CN112091947B

CN112091947B - Robot capable of tracking and grabbing dynamic target

Info

Publication number: CN112091947B
Application number: CN202011001852.4A
Authority: CN
Inventors: 丛帅; 褚学林; 李沙沙; 燕居怀; 王文强; 李超新; 张耀; 林玲玉; 王攀攀; 刘娜
Original assignee: Weihai Ocean Vocational College
Current assignee: Weihai Ocean Vocational College
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2023-04-14
Anticipated expiration: 2040-09-22
Also published as: CN112091947A

Abstract

The invention provides a robot capable of tracking and grabbing a dynamic target, which comprises a base, a first joint arm, a second joint arm, a connecting piece, a third joint arm, a fourth joint arm, a wrist joint arm, a support, a clamp, a vision sensor, a movable clamping frame structure, an auxiliary supporting rod frame structure, a movable supporting seat structure, a PLC (programmable logic controller) and a driving switch, wherein the first joint arm is coupled to the upper end of the base in a shaft connection mode; one end of the second joint arm is connected with the first joint arm in a shaft way, and the other end of the second joint arm is connected with a connecting piece in a shaft way; one end of the third joint arm is connected with the connecting piece in a shaft mode, and the other end of the third joint arm is connected with the fourth joint arm in a shaft mode; one end of the wrist joint arm is connected with the fourth joint arm by a shaft, and the other end of the wrist joint arm is connected with the bracket bolt. The beneficial effects of the invention are as follows: through the arrangement of the movable clamping frame structure, the clamping range of the clamp is increased, and different angles can be adjusted simultaneously, so that articles in different shapes can be clamped more tightly.

Description

Robot capable of tracking and grabbing dynamic target

Technical Field

The invention belongs to the technical field of mechanical manufacturing design, and particularly relates to a robot capable of tracking and grabbing a dynamic target.

Background

Industrial robots are multi-joint manipulators or multi-degree-of-freedom robots for industrial applications. An industrial robot is a machine device which automatically executes work, and is a machine which realizes various functions by means of self power and control capability. The industrial robot can be commanded by human beings and can also run according to a preset program, and with the rapid development of the manufacturing industry, the industrial robot becomes an important technical means for improving the production efficiency and ensuring the production quality no matter in foreign countries or China, although the industrial robot also belongs to the field which is just started in the world.

However, the existing robot has the problems that it is inconvenient to adjust and fix the robot when the robot is used for clamping, it is inconvenient to assist in supporting and reinforcing, and it is inconvenient to assist in supporting and moving the robot.

Therefore, it is necessary to invent a robot capable of tracking and grabbing a dynamic target.

Disclosure of Invention

In order to solve the technical problems, the invention provides a robot capable of tracking and grabbing a dynamic target, which aims to solve the problems that the existing robot is inconvenient to adjust when being clamped so as to increase the fixing effect, is inconvenient to support and reinforce in an auxiliary manner, and is inconvenient to support and move for use. A robot capable of tracking and grabbing a dynamic target comprises a base, a first joint arm, a second joint arm, a connecting piece, a third joint arm, a fourth joint arm, a wrist joint arm, a support, a clamp, a vision sensor, a movable clamping frame structure, an auxiliary supporting rod frame structure, a movable support base structure, a PLC and a driving switch, wherein the first joint arm is coupled to the upper end of the base in a shaft connection mode; one end of the second joint arm is connected with the first joint arm in a shaft mode, and the other end of the second joint arm is connected with a connecting piece in a shaft mode; one end of the third joint arm is in shaft connection with the connecting piece, and the other end of the third joint arm is in shaft connection with the fourth joint arm; one end of the wrist joint arm is in shaft connection with the fourth joint arm, and the other end of the wrist joint arm is in bolt connection with the bracket; the clamp bolt is arranged on the upper side inside the bracket; the vision sensor bolt is arranged at the lower side of the inside of the bracket; the movable clamping frame structure is arranged on the left side of the clamp; the auxiliary support rod frame structure is arranged at the left lower part of the bracket; the structure capable of supporting and moving the seat is arranged at the lower part of the base; the PLC bolt is arranged on the left upper side of the front part of the supportable movable seat structure, and the front surface of the PLC is electrically connected with a driving switch; the movable clamping frame structure comprises a fixed plate, a movable edge, a movable clamping plate, a connecting shaft, an assembling plate and a movable supporting frame structure, wherein the movable edge is welded on the left side and the right side of the upper end and the lower end of the fixed plate respectively; connecting shafts are respectively welded on the inner sides of the left end and the right end of the movable clamping plate; the connecting shaft is arranged on the inner side of the movable edge through a bearing; the movable supporting frame structures are respectively arranged at the upper part and the lower part of the front surface of the fixed plate.

