Multi-degree-of-freedom mechanical arm grabbing device for logistics sorting

Abstract

The application discloses a multi-degree-of-freedom mechanical arm grabbing device for logistics sorting, and belongs to the technical field of logistics sorting mechanical arms, which comprises a multi-axis mechanical arm module, and a connecting arm is fixedly installed on the multi-axis mechanical arm module; a through motor driving screw rod is started to drive the screw rod to push the movable frame to slide in the sliding cavity; in the process, the push groove on the movable frame can push the sliding rod through the inclined groove wall, so that the movable plate drives the first clamping jaw and the second clamping jaw to move along the sliding groove, and then the interval is adjusted for grabbing operation; in the process, a working motor is started to drive the push plate to push and pull the traction rod through the inclined groove, so that the auxiliary clamping jaw is gradually rotated, and then the suction cup is used to adsorb and grab the bagged package, or when the multi-axis mechanical arm module moves to lift the box-shaped package, the auxiliary clamping jaw can stably lift and support the bottom of the box, so that the stability of package grabbing is ensured and improved, the grabbing operation on different forms of logistics packages is realized, and the applicability and efficiency are improved.

Description

Technical Field

[0001] This invention relates to the field of logistics sorting robotic arms, specifically to a multi-degree-of-freedom robotic arm gripping device for logistics sorting. Background Technology

[0002] Logistics sorting is a core hub in the logistics system. It refers to the standardized process of quickly picking and accurately classifying goods stored in the warehouse according to established rules such as order requirements, destination, and product specifications, and then concentrating them at the corresponding outbound or transfer locations. It is a key link between warehousing and last-mile delivery, directly determining the efficiency of logistics flow, the accuracy of order fulfillment, and customer experience. Its core includes two main actions: picking and classifying. There are various sorting methods. According to order processing, it can be divided into picking-by-order, batch picking, and combined picking. According to the operation method, it can be divided into manual, mechanical, and automatic. Among them, automatic sorting relies on equipment such as barcode recognition and sorting machines to achieve unmanned operation, high throughput, and low error, and is widely used in large-scale transfer centers.

[0003] Traditional gripping devices typically use suction cup modules, parallel grippers, or fixed three-finger grippers for gripping, and are only designed for a specific type of package, such as regular boxes or flat bags. Grippers are prone to excessively squeezing soft packages, causing packaging deformation and damage to the contents, while suction cups are difficult to stably grip rough or heavy hard-packed boxes, and are prone to slipping and falling during sorting. In order to handle mixed-type logistics packages, it is often necessary to change the end effector or rely on multiple sorting lines equipped with different grippers to operate in parallel, which affects the overall sorting efficiency and space utilization.

[0004] Based on this, the present invention designs a multi-degree-of-freedom robotic arm gripping device for logistics sorting to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-degree-of-freedom robotic arm gripping device for logistics sorting, in order to solve the problems mentioned in the background art, which use suction cup modules, parallel grippers or fixed three-finger grippers for gripping, which are only suitable for a specific type of package, often require changing the end effector, or rely on multiple sorting lines equipped with different grippers to operate in parallel, thus affecting the overall sorting efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A multi-degree-of-freedom robotic arm gripping device for logistics sorting includes a multi-axis robotic arm module, a connecting arm fixedly mounted on the multi-axis robotic arm module, a through-type motor assembly fixedly mounted at one end of the connecting arm, a drive motor fixedly mounted inside the connecting arm, guide grooves opened on both sides of the connecting arm, guide rods fixedly connected to both sides of the connecting arm, and a main protective cover slidably mounted on the connecting arm through the guide rods;

[0008] The main protective cover is slidably nested with a secondary protective cover. The output shaft of the drive motor is connected to a connecting shaft. One end of the connecting shaft is fixedly connected to a connecting roller. The connecting roller and the connecting shaft are rotatably connected inside the connecting arm through bearings. A movable sleeve is slidably sleeved on the connecting roller. A spiral groove is opened on the connecting roller.

