CN115303987A

CN115303987A - Mobile grabbing robot

Info

Publication number: CN115303987A
Application number: CN202211036004.6A
Authority: CN
Inventors: 田彩军
Original assignee: Kuman Robot Wuhan Co ltd
Current assignee: Changzhou Komen Intelligent Equipment Co ltd
Priority date: 2022-08-27
Filing date: 2022-08-27
Publication date: 2022-11-08
Anticipated expiration: 2042-08-27
Also published as: CN115303987B

Abstract

The invention relates to the technical field of robots, and discloses a movable grabbing robot, which solves the problems that the service life of the existing grabbing robot is short and goods are easily damaged, and comprises a rack, wherein the bottom end of the rack is provided with a plurality of obstacle avoidance driving wheel sets, one side of the top end of the rack is fixedly provided with an air pump, a battery counterweight assembly and an intelligent controller, one side of the rack is provided with a grabbing mechanism and a U-shaped fixing frame, the U-shaped fixing frame and the grabbing mechanism are connected in a matched manner through a lifting mechanism, the bottom end of one side of the rack, which is close to the grabbing mechanism, is provided with an anti-falling auxiliary buffer mechanism, and the intelligent controller is electrically connected with the air pump, the battery counterweight assembly, the grabbing mechanism, the lifting mechanism and the anti-falling auxiliary buffer mechanism; can be convenient for remove through this snatching robot to be convenient for transport the goods, can reduce elevator motor's load simultaneously, improve life, can protect the goods, avoid the goods to drop and take place to damage.

Description

Mobile grabbing robot

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a movable grabbing robot.

Background

The robot has high working efficiency, good safety performance and high production and processing precision. A grabbing robot is commonly used for grabbing and conveying goods in production.

The current robot that snatchs is fixed the setting usually in a certain position, the goods that will snatch is placed and is realized the transportation to the goods on the transfer car (buggy), this process need pass through a plurality of steps, it is comparatively loaded down with trivial details, current robot that snatchs is when snatching heavier goods moreover, the elevator motor of robot is too big easily and influences life, current robot that snatchs simultaneously lacks the protection device to the goods, cause dropping of goods easily and lead to the damage of goods.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides the mobile grabbing robot, which effectively solves the problems that the service life of the existing grabbing robot is short and goods are easily damaged.

In order to achieve the purpose, the invention provides the following technical scheme: a movable grabbing robot comprises a rack, wherein a plurality of obstacle avoidance driving wheel sets are arranged at the bottom end of the rack, an air pump, a battery counterweight assembly and an intelligent controller are fixedly arranged on one side of the top end of the rack, a grabbing mechanism is arranged at the middle position of one side, away from the intelligent controller, of the rack, a U-shaped fixing frame is arranged at the top end, close to the grabbing mechanism, of the rack, the U-shaped fixing frame is connected with the grabbing mechanism in a matched mode through a lifting mechanism, an anti-falling auxiliary buffer mechanism is arranged at the bottom end, close to the grabbing mechanism, of the rack, and the intelligent controller is electrically connected with the air pump, the battery counterweight assembly, the grabbing mechanism, the lifting mechanism and the anti-falling auxiliary buffer mechanism;

the grabbing mechanism is composed of a supporting plate, a first servo motor, a screw rod, a plurality of limiting guide rails, a first clamping plate and a second clamping plate, a driving installation groove matched with the screw rod, the limiting guide rails, the first clamping plate and the second clamping plate is formed in the bottom end of the supporting plate, the screw rod and the limiting guide rails are connected to the inside of the driving installation groove, the first clamping plate and the second clamping plate are sleeved on the screw rod and the limiting guide rails, and the first servo motor is fixedly connected to one end of the supporting plate and is matched and connected with the screw rod;

the lifting mechanism comprises a servo motor II, a rope wheel I, a traction rope I and a pulley block, the rope wheel I is fixedly connected to an output shaft of the servo motor II, the pulley block is connected between the U-shaped fixing frame and the grabbing mechanism, the traction rope I is connected between the rope wheel I and the pulley block, and the pulley block comprises a fixed pulley block and a movable pulley block.