Preferably, the movable support frame structure comprises a support plate, a first movable seat, a first connecting block, a working electric cylinder, a second connecting block and a second movable seat, wherein the first movable seat is welded at the upper end of the support plate; the first connecting block is mounted at the lower end of the working electric cylinder through a bolt and is in shaft connection with the first movable seat; the output shaft of the working electric cylinder is provided with a second connecting block through a bolt, and the second connecting block is in shaft connection with the second movable seat; and the second movable seat bolt is arranged in the middle of the outer side of the front surface of the movable clamping plate.

Preferably, the auxiliary support rod frame structure comprises a fastening plate, a speed reducer, a rotating motor, a support rod, a first protection block and a second protection block, wherein the fastening plate is welded on the front side and the rear side of the lower part of the left end of the support respectively; the reducer bolt is arranged at the front end of the fastening plate; the rotating motor is mounted at the front end of the speed reducer through a bolt; the left side of branch outer wall have glued joint respectively and have first protection piece and second protection piece.

Preferably, the structure of the supportable movable seat comprises a supporting box, a chassis, movable wheels, a supporting electric cylinder, an installation box, a pressure reducing block and a reinforcing block, wherein the chassis is welded at the lower end of the supporting box, and the movable wheels are installed on the periphery of the lower surface of the chassis through bolts; the supporting electric cylinders are respectively installed on the periphery of the upper surface of the chassis through bolts, and the output shaft of each supporting electric cylinder is provided with an installation box through bolts; the decompression block is installed in the mounting box through bolts, and reinforcing blocks are embedded on the left side and the right side of the inner portion of the decompression block.

Preferably, the fixing plate is fixed to the front and rear portions of the left side of the jig by assembling plates, and the assembling plates are respectively bolted to the fixing plate and the jig.

Preferably, the movable clamping plates are respectively arranged on the front side and the rear side of the upper part and the lower part of the clamp, and the movable clamping plates are L-shaped.

Preferably, one end of the working electric cylinder is connected with the fixed plate through the supporting plate, and the other end of the working electric cylinder is connected with the movable clamping plate through the second movable seat.

Preferably, the length of the supporting plate is set to be ten centimeters to twenty centimeters, and the supporting plate is welded on the upper part and the lower part of the front surface of the fixing plate respectively.

Preferably, the front end of the speed reducer is in key connection with an output shaft of the rotating motor, and the rear end of the speed reducer is in key connection with the supporting rod.

The pressure reducing block is a rubber block, the reinforcing block inside the pressure reducing block is a steel block, and the pressure reducing block is arranged in a preferable installation box.

Preferably, the upper end of the supporting box is connected with the base through a bolt, and the supporting box supports the supporting electric cylinder through the chassis.

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

1. in the invention, the fixing plate is respectively fixed at the front part and the rear part on the left side of the clamp through the assembling plate, and the assembling plate is respectively connected with the fixing plate and the clamp through bolts, so that the fixing plate is convenient to be matched with the fixing plate for installation and use.

2. In the invention, a plurality of movable edges are arranged and are connected with the movable clamping plates through the connecting shafts, so that the movable clamping plates are conveniently matched for assembly and movable use.

