CN112166788A

CN112166788A - Intelligent robot

Info

Publication number: CN112166788A
Application number: CN202011073246.3A
Authority: CN
Inventors: 胡少宇
Original assignee: 胡少宇
Current assignee: Shandong cat claw Technology Co.,Ltd.
Priority date: 2020-10-09
Filing date: 2020-10-09
Publication date: 2021-01-05
Anticipated expiration: 2040-10-09
Also published as: CN112166788B

Abstract

The invention relates to the field of intelligent equipment, in particular to an intelligent robot which comprises a shoveling mechanism, a pulling-up mechanism, a clamping and moving mechanism, a soil sieving mechanism and a trolley, wherein the water chestnut picking machine is operated by a working servo motor to further enable a shoveling plate to do reciprocating motion so as to shovel water chestnut seedlings out of soil, a method for manually shoveling the water chestnut seedlings is replaced, the labor intensity of workers is reduced, the servo motor drives a second rotating shaft to rotate during operation so that the second rotating shaft drives the pulling-up mechanism to do reciprocating motion, then the clamping and moving mechanism is driven by the pulling-up mechanism to do vertical motion, when the shoveling mechanism shovels the water chestnut seedlings out, the clamping and moving mechanism can clamp the water chestnut seedlings while shoveling out, the water chestnut seedlings are prevented from being taken away by the workers, the labor intensity of the workers is reduced, and the shoveling mechanism, the pulling-up mechanism and the clamping and moving mechanism simultaneously save the working time of the equipment, and the three mechanisms are driven to move only by one power source, so that the error of the equipment caused by long-term work is reduced.

Description

Intelligent robot

Technical Field

The invention relates to the field of intelligent equipment, in particular to an intelligent robot.

Background

The water chestnuts are usually crops growing in soil, workers are required to shovel water chestnut seedlings from the soil by using shovels after the harvest season, the shoveled water chestnut seedlings are required to be cleaned by soil, the workers are required to collect the water chestnut seedlings after the soil is cleaned, and the labor intensity of the workers is high.

Conventional chufa harvesting has the following disadvantages:

1. the conventional water chestnut picking usually requires workers to shovel water chestnut seedlings to the surface of soil, and the labor intensity of the workers is overlarge.

2. And the water chestnut seedlings shoveled out of the soil surface can be provided with a large amount of soil, and need to be cleaned by workers.

3. After cleaning, workers need to bend down to pick up the cleaning tool, and the labor intensity of the workers is high.

Disclosure of Invention

The invention aims to provide an intelligent robot.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides an intelligent robot, including shovel material mechanism, the mechanism of pulling up, press from both sides and move the mechanism, soil screening mechanism and handcart, the handcart is placed subaerial, and the front end bottom of handcart sets up the breach of dodging shovel material mechanism, a shovel material mechanism fixed mounting for shoveling out the water chestnut seedling on the handcart, soil screening mechanism fixed mounting is at the inboard top of handcart, pull up mechanism fixed mounting on the handcart, and pull up the mechanism and be connected with shovel material mechanism transmission, press from both sides and move the front end of mechanism fixed mounting at the handcart, and press from both sides and move the mechanism and be connected with pull up mechanism transmission, the front end top of handcart is seted up and is used for dodging the bar that presss from both sides and move the mechanism and dodge the breach.

Further, the shoveling mechanism comprises a transmission component, a driving mechanism, a connecting shaft, a first rotating shaft, a second rotating shaft, a shoveling plate, two rotating rods, a first hinged rod and a connecting plate, the second rotating shaft is fixedly arranged on the handcart through two second rotary seats, the second rotating shaft is rotatably connected with the two second rotary seats, the driving mechanism is fixedly arranged on the handcart and is in transmission connection with the second rotating shaft, the first rotating shaft is fixedly arranged on the soil sieving mechanism through the two first rotary seats and is rotatably connected with the two second rotary seats, the transmission component is fixedly arranged on the first rotating shaft and the second rotating shaft, one ends of the two rotating rods are fixedly arranged at two ends of the first rotating shaft, the other ends of the two rotating rods are respectively hinged with the middle parts of the two connecting plates, the shoveling plate is fixedly arranged at the lower ends of the two connecting plates, the connecting shaft is fixedly arranged at the top ends of the two connecting plates, and the top ends of the two first hinged rods are hinged, the lower ends of the two first hinge rods are hinged to the second rotating shaft, four positioning rings used for limiting the two first hinge rods are fixedly arranged on the second rotating shaft, every two positioning rings are located on two sides of one first hinge rod, and the second rotating shaft is in transmission connection with the pull-up mechanism.

Furthermore, the pull-up mechanism comprises two swing mechanisms, slide rails, a slide seat, a positioning wheel, a bending plate, a connecting strip and a pull rope, the two slide rails are fixedly arranged on the front end surface of the handcart, the two sliding seats can be arranged on the two sliding rails in a sliding way, the two bending plates are respectively fixedly arranged on the two sliding seats, the clamping and moving mechanism is fixedly arranged on the two bending plates, the two connecting strips are fixedly arranged on the two bending plates, the two bending plates are positioned right above the two connecting strips, each positioning wheel is fixedly arranged on the top of the trolley, one end of each pull rope is fixedly arranged on each connecting strip, the other ends of the two pull ropes respectively penetrate through the two positioning wheels, the other ends of the two pull ropes are respectively fixedly connected with the working ends of the two swing mechanisms, the two swing mechanisms are fixedly installed in the trolley, and the input ends of the two swing mechanisms are respectively fixedly connected with the two ends of the second rotating shaft.

Further, every swing mechanism all includes the returning face, the location axle, the position sleeve, cambered axle and second articulated arm, the one end fixed mounting of cambered axle is in the second pivot, the other end of cambered axle is articulated with the one end of second articulated arm, the other end of second articulated arm is articulated with the well lower part of returning the face, and location axle fixed mounting is in the low side of returning the face, the one end fixed mounting of stay cord is on the top of returning the face, the position axle is inserted and is established in the position sleeve, and position sleeve fixed mounting is on the handcart.

