An unmanned intelligent double-side material discharging vehicle

Abstract

The present invention discloses an unmanned intelligent double-side discharging material spreading vehicle, which belongs to the technical field of unmanned material spreading vehicles, including an AGV chassis and a material box, an anti-collision block and a laser scanner are installed at the front end of the AGV chassis, two chassis inspection ports are installed on both sides of the AGV chassis, a chassis electrical compartment, a charging pole and a battery compartment are installed at the middle position of the AGV chassis, a plurality of weighing upper brackets are welded at the bottom of the material box, the AGV chassis and the material box body are fixedly connected by a plurality of weighing sensors, a power compartment is provided at the front end of the material box, a hydraulic power assembly is installed in the power compartment, the hydraulic power assembly includes a hydraulic oil tank, and a DC motor is installed on one side of the hydraulic oil tank. The present invention reduces labor costs, realizes uniform material spreading, and reduces the deviation of manual operation by setting unmanned driving; by setting a sealed power compartment and electrical compartment, the failure rate of hydraulic and electrical parts is reduced, and it is adapted to complex environments such as rain, wind and snow outdoors.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned material spreading vehicles, and in particular to an unmanned intelligent double-side material discharging and spreading vehicle. Background Art

[0002] Feed spreaders are used in large-scale cattle (sheep, donkeys, etc.) farms. The mixed grass can be loaded into the feed box of the feed spreader, transported to the feeding channel in the cattle and sheep pen, and then spread to the feeding areas on both sides of the feeding channel while moving to realize mechanized breeding. According to scientific feeding requirements, different amounts of grass need to be placed in each pen according to the number and age of cattle and sheep. To ensure that every cattle and sheep has enough food, it is required to place the feed evenly to avoid too much or too little feed.

[0003] At present, the market is dominated by three-wheel diesel vehicles or light truck chassis, which need to be manually driven to complete the feeding work. During the feeding process, the human needs to control the throttle size, maintain a certain uniform speed, and adjust the speed appropriately according to the amount of grass in the feed box to achieve a uniform feeding amount. In actual operation, due to factors such as manual proficiency and the difficulty in controlling the amount of remaining grass in the feed box, it is difficult to achieve uniform and quantitative feeding.

[0004] Therefore, based on the above problems, an unmanned intelligent double-sided material discharging and spreading vehicle is proposed. Summary of the invention

[0005] The purpose of the present invention is to solve the problems in the prior art that it is difficult to control the weight of fodder and to achieve uniform and quantitative spreading of fodder, and to propose an unmanned intelligent double-sided discharging and spreading vehicle.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] An unmanned intelligent double-sided material discharging and spreading vehicle comprises an AGV chassis and a material box, wherein an anti-collision block and a laser scanner are installed at the front end of the AGV chassis, two chassis inspection ports are installed on both sides of the AGV chassis, a chassis electrical compartment, a charging pole and a battery compartment are installed in the middle position of the AGV chassis, a plurality of weighing upper brackets are welded to the bottom of the material box, the AGV chassis and the material box body are fixedly connected by a plurality of weighing sensors, a power bin is provided at the front end of the material box, a hydraulic power assembly is installed in the power bin, the hydraulic power assembly comprises a hydraulic oil tank, a DC motor is installed on one side of the hydraulic oil tank, a hydraulic oil pump is installed in the hydraulic oil tank, the output shaft of the DC motor is fixedly connected to the hydraulic oil pump, a pushing mechanism is provided at the lower end of the material box, and the pushing mechanism comprises a pushing active shaft and a pushing driven shaft.

[0008] Preferably, a group of driving steering wheels are respectively installed at the front and rear positions of the bottom of the AGV chassis, a magnetic navigation sensor is installed at the middle position of the AGV chassis, and a communication and power supply interface and a plurality of weighing lower brackets are installed on the AGV chassis.

[0009] Preferably, a compartment door is installed on the power compartment, the compartment door and the power compartment are fixed by two sets of primary flip hinges, two gas springs are arranged between the compartment door and the power compartment, and a hydraulic radiator, a fan and a motor controller are installed in the power compartment.

