Vegetable plug seedling and replanting robot

Abstract

The application discloses a vegetable plug seedling and replanting robot, which comprises a preloaded cylindrical track (1), wherein the cylindrical track (1) is movably provided with a moving main body frame (2), the upper end of the moving main body frame (2) is provided with a walking mechanism (3) running along the cylindrical track (1), the bottom of the moving main body frame (2) is symmetrically provided with a groove track (4) corresponding to the side edge of a seedbed, the groove track (4) is provided with a replanting main body frame (5), and the rear side of the replanting main body frame (5) is provided with a clutch transmission mechanism (25). The main wheel assembly and the auxiliary wheel are arranged to rotate in different directions, so that the stable displacement of the replanting main body frame is realized, and the stability of a replanting execution member is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of seedling supplementing device, and particularly relates to a vegetable plug seedling supplementing robot. BACKGROUND

[0002] In the process of plug seedling, some of the plug trays may have seed missing or seed not germination, and therefore, the empty holes or unhealthy seedlings need to be supplemented and removed respectively, and the traditional manual supplementing method is low in efficiency, and the existing mechanical equipment is used to replace the traditional manual operation, for example, the greenhouse seedbed mobile inspection supplementing robot disclosed in Chinese patent CN109937761B, which comprises a controller; the robot further comprises two parallel arranged guide rails, a rack movable along the guide rails, a seedbed horizontally arranged at the lower edge of the rack for placing the seedling tray to be replaced, a plurality of power mechanisms arranged at the bottom of the rack to move the rack along the guide rails, a supplementing platform fixed on the rack for placing the replacement seedling tray, a sliding mechanism arranged above the seedbed and movably positioned on the rack, and a seedling transplanting mechanism driven by the sliding mechanism and reciprocally moving between the supplementing platform and the seedbed to transplant seedlings; the rack is respectively provided with a first camera for identifying the good seedlings in the replacement seedling tray and a second camera for identifying the poor seedlings in the seedling tray to be replaced; the sliding mechanism, the power mechanism, the seedling transplanting mechanism, the first camera and the second camera are electrically connected with the controller to ensure the cooperation of the mechanisms. The power mechanism of the supplementing robot drives the guide wheels to rotate, the guide wheels move on the track to realize the movement of the overall rack body, and the side of the guide wheels adhering to the track rotates, but the supplementing robot is provided with a plug tray and an execution mechanism, and the overall weight is certain, and the stability of the overall movement is not ideal due to the single guide wheel. SUMMARY

[0003] The present application aims to provide a vegetable plug seedling supplementing robot, which realizes the stable displacement of the supplementing main rack and improves the stability of the supplementing execution member by rotating the main wheel assembly and the auxiliary wheel in different directions.

[0004] The technical scheme of the present application comprises a preloaded cylindrical track, a moving main frame is arranged on the cylindrical track, an upper end of the moving main frame is provided with a walking mechanism running along the cylindrical track; a bottom of the moving main frame is symmetrically provided with a groove track corresponding to the side of the seedbed, a seedling supplementing main frame is arranged on the groove track, a rear side of the seedling supplementing main frame is provided with a clutch transmission mechanism, a bottom of the seedling supplementing main frame is provided with a main wheel assembly abutting against the side of the groove track, an output end of the clutch transmission mechanism is connected with the main wheel assembly through chain transmission, the main wheel assembly comprises a wheel housing arranged at the bottom of the seedling supplementing main frame, a plurality of rotating shafts are arranged in the wheel housing, symmetrical rollers are arranged on the rotating shafts, the rotating shafts are connected through gears, a gear shaft is arranged in the wheel housing, the gear shaft is connected with the rotating shafts through gear transmission, an input end of the gear shaft is connected with the output end of the clutch transmission mechanism through chain transmission after being changed direction by bevel gears; the bottom of the seedling supplementing main frame is further provided with an auxiliary wheel abutting against the upper end of the groove track; a translation assembly is arranged in the seedling supplementing main frame, a seedling supplementing execution member is arranged on a moving end of the translation assembly, and a moving platform for placing plug trays is arranged on the bottom of the seedling supplementing main frame through the translation assembly.