3. In the invention, the movable clamping plates are respectively arranged on the front side and the rear side of the upper part and the lower part of the clamp, and the movable clamping plates are L-shaped, so that the clamping range of the clamp is increased, and different angles can be adjusted, thereby clamping articles in different shapes more tightly.

4. In the invention, one end of the working electric cylinder is connected with the fixed plate through the supporting plate, and the other end of the working electric cylinder is connected with the movable clamping plate through the second movable seat, so that the working electric cylinder is convenient to install in a matching manner, and meanwhile, the working electric cylinder is also convenient to drive the movable clamping plate to move and work for use.

5. In the invention, the first movable seat and the second movable seat are respectively arranged in a U shape and are respectively connected with the first connecting block and the second connecting block, so that the movable seat is convenient to be installed in cooperation with a working electric cylinder and can be movably used along with the working electric cylinder.

6. In the invention, the length of the supporting plate is set to be ten centimeters to twenty centimeters, and the supporting plate is respectively welded on the upper part and the lower part of the front surface of the fixing plate, so that the supporting plate is convenient to be installed by matching with the working electric cylinder and can be movably used along with the working electric cylinder.

7. In the invention, the first protection block and the second protection block on the outer wall of the support rod are respectively rubber blocks, and the first protection block and the second protection block are respectively arranged below the clamp.

8. In the invention, two fastening plates are arranged, and the support rods are axially connected between the fastening plates, so that the fastening plates can be conveniently matched with the support rods for installation and movable use.

9. In the invention, the front end of the speed reducer is in key connection with the output shaft of the rotating motor, and the rear end of the speed reducer is in key connection with the support rod, so that the rotating motor is driven to drive the support rod to move and be used along with the support rod.

10. According to the invention, the pressure reducing block is a rubber block, the reinforcing block inside the pressure reducing block is a steel block, and the pressure reducing block is arranged in the mounting box, so that when the pressure reducing block is supported by the mounting box, the pressure reducing block can conveniently reduce pressure and absorb shock and protect the pressure reducing block.

11. In the invention, the upper end of the supporting box is connected with the base through the bolt, the supporting box supports the supporting electric cylinder through the chassis, and the supporting electric cylinder can be matched with the mounting box for supporting and using by driving.

Drawings

FIG. 1 is a schematic diagram of the present invention.

Fig. 2 is a schematic structural view of the movable gripping frame structure of the present invention.

Fig. 3 is a schematic structural view of the movable supporting frame structure of the present invention.

Fig. 4 is a structural view illustrating the structure of the auxiliary support bar frame of the present invention.

Fig. 5 is a schematic structural view of the supportable movable seat structure of the present invention.

Fig. 6 is a schematic electrical wiring diagram of the present invention.

In the figure:

1. a base; 2. a first articulated arm; 3. a second articulated arm; 4. a connecting member; 5. a third joint arm; 6. a fourth articulated arm; 7. a wrist joint arm; 8. a support; 9. a clamp; 10. a vision sensor; 11. a movable clamping frame structure; 111. a fixing plate; 112. a movable edge; 113. a movable splint; 114. a connecting shaft; 115. assembling a plate; 116. a movable support frame structure; 1161. a support plate; 1162. a first movable seat; 1163. a first connection block; 1164. a working electric cylinder; 1165. a second connecting block; 1166. a second movable seat; 12. an auxiliary support bar frame structure; 121. a fastening plate; 122. a speed reducer; 123. a rotating electric machine; 124. a strut; 125. a first guard block; 126. a second guard block; 13. a supportable movable seat structure; 131. a support box; 132. a chassis; 133. a moving wheel; 134. supporting an electric cylinder; 135. mounting a box; 136. a pressure reducing block; 137. a reinforcing block; 14. a PLC; 15. the switch is driven.

