A gripping and conveying device and a driverless vehicle

Abstract

The application relates to the technical field of conveying devices, in particular to a clamping conveying device and an unmanned vehicle, which comprises a vehicle compartment, the lower end of the vehicle compartment is fixedly connected with a bottom plate, the upper end of the bottom plate is provided with a level-keeping mechanism for keeping the moving level, the inner side of the vehicle compartment is provided with a clamping mechanism for moving a canning barrel, and the stability of the device under complex road conditions is remarkably enhanced through the cooperative matching of various accessories in the level-keeping mechanism. A first rotating shaft provides stable support for a first bevel gear through a connecting plate, so that the first bevel gear is accurately meshed with a second bevel gear, forming a flexible transmission structure; a second rotating shaft transmits the transmission effect to a fixed support, drives an electric roller to realize height adjustment; through the cooperation of a clamping assembly and an adjusting assembly of the clamping mechanism, the accurate clamping and flexible adaptation of the canning barrel are realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of conveying devices, in particular to a clamping conveying device and a driverless vehicle. BACKGROUND

[0002] In the field of food, chemical and other transportation and distribution, short-distance transportation and transfer of canned barrels (such as wine barrels, raw material barrels, etc.) often rely on manual or traditional conveying equipment. With the development of automation technology, driverless vehicles gradually apply AI vision control conveying to this scene, but the existing technology still has the following limitations.

[0003] Firstly, the transportation stability is insufficient. When the driverless vehicle drives on uneven road (such as factory stone road, workshop concave-convex ground) through AI vision, the traditional wheel structure lacks self-adaptive adjustment ability, which is easy to cause the vehicle body to tilt due to unilateral bumping, which not only may cause the canned barrels to shake and dump, but also may cause the driverless vehicle to roll over due to the shift of the center of gravity, especially when transporting special-shaped canned barrels with handles, the stability problem is more prominent; secondly, the clamping adaptability and precision are insufficient. The existing clamping device mostly uses mechanical claws or lifting structures with fixed size, which is difficult to adapt to the handle position difference of canned barrels of different specifications. When the handle deviates from the clamping reference line, it is easy to cause clamping instability, sliding and other problems. Although some devices are equipped with position detection elements, they lack linkage adjustment mechanism and cannot adjust the clamping angle in real time to align the handle, resulting in low clamping efficiency and high failure rate, which is difficult to meet the continuous operation demand of automatic production line; finally, the cleaning and space utilization have shortcomings. After the canned barrels are stored or preliminarily processed, the surface often remains impurities such as liquid and dust. The existing conveying device mostly does not integrate cleaning function, which needs additional process, increasing the complexity of production process; at the same time, the traditional conveying device mostly uses straight line translation type placement method, and the canned barrels are arranged in parallel in the vehicle compartment, without considering the space optimization of inclined placement, resulting in low vehicle compartment volume rate, especially when transporting canned barrels with similar height, the space waste problem is significant. Therefore, we propose a clamping conveying device and a driverless vehicle. SUMMARY

[0004] In order to make up for the shortcomings of the prior art and solve at least one technical problem proposed in the background art, the present application proposes a clamping conveying device and a driverless vehicle.

[0005] The technical scheme adopted by the present application to solve its technical problems is: a clamping conveying device, comprising a vehicle compartment, the lower end of the vehicle compartment is fixedly connected with a bottom plate, the upper end of the bottom plate is provided with a leveling mechanism for maintaining the moving level, and the inner side of the vehicle compartment is provided with a clamping mechanism for moving canned barrels.

[0006] Preferably, the leveling mechanism includes two sets of symmetrical first rotating shafts. The two ends of the first rotating shafts are rotatably connected to the base plate through connecting plates. A first bevel gear is fixedly connected to the outer side of the first rotating shaft. A second bevel gear is meshed with the outer side of the first bevel gear. A second rotating shaft is fixedly connected to the inner side of the second bevel gear. The outer side of the second rotating shaft is rotatably connected to the base plate through connecting plates. A fixed bracket is fixedly connected to the ends of the two sets of second rotating shafts that are far apart. Two sets of symmetrical electric rollers are provided at the lower end of the fixed bracket.

