Double-mechanical-arm automatic loading and unloading vehicle and operation method thereof

Abstract

The invention relates to the related technical field of automatic loading and unloading vehicles, in particular to a double-mechanical-arm automatic loading and unloading vehicle and an operation method thereof.The double-mechanical-arm automatic loading and unloading vehicle comprises a loading and unloading vehicle body, a vertical movable seat and a mechanical arm structure, and a vertical guide rail is fixedly installed at the front side end of the loading and unloading vehicle body; the double-mechanical-arm automatic loading and unloading vehicle is formed by combining a loading and unloading vehicle body, a vertical movable seat and a mechanical arm structure, an oil storage cavity, an oil injection opening, a mounting groove and an oil hole are formed in a vertical sliding seat on the inner side of the vertical movable seat, and an oil guide rod with an oil taking groove, a stress ring, a reset spring and a first-stage limiting piece are arranged; the vertical guide rail is arranged in the vertical sliding seat, the receding groove is formed in the side wall of the vertical guide rail, and therefore the oil guide rod can move inwards and outwards through the receding groove, a certain amount of lubricating oil is brought out from the oil injection port through the oil taking groove, the contact point of the vertical guide rail and the vertical sliding seat is lubricated, the smoothness of the vertical sliding seat moving on the vertical guide rail is guaranteed, and the service life of the vertical sliding seat is prolonged. And equipment abrasion is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic loading and unloading vehicles, and particularly to a double robotic arm automatic loading and unloading vehicle and its operation method. Background Art

[0002] The existing Chinese patent document with the publication number CN118145564B discloses a loading and unloading vehicle integrated loading and unloading vehicle skid, and its solution includes: a retaining shelf, a mounting housing, a first fork, and a second fork. The retaining shelf is vertically arranged at the end of the loading and unloading vehicle. The mounting housing is on one side of the retaining shelf and close to the bottom of the retaining shelf. The mounting housing is slidably matched with the retaining shelf, and the mounting housing is lifted by hydraulic transmission. The first fork and the second fork are respectively at the ends of the mounting housing. The first fork and the second fork are of an integral structure with the mounting housing. The first fork and the second fork have the same structure and are in the shape of a cuboid housing structure. The first fork and the second fork are communicated with the ends of the mounting housing. A protective pressing mechanism for protecting box-shaped goods is provided on both the first fork and the second fork. An avoidance opening is formed on the top plate surface of the first fork, and the length direction of the avoidance opening is parallel to the length direction of the first fork. An avoidance opening is also formed on the top plate surface of the second fork. The protective pressing mechanism includes a guide rod, a sliding block, and a protective rod. The guide rod is horizontally and fixedly arranged in the first fork. One end of the guide rod is fixedly connected to one end of the first fork, and the other end of the guide rod is fixedly connected to the other end of the first fork. There are two guide rods arranged in parallel. The sliding block is slidably sleeved on the guide rod. One end of the protective rod is close to the end of the first fork, and the other end of the protective rod is connected to the sliding block. In the initial state, the protective rod is in a horizontal state and is matched within the avoidance opening of the first fork. A pushing mechanism for triggering the movement of the protective rod is arranged in the mounting housing; However, in the above solution, a self-lubricating structure is not provided on its guiding structure, resulting in the need for frequent maintenance of the guiding structure of the equipment, which takes a lot of time during the maintenance process and affects the loading efficiency of workers. Therefore, the present invention proposes a double robotic arm automatic loading and unloading vehicle and its operation method to solve the above problems. Summary of the Invention

[0003] The purpose of the present invention is to provide a double robotic arm automatic loading and unloading vehicle and its operation method to solve the problems raised in the above background art.

[0004] To achieve the above purpose, the present invention provides the following technical solution: A double robotic arm automatic loading and unloading vehicle, including: A loading and unloading vehicle body, on the front side end of which a vertical guide rail is fixedly installed; A vertical movable seat, on the inner side edge of which a vertical sliding seat is fixedly connected. The vertical sliding seat is movably arranged on the vertical guide rail. The vertical movable seat is driven up and down by a vertical driving structure on the loading and unloading vehicle body. On the outer side edge of the vertical movable seat, a horizontal guide rail is fixedly connected; Robotic arm structure, a lateral sliding seat is movably installed on the lateral guide rail, the robotic arm structure is installed on the lateral sliding seat, and the robotic arm structure is driven left and right by a lateral driving structure on the vertical movable seat.