Preferably, the fixed pulley block comprises a fixed pulley mounting frame, a fixed pulley hook, a first large pulley and a first small pulley, the fixed pulley hook is connected to the top end of the fixed pulley mounting frame, and the first large pulley and the first small pulley are both connected to the inside of the fixed pulley mounting frame.

Preferably, the movable pulley block comprises a movable pulley mounting frame, a movable pulley hook I, a movable pulley hook II, a large pulley II and a small pulley II, the movable pulley hook I is connected to the top end of the movable pulley mounting frame, the movable pulley hook II is connected to the bottom end of the movable pulley mounting frame, and the large pulley II and the small pulley II are connected to the inside of the movable pulley mounting frame.

Preferably, a first supporting hook is fixedly arranged at the top end inside the U-shaped fixing frame and connected with the fixed pulley hook through a first lifting rope, a second supporting hook is fixedly arranged at the top end of the supporting plate and connected with a second movable pulley hook through a second lifting rope.

Preferably, one side of the rack is fixedly provided with a first reinforcing rope, the other side of the rack is fixedly provided with a plurality of second reinforcing ropes, and one side of the top end of the rack is provided with a through hole matched with the lifting mechanism.

Preferably, the side edge of the top end of the grabbing mechanism is fixedly provided with a limiting guide rod which is inserted into the rack, the top end of the limiting guide rod is fixedly provided with a limiting block, one side of each of the first clamping plate and the second clamping plate is fixedly provided with a buffering cushion, and the bottom ends of the first clamping plate and the second clamping plate are respectively provided with a limiting support assembly.

Preferably, spacing supporting component comprises fixed cover, telescopic support board, electric putter and connecting block, and fixed cover fixed connection is in the bottom of first grip block and second grip block, and telescopic support board alternates in fixed cover, and connecting block fixed connection is in the one end of telescopic support board bottom, and electric putter connects between fixed cover and connecting block.

Preferably, prevent weighing down supplementary buffer gear by the auxiliary stay bottom plate, cushion airbag module, the wear pad, the movable support seat, the auxiliary stay wheel subassembly and coordinated type pull the adjusting part and constitute, the auxiliary stay bottom plate pulls the adjusting part through movable support seat and coordinated type and is connected with the frame, the gasbag standing groove has been seted up on the top of auxiliary stay bottom plate, cushion airbag module is located the inside of gasbag standing groove, wear pad fixed connection is in the top of cushion airbag module, the auxiliary stay wheel subassembly is connected in auxiliary stay bottom plate's side and is pulled the adjusting part with the coordinated type and be connected, cushion airbag module cooperatees with the air pump and is connected.

Preferably, the auxiliary supporting wheel assembly consists of a rotary supporting arm, a universal wheel, a movable shaft and a tension spring, the rotary supporting arm is connected with the rack through the movable shaft, the universal wheel is fixedly connected to the bottom end of the rotary supporting arm, and the tension spring is connected between the rotary supporting arm and the rack.

Preferably, the linkage type traction adjusting assembly is composed of a servo motor III, a rope wheel II and a traction rope II, a guide wheel I, a guide wheel II and a limit stop block are arranged on one side of the auxiliary supporting bottom plate, and the traction rope II is connected among the rope wheel II, the guide wheel I, the guide wheel II and the rotary supporting arm.

Compared with the prior art, the invention has the beneficial effects that:

(1) During work, goods can be conveniently grabbed and transported by the aid of the obstacle avoidance driving wheel set and the grabbing mechanism consisting of the supporting plate, the first servo motor, the lead screw, the limiting guide rails, the first clamping plate and the second clamping plate, the goods grabbing and transporting efficiency is improved, the load of the motor can be reduced when the goods are lifted by the aid of the lifting mechanism consisting of the second servo motor, the first rope wheel, the first traction rope and the pulley block, and damage to the second servo motor is avoided;

(2) The auxiliary supporting can be carried out to the goods after snatching through the spacing supporting component who sets up by fixed cover, flexible backup pad, electric putter and connecting block and support, avoids the goods to drop, through setting up by the auxiliary supporting bottom plate, the supplementary gasbag subassembly of buffering, the abrasion pad, the activity supporting seat, the supplementary supporting wheel subassembly and the coordinated type pulls the supplementary buffer gear that prevents weighing down that adjusting part constitutes and can realize the buffering to the goods when the goods accident drops, avoids the goods directly pounding to ground and causes the damage.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention.

