A robotic arm for intelligent loading and unloading in logistics

Abstract

This invention provides an intelligent robotic arm for logistics loading and unloading, comprising distributed end suction cups, an end bending arm, an upper bending arm, a lower bending arm, a fixed arm, a lower bending arm support mechanism, a rotating base, and an intelligent driving and moving device. The distributed end suction cups rotate axially on the end bending arm. The end bending arm is hinged to the upper bending arm. The upper bending arm is connected to the lower bending arm and can rotate relative to it. The lower bending arm is connected to both the fixed arm and the lower bending arm support mechanism. The fixed arm is fixed to the rotating base. The rotating base is connected to the intelligent driving and moving device and can rotate around the rotating base. This invention avoids problems such as limited application scenarios and low flexibility. The picking device in this intelligent robotic arm for logistics loading and unloading adopts the form of a suction nozzle and suction cups, which has highly flexible loading and unloading capabilities. At the same time, the six-degree-of-freedom robotic arm design improves the simplicity of movement in space, simplifying the loading and unloading process, improving logistics loading and unloading efficiency, and avoiding excessive wear of moving joints due to repetitive movements.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation and robotics technology, and in particular relates to an intelligent robotic arm for logistics loading and unloading. Background Technology

[0002] Robotic arms, also known as industrial robots, are widely used in manufacturing, logistics, electronics, and automotive industries. Logistics loading and unloading robotic arms are crucial equipment in logistics automation, primarily used to improve loading and unloading efficiency, reduce labor costs, and enhance operational safety and accuracy. However, limitations arise from the form and size of the robotic arm's grippers, the shape of the objects being loaded and unloaded, the fixed position of the robotic arm, and the varied application scenarios. If the object is too large or too small, the robotic arm cannot grip it; or, once the gripper size is fixed, the gripping range is limited. Furthermore, excessive gripping force can easily damage the object. After a loading and unloading task ends, the robotic arm cannot move to another work location. This results in problems such as limited space for loading and unloading objects, complex loading and unloading processes, limited application scenarios, and low flexibility. These issues not only restrict the applicability of logistics loading and unloading robotic arms and industrial robots but also reduce the flexibility of the loading and unloading process, forcing companies to increase investment costs, hindering sustainable development and technological progress, and limiting the improvement of production and logistics efficiency. Summary of the Invention

[0003] To address the shortcomings of existing technologies, this invention provides an intelligent robotic arm for logistics loading and unloading, avoiding problems such as limited application scenarios and low flexibility. The picking device in this intelligent robotic arm adopts the form of a suction nozzle and a suction cup, which has highly flexible loading and unloading capabilities. At the same time, the six-degree-of-freedom robotic arm design improves the simplicity of movement in space, simplifying the loading and unloading process, improving logistics loading and unloading efficiency, and avoiding excessive wear of moving joints caused by repetitive movements.

[0004] The present invention achieves the above-mentioned technical objectives through the following technical means: an intelligent robotic arm for logistics loading and unloading, comprising distributed end suction cups, an end bending arm, an upper bending arm, a lower bending arm, a fixed arm, a lower bending arm support mechanism, a rotating base, and an intelligent driving and moving device; the distributed end suction cups rotate axially on the end bending arm; the end bending arm is hinged to the upper bending arm; the upper bending arm is connected to the lower bending arm and can rotate relative to it; the lower bending arm is connected to the fixed arm and the lower bending arm support mechanism respectively; the fixed arm is fixed to the rotating base; the rotating base is connected to the intelligent driving and moving device and can rotate around the rotating base.

[0005] The distributed end suction cup includes a suction nozzle, a distribution plate, a disc-shaped end cap, and a suction cup shaft; the suction nozzle is installed on the distribution plate; the disc-shaped end cap is located below the distribution plate and is connected to the disc-shaped end cap via the suction cup shaft to achieve relative movement.

[0006] The end bending arm includes an end connecting rod, a left housing, a left convex rod, a right housing, and a right convex rod; the end connecting rod is enclosed within the left and right housings; the left convex rod is mounted on the outside of the left housing, and the right convex rod is mounted on the outside of the right housing; the left and right convex rods together support the left and right housings to form a closed body.

