Differential-driven can carrying robot

Abstract

The utility model discloses a differential-driven can carrying robot which comprises a main body frame, a differential driving mechanism, a damping driven mechanism, a can clamping mechanism, a navigation obstacle avoidance mechanism and a quick battery replacing mechanism. Wherein the main body frame comprises a bottom plate and a supporting table; the differential driving mechanism comprises two groups of motors and corresponding damping driving wheels, and the damping driven mechanism comprises two groups of damping driven wheels which are respectively mounted below the bottom plate; the can clamping mechanism comprises a pair of arc-shaped clamping arms and corresponding driving assemblies and is arranged on the supporting table. The navigation obstacle avoidance mechanism comprises a laser navigator and an obstacle avoidance sensor; the quick battery replacing mechanism comprises a battery box, a plug support and a detachable battery. The can clamping device is simple in structure and convenient to operate, can automatically clamp and protect cans at specified positions, can be matched with an automatic system and spinning equipment to achieve automatic turnover and carrying of the cans, can placing precision is improved, and powerful support is provided for key links of automatic transformation of spinning enterprises.

Description

Technical Field

[0001] The utility model relates to the technical field of bobbin yarn transportation and turnover in textile machinery, in particular to a differential-driven bobbin transporting robot. Background Art

[0002] In the existing spinning workshop, the sliver storage and turnover tooling of the carding machine → first drawing frame → second drawing frame → ... → final drawing frame → roving frame all adopts the form of sliver can storage and turnover; with the development of the textile industry, intelligent equipment has emerged and developed rapidly, but the current sliver can turnover method in the spinning workshop is still manual turnover, which is not only time-consuming and labor-intensive, but also easy to make mistakes in sliver varieties, causing great inconvenience and hidden dangers to personnel training and production management; and the manual placement of sliver cans has low accuracy, which is not conducive to the further improvement of production automation in cotton spinning workshops. Utility Model Content

[0003] The utility model aims to solve the shortcomings of the prior art in which machinery is used to replace manual labor to turn over cans, and provides a differentially driven can transporting robot.

[0004] In order to solve the above technical problems, the technical solution adopted by the utility model is: a differential-driven can handling robot, including a main frame, a differential driving mechanism, a shock-absorbing driven mechanism, a can clamping mechanism, a navigation obstacle avoidance mechanism and a fast power-changing mechanism, wherein the main frame includes a base plate and a support platform, the support platform is fixedly installed on the top of the base plate, and a battery accommodating cavity is provided in the middle part; the differential driving mechanism includes two groups of motors and corresponding shock-absorbing driving wheels, which are respectively installed on the lower rear side of the base plate and symmetrically arranged; the shock-absorbing driven mechanism includes two groups of shock-absorbing driven wheels, which are respectively installed on the lower front side of the base plate; the can clamping mechanism The mechanism includes a pair of symmetrical arc-shaped clamping arms and a corresponding driving assembly, which are arranged at the rear of the upper end of the support platform. The driving assembly can drive the arc-shaped clamping arms on the corresponding side to extend and retract to complete the relative opening and closing of the two arms; the navigation and obstacle avoidance mechanism includes a laser navigator and an obstacle avoidance sensor, wherein the laser navigator is installed above the main frame through a bracket, and the obstacle avoidance sensor is installed on the upper front side of the base plate; the quick battery replacement mechanism includes a battery box, a plug bracket and a removable battery, the battery box and the plug bracket are arranged in a battery accommodating cavity and fixed on the main frame, and the removable battery is placed in the battery box and connected to the plug bracket.

[0005] The cam is secured to the bottom of the chassis and is adapted to engage the driver for mounting the cam on a wheeled structure.

