Rotary mechanical arm for single-stand-column double-arm automatic loading and unloading vehicle

Abstract

The utility model discloses a rotary mechanical arm for a single-stand-column double-arm automatic loading and unloading vehicle, which comprises a base provided with a crawler walking device at the bottom, the front end of the base is provided with a vertically upward stand column, and the side surfaces of two opposite sides of the stand column are respectively provided with a lifting seat through a lifting mechanism; the loading and unloading mechanical arm comprises a positioning seat arranged on the lifting seat, a vertically-arranged rotating large shaft is arranged on the positioning seat, a horizontally-swinging large arm is fixed to the end of the rotating large shaft, a vertically-arranged rotating small shaft is arranged at the outer end of the large arm, and a horizontally-swinging small arm is fixed to the end of the rotating small shaft. The end part of the small arm is provided with a rotating arm, and the front end of the rotating arm is provided with a vertically downward steering shaft; the mechanical arm can move and be oriented in the same plane, and the large arm and the small arm do not have any load weight than the mechanical arm, so that the service life of the mechanical arm is effectively prolonged; and the flexibility is high.

Description

Technical Field

[0001] This utility model relates to the technical field of robotic arms, specifically a single-column, double-arm automatic loading and unloading rotary robotic arm for vehicles. 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. However, due to the unique structure of box trucks—various models with varying heights and internal dimensions—and the fact that they operate in a semi-enclosed space, achieving automated loading and unloading is extremely challenging. Currently, box truck loading and unloading is mainly done manually, with the aid of conveyor belts or electric forklifts. Manual labor is inefficient, physically demanding, and costly. Electric forklifts can reduce manual labor intensity, but they cannot fully utilize the cargo space inside the box and cannot completely eliminate the need for manual labor. With rising labor costs, replacing manual loading and unloading with machines is becoming an inevitable trend. Existing systems utilize multi-axis robots, but when these robots operate, their joints bear the weight of the robotic arm, leading to wear and tear and a reduced lifespan. Utility Model Content

[0003] To address the shortcomings of existing technologies, this utility model provides a single-column, double-arm automatic loading and unloading rotary robotic arm for vehicles.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0005] This utility model discloses a single-column, double-arm automatic loading and unloading rotary robotic arm, comprising a base with a tracked walker at the bottom, a vertically upward column at the front end of the base, and lifting seats mounted on opposite sides of the column via lifting mechanisms; the loading and unloading robotic arm includes a positioning seat on the lifting seat, a vertically arranged rotating shaft on the positioning seat, a horizontally swinging large arm fixed to the end of the rotating shaft, a vertically arranged rotating small shaft at the outer end of the large arm, a horizontally swinging small arm fixed to the end of the rotating small shaft, a rotating arm at the end of the small arm, a vertically downward steering shaft at the front end of the rotating arm, and a suction cup frame for adsorbing the box body installed at the shaft end of the steering shaft.

[0006] As a preferred technical solution of this utility model, the positioning seat is provided with a first reduction motor that drives the main shaft to rotate, the main arm is provided with a second reduction motor that drives the small shaft to rotate, the small arm is provided with a third reduction motor that drives the rotating arm to rotate, and the rotating arm is provided with a fourth reduction motor that drives the steering shaft to rotate.

[0007] As a preferred embodiment of this utility model, the first geared motor, the second geared motor, the third geared motor, and the fourth geared motor are all servo motors.

[0008] As a preferred embodiment of this utility model, the front end of the upper arm supports the end of the forearm.

[0009] As a preferred technical solution of this utility model, the positioning seat supports the end of the upper arm.

[0010] The beneficial effects of this utility model are:

[0011] 1. This type of single-column double-arm automatic loading and unloading rotary robotic arm has the front end of the upper arm supporting the end of the lower arm, and the positioning seat supporting the end of the upper arm. This allows the robotic arm to move and be oriented within a plane, and the upper arm and lower arm do not weigh any load that supports the robotic arm, thus effectively improving the service life of the robotic arm; and it also has high flexibility.

[0012] 2. The lifting motor 306, drive motor, first reduction motor, second reduction motor, third reduction motor and fourth reduction motor of this type of single-column double-arm automatic loading and unloading rotary mechanical arm are all servo motors. In this way, by controlling the servo motors, it is convenient to control the rotation angle and distance. Attached Figure Description

[0013] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0014] Figure 1 This is a schematic diagram of the structure of a single-column double-arm automatic loading and unloading rotary mechanical arm for vehicles according to this utility model;

[0015] Figure 2 This is a schematic diagram of the rotating shaft of a single-column, double-arm automatic loading and unloading rotary mechanical arm for vehicles according to this utility model.