[0007] The upper curved arm includes a forked column, an end curved arm pivot, an upper arm motor, a heat dissipation column, an upper arm body, and an upper arm motor. The upper end of the forked column is hinged to the end curved arm via a first shaft, and its lower end is connected to the upper arm motor and the heat dissipation column via the end curved arm pivot. The end curved arm pivot is powered to rotate by the upper arm motor. The heat dissipation column is a cylindrical shell with several heat dissipation holes evenly arranged on its outer side. The upper arm body is located below the heat dissipation column and provides support. Its inner side is connected to the inner side of the lower curved arm via the upper arm pivot. The upper arm motor is located on the outer side of the upper arm body and provides power for the relative movement of the upper and lower curved arms.

[0008] The lower curved arm includes an upper arm pivot and a support pivot; the upper arm pivot connects the upper curved arm and the lower curved arm, and the support pivot connects the lower curved arm and the lower curved arm support mechanism.

[0009] The fixed arm is fixed to the rotating base and includes a lower arm shaft and a lower arm motor; the lower arm shaft connects the lower bending arm and the fixed arm.

[0010] The lower bending arm support mechanism includes a lower arm pivot groove, a hydraulic rod, a hydraulic cylinder, and a hydraulic cylinder fixing base. The lower arm pivot groove cooperates with the support pivot to achieve transmission, and the lower arm pivot groove is also connected to the hydraulic rod. One end of the hydraulic rod is connected to the lower arm pivot groove, and the other end is located inside the hydraulic cylinder. The hydraulic cylinder is hinged to the hydraulic cylinder fixing base. The hydraulic cylinder fixing base is fixed to the rotating base.

[0011] The rotating base includes a base motor, a base body, and a base shaft; the base body is connected to a fixed arm, a lower bending arm support mechanism, and the base motor, and the base shaft is connected to the bottom of the base body; the base shaft connects the rotating base and the intelligent driving and moving device.

[0012] The intelligent driving mobile device includes a binocular intelligent vision recognition camera assembly, a protruding charging port, a Mecanum left wheel, and a Mecanum right wheel. The binocular intelligent vision recognition camera assembly is located on the top side of the intelligent driving mobile device, with the protruding charging port mounted below it. The protruding charging port serves as the charging interface for both the camera assembly panel and the intelligent driving mobile device. The Mecanum left wheel and Mecanum right wheel are located below the intelligent driving mobile device, providing support and facilitating movement.

[0013] The binocular intelligent vision recognition camera assembly includes a left camera, a camera assembly panel, and a right camera; the left and right cameras are located on the camera assembly panel.

[0014] The beneficial effects of this invention are: it avoids problems such as limited application scenarios and low flexibility. The picking device of this intelligent logistics loading and unloading robot adopts the form of a suction nozzle and a suction cup, which has highly flexible loading and unloading capabilities. At the same time, the six-degree-of-freedom robot design improves the simplicity of movement in space, which simplifies the loading and unloading process, improves the efficiency of logistics loading and unloading, and avoids excessive wear of moving joints caused by repetitive movements.

[0015] In addition, the present invention also has an intelligent driving mobile device. The binocular intelligent vision recognition camera component on the intelligent driving mobile device can identify and compare objects and scenes and guide the robot arm to move. This solves the problem that the logistics loading and unloading robot arm cannot move to other working positions to continue working after the scene loading and unloading task is stopped. This greatly improves the flexibility and utilization rate of the robot arm and reduces the investment cost of enterprises.

[0016] Furthermore, the intelligent driving mobile device in this invention employs Mecanum wheels, which enable the robotic arm to move freely in all directions. This frees the movement area of ​​the logistics loading and unloading robotic arm from being confined to narrow spaces, thereby improving the flexibility of the intelligent logistics loading and unloading robotic arm. Attached Figure Description

[0017] Figure 1 This is the overall assembly drawing of the intelligent robotic arm for logistics loading and unloading of the present invention;

[0018] Figure 2 This is a schematic diagram of a distributed end-cuff structure;

[0019] Figure 3 This is a schematic diagram of the end-bending arm structure;

[0020] Figure 4 This is a schematic diagram of the upper curved arm structure;

[0021] Figure 5 This is a schematic diagram of the downward curved arm structure;

[0022] Figure 6 This is a schematic diagram of the fixed arm structure;

[0023] Figure 7 This is a schematic diagram of the lower bending arm support mechanism.