[0006] Furthermore, the shock-absorbing driven wheel includes a mounting base, a rotating base, a linkage shaft, a linkage arm, a shock-absorbing spring and a driven rubber wheel. The mounting base is fixed to the lower surface of the base plate, the upper end of the rotating base is rotatably mounted below the mounting base, and the linkage shaft is laterally mounted at its lower end, the two ends of the linkage shaft are respectively axially connected to two linkage arms, and the movable ends of the two linkage arms respectively clamp the two ends of the rotating shaft of the driven rubber wheel; the upper end of the shock-absorbing spring is fixed to the upper end of the rotating base, and the lower end thereof is respectively mounted on the ends of the rotating shaft of the driven rubber wheel through the rotating shaft connecting pieces.

[0007] Furthermore, the arc-shaped clamping arm in the can clamping mechanism includes a sliding cavity and a telescopic arm, wherein the sliding cavity is formed by upper and lower clamping plates fixed at intervals, the front end of which is fixed on the support platform, and the rear end of which is arranged in an arc shape and has an opening at the rear end; arc-shaped sliding grooves are provided on the relative inner sides of the upper and lower clamping plates of the sliding cavity, and the telescopic arm is slidably installed in the corresponding arc-shaped sliding grooves, and a plurality of cam bearings and rollers are evenly provided on the upper and lower side walls, which are respectively adapted to be slidably installed in the arc-shaped sliding grooves; the driving component of the arc-shaped clamping arm is a telescopic cylinder, the bottom of which is hingedly installed on the inner front end of the sliding cavity, and the end of the telescopic rod is hingedly installed on the outer side of the convex edge of the telescopic arm.

[0008] Furthermore, the end of the telescopic arm adopts a split design, which is composed of a protective material and a rigid frame, and is divided into two parts: an arc and a straight line segment, and a transition wheel is provided at the end of the straight line segment.

[0009] Furthermore, the center of the arc-shaped sliding groove provided on the sliding cavity in the arc-shaped clamping arm is not concentric with the center position of the clamped workpiece.

[0010] Furthermore, the battery box in the quick battery replacement mechanism is fixedly installed at the bottom of the battery accommodating cavity, and adjustment blocks are provided on both sides thereof. The adjustment blocks can adjust the width of the inside of the battery box through corresponding adjustment bolts so that batteries of different sizes can be accurately inserted into the plug bracket; the plug bracket is fixedly installed on the support platform, above the battery box.

[0011] Furthermore, the obstacle avoidance sensor is an anti-collision device; and an anti-collision strip is fixedly installed around the periphery of the bottom plate.

[0012] Furthermore, an outer cover shell is provided on the outer side of the main frame, and the outer cover shell includes an upper cover shell and a lower cover shell, wherein the upper cover shell is covered on the outer side of the support platform, and a door body is opened on the rear side wall of the upper cover shell, and a plurality of heat dissipation holes arranged in strips are also provided on the door body; the lower cover shell is covered on the outer side of the differential drive mechanism and the shock-absorbing driven mechanism, and is fixed under the base plate.

[0013] Furthermore, a counterweight block is provided below the bottom plate and near the front side, and the counterweight can be removed and replaced.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the overall structure of the utility model is simple and stable, easy to operate, and has high economic efficiency. At present, it is mainly aimed at the turnover and handling of the commonly used can tooling in textile enterprises, can adapt to a variety of textile equipment, can automatically clamp and protect the cans in the textile process at the specified position, and cooperate with the automation system and textile equipment to realize the automatic turnover and handling of the cans, which not only improves the accuracy of the can placement and simplifies the process flow, but also provides strong support for the key links of the automation transformation of textile enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the structure of the utility model without the outer cover;

[0017] Figure 3 It is a rear side view of the utility model;

[0018] Figure 4 It is a structural schematic diagram of the rapid battery replacement mechanism in the utility model;

[0019] Figure 5 It is a structural schematic diagram of the differential drive mechanism in the utility model;

[0020] Figure 6 for Figure 5 Isometric view of the mid-structure;

[0021] Figure 7This is a schematic diagram of the structure of the mounting bracket in the shock-absorbing driving wheel of the utility model;

[0022] Figure 8 for Figure 7 Left view of the middle structure;