Furthermore, the clamping and moving mechanism comprises an electric sliding table, an upper mounting plate, a second guide shaft, two clamping arms, a first guide rail, a second guide rail, a first guide shaft and a second guide shaft, wherein the two second guide rails are positioned at the outer sides of the two slide rails, the two second guide rails are fixedly mounted at the top of the trolley, a strip-shaped avoiding gap is positioned between the two second guide rails, one end of the second guide rail, which is connected with the trolley, is in a bending shape which is bent outwards, the top parts of the two first guide rails are inserted between the two second guide rails, the two first guide rails are both fixedly mounted on the trolley, the lower end of each first guide rail is in a bending shape which is bent outwards, the bottom of the bending end is provided with a vertical downward derivative part, the upper mounting plate is fixedly mounted on the two bending plates, the electric sliding table is fixedly mounted at the bottom part of the upper mounting plate, the lower mounting plate is fixedly, and two clamping arms are fixedly mounted on the lower mounting plate, the two clamping arms are symmetrically arranged, the two first guide shafts are respectively and fixedly mounted on the two clamping arms and are inserted between the two first guide rails, each first guide shaft is abutted against the inner wall of each first guide rail, the two second guide shafts are respectively and fixedly mounted on the two clamping arms, and the two clamping arms are positioned between the two second guide shafts.

Further, every presss from both sides tight arm and all includes splint, the baffle, two conflict springs, guide pillar and circular board of supporting, baffle fixed mounting is on the mounting panel down, and the one end of two guide pillars passes the baffle, set up the guide hole that supplies the guide pillar to pass on the baffle, and splint fixed mounting is served at two guide pillars, two circular board fixed mounting that support are on the other end of two guide pillars, two conflict springs are established respectively on two guide pillars, and the one end of every conflict spring is contradicted with circular board, the other end and the baffle of every conflict spring are contradicted, first guiding axle fixed mounting is on splint, second guiding axle fixed mounting is on a circular board of supporting.

Furthermore, the driving mechanism comprises a large gear, a small gear and a servo motor, the large gear is fixedly installed on the second rotating shaft, the servo motor is fixedly installed on the trolley through a motor base, the small gear is fixedly installed on the output end of the servo motor, and the small gear is meshed with the large gear.

Further, the transmission assembly comprises a front chain wheel and a rear chain wheel, the rear chain wheel is fixedly installed on the second rotating shaft, the front chain wheel is fixedly installed on the first rotating shaft, and the front chain wheel and the rear chain wheel are connected through chain transmission.

Further, the soil sieving mechanism comprises a vibration assembly, a crushing vibration plate, a material storage hopper, a connecting transverse plate, a collecting box, a mounting base plate, an upper axial connecting plate, a lower axial connecting plate, two partition plates and a plurality of sieving shafts, wherein the vibration assembly is fixedly arranged on the trolley, the crushing vibration plate is fixedly arranged at the top of the vibration assembly, the crushing vibration plate is provided with a strip-shaped notch for avoiding the rotating plate, the two partition plates are fixedly arranged at the top of the crushing vibration plate and are symmetrically arranged, the upper axial connecting plate is fixedly arranged at the bottom of one side of the crushing vibration plate away from the clamping and moving mechanism, one ends of the sieving shafts are fixedly arranged on the upper axial connecting plate, the sieving shafts are obliquely arranged, the lower axial connecting plate is fixedly arranged at the bottom of the sieving shafts, one end of the material storage hopper is fixedly arranged on the lower axial connecting plate, the other end of the material storage hopper is fixedly arranged on the connecting transverse plate, collect the box and be located the screening axle under, and mounting plate fixed mounting is on the handcart, collects the bottom of box and contradicts with mounting plate's top, and mounting plate's both sides are provided with the side shield who contradicts with collecting the box.

Further, the vibrations subassembly includes driving motor, the cam, the apparatus further comprises a rotating shaft, the fixed plate, three bottom plate, six go up the spring holder, vibrations spring and lower spring holder, four go up the bottom of the fixed crushing shake board of spring holder, two other go up spring holder fixed mounting in the bottom of connecting the diaphragm, and six vibrations spring's top fixed mounting is on six last spring holders, six vibrations spring's bottom fixed mounting is on six lower spring holders, and every bottom plate fixed mounting is in the bottom of two lower spring holders, and every bottom plate all fixes on the handcart, fixed plate fixed mounting is on two bottom plates, and driving motor passes through motor cabinet fixed mounting on the fixed plate, the one end fixed mounting of pivot is on driving motor's output, cam fixed mounting is at driving motor's the other end, the fixed swivel mount that is used for the countershaft support.

The invention has the beneficial effects that:

1. the invention has five effects through the combination of the material shoveling mechanism, the pulling-up mechanism and the clamping and moving mechanism, wherein one of the effects is that the shoveling plate can reciprocate through the working servo motor to shovel out the chufa seedlings in the soil instead of a method of manually shoveling out the chufa seedlings, so that the labor intensity of workers is reduced, the servo motor can drive the second rotating shaft to rotate during working, so that the second rotating shaft drives the pulling-up mechanism to reciprocate, and then the clamping and moving mechanism is driven to move up and down through the pulling-up mechanism, so that when the shoveling mechanism shovels out the chufa seedlings, the clamping and moving mechanism can clamp the chufa seedlings while shoveling out, so that the workers are prevented from taking the chufa seedlings away, and the labor intensity of the workers is reduced And fifthly, because the three mechanisms are driven to move only by one power source, the error of the equipment due to long-term work is reduced.

2. The water chestnut seedling screening device has the four effects that the soil screening mechanism is used for vibrating the crushing vibration plate through the vibration assembly, so that soil on water chestnut seedlings falling on the crushing vibration plate is crushed by vibration, workers are prevented from breaking the soil, the working time of the workers is saved, secondly, the soil on the water chestnut seedlings is secondarily crushed by vibration of the screening shafts, the soil is cleaned more thoroughly, thirdly, the soil in the vibration process penetrates through the screening shafts and enters the collecting box, the soil is cleaned, fourthly, the water chestnut seedlings after being cleaned are scraped into the storage hopper to be automatically collected, the workers are prevented from being frequently collected, and the labor intensity of the workers is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments of the present invention will be briefly described below.