[0005] Preferably, the robotic arm structure includes a cantilever, a hydraulic mechanism and a clamping arm. The root of the cantilever is fixedly connected to the lateral sliding seat, and a first hinge seat and a rotating shaft seat are provided on the cantilever. A first mounting shaft and a second mounting shaft are fixedly connected to the clamping arm. The first mounting shaft is rotatably installed on the rotating shaft seat. The cylinder body of the hydraulic mechanism is hinged to the first hinge seat, and the hydraulic rod of the hydraulic mechanism is hinged to the second mounting shaft.

[0006] Preferably, an oil storage cavity is provided on the vertical sliding seat. An oil injection port is provided at the upper side end of the oil storage cavity. A sealing cover is threadedly connected to the port of the oil injection port, and lubricating oil is added to the oil storage cavity.

[0007] Preferably, an installation groove is provided on the joint surface between the vertical sliding seat and the vertical guide rail. The installation groove is communicated with the oil injection port through an oil hole. A threaded hole is provided at the port position of the installation groove. A first limiting member is threadedly connected in the threaded hole. A first through hole is provided on the first limiting member, and an internal hexagonal wrench groove is provided at the port of the first through hole.

[0008] Preferably, the first through hole is arranged to be aligned with the oil hole, and the diameter values of the first through hole and the oil hole are matched. A guide oil rod is movably installed in the first through hole and the oil hole. A force receiving ring is integrally formed on the side wall of the guide oil rod, and a return spring is sleeved on the guide oil rod. Two ends of the return spring respectively abut against the force receiving ring and the bottom of the installation groove. An oil extraction groove is provided on the side wall of the guide oil rod, and oil channels are provided on the side walls of the installation groove and the threaded hole.

[0009] Preferably, the outer end of the guide oil rod is hemispherical. An avoidance groove is provided on the side wall of the vertical guide rail where it abuts against the vertical sliding seat. The avoidance groove is a hemispherical notch, and a plurality of avoidance grooves are arranged at equal intervals. The guide oil rod and the avoidance grooves are in the same plane.

[0010] Preferably, when the end of the guide oil rod moves into the avoidance groove, the outer end of the oil extraction groove is communicated with the installation groove, and the inner end of the oil extraction groove is separated from the oil injection port. When the end of the guide oil rod disengages from the avoidance groove, the inner end of the oil extraction groove is communicated with the oil injection port, and the outer end of the oil extraction groove is separated from the installation groove.

[0011] Preferably, the oil storage cavity is a cylindrical cavity structure, and the lower side end of the oil storage cavity is open. A piston is movably installed in the oil storage cavity. A secondary limiting member is installed at the lower side port of the oil storage cavity, and a support spring is movably installed in the oil storage cavity. The two ends of the support spring are respectively abutted against the piston and the secondary limiting member. When the support spring is in the reset state, the piston moves to the uppermost end of the oil storage cavity.

[0012] Preferably, a secondary through hole is formed in the secondary limiting member. A pull rope is fixedly connected to the lower side end of the piston. A rope tying rod is integrally formed on the side wall of the secondary limiting member. The pull rope passes through the secondary through hole and is tied to the rope tying rod.

[0013] An operation method of a double robotic arm automatic loading and unloading vehicle, the operation method of the double robotic arm automatic loading and unloading vehicle is used to operate the above-mentioned double robotic arm automatic loading and unloading vehicle. The method is to drive the vertical movable seat to move up and down through the vertical driving structure, and drive the robotic arm structure to move left and right through the horizontal driving structure, so as to realize the clamping and handling of the object to be clamped.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting up a double robotic arm automatic loading and unloading vehicle composed of a loading and unloading vehicle body, a vertical movable seat and a robotic arm structure, and opening an oil storage cavity, an oil injection port, an installation groove and an oil hole on the vertical sliding seat inside the vertical movable seat, and by setting a guide oil rod with an oil extraction groove, a force receiving ring, a return spring and a primary limiting member, and opening an avoidance groove on the side wall of the vertical guide rail, so that the guide oil rod realizes the internal and external movement of the guide oil rod through the avoidance groove, so that a certain amount of lubricating oil is brought out from the oil injection port by the oil extraction groove, so as to lubricate the contact point between the vertical guide rail and the vertical sliding seat, so as to ensure the smooth movement of the vertical sliding seat on the vertical guide rail and reduce equipment wear; 2. By arranging a piston, a secondary limiting member and a support spring in the oil storage cavity, the sufficient oil pressure in the oil storage cavity is always ensured, so as to ensure the outflow volume of the lubricating oil and improve the lubrication effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the present invention; Figure 2 is Figure 1 an enlarged schematic view of the structure at A in Figure 3 is a schematic structural diagram of the vertical movable seat of the present invention; Figure 4 is Figure 3 an enlarged schematic view of the structure at B in Figure 5 is Figure 3 an enlarged schematic view of the structure at C in Figure 6 is Figure 3 the enlarged schematic view of the structure at position D in Figure 7 is Figure 3 the enlarged schematic view of the structure at position E in Figure 8 the schematic view of the vertical guide rail structure of the present invention; Figure 9 is Figure 8 the enlarged schematic view of the structure at position F in Figure 10 the half-sectional view of the primary limit member of the present invention.