[0010] Preferably, a hydraulic filter, a pressure gauge and a hydraulic air filter are installed above the hydraulic oil tank, a valve block base is installed on one side of the hydraulic oil tank, a pushing electromagnetic reversing valve, a discharging electromagnetic reversing valve, a proportional speed control valve and a hydraulic blockage alarm are installed on the valve block base, an oil tank inspection port is installed on the front of the hydraulic oil tank, and hydraulic oil is filled inside the hydraulic oil tank.

[0011] Preferably, an electrical compartment is provided at the rear end of the material box, the electrical compartment is connected to an electrical compartment door, a horizontal fixed guide rail is installed on the left side of the bottom plate of the electrical compartment, a circuit breaker, a PLC controller, a power converter, a communication network port, a relay and a terminal block are installed on the fixed guide rail from left to right, a weighing module and a touch screen are installed on the right side of the bottom plate of the electrical compartment, a feeding motor is installed on the right side of the electrical compartment, a feeding driving sprocket is installed on the output shaft of the feeding motor, an emergency stop switch is installed on the side of the material box, and a main power switch is installed at the tail of the material box.

[0012] Preferably, a discharge port is provided at the lower end of the electrical warehouse, and the discharge port is provided with symmetrically arranged left and right discharge mechanisms, a discharge roller driving shaft is provided at the middle position of the discharge port, and the discharge roller driving shaft is fixed to the side plate of the discharge port through two left and right three-stage square belt seat bearings, a discharge roller driven shaft is provided at the outer end of the discharge port, and the discharge roller driven shaft is installed on the belt tensioning bracket through two left and right secondary slider bearings, and two belt tensioning brackets are respectively welded to the side plates of the discharge port, the discharge roller driving shaft and the discharge roller driven shaft are connected through a discharge belt to form a closed loop, a dividing plate is welded at the middle and upper position of the two discharge belts, and the discharge roller driving shaft is connected and driven by a discharge motor.

[0013] Preferably, the pushing active shaft is fixed to the left and right side plates at the lower end of the material box through two left and right secondary square belt seat bearings, roller sprockets are respectively installed on the inner sides of the secondary square belt seat bearings, and a pushing driven sprocket is installed on the output end of the pushing active shaft, and a pushing motor is installed on the right side below the power bin, and a pushing active sprocket is installed on the output shaft of the pushing motor, and the pushing driven sprocket is connected to the pushing active sprocket through a primary transmission chain, and the pushing driven shaft is fixed to the chain tensioning bracket through two left and right primary slider bearings, and the chain tensioning bracket is welded to the left and right side plates at the lower end of the material box, and two roller sprockets are also respectively installed on the inner sides of the pushing driven shaft, and the two roller sprockets are connected by a flap roller chain to form a closed loop.

[0014] Preferably, the left and right flap roller chains of the pushing mechanism are horizontally connected by a scraper plate, a chain cover plate and a secondary flip hinge are welded above the flap roller chain, a baffle plate is installed in the middle position inside the material box, a knocking rod is installed at the rear end of the material box, the knocking rod is installed and fixed by two left and right primary square bearings with a seat, a knocking driven sprocket is installed at the input shaft end of the knocking rod, and the knocking driven sprocket is connected with the knocking active sprocket through a secondary transmission chain to form a closed loop.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. By setting up unmanned driving equipment, labor costs are reduced, and the travel speed of the spreading vehicle is constant. The system automatically controls the pushing speed to achieve uniform spreading of materials, reduce the deviation of manual operation, and improve the level of intelligence and automation.

[0017] 2. By setting up sealed power compartment and electrical compartment and using flip compartment doors, rain and dust are prevented from entering the compartment, the failure rate of hydraulic and electrical components is reduced, and it can adapt to complex outdoor environments such as rain, wind and snow. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front plan view of an unmanned intelligent double-side discharging and spreading vehicle proposed by the present invention;

[0019] Figure 2 This is a left view of an unmanned intelligent double-side discharging material spreading vehicle proposed by the present invention;

[0020] Figure 3 This is a right view of an unmanned intelligent double-side discharging and spreading vehicle proposed by the present invention;

[0021] Figure 4 This is a top view of an unmanned intelligent double-side material discharging and spreading vehicle proposed by the present invention.