[0024] Figure 8 This is a schematic diagram of the rotating base structure;

[0025] Figure 9 This is a schematic diagram of the structure of an intelligent driving mobile device;

[0026] Figure 10 This is a schematic diagram of a protruding charging terminal structure;

[0027] Figure 11 This is a schematic diagram of the structure of a binocular intelligent vision recognition camera lens assembly.

[0028] In the attached image:

[0029] 1. Distributed end suction cups; 11. Suction nozzle; 111. Suction zone 1; 112. Suction zone 2; 113. Suction zone 3; 114. Suction zone 4; 12. Distribution plate; 13. Disc-shaped end cap; 14. Suction cup pivot;

[0030] 2. End bending arm; 21. End connecting rod; 22. Left housing; 221. Left convex rod; 23. Right housing; 231. Right convex rod;

[0031] 3. Upper curved arm; 31. Fork-shaped column; 32. End curved arm pivot; 33. Upper arm motor 1; 34. Heat dissipation column; 35. Upper arm main body; 36. Upper arm motor 2;

[0032] 4. Lower bending arm; 41. Upper arm pivot; 42. Support pivot;

[0033] 5. Fixed arm; 51. Lower arm pivot; 52. Lower arm motor;

[0034] 6. Lower bending arm support mechanism; 61. Lower arm pivot groove; 62. Hydraulic rod; 63. Hydraulic cylinder; 64. Hydraulic cylinder fixing base;

[0035] 7. Second windmill tenon and mortise; 71. Second windmill tenon and mortise blade; 72. Second windmill tenon; 73. Second tenon screw hole; 74. Second arc hole; 75. Second mortise screw hole; 76. Second windmill mortise

[0036] 8. Intelligent driving mobile device; 81. Binocular intelligent vision recognition camera assembly; 811. Left camera; 812. Camera assembly panel; 813. Right camera; 82. Protruding charging terminal; 821. Live wire connector; 822. Neutral wire connector; 823. Ground wire connector; 83. Mecanum left wheel; 84. Mecanum right wheel. Detailed Implementation

[0037] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the scope of protection of the present invention is not limited thereto.

[0038] like Figure 1-11 As shown, an intelligent robotic arm for logistics loading and unloading includes, from top to bottom, a distributed end suction cup 1, an end bending arm 2, an upper bending arm 3, a lower bending arm 4, a fixed arm 5, a lower bending arm support mechanism 6, a rotating base 7, and an intelligent driving and moving device 8.

[0039] In this embodiment, the distributed end suction cup 1 and the end bending arm 2 are connected by a rotating shaft and can rotate around the axis of the rotating shaft, possessing one degree of freedom. The end bending arm 2 is connected to the fork-shaped structure on the upper bending arm 3 via rotating shafts protruding at both ends and can rotate around the axis of the left and right protruding rotating shafts, possessing one degree of freedom. The fork-shaped structure on the upper bending arm 3 is connected to the motor and heat dissipation column structure via a rotating shaft and can rotate around the central axis of the heat dissipation column, possessing one degree of freedom. The rod part at the lower end of the heat dissipation column structure is the main body of the upper bending arm 3 and is connected to the lower bending arm 4 via a rotating shaft. The upper bending arm 3 and the lower bending arm 4 can rotate relative to each other around their connecting rotating shaft. The lower bending arm 4 has one degree of freedom of rotation; the fixed arm 5 and the lower bending arm support mechanism 6 are respectively connected to its two sides; one side of the fixed arm 5 is connected to the lower bending arm 4 and provides power for the forward and backward rotation of the lower bending arm 4 through a motor, having one degree of freedom; the bottom of the fixed arm 5 is connected to the rotating base 7; the hydraulic rod end of the lower bending arm support mechanism 6 is connected to the lower bending arm 4, and the hydraulic cylinder end of the lower bending arm support mechanism 6 is connected to the rotating base 7, thereby realizing the overall support of the robot; the rotating base 7 is connected to the intelligent driving and moving device 8 through a rotating shaft and can rotate around the central axis of the rotating base 7, having one degree of freedom; the total number of degrees of freedom is six.

