A mobile robot gripper

Abstract

The utility model relates to mobile robot technical field especially discloses a mobile robot clamping device, including chassis main part, the four corners of chassis main part lower extreme part all are provided with rudder wheel, the center of chassis main part lower extreme part is provided with chassis positioning mechanism, the one side fixed mounting of chassis main part upper extreme part has electrical element and battery package rack, two groups of second connecting blocks all are provided with first inner groove, the inner wall of two groups of first inner groove all are provided with the limit slot that is symmetrical, two groups of first connecting block inside all are provided with second inner groove, two groups of second inner groove inside all are fixedly installed with inner column, the equipment quick change disc is prevented by conical guide bushing and positioning column correction minor coaxiality deviation and is stuck, with the help of second inner groove limiting strip, inner column and spring can be easily split, and the first / second positioning pin is combined to realize stirring axle, clamp quick detach quick mount and not to disassemble drive unit, greatly shorten the time of changing type and adapt multi -specification executive component, improve multi -variety operation adaptation ability.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, and in particular to a mobile robot gripping device. Background Technology

[0002] With the continuous development of science and technology and automation, many mechanical structures and automated devices that liberate human hands have emerged one after another. As a common form of machinery, the robotic hand has liberated human hands. By imitating certain movements of human hands and arms, the robotic hand can move, grasp, and even manipulate objects.

[0003] A current mobile robot gripping device has been found to have at least the following technical problems: 1. Most existing mobile equipment used for material handling or mixing relies on fixed tracks or unidirectional movement structures, which cannot freely adjust their position in multi-station or complex work areas, thus limiting their operating range. Moreover, after the equipment moves to the target work station, it lacks a stable and reliable positioning mechanism, and is prone to positional deviation due to uneven ground, inertia, and other factors. This can lead to errors such as material falling during subsequent handling and misalignment between the mixing components and the material, resulting in uneven mixing. This makes it difficult to meet the requirements of high-precision operation scenarios. 2. The connection methods between the clamps, stirring shafts and other actuators and the drive structure of the existing equipment are relatively fixed. The disassembly and assembly process requires disassembling the drive unit, which is complicated and time-consuming. In addition, there is a lack of universal adaptable structure. A piece of equipment can usually only be compatible with a single type of actuator. When it is necessary to process materials of different specifications and types, the entire set of equipment must be replaced or the connection structure must be significantly modified. The equipment has weak adaptability to multi-variety operations, which restricts the improvement of production efficiency. Utility Model Content

[0004] To address the shortcomings of existing technologies, this utility model provides a mobile robot gripping device, which solves the problems of fixed connection between the grippers, stirring shafts and other actuators and the drive structure of existing equipment, which requires disassembly of the drive unit for assembly and disassembly, resulting in complex operation and long changeover time. At the same time, it lacks a universal adaptable structure, usually only compatible with a single type of actuator. When handling different specifications and types of materials, the entire set of equipment needs to be replaced or the connection structure needs to be significantly modified. It has weak adaptability to multi-variety operations, which restricts the improvement of production efficiency.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A mobile robot gripping device includes a chassis body. Steering wheels are located at the four corners of the lower end of the chassis body. A chassis positioning mechanism is located at the center of the lower end of the chassis body. Electrical components and a battery pack holder are fixedly installed on one side of the upper end of the chassis body. A column body is fixedly installed on the other side of the upper end of the chassis body. A lifting body is fixedly installed on the column body. The lifting body has a gear and rack transmission structure and a lifting counterweight inside. A chain is installed on the lifting counterweight. A connecting frame is installed on the end of the chain away from the lifting counterweight. Two connecting frames are respectively... The device is equipped with a first drive structure and a second drive structure, which are respectively fixedly connected to two connecting frames. Each of the first and second drive structures is equipped with a connecting arm. A third drive structure and a fourth drive structure are respectively installed on the ends of the two connecting arms away from the first and second drive structures. A stirring arm and a clamping arm are respectively installed on the third and fourth drive structures. A fifth drive structure and a sixth drive structure are installed on the stirring arm and the clamping arm. A quick-change mechanism is installed on both the fifth and sixth drive structures. The quick-change mechanism includes two quick-change discs, which are respectively installed on the fifth drive structure and the sixth drive structure. Each quick-change disc includes an upper connecting disc and a lower connecting disc. A first connecting block and a second connecting block are symmetrically fixedly installed on the side walls of the two upper connecting discs and the lower connecting disc. A tapered guide sleeve and a positioning post are symmetrically fixedly installed on the opposite ends of the two upper connecting discs and the lower connecting disc.