FIG. 1 is a schematic view of a partial structure of the present invention;

FIG. 2 is a schematic perspective view of the cart with the cart removed according to the present invention;

FIG. 3 is a schematic perspective view of the soil screening mechanism;

FIG. 4 is a partial perspective view of the present invention;

FIG. 5 is a schematic perspective view of the shoveling mechanism;

FIG. 6 is a schematic perspective view of the pull-up mechanism;

FIG. 7 is a schematic perspective view of the clamping and moving mechanism;

FIG. 8 is an exploded perspective view of the clamp arm;

FIG. 9 is a schematic partial perspective view of the shoveling mechanism;

FIG. 10 is a perspective view of the vibration assembly;

FIG. 11 is a partial perspective view of the vibration assembly;

in the figure:

1. a material shoveling mechanism; 1a, a transmission component; 1a1, front sprocket; 1a2, rear sprocket; 1a3, chain; 1b, a driving mechanism; 1b1, bull gear; 1b2, pinion; 1b3, servo motor; 1c, a rotating rod; 1d, a first hinge lever; 1e, a connecting shaft; 1f, a first rotating shaft; 1h, a second rotating shaft; 1i, a first swivel base; 1g, a second transposition; 1k, a shovel plate; 1j, a connecting plate; 2. a pull-up mechanism; 2a, a swing mechanism; 2a1, rotating plate; 2a2, positioning shaft; 2a3, a locating sleeve; 2a4, bent axle; 2a5, a second hinge lever; 2b, a slide rail; 2c, a slide; 2d, positioning wheels; 2e, bending the plate; 2f, connecting strips; 2h, pulling a rope; 3. a clamping and moving mechanism; 3a, a clamping arm; 3a1, abutting spring; 3a2, splint; 3a3, guide plate; 3a4, guide posts; 3a5, circular resisting plate; 3b, an electric sliding table; 3c, a first guide rail; 3d, a second guide rail; 3e, a first guide shaft; 3h, a second guide shaft; 3i, an upper mounting plate; 3j, a lower mounting plate; 4. a soil screening mechanism; 4a, a vibration component; 4a1, drive motor; 4a2, cam; 4a3, a rotating shaft; 4a4, upper spring seat; 4a5, shock spring; 4a6, lower spring seat; 4a7, bottom plate; 4a8, fixing plate; 4b, crushing and vibrating plates; 4c, a partition plate; 4d, screening shafts; 4e, a storage hopper; 4f, connecting the transverse plates; 4h, collecting the box; 4i, mounting a bottom plate; 4j, an upper adapter plate; 4k, a lower shaft connecting plate; 5. a cart; 5a, strip-shaped avoiding gaps; 6. water chestnut seedlings.

Detailed Description

The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.

Wherein the showings are for the purpose of illustration only and are shown by way of illustration only and not in actual form, and are not to be construed as limiting the present patent; to better illustrate the embodiments of the present invention, some components of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product.

Referring to fig. 1 to 11, the intelligent robot comprises a shoveling mechanism 1, an upward-pulling mechanism 2, a clamping and moving mechanism 3, a soil screening mechanism 4 and a trolley 5, wherein the trolley 5 is placed on the ground, a notch for avoiding the shoveling mechanism 1 is formed in the bottom of the front end of the trolley 5, the shoveling mechanism 1 for shoveling out water chestnut seedlings 6 is fixedly installed on the trolley 5, the soil screening mechanism 4 is fixedly installed at the top of the inner side of the trolley 5, the upward-pulling mechanism 2 is fixedly installed on the trolley 5, the upward-pulling mechanism 2 is in transmission connection with the shoveling mechanism 1, the clamping and moving mechanism 3 is fixedly installed at the front end of the trolley 5, the clamping and moving mechanism 3 is in transmission connection with the upward-pulling mechanism 2, and a strip-shaped avoiding notch 5a for avoiding the clamping and moving mechanism 3 is formed in the top of the front end of the trolley 5.

The shoveling mechanism 1 comprises a transmission component 1a, a driving mechanism 1b, a connecting shaft 1e, a first rotating shaft 1f, a second rotating shaft 1h, a shoveling plate 1k, two rotating rods 1c, a first hinged rod 1d and a connecting plate 1j, wherein the second rotating shaft 1h is fixedly arranged on the trolley 5 through two second rotary seats 1g, the second rotating shaft 1h is rotatably connected with the two second rotary seats 1g, the driving mechanism 1b is fixedly arranged on the trolley 5, the trolley 5 is in transmission connection with the second rotating shaft 1h, the first rotating shaft 1f is fixedly arranged on the soil screening mechanism 4 through two first rotary seats 1i, the first rotating shaft 1f is rotatably connected with the two second rotary seats 1g, the transmission component 1a is fixedly arranged on the first rotating shaft 1f and the second rotating shaft 1h, one end of the two rotating rods 1c is fixedly arranged at two ends of the first rotating shaft 1f, and the other end of the two rotating rods 1c is respectively hinged with the middle parts of the two connecting plates 1j, shovel board 1k fixed mounting is on two connecting plate 1j low ends, connecting axle 1e fixed mounting is on the top of two connecting plates 1j, the top of two first hinge bars 1d all is articulated with connecting axle 1e, and the low side of two first hinge bars 1d all is articulated with second pivot 1h, it is used for carrying out spacing four holding rings to two first hinge bars 1d to fix being provided with on second pivot 1h, per two spacing rings are located the both sides of a first hinge bar 1d, and second pivot 1h is connected with 2 transmissions of mechanism of pulling up. The driving mechanism 1b is driven to work through the controller, the driving mechanism 1b is driven to drive the second rotating shaft 1h to rotate, the second rotating shaft 1h drives the transmission assembly 1a to work, the transmission assembly 1a drives the first rotating shaft 1f to rotate, the first rotating shaft 1f drives the two rotating rods 1c to rotate, the rotating rods 1c drive the connecting plate 1j to rotate, the top end of the connecting plate 1j is limited through the first hinge rod 1d and the connecting shaft 1e, the rotating amplitude of the top end of the connecting plate 1j rotates on a circle with the axis of the second rotating shaft 1h as the center of a circle and the length of the first hinge rod 1d as the radius, and the shoveling plate 1k shovels water chestnut seedlings;

meanwhile, in the first half circle range of the rotation of the second rotating shaft 1h, the shovel plate 1k can shovel out the water chestnut seedlings 6, and the pull-up mechanism 2 drives the clamping and moving mechanism 3 to move downwards to a specified position to clamp the water chestnut seedlings;

within the range of the second half circle of the rotation of the second rotating shaft 1h, the shovel plate 1k can reset, the pull-up mechanism 2 can drive the clamping and moving mechanism 3 to clamp the water chestnut seedlings, and meanwhile, the pull-up mechanism 2 can drive the clamping and moving mechanism 3 to move upwards to a specified position.