[0005] In the above-mentioned vegetable plug seedling and seedling supplementing robot, the walking mechanism comprises a top frame arranged at the upper end of the moving main frame, a top cross rod is arranged on the top frame, a translation motor is arranged on the top cross rod, an output shaft is arranged on the extension end of the translation motor through a bidirectional transmission assembly, and a cylindrical wheel abutting against the cylindrical track is arranged at the end of the output shaft.

[0006] In the above-mentioned vegetable plug seedling and seedling supplementing robot, the driving shaft is provided with an elastic positioning block, a first spring is arranged on one side of the elastic positioning block, and one end of the first spring is connected with one end of the clutch outer gear.

[0007] In the above-mentioned vegetable plug seedling and seedling supplementing robot, the clutch transmission mechanism comprises a transmission housing arranged at the rear side of the seedling supplementing main frame, a power motor is arranged in the transmission housing, a driving shaft is arranged on the extension end of the power motor, an elastic member is arranged on one end of the driving shaft, and a clutch outer gear is arranged on the elastic member, a first shaft is further arranged in the transmission housing, and a clutch inner gear abutting against the clutch outer gear is arranged at one end of the first shaft, a clutch block is arranged at the rear side of the transmission housing through a bearing, a swing rod member is arranged on the clutch block, one end of the swing rod member is connected with one end of the clutch outer gear, a driven shaft is arranged in the transmission housing through a bearing, the driven shaft is connected with the first shaft through gear transmission, and the end of the transmission shaft is connected with the gear shaft through chain transmission, a clutch external gear set is arranged at the rear side of the moving main frame, an input end of the clutch external gear set is connected with the driving shaft through bevel gear transmission, and an output end of the clutch external gear set is connected with the clutch block.

[0008] In the above-mentioned vegetable plug seedling and seedling supplementing robot, the bottom of the seedling supplementing main frame is provided with a side wheel support, and a plurality of pressing wheels abutting against the side of the groove track are arranged on the side wheel support.

[0009] In the vegetable plug seedling and replanting robot, the bottom of the replanting main frame is provided with stable motors on both sides, the bottom of the replanting main frame is provided with a fastener base, the lower part of the fastener base is provided with sliding rails, the lower part of the sliding rails is matched with sliding members on both sides, the lower part of the sliding members is provided with fixing members, the both ends of the sliding members are provided with limiting rods, the limiting rods are provided with reset spring ends connected with the sliding members respectively, and the end of the limiting rods is provided with a push block.

[0010] In the vegetable plug seedling and replanting robot, the outer side end of the groove rail is provided with an electric push rod, the outer side end of the groove rail is hinged with a transition rail, one end of the transition rail is provided with a hinge support, the hinge support is movably connected with the extending end of the electric push rod, and the outer side end of the transition rail can correspond to the side of the seedbed.

[0011] In the vegetable plug seedling and replanting robot, the replanting executor comprises an executor main body, the lower end of the executor main body is provided with a rudder, the extending end of the rudder is provided with a right-angle plate, and the end of the right-angle plate is provided with a clamping member.

[0012] Compared with the prior art, the present application has the following advantages:

[0013] 1. In the present application, the moving main frame slides on the cylindrical rail through the walking mechanism, the moving main frame is moved to the end of the seedbed that needs to be replanted, then the power motor is started, the driving shaft rotates, the driving shaft and the clutch external gear set on the rear side of the moving main frame rotate, the clutch external gear set operates to make the clutch block rotate, drives the clutch external gear to displace and cooperate with the clutch internal gear, the first shaft rotates, and then drives the driven shaft to rotate, the main wheel assembly moves along the side of the groove rail through the chain transmission, the replanting main frame moves out of the moving main frame, the main wheel assembly moves along the side of the seedbed, the auxiliary wheel moves along the upper end of the side of the seedbed, the stable movement of the replanting main frame is realized through the setting of two rollers in different directions, and the stable environment for replanting is improved.

[0014] 2. In the main wheel assembly, the plurality of rollers are driven through the gear, the rollers are attached to the side of the seedbed or the groove rail, and the plurality of rollers can disperse the force generated by the frame body, so that the rollers run more smoothly.

[0015] 3. When the replanting main frame moves to a certain place of the seedbed, in order to reduce the shaking of the frame body, the stable mechanism is arranged at the bottom of the replanting main frame, the stable motor is started to drive the longitudinal shaft to rotate, the cam at the lower end of the longitudinal shaft rotates, the convex part of the cam is in contact with the sliding member and the push block on one side, the two sliding members are close to each other, and the fixing members on both sides are also close to each other, so as to clamp the rail and stabilize the whole frame body.