[0009] The connecting roller has a slot at one end. A mounting plate is fixedly installed on one side of the through-type motor assembly. Air pumps are fixedly installed on both sides of the mounting plate. Multiple sliding grooves are opened on the mounting plate. A sliding cavity is opened on the mounting plate. A movable frame is slidably connected in the sliding cavity. A movable plate is slidably connected in the sliding cavity. The movable frame is U-shaped. The movable plate is movably set in the U-shaped groove of the movable frame. Sliding rods are fixedly connected above and below the movable plate.

[0010] A first gripper and a second gripper are fixedly connected to the movable plate. A connecting sleeve is fixedly connected to one side of each of the first and second grippers. An auxiliary gripper is rotatably mounted on each of the first and second grippers through the connecting sleeve. An opening slot is provided on each of the first and second grippers. A working motor is fixedly mounted on the first gripper. A connecting rod is connected to the output shaft of the working motor. Two drive wheels are fixedly connected to the connecting rod. The two drive wheels are rotatably connected to the opening slots of the first and second grippers through bearings.

[0011] A driven wheel is rotatably connected to one side of the opening groove via a bearing. A conveyor belt is installed on both the drive wheel and the driven wheel. A connecting block is fixedly connected to the conveyor belt, and a connecting plate is fixedly connected between the two connecting blocks. A push plate is fixedly connected to one side of the connecting plate. A transverse groove is provided on the push plate, and an oblique groove is provided at one end of the transverse groove on the push plate.

[0012] Multiple rollers are rotatably mounted on the auxiliary gripper via bearings. A connecting pin is fixedly connected to the auxiliary gripper. The connecting pin is rotatably connected to the connecting sleeve. An eccentric plate is fixedly connected to one side of each of the two connecting pins. A traction rod is fixedly connected to the eccentric plate. Protrusions are fixedly connected to the upper and lower inner walls of the movable sleeve. Main hinge blocks are fixedly connected to both sides of the movable sleeve. A hinge rod is rotatably connected to the main hinge block via a pin.

[0013] As a further embodiment of the present invention, the through-type motor assembly includes a through-type motor, in which a lead screw is threadedly installed, one end of the lead screw slides in a slot, and the other end of the lead screw passes through a mounting plate and is connected to a movable frame, with the movable frame contacting the wall of the sliding cavity.

[0014] As a further embodiment of the present invention, the movable frame is provided with multiple push slots, and the multiple push slots are oblique to each other to form a V-shaped structure. The slide rod is slidably engaged with the push slots. The first gripper and the second gripper are both slidably engaged with the slide slots. A limiting groove is provided on the opposite side of the first gripper and the second gripper. The limiting groove is connected to the opening groove. The connecting plate is slidably engaged with the limiting groove.

[0015] As a further embodiment of the present invention, abutment plates are fixedly connected to the opening slots on the first gripper and the second gripper, and the abutment plates abut against one side of the conveyor belt. The transverse slot and the oblique slot are connected, and the traction rod is slidably engaged with the transverse slot and the oblique slot.

[0016] As a further embodiment of the present invention, a fixing tube is fixedly connected to the side of the auxiliary gripper away from the roller, one end of the fixing tube is connected to a suction cup, a connecting hose is connected to the fixing tube, and one end of the connecting hose is connected to an air pump.

[0017] As a further embodiment of the present invention, the main protective cover is provided with a connection hole, a secondary hinge block is fixedly connected to the wall of the main protective cover, a fixing block is fixedly connected to one side of the main protective cover, and the guide rod passes through the connection hole and is slidably connected to the main protective cover.

[0018] As a further embodiment of the present invention, there are two spiral grooves, and the two spiral grooves are arranged on the connecting roller in a centrally symmetrical manner. The protrusion is slidably engaged with the spiral groove. The end of the hinge rod away from the main hinge block is rotatably connected to the secondary hinge block through a pin. The main hinge block is slidably engaged with the guide groove.

