Coiling and conveying device and picking robot

Abstract

The invention provides a coiling and conveying device and a picking robot, and the coiling and conveying device comprises a first rack; the winding component comprises a driving assembly and a winding assembly, the winding assembly comprises a winding driving unit arranged on the swing frame, a rotating shaft driven by the winding driving unit to rotate, a friction winding wheel arranged on the rotating shaft, a material collecting unit and a material placing plate, and the material collecting unit comprises a plurality of Mecanum wheels connected to the rotating shaft; and a conveying member. The Mecanum wheel is arranged on the rotating shaft, and when the swing driving unit drives the swing frame, the to-be-coiled material can move close to the friction coiling wheel on the material collecting unit; and meanwhile, the rotating shaft drives the friction coiling wheel to move and coil the to-be-coiled material through friction force, so that the to-be-coiled material is in close contact with the friction coiling wheel and then is moved to the conveying component for subsequent moving action, and thus the cylindrical object or the spherical object is picked up.

Description

Technical Field

[0001] The present invention relates to the technical field of robot structures, and in particular to a winding and conveying device and a picking robot. Background Art

[0002] With the rapid development of technology fields such as computers, automation, and artificial intelligence, research related to robotics technology has become a focus of attention in the industry.

[0003] The Robot Competition, also known as the Robot World Championship, is a world-class competition that aims to expand the interest of middle school and college students in science, technology, engineering and mathematics through the promotion of educational robots, and to improve and promote the teamwork spirit, leadership and problem-solving skills of young people. Among them, the grasping robot is a common type of robot in the robot competition, which often appears on the field with functions such as movement, grasping, and even launching.

[0004] In robot competitions, there are usually specific events for picking up objects of different shapes or materials. Participants improve their picking robots and complete the picking up of specific objects in the competition. Among them, how to pick up cylindrical and spherical objects is an important event in robot competitions. Summary of the invention

[0005] Based on this, in order to solve the above problems, the present invention provides a winding and conveying device and a picking robot, and the specific technical solutions are as follows:

[0006] A coiling and conveying device, comprising:

[0007] First rack;

[0008] The winding component includes a driving assembly and a winding assembly, wherein the driving assembly includes a swing driving unit fixedly arranged on the first frame, and a swing frame driven by the swing driving unit, and the winding assembly includes a winding driving unit arranged on the swing frame, a rotating shaft driven to rotate by the winding driving unit, a friction winding wheel arranged on the rotating shaft, two material collecting units arranged on both sides of the friction winding wheel, and a material placing plate arranged on the swing frame, and the material collecting unit includes a plurality of Mecanum wheels connected to the rotating shaft;

[0009] The conveying component is arranged on the first frame and is used for conveying the material to be wound on the friction winding wheel.

[0010] The above-mentioned winding and conveying device arranges Mecanum wheels on the rotating shaft, uses a motor to drive each wheel individually, and flexibly adjusts the speed of each wheel. When the swing drive unit drives the swing frame, the material placement plate places the cylindrical or spherical object off the ground, so that the material to be wound can move toward the friction winding wheel on the collecting unit; at the same time, the rotating shaft drives the friction winding wheel to realize the movement and winding of the material to be wound through friction force, so that the material to be wound is in close contact with the friction winding wheel and then moves to the conveying component for subsequent moving action, thereby realizing the picking action of the cylindrical or spherical object.

[0011] Furthermore, the aggregate unit includes at least three Mecanum wheels.

[0012] Furthermore, the material placing plate is rotatably connected to the swing frame, so that the winding angle between the material placing plate surface and the friction winding wheel can be adjusted.

[0013] Furthermore, the conveying component includes a clamping assembly and a sliding assembly, the clamping assembly includes a first clamping unit and a second clamping unit; the first clamping unit includes a first driving shaft arranged parallel to the rotating shaft, a first clamping cam with a hub connected to the first driving shaft, and a first motor driving the first driving shaft to rotate; the second clamping unit includes a second driving shaft arranged parallel to the rotating shaft, a second clamping cam with a hub connected to the second driving shaft, and a second motor driving the second clamping cam to rotate; a clamping space adapted to the friction winding wheel is formed between the first clamping cam and the second clamping cam; the sliding assembly includes a sliding trough body, and the sliding trough body is provided with a sliding entrance adapted to the clamping space.

[0014] Furthermore, the winding component also includes an auxiliary swing assembly; the auxiliary swing assembly includes an auxiliary driving unit arranged on the first frame, a swing hook driven by the auxiliary driving unit, and a positioning rod arranged on the swing frame.