[0007] Preferably, the clamping mechanism includes a snap-fit ​​assembly for clamping and conveying the can, and the clamping mechanism also includes an adjustment assembly for adjusting the angle and cleaning the outside of the can.

[0008] Preferably, the snap-fit ​​assembly includes two sets of symmetrical L-shaped rotating plates. Six sets of first connecting rods are fixedly connected to the upper end of each L-shaped rotating plate. The upper ends of four of the six sets of first connecting rods are rotatably connected to the carriage, and the upper ends of two of the six sets of first connecting rods are rotatably connected to the carriage doors. A toothed chain is provided on the outer side of the upper connecting rod of each L-shaped rotating plate. A first toothed ring is connected to the outer side of the two sets of toothed chains through tooth engagement. The lower end of the first toothed ring is in contact with the L-shaped rotating plate. Two sets of symmetrical fixing frames are fixedly connected to the lower end of the first toothed ring. An electric telescopic rod is rotatably connected to the inner side of each fixing frame through a rotating shaft. A first motor is installed on one side of each fixing frame. The output shaft of the first motor is fixedly connected to the housing of the electric telescopic rod. The output shafts of the two sets of electric telescopic rods are rotatably connected to an annular baffle. A T-shaped groove is provided at the upper end of the annular baffle.

[0009] Preferably, the upper end of the annular baffle is slidably connected to two sets of symmetrical first locking blocks, and the upper ends of the two sets of first locking blocks are fixedly connected to L-shaped connecting rods. The close ends of the two sets of L-shaped connecting rods are jointly fixedly connected to a C-shaped mounting bracket. The inner side of the C-shaped mounting bracket is slidably connected to two sets of symmetrical arc-shaped racks. The upper end of the C-shaped mounting bracket is fixedly connected to two sets of symmetrical limiting frames. The inner side of the limiting frame is rotatably connected to a first spur gear via a rotating shaft. The outer side of the first spur gear meshes with the arc-shaped rack. A second motor is installed on one side of the limiting frame. The output shaft of the second motor is fixedly connected to the first spur gear. An infrared probe is installed at one end of the arc-shaped rack.

[0010] Preferably, the adjustment assembly further includes two sets of symmetrical mounting brackets. The side of each set of mounting brackets that is far apart from the other side is fixedly connected to a C-shaped mounting bracket. A second locking block is fixedly connected to the other side of each mounting bracket. The two sets of second locking blocks are slidably connected to a second gear ring. A T-shaped groove is provided on the outer side of the second gear ring. A second spur gear is rotatably connected to the inner side of each mounting bracket via a rotating shaft. The outer side of the second spur gear meshes with the second gear ring. A third motor is provided at the upper end of each mounting bracket. The output shaft of the third motor is fixedly connected to the second spur gear.

[0011] Preferably, an alcohol tank is fixedly connected to the lower end of the mounting bracket, a stirring rod is rotatably connected to the inner side of the alcohol tank, the upper end of the stirring rod is fixedly connected to a second spur gear, a third rotating shaft is fixedly connected to the lower end of the stirring rod, an eccentric plate is fixedly connected to the outer side of the third rotating shaft, an annular clamping plate is rotatably connected to the outer side of the eccentric plate, two sets of symmetrical sliding rods are fixedly connected to the outer side of the annular clamping plate, a first limiting frame is slidably connected to the outer side of the sliding rods, the upper end of the first limiting frame is fixedly connected to the alcohol tank, and one end of one set of sliding rods is fixedly connected to a rotating rod by a fiber rope.

[0012] Preferably, spray heads are provided at both the upper and lower ends of the rotating rod. The inlet of the spray head is fixedly connected to the alcohol tank through a telescopic hose. A second limiting frame is rotatably connected to the inner side of the rotating rod through a rotating shaft. One side of the second limiting frame is fixedly connected to the first limiting frame.

[0013] Preferably, a third spur gear is fixedly connected above the outer eccentric plate of the third rotating shaft, a toothed timing belt is meshed on the outer side of the third spur gear, two sets of symmetrical fourth spur gears are meshed on the inner side of the toothed timing belt, a roller brush is fixedly connected on the inner side of the fourth spur gear, and the upper end of the roller brush is rotatably connected to the alcohol tank.