The pulling mechanism 2 comprises two swinging mechanisms 2a, two slide rails 2b, two slide seats 2c, positioning wheels 2d, two bending plates 2e, connecting strips 2f and pull ropes 2h, the two slide rails 2b are fixedly arranged on the front end surface of the trolley 5, the two slide seats 2c can be slidably arranged on the two slide rails 2b, the two bending plates 2e are respectively and fixedly arranged on the two slide seats 2c, the clamping and moving mechanism 3 is fixedly arranged on the two bending plates 2e, the two connecting strips 2f are fixedly arranged on the two bending plates 2e, the two bending plates 2e are positioned right above the two connecting strips 2f, each positioning wheel 2d is fixedly arranged on the top of the trolley 5, one end of each pull rope 2h is fixedly arranged on the two connecting strips 2f, the other end of each pull rope 2h respectively penetrates through the two positioning wheels 2d, and the other end of each pull rope 2h is respectively and fixedly connected with the working end of the two swinging mechanisms 2a, the two swing mechanisms 2a are fixedly installed in the trolley 5, and the input ends of the two swing mechanisms 2a are fixedly connected with the two ends of the second rotating shaft 1h respectively. When the second rotating shaft 1h rotates within the first half circle range, the two swinging mechanisms 2a are driven to work, the swinging mechanisms 2a swing leftwards, the pull ropes 2h drive the connecting strips 2f to move downwards, the connecting strips 2f drive the bending plates 2e and the sliding seats 2c to slide downwards along the length direction of the sliding rails 2b, the two bending plates 2e drive the clamping and moving mechanisms 3 to move downwards, and the clamping and moving mechanisms 3 move downwards to an appointed position to clamp the water chestnut seedlings;

when the second rotating shaft 1h rotates within the second half circle, the two swing mechanisms 2a swing rightwards, and pull the pull rope 2h, so that the clamping and moving mechanism 3 moves upwards to a specified position.

Each swing mechanism 2a comprises a rotating plate 2a1, a positioning shaft 2a2, a positioning sleeve 2a3, a bent shaft 2a4 and a second hinge rod 2a5, wherein one end of the bent shaft 2a4 is fixedly installed on the second rotating shaft 1h, the other end of the bent shaft 2a4 is hinged with one end of the second hinge rod 2a5, the other end of the second hinge rod 2a5 is hinged with the middle lower part of the rotating plate 2a1, the positioning shaft 2a2 is fixedly installed at the lower end of the rotating plate 2a1, one end of a pull rope 2h is fixedly installed at the top end of the rotating plate 2a1, the positioning shaft 2a2 is inserted into the positioning sleeve 2a3, and the positioning sleeve 2a3 is fixedly installed on the trolley 5. Through the rotation of second pivot 1h, will make second pivot 1h drive cambered axle 2a4 and rotate for cambered axle 2a4 drives the one end of second articulated rod 2a5 and rotates, and second articulated rod 2a5 will drive swivel plate 2a1 and swing along the axis of location axle 2a2, makes swing mechanism 2a drive stay cord 2h move.

The clamping and moving mechanism 3 comprises an electric sliding table 3b, an upper mounting plate 3i, a second guide shaft 3h, two clamping arms 3a, first guide rails 3c, second guide rails 3d, a first guide shaft 3e and a second guide shaft 3h, wherein the two second guide rails 3d are positioned at the outer sides of the two slide rails 2b, the two second guide rails 3d are fixedly mounted at the top of the trolley 5, a strip-shaped avoiding gap 5a is positioned between the two second guide rails 3d, one end of each second guide rail 3d, which is connected with the trolley 5, is in a bent shape bending outwards, the tops of the two first guide rails 3c are inserted between the two second guide rails 3d, the two first guide rails 3c are fixedly mounted on the trolley 5, the lower end of each first guide rail 3c is in a bent shape bending outwards, a vertical downward derivative part is arranged at the bottom of the bent end, the upper mounting plate 3i is fixedly mounted on the two bending plates 2e, and electronic slip table 3b fixed mounting is in the bottom of last mounting panel 3i, lower mounting panel 3j fixed mounting is on electronic slip table 3 b's slide, and two clamp arm 3a fixed mounting is on lower mounting panel 3j, and two clamp arm 3a are the symmetry setting, two first guiding axle 3e fixed mounting respectively is on two clamp arm 3a, and two first guiding axle 3e insert and establish between two first guide rails 3c, every first guiding axle 3e all contradicts in the inner wall of first guide rail 3c, two second guiding axles 3h fixed mounting respectively is on two clamp arm 3a, and two clamp arm 3a are located between two second guiding axles 3 h. When the swinging mechanism 2a swings leftwards and the bending plate 2e moves downwards, the bending plate 2e drives the upper mounting plate 3i and the electric sliding table 3b to move downwards, the first guide shaft 3e slides downwards along the first guide rail 3c, when the bending part of the first guide rail 3c is met, the two clamping arms 3a are opened, and when the first guide shaft 3e moves to the vertical part at the lower end of the first guide rail 3c, the swinging mechanism 2a swings leftwards to the limit, and the top of the water chestnut seedling 6 is inserted between the two clamping arms 3 a;

when the second rotating shaft 1h rotates within the range of the second half circle, the swinging mechanism 2a swings rightwards, the shoveling mechanism 1 resets, the bending plate 2e moves upwards, the bending plate 2e drives the upper mounting plate 3i and the electric sliding table 3b to move upwards, the first guide shafts 3e slide downwards along the first guide rails 3c, when the bending part of the first guide rails 3c is met, the two first guide shafts 3e are drawn inwards to enable the two clamping arms 3a to clamp the tops of the water chestnut seedlings 6, and in the process, the resetting movement of the shoveling mechanism 1 cannot bring the tops of the water chestnut seedlings 6 away from the space between the two clamping arms 3 a;

with the continuous upward movement of the electric sliding table 3b, the two clamping arms 3a drive the clamped water chestnut seedlings 6 to move upward, and after the electric sliding table moves to a specified position, the two second guide shafts 3h are inserted between the two second guide rails 3 d;

with the continuous upward movement of the electric sliding table 3b, the two first guide shafts 3e are separated from the first guide rail 3c, the clamping arm 3a keeps clamping the chufa seedlings 6 due to the interference of the second guide rail 3d and the second guide shaft 3h, after the electric sliding table moves upward to a designated position, the second rotating shaft 1h rotates for a half circle, the material shoveling mechanism 1 is reset,

electronic slip table 3b is controlled through the controller again and is moved, make electronic slip table 3b drive down mounting panel 3j move forward, lower mounting panel 3j will drive chufa seedling 6 and two press from both sides tight arm 3a and pass the bar and dodge breach 5a, make chufa seedling 6 reach the top of soil screening mechanism 4, and second guiding axle 3h will move the kink of second guide rail 3d simultaneously, two press from both sides tight arm 3a and will open, make chufa seedling 6 drop on the soil screening mechanism 4, rethread controller control electronic slip table 3b resets, make two press from both sides tight arm 3a and press from both sides tightly again.