In the drawings:

FIG. 1 is a schematic view of a mobile grabbing robot according to the present invention;

FIG. 2 is a second schematic structural diagram of the mobile grabbing robot of the present invention;

FIG. 3 is a schematic view of the lifting mechanism of the present invention;

FIG. 4 is a schematic view of a grasping mechanism according to the present invention;

FIG. 5 is a schematic view of a spacing support assembly according to the present invention;

FIG. 6 is an enlarged view of a portion of the invention at A in FIG. 1;

FIG. 7 is an enlarged view of a portion of the invention at B in FIG. 2;

FIG. 8 is a schematic structural view of the anti-falling auxiliary buffer mechanism of the present invention;

in the figure: 1. a frame; 2. an obstacle avoidance driving wheel set; 3. an air pump; 4. a battery weight assembly; 5. an intelligent controller; 6. a grabbing mechanism; 7. a U-shaped fixing frame; 8. a lifting mechanism; 9. an anti-falling auxiliary buffer mechanism; 10. a support plate; 11. a first servo motor; 12. a screw rod; 13. limiting a guide rail; 14. a first clamping plate; 15. a second clamping plate; 16. a servo motor II; 17. a first rope wheel; 18. a first traction rope; 19. a pulley block; 20. a fixed pulley block; 21. a movable pulley block; 22. a fixed pulley mounting frame; 23. a fixed pulley hook; 24. a first large pulley; 25. a first small pulley; 26. a movable pulley mounting rack; 27. a first movable pulley is hooked; 28. a movable pulley is hooked with a second hook; 29. a second large pulley; 30. a second small pulley; 31. reinforcing the first rope; 32. a second reinforcing rope; 33. a through hole; 34. a limiting guide rod; 35. a limiting block; 36. a cushion pad; 37. a limiting support component; 38. a first support hook; 39. a first lifting rope; 40. a second support hook; 41. a second lifting rope; 42. fixing a sleeve; 43. a telescopic support plate; 44. an electric push rod; 45. connecting blocks; 46. an auxiliary support floor; 47. a cushion airbag assembly; 48. a wear pad; 49. a movable support seat; 50. an auxiliary support wheel assembly; 51. a linkage type traction adjusting component; 52. an air bag placing groove; 53. rotating the support arm; 54. a universal wheel; 55. a movable shaft; 56. a tension spring; 57. a servo motor III; 58. a second rope wheel; 59. a second traction rope; 60. a first guide wheel; 61. a second guide wheel; 62. and a limit stop.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be obtained by a person skilled in the art without making any creative effort based on the embodiments in the present invention, belong to the protection scope of the present invention.

In a first embodiment, as shown in fig. 1 to 4, the mobile grabbing robot of the invention comprises a frame 1, wherein the bottom end of the frame 1 is provided with a plurality of obstacle avoidance driving wheel sets 2, one side of the top end of the frame 1 is fixedly provided with an air pump 3, a battery counterweight assembly 4 and an intelligent controller 5, the middle position of one side of the frame 1, which is far away from the intelligent controller 5, is provided with a grabbing mechanism 6, the top end of one side of the frame 1, which is close to the grabbing mechanism 6, is provided with a U-shaped fixing frame 7, the U-shaped fixing frame 7 is connected with the grabbing mechanism 6 in a matching manner through a lifting mechanism 8, the bottom end of one side of the frame 1, which is close to the grabbing mechanism 6, is provided with an anti-falling auxiliary buffer mechanism 9, and the intelligent controller 5 is electrically connected with the air pump 3, the battery counterweight assembly 4, the grabbing mechanism 6, the lifting mechanism 8 and the anti-falling auxiliary buffer mechanism 9;

snatch 6 through snatching the realization of mechanism and to snatching that the back is accomplished drives the goods through elevating system 8 and rises, drives whole robot through keeping away barrier drive wheelset 2 and removes and can realize the transportation to the goods.