[0014] An unmanned vehicle includes the aforementioned gripping and conveying device.

[0015] Compared with the prior art, the present invention provides a gripping and conveying device and an unmanned vehicle, which have the following beneficial effects:

[0016] 1. The coordinated operation of all components in the leveling mechanism significantly enhances the stability of the device under complex road conditions. The first rotating shaft provides stable support for the first bevel gear through a connecting plate, enabling precise meshing with the second bevel gear to form a flexible transmission structure. The second rotating shaft then transmits the transmission force to the fixed bracket, driving the electric rollers to achieve height adjustment. When one or both electric rollers encounter obstacles, the meshing rotation of the bevel gears will adjust the relative height of the rollers in real time, always keeping the base plate level and preventing the device from tilting or overturning due to uneven road surfaces, ensuring the stability of the canisters during transportation.

[0017] 2. The clamping mechanism, through the cooperation of its locking and adjusting components, achieves precise clamping and flexible adaptation of canned containers. The first connecting rod links the opening and closing of the vehicle door with the L-shaped rotating plate, causing the clamping chain to straighten or fold as the plate changes state, driving the first toothed ring to move stably. The electric telescopic rod, supported by the fixed frame, works with the first motor to achieve lifting and swinging. An annular baffle initially surrounds the canned container, providing basic positioning for clamping. The mounting bracket drives the C-shaped mounting frame to rotate, and the second locking block slides within the T-shaped groove of the toothed ring to ensure structural stability. Combined with real-time detection by an infrared probe, the angle of the arc-shaped rack can be precisely adjusted to align with the canned container handle. This design adapts to the different handle positions of various canned containers and, through the clamping chain drive and the meshing of spur gears and arc-shaped racks, ensures the controllability of the clamping action, achieving precise clamping.

[0018] 3. The coordination between the adjusting and clamping components simultaneously optimizes both the cleaning of the canned containers and space utilization. A second spur gear drives a stirring rod to rotate inside the alcohol tank, ensuring uniform mixing of the cleaning solution. A third rotating shaft transmits power to an eccentric plate, allowing the spray head to flexibly adjust its angle for comprehensive cleaning of the canned container's surface. The third spur gear drives a fourth spur gear via a timing belt, which in turn rotates a roller brush to quickly wipe the container after spraying the cleaning solution, accelerating liquid evaporation and improving cleaning effectiveness. An electric telescopic rod, driven by a first motor, swings around a fixed frame, and with the clamping action of a ring baffle and an arc-shaped rack, the canned container is kept horizontal and tilted to one side by its own weight. This design overcomes the spatial limitations of linear translation, maximizing the use of the interior space of the vehicle and solving the problem of low space utilization in traditional transportation methods. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0021] Figure 3 This is a schematic diagram of the overall structure of the leveling mechanism of the present invention;

[0022] Figure 4 This is a schematic diagram of the overall structure of the clamping mechanism of the present invention;

[0023] Figure 5 This is a cross-sectional schematic diagram of a portion of the clamping mechanism of the present invention;

[0024] Figure 6 For the present invention Figure 5 Enlarged schematic diagram of section A in the middle;

[0025] Figure 7 For the present inventionFigure 5 Enlarged schematic diagram of section B;

[0026] Figure 8 For the present invention Figure 5 Enlarged schematic diagram of section C in the middle;

[0027] Figure 9 This is a cross-sectional schematic diagram of the adjustment component of the present invention;

[0028] Figure 10 This is a bottom view of the overall structure of the adjustment component of the present invention.