[0019] As a further embodiment of the present invention, a buffer layer is provided on the wall of the secondary protective cover. The buffer layer is made of rubber. A limiting rod is fixedly connected to one side of the secondary protective cover. The limiting rod is T-shaped and passes through the fixing block. The thicker end of the T-shape of the limiting rod abuts against the fixing block. A return spring is sleeved on the limiting rod. One end of the return spring is fixedly connected to the wall of the secondary protective cover, and the other end of the return spring is fixedly connected to the fixing block.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. This invention activates a through-drive motor to drive a lead screw, which gradually passes through the mounting plate and pushes a movable frame, allowing the movable frame to slide inside the sliding cavity. During this process, the pusher groove on the movable frame pushes the sliding rod through the inclined groove wall, causing the movable plate to move the first and second grippers along the groove, thereby adjusting the spacing. When gripping bagged packages, the working motor can be directly activated, causing the pusher plate to push the traction rod through the inclined groove, causing the auxiliary grippers to gradually rotate, allowing the suction cup to face the bagged package. Then, by activating the air pump, the air inside the fixed tube and suction cup is extracted using the connecting hose, creating a stable negative pressure inside the suction cup, thereby firmly adsorbing the surface of the bagged package and completing the gripping and sorting of bagged packages. When gripping and sorting boxed packages, the two sets of first and second grippers grip the boxed package, gradually bringing the boxed package into contact with the conveyor belt. Simultaneously, the working motor is activated to drive the connecting rod, causing the two drive wheels on the connecting rod to rotate synchronously. The interaction between the drive wheels, driven wheels, and the conveyor belt... The system works in tandem, enabling the conveyor belt to move the clamped package upwards. Simultaneously, the moving conveyor belt drives the connecting plate to slide along the limiting groove. The sliding connecting plate then moves the push plate towards the traction rod. During this process, the traction rod slides within the transverse groove. The package, pulled upwards by the conveyor belts on both sides, gradually moves away from the auxiliary gripper. The rollers on the auxiliary gripper roll synchronously, further assisting in the movement of the package. The traction rod then slides from the transverse groove into the inclined groove. As the push plate moves, the inclined groove pushes the traction rod against the groove wall, causing the traction rod to rotate through the inclined plate within the connecting sleeve. This causes the auxiliary gripper to rotate around the connecting pin as its axis towards the package. When the multi-axis robotic arm module lifts the package, the auxiliary gripper provides stable support and lift to the bottom of the package, preventing it from slipping and falling. This ensures and improves the stability of package gripping and enables the gripping of packages of different shapes, enhancing applicability and efficiency.

[0022] 2. This invention uses a main protective cover and a secondary protective cover to shield and protect the first and second grippers, preventing subsequent logistics packages from colliding with them on the conveyor line. During gripping, the secondary protective cover gradually contacts the package conveyor surface and is squeezed and pushed, causing it to move upward along the main protective cover. This causes the limiting rod to pass through the fixed block and compress the return spring, allowing the secondary protective cover to move upward adaptively and preventing interference with the gripping operation. When idle after work, the drive motor is started to rotate the connecting shaft, causing the connecting roller to rotate within the connecting arm. During this process, the spiral groove on the connecting roller pushes the protrusion, causing the movable sleeve to move the main hinge block backward along the guide groove, causing the hinge rod to rotate. The rotating hinge rod pulls the secondary hinge block, causing the main protective cover to slide along the guide rod. This allows the two main protective covers, together with the secondary protective cover, to come closer together and cover the area of ​​the penetrating motor, mounting plate, first gripper, and second gripper, reducing damage caused by collisions and simultaneously providing dust protection. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0025] Figure 2 This is a schematic diagram of the three-dimensional structure of the connecting arm of the present invention;

[0026] Figure 3 This is a schematic diagram of the cross-sectional structure of the connecting arm of the present invention;

[0027] Figure 4 This is a schematic diagram of the cross-sectional structure of the connecting roller of the present invention;

[0028] Figure 5 This is a schematic diagram of the cross-sectional structure of the mounting plate of the present invention;

[0029] Figure 6 This is a schematic diagram of the cross-sectional structure of the second gripper of the present invention;

[0030] Figure 7 This is a schematic diagram of the cross-sectional structure of the fixed tube of the present invention;

[0031] Figure 8 This is a schematic cross-sectional view of the main protective cover and the secondary protective cover of the present invention.