[0006] Preferably, a stirring shaft mounting seat and a clamp mounting seat are respectively installed on the two quick-change discs, and a first positioning pin is provided on the stirring shaft mounting seat.

[0007] Preferably, the stirring shaft mounting base has a detachable stirring shaft installed inside, and the stirring shaft mounting base and the stirring shaft are quickly separated by a first positioning pin.

[0008] Preferably, the clamp mounting base is provided with a second positioning pin, and the clamp is detachably installed inside the clamp mounting base. The clamp and the clamp mounting base are quickly separated by the second positioning pin.

[0009] Preferably, each of the two sets of second connecting blocks has a first inner groove, and each of the two sets of first inner grooves has a symmetrical limit groove in its inner wall.

[0010] Preferably, each of the two sets of first connecting blocks has a second inner groove, and each of the two sets of second inner grooves has an inner column fixedly installed inside.

[0011] Preferably, limit strips are symmetrically slidably installed inside both sets of the second inner grooves, and each set of limit strips is adapted to each set of limit grooves.

[0012] Preferably, each set of limiting strips is slidably mounted on the inner column, and a spring is fixedly installed between each set of limiting strips.

[0013] Compared with the prior art, the present invention has the following beneficial effects: I. This utility model uses steering wheels at the four corners of the lower end of the chassis body, combined with servo drive, to achieve forward and reverse rotation and steering adjustment, breaking the dependence of traditional equipment on fixed tracks. It can move freely in multi-station and complex working areas, greatly expanding the working range. At the same time, the chassis positioning mechanism at the center of the chassis body can be quickly activated after the equipment reaches the target work station, limiting horizontal displacement and shaking, providing a stable benchmark for clamping and stirring actions, and effectively avoiding operational errors such as material falling and uneven stirring caused by equipment deviation. It is especially suitable for high-precision working scenarios such as high-temperature furnace side. Second, the upper and lower connecting plates of the quick-change disc of this equipment are precisely connected to the positioning column through a tapered guide sleeve, which can automatically correct minor coaxiality deviations and avoid positioning jamming. On the other hand, through the cooperation of the limiting strip in the second inner groove, the inner column and the spring, the quick-change disc can be disassembled by simply moving the limiting strip to the center. Combined with the first positioning pin and the second positioning pin, the stirring shaft, clamp and corresponding mounting base can be quickly disassembled and installed without disassembling the drive unit, which greatly shortens the changeover time. Moreover, the same quick-change disc can be adapted to various specifications of stirring shaft and clamp, which significantly improves the equipment's adaptability to various materials. Attached Figure Description

[0014] The above description is only an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, the preferred embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0015] Figure 1 This is a perspective view of the present utility model; Figure 2 This is a side view of the present invention; Figure 3 This is a diagram of the quick-change disc connection structure of this utility model; Figure 4 This is an exploded view of the lower connecting plate of this utility model; Figure 5 This is a structural diagram of the tapered guide sleeve connection of this utility model; Figure 6 This is a diagram of the positioning post connection structure of this utility model.

[0016] Legend: 1. Chassis main body; 2. Steering wheel; 3. Chassis positioning mechanism; 4. Electrical components and battery pack rack; 5. Column main body; 6. Lifting main body; 7. Connecting frame; 8. Gear and rack transmission structure; 10. Lifting counterweight; 11. Chain; 12. First drive structure; 13. Second drive structure; 14. Connecting arm; 15. Third drive structure; 16. Fourth drive structure; 17. Stirring arm; 18. Clamping arm; 19. Fifth drive structure; 0. Quick-change disc; 21. Sixth drive structure; 23. Stirring shaft mounting base; 24. First positioning pin; 25. Stirring shaft; 26. Second positioning pin; 27. Clamp mounting base; 28. Clamp; 29. ​​Upper connecting disc; 30. Lower connecting disc; 31. First connecting block; 32. Second connecting block; 33. Conical guide sleeve; 34. Positioning post; 35. First inner groove; 36. Limiting groove; 37. Second inner groove; 38. Inner column; 39. Limiting strip; 40. Spring. Detailed Implementation