Detailed Description

The invention is further described below with reference to the accompanying drawings:

the embodiment is as follows:

as shown in fig. 1 to fig. 2, a robot capable of tracking and grabbing a dynamic target includes a base 1, a first joint arm 2, a second joint arm 3, a connecting member 4, a third joint arm 5, a fourth joint arm 6, a wrist joint arm 7, a support 8, a clamp 9, a vision sensor 10, a movable clamping frame structure 11, an auxiliary support rod frame structure 12, a supportable movable base structure 13, a plcc 14 and a driving switch 15, wherein the first joint arm 2 is coupled to the upper end of the base 1; one end of the second joint arm 3 is connected with the first joint arm 2 in a shaft way, and the other end of the second joint arm is connected with the connecting piece 4 in a shaft way; one end of the third joint arm 5 is coupled with the connecting piece 4, and the other end is coupled with the fourth joint arm 6; one end of the wrist joint arm 7 is coupled with the fourth joint arm 6, and the other end is connected with the bracket 8 through a bolt; the clamp 9 is mounted on the upper side inside the bracket 8 through bolts; the vision sensor 10 is mounted at the lower side of the inside of the bracket 8 through bolts; the movable clamping frame structure 11 is arranged on the left side of the clamp 9; the auxiliary support rod frame structure 12 is arranged at the lower left part of the bracket 8; the supportable movable seat structure 13 is arranged at the lower part of the base 1; the PLC14 is installed on the left upper side of the front part of the supportable movable seat structure 13 through a bolt, and the front surface of the PLC14 is electrically connected with a driving switch 15; the movable clamping frame structure 11 comprises a fixed plate 111, a movable edge 112, a movable clamping plate 113, a connecting shaft 114, an assembling plate 115 and a movable supporting frame structure 116, wherein the movable edge 112 is welded on the left side and the right side of the upper end and the lower end of the fixed plate 111 respectively; the inner sides of the left end and the right end of the movable clamping plate 113 are respectively welded with a connecting shaft 114; the connecting shaft 114 is arranged on the inner side of the movable edge 112 through a bearing; the movable supporting frame structure 116 is respectively installed on the upper and lower parts of the front surface of the fixing plate 111.

As shown in fig. 3, in the above embodiment, specifically, the movable supporting frame structure 116 includes a supporting plate 1161, a first movable seat 1162, a first connecting block 1163, a working electric cylinder 1164, a second connecting block 1165, and a second movable seat 1166, and the first movable seat 1162 is welded at the upper end of the supporting plate 1161; the first connecting block 1163 is installed at the lower end of the working electric cylinder 1164 through bolts, and the first connecting block 1163 is in shaft connection with the first movable seat 1162; a second connecting block 1165 is mounted on an output shaft bolt of the working electric cylinder 1164, and the second connecting block 1165 is coupled with a second movable seat 1166; the second movable seat 1166 is installed at the middle position of the outer side of the front surface of the movable clamping plate 113 through bolts.

As shown in fig. 4, in the above embodiment, specifically, the auxiliary support rod frame structure 12 includes a fastening plate 121, a speed reducer 122, a rotating motor 123, a support rod 124, a first protection block 125 and a second protection block 126, where the fastening plate 121 is welded to the front and rear sides of the lower portion of the left end of the support 8; the reducer 122 is mounted at the front end of the fastening plate 121 through bolts; the rotating motor 123 is mounted at the front end of the reducer 122 through bolts; the left side of the outer wall of the supporting rod 124 is respectively glued with a first protection block 125 and a second protection block 126; the rotating motor 123 is driven to rotate the decelerator 122 and the support rod 124, so that the support rod 124 cooperates with the first protection block 125 and the second protection block 126 to drag the clamped object.

As shown in fig. 5, in the above embodiment, specifically, the supportable movable seat structure 13 includes a supporting box 131, a chassis 132, a movable wheel 133, a supporting electric cylinder 134, a mounting box 135, a pressure reducing block 136 and a reinforcing block 137, the chassis 132 is welded to the lower end of the supporting box 131, and the movable wheel 133 is bolted to the periphery of the lower surface of the chassis 132; the supporting electric cylinders 134 are respectively installed on the periphery of the upper surface of the chassis 132 through bolts, and the mounting boxes 135 are installed on the output shafts of the supporting electric cylinders 134 through bolts; the decompression block 136 is installed inside the mounting box 135 by bolts, and reinforcing blocks 137 are embedded on the left side and the right side inside the decompression block 136; the movable supporting box 131 is moved to a designated position by the moving wheel 133, and then the supporting electric cylinder 134 is driven to lower the mounting box 135, the decompression block 136, and the reinforcement block 137, thereby supporting the supporting box 131.