[0029] In the diagram: 1. Carriage; 2. Floor plate; 3. Leveling mechanism; 31. First rotating shaft; 32. First bevel gear; 33. Second bevel gear; 34. Second rotating shaft; 35. Fixed bracket; 4. Clamping mechanism; 41. Snap-fit ​​assembly; 411. L-shaped rotating plate; 412. First connecting rod; 413. Toothed chain; 414. First toothed ring; 415. Fixed frame; 416. Electric telescopic rod; 417. First motor; 418. Annular baffle; 419. L-shaped connecting rod; 4110. First locking block; 4111. C-shaped mounting bracket; 4112. Arc-shaped rack; 4113. Limiting frame; 411 4. First spur gear; 4115. Second motor; 42. Adjustment component; 421. Mounting bracket; 422. Second spur gear; 423. Third motor; 424. Second locking block; 425. Second gear ring; 426. Stirring rod; 427. Alcohol tank; 428. Third rotating shaft; 429. Eccentric plate; 4210. Annular locking plate; 4211. Slide rod; 4212. First limiting frame; 4213. Rotating rod; 4214. Spray head; 4215. Second limiting frame; 4216. Third spur gear; 4217. Gear timing belt; 4218. Fourth spur gear; 4219. Roller brush. Detailed Implementation

[0030] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0031] The following electrical components are all electrically connected via an external PLC controller.

[0032] Please see Figures 1-10 A clamping and conveying device and an unmanned vehicle include a carriage 1, a base plate 2 fixedly connected to the lower end of the carriage 1, a leveling mechanism 3 for maintaining horizontal movement provided at the upper end of the base plate 2, and a clamping mechanism 4 for moving canned barrels provided on the inner side of the carriage 1.

[0033] In this embodiment, the leveling mechanism 3 includes two sets of symmetrical first rotating shafts 31. The two ends of the first rotating shafts 31 are rotatably connected to the base plate 2 through connecting plates. A first bevel gear 32 is fixedly connected to the outer side of the first rotating shaft 31. A second bevel gear 33 is meshed with the outer side of the first bevel gear 32. A second rotating shaft 34 is fixedly connected to the inner side of the second bevel gear 33. The outer side of the second rotating shaft 34 is rotatably connected to the base plate 2 through connecting plates. A fixed bracket 35 is fixedly connected to the ends of the two sets of second rotating shafts 34 that are far apart. Two sets of symmetrical electric rollers are provided at the lower end of the fixed bracket 35.

[0034] Specifically, the first rotating shaft 31 provides rotational support for the first bevel gear 32 and restricts its position through the connecting plate. The first bevel gear 32 meshes with the second bevel gear 33 to form a transmission structure. The second rotating shaft 34 is rotatably connected to the base plate 2 through the connecting plate and drives the second bevel gear 33 to rotate. The fixed bracket 35 connects the second rotating shaft 34 and the electric roller. The electric roller provides the device with the power to move. The four components work together to adjust the relative height of the electric rollers on the same side through gear meshing when encountering uneven road conditions, so as to keep the base plate 2 level.

[0035] In this embodiment, the clamping mechanism 4 includes a snap-fit ​​assembly 41 for clamping and conveying the canned barrel, and the clamping mechanism 4 also includes an adjustment assembly 42 for adjusting the angle and cleaning the outside of the canned barrel.

[0036] Specifically, the clamping component 41 is responsible for clamping, lifting and conveying the can into the carriage 1, while the adjusting component 42 can adjust the angle of the clamping component 41 to match the position of the can handle and can clean the outside of the can. Together, they achieve precise clamping, position adjustment and clean conveying of the can.

[0037] In this embodiment, the snap-fit ​​assembly 41 includes two sets of symmetrical L-shaped rotating plates 411. Six sets of first connecting rods 412 are fixedly connected to the upper ends of the L-shaped rotating plates 411. The upper ends of four sets of the first connecting rods 412 are rotatably connected to the carriage 1, and the upper ends of two sets of the first connecting rods 412 are rotatably connected to the doors of the carriage 1. A toothed chain 413 is provided on the outer side of the upper end of the first connecting rods 412 of the L-shaped rotating plates 411. The outer sides of the two sets of toothed chains 413 are connected by meshing teeth. There is a first toothed ring 414, the lower end of which is in contact with the L-shaped rotating plate 411. The lower end of the first toothed ring 414 is fixedly connected to two sets of symmetrical fixing frames 415. The inner side of the fixing frame 415 is rotatably connected to an electric telescopic rod 416 via a rotating shaft. A first motor 417 is installed on one side of the fixing frame 415. The output shaft of the first motor 417 is fixedly connected to the housing of the electric telescopic rod 416. The output shafts of the two sets of electric telescopic rods 416 are rotatably connected to an annular baffle 418. A T-shaped groove is provided at the upper end of the annular baffle 418.