The grabbing mechanism 6 comprises a supporting plate 10, a first servo motor 11, a screw rod 12, a plurality of limiting guide rails 13, a first clamping plate 14 and a second clamping plate 15, a driving installation groove matched with the screw rod 12, the limiting guide rails 13, the first clamping plate 14 and the second clamping plate 15 is formed in the bottom end of the supporting plate 10, the screw rod 12 and the limiting guide rails 13 are connected to the inside of the driving installation groove, the first clamping plate 14 and the second clamping plate 15 are sleeved on the screw rod 12 and the limiting guide rails 13, and the first servo motor 11 is fixedly connected to one end of the supporting plate 10 and is connected with the screw rod 12 in a matched mode;

when the grabbing mechanism 6 works, the first servo motor 11 drives the screw rod 12 to rotate, the first clamping plate 14 and the second clamping plate 15 are driven to move oppositely through the screw rod 12, and clamping of goods is achieved through the first clamping plate 14 and the second clamping plate 15.

The lifting mechanism 8 is composed of a servo motor II 16, a rope pulley I17, a traction rope I18 and a pulley block 19, the rope pulley I17 is fixedly connected to an output shaft of the servo motor II 16, the pulley block 19 is connected between the U-shaped fixed frame 7 and the grabbing mechanism 6, the traction rope I18 is connected between the rope pulley I17 and the pulley block 19, and the pulley block 19 is composed of a fixed pulley block 20 and a movable pulley block 21;

after clamping the goods, the first rope wheel 17 is driven to rotate through the second servo motor 16, the first traction rope 18 is wound through the first rope wheel 17, the goods are lifted through the pulley block 19, meanwhile, the tension can be reduced, the load of the second servo motor 16 is reduced, and therefore the service life of the second servo motor 16 is prolonged.

In a second embodiment, as shown in fig. 2 to 5, the fixed pulley block 20 is composed of a fixed pulley mounting frame 22, a fixed pulley hook 23, a first large pulley 24 and a first small pulley 25, the fixed pulley hook 23 is connected to the top end of the fixed pulley mounting frame 22, the first large pulley 24 and the first small pulley 25 are both connected to the inside of the fixed pulley mounting frame 22, the movable pulley block 21 is composed of a movable pulley mounting frame 26, a first movable pulley hook 27, a second movable pulley hook 28, a second large pulley hook 29 and a second small pulley 30, the first movable pulley hook 27 is connected to the top end of the movable pulley mounting frame 26, the second movable pulley hook 28 is connected to the bottom end of the movable pulley mounting frame 26, the second large pulley 29 and the second small pulley 30 are both connected to the inside of the movable pulley mounting frame 26, a first support hook 38 is fixedly arranged at the top end of the inside of the U-shaped fixing frame 7, the first support hook 38 is connected to the fixed pulley hook 23 through a first lifting rope 39, a second support hook 40 is fixedly arranged at the top end of the support plate 10, and the second support hook 40 is connected to the second movable pulley hook 28 through a second lifting rope 41;

when the second servo motor 16 works, the movable pulley block 21 is lifted through the first traction rope 18, the fixed pulley block 20 and the movable pulley block 21 are matched for use, so that the pulling force of the second servo motor 16 is twenty percent of the whole load, the labor-saving function is realized, the movable pulley block 21 is lifted along with the first traction rope 18 in the process of lifting or descending goods, and the position of the fixed pulley block 20 is kept motionless.