[0040] The distributed end suction cup 1 described in this embodiment consists of suction nozzles 11, a distribution plate 12, a disc-shaped end cap 13, and a suction cup shaft 14. Several suction nozzles 11 are mounted on the distribution plate 12. Each suction nozzle 11 is made of plastic and has high toughness; during operation, it can extract its internal gas after covering an object to create a vacuum, thus enabling the suction and placement of the object. The disc-shaped end cap 13 is located below the distribution plate 12 and is connected to the suction cup shaft 14 to achieve [the desired effect]. For movement; the suction nozzles 11 can respectively form a first suction zone 111, a second suction zone 112, a third suction zone 113, and a fourth suction zone 114; the first suction zone 111, the second suction zone 112, the third suction zone 113, and the fourth suction zone 114 are evenly distributed on the distribution plate 12, and the area on the distribution plate 112 is evenly divided to achieve zoned loading and unloading; the number of suction nozzles 11 in the first suction zone 111, the second suction zone 112, the third suction zone 113, and the fourth suction zone 114 is equal.

[0041] The end bending arm 2 described in this embodiment is composed of an end connecting rod 21, a left housing 22, a left protruding rod 221, a right housing 23, and a right protruding rod 231. The end connecting rod 21 is a rigid rod on the end bending arm 2, with a moderate length and its lower part is enclosed within the closed body formed by the left housing 22 and the right housing 23. The left housing 22 and the right housing 23 have the same shape and are symmetrical. The left housing 22 is equipped with a left protruding rod 221 on its outer side, and the right housing 23 is equipped with a right protruding rod 231 on its outer side. The central axes of the left protruding rod 221 and the right protruding rod 231 are collinear and jointly support the closed body formed by the left housing 22 and the right housing 23, thereby realizing the rotation of the closed body.

[0042] In this embodiment, the upper curved arm 3 is composed of a fork-shaped column 31, an end curved arm pivot 32, an upper arm motor 33, a heat dissipation column 34, an upper arm body 35, and an upper arm motor 36. The fork-shaped column 31 is a hinge structure connecting the upper curved arm 3 and the end curved arm 2, and its lower end is connected to the upper arm motor 33 and the heat dissipation column 34 through the end curved arm pivot 32. The end curved arm pivot 32 provides support and rotation, and is shaped like a thick cylinder. The upper arm motor 33 is connected to the lower end of the end curved arm pivot 32 and provides power. The heat dissipation column 34 is a cylindrical shell with several heat dissipation holes evenly arranged on its outer side. The upper arm body 35 is located below the heat dissipation column 34 and provides support. Its inner side is connected to the inner side of the lower curved arm 4 through a pivot. The upper arm motor 36 is located on the outer side of the upper arm body 35 and provides power for the relative movement of the upper curved arm 3 and the lower curved arm 4.

[0043] In this embodiment, the lower curved arm 4 is composed of an upper arm pivot 41 and a support pivot 42. The upper arm pivot 41 is a pivot structure that connects the upper curved arm 3 and the lower curved arm 4, and is shaped like a thick cylinder. The support pivot 42 is a pivot structure that connects the lower curved arm 4 and the lower curved arm support mechanism 6, and is also shaped like a thick cylinder.

[0044] In this embodiment, the fixed arm 5 is a rod structure fixed on the rotating base 7, consisting of a lower arm pivot 51 and a lower arm motor 52. The lower arm pivot 51 is a pivot structure connecting the lower curved arm 4 and the fixed arm 5, and is shaped like a thick cylinder. The lower arm motor 52 is located on the outside of the fixed arm 5.