[0017] This application provides a mobile robot gripping device that effectively solves the problems of fixed connection between the grippers, stirring shafts, and other actuators and drive structures in existing equipment. Disassembly and assembly require disassembly of the drive unit, resulting in complex operations and long changeover times. Furthermore, it lacks a universal adaptable structure, typically only compatible with a single type of actuator. When handling different specifications and types of materials, the entire equipment needs to be replaced or the connection structure significantly modified, leading to weak adaptability to multi-product operations and hindering production efficiency. This device's quick-change disc uses a conical guide sleeve and positioning pins to correct minor coaxiality deviations and prevent jamming. It can be easily disassembled using a second inner groove limit strip, inner pins, and springs. Combined with the first / second positioning pins, it enables quick disassembly and assembly of the stirring shaft and grippers without disassembling the drive unit, significantly shortening changeover time and adapting to multiple actuator specifications, thus improving adaptability to multi-product operations. Example

[0018] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6As shown, the technical solution in this application embodiment effectively solves the problems of existing equipment where the connection between the clamps, stirring shafts, and other actuators and the drive structure is fixed, requiring disassembly of the drive unit for assembly and disassembly, resulting in complex operation and long changeover time. Furthermore, it lacks a universal adaptable structure, typically only compatible with a single type of actuator. When handling different specifications and types of materials, the entire equipment needs to be replaced or the connection structure significantly modified, resulting in weak adaptability to multi-variety operations and hindering production efficiency improvement. The overall concept is as follows: A mobile robot gripping device includes a chassis body 1, with steering wheels 2 at the four corners of the lower end of the chassis body 1, a chassis positioning mechanism 3 at the center of the lower end of the chassis body 1, an electrical component and battery pack rack 4 fixedly installed on one side of the upper end of the chassis body 1, and a column body 5 fixedly installed on the other side of the upper end of the chassis body 1. A lifting body 6 is fixedly installed on the column body 5, and the lifting body 6 contains... The system is equipped with a gear and rack transmission structure 8 and a lifting counterweight 10. A chain 11 is mounted on the lifting counterweight 10. A connecting frame 7 is mounted on the end of the chain 11 away from the lifting counterweight 10. A first drive structure 12 and a second drive structure 13 are respectively mounted on the two connecting frames 7. The first drive structure 12 and the second drive structure 13 are respectively fixedly connected to the two connecting frames 7. A connecting arm 14 is mounted on both the first drive structure 12 and the second drive structure 13. A third drive structure 15 and a fourth drive structure 16 are respectively mounted on the end of the two connecting arms 14 away from the first drive structure 12 and the second drive structure 13. A stirring arm 17 and a clamping arm 18 are respectively mounted on the third drive structure 15 and the fourth drive structure 16. A fifth drive structure 19 and a sixth drive structure 21 are mounted on the stirring arm 17 and the clamping arm 18. A quick-change mechanism is mounted on both the fifth drive structure 19 and the sixth drive structure 21. The quick-change mechanism includes two quick-change discs 20, which are respectively mounted on the fifth drive structure 19 and the sixth drive structure 21. The first drive structure 12, the second drive structure 13, the third drive structure 15, the fourth drive structure 16, and the sixth drive structure 21 are all composed of servo + RV. Servo + RV is a core technology combination in the field of industrial automation, specifically referring to the synergistic application