[0038] Specifically, the L-shaped rotating plate 411 can achieve state transition under the drive of the first connecting rod 412. The six sets of first connecting rods 412 link the opening and closing of the car door with the state of the L-shaped rotating plate 411. The toothed chain 413 meshes with the first toothed ring 414 to realize the movement of the first toothed ring 414 along the L-shaped rotating plate 411. The fixed frame 415 provides rotational support for the electric telescopic rod 416. The first motor 417 drives the electric telescopic rod 416 to swing around the fixed frame 415. The electric telescopic rod 416 drives the annular baffle 418 to rise and fall. The annular baffle 418 can initially surround the can, and its T-shaped groove provides a sliding path for subsequent components.

[0039] In this embodiment, two sets of symmetrical first locking blocks 4110 are slidably connected to the upper end of the annular baffle 418. L-shaped connecting rods 419 are fixedly connected to the upper ends of the two sets of first locking blocks 4110. C-shaped mounting brackets 4111 are fixedly connected to the close ends of the two sets of L-shaped connecting rods 419. Two sets of symmetrical arc racks 4112 are slidably connected to the inner side of the C-shaped mounting brackets 4111. Two sets of symmetrical limiting frames 4113 are fixedly connected to the upper end of the C-shaped mounting brackets 4111. A first spur gear 4114 is rotatably connected to the inner side of the limiting frame 4113 via a rotating shaft. The outer side of the first spur gear 4114 meshes with the arc rack 4112. A second motor 4115 is installed on one side of the limiting frame 4113. The output shaft of the second motor 4115 is fixedly connected to the first spur gear 4114. An infrared probe is installed at one end of the arc rack 4112.

[0040] Specifically, the first locking block 4110 slides within the T-shaped groove of the annular baffle 418, cooperating with the L-shaped connecting rod 419 to achieve stable movement and horizontal holding of the C-shaped mounting bracket 4111. The C-shaped mounting bracket 4111 provides sliding support for the arc-shaped rack 4112. The limiting frame 4113 restricts the position of the first spur gear 4114. The second motor 4115 drives the first spur gear 4114 to rotate, which in turn drives the arc-shaped rack 4112 to slide through meshing. An infrared probe is used to detect the position of the can handle to achieve precise clamping.

[0041] In this embodiment, the adjustment component 42 further includes two sets of symmetrical mounting brackets 421. The side of each set of mounting brackets 421 that is far apart from the other side is fixedly connected to a C-shaped mounting bracket 4111. The other side of the mounting bracket 421 is fixedly connected to a second locking block 424. The two sets of second locking blocks 424 are slidably connected to a second gear ring 425. A T-shaped groove is provided on the outer side of the second gear ring 425. The inner side of the mounting bracket 421 is rotatably connected to a second spur gear 422 through a rotating shaft. The outer side of the second spur gear 422 is meshed with the second gear ring 425. A third motor 423 is provided at the upper end of the mounting bracket 421. The output shaft of the third motor 423 is fixedly connected to the second spur gear 422.

[0042] Specifically, the mounting bracket 421 connects the C-shaped mounting bracket 4111 to other components, the second locking block 424 slides in the T-shaped groove of the second gear ring 425 to maintain structural stability, and the third motor 423 drives the second spur gear 422 to rotate. By meshing with the second gear ring 425, the mounting bracket 421 and the C-shaped mounting bracket 4111 rotate, thereby adjusting the angle of the clamping components to align with the position of the can handle.