[0023] Fig. 9 This is a schematic diagram of the structure of the floating bracket in the shock-absorbing driving wheel of the utility model;

[0024] Fig.10 for Fig. 9 Northwest axis side view of the middle structure;

[0025] Fig.11 This is a schematic diagram of the structure of the damping driven wheel in the utility model;

[0026] Fig.12 This is a schematic diagram of the structure of the middle barrel clamping mechanism of the utility model;

[0027] Fig.13 This is a disassembled diagram of the arc-shaped clamping arm in the utility model;

[0028] Fig.14 It is a structural schematic diagram of the telescopic arm in the arc-shaped clamping arm of the utility model;

[0029] Fig.15 It is a schematic diagram of the central position of the arc-shaped sliding groove in the arc-shaped clamping arm and the workpiece of the utility model;

[0030] In the figure: 1. Main frame, 2. Differential drive mechanism, 3. Shock-absorbing driven mechanism, 4. Can clamping mechanism, 5. Quick power exchange mechanism, 6. Laser navigator, 7. Obstacle avoidance sensor, 8. Counterweight, 9. Outer cover, 10. Bracket, 11. Bottom plate, 12. Support platform, 13. Anti-collision strip, 21. Mounting bracket, 22. Guide rail slider, 23. Floating bracket, 24. Guide rail, 25. Spring adjustment rod, 26. Spring, 27. Driving rubber wheel, 28. Motor, 29. Limit block, 231. Mounting platform, 232. Guide adjustment block, 31. Mounting base, 32. Rotating base, 33. Linkage shaft, 34. Linkage arm, 35 .Driven rubber wheel, 36. Shock-absorbing spring, 37. Rotating shaft connector, 41. Sliding cavity, 42. Telescopic arm, 43. Telescopic cylinder, 44. Center of arc-shaped sliding groove, 45. Center of workpiece, 411. Upper clamp, 412. Lower clamp, 413. Support column, 414. Arc-shaped sliding groove, 421. Cam bearing, 422. Roller, 423. Connecting fixture, 424. Transition wheel, 425. Straight segment, 426. Arc segment, 51. Battery box, 52. Plug bracket, 53. Battery, 54. Adjustment block, 55. Adjustment bolt, 56. Handle, 91. Upper cover, 92. Lower cover, 93. Door body, 94. Heat dissipation hole. DETAILED DESCRIPTION

[0031] It should be noted that, in the description of the present invention, terms such as "upper", "lower", "left", "right", "front", "back", "inside", "outside", "top", "end" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are relational words determined only for the convenience of describing the structural relationships of the various components in the present invention, and do not specifically mean that any component in the present invention must have a specific direction, be constructed and operated in a specific direction, and should not be understood as a limitation on the present invention.

[0032] In addition, in the utility model, the descriptions such as "first" and "second" are only used for descriptive purposes, and do not specifically refer to the order or sequence, nor are they used to limit the utility model. They are only used to distinguish components or operations described with the same technical terms, and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0033] It should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "set", etc. should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0034] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings:

[0035] like Figures 1 to 3 As shown, a differential-driven can handling robot includes a main frame 1, a differential driving mechanism 2, a shock-absorbing driven mechanism 3, a can clamping mechanism 4, a navigation and obstacle avoidance mechanism, and a rapid power-changing mechanism 5.

[0036] The main frame 1 provides support and installation for the entire device, including a base plate 11 and a support platform 12, wherein the support platform 12 can be formed by welding a plurality of square tubes to form a frame structure, and is fixedly installed above the base plate 11, and a battery accommodating cavity is reserved in the middle position of the support platform 12.