Each clamping arm 3a includes a clamping plate 3a2, a guide plate 3a3, two abutting springs 3a1, guide posts 3a4 and a circular abutting plate 3a5, the guide plate 3a3 is fixedly mounted on the lower mounting plate 3j, one end of each guide post 3a4 penetrates through the guide plate 3a3, a guide hole for the guide post 3a4 to pass through is formed in the guide plate 3a3, the clamping plate 3a2 is fixedly mounted on one end of each guide post 3a4, the two circular abutting plates 3a5 are fixedly mounted on the other end of each guide post 3a4, the two abutting springs 3a1 are respectively sleeved on the two guide posts 3a4, one end of each abutting spring 3a1 abuts against the circular abutting plate 3a5, the other end of each abutting spring 3a1 abuts against the guide plate 4933 a3, the first guide shaft 3e is fixedly mounted on the clamping plate 3a2, and the second guide shaft 3h is fixedly mounted on one circular abutting plate 3a 5. When the first guide shaft 3e moves upward, the first guide shaft 3e encounters the bent portion of the first guide rail 3c, and with the continuous upward movement of the first guide shaft 3e, the first guide shaft 3e pulls the two circular abutting plates 3a5, so that the circular abutting plates 3a5 compress the abutting springs 3a 1;

when the water chestnut seedling screening machine moves forwards, the second guide shaft 3h meets the bending part of the second guide rail 3d, the contact spring 3a1 pushes the circular contact plate 3a5 outwards, the two clamping plates 3a2 are separated from each other, the clamping plate 3a2 does not clamp the water chestnut seedling 6, and the water chestnut seedling 6 falls on the soil screening mechanism 4.

The driving mechanism 1b comprises a large gear 1b1, a small gear 1b2 and a servo motor 1b3, the large gear 1b1 is fixedly installed on the second rotating shaft 1h, the servo motor 1b3 is fixedly installed on the trolley 5 through a motor base, the small gear 1b2 is fixedly installed on the output end of the servo motor 1b3, and the small gear 1b2 is meshed with the large gear 1b 1. The servo motor 1b3 is controlled by the controller to rotate, so that the servo motor 1b3 drives the small gear 1b2 to rotate, the small gear 1b2 drives the large gear 1b1 to rotate, and the large gear 1b1 drives the second rotating shaft 1h to rotate.

The transmission assembly 1a comprises a front chain wheel 1a1 and a rear chain wheel 1a2, the rear chain wheel 1a2 is fixedly arranged on the second rotating shaft 1h, the front chain wheel 1a1 is fixedly arranged on the first rotating shaft 1f, and the front chain wheel 1a1 and the rear chain wheel 1a2 are in transmission connection through a chain 1a 3. When the second rotating shaft 1h rotates, the second rotating shaft 1h drives the rear sprocket 1a2 to rotate, the rear sprocket 1a2 drives the front sprocket 1a1 to rotate through the chain 1a3, and the front sprocket 1a1 drives the first rotating shaft 1f to rotate.

The soil screening mechanism 4 comprises a vibration component 4a, a crushing vibration plate 4b, a storage hopper 4e, a connecting transverse plate 4f, a collection box 4h, a mounting bottom plate 4i, an upper shaft connecting plate 4j, a lower shaft connecting plate 4k, two partition plates 4c and a plurality of screening shafts 4d, wherein the vibration component 4a is fixedly mounted on the trolley 5, the crushing vibration plate 4b is fixedly mounted at the top of the vibration component 4a, a strip-shaped notch for avoiding the rotating plate 2a1 is formed in the crushing vibration plate 4b, the two partition plates 4c are fixedly mounted at the top of the crushing vibration plate 4b, the two partition plates 4c are symmetrically arranged, the upper shaft connecting plate 4j is fixedly mounted at the bottom of one side, away from the clamping and moving mechanism 3, of the crushing vibration plate 4b, one end of the screening shafts 4d is fixedly mounted on the upper shaft connecting plate 4j, the screening shafts 4d are obliquely arranged, the lower shaft connecting plate 4k is fixedly mounted at the bottoms of the, one end fixed mounting of hopper 4e is on lower coupling plate 4k, and the other end fixed mounting of hopper 4e is on connecting diaphragm 4f, connect diaphragm 4f fixed mounting on vibrations subassembly 4a, collect box 4h and be located screening axle 4d under, and mounting plate 4i fixed mounting is on handcart 5, collect the bottom of box 4h and contradict with mounting plate 4 i's top, and mounting plate 4 i's both sides are provided with the side shield who contradicts with collecting box 4 h. Through the vibrations of vibrations subassembly 4a, smash and shake board 4b and be smashed by the vibrations to the earth on water chestnut seedling 6, and then realize the separation of water chestnut and earth, and along with smashing the vibrations of shaking board 4b, will make water chestnut seedling 6 shake to screen on the axle 4d, make water chestnut seedling 6 by vibrations once more, earth on water chestnut seedling 6 is shaken garrulous once more, shake garrulous earth and will fall in collecting box 4h, and because screening axle 4d is the slope structure, will make by water chestnut seedling 6 carry out the gliding along screening axle 4d at the in-process of vibrations, make water chestnut seedling 6 finally slide to the storage hopper 4e in, be stored by storage hopper 4e, when collecting certain quantity of water chestnut seedling 6, the water chestnut seedling 6 of storage hopper 4e is taken away to the rethread workman, and place appointed place the place.