[0016] In the figure: the loading and unloading vehicle body 1, the vertical guide rail 2, the vertical movable seat 3, the horizontal guide rail 4, the robotic arm structure 5, the cantilever 6, the hydraulic mechanism 7, the clamping arm 8, the rotating shaft seat 9, the primary mounting shaft 10, the secondary mounting shaft 11, the vertical sliding seat 12, the oil storage cavity 13, the oil filling port 14, the sealing cover 15, the mounting groove 16, the oil hole 17, the threaded hole 18, the oil passage 19, the primary limit member 20, the primary through hole 21, the hexagon socket wrench groove 22, the oil guiding rod 23, the force receiving ring 24, the return spring 25, the oil extraction groove 26, the clearance groove 28, the piston 29, the secondary limit member 30, the support spring 31, the secondary through hole 32, the pull rope 33, the rope tying rod 34. Specific embodiments

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Please refer to Figures 1-10 , the present invention provides the following three preferred embodiments of the solution: Embodiment 1: A double robotic arm automatic loading and unloading vehicle, comprising a loading and unloading vehicle body 1, a vertical movable seat 3, and a robotic arm structure 5. A vertical guide rail 2 is fixedly installed at the front end of the loading and unloading vehicle body 1. A vertical sliding seat 12 is fixedly connected to the inner side edge of the vertical movable seat 3. The vertical sliding seat 12 is movably arranged on the vertical guide rail 2. The vertical movable seat 3 is driven up and down by a vertical driving structure on the loading and unloading vehicle body 1. A horizontal guide rail 4 is fixedly connected to the outer side edge of the vertical movable seat 3. A horizontal sliding seat is movably installed on the horizontal guide rail 4. The robotic arm structure 5 is installed on the horizontal sliding seat, and the robotic arm structure 5 is driven left and right by a horizontal driving structure on the vertical movable seat 3. The robotic arm structure 5 includes a cantilever 6, a hydraulic mechanism 7, and a clamping arm 8. The root of the cantilever 6 is fixedly connected to the horizontal sliding seat, and a primary hinge seat and a rotating shaft seat 9 are arranged on the cantilever 6. A primary mounting shaft 10 and a secondary mounting shaft 11 are fixedly connected to the clamping arm 8. The primary mounting shaft 10 is rotatably installed on the rotating shaft seat 9. The cylinder body of the hydraulic mechanism 7 is hinged to the primary hinge seat, and the hydraulic rod of the hydraulic mechanism 7 is hinged to the secondary mounting shaft 11.

[0019] An oil storage cavity 13 is formed in the vertical sliding seat 12. An oil filling port 14 is formed at the upper side end of the oil storage cavity 13. A sealing cover 15 is threadedly connected to the port of the oil filling port 14. Lubricating oil is added into the oil storage cavity 13. An installation groove 16 is formed in the joint surface between the vertical sliding seat 12 and the vertical guide rail 2. The installation groove 16 is communicated with the oil filling port 14 through an oil hole 17. A threaded hole 18 is formed at the port position of the installation groove 16. A primary limiting member 20 is threadedly connected in the threaded hole 18. A primary through hole 21 is formed in the primary limiting member 20, and an internal hexagonal wrench groove 22 is formed at the port of the primary through hole 21.

[0020] The primary through hole 21 is arranged to be aligned with the oil hole 17, and the diameter values of the primary through hole 21 and the oil hole 17 are matched. A guide oil rod 23 is movably installed in the primary through hole 21 and the oil hole 17. A force receiving ring 24 is integrally formed on the side wall of the guide oil rod 23. A return spring 25 is sleeved on the guide oil rod 23. The two ends of the return spring 25 are respectively abutted against the force receiving ring 24 and the bottom of the installation groove 16. An oil extraction groove 26 is formed on the side wall of the guide oil rod 23. Oil channels 19 are formed in the side walls of the installation groove 16 and the threaded hole 18. The outer end of the guide oil rod 23 is hemispherical. An avoidance groove 28 is formed in the side wall of the vertical guide rail 2 that abuts against the vertical sliding seat 12. The avoidance groove 28 is a hemispherical notch, and a plurality of avoidance grooves 28 are arranged at equal intervals, and the guide oil rod 23 and the avoidance grooves 28 are located in the same plane.