[0037] The differential drive mechanism 2 is installed below the bottom plate 11, located inside the two corners of the rear end thereof, and includes two sets of motors 28 and the damping drive wheels driven by them, and the two sets of structures are symmetrically arranged. Figures 5 to 10As shown, the shock-absorbing driving wheel includes a mounting bracket 21, a floating bracket 23, a spring adjustment rod 25, a spring 26 and a driving rubber wheel 27, wherein the mounting bracket 21 is formed by a horizontal wall and a vertical wall fixed relatively vertically, presenting an inverted L-shaped structure, and is fixed to a specified position on the lower surface of the base plate 11 by bolts; the vertical wall in the mounting bracket 21 is inverted U-shaped, and two vertically arranged guide rail sliders 22 are fixedly installed on the inner wall thereof, and a reinforcing rib plate is also provided on the back side thereof to increase its strength. The floating bracket 23 is installed on the inner side of the mounting bracket 21, and two guide rails 24 adapted to the guide rail slider 22 are fixedly installed on the side facing the guide rail slider 22. The floating bracket 23 is connected to the mounting bracket 21 through the sliding fit between the guide rail 24 and the guide rail slider 22; limited stoppers 29 are fixedly provided at the upper and lower ends of each guide rail 24 to prevent the guide rail slider 22 from detaching from the corresponding guide rail 24; a horizontal mounting platform 231 and two guide adjustment blocks 232 are fixedly provided in sequence from top to bottom on the upper part of the side of the floating bracket 23 facing away from the guide rail slider 22, and the setting positions of the two guide adjustment blocks 232 are opposite to the guide rail 24, and two spring through holes are provided on the mounting platform 231, which are respectively located above the two guide adjustment blocks 232; the driving rubber wheel 27 is installed below the mounting platform 231 through a seat bearing, and the wheel axle of the driving rubber wheel 27 is fixedly provided with the guide adjustment block 232. The motor 28 on the corresponding side is connected through a reducer transmission, and the motor 28 and the reducer are fixed on the floating bracket 23, so that the motor 28, the reducer, and the driving rubber wheel 27 can slide up and down with the floating bracket 23; the two groups of driving rubber wheels 27 realize turning and other actions through the speed difference between the two groups of reducers; the spring adjustment rods 25 and the spring 26 are each provided with two, corresponding to the two guide adjustment blocks 232 respectively, each spring adjustment rod 25 passes through the corresponding guide adjustment block 232 and the spring through hole on the mounting platform 231 from bottom to top, and its upper end is fixed on the transverse wall of the mounting bracket 21, and its lower end is installed with a fastening nut, the spring 26 is sleeved on the spring adjustment rod 25, and its upper end is against the lower surface of the transverse wall in the mounting bracket 21, and its lower end is against the upper end of the guide adjustment block 232; the compression degree of the spring 26 can be adjusted by adjusting the fastening nut to adjust the up and down amplitude of the shock absorption. Corresponding to the installation position of the driving rubber wheel 27, a wheel space is opened on the bottom plate 11 to ensure the normal rotation of the driving rubber wheel 27 during the shock absorption process, regardless of the ups and downs of the ground.

[0038] The damping driven mechanism 3 is also installed below the bottom plate 11, and is located on the inner side of the two corners of the front end of the bottom plate 11, and includes two sets of damping driven wheels, which are fixed and symmetrical to each other; Fig.11As shown, the damping driven wheel comprises a mounting base 31, a rotating base 32, a linkage shaft 33, a linkage arm 34, a damping spring 36 and a driven rubber wheel 35, wherein the mounting base 31 is fixed to a specified position on the lower surface of the base plate 11 by bolts, the upper end of the rotating base 32 is rotatably mounted directly below the mounting base 31 to realize the universal wheel function, and a linkage shaft 33 is transversely mounted on its lower end; the two ends of the linkage shaft 33 are respectively axially connected to two linkage arms 34, both of which extend forward, and the movable ends thereof are respectively rotatably connected to the two ends of the rotating shaft of the driven rubber wheel 35, so that the driven rubber wheel 35 can rotate between the two linkage arms 34; two damping springs 36 are provided, which are respectively mounted on the two ends of the rotating shaft of the driven rubber wheel 35, the upper end of the damping spring 36 is fixed against the bottom surface of the upper end platform of the rotating base 32, and the lower end thereof is respectively rotatably fitted on the two ends of the rotating shaft of the driven rubber wheel 35 through the corresponding rotating shaft connector 37, and is fixed at the outer ends of the rotating shaft by nuts.