[0016] 4. The recess track outer side end is equipped with electric push rod, recess track's outer side end articulates to have transition track, transition track one end is equipped with hinge support, hinge support and electric push rod's extension end activity connection, transition track's outer side end can correspond with seedbed's side, electric push rod retraction, transition track can be turned up, transition track one end and seedbed's one end adhere, and the main frame of the seedling replacement can be smoothly moved to the seedbed. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the structural schematic diagram of the present application;

[0018] Figure 2 It is the schematic diagram of walking mechanism;

[0019] Figure 3 It is the schematic diagram of clutch external gear set;

[0020] Figure 4 It is the schematic diagram of driving shaft;

[0021] Figure 5 It is the schematic diagram of main wheel assembly;

[0022] Figure 6 It is the schematic diagram of cam;

[0023] Figure 7 It is the schematic diagram of clutch block;

[0024] Figure 8 It is the schematic diagram of seedling replacement executive spare;

[0025] Figure 9 It is the schematic diagram of transition track.

[0026] Markings in the drawings: 1-cylinder track, 2-moving main body frame, 3-traveling mechanism, 4-groove track, 5-planting main body frame, 6-transmission housing, 7-power motor, 8-driving shaft, 9-clutch outer gear, 10-first shaft, 11-clutch inner gear, 12-clutch block, 13-pendulum piece, 14-driven shaft, 15-main wheel assembly, 16- auxiliary wheel, 17-clutch outer gear set, 18-translation assembly, 19-planting execution piece, 20-moving platform, 21-elastic positioning block, 22-first spring, 23-side wheel support, 24-pressing wheel, 25-clutch transmission mechanism, 301-top frame, 302-top cross bar, 303-translation motor, 304-output shaft, 305-cylinder wheel, 306-traveling assembly, 151-wheel shell, 152-rotating shaft, 153-roller, 154-gear shaft, 501-stable motor, 502-fixture base, 503-sliding rail, 504-sliding piece, 505-fixing piece, 506-limiting rod, 507-return spring, 509-push block, 510-longitudinal shaft, 511-cam, 401-electric push rod, 402-transition track, 403-hinge support, 191-executor main body, 192-steering wheel, 193-right angle plate, 194-clamping piece. DETAILED DESCRIPTION

[0027] The application will be further described below in conjunction with the drawings and examples, but not as the basis for limiting the application.

