading robotic arm.

[0006] The loading and unloading robotic arm includes a positioning seat mounted on a lifting platform. The positioning seat has a vertically arranged large rotating shaft, with a horizontally swinging large arm fixed to the end of the large rotating shaft. The outer end of the large arm has a vertically arranged small rotating shaft, with a horizontally swinging small arm fixed to the end of the small rotating shaft. The end of the small arm has a rotating arm, and the front end of the rotating arm has a vertically downward-pointing steering shaft. A suction cup for adsorbing the container is mounted on the end of the steering shaft. The positioning seat has a first reduction motor that drives the large rotating shaft to rotate. The large arm has a second reduction motor that drives the small rotating shaft to rotate. The small arm has a third reduction motor that drives the rotating arm to rotate. The rotating arm has a fourth reduction motor that drives the steering shaft to rotate.

[0007] As a preferred technical solution of the present invention, the multi-stage lifting mechanism includes a lifting plate disposed on a column, and a vertically disposed first guide rail is provided on the lifting plate. A first sliding block that moves along the first guide rail is provided on the first guide rail. The lifting plate is also provided with a first straight rack disposed parallel to the first guide rail. A first gear that meshes with the teeth on the first straight rack is provided on the lifting seat. A lifting motor that drives the first gear to rotate is provided on the lifting seat.

[0008] The side of the column is provided with an inward limiting groove, and the lifting plate is installed in the limiting groove. The groove wall of the limiting groove is provided with a vertical second guide rail, and the second guide rail is provided with a second sliding block that moves along the second guide rail. The second sliding block is fixed to the lifting plate by bolts, and the column is provided with a drive mechanism that drives the lifting plate to move up and down.

[0009] As a preferred embodiment of the present invention, the driving mechanism includes a second straight rack disposed on the back side of the lifting plate and arranged vertically, and the column has a cavity inside, and a second gear that meshes with the second straight rack is installed on the upper part of the cavity on the column, and a drive motor that drives the second gear to rotate is installed on the column.

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

[0011] As a preferred technical solution of the present invention, the end of the base is provided with a feeding telescopic roller line, and the base is provided with a material receiving channel mechanism that is connected to the feeding telescopic roller line. The end of the material receiving channel mechanism is connected to a flipping mechanism, which is used to adjust the posture of the box. The base is also provided with a gripping station that is connected to the flipping mechanism and corresponds to the loading and unloading robotic arm.

[0012] As a preferred embodiment of the present invention, the material feeding mechanism includes a first roller conveyor on the base, and feeding roller conveyors are provided on both sides of the first roller conveyor. The feeding roller conveyors are aligned with and parallel to the first roller conveyor. The base is provided with a pushing mechanism for pushing the box on the first roller conveyor toward the feeding pipes on both sides. The pushing mechanism includes a pair of parallel optical rods on the base. Each optical rod is provided with two sliders. A pair of parallel movable frames are provided between the sliders of the two optical rods. Each movable frame is provided with multiple pushing rods inserted into the gap between the first roller conveyor and the feeding roller conveyor. The base is provided with a material distribution mechanism for driving the movable frames to move.

[0013] As a preferred embodiment of the present invention, the material distribution mechanism includes two pulleys mounted on a base, a transmission belt sleeved between the pulleys, and the movable frame fixed to the transmission belt by a positioning component. The base is also equipped with a transmission motor that drives the pulleys to rotate.

[0014] As a preferred embodiment of the present invention, the flipping mechanism includes a flipping roller track on the base, and docking roller tracks are provided on both sides of the flipping roller track. A turning mechanism is provided on both sides of the flipping roller track, and the turning mechanism includes a rotating shaft on the base and located on the roller track. A cross-shaped flipping frame is provided on the rotating shaft and inserted into the gap between the roller tracks of the flipping roller track and rotates toward the docking roller track. The cross-shaped flipping frame is used to support the bottom of the box and flip the box to the docking roller track as it flips with the rotating shaft. A flipping motor that drives the rotating shaft to rotate is provided on the base.