[0043] In this embodiment, an alcohol tank 427 is fixedly connected to the lower end of the mounting bracket 421. A stirring rod 426 is rotatably connected to the inner side of the alcohol tank 427. The upper end of the stirring rod 426 is fixedly connected to the second spur gear 422. A third rotating shaft 428 is fixedly connected to the lower end of the stirring rod 426. An eccentric plate 429 is fixedly connected to the outer side of the third rotating shaft 428. An annular clamping plate 4210 is rotatably connected to the outer side of the eccentric plate 429. Two sets of symmetrical sliding rods 4211 are fixedly connected to the outer side of the annular clamping plate 4210. A first limiting frame 4212 is slidably connected to the outer side of the sliding rods 4211. The upper end of the first limiting frame 4212 is fixedly connected to the alcohol tank 427. One end of one set of sliding rods 4211 is fixedly connected to a rotating rod 4213 by a fiber rope.

[0044] Specifically, the alcohol tank 427 is used to store the cleaning liquid. The stirring rod 426 rotates under the drive of the second spur gear 422 to stir the liquid in the alcohol tank 427. The third rotating shaft 428 transmits the power of the stirring rod 426 to the eccentric plate 429. The eccentric plate 429 drives the slide rod 4211 to slide back and forth in the first limit frame 4212 through the annular clamping plate 4210. The slide rod 4211 pulls the rotating rod 4213 through the fiber rope to provide power to the cleaning components.

[0045] In this embodiment, spray heads 4214 are provided at both the upper and lower ends of the rotating rod 4213. The inlet of the spray head 4214 is fixedly connected to the alcohol tank 427 through a telescopic hose. A second limiting frame 4215 is rotatably connected to the inner side of the rotating rod 4213 through a rotating shaft. One side of the second limiting frame 4215 is fixedly connected to the first limiting frame 4212.

[0046] Specifically, the rotating rod 4213 is pulled by the fiber rope and rotates at an angle around the second limiting frame 4215, which drives the spray head 4214 to adjust its angle. The spray head 4214 obtains liquid from the alcohol tank 427 through the telescopic hose and cleans the uneven surface of the tank. The second limiting frame 4215 provides rotational support for the rotating rod 4213.

[0047] In this embodiment, a third spur gear 4216 is fixedly connected above the outer eccentric plate 429 of the third rotating shaft 428. A toothed synchronous belt 4217 is meshed on the outer side of the third spur gear 4216. Two sets of symmetrical fourth spur gears 4218 are meshed on the inner side of the toothed synchronous belt 4217. A roller brush 4219 is fixedly connected on the inner side of the fourth spur gear 4218. The upper end of the roller brush 4219 is rotatably connected to the alcohol tank 427.

[0048] Specifically, the third spur gear 4216 rotates with the third rotating shaft 428, and drives the two sets of fourth spur gears 4218 to rotate through the toothed synchronous belt 4217, which in turn drives the roller brush 4219 to rotate. After the cleaning liquid is sprayed onto the canned barrel, the roller brush 4219 wipes its surface in a circular motion to accelerate liquid evaporation and complete the cleaning. The alcohol tank 427 provides rotational support for the roller brush 4219.

[0049] An unmanned vehicle includes the aforementioned gripping and conveying device.

[0050] In operation, when the door of carriage 1 is opened, the door, through its rotational connection with the six sets of first connecting rods 412, causes the two sets of L-shaped rotating plates 411 to change from an L-shape to a straight line. Simultaneously, the toothed chain 413, sleeved on the outside of the first connecting rods 412, straightens. Activating the toothed chain 413, through its engagement with the first toothed ring 414, drives the first toothed ring 414 to move towards the door to the designated position. The electric telescopic rod 416 is activated, and its output shaft pushes the annular baffle 418 downward to form an initial enclosure around the can. Then, the second motor 4115 is activated, and its output shaft drives the first spur gear 4114 to rotate within the limit frame 4113. The first spur gear 4114, through meshing with the arc rack 4112, drives the two sets of arc racks 4112 to slide along the C-shaped mounting bracket 4111. The infrared probe at one end of the arc rack 4112 detects its position in real time. After it passes through the handle of the can, it retracts back into the C-shaped mounting bracket 4111, completing the precise clamping of the can.