[0022] In the figure: 1. Anti-collision block; 2. Laser scanner; 3. AGV chassis; 4. Chassis inspection port; 5. Driving steering wheel; 6. Chassis electrical compartment; 7. Charging pole; 8. Magnetic navigation sensor; 9. Battery compartment; 10. Communication and power interface; 11. Weighing lower bracket; 12. Weighing sensor; 13. Weighing upper bracket; 14. Discharging motor; 15. Discharging port; 16. Chain tensioning bracket; 17. Primary slider bearing; 18. Pusher driven shaft; 19. Primary square shaft with seat bearing; 20, electrical hatch; 21, flap roller chain; 22, emergency stop switch; 23, material box; 24, door; 25, first-level flip hinge; 26, gas spring; 27, push material driving sprocket; 28, first-level transmission chain; 29, push material driving shaft; 30, push material driven sprocket; 31, hydraulic radiator; 32, hydraulic block alarm; 33, valve block base; 34, push material electromagnetic reversing valve; 35, proportional speed regulating valve; 36, discharge material electromagnetic reversing valve; 37, hydraulic filter ; 38. Pressure gauge; 39. Fuel tank inspection port; 40. Hydraulic air filter; 41. Hydraulic oil tank; 42. Motor controller; 43. Power compartment; 44. DC motor; 45. Fan; 46. Pusher motor; 47. Roller sprocket; 48. Secondary square seat bearing; 49. Main power switch; 50. Fixed guide rail; 51. Circuit breaker; 52. PLC controller; 53. Power converter; 54. Communication network port; 55. Relay; 56. Terminal block; 57. Weighing Module; 58, electrical compartment; 59, touch screen; 60, punching motor; 61, punching active sprocket; 62, secondary transmission chain; 63, punching driven sprocket; 64, belt tensioning bracket; 65, discharging roller driven shaft; 66, secondary slider bearing; 67, tertiary square belt seat bearing; 68, discharging roller active shaft; 69, dividing plate; 70, discharging belt; 71, baffle plate; 72, secondary flip hinge; 73, chain cover; 74, scraper plate; 75, punching rod. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0024] Embodiment 1

[0025] Reference Figure 1-2An unmanned intelligent double-side discharging material spreading vehicle includes an AGV chassis 3 and a material box 23. The front end of the AGV chassis 3 is equipped with an anti-collision block 1 and a laser scanner 2. Two chassis inspection ports 4 are installed on both sides of the AGV chassis 3. The middle position of the AGV chassis 3 is equipped with a chassis electrical compartment 6, a charging pole 7 and a battery compartment 9. A plurality of weighing upper brackets 13 are welded at the bottom of the material box 23. The AGV chassis 3 and the material box 23 are fixedly connected through a plurality of weighing sensors 12. A power bin 43 is provided at the front end of 23, a hydraulic power assembly is installed in the power bin 43, the hydraulic power assembly includes a hydraulic oil tank 41, a DC motor 44 is installed on one side of the hydraulic oil tank 41, a hydraulic oil pump is installed in the hydraulic oil tank 41, the output shaft of the DC motor 44 is fixedly connected to the hydraulic oil pump, a pushing mechanism is provided at the lower end of the material box 23, the front end of the pushing mechanism is the active end of the pushing mechanism, and the rear end is the tensioning end, and the pushing mechanism includes a pushing active shaft 29 and a pushing driven shaft 18.

[0026] Furthermore, a set of driving steering wheels 5 are installed at the front and rear positions of the bottom of the AGV chassis 3, a magnetic navigation sensor 8 is installed at the middle position of the AGV chassis 3, and a communication and power supply interface 10 and a plurality of weighing lower brackets 11 are installed on the AGV chassis 3;

[0027] A door 24 is installed on the power compartment 43, and the door 24 and the power compartment 43 are fixed by two sets of primary flip hinges 25. Two gas springs 26 are arranged between the door 24 and the power compartment 43. A hydraulic radiator 31, a fan 45 and a motor controller 42 are installed in the power compartment 43. A hydraulic filter 37, a pressure gauge 38 and a hydraulic air filter 40 are installed above the hydraulic oil tank 41. A valve block base 33 is installed on one side of the hydraulic oil tank 41. A push electromagnetic reversing valve 34, a discharging electromagnetic reversing valve 36, a proportional speed regulating valve 35 and a hydraulic blockage alarm 32 are installed on the valve block base 33. An oil tank inspection port 39 is installed on the front of the hydraulic oil tank 41, and hydraulic oil is filled in the hydraulic oil tank 41.