[0032] The attached diagram lists the components represented by each number as follows:

[0033] 1. Multi-axis robotic arm module; 2. Connecting arm; 3. Through-type motor assembly; 301. Through-type motor; 302. Lead screw; 4. Drive motor; 5. Guide groove; 6. Guide rod; 7. Main protective cover; 8. Secondary protective cover; 9. Connecting shaft; 10. Connecting roller; 11. Movable sleeve; 12. Spiral groove; 13. Hole groove; 14. Mounting plate; 15. Air pump; 16. Slide groove; 17. Slide cavity; 18. Movable frame; 19. Movable plate; 20. Slide rod; 21. First gripper; 22. Second gripper; 23. Connecting sleeve; 24. Auxiliary gripper; 25. Opening groove; 26. Working... 27. Motor; 28. Connecting rod; 29. ​​Drive wheel; 30. Driven wheel; 31. Conveyor belt; 32. Connecting block; 33. Connecting plate; 34. Push plate; 35. Transverse groove; 36. Inclined groove; 37. Roller; 38. Connecting pin; 39. Skew plate; 40. Traction rod; 41. Protrusion; 42. Main hinge block; 43. Hinge rod; 44. Push groove; 45. Limiting groove; 46. Support plate; 47. Fixing tube; 48. Suction cup; 49. Connecting hose; 50. Connecting hole; 51. Secondary hinge block; 52. Fixing block; 53. Buffer layer; 54. Limiting rod; 55. Return spring. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Please see Figures 1-8 The present invention provides a technical solution:

[0036] A multi-degree-of-freedom robotic arm gripping device for logistics sorting includes a multi-axis robotic arm module 1. A connecting arm 2 is fixedly mounted on the multi-axis robotic arm module 1. A drive motor 4 is fixedly mounted inside the connecting arm 2. Guide grooves 5 are formed on both sides of the connecting arm 2. Guide rods 6 are fixedly connected to both sides of the connecting arm 2. A main protective cover 7 is slidably mounted on the connecting arm 2 through the guide rods 6. A connecting hole 49 is formed on the main protective cover 7. A secondary hinge block 50 is fixedly connected to the wall of the main protective cover 7. A fixing block 51 is fixedly connected to one side of the main protective cover 7. The guide rods 6 pass through the connecting arm 2. Hole 49 is slidably connected to the main protective cover 7. A secondary protective cover 8 is slidably nested on the main protective cover 7. A buffer layer 52 is provided on the wall of the secondary protective cover 8. The buffer layer 52 is made of rubber. A limit rod 53 is fixedly connected to one side of the secondary protective cover 8. The limit rod 53 is T-shaped. The limit rod 53 passes through the fixing block 51 and the thicker end of the T-shape of the limit rod 53 abuts against the fixing block 51. A return spring 54 is sleeved on the limit rod 53. One end of the return spring 54 is fixedly connected to the wall of the secondary protective cover 8, and the other end of the return spring 54 is fixedly connected to the fixing block 51.

[0037] During operation, the secondary protective cover 8 gradually comes into contact with the conveyor table and is pushed upward, causing the limit rod 53 to pass through the fixed block 51. This causes the secondary protective cover 8 to gradually compress the return spring 54, allowing the secondary protective cover 8 to rise adaptively and leave sufficient space for descent and operation, avoiding interference with the gripping action. Subsequently, the return spring 54 can use its rebound force to gradually push the secondary protective cover 8 back to its original position. The contact between the end of the limit rod 53 and the fixed block 51 can prevent the secondary protective cover 8 from accidentally slipping off the main protective cover 7. The buffer layer 52 on the wall of the secondary protective cover 8 can absorb the impact force through elastic deformation when the secondary protective cover 8 comes into contact with the external table or object, thereby effectively reducing damage caused by rigid impact.

[0038] The output shaft of the drive motor 4 is connected to a connecting shaft 9. One end of the connecting shaft 9 is fixedly connected to a connecting roller 10. Both the connecting roller 10 and the connecting shaft 9 are rotatably connected inside the connecting arm 2 through bearings. The connecting roller 10 has two spiral grooves 12, which are arranged in a centrally symmetrical manner. One end of the connecting roller 10 has a hole groove 13. A movable sleeve 11 is slidably sleeved on the connecting roller 10. Protrusions 40 are fixedly connected to the upper and lower inner walls of the movable sleeve 11. The protrusions 40 are slidably engaged with the spiral grooves 12. Main hinge blocks 41 are fixedly connected to both sides of the movable sleeve 11. A hinge rod 42 is rotatably connected to the main hinge block 41 through a pin. The end of the hinge rod 42 away from the main hinge block 41 is rotatably connected to the secondary hinge block 50 through a pin. The main hinge block 41 is slidably engaged with the guide groove 5.