[0051] If the handle of the can is not fully aligned with the arc-shaped rack 4112 before it is clamped, the third motor 423 can be started. Its output shaft drives the second spur gear 422 to rotate inside the mounting bracket 421. The second spur gear 422 rolls along the outside of the gear ring 425 through meshing with it. At the same time, the second locking block 424 slides in the T-shaped groove of the second gear ring 425 to maintain stability, thereby driving the two sets of mounting brackets 421 and the C-shaped mounting bracket 4111 connected to them to rotate synchronously. The C-shaped mounting bracket 4111 drives the first locking block 4110 to slide in the T-shaped groove of the annular baffle 418 through the L-shaped connecting rod 419 to ensure its horizontal state, so that the infrared detector in the arc-shaped rack 4112 can accurately determine the handle position and complete the positioning by detecting the spacing.

[0052] When the mounting bracket 421 rotates, it synchronously drives the alcohol tank 427 to revolve. Simultaneously, the second spur gear 422 drives the stirring rod 426 to rotate within the alcohol tank 427, agitating the liquid inside. The stirring rod 426 drives the eccentric plate 429 to rotate via the third rotating shaft 428. The eccentric plate 429, with its eccentric design, pushes the annular clamping plate 4210 to deflect, thereby causing the sliding rod 4211 to slide back and forth within the first limiting frame 4212. As the sliding rod 4211 moves, it pulls the rotating rod 4213 via a fiber rope, causing the rotating rod 4213 to rotate at an angle around the second limiting frame 4215, thus adjusting the angle of the spray head 4214 to clean the uneven surface of the canned container, decomposing residual liquid and preventing external bacterial growth. At the same time, the third rotating shaft 428 drives the third spur gear 4216 to rotate, and the third spur gear 4216 drives the two sets of fourth spur gears 4218 to rotate through the toothed timing belt 4217, which in turn drives the roller brush 4219 to rotate, and wipes around the can after spraying, accelerating alcohol evaporation and completing the cleaning of the outside of the can.

[0053] After the can is picked up, the electric telescopic rod 416 retracts its output shaft, lifting the can upwards. The toothed chain 413 restarts, driving the first toothed ring 414 to move into the carriage 1. Upon reaching the designated position, the two sets of first motors 417 rotate in the same direction, driving the electric telescopic rod 416 to swing obliquely around the fixed frame 415, similar to a parallelogram mechanism. The can remains horizontal due to its own weight, thus tilting it to one side to maximize the use of the interior space of the carriage 1 and avoid the low space utilization problem caused by linear translation. The electric telescopic rod 416 then moves again to lower the can, completing the conveying process.

[0054] During transportation, the device is driven by electric rollers. Since unmanned vehicles cannot visually assess the unevenness of the ground as intuitively as humans, when one electric roller encounters an obstacle, the fixed bracket 35 drives the second bevel gear 33 to mesh with the first bevel gear 32 via the second rotating shaft 34. The first rotating shaft 31 limits the first bevel gear 32, thereby adjusting the relative height of the two sets of electric rollers on the same side. If obstacles are encountered on both sides simultaneously, both sides adjust their relative height by meshing the second bevel gear 33 with the second rotating shaft 34 to adapt to different road conditions and prevent rollover.