[0028] Example: vegetable plug seedling planting robot, including preloaded cylinder track 1, as shown in the accompanying Figure 1 The cylinder track 1 is provided with a moving main body frame 2, and the upper end of the moving main body frame 2 is provided with a traveling mechanism 3 running along the cylinder track 1, as shown in the accompanying Figure 2 The bottom of the moving main body frame 2 is symmetrically provided with a groove track 4 corresponding to the side of the seedbed, and the groove track 4 is provided with a planting main body frame 5, and the rear side of the planting main body frame 5 is provided with a clutch transmission mechanism 25, and the clutch transmission mechanism 25 includes a transmission housing 6 arranged at the rear side of the planting main body frame 5, and the transmission housing 6 is provided with a power motor 7, and the extending end of the power motor 7 is provided with a driving shaft 8, as shown in the accompanying Figure 4 One end of the driving shaft 8 is provided with a clutch outer gear 9 through an elastic piece, and the transmission housing 6 is also provided with a first shaft 10, and one end of the first shaft 10 is provided with a clutch inner gear 11 matched with the clutch outer gear 9; the rear side of the transmission housing 6 is provided with a clutch block 12 through a bearing, as shown in the accompanying Figure 7 The clutch block 12 is provided with a pendulum piece 13, and one end of the pendulum piece 13 is connected with one end of the clutch outer gear 9; the transmission housing 6 is provided with a driven shaft 14 through a bearing, and the driven shaft 14 is matched with the first shaft 10 through gear transmission; the bottom of the planting main body frame 5 is provided with a main wheel assembly 15 matched with the groove track 4, as shown in the accompanying Figure 5As shown, the end of the driven shaft 14 is connected with the main wheel assembly 15 through chain transmission, and the bottom of the seedling supplementing main body frame 5 is also provided with an auxiliary wheel 16; the rear side of the moving main body frame 2 is provided with a clutch external gear set 17, as shown in the attached Figure 3 As shown, the input end of the clutch external gear set 17 is connected with the driving shaft 8 through bevel gear transmission, the output end of the clutch external gear set 17 is matched with the clutch block 12, the power motor is started, the driving shaft is rotated, the clutch external gear set 17 is matched with the driving shaft to realize the transmission of power, the clutch external gear set 17 starts to operate, the output end thereof is a section of square shaft body, which is inserted into the clutch block, the clutch block starts to rotate, the clutch external gear is displaced, is matched with the clutch internal gear, so that the first shaft is rotated to realize the output of power, the main wheel set starts to rotate, the seedling supplementing main body frame moves out, then the clutch external gear set is separated from the driving shaft, the driving shaft 8 is provided with an elastic positioning block 21, one side of the elastic positioning block 21 is provided with a first spring 22, one end of the first spring 22 is connected with one end of the clutch external gear 9, the first spring mainly plays a role of stable reset, when the seedling supplementing main body frame is reset, the clutch external gear set will be matched with the driving shaft again, the power motor is reversed, the output of the clutch external gear set is also reversed, so that the rotating direction of the clutch block is changed, the clutch external gear is reversely moved, the first spring is compressed, the driving shaft is idling, and the seedling supplementing main body frame stops moving; the seedling supplementing main body frame 5 is provided with a translation assembly 18, the moving end of the translation assembly 18 is provided with a seedling supplementing execution member 19, the translation assembly mainly relies on the flat belt to drive the moving block to move, so as to realize the displacement of the seedling supplementing execution member, the bottom of the seedling supplementing main body frame 5 is provided with a moving platform 20 for placing the plug tray through the moving assembly, the plug tray on the moving platform needs to move in position during seedling supplementing, so as to meet the flexibility during seedling supplementing, therefore, the moving assembly is arranged at the bottom of the moving platform. The seedling supplementing executor 19 comprises an executor main body 191, as shown in the attached Figure 8 As shown, the lower end of the executor main body 191 is provided with a steering wheel 192, the extending end of the steering wheel 192 is provided with a right-angle plate 193, the end of the right-angle plate 193 is provided with a clamping member 194.

[0029] The walking mechanism 3 comprises a top frame 301 arranged on the upper end of the moving main body frame 2, the top frame 301 is provided with a top cross rod 302, the top cross rod 302 is provided with a translation motor 303, the extending end of the translation motor 303 is provided with an output shaft 304 through a bidirectional transmission assembly, and the end of the output shaft 304 is provided with a cylindrical wheel 305 which is combined with the cylindrical rail 1; the top frame 301 is provided with walking assemblies 306 which are matched with the cylindrical rail 1 and are located on both sides of the output shaft 304, the output shaft is rotated through the translation motor, the cylindrical wheel at the end of the output shaft is rotated along the cylindrical guide rail, and the two walking assemblies are rotated at the same time, so that the moving main body frame can be stably moved and the stability of movement is improved.

[0030] The main wheel assembly 15 includes a wheel housing 151 located at the bottom of the main frame 5. Multiple rotating shafts 152 are housed within the wheel housing 151, and rollers 153 are symmetrically arranged on each shaft 152. The rotating shafts 152 are connected by gears. A gear shaft 154 is located within the wheel housing 151, and the gear shaft 154 is connected to the rotating shafts 152 via gear transmission. The input end of the gear shaft 154 is connected to the driven shaft 14 via chain transmission. The multiple rollers are driven by gears. The rollers are in contact with the sides of the seedbed or the grooved track. By setting multiple rollers, the force generated by the frame can be distributed, making the rollers run more smoothly. A side wheel bracket 23 is located at the bottom of the main frame 5. Multiple pressing rollers 24 are mounted on the side wheel bracket 23, which are in contact with the sides of the grooved track 4. These pressing rollers ensure that the main frame maintains a straight line of movement when moving on the seedbed, maintaining the fit between the transplanting machine and the seedbed.