The vibrating assembly 4a comprises a driving motor 4a1, a cam 4a2, a rotating shaft 4a3, a fixed plate 4a8, three bottom plates 4a7, six upper spring seats 4a4, vibrating springs 4a5 and lower spring seats 4a6, four upper spring seats 4a4 fix the bottom of the crushing vibrating plate 4b, the other two upper spring seats 4a4 are fixedly installed at the bottom of the connecting transverse plate 4f, the tops of the six vibrating springs 4a5 are fixedly installed on six upper spring seats 4a4, the bottoms of the six vibrating springs 4a5 are fixedly installed on six lower spring seats 4a6, each bottom plate 4a7 is fixedly installed at the bottom of two lower spring seats 4a6, each bottom plate 4a7 is fixed on the trolley 5, the fixed plate 4a8 is fixedly installed on two bottom plates 4a7, the driving motor 4a1 is fixedly installed on the fixed plate 4a8 through a motor seat, one end of the rotating shaft 4a3 is fixedly installed at the output end of the driving motor 1, the cam 4a2 is fixedly installed at the other end of the driving motor 4a1, and a rotary seat for supporting the rotating shaft 4a3 is fixedly arranged on the fixing plate 4a 8. The driving motor 4a1 is controlled by the controller to rotate, so that the driving motor 4a1 drives the cam 4a2 to rotate, the cam 4a2 knocks the crushing vibration plate 4b, and the vibration amplitude of the crushing vibration plate 4b is increased through the vibration spring 4a 5.

The working principle is as follows: firstly, a worker pushes the trolley 5 to a designated position, then the worker starts the controller, the controller controls the servo motor 1b3 to work, so that the servo motor 1b3 drives the small gear 1b2 to rotate, the small gear 1b2 drives the large gear 1b1 to rotate, the large gear 1b1 drives the second rotating shaft 1h to rotate, when the second rotating shaft 1h rotates, the second rotating shaft 1h drives the rear chain wheel 1a2 to rotate, the rear chain wheel 1a2 drives the front chain wheel 1a1 to rotate through the chain 1a3, and the front chain wheel 1a1 drives the first rotating shaft 1f to rotate;

in the first half circle range of the rotation of the second rotating shaft 1h, the shovel plate 1k can shovel out the water chestnut seedlings 6, and the pull-up mechanism 2 drives the clamping and moving mechanism 3 to move downwards to a specified position to clamp the water chestnut seedlings;

the shoveling action of the water chestnut seedlings 6 is as follows: the front chain wheel 1a1 drives the first rotating shaft 1f to rotate, the first rotating shaft 1f drives the two rotating rods 1c to rotate, so that the rotating rods 1c drive the connecting plate 1j to rotate, the top end of the connecting plate 1j is limited through the first hinge rod 1d and the connecting shaft 1e, the rotating amplitude of the top end of the connecting plate 1j is enabled to rotate on a circle which takes the axis of the second rotating shaft 1h as the center of a circle and the length of the first hinge rod 1d as the radius, and the shoveling plate 1k is enabled to shovel out the water chestnut seedlings;

the action process of the clamping and moving mechanism 3 moving downwards to the designated position is as follows: through the rotation of the second rotating shaft 1h, the second rotating shaft 1h drives the bent shaft 2a4 to rotate, the bent shaft 2a4 drives one end of the second hinged rod 2a5 to rotate, the second hinged rod 2a5 drives the rotating plate 2a1 to swing along the axis of the positioning shaft 2a2, the swinging mechanism 2a drives the pull rope 2h to move, the pull rope 2h drives the connecting strip 2f to move downwards, the connecting strip 2f drives the bending plate 2e and the sliding seat 2c to slide downwards along the length direction of the sliding rail 2b, and then the two bending plates 2e drive the clamping and moving mechanism 3 to move downwards, so that the clamping and moving mechanism 3 moves downwards to a specified position to clamp water chestnut seedlings;

the action process of the downward movement process of the clamping and moving mechanism 3 is as follows: when the bending plate 2e moves downwards, the bending plate 2e drives the upper mounting plate 3i and the electric sliding table 3b to move downwards, the first guide shaft 3e slides downwards along the first guide rail 3c, when the bending part of the first guide rail 3c is met, the two clamping arms 3a are opened, and when the first guide shaft 3e moves to the vertical part at the lower end of the first guide rail 3c, the swinging mechanism 2a swings leftwards to the limit, and the top of the water chestnut seedling 6 is inserted between the two clamping arms 3 a;

within the range of the second half circle of the rotation of the second rotating shaft 1h, the shovel plate 1k can reset, the pull-up mechanism 2 can drive the clamping and moving mechanism 3 to clamp the water chestnut seedlings, and meanwhile, the pull-up mechanism 2 drives the clamping and moving mechanism 3 to move upwards to a specified position;

the action process that the clamping and moving mechanism 3 drives the water chestnut seedlings 6 to move upwards to the designated position is as follows: the swinging mechanism 2a swings rightwards, the shoveling mechanism 1 resets, the bending plate 2e moves upwards, the bending plate 2e drives the upper mounting plate 3i and the electric sliding table 3b to move upwards, the first guide shaft 3e slides downwards along the first guide rail 3c, when meeting the bending part of the first guide rail 3c, the two first guide shafts 3e draw close inwards to enable the two clamping arms 3a to clamp the tops of the chufa seedlings 6, in the process, the resetting movement of the shoveling mechanism 1 can not lead the tops of the chufa seedlings 6 to be separated from between the two clamping arms 3a, the two clamping arms 3a drive the clamped chufa seedlings 6 to move upwards along with the continuous upward movement of the electric sliding table 3b, after moving to the appointed position, the two second guide shafts 3h are inserted between the two second guide rails 3d and move upwards along with the continuous upward movement of the electric sliding table 3b, the two first guide shafts 3e are separated from the first guide rail 3c, the clamping arm 3a keeps clamping the chufa seedlings 6 due to the fact that the second guide rail 3d is abutted to the second guide shaft 3h, after the chufa seedlings move upwards to a specified position, the second rotating shaft 1h just rotates for a half circle, and the material shoveling mechanism 1 is reset;

the process of loosening the water chestnut seedlings 6 comprises the following steps: the controller is used for controlling the electric sliding table 3b to move, so that the electric sliding table 3b drives the lower mounting plate 3j to move forwards, the lower mounting plate 3j drives the water chestnut seedlings 6 and the two clamping arms 3a to penetrate through the strip-shaped avoiding gaps 5a, the water chestnut seedlings 6 reach the upper part of the soil screening mechanism 4, meanwhile, the second guide shaft 3h moves to the bent part of the second guide rail 3d, the two clamping arms 3a are opened, the water chestnut seedlings 6 fall onto the soil screening mechanism 4, and the controller is used for controlling the electric sliding table 3b to reset, so that the two clamping arms 3a clamp again;

the controller controls the vibration component 4a to vibrate, the crushing vibration plate 4b crushes soil on the water chestnut seedlings 6, separation of the water chestnuts and the soil is further achieved, the water chestnut seedlings 6 are vibrated on the screening shaft 4d along with vibration of the crushing vibration plate 4b, the water chestnut seedlings 6 are vibrated again, the soil on the water chestnut seedlings 6 are crushed again, the crushed soil falls into the collection box 4h, and the screening shaft 4d is of an inclined structure, so that the water chestnut seedlings 6 slide down along the screening shaft 4d in the vibrating process, the water chestnut seedlings 6 finally slide down into the storage hopper 4e and are stored by the storage hopper 4e, when a certain number of water chestnut seedlings 6 are collected, the water chestnut seedlings 6 in the storage hopper 4e are taken away by a worker and are placed in a designated place.