[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 as follows: First, the vehicle travels to the corresponding position of the stacking pile, and then loading and unloading are carried out. During loading and unloading, the height of the lifting seat is adjusted by a multi-stage lifting mechanism, which in turn adjusts the height of the loading and unloading robotic arm. At the same time, the first reduction motor, the second reduction motor, the third reduction motor, and the fourth reduction motor are used to adjust the rotation of the large arm, the small arm, the rotating arm, and the steering shaft, respectively, thereby adjusting the loading and unloading robotic arm. The suction cup frame is driven to dock with the box, and the box is adsorbed and positioned. Then, the height of the loading and unloading robotic arm and the lifting seat are adjusted again to move the adsorbed and positioned box to the gripping station to complete the unloading of the box.

[0016] During palletizing, the boxes to be palletized are placed into the feed telescopic roller conveyor and then into the feed distribution mechanism. They then enter the flipping mechanism for posture adjustment and finally enter the gripping station. The first, second, third, and fourth geared motors are used to adjust the rotation of the boom, forearm, rotating arm, and steering shaft, thereby adjusting the loading and unloading robotic arm. The drive suction cup frame docks with the box, and the box is suction-positioned. Then, the height of the loading and unloading robotic arm and the lifting seat are adjusted again through a multi-stage lifting mechanism, and the suction-positioned box is stacked on the stack to complete the palletizing work.

[0017] The beneficial effects of this invention are:

[0018] 1. This type of single-column double-arm automatic loading and unloading vehicle has a vertically upward column at the front end of the base, and lifting seats are installed on the opposite sides of the column via a multi-stage lifting mechanism; each lifting seat is equipped with an independently operated loading and unloading robotic arm. The loading and unloading robotic arms are arranged in a figure-eight shape on both sides of the column, and the large arm swings to both sides with the column as the center. This provides a large operating space for each loading and unloading robotic arm, so that within the effective volume, two loading and unloading robotic arms can be used to operate independently without interfering with each other, thereby effectively improving work efficiency.

[0019] 2. The loading and unloading robotic arm in this type of single-column double-arm automatic loading and unloading vehicle includes a positioning seat mounted on a lifting base. The positioning seat has a vertically arranged rotating main shaft, with a horizontally swinging main arm fixed to the end of the rotating main shaft. The outer end of the main arm has a vertically arranged rotating secondary shaft, with a horizontally swinging secondary arm fixed to the end of the rotating secondary shaft. A rotating arm is located at the end of the secondary arm, with a vertically downward steering shaft. A suction cup frame for adsorbing the container is mounted on the end of the steering shaft. The positioning seat has a first reduction motor that drives the rotating main shaft to rotate, and the main arm has a second reduction motor that drives the rotating secondary shaft to rotate. The system includes a third geared motor that drives the rotating arm to rotate, and a fourth geared motor that drives the steering shaft to rotate. By setting up a specific loading and unloading robotic arm, the first, second, third, and fourth geared motors are used to adjust the rotation of the main arm, forearm, rotating arm, and steering shaft, respectively. This adjustment of the robotic arm drives the suction cup frame to dock with the box, allowing the box to be suction-positioned. Then, by adjusting the height of the lifting seat and the robotic arm, the suction-positioned box is stacked on a stack, completing the stacking or loading and unloading work. This system is easy to operate.

[0020] 3. In this type of single-column double-arm automatic loading and unloading vehicle, the lifting seat is driven to rise and fall through the cooperation of a rack and pinion and a gear. This has the characteristics of stable transmission and is not prone to slippage or shaking.

[0021] 4. This type of single-column, double-arm automatic loading and unloading vehicle has good adaptability and product adaptability. The double-arm structure can reconcile the contradiction between stacking adaptability and high efficiency during transportation. The finished box has good adaptability to shape and can be stacked without damage. The end of the base is equipped with a feeding telescopic roller line, and the base is equipped with a material diversion mechanism that connects to the feeding telescopic roller line. The end of the material diversion mechanism is connected to a flipping mechanism, which is used to adjust the posture of the box. The base is also equipped with a waiting-to-grab station that connects to the flipping mechanism and corresponds one-to-one with the loading and unloading robotic arm. The channel and robotic arm work together in a rhythmic manner to work efficiently. It can basically realize that after grabbing a box, the waiting-to-grab station can continue to receive materials, realizing uninterrupted work and eliminating the situation of the robotic arm waiting for materials.