[0039] During operation, the drive motor 4 can drive the connecting roller 10 to rotate through the connecting shaft 9. The rotating connecting roller 10 can push the protrusion 40 on the inner wall of the movable sleeve 11 through two centrally symmetrical spiral grooves 12, thereby driving the movable sleeve 11 to slide on the connecting roller 10, causing the main hinge block 41 to slide along the guide groove 5, thereby causing the hinge rod 42 to deflect. The deflected hinge rod 42 can push or pull the secondary hinge block 50, causing the main protective cover 7 to move in opposite directions along the guide rod 6, thereby completing the synchronous opening and closing action of the two main protective covers 7.

[0040] A through-type motor assembly 3 is fixedly installed at one end of the connecting arm 2. A mounting plate 14 is fixedly installed on one side of the through-type motor assembly 3. The through-type motor assembly 3 includes a through-type motor 301. A lead screw 302 is threadedly installed through the through-type motor 301. The mounting plate 14 has multiple sliding grooves 16 and sliding cavities 17. A movable frame 18 is slidably connected in the sliding cavity 17. The movable frame 18 has multiple push grooves 43, which are mutually inclined to form a V-shaped structure. One end of the lead screw 302 slides in the slot 13. The other end of the lead screw 302 passes through the mounting plate 14 and is connected to the movable frame 18. The movable frame 18 is in contact with the cavity wall of the slide cavity 17. A movable plate 19 is slidably connected inside the slide cavity 17. The movable frame 18 is U-shaped. The movable plate 19 is movably set in the U-shaped groove of the movable frame 18. Slide rods 20 are fixedly connected above and below the movable plate 19. The slide rods 20 are slidably engaged with the push groove 43. A first clamp 21 and a second clamp 22 are fixedly connected on the movable plate 19. Both the first clamp 21 and the second clamp 22 are slidably engaged with the slide groove 16.

[0041] During operation, the through motor 301 drives the lead screw 302 to move within the slot 13, causing the lead screw 302 to push the movable frame 18 to move within the slide cavity 17. The contact between the movable frame 18 and the cavity wall of the slide cavity 17 restricts the movement of the movable frame 18, preventing it from tilting during movement. During the process, the push groove 43 on the movable frame 18 pushes the slide rod 20, thereby driving the movable plate 19 to slide the first gripper 21 and the second gripper 22 along the slide groove 16, thereby adjusting the distance between the two sets of first grippers 21 and second grippers 22 to complete the clamping and grasping operation.

[0042] A connecting sleeve 23 is fixedly connected to one side of both the first gripper 21 and the second gripper 22. An auxiliary gripper 24 is rotatably mounted on both the first gripper 21 and the second gripper 22 via the connecting sleeve 23. An opening slot 25 is provided on both the first gripper 21 and the second gripper 22. A limiting slot 44 is provided on the opposite side of both the first gripper 21 and the second gripper 22, and the limiting slot 44 communicates with the opening slot 25. A working motor 26 is fixedly mounted on the first gripper 21. A connecting rod 27 is connected to the output shaft of the working motor 26. Two drive wheels 28 are fixedly connected to the connecting rod 27. The two drive wheels 28 are rotatably connected to the opening slots 25 of the first gripper 21 and the second gripper 22 respectively via bearings. A stop plate 45 is fixedly connected to the opening slots 25 of both the first gripper 21 and the second gripper 22. A driven wheel 29 is rotatably connected to one side of the opening slot 25 via a bearing. A conveyor belt 30 is installed on both the driven wheel 28 and the driven wheel 29. The abutment plate 45 abuts against one side of the conveyor belt 30. A connecting block 31 is fixedly connected to the conveyor belt 30, and a connecting plate 32 is fixedly connected between the two connecting blocks 31. The connecting plate 32 is slidably engaged with the limiting groove 44. A push plate 33 is fixedly connected to one side of the connecting plate 32. A transverse groove 34 is opened on the push plate 33. An inclined groove 35 is opened at one end of the push plate 33 located in the transverse groove 34. The transverse groove 34 and the inclined groove 35 are connected. Multiple rollers 36 are rotatably installed on the auxiliary gripper 24 through bearings. A connecting pin 37 is fixedly connected to the auxiliary gripper 24. The connecting pin 37 is rotatably connected to the connecting sleeve 23. An inclined plate 38 is fixedly connected to the opposite side of the two connecting pins 37. A traction rod 39 is fixedly connected to the inclined plate 38. The traction rod 39 is slidably engaged with the transverse groove 34 and the inclined groove 35.