[0055] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A clamping and conveying device, comprising a carriage, characterized in that: A floor plate is fixedly connected to the lower end of the carriage. A leveling mechanism for maintaining horizontal movement is provided on the upper end of the floor plate. The leveling mechanism includes two sets of symmetrical first rotating shafts. Both ends of the first rotating shafts are rotatably connected to the floor plate via connecting plates. A first bevel gear is fixedly connected to the outer side of each first rotating shaft. A second bevel gear is meshed with the outer side of the first bevel gear. A second rotating shaft is fixedly connected to the inner side of the second bevel gear. The outer side of the second rotating shaft is rotatably connected to the floor plate via connecting plates. Fixed brackets are fixedly connected to the ends of the two sets of second rotating shafts that are furthest apart. Two sets of... The carriage features symmetrical electric rollers. Inside the carriage, a clamping mechanism for moving canned containers is provided. This clamping mechanism includes a locking assembly for clamping and conveying the canned containers, and an adjusting assembly for adjusting the angle and cleaning the outside of the canned containers. The locking assembly includes two sets of symmetrical L-shaped rotating plates. Six sets of first connecting rods are fixedly connected to the upper ends of the L-shaped rotating plates. The upper ends of four of the six sets of first connecting rods are rotatably connected to the carriage, and the upper ends of two of the six sets of first connecting rods are rotatably connected to the carriage door. The outer ends of the first connecting rods at the upper ends of the L-shaped rotating plates... A toothed chain is provided on the side. The outer sides of the two sets of toothed chains are connected to a first toothed ring through tooth meshing. The lower end of the first toothed ring is in contact with an L-shaped rotating plate. The lower end of the first toothed ring is fixedly connected to two sets of symmetrical fixing frames. The inner side of the fixing frame is rotatably connected to an electric telescopic rod through a rotating shaft. A first motor is installed on one side of the fixing frame. The output shaft of the first motor is fixedly connected to the housing of the electric telescopic rod. The output shafts of the two sets of electric telescopic rods are rotatably connected to an annular baffle. The upper end of the annular baffle has a T-shaped sliding groove. The upper end of the annular baffle is slidably connected to two sets of symmetrical first... The first set of two sets of first locking blocks are fixedly connected to the upper ends of each block with an L-shaped connecting rod. The two sets of L-shaped connecting rods are fixedly connected to a C-shaped mounting bracket at their close ends. Two sets of symmetrical arc-shaped racks are slidably connected to the inner side of the C-shaped mounting bracket. Two sets of symmetrical limiting frames are fixedly connected to the upper end of the C-shaped mounting bracket. A first spur gear is rotatably connected to the inner side of the limiting frame via a rotating shaft. The outer side of the first spur gear meshes with the arc-shaped rack. A second motor is installed on one side of the limiting frame. The output shaft of the second motor is fixedly connected to the first spur gear. An infrared probe is installed at one end of the arc-shaped rack.

2. The clamping and conveying device according to claim 1, characterized in that: The adjustment assembly also includes two sets of symmetrical mounting brackets. The side of each set of mounting brackets that is far apart from the other side is fixedly connected to a C-shaped mounting bracket. A second locking block is fixedly connected to the other side of each mounting bracket. The two sets of second locking blocks are slidably connected to a second gear ring. A T-shaped groove is provided on the outer side of the second gear ring. A second spur gear is rotatably connected to the inner side of each mounting bracket via a rotating shaft. The outer side of the second spur gear meshes with the second gear ring. A third motor is provided at the upper end of each mounting bracket. The output shaft of the third motor is fixedly connected to the second spur gear.

3. The clamping and conveying device according to claim 2, characterized in that: An alcohol tank is fixedly connected to the lower end of the mounting bracket. A stirring rod is rotatably connected to the inner side of the alcohol tank. The upper end of the stirring rod is fixedly connected to a second spur gear. A third rotating shaft is fixedly connected to the lower end of the stirring rod. An eccentric plate is fixedly connected to the outer side of the third rotating shaft. An annular clamping plate is rotatably connected to the outer side of the eccentric plate. Two sets of symmetrical sliding rods are fixedly connected to the outer side of the annular clamping plate. A first limiting frame is slidably connected to the outer side of the sliding rods. The upper end of the first limiting frame is fixedly connected to the alcohol tank. One end of one set of sliding rods is fixedly connected to a rotating rod by a fiber rope.

4. The clamping and conveying device according to claim 3, characterized in that: Spray heads are provided at both the upper and lower ends of the rotating rod. The inlet of the spray head is fixedly connected to the alcohol tank through a telescopic hose. A second limiting frame is rotatably connected to the inner side of the rotating rod through a rotating shaft. One side of the second limiting frame is fixedly connected to the first limiting frame.

5. A clamping and conveying device according to claim 3, characterized in that: A third spur gear is fixedly connected above the outer eccentric plate of the third rotating shaft. A toothed synchronous belt is meshed with the outer side of the third spur gear. Two sets of symmetrical fourth spur gears are meshed with the inner side of the toothed synchronous belt. A roller brush is fixedly connected to the inner side of the fourth spur gear. The upper end of the roller brush is rotatably connected to the alcohol tank.

6. An unmanned vehicle, characterized in that... It includes the gripping and conveying device as described in any one of claims 1-5.

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