In a third embodiment, as shown in fig. 1 to 5, a first reinforcing rope 31 is fixedly arranged on one side of a frame 1, a plurality of second reinforcing ropes 32 are fixedly arranged on the other side of the frame 1, a through hole 33 matched with a lifting mechanism 8 is formed in one side of the top end of the frame 1, a limiting guide rod 34 inserted into the frame 1 is fixedly arranged on the side edge of the top end of a grabbing mechanism 6, a limiting block 35 is fixedly arranged on the top end of the limiting guide rod 34, a cushion pad 36 is fixedly arranged on each of the first clamping plate 14 and the second clamping plate 15, a limiting support assembly 37 is respectively arranged at the bottom ends of the first clamping plate 14 and the second clamping plate 15, the limiting support assembly 37 is composed of a fixing sleeve 42, a telescopic support plate 43, an electric push rod 44 and a connecting block 45, the fixing sleeve 42 is fixedly connected to the bottom ends of the first clamping plate 14 and the second clamping plate 15, the telescopic support plate 43 is inserted into the fixing sleeve 42, the connecting block 45 is fixedly connected to one end of the bottom of the telescopic support plate 43, and the electric push rod 44 is connected between the fixing sleeve 42 and the connecting block 45;

snatch mechanism 6 at the lift in-process, spacing guide bar 34 is at the inside vertical motion of frame 1 all the time to realized the spacing to snatching mechanism 6, when snatching 6 lifting backs of mechanism, electric putter 44 starts, promotes connecting block 45 through electric putter 44, and connecting block 45 drives telescopic support plate 43 and slides at fixed cover 42 inside, and telescopic support plate 43 is located the bottom of goods, realizes the spacing support to the goods, avoids causing dropping of goods.

In the fourth embodiment, as shown in fig. 1, 2, 6, 7 and 8, the anti-falling auxiliary buffer mechanism 9 is composed of an auxiliary support base plate 46, a buffer airbag module 47, a wear pad 48, a movable support seat 49, an auxiliary support wheel module 50 and a linkage type traction adjustment module 51, the auxiliary support base plate 46 is connected with the frame 1 through the movable support seat 49 and the linkage type traction adjustment module 51, an airbag placement groove 52 is formed at the top end of the auxiliary support base plate 46, the buffer airbag module 47 is positioned inside the airbag placement groove 52, the wear pad 48 is fixedly connected to the top end of the buffer airbag module 47, the auxiliary support wheel module 50 is connected to the side edge of the auxiliary support base plate 46 and is connected with the linkage type traction adjustment module 51, the buffer airbag module 47 is connected with the air pump 3 in a matched manner, the auxiliary support wheel module 50 is composed of a rotary support arm 53, a universal wheel 54, a movable shaft 55 and a tension spring 56, the rotary support arm 53 is connected with the frame 1 through the movable shaft 55, the universal wheel 54 is fixedly connected to the bottom end of the rotary support arm 53, the tension spring 56 is connected between the rotary support arm 53 and the frame 1, the linkage type traction adjustment module 51 is composed of a three-motor three-two traction ropes 57, a first guide rope pulley 58, a second guide rope 58 and a second guide rope 58, a first guide rope 58 and a second guide rope 58 are arranged between the first guide rope 58, and a second guide rope guide stop 61 and a second stop 61;

after the goods are grabbed, the air pump 3 inflates the buffering air bag assembly 47, the buffering air bag assembly 47 is inflated and then swells, so that the buffering of the goods can be realized when the goods drop accidentally, the goods are prevented from being damaged, in addition, the anti-falling auxiliary buffer mechanism 9 can be folded and contracted integrally, when the anti-falling auxiliary buffer mechanism is contracted, the buffering air bag assembly 47 is exhausted and contracted firstly, then the servo motor three 57 drives the rope pulley two 58 to rotate, the rope pulley two 58 realizes the contraction of the traction rope two 59, through the arrangement of the guide wheel one 60 and the guide wheel two 61, when the traction rope two 59 is pulled, the rotating support arm 53 is pulled firstly, so that the rotating support arm 53 rotates and is parallel to the auxiliary support bottom plate 46, the rotating support arm 53 can be limited through the limit stop 62, at the moment, the tension spring 56 is stretched, after the rotating support arm 53 is attached to the limit stop 62, the position stress of the guide wheel one 60 drives the whole auxiliary support bottom plate 46 to rotate around the movable support base 49, so that the auxiliary support bottom plate 46 is in a vertical state and attached to the rack 1, so that the auxiliary support bottom plate 46 is driven to be in a reverse rotation state and driven by the universal support arm 54, and the anti-falling auxiliary support arm is reset through the self-weight, and the universal support return contact with the universal support arm 54, and the universal support arm, and the anti-falling auxiliary support mechanism 9.