[0015] On the other hand, a picking robot includes a mobile chassis, a clamping and conveying device, and a winding and conveying device; the clamping and conveying device includes a second frame arranged on the mobile chassis, a lifting component arranged on the second frame, and a clamping component arranged on the lifting component; the first frame is arranged on the mobile chassis; the clamping component is used to clamp the material to be wound conveyed by the conveying component, and the lifting component is used to lift and lower the clamping component.

[0016] Furthermore, the clamping component includes a clamping assembly and a rotating assembly; the rotating assembly includes a rotating drive unit fixedly arranged on the lifting component, and a rotating seat driven to rotate by the rotating drive unit; the clamping assembly includes a first clamping arm, a second clamping arm, and a clamping drive unit that drives the first clamping arm and the second clamping arm to move closer to or away from each other, and a clamping space is formed between the first clamping arm and the second clamping arm.

[0017] Further, the lifting component includes two groups of lifting drive components respectively arranged on both sides of the second frame; the lifting drive component includes a lifting drive unit fixedly arranged on the second frame, a lifting transmission unit driven by the lifting drive unit, and a lifting seat; the lifting transmission unit includes a driving pulley and a driven pulley driven by the lifting drive unit, and a transmission synchronous belt surrounded by the outer edges of the driving pulley and the driven pulley, and the lifting seat is connected to the transmission synchronous belt; the clamping component is arranged on the lifting seat.

[0018] Furthermore, a movable guide rail is provided on the rotating seat, and the first clamping arm and the second clamping arm are both provided with a pulley seat adapted to the movable guide rail; the clamping drive unit is a clamping drive cylinder, and the fixed end of the clamping drive cylinder is arranged on the first clamping arm, and the telescopic end is arranged on the second clamping arm.

[0019] Furthermore, the mobile chassis includes a chassis body, two driving wheel units arranged on the chassis body, and at least four driven wheel units; the driving wheel unit includes a mounting frame, two servo motors arranged on the mounting frame, a driving shaft driven by the two servo motors, and a driving wheel body connected to the driving shaft hub; the driven wheel unit is connected to the driving shaft through a sprocket chain assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The present invention can be further understood from the following description in conjunction with the accompanying drawings. The components in the figures are not necessarily drawn to scale, but the emphasis is placed on illustrating the principles of the embodiments. In different views, the same reference numerals designate corresponding parts.

[0021] Figure 1 is a schematic structural diagram of a coiling and conveying device according to an embodiment of the present invention;

[0022] Figure 2 yes Figure 1 The enlarged view of the structure at E in the middle;

[0023] Figure 3 is a structural cross-sectional view of a coiling and conveying device according to an embodiment of the present invention;

[0024] Figure 4is a schematic structural diagram of a picking robot according to an embodiment of the present invention;

[0025] Figure 5 is a schematic structural diagram of a clamping and conveying device according to an embodiment of the present invention;

[0026] Figure 6 is a schematic structural diagram of a clamping component according to an embodiment of the present invention;

[0027] Figure 7 It is a structural schematic diagram of a mobile chassis described in an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 1. First frame; 2. Winding component; 3. Conveying component; 4. Moving chassis; 5. Clamping conveying device; 6. Winding conveying device; 7. Second frame; 8. Lifting component; 9. Clamping component;

[0030] 21. driving assembly; 22. winding assembly; 23. swing driving unit; 24. swing frame; 25. winding driving unit; 26. rotating shaft; 27. friction winding wheel; 28. material collecting unit; 29. ​​material placing plate;

[0031] 210, auxiliary swing assembly; 211, auxiliary drive unit; 212, swing hook; 213, positioning rod;

[0032] 31. Material clamping assembly; 32. Material sliding assembly; 33. First material clamping unit; 34. Second material clamping unit;

[0033] 321, sliding trough body;

[0034] 331. a first driving shaft; 332. a first clamping cam; 333. a first motor;

[0035] 341. a second driving shaft; 342. a second clamping cam; 343. a second motor;

[0036] 41. Chassis body; 42. Driving wheel unit; 43. Driven wheel unit;

[0037] 421, mounting frame; 422, servo motor; 423, driving shaft; 424, driving wheel body;

[0038] 81. Lifting drive assembly; 82. Lifting drive unit; 83. Lifting transmission unit; 84. Lifting seat;

[0039] 831, driving pulley; 832, driven pulley; 833, transmission synchronous belt;

[0040] 91. Clamping assembly; 92. Rotating assembly;

[0041] 911, first clamping arm; 912, second clamping arm; 913, clamping drive unit; 914, pulley seat;

[0042] 921. Rotation drive unit; 922. Rotation seat; 923. Moving guide rail. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with its embodiments. It should be understood that the specific implementation methods described herein are only used to explain the present invention and do not limit the protection scope of the present invention.