[0045] The hydraulically controlled telescopic device of the lower bending arm support mechanism 6 described in this embodiment consists of a lower arm pivot groove 61, a hydraulic rod 62, a hydraulic cylinder 63, and a hydraulic cylinder fixing base 64. The lower arm pivot groove 61 is a cylinder with a groove, which can cooperate with the support pivot 42 to realize transmission. The side wall of the lower arm pivot groove 61 is connected to the hydraulic rod 62. The hydraulic rod 62 is a rod-shaped structure, with one end connected to the side wall of the lower arm pivot groove 61 and the other end located inside the hydraulic cylinder 63. The open end of the hydraulic cylinder 63 wraps around the hydraulic rod 62, and the closed end is connected to the hydraulic cylinder fixing base 64 through a hinge. The hydraulic cylinder fixing base 64 is fixed above the rotating base 7.

[0046] The rotating base 7 described in this embodiment consists of a base motor 71, a base body 72, and a base shaft 73. The base body 72 is fixedly connected to a fixed arm 5, a lower bending arm support mechanism 6, and a base motor 71. The base body 72 is connected to a base shaft 73 at the bottom. The base shaft 73 is a shaft structure that connects the rotating base 7 and the intelligent driving mobile device 8, and is shaped like a thick cylinder.

[0047] The intelligent driving mobile device 8 described in this embodiment consists of a binocular intelligent visual recognition camera assembly 81, a protruding charging terminal 82, a Mecanum left wheel 83, and a Mecanum right wheel 84. The binocular intelligent visual recognition camera assembly 81 is located on the top side of the intelligent driving mobile device 8, with the protruding charging terminal 82 mounted below it. The protruding charging terminal 82 is a charging interface that protrudes from the camera assembly panel and the side of the intelligent driving mobile device 8. The protruding charging terminal 82 consists of a live wire connector 821, a neutral wire connector 822, and a ground wire connector 823. The Mecanum left wheel 83 and the Mecanum right wheel 84 are located below the intelligent driving mobile device 8, serving to support and facilitate movement.

[0048] The binocular intelligent visual recognition camera assembly 81 described in this embodiment consists of a left camera 811, a camera assembly panel 812, and a right camera 813. The left camera 811 and the right camera 813 are located on the camera assembly panel 812 and are spaced a certain distance apart. The two cameras are collinear and symmetrical about the camera assembly panel 812. The camera assembly panel 812 covers the side of the intelligent driving mobile device 8 and is located on the same side as the protruding charging terminal 82.

[0049] The working process of this invention is as follows:

[0050] (1) Control principle of intelligent robotic arms for loading and unloading logistics

[0051] like Figure 1The assembly drawing of an intelligent robotic arm for logistics loading and unloading shown is a front view. The front, back, left, right, up and down of this view define a Cartesian coordinate system. This coordinate system is an absolute coordinate system. Relative coordinate systems are established at the positions of the other axes. The origin of the absolute coordinate system is used as the reference origin of each relative coordinate system to define the position of each relative coordinate system.

[0052] The total number of degrees of freedom is six. To describe the working process of the intelligent robotic arm for loading and unloading logistics, the names of each degree of freedom and its corresponding coordinate system are defined as follows:

[0053] 1) The distributed end suction cup 1 and the end bending arm 2 are connected by a rotating shaft and can rotate around the axis of the rotating shaft, having one degree of freedom—the first degree of freedom / the first relative coordinate system;

[0054] 2) The end bending arm 2 is connected to the fork-shaped structure on the upper bending arm 3 through the rotating shafts protruding at both ends and can rotate around the axis of the left and right protruding rotating shafts, and has one degree of freedom - the second degree of freedom / second relative coordinate system;

[0055] 3) The fork-shaped structure on the upper curved arm 3 is connected to the motor and heat dissipation column structure through a rotating shaft, and can rotate around the central axis of the column, having one degree of freedom—the third degree of freedom / third relative coordinate system;

[0056] 4) The upper curved arm 3 and the lower curved arm 4 can rotate relative to each other about their connecting axis, and have one degree of freedom - the fourth degree of freedom / fourth relative coordinate system;

[0057] 5) The fixed arm 5 is connected to the lower curved arm 4 on one side and provides power for the lower curved arm 4 to rotate back and forth through a motor, and has one degree of freedom - the fifth degree of freedom / the fifth relative coordinate system;

[0058] 6) The rotating base 7 is connected to the intelligent driving mobile device 8 via a rotating shaft and can rotate around the central axis of the rotating base 7, having one degree of freedom—the sixth degree of freedom / sixth relative coordinate system;

[0059] The above six degrees of freedom are the rotational degrees of freedom of each joint of the intelligent logistics loading and unloading robot. They do not have translational effects in each direction. To perform translation, it is necessary to combine and coordinate the rotational degrees of freedom.