of a servo system and an RV reducer. This combination deeply integrates the high-precision control capability of the servo motor with the precision transmission characteristics of the RV reducer, enabling the development of high-end equipment such as industrial robots and CNC machine tools. High-speed response, high load capacity, and nanometer-level positioning accuracy; the fifth drive structure 19 is composed of servo + planetary gear reducer. Servo + planetary gear reducer is another core transmission and control combination in the field of industrial automation, specifically referring to the synergistic application of servo system and planetary gear reducer. This combination achieves efficient power transmission, precise motion control, and cost balance in medium and light load scenarios by combining the high-precision closed-loop control of the servo system with the high transmission efficiency and compact structure characteristics of the planetary gear reducer; both quick-change plates 20 include an upper connecting plate 29 and a lower connecting plate 30, and both upper connecting plates 29 and lower connecting plates 30 have sidewalls with... The first connecting block 31 and the second connecting block 32 are fixedly installed. Conical guide sleeves 33 and positioning pins 34 are symmetrically fixedly installed on opposite ends of the two upper connecting plates 29 and the lower connecting plate 30, respectively. A stirring shaft mounting seat 23 and a clamp mounting seat 27 are respectively installed on the two quick-change plates 20. A first positioning pin 24 is provided on the stirring shaft mounting seat 23. A stirring shaft 25 is detachably installed inside the stirring shaft mounting seat 23. The stirring shaft mounting seat 23 and the stirring shaft 25 are quickly detached via the first positioning pin 24. A second positioning pin 26 is provided on the clamp mounting seat 27. The clamp mounting seat 27 is detachably installed inside. The device is equipped with a clamp 28, and the clamp 28 and the clamp mounting base 27 can be quickly disassembled via a second positioning pin 26. When it is necessary to disassemble or assemble the stirring shaft 25 and the clamp 28, two limiting strips 39 can be moved towards the center in the second inner groove 37. At this time, the two limiting strips 39 will slide on the inner column 38, and the two limiting strips 39 will compress the compression spring 40. At this time, the two limiting strips 39 will slide out from the two limiting grooves 36 respectively, completing the disassembly of the stirring shaft 25 and the clamp 28. Conversely, the installation can be completed. This makes it more convenient and less labor-intensive to assemble and disassemble the stirring shaft 25 and the clamp 28 when using the device. Both sets of second connecting blocks 32 are provided with first inner grooves 35, and each set of first inner grooves 35 has symmetrically provided limit grooves 36 in its inner wall. Both sets of first connecting blocks 31 are provided with second inner grooves 37, and each set of second inner grooves 37 has an inner post 38 fixedly installed inside. Each set of second inner grooves 37 has a limit strip 39 symmetrically slidably installed inside, with each limit strip 39 matching each limit groove 36. Each set of limit strips 39 is slidably installed on the inner post 38, and a spring 40 is fixedly installed between each set of limit strips 39. During installation, the upper connecting plate 29 can be connected to... The fifth drive structure 19 and the sixth drive structure 21 are connected to connect the lower connecting plate 30 to the stirring shaft mounting base 23 and the clamp mounting base 27. When the upper connecting plate 29 and the lower connecting plate 30 are installed, the two positioning pins 34 on the lower connecting plate 30 will be inserted into the two conical guide sleeves 33 inside the upper connecting plate 29. The two conical guide sleeves 33 are used to position the positioning pins 34, so that the installation can be guided and corrected by the conical guide sleeves 33, automatically correcting the small coaxiality deviation when the robot docks, and avoiding the positioning pin from getting stuck.