In the work, the obstacle avoidance driving wheel set and the grabbing mechanism consisting of the supporting plate, the servo motor I, the lead screw, the limiting guide rails, the first clamping plate and the second clamping plate are arranged, so that goods can be conveniently grabbed and transported, the goods grabbing and transporting efficiency is improved, the load of the motor can be reduced when the goods are lifted by arranging the lifting mechanism consisting of the servo motor II, the rope pulley I, the traction rope I and the pulley block, and the damage to the servo motor II is avoided; the auxiliary supporting assembly is composed of a fixing sleeve, a telescopic supporting plate, an electric push rod and a connecting block, auxiliary supporting can be carried out on the grabbed goods, the goods are prevented from falling, the auxiliary buffering mechanism is composed of an auxiliary supporting bottom plate, a buffering air bag assembly, a wear pad, a movable supporting seat, an auxiliary supporting wheel assembly and a linkage type traction adjusting assembly, the goods can be buffered when falling accidentally, and the goods are prevented from being directly smashed to the ground and damaged.

Claims

1. The utility model provides a robot is snatched to movable type, includes frame (1), its characterized in that: the intelligent anti-falling device is characterized in that a plurality of obstacle avoidance driving wheel sets (2) are arranged at the bottom end of the rack (1), an air pump (3), a battery counterweight component (4) and an intelligent controller (5) are fixedly arranged on one side of the top end of the rack (1), a grabbing mechanism (6) is arranged in the middle of one side, far away from the intelligent controller (5), of the rack (1), a U-shaped fixing frame (7) is arranged at the top end of one side, close to the grabbing mechanism (6), of the rack (1), the U-shaped fixing frame (7) is connected with the grabbing mechanism (6) in a matched mode through a lifting mechanism (8), an anti-falling auxiliary buffer mechanism (9) is arranged at the bottom end, close to one side of the grabbing mechanism (6), of the rack (1), and the intelligent controller (5) is electrically connected with the air pump (3), the battery counterweight component (4), the grabbing mechanism (6), the lifting mechanism (8) and the anti-falling auxiliary buffer mechanism (9);

the grabbing mechanism (6) is composed of a supporting plate (10), a first servo motor (11), a screw rod (12), a plurality of limiting guide rails (13), a first clamping plate (14) and a second clamping plate (15), the bottom end of the supporting plate (10) is provided with a driving installation groove matched with the screw rod (12), the limiting guide rails (13), the first clamping plate (14) and the second clamping plate (15), the screw rod (12) and the limiting guide rails (13) are connected to the inside of the driving installation groove, the first clamping plate (14) and the second clamping plate (15) are sleeved on the screw rod (12) and the limiting guide rails (13), and the first servo motor (11) is fixedly connected to one end of the supporting plate (10) and is connected with the screw rod (12) in a matched mode;

the lifting mechanism (8) is composed of a servo motor II (16), a rope wheel I (17), a traction rope I (18) and a pulley block (19), the rope wheel I (17) is fixedly connected to an output shaft of the servo motor II (16), the pulley block (19) is connected between the U-shaped fixing frame (7) and the grabbing mechanism (6), the traction rope I (18) is connected between the rope wheel I (17) and the pulley block (19), and the pulley block (19) is composed of a fixed pulley block (20) and a movable pulley block (21).

2. A mobile gripping robot according to claim 1, characterized in that: the fixed pulley group (20) comprises a fixed pulley mounting frame (22), a fixed pulley hook (23), a first large pulley (24) and a first small pulley (25), the fixed pulley hook (23) is connected to the top end of the fixed pulley mounting frame (22), and the first large pulley (24) and the first small pulley (25) are connected to the inside of the fixed pulley mounting frame (22).