[0031] The main frame 5 for replanting seedlings has stabilizing motors 501 on both sides of its bottom. A fastener base 502 is located at the bottom of the main frame 501. A sliding rail 503 is located at the lower part of the fastener base 502. Sliding elements 504 are fitted on both sides of the lower part of the sliding rail 503. A fixing element 505 is located at the lower part of the sliding element 504. Limiting rods 506 are located at both ends of the sliding element 504. Return springs 507 are located on the limiting rods 506. The ends of the return springs 507 are connected to the sliding elements 508. Push blocks 509 are located at the ends of the limiting rods 506. A longitudinal shaft 510 is located inside the fastener base 502. A cam 511 is located at the lower end of the longitudinal shaft 510 between one sliding element 508 and the push block 509. (See attached diagram.) Figure 6 As shown, the upper end of the longitudinal shaft 510 is connected to the stabilizing motor 501 via belt drive. When the main frame of the seedling replanting moves to a certain place in the seedbed, in order to reduce the shaking of the frame, a stabilizing mechanism is set at the bottom of the main frame of the seedling replanting. The stabilizing motor starts and drives the longitudinal shaft to rotate. The cam at the lower end of the longitudinal shaft rotates. The cam's convex part contacts the sliding part and push block on one side. The two sliding parts approach each other, and the fixing parts on both sides also approach each other, thereby clamping the track and stabilizing the entire frame.

[0032] An electric push rod 401 is provided at the outer end of the grooved track 4, and a transition track 402 is hinged to the outer end of the grooved track 401, as shown in the attached figure. Figure 9 As shown, a hinge bracket 403 is provided at one end of the transition track 402. The hinge bracket 403 is movably connected to the extended end of the electric push rod 401. The outer end of the transition track 402 can correspond to the side of the seedbed. When the electric push rod retracts, the transition track can be flipped up, and one end of the transition track fits into one end of the seedbed. The main frame for replanting seedlings can then move smoothly onto the seedbed.

[0033] The working principle of the present application is as follows: the mobile main frame slides on the cylindrical track through the walking mechanism, and is moved to the end of the seedbed corresponding to the seedling to be supplemented. Compared with the fixed track arranged on the side of the seedbed to move the device, the present application has greater limitations, and if it is desired to change to another row of seedbed, it is very inconvenient. The present application can flexibly move the seedling supplementing mechanism to the corresponding seedbed, effectively improving the seedling supplementing efficiency and the convenience of seedling supplementing. Then, the power motor is started, the driving shaft is rotated, the driving shaft and the clutch external gear set at the rear side of the mobile main frame are operated, the clutch block is rotated, the clutch external gear is displaced and cooperates with the clutch internal gear, the first shaft is rotated, and then drives the driven shaft to rotate. The driven shaft is driven by the chain transmission, so that the main wheel assembly moves along the groove track side edge, the seedling supplementing main frame moves out of the mobile main frame, the auxiliary wheel moves along the upper end of the side of the seedbed, and the stable movement of the seedling supplementing main frame is realized by arranging two rollers in different directions, so as to improve the stable environment for seedling supplementing.