[0019] To address the problems existing in the prior art, this utility model provides a mobile robot gripping device. The quick-change disc of this device corrects minor coaxiality deviations and prevents jamming through a conical guide sleeve and positioning column. It can be easily disassembled with the help of the second inner groove limiting strip, inner column and spring. Combined with the first / second positioning pin, the stirring shaft and clamp can be quickly disassembled and assembled without disassembling the drive unit, which greatly shortens the changeover time and adapts to multiple specifications of actuators, improving the adaptability to multiple types of operations.

[0020] Working principle: The first step is that the chassis body 1 is the load-bearing frame of the entire equipment. The steering wheels 2 at the four corners of its lower end provide the equipment with the power to move. The steering wheels can be driven by servo to realize forward and reverse rotation and steering adjustment, so as to drive the equipment to move flexibly in the working area to meet the operation needs of different work positions. When the equipment moves to the target operation position, the chassis positioning mechanism 3 at the center of the lower end of the chassis body 1 is activated to limit the horizontal displacement and shaking of the chassis, so as to ensure that the subsequent clamping and stirring actions are carried out under a stable reference and avoid the impact of equipment deviation on the operation accuracy. The second step involves the column body 5 providing fixed support for the lifting system. The lifting body 6 on its outer side integrates a gear and rack transmission structure 8. The power of this structure comes from a combination of a servo motor and a reducer. The servo motor outputs power, which is reduced and amplified by the reducer to drive the helical gear to rotate. The helical gear meshes with the rack fixed along the Z-axis, converting the rotational motion into the linear lifting motion of the lifting body 6. At the same time, the lifting counterweight 10 inside the lifting body 6 is connected to the connecting frame 7 via a chain 11. The weight of the lifting counterweight 10 can balance the load of the connecting frame 7 and the subsequent clamping and stirring mechanism, reducing the drive load of the gear and rack transmission structure 8, reducing the energy consumption of the servo motor, and making the lifting action smoother and without jamming. Finally, the connecting frame 7 moves up and down along the Z-axis with the lifting body 6, driving the clamping and stirring mechanism below it to adjust its height, which can accommodate materials of different heights. The third step involves a three-stage structure of drive, transmission, and execution, specifically corresponding to the second drive structure 13, the fourth drive structure 16, the clamping arm 18, and related components in the clamping and stirring mechanism. Attitude adjustment: The second drive structure 13 is fixed on the connecting frame 7, and its output end is connected to the connecting arm 14. It can drive the connecting arm 14 to rotate or swing around its own axis to adjust the horizontal attitude of the clamp arm 18. Clamping arm movement: The fourth drive structure 16 at the end of the connecting arm 14 is connected to the clamping arm 18, which can drive the clamping arm 18 to open or close. When the equipment moves to the side of the material and the lifting system is adjusted to a suitable height, the fourth drive structure 16 drives the clamping arm 18 to open, snare the material, and then drives it to close. The material is fixed by mechanical clamping force to achieve clamping. Quick-change and stable fixing of clamps: When it is necessary to replace different types of clamps 28 or stirring shafts 25, the quick-change disc 20 can quickly disconnect from the old clamp mounting base 27 and stirring shaft mounting base 23 and dock with the new clamp mounting base 27. At the same time, the clamp 28 and the clamp mounting base 27 can be quickly disassembled through the second positioning pin 26. Inserting the second positioning pin 26 into the positioning hole of both can limit the displacement of the clamp 28 and ensure that the clamp does not loosen when clamping. If disassembly is required, the clamp and the mounting base can be separated by pulling out the second positioning pin 26, which improves the efficiency of clamp replacement.

[0021] The fourth step involves a stirring function whose core logic is similar to that of the gripping mechanism. It is achieved through multi-level drive and execution component linkage, specifically corresponding to the first drive structure 12, the third drive structure 15, the stirring arm 17, and related components in the gripping and stirring mechanism. Stirring arm posture adjustment: The first drive structure 12 is fixed on the connecting frame 7 on the other side, driving the connecting arm 14 to rotate, thereby driving the stirring arm 17 to adjust its spatial posture. Stirring action execution: The third drive structure 15 at the end of the connecting arm 14 drives the stirring arm 17 to adjust the angle. Then, the fifth drive structure 19 on the stirring arm 17 drives the stirring shaft mounting seat 23 and the stirring shaft 25 to rotate. The stirring shaft 25 contacts the material and drives the material to move, realizing mixing. Fifth, the electrical components and battery pack rack 4 at the upper end of the chassis body 1 provide energy and control support for the equipment: the battery pack supplies power to all servo motors, drive structures and electrical components; the electrical components are responsible for transmitting control signals, receiving external commands and controlling the movement of the steering wheel, the start and stop of the lifting system, and the action of the clamping / stirring mechanism, while providing real-time feedback on the operating status of each component to ensure that the entire operation process is accurate and controllable; Step 6: When it is necessary to disassemble and assemble the stirring shaft 25 and the clamp 28, the two limiting strips 39 can be moved towards the center in the second inner groove 37. At this time, the two limiting strips 39 will slide on the inner column 38 and compress the spring 40. Then, the two limiting strips 39 will slide out from the two limiting grooves 36 respectively, completing the disassembly of the stirring shaft 25 and the clamp 28. Conversely, the installation can be completed, making the disassembly and assembly of the stirring shaft 25 and the clamp 28 more convenient and labor-saving when using the equipment. In the seventh step, during installation, the upper connecting plate 29 can be connected to the fifth drive structure 19 and the sixth drive structure 21, and the lower connecting plate 30 can be connected to the stirring shaft mounting base 23 and the clamp mounting base 27. When the upper connecting plate 29 and the lower connecting plate 30 are installed, the two positioning pins 34 on the lower connecting plate 30 will be inserted into the two conical guide sleeves 33 inside the upper connecting plate 29. The two conical guide sleeves 33 are used to position the positioning pins 34, so that the installation can be guided and corrected by the conical guide sleeves 33, automatically correcting the slight coaxiality deviation when the robot docks, and avoiding the positioning pins from getting stuck.