[0043] During operation, the working motor 26 drives the connecting rod 27 and the two drive wheels 28 on the connecting rod 27 to rotate synchronously. The drive wheels 28 drive the conveyor belt 30 to move, and the conveyor belt 30 drives the driven wheel 29 to rotate, so that the connecting block 31 smoothly drives the connecting plate 32 to slide along the limiting groove 44. During the process, the push plate 33 on the connecting plate 32 can push the traction rod 39 through the inclined groove wall of the inclined push groove 43, causing the traction rod 39 to drive the deflection plate 38 to deflect the auxiliary gripper 24 around the connecting pin 37, thereby adjusting the working posture of the auxiliary gripper 24 to adapt to different gripping needs.

[0044] Air pumps 15 are fixedly installed on both sides of the mounting plate 14. A fixed tube 46 is fixedly connected to the side of the auxiliary gripper 24 away from the roller 36. A suction cup 47 is connected to one end of the fixed tube 46. A connecting hose 48 is connected to the fixed tube 46. One end of the connecting hose 48 is connected to the air pump 15.

[0045] During operation, the air pump 15 draws air out of the fixed tube 46 and suction cup 47 through the connecting hose 48, creating a negative pressure in the suction cup 47. This allows the suction force to be used to adsorb and grasp the bagged soft package, avoiding the problems of packaging damage or contents compression caused by rigid clamping.

[0046] Working principle of this invention:

[0047] The multi-axis robotic arm module 1 brings the connecting arm 2 close to the logistics package location. When grabbing and sorting boxed packages, the through motor 301 is activated to drive the lead screw 302, causing the lead screw 302 to slide in the slot 13 and gradually pass through the mounting plate 14 to push the movable frame 18, so that the movable frame 18 can slide inside the slide cavity 17. During the process, the push groove 43 on the movable frame 18 can push the slide bar 20 through the inclined groove wall, causing the movable plate 19, which is fixedly connected to the slide bar 20, to drive the first gripper 21 and the second gripper 22 to move along the slide groove 16, thereby adjusting the spacing so that the two sets of first grippers 21 and second grippers 22 can grab the boxed packages.

[0048] During the process, the boxed package gradually comes into contact with the conveyor belt 30, and at the same time the working motor 26 is started to drive the connecting rod 27 to rotate, causing the two drive wheels 28 on the connecting rod 27 to rotate synchronously. The cooperation between the drive wheels 28, the driven wheels 29 and the conveyor belt 30 causes the conveyor belt 30 to move in the opening groove 25, so that the conveyor belt 30 can drive the boxed package it is holding to move upward. The moving conveyor belt 30 can also drive the connecting block 31 synchronously, causing the connecting block 31 to drive the connecting plate 32 to slide along the limiting groove 44. The sliding connecting plate 32 can drive the push plate 33 to move towards the traction rod 39.

[0049] During the process, the traction rod 39 can slide in the transverse groove 34. At this time, the boxed package is driven upward by the conveyor belts 30 on both sides and gradually moves away from the auxiliary gripper 24. The rollers 36 on the auxiliary gripper 24 can roll synchronously, thereby assisting the movement of the box. Then, the traction rod 39 slides from the transverse groove 34 into the inclined groove 35. As the push plate 33 moves continuously, the inclined groove 35 can push the traction rod 39 through the groove wall, thereby causing the traction rod 39 to drive the connecting pin 37 to rotate in the connecting sleeve 23 through the inclined plate 38, causing the auxiliary gripper 24 to rotate in the direction of the boxed package with the connecting pin 37 as the axis.