Claims

1. A vegetable plug seedling replanting robot, comprising a preloaded cylindrical track (1), the cylindrical track (1) is movably provided with a moving main body frame (2), characterized in that: The upper end of the mobile main frame (2) is provided with a walking mechanism (3) running along the cylindrical track (1); the bottom of the mobile main frame (2) is symmetrically provided with a groove track (4) corresponding to the side of the seedbed, the groove track (4) is provided with a seedling supplementing main frame (5), the rear side of the seedling supplementing main frame (5) is provided with a clutch transmission mechanism (25); the bottom of the seedling supplementing main frame (5) is provided with a main wheel assembly (15) abutting the side of the groove track (4), the output end of the clutch transmission mechanism (25) is connected with the main wheel assembly (15) through chain transmission, the main wheel assembly (15) comprises a wheel housing (151) arranged at the bottom of the seedling supplementing main frame (5), a plurality of rotating shafts (152) are arranged in the wheel housing (151), symmetrical rolling wheels (153) are arranged on the rotating shafts (152), the rotating shafts (152) are connected through gears, a gear shaft (154) is arranged in the wheel housing (151), the gear shaft (154) is connected with the rotating shafts (152) through gear transmission, the input end of the gear shaft (154) is connected with the output end of the clutch transmission mechanism (25) through chain transmission after being reversely transmitted by bevel gears; the bottom of the seedling supplementing main frame (5) is further provided with an auxiliary wheel (16) abutting the upper end of the groove track (4); the seedling supplementing main frame (5) is provided with a translation assembly (18), a seedling supplementing execution member (19) is arranged on the moving end of the translation assembly (18), and the bottom of the seedling supplementing main frame (5) is provided with a moving platform (20) for placing plug trays through the translation assembly. The bottom of the seedling supplementing main frame (5) is provided with a side edge wheel support (23), a plurality of pressing wheels (24) abutting the side edge of the groove track (4) are arranged on the side edge wheel support (23); the bottom of the seedling supplementing main frame (5) is provided with a stabilizing motor (501), the bottom of the seedling supplementing main frame (5) is provided with a fastener base (502), the lower part of the fastener base (502) is provided with a sliding rail (503), the lower part of the sliding rail (503) is provided with a sliding piece (504) on both sides, the lower part of the sliding piece (504) is provided with a fixing piece (505), both ends of the sliding piece (504) are provided with a limiting rod (506), the limiting rod (506) is provided with a return spring (507), the ends of the return spring (507) are connected with the sliding piece (504), respectively, and the end of the limiting rod (506) is provided with a push block (509); the fastener base (502) is provided with a longitudinal shaft (510), the lower end of the longitudinal shaft (510) is provided with a cam (511) between the sliding piece (508) on one side and the push block (509), and the upper end of the longitudinal shaft (510) is connected with the stabilizing motor (501) through belt transmission.

2. The vegetable plug seedling replanting robot according to claim 1, characterized in that: The walking mechanism (3) comprises a top frame (301) arranged on the upper end of the moving main body frame (2), the top frame (301) is provided with a top cross bar (302), the top cross bar (302) is provided with a translation motor (303), the extension end of the translation motor (303) is provided with an output shaft (304) through a bidirectional transmission assembly, and the end of the output shaft (304) is provided with a cylindrical wheel (305) matched with the cylindrical track (1); the top frame (301) is provided with a walking assembly (306) matched with the cylindrical track (1) on both sides of the output shaft (304).

3. The vegetable plug seedling replanting robot according to claim 1, characterized in that: The clutch transmission mechanism comprises a transmission housing (6) arranged on the rear side of the seedling supplementing main body frame (5), the transmission housing (6) is provided with a power motor (7) inside, the extension end of the power motor (7) is provided with a driving shaft (8), one end of the driving shaft (8) is provided with a clutch outer gear (9) through an elastic member, the transmission housing (6) is further provided with a first shaft (10) inside, one end of the first shaft (10) is provided with a clutch inner gear (11) matched with the clutch outer gear (9); the rear side of the transmission housing (6) is provided with a clutch block (12) through a bearing, the clutch block (12) is provided with a swing lever (13), one end of the swing lever (13) is connected with one end of the clutch outer gear (9); the transmission housing (6) is provided with a driven shaft (14) through a bearing, the driven shaft (14) is matched with the first shaft (10) through gear transmission, and the end of the transmission shaft is connected with the gear shaft through chain transmission; the rear side of the moving main body frame (2) is provided with a clutch external gear set (17), the input end of the clutch external gear set (17) is connected with the driving shaft (8) through bevel gear transmission, and the output end of the clutch external gear set (17) is matched with the clutch block (12).

4. The vegetable plug seedling replanting robot according to claim 3, characterized in that: The driving shaft (8) is provided with an elastic positioning block (21), one side of the elastic positioning block (21) is provided with a first spring (22), and one end of the first spring (22) is connected with one end of the clutch outer gear (9).

5. The vegetable plug seedling replanting robot according to claim 1, characterized in that: The outer side end of the groove track (4) is provided with an electric push rod (401), the outer side end of the groove track (4) is hingedly provided with a transition track (402), one end of the transition track (402) is provided with a hinge support (403), the hinge support (403) is movably connected with the extension end of the electric push rod (401), and the outer side end of the transition track (402) can correspond to the side of the seedbed.

6. The vegetable plug seedling replanting robot according to claim 1, characterized in that: The seedling supplementing execution member (19) comprises an executor main body (191), the lower end of the executor main body (191) is provided with a rudder (192), the extension end of the rudder (192) is provided with a right-angle plate (193), and the end of the right-angle plate (193) is provided with a clamping member (194).

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