[0039] The can clamping mechanism 4 includes a pair of symmetrical arc-shaped clamping arms and a corresponding driving assembly, which is installed at the upper rear of the support platform 12 and extends rearward. The driving assembly can drive the arc-shaped clamping arms on the corresponding side to extend and retract to complete the relative opening and closing between the two arms, so as to realize the taking and placing of the can. Figures 12 to 15As shown, the arc-shaped clamping arm includes a sliding cavity 41 and a telescopic arm 42, wherein the sliding cavity 41 includes an upper clamping plate 411, a lower clamping plate 412 and a plurality of supporting columns 413, the upper clamping plate 411 and the lower clamping plate 412 are relatively installed, and a plurality of supporting columns 413 are clamped and fixed in the middle to complete the spacing between the two to form a cavity, and baffles are provided around it; the front end of the sliding cavity 41 is fixed to the support platform 12 by bolts, and the inner side of the rear end is arc-shaped and the end is open, and the telescopic arm 42 is installed in the sliding cavity 41 and can extend from the end opening of the sliding cavity 41; the opposite sides of the upper clamping plate 411 and the lower clamping plate 412 are provided with arc-shaped sliding grooves 414, and the two arc-shaped sliding grooves 414 are aligned up and down, close to the arc-shaped side of the sliding cavity 41. The telescopic arm 42 is slidably installed in the arc-shaped sliding groove 414. A plurality of cam bearings 421 and rollers 422 are evenly arranged on the upper and lower side walls of the front half thereof, which are all adapted to the arc-shaped sliding groove 414, driving the telescopic arm 42 to slide smoothly along the arc-shaped sliding groove 414. The rear half of the telescopic arm 42 adopts a split design, which is composed of protective materials and a rigid frame, and is divided into two parts, an arc segment 426 and a straight segment 425, which are fixed in sequence as a whole, and a transition wheel 424 is provided at the end of the straight segment 425. The driving component uses a telescopic cylinder 43, which is installed inside the sliding cavity 41. The bottom of the telescopic cylinder 43 is hinged to the front position of the lower clamping plate 412 through a fixed seat, and the end of the telescopic rod is hinged to the connecting fixing 423 fixed on the convex side of the telescopic arm 42. The telescopic arm 42 is driven to slide by the telescopic movement of the telescopic rod. At the same time, the center position of the arc-shaped sliding groove 414 is not concentric with the center position of the workpiece to be clamped. Fig.15 As shown, the center 44 of the arc-shaped sliding groove is forward compared to the center 45 of the workpiece, ensuring that the center of gravity of the can handling robot is forward to prevent tipping; at the same time, a counterweight block 8 with adjustable specific gravity is installed on the front side below the bottom plate 11 to keep the center of gravity of the handling robot stable.

[0040] The navigation and obstacle avoidance mechanism includes a laser navigator 6 and an obstacle avoidance sensor 7, wherein the laser navigator 6 is fixedly installed high above the main frame 1 through a bracket 10 to provide real-time positioning for the transport robot; the obstacle avoidance sensor 7 is fixedly installed on the upper front side of the base plate 11 through a bracket seat, and an anti-collision device is selected to avoid possible collisions.

[0041] The quick battery replacement mechanism 5 is arranged inside the support platform 12, and includes a battery box 51, a plug bracket 52 and a removable battery 53. Figure 4As shown, the battery box 51 is tray-shaped, fixed to the bottom plate 11 by bolts, and located in the battery accommodating cavity; a movable adjustment block 54 is installed on each side of the inside of the battery box 51, and a corresponding adjustment bolt 55 is installed on the side wall of the battery box 51, the inner end of which is rotatably connected to the adjustment block 54. By rotating the adjustment bolt 55, the position of the adjustment block 54 can be adjusted to adjust the width of the inside of the battery box 51, so as to adapt to batteries 53 of different models and sizes; the rear end of the adjustment block 54 is arranged in a slope shape to facilitate the push-in fit of the battery 53. The plug bracket 52 is fixed on the square tube crossbeam of the support platform 12. When the battery 53 is pushed into the battery box 51, its output end can be just inserted into the plug bracket 52 to form a circuit connection, providing kinetic energy for the entire handling robot; and in order to facilitate the detachable installation of the battery 53, a handle 56 is usually provided on the battery 53, which can be taken out by pulling and lifting, and installed in place by putting and pushing.