[0028] Embodiment 2 proposed based on Embodiment 1:

[0029] Reference Figure 2-4 , the rear end of the material box 23 is provided with an electrical compartment 58, such as Figure 3 As shown, the electrical compartment 58 is connected to the electrical compartment door 20. The structure of the electrical compartment door 20 is the same as that of the compartment door 24. It is also opened and closed by a primary flip hinge 25 and a gas spring 26. A horizontal fixed rail 50 is installed on the left side of the bottom plate of the electrical compartment 58. A circuit breaker 51, a PLC controller 52, a power converter 53, a communication network port 54, a relay 55 and a terminal block 56 are installed on the fixed rail 50 from left to right. A weighing module 57 and a touch screen 59 are installed on the right side of the bottom plate of the electrical compartment 58.

[0030] A feeding motor 60 is installed on the right side of the electrical bin 58, a feeding driving sprocket 61 is installed on the output shaft of the feeding motor 60, an emergency stop switch 22 is installed on the side of the material box 23, a main power switch 49 is installed at the tail of the material box 23, a discharge port 15 is provided at the lower end of the electrical bin 58, the discharge port 15 is provided with symmetrically arranged left and right discharge mechanisms, a discharge roller driving shaft 68 is provided in the middle of the discharge port 15, and the discharge roller driving shaft 68 is fixed to the discharge port through two left and right three-stage square seat bearings 67 15, the outer end of the discharge port 15 is provided with a discharge roller driven shaft 65, the discharge roller driven shaft 65 is installed on the belt tensioning bracket 64 through two left and right secondary slider bearings 66, and the two belt tensioning brackets 64 are respectively welded to the side plates of the discharge port 15, the discharge roller driving shaft 68 and the discharge roller driven shaft 65 are connected to form a closed loop through the discharge belt 70, and a dividing plate 69 is welded at the middle upper position of the two discharge belts 70, and the discharge roller driving shaft 68 is connected and driven by the discharge motor 14;

[0031] The push driving shaft 29 is fixed to the left and right side plates at the lower end of the material box 23 through two left and right secondary square belt seat bearings 48, and roller sprockets 47 are respectively installed on the inner sides of the secondary square belt seat bearings 48. A push driven sprocket 30 is installed on the output end of the push driving shaft 29, and a push motor 46 is installed on the right side below the power bin 43. The output shaft of the push motor 46 is installed with a push driving sprocket 27, and the push driven sprocket 30 is connected to the push driving sprocket 27 through a primary transmission chain 28. The push driven shaft 18 is fixed to the chain tensioning bracket 16 through two left and right primary slider bearings 17. The chain tensioning bracket 16 is welded to the left and right side plates at the lower end of the material box 23. Two roller sprockets 47 are also installed on the inner sides of the push driven shaft 18, and the two roller sprockets 47 are connected by a flap roller chain 21 to form a closed loop.

[0032] The left and right flap roller chains 21 of the pushing mechanism are horizontally connected by a scraper plate 74, a chain cover plate 73 and a secondary flip hinge 72 are welded above the flap roller chain 21, a baffle plate 71 is installed at the middle position inside the material box 23, a punching rod 75 is installed at the rear end of the material box 23, the punching rod 75 is fixed by two left and right primary square bearings 19, a punching driven sprocket 63 is installed at the input shaft end of the punching rod 75, and the punching driven sprocket 63 is connected to the punching active sprocket 61 through the secondary transmission chain 62 to form a closed loop;

[0033] It should be noted that: the above hydraulic components are connected through hydraulic oil pipes, the electrical components are connected through data cables and power cables, and the sprockets and shafts are fixed by flat keys;

[0034] The working principle of the walking part is as follows: the magnetic navigation sensor 8 detects the magnetic field of the magnetic strip on the ground in real time, guides the walking track of the car, drives the steering wheel 5 to rotate under the drive of the motor, and pushes the car forward. During the driving process of the car, the laser scanner 2 at the front end of the chassis scans the obstacles in front of a certain distance in real time. If an obstacle is found, the car will automatically slow down and brake.