[0021] When the end of the oil guiding rod 23 moves into the clearance groove 28, the outer end of the oil extraction groove 26 communicates with the installation groove 16, and the inner end of the oil extraction groove 26 is separated from the oil injection port 14. When the end of the oil guiding rod 23 disengages from the clearance groove 28, the inner end of the oil extraction groove 26 communicates with the oil injection port 14, and the outer end of the oil extraction groove 26 is separated from the installation groove 16. By setting up a double robotic arm automatic loading and unloading vehicle composed of a loading and unloading vehicle body 1, a vertical movable seat 3, and a robotic arm structure 5, and by opening a storage cavity 13, an oil injection port 14, an installation groove 16, and an oil hole 17 on the vertical sliding seat 12 inside the vertical movable seat 3, and by setting up an oil guiding rod 23 with an oil extraction groove 26, a force receiving ring 24, a return spring 25, and a primary limit member 20, and by opening a clearance groove 28 on the side wall of the vertical guide rail 2, the inner and outer movement of the oil guiding rod 23 is realized through the oil guiding rod 23 passing through the clearance groove 28, so that a certain amount of lubricating oil is taken out from the oil injection port 14 by the oil extraction groove 26, so as to lubricate the contact point between the vertical guide rail 2 and the vertical sliding seat 12, so as to ensure the smooth movement of the vertical sliding seat 12 on the vertical guide rail 2 and reduce equipment wear.

[0022] Embodiment 2, on the basis of Embodiment 1, the storage cavity 13 is a cylindrical cavity structure, and the lower end of the storage cavity 13 is open. A piston 29 is movably installed in the storage cavity 13. A secondary limit member 30 is installed at the lower port of the storage cavity 13, and a support spring 31 is movably installed in the storage cavity 13. The two ends of the support spring 31 are respectively abutted against the piston 29 and the secondary limit member 30. When the support spring 31 is in the reset state, the piston 29 moves to the uppermost end of the storage cavity 13. By setting up the piston 29, the secondary limit member 30, and the support spring 31 in the storage cavity 13, the sufficient oil pressure is always ensured in the storage cavity 13, so as to ensure the outflow volume of the lubricating oil, and thus improve the lubrication effect.

[0023] A secondary through hole 32 is opened on the secondary limit member 30. A pull rope 33 is fixedly connected to the lower end of the piston 29. A rope tying rod 34 is integrally formed on the side wall of the secondary limit member 30. The pull rope 33 passes through the secondary through hole 32 and is tied to the rope tying rod 34, which is convenient for the staff to add lubricating oil.

[0024] Embodiment 3, on the basis of Embodiment 2, an operation method of a double robotic arm automatic loading and unloading vehicle. The operation method of the double robotic arm automatic loading and unloading vehicle is used to operate the above-mentioned double robotic arm automatic loading and unloading vehicle. The method is to drive the vertical movable seat 3 to move up and down through a vertical driving structure, and to drive the robotic arm structure 5 to move left and right through a horizontal driving structure, so as to realize the clamping and handling of the object to be clamped.

[0025] Although the above-described illustrative specific embodiments of the present application have been described to enable those skilled in the art to understand the present application, the present application is not limited to the scope of the specific embodiments. For those of ordinary skill in the art, as long as various changes are within the spirit and scope of the present application defined and determined by the appended claims, all applications and creations using the concept of the present application are within the scope of protection.

Claims

1. A double robotic arm automatic loading and unloading vehicle, characterized in that: Comprising: A loading and unloading vehicle body (1), a vertical guide rail (2) is fixedly installed at the front end of the loading and unloading vehicle body (1); A vertical movable seat (3), a vertical sliding seat (12) is fixedly connected to the inner side of the vertical movable seat (3), the vertical sliding seat (12) is movably arranged on the vertical guide rail (2), the vertical movable seat (3) is driven up and down by a vertical driving structure on the loading and unloading vehicle body (1), and a horizontal guide rail (4) is fixedly connected to the outer side of the vertical movable seat (3); A robotic arm structure (5), a horizontal sliding seat is movably installed on the horizontal guide rail (4), the robotic arm structure (5) is installed on the horizontal sliding seat, and the robotic arm structure (5) is driven left and right by a horizontal driving structure on the vertical movable seat (3).