In the above embodiment, specifically, the fixing plate 111 is fixed to the front and rear portions of the left side of the clamp 9 through the assembling plates 115, and the assembling plates 115 are respectively bolted to the fixing plate 111 and the clamp 9, so that the fixing plate 111 can be conveniently installed and used with the fixing plate.

In the above embodiment, specifically, a plurality of movable edges 112 are provided, and the movable edges 112 are connected to the movable clamp plate 113 through the connecting shaft 114, so as to be conveniently assembled with the movable clamp plate 113 and to be movably used therewith.

In the above embodiment, specifically, the movable clamping plates 113 are respectively disposed at the front and rear sides of the upper and lower portions of the clamp 9, and the movable clamping plates 113 are L-shaped, so as to increase the clamping range of the clamp 9, and meanwhile, the movable clamping plates 113 can be adjusted to different angles, thereby clamping articles of different shapes more tightly.

In the above embodiment, specifically, one end of the working electric cylinder 1164 is connected to the fixing plate 111 through the supporting plate 1161, and the other end of the working electric cylinder 1164 is connected to the movable clamp plate 113 through the second movable seat 1166, so as to be convenient for the working electric cylinder 1164 to be installed, and meanwhile, the working electric cylinder 1164 is also convenient for driving the movable clamp plate 113 to move and work.

In the above embodiment, specifically, the first movable seat 1162 and the second movable seat 1166 are respectively U-shaped and are connected to the first connecting block 1163 and the second connecting block 1165, so as to be conveniently installed in cooperation with the working electric cylinder 1164 and be used movably therewith.

In the above embodiment, specifically, the length of the supporting plate 1161 is set to be ten centimeters to twenty centimeters, and the supporting plate 1161 is respectively welded on the upper portion and the lower portion of the front surface of the fixing plate 111, so that the supporting plate 1161 is conveniently installed in cooperation with the working electric cylinder 1164 and then is movably used.

In the above embodiment, specifically, the first protection block 125 and the second protection block 126 on the outer wall of the supporting rod 124 are respectively made of rubber blocks, and the first protection block 125 and the second protection block 126 are respectively disposed below the clamp 9, so that when in use, the article clamped by the clamp 9 can be supported in an auxiliary manner, thereby playing a role in assisting in reinforcing and preventing the clamped article from falling off easily.

In the above embodiment, specifically, two fastening plates 121 are provided, and a supporting rod 124 is coupled between the

fastening plates

121 and 121, so that the fastening plates can be conveniently installed and moved along with the supporting rod 124.

In the above embodiment, specifically, the front end of the speed reducer 122 is connected to the output shaft of the rotating motor 123, and the rear end of the speed reducer 122 is connected to the support rod 124, so that the rotating motor 123 is driven to drive the support rod 124 to move and use the same.

In the above embodiment, specifically, the pressure reducing block 136 is a rubber block, the reinforcing block 137 inside the pressure reducing block is a steel block, and the pressure reducing block 136 is disposed in the mounting box 135, so that when the pressure reducing block 136 is supported by the mounting box 135, pressure reduction and shock absorption are performed through the pressure reducing block 136, and protection is performed.

In the above embodiment, specifically, the upper end of the supporting box 131 is connected to the base 1 by bolts, the supporting box 131 supports the supporting electric cylinder 134 through the chassis 132, and the supporting electric cylinder 134 can be driven to cooperate with the mounting box 135 for supporting and using.

In the above embodiment, specifically, the PLC14 is a PLC of model FX 2N-48.

In the above embodiment, specifically, the working electric cylinder 1164 is an SA30 electric cylinder.