[0035] The weighing part works as follows: four weighing sensors 12 sense the gravity generated by the weight of the material in the material box 23 in real time, and transmit the weight data to the weighing module 57, and the PLC control module can read the weight data in real time.

[0036] The working principle of the material spreading is as follows: after the DC motor 44 in the power compartment 43 is energized, it drives the hydraulic oil pump in the oil tank to work, and provides high-pressure power to the pushing hydraulic motor, the beating hydraulic motor, and the discharging hydraulic motor through the hydraulic oil pipe. The pushing hydraulic motor rotates and is transmitted through the sprocket, thereby driving the flap roller chain 21 to circulate, and the scraper plate 74 moves from front to back in the material box 23, repeating the cycle. The grass moves backward under the push of the scraper plate 74, and when it reaches the tail of the material box 23, it is broken up by the rotating beating rod 75, and then falls onto the discharging belt 70 of the discharging port 15. The discharging hydraulic motor drives the drum to rotate, driving the discharging belt 70 to rotate cyclically, and continuously throwing the grass on the belt from the left and right sides, so that the grass can be spread on both sides of the vehicle while it is moving in the feeding area of ​​cattle and sheep.

[0037] The uniformity control principle of the material spreading is as follows: when the material spreading work begins and the material box 23 is fully loaded with grass, the PLC controls the opening of the proportional speed regulating valve 35 to be smaller according to the weight of the grass in the material box 23, reduces the flow of the hydraulic system, and thus reduces the speed of the pushing hydraulic motor. Subsequently, the scraper plate 74 pushes the material backward at a lower moving speed. When the weight of the grass in the material box 23 continues to decrease, the PLC controls the opening of the proportional speed regulating valve 35 to gradually increase, and the speed at which the scraper plate 74 moves backward to push the material gradually increases, so that the discharge amount of the discharge port 15 remains relatively stable and uniform.

[0038] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An unmanned intelligent double-side material discharging vehicle, comprising an AGV chassis (3) and a material box (23), characterized in that: The AGV chassis (3) is equipped with a communication and power interface (10) and a plurality of weighing lower brackets (11); a front end of the AGV chassis (3) is equipped with an anti-collision block (1) and a laser scanner (2); two chassis inspection ports (4) are installed on both sides of the AGV chassis (3); and a chassis electrical compartment (6), a charging pole (7) and a battery compartment (9) are installed in the middle of the AGV chassis (3); A plurality of weighing upper brackets (13) are welded to the bottom of the material box (23); the AGV chassis (3) and the material box (23) are fixedly connected via a plurality of weighing sensors (12); a power compartment (43) is provided at the front end of the material box (23); a hydraulic power assembly is installed in the power compartment (43); the hydraulic power assembly includes a hydraulic oil tank (41); a DC motor (44) is installed on one side of the hydraulic oil tank (41); a hydraulic oil pump is installed in the hydraulic oil tank (41); an output shaft of the DC motor (44) is fixedly connected to the hydraulic oil pump; a material pushing mechanism is provided at the lower end of the material box (23); the material pushing mechanism includes a material pushing driving shaft (29) and a material pushing driven shaft (18); An electrical compartment (58) is provided at the rear end of the material box (23), a discharge port (15) is provided at the lower end of the electrical compartment (58), the discharge port (15) is provided with symmetrically arranged left and right discharge mechanisms, a discharge roller driving shaft (68) is provided at the middle position of the discharge port (15), the discharge roller driving shaft (68) is fixed to the side plate of the discharge port (15) through two left and right three-stage square seat bearings (67), and a discharge roller driven shaft (65) is provided at the outer end of the discharge port (15).

2. The unmanned intelligent double-side material discharging vehicle according to claim 1 is characterized in that: A group of driving steering wheels (5) are respectively installed at the front and rear positions of the bottom of the AGV chassis (3), and a magnetic navigation sensor (8) is installed at the middle position of the AGV chassis (3).