2. The automatic loading and unloading vehicle with double robotic arms according to claim 1, characterized in that: The robotic arm structure (5) includes a cantilever (6), a hydraulic mechanism (7) and a clamping arm (8), the root of the cantilever (6) is fixedly connected to the horizontal sliding seat, and a first-stage hinge seat and a rotating shaft seat (9) are arranged on the cantilever (6), a first-stage mounting shaft (10) and a second-stage mounting shaft (11) are fixedly connected to the clamping arm (8), the first-stage mounting shaft (10) is rotatably installed on the rotating shaft seat (9), the cylinder body of the hydraulic mechanism (7) is hinged to the first-stage hinge seat, and the hydraulic rod of the hydraulic mechanism (7) is hinged to the second-stage mounting shaft (11).

3. The automatic loading and unloading vehicle with double robotic arms according to claim 1, characterized in that: An oil storage cavity (13) is formed in the vertical sliding seat (12), an oil filling port (14) is formed in the upper side end of the oil storage cavity (13), a sealing cover (15) is threadedly connected to the port of the oil filling port (14), and lubricating oil is added into the oil storage cavity (13).

4. The dual robotic arm automatic loading and unloading vehicle according to claim 3, characterized in that: An installation groove (16) is formed in the joint surface of the vertical sliding seat (12) and the vertical guide rail (2), the installation groove (16) is communicated with the oil filling port (14) through an oil hole (17), a threaded hole (18) is formed at the port position of the installation groove (16), a first-stage limiting member (20) is threadedly connected in the threaded hole (18), a first-stage through hole (21) is formed in the first-stage limiting member (20), and an internal hexagonal wrench groove (22) is formed at the port of the first-stage through hole (21).

5. The dual robotic arm automatic loading and unloading vehicle according to claim 4, wherein: The first-stage through hole (21) is arranged in alignment with the oil hole (17), and the diameter values of the first-stage through hole (21) and the oil hole (17) are in conformity, a guide oil rod (23) is movably installed in the first-stage through hole (21) and the oil hole (17), a force receiving ring (24) is integrally formed on the side wall of the guide oil rod (23), a return spring (25) is sleeved on the guide oil rod (23), two ends of the return spring (25) are respectively abutted against the force receiving ring (24) and the bottom of the installation groove (16), an oil extraction groove (26) is formed in the side wall of the guide oil rod (23), and oil channels (19) are formed in the side walls of the installation groove (16) and the threaded hole (18).

6. The automatic loading and unloading vehicle with dual robotic arms according to claim 5, wherein: The outer end of the oil guiding rod (23) is arranged in a hemispherical shape. The side wall of the vertical guide rail (2) that abuts against the vertical sliding seat (12) is provided with an avoidance groove (28). The avoidance groove (28) is a hemispherical notch, and a plurality of avoidance grooves (28) are arranged at equal intervals. The oil guiding rod (23) and the avoidance groove (28) are located in the same plane.

7. The automatic loading and unloading vehicle with double robotic arms according to claim 6, characterized in that: When the end of the oil guiding rod (23) moves into the avoidance groove (28), the outer end of the oil extraction groove (26) is communicated with the installation groove (16), and the inner end of the oil extraction groove (26) is separated from the oil injection port (14). When the end of the oil guiding rod (23) disengages from the avoidance groove (28), the inner end of the oil extraction groove (26) is communicated with the oil injection port (14), and the outer end of the oil extraction groove (26) is separated from the installation groove (16).

8. The dual robotic arm automatic loading and unloading vehicle according to claim 7, characterized in that: The oil storage cavity (13) is of a cylindrical cavity structure, and the lower end of the oil storage cavity (13) is open. A piston (29) is movably installed in the oil storage cavity (13). A secondary limiting member (30) is installed at the lower port of the oil storage cavity (13), and a support spring (31) is movably installed in the oil storage cavity (13). The two ends of the support spring (31) are respectively abutted against the piston (29) and the secondary limiting member (30). When the support spring (31) is in the reset state, the piston (29) moves to the uppermost end of the oil storage cavity (13).

9. The double robotic arm automatic loading and unloading vehicle according to claim 8, characterized in that: A secondary through hole (32) is opened on the secondary limiting member (30). A pulling rope (33) is fixedly connected to the lower end of the piston (29). A rope tying rod (34) is integrally formed on the side wall of the secondary limiting member (30). The pulling rope (33) passes through the secondary through hole (32) and is tied to the rope tying rod (34).

10. An operating method for a double robotic arm automatic loading and unloading vehicle, characterized in that: The operation method of the double robotic arm automatic loading and unloading vehicle is used to operate any one of the double robotic arm automatic loading and unloading vehicles described in claims 2-9 above. The method is to drive the vertical movable seat (3) to move up and down through the vertical driving structure, and drive the robotic arm structure (5) to move left and right through the horizontal driving structure, so as to realize the clamping and handling of the object to be clamped.

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