3. A mobile gripping robot according to claim 2, characterized in that: the movable pulley block (21) is composed of a movable pulley mounting frame (26), a movable pulley hook I (27), a movable pulley hook II (28), a large pulley II (29) and a small pulley II (30), the movable pulley hook I (27) is connected to the top end of the movable pulley mounting frame (26), the movable pulley hook II (28) is connected to the bottom end of the movable pulley mounting frame (26), and the large pulley II (29) and the small pulley II (30) are connected to the inside of the movable pulley mounting frame (26).

4. A mobile gripping robot according to claim 3, characterized in that: the top end inside the U-shaped fixing frame (7) is fixedly provided with a first supporting hook (38), the first supporting hook (38) is connected with a fixed pulley hook (23) through a first lifting rope (39), the top end of the supporting plate (10) is fixedly provided with a second supporting hook (40), and the second supporting hook (40) is connected with a second movable pulley hook (28) through a second lifting rope (41).

5. A mobile gripping robot according to claim 1, characterized in that: one side of the rack (1) is fixedly provided with a first reinforcing rope (31), the other side of the rack (1) is fixedly provided with a plurality of second reinforcing ropes (32), and one side of the top end of the rack (1) is provided with a through hole (33) matched with the lifting mechanism (8).

6. A mobile gripping robot according to claim 1, characterized in that: the side edge of the top end of the grabbing mechanism (6) is fixedly provided with a limiting guide rod (34) which is inserted in the rack (1), the top end of the limiting guide rod (34) is fixedly provided with a limiting block (35), one side of each of the first clamping plate (14) and the second clamping plate (15) is fixedly provided with a cushion pad (36), and the bottom ends of the first clamping plate (14) and the second clamping plate (15) are respectively provided with a limiting support component (37).

7. A mobile gripping robot according to claim 6, characterized in that: spacing supporting component (37) comprises fixed cover (42), flexible backup pad (43), electric putter (44) and connecting block (45), and fixed cover (42) fixed connection is in the bottom of first grip block (14) and second grip block (15), and flexible backup pad (43) alternates in fixed cover (42), and connecting block (45) fixed connection is in the one end of flexible backup pad (43) bottom, and electric putter (44) are connected between fixed cover (42) and connecting block (45).

8. A mobile gripping robot according to claim 1, characterized in that: prevent weighing down supplementary buffer gear (9) and draw adjusting part (51) by auxiliary stay bottom plate (46), buffering gasbag subassembly (47), wear pad (48), activity supporting seat (49), auxiliary stay wheel subassembly (50) and coordinated type constitute, auxiliary stay bottom plate (46) are drawn adjusting part (51) through activity supporting seat (49) and coordinated type and are connected with frame (1), gasbag standing groove (52) have been seted up on the top of auxiliary stay bottom plate (46), buffering gasbag subassembly (47) are located the inside of gasbag standing groove (52), wear pad (48) fixed connection is in the top of buffering gasbag subassembly (47), auxiliary stay wheel subassembly (50) are connected in the side of auxiliary stay bottom plate (46) and are drawn adjusting part (51) with the coordinated type and cooperate and be connected, buffering gasbag subassembly (47) cooperate with air pump (3) and are connected.

9. A mobile gripping robot according to claim 8, characterized in that: the auxiliary supporting wheel assembly (50) is composed of a rotating supporting arm (53), a universal wheel (54), a movable shaft (55) and a tension spring (56), the rotating supporting arm (53) is connected with the rack (1) through the movable shaft (55), the universal wheel (54) is fixedly connected to the bottom end of the rotating supporting arm (53), and the tension spring (56) is connected between the rotating supporting arm (53) and the rack (1).

10. A mobile gripping robot according to claim 9, characterized in that: the linkage type traction adjusting assembly (51) is composed of a servo motor III (57), a rope wheel II (58) and a traction rope II (59), a guide wheel I (60), a guide wheel II (61) and a limit stop block (62) are arranged on one side of the auxiliary supporting base plate (46), and the traction rope II (59) is connected among the rope wheel II (58), the guide wheel I (60), the guide wheel II (61) and the rotary supporting arm (53).