[0016] In the diagram: 1. Base; 2. Column; 3. Lifting mechanism; 4. Lifting seat; 5. Loading / unloading robotic arm; 501. Positioning seat; 502. Rotating main shaft; 503. Main arm; 504. Rotating small shaft; 505. Small arm; 506. Rotating arm; 507. Steering shaft; 508. Suction cup frame; 509. First geared motor; 510. Second geared motor; 512. Fourth geared motor. Detailed Implementation

[0017] 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.

[0018] Example: Figures 1 to 2 As shown, this utility model discloses a single-column, double-arm automatic loading and unloading rotary robotic arm, 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 lifting mechanisms 3; the loading and unloading robotic arm 5 includes a positioning seat 501 mounted on the lifting seat 4, a vertically arranged rotating shaft 502 on the positioning seat 501, a horizontally swinging large arm 503 fixed at the end of the rotating shaft 502, a vertically arranged rotating small shaft 504 at the outer end of the large arm 503, a horizontally swinging small arm 505 fixed at the end of the rotating small shaft 504, a rotating arm 506 at the end of the small arm 505, a vertically downward steering shaft 507 at the front end of the rotating arm 506, and a suction cup frame 508 for adsorbing the box body mounted on the shaft end of the steering shaft 507. The front end of the upper arm 503 supports the end of the lower arm 505, and the positioning seat 501 supports the end of the upper arm 503. This allows the robotic arm to move and orient itself within a plane. Furthermore, the upper arm 503 and the lower arm 505 do not weigh as much as the robotic arm under any load, thus effectively improving the service life of the robotic arm and providing high flexibility.

[0019] The positioning base 501 is equipped with a first reduction motor 509 that drives the main rotating shaft 502 to rotate. The upper arm 503 is equipped with a second reduction motor 510 that drives the small rotating shaft 504 to rotate. The lower arm 505 is equipped with a third reduction motor that drives the rotating arm 506 to rotate. In the rotating arm (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. In this way, by controlling the servo motors, it is convenient to control the rotation angle and distance without the need for complex sensors to detect the rotation angle of the upper arm, lower arm and rotating arm.

[0020] The first geared motor 509, the second geared motor 510, the third geared motor 511, and the fourth geared motor 512 are all servo motors, which are easy to control. The front end of the upper arm 503 supports the end of the forearm 505.

[0021] The positioning seat 501 supports the end of the upper arm 503.

[0022] Working principle: The first reduction motor 509, the second reduction motor 510, the third reduction motor 511, and the fourth reduction motor 512 are used to rotate and adjust the upper arm 503, the lower arm 505, the rotating arm 506, and the steering shaft 507, respectively, thereby adjusting the loading and unloading robotic arm 5. The drive suction cup frame 508 docks with the box body to adsorb and position the box body. The front end of the upper arm 503 supports the end of the lower arm 505, and the positioning seat 501 supports the end of the upper arm 503. This allows the robotic arm to move and orient itself within a plane. Furthermore, the upper arm 503 and the lower arm 505 do not bear any weight that supports the robotic arm's load, thus effectively improving the service life of the robotic arm and providing high flexibility.

[0023] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model 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 this utility model should be included within the protection scope of this utility model.

Claims

1. A single-column, double-arm rotary robotic arm for automatic loading and unloading of vehicles, characterized in that, The system includes 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) installed on the opposite sides of the column (2) via a lifting mechanism (3); characterized in that: the loading and unloading mechanical arm (5) includes a positioning seat (501) on the lifting seat (4), a vertically arranged rotating shaft (502) on the positioning seat (501), a horizontally swinging large arm (503) fixed at the end of the rotating shaft (502), a vertically arranged rotating small shaft (504) at the outer end of the large arm (503), a horizontally swinging small arm (505) fixed at the end of the rotating small shaft (504), a rotating arm (506) at the end of the small arm (505), a vertically downward steering shaft (507) at the front end of the rotating arm (506), and a suction cup frame (508) for adsorbing the box body installed at the shaft end of the steering shaft (507).

2. The single-column double-arm automatic loading and unloading rotary robotic arm according to claim 1, characterized in that, The positioning base (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 (510) that drives the rotating small shaft (504) to rotate, the small arm (505) is equipped with a third reduction motor (511) that drives the rotating arm (506) to rotate, and the rotating arm (506) is equipped with a fourth reduction motor (512) that drives the steering shaft (507) to rotate.

3. The single-column double-arm automatic loading and unloading rotary robotic arm according to claim 2, characterized in that, The first geared motor (509), the second geared motor (510), the third geared motor (511), and the fourth geared motor (512) are all servo motors.

4. A single-column, double-arm automatic loading and unloading rotary robotic arm according to claim 2, characterized in that, The front end of the upper arm (503) supports the end of the forearm (505).

5. A single-column, double-arm automatic loading and unloading rotary robotic arm according to claim 2, characterized in that, The positioning seat (501) supports the end of the boom (503).

Images