[0022] 4. In this type of single-column dual-arm automated loading and unloading vehicle, the loading and unloading robotic arms are arranged in a V-shape on both sides of the column. The robotic arms move outwards from the column as the center, thus providing each loading and unloading robotic arm with two large independent operating spaces on the left and right sides. This allows for better independent operation of the two robotic arms within a confined space, effectively improving work efficiency. The two independent spaces on the left and right sides provide the left and right robotic arms with independent left and right gripping stations and material channels, and the system matching efficiency is not limited by the preceding and following links, further improving system efficiency. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0024] Figure 1 This is a structural schematic diagram of a single-column double-arm automatic loading and unloading vehicle according to the present invention;

[0025] Figure 2 This is a schematic diagram of the multi-stage lifting mechanism of a single-column double-arm automatic loading and unloading vehicle according to the present invention;

[0026] Figure 3 This is a schematic diagram of the installation of the lifting seat of a single-column double-arm automatic loading and unloading vehicle according to the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the second straight rack of a single-column double-arm automatic loading and unloading vehicle according to the present invention;

[0028] Figure 5 This is a schematic diagram of the material sorting mechanism of a single-column double-arm automatic loading and unloading vehicle according to the present invention;

[0029] Figure 6 This is a schematic diagram of the motion state of a multi-stage lifting mechanism for a single-column double-arm automatic loading and unloading vehicle according to the present invention;

[0030] Figure 7 This is a schematic diagram of the rotating shaft of a single-column double-arm automatic loading and unloading vehicle according to the present invention.

[0031] In the diagram: 1. Base; 2. Column; 3. Multi-stage lifting mechanism; 301. Lifting plate; 302. First guide rail; 303. First sliding block; 304. First spur rack; 305. First gear; 306. Lifting motor; 307. Limiting groove; 308. Second guide rail; 309. Second sliding block; 310. Second spur rack; 311. Second gear; 312. Drive motor; 4. Lifting seat; 5. Loading / unloading robotic arm; 501. Positioning seat; 502. Rotating shaft; 503. Arm; 504. Rotating shaft; 505. 506. Forearm; 507. Rotating arm; 508. Steering shaft; 509. Suction cup frame; 510. First geared motor; 511. Fourth geared motor; 6. Feeding telescopic roller conveyor; 701. Incoming material distribution mechanism; 702. First roller conveyor; 703. Feeding roller conveyor; 704. Smooth rod; 705. Sliding block; 706. Moving frame; 707. Push rod; 708. Pulley; 709. Transmission belt; 8000. Tilting mechanism; 801. Tilting roller conveyor; 802. Docking roller conveyor; 803. Rotating shaft; 804. Cross-shaped tilting frame; 9. Grabbing station. Detailed Implementation

[0032] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0033] Example: Figure 1-7 As shown, this invention discloses a single-column, double-arm automatic loading and unloading vehicle, comprising a base 1 with a tracked walker at the bottom, a vertically upward column 2 at the front end of the base 1, and lifting seats 4 mounted on opposite sides of the column 2 via multi-stage lifting mechanisms 3; each lifting seat 4 is equipped with an independently operated loading and unloading robotic arm 5; the loading and unloading robotic arms 5 are arranged in a V-shape on both sides of the column, with the large arm 503 swinging to both sides around the column as the center, thus providing ample operating space for each loading and unloading robotic arm 5, allowing for independent operation of two loading and unloading robotic arms 5 within an effective volume, without interference, thereby effectively improving work efficiency.

[0034] The loading and unloading robotic arm 5 includes a positioning seat 501 mounted on a lifting base 4. A vertically arranged rotating shaft 502 is mounted on the positioning seat 501. A horizontally swinging large arm 503 is fixed to the end of the rotating shaft 502. A vertically arranged rotating small shaft 504 is mounted on the outer end of the large arm 503. A horizontally swinging small arm 505 is fixed to the end of the rotating small shaft 504. A rotating arm 506 is mounted at the end of the small arm 505. A vertically downward steering shaft 507 is located at the front end of the rotating arm 506. A suction cup holder 508 for adsorbing the box is mounted on the shaft end of the steering shaft 507. The base 501 is equipped with a first reduction motor 509 that drives the main shaft 502 to rotate. The upper arm 503 is equipped with a second reduction motor that drives the small shaft 504 to rotate. The lower arm 505 is equipped with a third reduction motor that drives the rotating arm 506 to rotate. The third reduction motor is hidden inside the lower arm 505 and is not shown in the figure. The rotating arm 506 is equipped with a fourth reduction motor 512 that drives the steering shaft 507 to rotate. It can move and be oriented in a plane. The upper arm 503 and the lower arm 505 are no heavier than the weight supporting any load of the robotic arm, which effectively improves the service life of the robotic arm.