[0050] Furthermore, when the multi-axis robotic arm module 1 moves to lift the boxed package, the auxiliary gripper 24 can stably lift and support the bottom of the box to prevent the package from slipping and falling. During the entire movement, the main protective cover 7 and the secondary protective cover 8 can shield and protect the first gripper 21 and the second gripper 22 to prevent subsequent logistics packages from colliding with the first gripper 21 and the second gripper 22 on the conveyor line. When gripping, the secondary protective cover 8 can gradually come into contact with the package conveyor table and be squeezed and pushed, causing the secondary protective cover 8 to move upward along the main protective cover 7, driving the limit rod 53 to pass through the fixed block 51 and compress the reset spring 54, so that the secondary protective cover 8 can adaptively avoid the position and prevent interference with the gripping operation.

[0051] When grabbing a bagged package, the working motor 26 can be started directly, causing the push plate 33 to push the traction rod 39 through the inclined groove 35, so that the auxiliary gripper 24 gradually rotates, allowing the suction cup 47 to face the bagged package. Then, by starting the air pump 15, the air in the fixed tube 46 and suction cup 47 can be extracted by the connecting hose 48, so that a stable negative pressure is formed inside the suction cup 47, thereby firmly adsorbing the surface of the bagged package and completing the grabbing and sorting of the bagged package. When the work is completed and idle, the drive motor 4 can be started to rotate the connecting shaft 9, causing the connecting shaft 9 to drive the connecting roller 10 to rotate in the connecting arm 2.

[0052] During the process, the spiral groove 12 on the connecting roller 10 can push the protrusion 40, causing the movable sleeve 11 to move smoothly backward along the axial direction of the connecting roller 10. The moving movable sleeve 11 can synchronously drive the main hinge block 41 to slide along the guide groove 5, thereby causing the hinge rod 42 to rotate. The rotating hinge rod 42 can pull the secondary hinge block 50, causing the main protective cover 7 to slide along the guide rod 6, so that the two main protective covers 7 together with the secondary protective cover 8 approach each other and close together, thus covering and protecting the area of ​​the penetrating motor 301, the mounting plate 14, the first gripper 21 and the second gripper 22.

Claims

1. A multi-degree-of-freedom robotic arm gripping device for logistics sorting, comprising a multi-axis robotic arm module (1), characterized in that: A connecting arm (2) is fixedly installed on the multi-axis robotic arm module (1). A through-type motor assembly (3) is fixedly installed at one end of the connecting arm (2). A drive motor (4) is fixedly installed inside the connecting arm (2). Guide grooves (5) are opened on both sides of the connecting arm (2). Guide rods (6) are fixedly connected to both sides of the connecting arm (2). A main protective cover (7) is slidably installed on the connecting arm (2) through the guide rods (6). The main protective cover (7) is slidably nested with a secondary protective cover (8). The output shaft of the drive motor (4) is connected to a connecting shaft (9). One end of the connecting shaft (9) is fixedly connected to a connecting roller (10). The connecting roller (10) and the connecting shaft (9) are rotatably connected inside the connecting arm (2) through bearings. A movable sleeve (11) is slidably sleeved on the connecting roller (10). A spiral groove (12) is opened on the connecting roller (10). The connecting roller (10) has a slot (13) at one end. The through-type motor assembly (3) has a mounting plate (14) fixedly installed on one side. Air pumps (15) are fixedly installed on both sides of the mounting plate (14). The mounting plate (14) has multiple sliding grooves (16) and a sliding cavity (17). A movable frame (18) is slidably connected in the sliding cavity (17). A movable plate (19) is slidably connected in the sliding cavity (17). The movable frame (18) is U-shaped. The movable plate (19) is movably set in the U-shaped slot of the movable frame (18). Sliding rods (20) are fixedly connected above and below the movable plate (19). The movable plate (19) is fixedly connected to a first gripper (21) and a second gripper (22). A connecting sleeve (23) is fixedly connected to one side of the first gripper (21) and the second gripper (22). An auxiliary gripper (24) is rotatably installed on the first gripper (21) and the second gripper (22) through the connecting sleeve (23). An opening slot (25) is opened on the first gripper (21) and the second gripper (22). A working motor (26) is fixedly installed on the first gripper (21). A connecting rod (27) is connected to the output shaft of the working motor (26). Two drive wheels (28) are fixedly connected on the connecting rod (27). The two drive wheels (28) are rotatably connected to the opening slots (25) of the first gripper (21) and the second gripper (22) through bearings respectively. A driven wheel (29) is rotatably connected to one side of the opening groove (25) via a bearing. A conveyor belt (30) is installed on both the drive wheel (28) and the driven wheel (29). A connecting block (31) is fixedly connected to the conveyor belt (30), and a connecting plate (32) is fixedly connected between the two connecting blocks (31). A push plate (33) is fixedly connected to one side of the connecting plate (32). A transverse groove (34) is provided on the push plate (33), and an oblique groove (35) is provided at one end of the transverse groove (34) on the push plate (33). Multiple rollers (36) are rotatably mounted on the auxiliary gripper (24) via bearings. A connecting pin (37) is fixedly connected to the auxiliary gripper (24). The connecting pin (37) is rotatably connected to the connecting sleeve (23). An inclined plate (38) is fixedly connected to one side of each of the two connecting pins (37). A traction rod (39) is fixedly connected to the inclined plate (38). A protrusion (40) is fixedly connected to the upper and lower inner walls of the movable sleeve (11). A main hinge block (41) is fixedly connected to both sides of the movable sleeve (11). A hinge rod (42) is rotatably connected to the main hinge block (41) via a pin.