[0022] Finally, it should be noted that the above embodiments are merely examples for clearly illustrating the present invention and are not intended to limit the implementation. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A mobile robot gripping device, comprising a chassis body (1), wherein steering wheels (2) are provided at the four corners of the lower end of the chassis body (1), a chassis positioning mechanism (3) is provided at the center of the lower end of the chassis body (1), an electrical component and a battery pack rack (4) are fixedly installed on one side of the upper end of the chassis body (1), and a column body (5) is fixedly installed on the other side of the upper end of the chassis body (1), wherein a lifting body (6) is fixedly installed on the column body (5), characterized in that: The lifting body (6) is internally equipped with a gear and rack transmission structure (8) and a lifting counterweight (10). A chain (11) is mounted on the lifting counterweight (10). A connecting frame (7) is mounted on the end of the chain (11) away from the lifting counterweight (10). A first drive structure (12) and a second drive structure (13) are respectively mounted on the two connecting frames (7). The first drive structure (12) and the second drive structure (13) are fixedly connected to the two connecting frames (7). Both the first drive structure (12) and the second drive structure (13) are equipped with... Connecting arms (14), a third driving structure (15) and a fourth driving structure (16) are respectively installed on the ends of the two connecting arms (14) away from the first driving structure (12) and the second driving structure (13). A stirring arm (17) and a clamping arm (18) are respectively installed on the third driving structure (15) and the fourth driving structure (16). A fifth driving structure (19) and a sixth driving structure (21) are installed on the stirring arm (17) and the clamping arm (18). A quick-change mechanism is installed on both the fifth driving structure (19) and the sixth driving structure (21). The quick-change mechanism includes two quick-change discs (20), which are respectively installed on the fifth drive structure (19) and the sixth drive structure (21). Each quick-change disc (20) includes an upper connecting disc (29) and a lower connecting disc (30). A first connecting block (31) and a second connecting block (32) are symmetrically fixedly installed on the side walls of the two upper connecting discs (29) and the lower connecting disc (30). A tapered guide sleeve (33) and a positioning post (34) are symmetrically fixedly installed on the opposite ends of the two upper connecting discs (29) and the lower connecting disc (30).

2. The mobile robot gripping device as described in claim 1, characterized in that, The two quick-change discs (20) are respectively equipped with a stirring shaft mounting seat (23) and a clamp mounting seat (27), and the stirring shaft mounting seat (23) is provided with a first positioning pin (24).

3. The mobile robot gripping device as described in claim 2, characterized in that, The stirring shaft mounting base (23) has a stirring shaft (25) that can be detachably installed inside. The stirring shaft mounting base (23) and the stirring shaft (25) can be quickly detached through the first positioning pin (24).

4. The mobile robot gripping device as described in claim 2, characterized in that, The clamp mounting base (27) is provided with a second positioning pin (26), and a clamp (28) is detachably installed inside the clamp mounting base (27). The clamp (28) and the clamp mounting base (27) can be quickly separated by the second positioning pin (26).

5. A mobile robot gripping device as described in claim 1, characterized in that, Both sets of the second connecting blocks (32) are provided with a first inner groove (35), and both sets of the first inner groove (35) are provided with symmetrical limit grooves (36) in the inner wall.

6. The mobile robot gripping device as described in claim 1, characterized in that, Both sets of the first connecting blocks (31) have a second inner groove (37) inside, and both sets of the second inner groove (37) have an inner column (38) fixedly installed inside.

7. A mobile robot gripping device as described in claim 6, characterized in that, Both sets of the second inner grooves (37) are symmetrically slidably installed with limiting strips (39), and each set of limiting strips (39) is adapted to each set of limiting grooves (36).

8. A mobile robot gripping device as described in claim 7, characterized in that, Each set of limiting strips (39) is slidably mounted on the inner column (38), and a spring (40) is fixedly installed between each set of limiting strips (39).

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