[0035] The multi-stage lifting mechanism 3 includes a lifting plate 301 mounted on the column 2, and a vertically arranged first guide rail 302 on the lifting plate 301. A first sliding block 303 that moves along the first guide rail 302 is provided on the first guide rail 302. A first straight rack 304 parallel to the first guide rail 302 is also provided on the lifting plate 301. A first gear 305 meshes with the teeth of the first straight rack 304 on the lifting seat 4. The lifting seat 4 is equipped with a mechanism to drive the first gear 305. A rotating lifting motor 306 is provided; the side of the column 2 is provided with an inward limiting groove 307, and the lifting plate 301 is installed in the limiting groove 307. The groove wall of the limiting groove 307 is provided with a vertical second guide rail 308, and a second sliding block 309 is provided on the second guide rail 308 to move along the second guide rail 308. The second sliding block 309 is fixed to the lifting plate 301 by bolts, and the column 2 is provided with a drive mechanism to drive the lifting plate 301 to lift. This allows for multi-stage lifting, thus providing a large lifting height, and it can be stored and adjusted according to the space available, thus providing great flexibility and versatility. The driving mechanism includes a second spur rack 310 vertically arranged on the back side of the lifting plate 301, and the column 2 has a cavity. A second gear 311 meshing with the second spur rack 310 is installed on the upper part of the cavity on the column 2, and a drive motor 312 for driving the second gear 311 to rotate is installed on the column. The transmission is achieved through the meshing of the gear and rack, resulting in good transmission stability.

[0036] Among them, the lifting motor 306, drive motor 312, first reduction motor 509, second reduction motor, third reduction motor and fourth reduction motor 512 are all servo motors. In this way, by controlling the servo motors, it is convenient to control the rotation angle and distance.

[0037] The base 1 has a feeding telescopic roller conveyor 6 at its end, and a material feeding guide mechanism 7 that connects to the feeding telescopic roller conveyor 6. The end of the material feeding guide mechanism 7 is connected to a flipping mechanism 8, which is used to adjust the posture of the box. The base 1 also has a gripping station 9 that connects to the flipping mechanism 8 and corresponds one-to-one with the loading / unloading robotic arm 5. This allows the box to be conveyed to the appropriate roller conveyor according to its posture. If the box's posture is incorrect, the flipping mechanism 8 flips it.

[0038] The material feeding mechanism 7 includes a first roller conveyor 701 on the base 1, and feeding roller conveyors 702 are provided on both sides of the first roller conveyor 701. The feeding roller conveyors 702 are aligned with and parallel to the first roller conveyor 701. The base 1 is provided with a pushing mechanism that pushes the box on the first roller conveyor 701 toward the feeding pipes on both sides. The pushing mechanism includes a pair of parallel optical rods 703 on the base 1. Each optical rod 703 is provided with two sliders 704. A pair of parallel movable frames 705 are provided between the sliders 704 of the two optical rods 703. Each movable frame 705 is provided with multiple pushing rods 706 that are inserted into the gap between the first roller conveyor 701 and the feeding roller conveyor 702. The pushing rods 706 form a positioning cavity for positioning the box. The base 1 is provided with a material distribution mechanism that drives the movable frames 705 to move.

[0039] The material distribution mechanism includes two pulleys 707 mounted on a base 1, with a transmission belt 708 sleeved between the pulleys 707. The movable frame 705 is fixed to the transmission belt 708 via a positioning component, and a transmission motor is mounted on the base 1 to drive the pulleys 707 to rotate. This allows the movable frame to move left and right via the transmission belt, thus dividing the material onto the roller conveyors on both sides of the box, facilitating operation by the robotic arm.

[0040] The flipping mechanism 8 includes a flipping roller conveyor 801 mounted on the base 1, with docking roller conveyors 802 on both sides of the flipping roller conveyor 801. A steering mechanism is also provided on both sides of the flipping roller conveyor 801. The steering mechanism includes a rotating shaft 803 mounted on the base and located on the roller conveyor. A cross-shaped flipping frame 804 is mounted on the rotating shaft 803, inserted into the gap between the rollers of the flipping roller conveyor 801 and rotating towards the docking roller conveyor 802. The cross-shaped flipping frame 804 supports the bottom of the box and flips it towards the docking roller conveyor 802 as the rotating shaft rotates. A flipping motor is mounted on the base to drive the rotating shaft 803, adjusting the box's posture. The rotating shaft drives the cross-shaped flipping frame 804 to flip, thus supporting the bottom of the box and flipping it towards the docking roller conveyor 802 as the rotating shaft rotates, achieving posture adjustment.