Claims

1. An intelligent robot is characterized by comprising a shoveling mechanism (1), a pull-up mechanism (2), a clamping and moving mechanism (3), a soil screening mechanism (4) and a trolley (5), wherein the trolley (5) is placed on the ground, and the bottom of the front end of the handcart (5) is provided with a notch for avoiding the shovel mechanism (1), a shoveling mechanism (1) for shoveling out the water chestnut seedlings (6) is fixedly arranged on the trolley (5), a soil sieving mechanism (4) is fixedly arranged at the top of the inner side of the trolley (5), an upward pulling mechanism (2) is fixedly arranged on the trolley (5), the pull-up mechanism (2) is connected with the shovel mechanism (1) in a transmission way, the clamping and moving mechanism (3) is fixedly arranged at the front end of the trolley (5), and the clamping and moving mechanism (3) is in transmission connection with the pull-up mechanism (2), and the top of the front end of the trolley (5) is provided with a strip-shaped avoidance notch (5 a) for avoiding the clamping and moving mechanism (3).

2. The intelligent robot of claim 1, wherein the shoveling mechanism (1) comprises a transmission assembly (1 a), a driving mechanism (1 b), a connecting shaft (1 e), a first rotating shaft (1 f), a second rotating shaft (1 h), a shoveling plate (1 k), two rotating rods (1 c), a first hinged rod (1 d) and a connecting plate (1 j), the second rotating shaft (1 h) is fixedly mounted on the cart (5) through two second rotating bases (1 g), the second rotating shaft (1 h) is rotatably connected with the two second rotating bases (1 g), the driving mechanism (1 b) is fixedly mounted on the cart (5), the cart (5) is in transmission connection with the second rotating shaft (1 h), the first rotating shaft (1 f) is fixedly mounted on the soil sieving mechanism (4) through two first rotating bases (1 i), and the first rotating shaft (1 f) is rotatably connected with the two second rotating bases (1 g), the transmission component (1 a) is fixedly arranged on a first rotating shaft (1 f) and a second rotating shaft (1 h), one end of each rotating rod (1 c) is fixedly arranged at the two ends of the first rotating shaft (1 f), the other ends of the two rotating rods (1 c) are respectively hinged with the middle parts of the two connecting plates (1 j), the shovel plate (1 k) is fixedly arranged at the lower ends of the two connecting plates (1 j), the connecting shaft (1 e) is fixedly arranged at the top ends of the two connecting plates (1 j), the top ends of the two first hinged rods (1 d) are hinged with the connecting shaft (1 e), and the low ends of the two first hinged rods (1 d) are hinged with the second rotating shaft (1 h), four positioning rings for limiting the two first hinged rods (1 d) are fixedly arranged on the second rotating shaft (1 h), every two positioning rings are positioned on two sides of one first hinged rod (1 d), and the second rotating shaft (1 h) is in transmission connection with the pull-up mechanism (2).

3. The intelligent robot according to claim 2, wherein the pull-up mechanism (2) comprises two swing mechanisms (2 a), a slide rail (2 b), a slide seat (2 c), a positioning wheel (2 d), a bending plate (2 e), a connecting bar (2 f) and a pull rope (2 h), the two slide rails (2 b) are fixedly mounted on the front end surface of the trolley (5), the two slide seats (2 c) are slidably mounted on the two slide rails (2 b), the two bending plates (2 e) are respectively fixedly mounted on the two slide seats (2 c), the clamping and moving mechanism (3) is fixedly mounted on the two bending plates (2 e), the two connecting bars (2 f) are fixedly mounted on the two bending plates (2 e), the two bending plates (2 e) are positioned right above the two connecting bars (2 f), and each positioning wheel (2 d) is fixedly mounted on the top of the trolley (5), and the one end fixed mounting of two stay cords (2 h) is on two connecting strip (2 f), and the other end of two stay cords (2 h) passes two locating wheels (2 d) respectively, and the other end of two stay cords (2 h) respectively with the working end fixed connection of two swing mechanism (2 a), two swing mechanism (2 a) equal fixed mounting are in handcart (5), and the input of two swing mechanism (2 a) respectively with the both ends fixed connection of second pivot (1 h).

4. A smart robot as claimed in claim 3, characterized in that each swing mechanism (2 a) comprises a turning plate (2 a 1), a positioning shaft (2 a 2), a positioning sleeve (2 a 3), a bent shaft (2 a 4) and a second hinge rod (2 a 5), one end of the bent shaft (2 a 4) is fixedly mounted on the second turning shaft (1 h), the other end of the bent shaft (2 a 4) is hinged with one end of the second hinge rod (2 a 5), the other end of the second hinge rod (2 a 5) is hinged with the middle lower part of the turning plate (2 a 1), and the positioning shaft (2 a 2) is fixedly mounted at the lower end of the turning plate (2 a 1), one end of the pull rope (2 h) is fixedly mounted at the top end of the turning plate (2 a 1), the positioning shaft (2 a 2) is inserted into the positioning sleeve (2 a 3), and the positioning sleeve (2 a 3) is fixedly mounted on the cart (5).