[0060] (2) Operation process of intelligent robotic arms for loading and unloading logistics:

[0061] 1) Intelligent visual recognition: The road conditions are identified by the binocular intelligent visual recognition camera component 81 on the intelligent driving mobile device 8, and then the logistics loading and unloading objects are found according to the algorithm. During the visual recognition process, the left camera 811 of the binocular intelligent visual recognition camera component 81 captures and recognizes the scene and objects in the field of view, and the right camera 813 captures and recognizes them again and compares the recognition error to improve the recognition accuracy and stability.

[0062] 2) Intelligent driving and movement process: The intelligent driving and movement device 8 uses several Mecanum wheels arranged in a reasonable assembly method, which can realize left and right translation, forward and backward translation, and rotation around the up and down axis in the absolute coordinate system, with extremely high mobility. When encountering narrow space problems, the binocular intelligent vision recognition camera component 81 identifies the narrow space to determine whether it is possible to drive into it. If it is feasible, it can drive into the space by adjusting the rotation direction of the Mecanum left wheel 83 and the Mecanum right wheel 84. By adjusting the Mecanum wheels, it can also turn around on the spot. After the logistics loading and unloading area is set or marked, the binocular intelligent vision recognition camera component 81 identifies and finds the number or mark, and drives the vehicle to the numbered area. During the process, it also avoids static or dynamic objects through visual recognition.

[0063] 3) The movement process of the robotic arm in space:

[0064] The power comes from various motors, including but not limited to upper arm motor 33, upper arm motor 36, lower arm motor 52, and base motor 71. The six degrees of freedom of the logistics loading and unloading robot correspond to the rotational movements that can be achieved by the six rotating shafts at the corresponding positions. Therefore, the changes in the loading and unloading processes are all achieved by the rotation of the rotating shafts set on the upper bending arm 3, lower bending arm 4, and rotating base 5.

[0065] 4) Intelligent loading and unloading process: When suction areas 111, 112, 113, and 114 on the distributed end suction cup 1 touch an object, pressure sensor feedback current is transmitted to the main board. Once the object is detected, the area where the object is located will cover and suck up the object, realizing the principle of sucking up the nearest object. At the same time, after sucking up the object, the suction cup shaft 14 will rotate to adjust the relative positions of suction areas 111, 112, 113, and 114 on the distributed end suction cup 1. Finally, the position of the object sucked up is adjusted to the area where it needs to be unloaded, so as to achieve high-efficiency unloading and reduce wear on other shafts of the robot arm.

[0066] 5) Intelligent visual recognition charging process: The binocular intelligent visual recognition camera component 81 on the intelligent driving mobile device 8 identifies the road conditions and finds the location of the charging pile or charging socket. After identifying the location of the charging socket, the live wire 821, neutral wire 822 and ground wire 823 on the protruding charging end 82 are accurately inserted into the charging hole. After charging is completed, the charging socket is automatically removed.

[0067] The embodiments described are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the protection scope of the present invention.

Claims

1. An intelligent robotic arm for loading and unloading logistics, characterized in that, It includes a distributed end suction cup (1), an end bending arm (2), an upper bending arm (3), a lower bending arm (4), a fixed arm (5), a lower bending arm support mechanism (6), a rotating base (7), and an intelligent driving mobile device (8); The distributed end suction cup (1) rotates axially on the end curved arm (2); the end curved arm (2) is hinged to the upper curved arm (3); the upper curved arm (3) is connected to the lower curved arm (4) and can rotate relative to each other; the lower curved arm (4) is connected to the fixed arm (5) and the lower curved arm support mechanism (6) respectively; the fixed arm (5) is fixed on the rotating base (7); the rotating base (7) is connected to the intelligent driving mobile device (8) and can rotate around the rotating base (7).

2. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The distributed end suction cup (1) includes a suction nozzle (11), a distribution plate (12), a disc-shaped end cap (13), and a suction cup shaft (14); the suction nozzle (11) is installed on the distribution plate (12); the disc-shaped end cap (13) is located below the distribution plate (12), and is connected to the disc-shaped end cap (13) through the suction cup shaft (14) to achieve relative movement.

3. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The end bending arm (2) includes an end connecting rod (21), a left housing (22), a left protruding rod (221), a right housing (23), and a right protruding rod (231); the end connecting rod (21) is enclosed within the left housing (22) and the right housing (23); the left housing (22) is fitted with a left protruding rod (221) on the outside, and the right housing (23) is fitted with a right protruding rod (231) on the outside; the left protruding rod (221) and the right protruding rod (231) together support the left housing (22) and the right housing (23) to form a closed body.

4. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The upper curved arm (3) includes a fork-shaped column (31), an end curved arm pivot (32), an upper arm motor (33), a heat dissipation column (34), an upper arm body (35), and an upper arm motor (36). The upper end of the fork-shaped column (31) is hinged to the end curved arm (2) via a first shaft, and its lower end is connected to the upper arm motor (33) and the heat dissipation column (34) via the end curved arm pivot (32). The end curved arm pivot (32) is powered to rotate by the upper arm motor. The heat dissipation column (34) is a cylindrical shell with several heat dissipation holes evenly arranged on its outer side. The upper arm body (35) is located below the heat dissipation column (34) and provides support. Its inner side is connected to the inner side of the lower curved arm (4) via the upper arm pivot. The upper arm motor (36) is located on the outer side of the upper arm body (35) and provides power for the relative movement of the upper curved arm (3) and the lower curved arm (4).

5. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The lower curved arm (4) includes an upper arm pivot (41) and a support pivot (42); the upper arm pivot (41) connects the upper curved arm (3) and the lower curved arm (4), and the support pivot (42) connects the lower curved arm (4) and the lower curved arm support mechanism (6).

6. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The fixed arm (5) is fixed on the rotating base (7). The fixed arm includes a lower arm rotating shaft (51) and a lower arm motor (52). The lower arm rotating shaft (51) connects the lower curved arm (4) and the fixed arm (5).

7. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The lower bending arm support mechanism (6) includes a lower arm pivot groove (61), a hydraulic rod (62), a hydraulic cylinder (63), and a hydraulic cylinder fixing base (64); the lower arm pivot groove (61) cooperates with the support pivot (42) to realize transmission, and the lower arm pivot groove (61) is also connected to the hydraulic rod (62); one end of the hydraulic rod (62) is connected to the lower arm pivot groove (61), and the other end is located inside the hydraulic cylinder (63); the hydraulic cylinder (63) is hinged to the hydraulic cylinder fixing base (64); the hydraulic cylinder fixing base (64) is fixed on the rotating base (7).

8. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The rotating base (7) includes a base motor (71), a base body (72), and a base shaft (73); the base body (72) is connected to a fixed arm (5), a lower bending arm support mechanism (6), and a base motor (71); the base body (72) is connected to the base shaft (73) below; the base shaft (73) is connected to the rotating base (7) and the intelligent driving mobile device (8).

9. The intelligent robotic arm for logistics loading and unloading according to claim 1, characterized in that, The intelligent driving mobile device (8) includes a binocular intelligent vision recognition camera assembly (81), a protruding charging end (82), a Mecanum left wheel (83), and a Mecanum right wheel (84). The binocular intelligent vision recognition camera assembly (81) is located on the top side of the intelligent driving mobile device (8), and the protruding charging end (82) is installed below it. The protruding charging end (82) serves as the charging interface for the camera assembly panel and the intelligent driving mobile device (8). The Mecanum left wheel (83) and the Mecanum right wheel (84) are located below the intelligent driving mobile device (8) and serve to support and move it.

10. The intelligent robotic arm for logistics loading and unloading according to claim 9, characterized in that, The binocular intelligent vision recognition camera assembly (81) includes a left camera (811), a camera assembly panel (812), and a right camera (813); the left camera (811) and the right camera (813) are located on the camera assembly panel (812).

Images