[0041] The loading and unloading method of the single-column double-arm automatic loading and unloading vehicle is as follows: First, the vehicle travels to the corresponding position of the stacking pile, and then loading and unloading are carried out. During loading and unloading, the height of the lifting seat is adjusted by a multi-stage lifting mechanism, which in turn adjusts the height of the loading and unloading robotic arm. At the same time, the first, second, third, and fourth reduction motors are used to adjust the rotation of the large arm, small arm, rotating arm, and steering shaft, respectively, thereby adjusting the loading and unloading robotic arm. The suction cup frame is then driven to dock with the box, adsorbing and positioning the box. Then, the height of the loading and unloading robotic arm and the lifting seat are adjusted again to move the adsorbed and positioned box to the gripping station to complete the unloading of the box.

[0042] During palletizing, the boxes to be palletized are placed into the feed telescopic roller conveyor and then into the feed distribution mechanism. They then enter the flipping mechanism for posture adjustment and finally enter the gripping station. The first, second, third, and fourth geared motors are used to adjust the rotation of the boom, forearm, rotating arm, and steering shaft, thereby adjusting the loading and unloading robotic arm. The drive suction cup frame docks with the box, and the box is suction-positioned. Then, the height of the loading and unloading robotic arm and the lifting seat are adjusted again through a multi-stage lifting mechanism, and the suction-positioned box is stacked on the stack to complete the palletizing work.

[0043] The loading and unloading robotic arms of this invention are arranged in a V-shape on both sides of a column. The arms move outwards from the column as the center, providing each arm with two large, independent operating spaces on the left and right sides. This allows for better independent movement of the two robotic arms within a confined space, effectively improving work efficiency. The two independent spaces on the left and right sides also provide each arm with its own independent gripping station and material channel, ensuring that system matching efficiency is not limited by upstream or downstream processes, further enhancing overall system efficiency.

[0044] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A single-column, double-arm automated loading and unloading vehicle, characterized in that, It includes a base (1) with a tracked walker at the bottom, a vertical column (2) at the front end of the base (1), and lifting seats (4) are installed on the opposite sides of the column (2) via a multi-stage lifting mechanism (3); each lifting seat (4) is equipped with an independently operated loading and unloading robotic arm (5). The loading and unloading robotic arm (5) includes a positioning seat (501) mounted on a lifting base (4). A vertically arranged rotating shaft (502) is mounted on the positioning seat (501). A horizontally swinging large arm (503) is fixed to the end of the rotating shaft (502). A vertically arranged rotating small shaft (504) is mounted on the outer end of the large arm (503). A horizontally swinging small arm (505) is fixed to the end of the rotating small shaft (504). A rotating arm (506) is mounted at the end of the small arm (505). The front end of the rotating arm (506) has a vertically oriented... The steering shaft (507) is located below, and a suction cup frame (508) for adsorbing the housing is installed at the shaft end of the steering shaft (507). The positioning seat (501) is equipped with a first reduction motor (509) that drives the rotating shaft (502) to rotate. The large arm (503) is equipped with a second reduction motor that drives the rotating small shaft (504) to rotate. The small arm (505) is equipped with a third reduction motor that drives the rotating arm (506) to rotate. The rotating arm (506) is equipped with a fourth reduction motor (512) that drives the steering shaft (507) to rotate. The base (1) is provided with a feeding telescopic roller line (6) at its end, and the base (1) is provided with a material feeding channel mechanism (7) that is connected to the feeding telescopic roller line (6). The end of the material feeding channel mechanism (7) is connected to a flipping mechanism (8). The flipping mechanism (8) is used to adjust the posture of the box. The base (1) is also provided with a gripping station (9) that is connected to the flipping mechanism (8) and corresponds one-to-one with the loading and unloading robotic arm (5). The material feeding mechanism (7) includes a first roller conveyor (701) on the base (1), and feeding roller conveyors (702) are provided on both sides of the first roller conveyor (701). The feeding roller conveyors (702) are aligned with the first roller conveyor (701) and are arranged in parallel. The base (1) is provided with a pushing mechanism that pushes the box on the first roller conveyor (701) to the feeding pipes on both sides. The pushing mechanism includes a pair of parallel light rods (703) 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 (703). Each moving frame (705) is provided with multiple pushing rods (706) that are inserted into the gap between the first roller conveyor (701) and the feeding roller conveyor (702). The base (1) is provided with a material distribution mechanism that drives the moving frames (705) to move.