[0044] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation method.

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0046] The “first” and “second” mentioned in the present invention do not represent specific quantities and orders, but are merely used to distinguish names.

[0047] On the one hand, if Figure 1 and Figure 2 , Figure 3 As shown, a coiling and conveying device in one embodiment of the present invention comprises:

[0048] First rack 1;

[0049] The winding component 2 includes a driving component 21 and a winding component 22, wherein the driving component 21 includes a swing driving unit 23 fixedly arranged on the first frame 1, and a swing frame 24 driven by the swing driving unit 23, and the winding component 22 includes a winding driving unit 25 arranged on the swing frame 24, a rotating shaft 26 driven to rotate by the winding driving unit 25, a friction winding wheel 27 arranged on the rotating shaft 26, two material collecting units 28 arranged on both sides of the friction winding wheel 27, and a material placing plate 29 arranged on the swing frame 24, and the material collecting unit 28 includes a plurality of Mecanum wheels connected to the rotating shaft 26;

[0050] The conveying component 3 is arranged on the first frame 1 and is used for conveying the material to be wound on the friction winding wheel 27 .

[0051] Specifically, the friction wheel is directly driven by a motor, and the friction wheel can generate friction by contacting the surface of an object, thereby controlling the movement of the object. The Mecanum wheel is composed of multiple small wheels. Unlike traditional wheels, the angle between the small wheels and the wheel hub is usually 45 degrees, so that when the wheel rotates, the wheel will generate thrust in different directions, thereby achieving all-round movement.

[0052] The above-mentioned winding and conveying device, by arranging Mecanum wheels on the rotating shaft 26, uses a motor to drive each wheel separately, and flexibly adjusts the speed of each wheel. When the swing drive unit 23 drives the swing frame 24, the material placing plate 29 places the cylindrical or spherical object off the ground, so that the material to be wound can move toward the friction winding wheel 27 on the collecting unit 28; at the same time, the rotating shaft 26 drives the friction winding wheel 27 to realize the movement and winding of the material to be wound by friction force, so that the material to be wound is in close contact with the friction winding wheel 27 and then moves to the conveying component 3 for subsequent moving action, thereby realizing the picking action of the cylindrical or spherical object.

[0053] In one embodiment, the material collecting unit 28 includes at least three Mecanum wheels. Thus, by providing a plurality of Mecanum wheels, the material collecting range of the material collecting unit 28 can be increased, thereby improving the material winding capacity.

[0054] In a specific embodiment, the winding drive unit 25 is a combination of a DJI 2006 motor and a gear transmission, thereby achieving precise adjustment of the rotation rate of the Mecanum wheel. This design not only improves the efficiency of ball absorption, but also ensures the stability and accuracy of the ball during the absorption process. At the same time, the powerful power of the DJI 3508 motor (without a reduction gearbox) enables the material to be quickly and smoothly transported to the designated location, meeting the requirements of efficient and accurate processing.

[0055] In one embodiment, the material placing plate 29 is rotatably connected to the swing frame 24, so that the winding angle between the material placing plate 29 and the friction winding wheel 27 can be adjusted. In this way, by adjusting the winding angle between the material placing plate 29 and the friction winding wheel 27, cylindrical objects with different diameters or spherical objects with different spherical diameters can be adapted, thereby improving the material winding capacity.

[0056] In one embodiment, the conveying component 3 includes a clamping component 31 and a sliding component 32, the clamping component 31 includes a first clamping unit 33 and a second clamping unit 34; the first clamping unit 33 includes a first driving shaft 331 arranged parallel to the rotating shaft 26, a first clamping cam 332 with a hub connected to the first driving shaft 331, and a first motor 333 that drives the first driving shaft 331 to rotate; the second clamping unit 34 includes a second driving shaft 341 arranged parallel to the rotating shaft 26, a second clamping cam 342 with a hub connected to the second driving shaft 341, and a second motor 343 that drives the second clamping cam 342 to rotate; a clamping space adapted to the friction winding wheel 27 is formed between the first clamping cam 332 and the second clamping cam 342; the sliding component 32 includes a sliding trough body 321, and the sliding trough body 321 is provided with a sliding entrance adapted to the clamping space. In this way, when the friction winding wheel 27 winds the material to be wound into the clamping space, the first clamping cam 332 and the second clamping cam 342 rotate toward the clamping space, thereby pressing the material to be wound into the clamping space to the sliding entrance of the sliding trough 321, and the sliding trough 321 is used to transport the material to be wound to a preset position.