In the above embodiment, specifically, the rotating electrical machine 123 is a 60BLDC motor.

In the above embodiment, specifically, the support electric cylinder 134 is a KSL12E6-50-HS type electric cylinder.

In the above embodiment, specifically, the driving switch 15 is electrically connected to an input terminal of the PLC14, the working electric cylinder 1164 is electrically connected to an output terminal of the PLC14, the rotating electrical machine 123 is electrically connected to an output terminal of the PLC14, and the supporting electric cylinder 134 is electrically connected to an output terminal of the PLC 14.

Principle of operation

The working principle of the invention is as follows: the movable supporting box 131 is moved to a designated position by the moving wheel 133, then the supporting electric cylinder 134 is driven to drive the mounting box 135, the pressure reducing block 136 and the reinforcing block 137 to descend, so as to support the supporting box 131, after the supporting is completed, when the device is used, the object is sensed and tracked by the vision sensor 10, then the first articulated arm 2, the second articulated arm 3, the third articulated arm 5, the fourth articulated arm 6 and the wrist articulated arm 7 drive the bracket 8 and the clamp 9 to move, then the clamp 9 is driven to clamp the object, and simultaneously the movable clamp plate 113 is driven to move by the front driving electric cylinder 1164, so as to clamp the object by matching with the clamp 9, after the clamping is completed, the rotating motor 123 is driven to drive the speed reducer 122 and the supporting rod 124 to rotate, so that the supporting rod 124 matches with the first protection block 125 and the second protection block 126 to clamp the clamped object, and then the object is moved to the designated position, so that the use can be completed.

The technical solutions of the present invention or similar technical solutions designed by those skilled in the art based on the teachings of the technical solutions of the present invention are all within the scope of the present invention.

Claims

1. The robot capable of tracking and grabbing the dynamic target is characterized by comprising a base (1), a first joint arm (2), a second joint arm (3), a connecting piece (4), a third joint arm (5), a fourth joint arm (6), a wrist joint arm (7), a support (8), a clamp (9), a vision sensor (10), a movable clamping frame structure (11), an auxiliary supporting rod frame structure (12), a movable supporting seat structure (13), a PLC (14) and a driving switch (15), wherein the first joint arm (2) is coupled to the upper end of the base (1) in a shaft connection mode; one end of the second joint arm (3) is connected with the first joint arm (2) in a shaft way, and the other end of the second joint arm is connected with the connecting piece (4) in a shaft way; one end of the third joint arm (5) is in shaft connection with the connecting piece (4), and the other end of the third joint arm is in shaft connection with the fourth joint arm (6); one end of the wrist joint arm (7) is connected with the fourth joint arm (6) in a shaft mode, and the other end of the wrist joint arm is connected with the support (8) through a bolt; the clamp (9) is arranged on the upper side inside the bracket (8) through a bolt; the visual sensor (10) is arranged at the lower side inside the bracket (8) through a bolt; the movable clamping frame structure (11) is arranged on the left side of the clamp (9); the auxiliary support rod frame structure (12) is arranged at the left lower part of the bracket (8); the supporting movable seat structure (13) is arranged at the lower part of the base (1); the PLC (14) is installed on the left upper side of the front part of the supportable movable seat structure (13) through a bolt, and the front surface of the PLC (14) is electrically connected with a driving switch (15); the movable clamping frame structure (11) comprises a fixed plate (111), a movable edge (112), a movable clamping plate (113), a connecting shaft (114), an assembling plate (115) and a movable supporting frame structure (116), wherein the movable edge (112) is welded on the left side and the right side of the upper end and the lower end of the fixed plate (111) respectively; connecting shafts (114) are respectively welded on the inner sides of the left end and the right end of the movable clamping plate (113); the connecting shaft (114) is arranged on the inner side of the movable edge (112) through a bearing; the movable supporting frame structures (116) are respectively arranged on the upper part and the lower part of the front surface of the fixed plate (111); the movable supporting frame structure (116) comprises a supporting plate (1161), a first movable seat (1162), a first connecting block (1163), a working electric cylinder (1164), a second connecting block (1165) and a second movable seat (1166), wherein the first movable seat (1162) is welded at the upper end of the supporting plate (1161); the first connecting block (1163) is installed at the lower end of the working electric cylinder (1164) through bolts, and the first connecting block (1163) is in shaft connection with the first movable seat (1162); a second connecting block (1165) is mounted on an output shaft bolt of the working electric cylinder (1164), and the second connecting block (1165) is coupled with a second movable seat (1166) in a shaft mode; the second movable seat (1166) is installed at the middle part of the outer side of the front surface of the movable clamping plate (113) through bolts.