2. The multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 1, characterized in that: The through-type motor assembly (3) includes a through-type motor (301), in which a lead screw (302) is threaded and installed. One end of the lead screw (302) slides in the slot (13), and the other end of the lead screw (302) passes through the mounting plate (14) and is connected to the movable frame (18), and the movable frame (18) contacts the cavity wall of the sliding cavity (17).

3. The multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 1, characterized in that: The movable frame (18) is provided with multiple push grooves (43), and the multiple push grooves (43) are biased to form a V-shaped structure. The slide rod (20) is slidably engaged with the push grooves (43). The first gripper (21) and the second gripper (22) are both slidably engaged with the slide groove (16). The first gripper (21) and the second gripper (22) are respectively provided with a limiting groove (44) on their opposite sides. The limiting groove (44) is connected to the opening groove (25). The connecting plate (32) is slidably engaged with the limiting groove (44).

4. The multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 1, characterized in that: A stop plate (45) is fixedly connected in the opening groove (25) on the first gripper (21) and the second gripper (22). The stop plate (45) abuts against one side of the conveyor belt (30). The transverse groove (34) is connected to the inclined groove (35). The traction rod (39) slides with the transverse groove (34) and the inclined groove (35).

5. A multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 1, characterized in that: The auxiliary gripper (24) is fixedly connected to a fixing tube (46) on the side away from the roller (36). One end of the fixing tube (46) is connected to a suction cup (47). A connecting hose (48) is connected to the fixing tube (46). One end of the connecting hose (48) is connected to an air pump (15).

6. A multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 1, characterized in that: The main protective cover (7) has a connection hole (49), a secondary hinge block (50) is fixedly connected to the wall of the main protective cover (7), a fixing block (51) is fixedly connected to one side of the main protective cover (7), and the guide rod (6) slides through the connection hole (49) and is connected to the main protective cover (7).

7. A multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 6, characterized in that: There are two spiral grooves (12), and the two spiral grooves (12) are arranged on the connecting roller (10) in a centrally symmetrical manner. The protrusion (40) is slidably engaged with the spiral groove (12). The end of the hinge rod (42) away from the main hinge block (41) is rotatably connected to the secondary hinge block (50) through a pin. The main hinge block (41) is slidably engaged with the guide groove (5).

8. A multi-degree-of-freedom robotic arm gripping device for logistics sorting according to claim 6, characterized in that: A buffer layer (52) is provided on the wall of the secondary protective cover (8). The buffer layer (52) is made of rubber. A limiting rod (53) is fixedly connected to one side of the secondary protective cover (8). The limiting rod (53) is T-shaped. The limiting rod (53) passes through the fixing block (51) and the thick end of the T-shape of the limiting rod (53) abuts against the fixing block (51). A return spring (54) is sleeved on the limiting rod (53). One end of the return spring (54) is fixedly connected to the wall of the secondary protective cover (8), and the other end of the return spring (54) is fixedly connected to the fixing block (51).

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