Multi-stage arm grabbing device

The invention discloses a multi-stage arm grabbing device. The multi-stage arm grabbing device comprises a first steering mechanism, a mechanical arm I and a grabbing mechanism, wherein the first steering mechanism is provided with a first steering motor, and the output end of the first steering motor is connected with a driven shaft I; one end of the mechanical arm I is connected with the drivenshaft I, and the other end of the mechanical arm I is connected with a mechanical arm II through a second steering mechanism; and the grabbing mechanism is connected with the end of the mechanical armII and provided with a gripper, the gripper is provided with a fixed claw and a movable claw, and the movable claw is connected with an air cylinder. The swing amplitude of the multi-stage arm grabbing device reaches 15.84deg/s, the multi-stage arm grabbing device is ensured to swing from the horizontal direction to the vertical direction, and balls and discs are efficiently picked up. 本发明公开了一种多阶级臂抓取装置，包括第一转向机构，所述第一转向机构设有