3. The unmanned intelligent double-side discharging material spreading vehicle according to claim 1 is characterized in that: A compartment door (24) is installed on the power compartment (43); the compartment door (24) and the power compartment (43) are fixed via two sets of primary flip hinges (25); two gas springs (26) are provided between the compartment door (24) and the power compartment (43); and a hydraulic radiator (31), a fan (45) and a motor controller (42) are installed in the power compartment (43).

4. The unmanned intelligent double-side discharging material spreading vehicle according to claim 1 is characterized in that: A hydraulic filter (37), a pressure gauge (38) and a hydraulic air filter (40) are installed above the hydraulic oil tank (41); a valve block base (33) is installed on one side of the hydraulic oil tank (41); a material pushing electromagnetic reversing valve (34), a material discharging electromagnetic reversing valve (36), a proportional speed regulating valve (35) and a hydraulic blockage alarm (32) are installed on the valve block base (33); an oil tank inspection port (39) is installed on the front of the hydraulic oil tank (41); and hydraulic oil is contained in the hydraulic oil tank (41).

5. The unmanned intelligent double-side material discharging vehicle according to claim 1 is characterized in that: The electrical compartment (58) is connected to an electrical compartment door (20); a transverse fixed guide rail (50) is installed on the left side of the bottom plate of the electrical compartment (58); a circuit breaker (51), a PLC controller (52), a power converter (53), a communication network port (54), a relay (55) and a terminal block (56) are installed on the fixed guide rail (50) from left to right; a weighing module (57) and a touch screen (59) are installed on the right side of the bottom plate of the electrical compartment (58); a feeding motor (60) is installed on the right side of the electrical compartment (58); a feeding driving sprocket (61) is installed on the output shaft of the feeding motor (60); an emergency stop switch (22) is installed on the side of the material box (23); and a main power switch (49) is installed at the tail of the material box (23).

6. The unmanned intelligent double-side material discharging vehicle according to claim 5 is characterized in that: The driven shaft (65) of the discharge roller is mounted on a belt tensioning bracket (64) via two left and right secondary slider bearings (66). The two belt tensioning brackets (64) are respectively welded to the side plates of the discharge port (15). The driving shaft (68) of the discharge roller and the driven shaft (65) of the discharge roller are connected via a discharge belt (70) to form a closed loop. A dividing plate (69) is welded at the middle upper position of the two discharge belts (70). The driving shaft (68) of the discharge roller is connected and driven via a discharge motor (14).

7. The unmanned intelligent double-side material discharging vehicle according to claim 1 is characterized in that: The push drive shaft (29) is fixed to the left and right side plates at the lower end of the material box (23) through two left and right secondary square belt seat bearings (48), and roller sprockets (47) are respectively installed at the inner positions of the secondary square belt seat bearings (48). The output end of the push drive shaft (29) is installed with a push driven sprocket (30). A push motor (46) is installed at the right position below the power bin (43), and the output shaft of the push motor (46) is installed with a push drive sprocket (27). The wheel (30) is connected to the push material driving sprocket (27) through a primary transmission chain (28); the push material driven shaft (18) is fixed on the chain tensioning bracket (16) through two left and right primary slider bearings (17); the chain tensioning bracket (16) is welded to the left and right side plates at the lower end of the material box (23); two roller sprockets (47) are also installed at the inner side of the push material driven shaft (18), and the two roller sprockets (47) are connected by a flap roller chain (21) to form a closed loop.

8. The unmanned intelligent double-side material discharging vehicle according to claim 7 is characterized in that: The left and right flap roller chains (21) of the pushing mechanism are laterally connected via a scraper plate (74); a chain cover plate (73) and a secondary flip hinge (72) are welded above the flap roller chain (21); a baffle plate (71) is installed at the middle position inside the material box (23); a punching rod (75) is installed at the rear end of the material box (23); the punching rod (75) is fixed via two left and right primary square seat bearings (19); a punching driven sprocket (63) is installed at the input shaft end of the punching rod (75); the punching driven sprocket (63) is connected to the punching driving sprocket (61) via a secondary transmission chain (62) to form a closed loop.

Images