2. The single-column double-arm automatic loading and unloading vehicle according to claim 1, characterized in that, The multi-stage lifting mechanism (3) includes a lifting plate (301) set on the column (2), and a vertically set first guide rail (302) is provided on the lifting plate (301). A first sliding block (303) that moves along the first guide rail (302) is provided on the first guide rail (302). A first straight rack (304) that is parallel to the first guide rail (302) is also provided on the lifting plate (301). A first gear (305) that meshes with the teeth on the first straight rack (304) is provided on the lifting seat (4). A lifting motor (306) that drives the first gear (305) to rotate is provided on the lifting seat (4). The side of the column (2) is provided with an inward limiting groove (307), and the lifting plate (301) is installed in the limiting groove (307). The groove wall of the limiting 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) that moves along the second guide rail (308). The second sliding block (309) is fixed to the lifting plate (301) by bolts, and the column (2) is provided with a driving mechanism that drives the lifting plate (301) to move up and down.

3. The single-column double-arm automatic loading and unloading vehicle according to claim 2, characterized in that, The driving mechanism includes a second straight rack (310) that is vertically arranged on the back side of the lifting plate (301), and the column (2) has a cavity inside. A second gear (311) that meshes with the second straight rack (310) is installed on the upper part of the cavity of the column (2), and a drive motor (312) that drives the second gear (311) to rotate is installed on the column.

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

5. The single-column double-arm automatic loading and unloading vehicle according to claim 1, characterized in that, The material distribution mechanism includes two pulleys (707) on the base (1), a transmission belt (708) is sleeved between the pulleys (707), and the moving frame (705) is fixed to the transmission belt (708) by a positioning component. The base (1) is provided with a transmission motor that drives the pulleys (707) to rotate.

6. The single-column double-arm automatic loading and unloading vehicle according to claim 1, characterized in that, The flipping mechanism (8) includes a flipping roller track (801) on the base (1), and docking roller tracks (802) are provided on both sides of the flipping roller track (801). A turning mechanism is provided on both sides of the flipping roller track (801). The turning mechanism includes a rotating shaft (803) on the base and located on the roller track. A cross-shaped flipping frame (804) is provided on the rotating shaft (803) and inserted into the gap of the roller track (801) and rotates toward the docking roller track (802). The cross-shaped flipping frame (804) is used to support the bottom of the box and flip the box to the docking roller track (802) as the rotating shaft flips. A flipping motor that drives the rotating shaft (803) to rotate is provided on the base.

7. A single-column double-arm automatic loading and unloading vehicle according to any one of claims 1-6, characterized in that, The loading and unloading method of the single-column double-arm automatic loading and unloading vehicle is as follows: First, it travels to the corresponding position of the stacking pile, and then loading and unloading are carried out. During loading and unloading, the height of the lifting seat is adjusted by a multi-stage lifting mechanism, which in turn adjusts the height of the loading and unloading robotic arm. At the same time, the first, second, third, and fourth reduction motors are used to adjust the rotation of the large arm, small arm, rotating arm, and steering shaft, respectively, thereby adjusting the loading and unloading robotic arm. The drive suction cup frame docks with the box, adsorbs and positions the box, and then the height of the loading and unloading robotic arm and the lifting seat are adjusted again to move the adsorbed and positioned box to the grabbing station to complete the box unloading work. During palletizing, the boxes to be palletized are placed into the feed telescopic roller conveyor and then into the feed distribution mechanism. They then enter the flipping mechanism for posture adjustment and finally enter the gripping station. The first, second, third, and fourth geared motors are used to adjust the rotation of the boom, forearm, rotating arm, and steering shaft, thereby adjusting the loading and unloading robotic arm. The drive suction cup frame docks with the box, and the box is suction-positioned. Then, the height of the loading and unloading robotic arm and the lifting seat are adjusted again through a multi-stage lifting mechanism, and the suction-positioned box is stacked on the stack to complete the palletizing work.

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