[0042] Furthermore, an outer cover shell 9 is provided on the outer side of the main frame 1. Figure 1 and Figure 3 As shown, the outer cover shell 9 includes an upper cover shell 91 and a lower cover shell 92, wherein the upper cover shell 91 is mounted on the outside of the support platform 12, and a gap is left between the front end side and the bottom plate 11 to facilitate the exposure of the obstacle avoidance sensor 7; at the same time, a door body 93 is provided on the rear side wall of the upper cover shell 91 for replacing and installing the battery 53 in the fast battery replacement mechanism 5, and the door body 93 is also provided with a plurality of heat dissipation holes 94 arranged in strips. The lower cover shell 92 is fixed to the bottom of the bottom plate 11, covering the differential drive mechanism 2 and the damping driven mechanism 3. Anti-collision strips 13 are also fixedly installed around the bottom plate 11 to avoid obstacles.

[0043] The telescopic cylinder 43 used in the driving assembly of the arc-shaped clamping arm can be replaced by an electric cylinder.

[0044] The driving rubber wheel 27 and the driven rubber wheel 35 can be replaced with other different types of wheels according to actual usage scenarios.

[0045] Of course, the above description is not a limitation of the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by technicians in this technical field within the essential scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A differentially driven can handling robot, characterized in that: It includes a main frame, a differential drive mechanism, a shock-absorbing driven mechanism, a can clamping mechanism, a navigation obstacle avoidance mechanism and a fast power-changing mechanism, wherein the main frame includes a base plate and a support platform, the support platform is fixedly installed on the top of the base plate, and a battery accommodating cavity is provided in the middle part thereof; the differential drive mechanism includes two groups of motors and corresponding shock-absorbing drive wheels, which are respectively installed on the lower rear side of the base plate and symmetrically arranged; the shock-absorbing driven mechanism includes two groups of shock-absorbing driven wheels, which are respectively installed on the lower front side of the base plate; the can clamping mechanism includes a pair of mutually symmetrical arc-shaped clamping arms and corresponding The driving component is arranged at the rear part of the upper end of the support platform, and the driving component can drive the arc-shaped clamping arm on the corresponding side to extend and retract to complete the relative opening and closing between the two arms; the navigation and obstacle avoidance mechanism includes a laser navigator and an obstacle avoidance sensor, wherein the laser navigator is installed above the main frame through a bracket, and the obstacle avoidance sensor is installed on the upper front side of the bottom plate; the quick power replacement mechanism includes a battery box, a plug bracket and a removable battery, the battery box and the plug bracket are arranged in the battery accommodating cavity and fixed on the main frame, and the removable battery is placed in the battery box and connected to the plug bracket.

2. A differentially driven can handling robot according to claim 1, characterized in that: The shock-absorbing driving wheel in the differential driving mechanism comprises a mounting bracket, a guide rail, a guide rail slider, a floating bracket, a spring adjusting rod, a spring and a driving rubber wheel. The mounting bracket is an inverted L-shaped structure and is fixed to the lower surface of the base plate. The guide rail slider is fixed to the inner side of the vertical wall of the mounting bracket; a guide rail matching the guide rail slider is fixedly installed on the side of the floating bracket facing the guide rail slider, and is slidably installed on the guide rail slider of the mounting bracket. A horizontal mounting platform and a guide adjustment block are fixedly arranged on the upper part of the side of the floating bracket facing away from the guide rail slider in sequence from top to bottom. The driving rubber wheel is installed under the mounting platform and is connected to the motor on the corresponding side through a reducer; a spring is sleeved on the spring adjusting rod, the upper end of which passes through the mounting platform and is fixed on the horizontal wall of the mounting bracket, and the lower end of which passes downward through the corresponding guide adjustment block and is fixed by a fastening nut; the upper end of the spring abuts against the lower surface of the horizontal wall in the mounting bracket, and the lower end abuts against the upper end surface of the guide adjustment block.