5. The intelligent robot according to claim 4, wherein the clamping and moving mechanism (3) comprises an electric sliding table (3 b), an upper mounting plate (3 i), a second guide shaft (3 h), two clamping arms (3 a), a first guide rail (3 c), a second guide rail (3 d), a first guide shaft (3 e) and a second guide shaft (3 h), the two second guide rails (3 d) are positioned at the outer sides of the two sliding rails (2 b), the two second guide rails (3 d) are fixedly mounted at the top of the trolley (5), the strip-shaped avoiding gap (5 a) is positioned between the two second guide rails (3 d), one end of the second guide rail (3 d) connected with the trolley (5) is in an outward bending shape, the tops of the two first guide rails (3 c) are inserted between the two second guide rails (3 d), the two first guide rails (3 c) are both fixedly mounted on the trolley (5), the lower end of each first guide rail (3 c) is bent outwards, a vertical downward derivative part is arranged at the bottom of the bent end, an upper mounting plate (3 i) is fixedly mounted on two bending plates (2 e), an electric sliding table (3 b) is fixedly mounted at the bottom of the upper mounting plate (3 i), a lower mounting plate (3 j) is fixedly mounted on a sliding seat of the electric sliding table (3 b), two clamping arms (3 a) are fixedly mounted on the lower mounting plate (3 j), the two clamping arms (3 a) are symmetrically arranged, two first guide shafts (3 e) are respectively and fixedly mounted on the two clamping arms (3 a), the two first guide shafts (3 e) are inserted between the two first guide rails (3 c), each first guide shaft (3 e) is abutted against the inner wall of the first guide rail (3 c), and the two second guide shafts (3 h) are respectively and fixedly mounted on the two clamping arms (3 a), and the two clamping arms (3 a) are located between the two second guide shafts (3 h).

6. An intelligent robot as claimed in claim 5, wherein each clamping arm (3 a) comprises a clamping plate (3 a 2), a guide plate (3 a 3), two abutting springs (3 a 1), a guide post (3 a 4) and a circular abutting plate (3 a 5), the guide plate (3 a 3) is fixedly mounted on the lower mounting plate (3 j), one end of each guide post (3 a 4) passes through the guide plate (3 a 3), the guide plate (3 a 3) is provided with a guide hole for the guide post (3 a 4) to pass through, the clamping plate (3 a 2) is fixedly mounted on one end of each guide post (3 a 4), the two circular abutting plates (3 a 5) are fixedly mounted on the other end of each guide post (3 a 4), the two abutting springs (3 a 1) are respectively sleeved on the two guide posts (3 a 4), one end of each abutting spring (3 a 1) abuts against the circular guide plate (3 a 5), and the other end of each spring (3) abuts against the guide plate (3 a 1), the first guide shaft (3 e) is fixedly arranged on the clamping plate (3 a 2), and the second guide shaft (3 h) is fixedly arranged on a circular abutting plate (3 a 5).

7. The intelligent robot of claim 6, wherein the driving mechanism (1 b) comprises a large gear (1 b 1), a small gear (1 b 2) and a servo motor (1 b 3), the large gear (1 b 1) is fixedly installed on the second rotating shaft (1 h), the servo motor (1 b 3) is fixedly installed on the trolley (5) through a motor base, the small gear (1 b 2) is fixedly installed on the output end of the servo motor (1 b 3), and the small gear (1 b 2) is meshed with the large gear (1 b 1).

8. The intelligent robot as claimed in claim 7, wherein the transmission assembly (1 a) comprises a front chain wheel (1 a 1) and a rear chain wheel (1 a 2), the rear chain wheel (1 a 2) is fixedly mounted on the second rotating shaft (1 h), the front chain wheel (1 a 1) is fixedly mounted on the first rotating shaft (1 f), and the front chain wheel (1 a 1) and the rear chain wheel (1 a 2) are in transmission connection through a chain (1 a 3).

9. The intelligent robot as claimed in claim 8, wherein the soil sieving mechanism (4) comprises a vibration assembly (4 a), a crushing vibration plate (4 b), a storage hopper (4 e), a connecting transverse plate (4 f), a collecting box (4 h), a mounting bottom plate (4 i), an upper coupling plate (4 j), a lower coupling plate (4 k), two partition plates (4 c) and a plurality of sieving shafts (4 d), the vibration assembly (4 a) is fixedly mounted on the trolley (5), the crushing vibration plate (4 b) is fixedly mounted on the top of the vibration assembly (4 a), the crushing vibration plate (4 b) is provided with a strip-shaped notch for avoiding the rotating plate (2 a 1), the two partition plates (4 c) are fixedly mounted on the top of the crushing vibration plate (4 b), the two partition plates (4 c) are symmetrically arranged, the upper coupling plate (4 j) is fixedly mounted on the bottom of one side of the crushing vibration plate (4 b) far away from the clamping and moving mechanism (3), one end fixed mounting of a plurality of screening axle (4 d) is on upper adapter plate (4 j), and screening axle (4 d) is the slope setting, lower axle adapter plate (4 k) fixed mounting is in the bottom of a plurality of screening axle (4 d), the one end fixed mounting of deposit hopper (4 e) is on lower axle adapter plate (4 k), and the other end fixed mounting of deposit hopper (4 e) is on connecting diaphragm (4 f), connect diaphragm (4 f) fixed mounting on vibrations subassembly (4 a), collect box (4 h) and be located screening axle (4 d) under, and mounting plate (4 i) fixed mounting is on handcart (5), the bottom of collecting box (4 h) and the top of mounting plate (4 i), and the both sides of mounting plate (4 i) are provided with the side shield who conflicts with collection box (4 h).

10. The smart robot of claim 9, wherein the vibration assembly (4 a) comprises a driving motor (4 a 1), a cam (4 a 2), a rotating shaft (4 a 3), a fixing plate (4 a 8), three bottom plates (4 a 7), six upper spring seats (4 a 4), a vibration spring (4 a 5) and a lower spring seat (4 a 6), four upper spring seats (4 a 4) fix the bottom of the crushing vibration plate (4 b), the other two upper spring seats (4 a 4) are fixedly installed at the bottom of the connecting transverse plate (4 f), the tops of the six vibration springs (4 a 5) are fixedly installed on the six upper spring seats (4 a 4), the bottoms of the six vibration springs (4 a 5) are fixedly installed on the six lower spring seats (4 a 6), and each bottom plate (4 a 7) is fixedly installed at the bottom of the two lower spring seats (4 a 6), and each bottom plate (4 a 7) is fixedly installed on the trolley (5), the fixing plate (4 a 8) is fixedly installed on the two bottom plates (4 a 7), the driving motor (4 a 1) is fixedly installed on the fixing plate (4 a 8) through a motor base, one end of the rotating shaft (4 a 3) is fixedly installed at the output end of the driving motor (4 a 1), the cam (4 a 2) is fixedly installed at the other end of the driving motor (4 a 1), and a rotating base used for supporting the rotating shaft (4 a 3) is fixedly arranged on the fixing plate (4 a 8).