2. The robot capable of tracking and grabbing a dynamic object as claimed in claim 1, wherein said auxiliary supporting rod frame structure (12) comprises a fastening plate (121), a speed reducer (122), a rotating motor (123), a supporting rod (124), a first protection block (125) and a second protection block (126), said fastening plate (121) is welded on the front and back sides of the lower part of the left end of the support (8); the speed reducer (122) is mounted at the front end of the fastening plate (121) through bolts; the rotating motor (123) is mounted at the front end of the speed reducer (122) through a bolt; the left side of the outer wall of the supporting rod (124) is respectively glued with a first protection block (125) and a second protection block (126).

3. The robot capable of tracking and grabbing a dynamic object as claimed in claim 1, wherein said supportable and movable seat structure (13) comprises a supporting box (131), a chassis (132), a movable wheel (133), a supporting electric cylinder (134), a mounting box (135), a pressure reducing block (136) and a reinforcing block (137), the chassis (132) is welded to the lower end of said supporting box (131), and the movable wheel (133) is installed around the lower surface of the chassis (132) by bolts; the supporting electric cylinders (134) are respectively installed on the periphery of the upper surface of the chassis (132) through bolts, and the output shafts of the supporting electric cylinders (134) are provided with installation boxes (135) through bolts; the decompression block (136) is installed in the installation box (135) through bolts, and reinforcing blocks (137) are embedded in the left side and the right side of the interior of the decompression block (136).

4. The robot capable of tracking and grabbing dynamic objects according to claim 1, wherein the number of the movable edges (112) is multiple, and the movable edges (112) are connected with the movable clamping plate (113) through a connecting shaft (114).

5. The robot capable of tracking and grabbing a dynamic object as claimed in claim 1, wherein said movable clamping plates (113) are respectively disposed at the front and rear sides of the upper and lower portions of the gripper (9), and said movable clamping plates (113) are disposed in an L-shape.

6. The robot capable of tracking and grabbing dynamic objects according to claim 1, wherein the working electric cylinder (1164) is connected to the fixed plate (111) through the supporting plate (1161) at one end and connected to the movable clamp plate (113) through the second movable seat (1166) at the other end.

7. The robot capable of tracking and grabbing a dynamic object as claimed in claim 1, wherein the first movable seat (1162) and the second movable seat (1166) are respectively U-shaped and connected to the first connecting block (1163) and the second connecting block (1165), the length of the supporting plate (1161) is ten centimeters to twenty centimeters, and the supporting plate (1161) is welded to the upper portion and the lower portion of the front surface of the fixing plate (111).

8. The robot capable of tracking and grabbing dynamic objects according to claim 2 is characterized in that the first protection block (125) and the second protection block (126) on the outer wall of the supporting rod (124) are respectively rubber blocks, and the first protection block (125) and the second protection block (126) are respectively arranged below the clamp (9).

9. The robot capable of tracking and grabbing dynamic objects according to claim 2, characterized in that the front end of the decelerator (122) is keyed with the output shaft of the rotating motor (123), and the rear end of the decelerator (122) is keyed with the strut (124).

10. A robot capable of tracking and grabbing a dynamic object as claimed in claim 3, wherein the pressure reducing block (136) is made of rubber, the inner reinforcing block (137) is made of steel, and the pressure reducing block (136) is arranged in the mounting box (135).