3. The differential-driven can handling robot according to claim 1, characterized in that: The shock-absorbing driven wheel includes a mounting base, a rotating base, a linkage shaft, a linkage arm, a shock-absorbing spring and a driven rubber wheel. The mounting base is fixed to the lower surface of the base plate, the upper end of the rotating base is rotatably mounted below the mounting base, and the linkage shaft is horizontally mounted on the lower end thereof. The two ends of the linkage shaft are respectively axially connected to two linkage arms, and the movable ends of the two linkage arms respectively clamp the two ends of the rotating shaft of the driven rubber wheel; the upper end of the shock-absorbing spring is fixedly pressed against the upper end of the rotating base, and the lower end thereof is respectively mounted on the ends of the rotating shaft of the driven rubber wheel through the rotating shaft connecting pieces.

4. The differential-driven can handling robot according to claim 1, characterized in that: The arc-shaped clamping arm in the can clamping mechanism includes a sliding cavity and a telescopic arm, wherein the sliding cavity is formed by upper and lower clamping plates fixed at intervals, the front end of which is fixed on the support platform, and the rear end of which is arranged in an arc shape and has an opening at the rear end; arc-shaped sliding grooves are provided on the relative inner sides of the upper and lower clamping plates of the sliding cavity, and the telescopic arm is slidably installed in the corresponding arc-shaped sliding grooves, and a plurality of cam bearings and rollers are evenly provided on the upper and lower side walls, which are respectively adapted to be slidably installed in the arc-shaped sliding grooves; the driving component of the arc-shaped clamping arm is a telescopic cylinder, the bottom of which is hingedly installed on the inner front end of the sliding cavity, and the end of the telescopic rod is hingedly installed on the outer side of the convex edge of the telescopic arm.

5. The differential-driven can handling robot according to claim 4, characterized in that: The end of the telescopic arm adopts a split design, which is composed of protective materials and a rigid frame, and is divided into two parts: an arc and a straight line segment, and a transition wheel is provided at the end of the straight line segment.

6. The differential-driven can handling robot according to claim 4, characterized in that: The center of the arc-shaped sliding groove provided on the sliding cavity in the arc-shaped clamping arm is not concentric with the center position of the clamped workpiece.

7. The differential-driven can handling robot according to claim 1, characterized in that: The battery box in the quick battery replacement mechanism is fixedly installed at the bottom of the battery accommodating cavity, and adjustment blocks are provided on both sides thereof. The adjustment blocks can adjust the width of the inside of the battery box through corresponding adjustment bolts so that batteries of different sizes can be accurately inserted into the plug bracket; the plug bracket is fixedly installed on the support platform, above the battery box.

8. The differential-driven can handling robot according to claim 1, characterized in that: The obstacle avoidance sensor is an anti-collision device; an anti-collision strip is fixedly installed around the periphery of the bottom plate.

9. The differential-driven can handling robot according to claim 1, characterized in that: An outer cover shell is added to the outer side of the main frame, and the outer cover shell includes an upper cover shell and a lower cover shell, wherein the upper cover shell is covered on the outer side of the support platform, and a door body is opened on the rear side wall of the upper cover shell, and a plurality of heat dissipation holes arranged in strips are also provided on the door body; the lower cover shell is covered on the outer side of the differential drive mechanism and the shock-absorbing driven mechanism, and is fixed under the base plate.

10. The differential-driven can handling robot according to claim 1, characterized in that: A counterweight block is provided below the bottom plate and near the front side, and the counterweight can be disassembled and replaced.

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