[0057] In one embodiment, the winding component 2 further includes an auxiliary swing assembly 210; the auxiliary swing assembly 210 includes an auxiliary driving unit 211 disposed on the first frame 1, a swing hook 212 driven by the auxiliary driving unit 211, and a positioning rod 213 disposed on the swing frame 24. Thus, when the swing driving unit 23 drives the swing frame 24 to swing to a preset angle, the auxiliary driving unit 211 drives the swing hook 212 to swing, so that the hook notch of the swing hook 212 is hooked onto the positioning rod 213, thereby realizing the positioning action of the swing frame 24 at the preset angle.

[0058] On the other hand, Figure 4 and Figure 5 , Figure 6As shown, a picking robot in one embodiment of the present invention comprises a mobile chassis 4, a clamping conveying device 5 and a winding conveying device 6; the clamping conveying device 5 comprises a second frame 7 arranged on the mobile chassis 4, a lifting component 8 arranged on the second frame 7, and a clamping component 9 arranged on the lifting component 8; the first frame 1 is arranged on the mobile chassis 4; the clamping component 9 is used to clamp the material to be wound conveyed by the conveying component 3, and the lifting component 8 is used to lift the clamping component 9. In this way, the winding conveying device 6 is moved to the front of the material to be wound through the mobile chassis 4, and the winding conveying device 6 is used to wind and convey the material to be wound to the clamping component 9, the clamping component 9 clamps the material to be wound conveyed by the conveying component 3, and the lifting component 8 is used to adjust the clamping position, so as to realize the winding and collection of the material to be wound.

[0059] In one embodiment, the clamping component 9 includes a clamping assembly 91 and a rotating assembly 92; the rotating assembly 92 includes a rotating drive unit 921 fixedly disposed on the lifting component 8, and a rotating seat 922 driven to rotate by the rotating drive unit 921; the clamping assembly 91 includes a first clamping arm 911, a second clamping arm 912, and a clamping drive unit 913 that drives the first clamping arm 911 and the second clamping arm 912 to move closer to or away from each other, and a clamping space is formed between the first clamping arm 911 and the second clamping arm 912. In this way, the clamping drive unit 913 drives the first clamping arm 911 and the second clamping arm 912 to move closer to each other to clamp the material to be clamped that is transported to the clamping space, and then the rotating seat 922 is driven to rotate by the rotating drive unit 921, so as to facilitate the winding and collection of the material to be wound to a preset position.

[0060] In one embodiment, the lifting component 8 includes two sets of lifting drive components 81 respectively arranged on both sides of the second frame 7; the lifting drive component 81 includes a lifting drive unit 82 fixedly arranged on the second frame 7, a lifting transmission unit 83 driven by the lifting drive unit 82, and a lifting seat 84; the lifting transmission unit 83 includes a driving pulley 831 driven by the lifting drive unit 82, a driven pulley 832, and a transmission synchronous belt 833 arranged around the outer edges of the driving pulley 831 and the driven pulley 832, and the lifting seat 84 is connected to the transmission synchronous belt 833; the clamping component 9 is arranged on the lifting seat 84. In this way, the driving pulley 831 and the transmission synchronous belt 833 driven by the lifting drive unit 82 drive the lifting seat 84 connected to the transmission synchronous belt 833 to perform lifting action.

[0061] In one embodiment, a vertical guide rail is disposed vertically on the second frame 7, and a guide slide adapted to the vertical guide rail is disposed on the lifting seat 84.

[0062] In one embodiment, the rotating seat 922 is provided with a movable guide rail 923, and the first clamping arm 911 and the second clamping arm 912 are both provided with a pulley seat 914 adapted to the movable guide rail 923; the clamping drive unit 913 is a clamping drive cylinder, and the fixed end of the clamping drive cylinder is arranged on the first clamping arm 911, and the telescopic end is arranged on the second clamping arm 912. In this way, the first clamping arm 911 and the second clamping arm 912 are driven to move closer to or away from each other by the clamping drive cylinder to achieve a clamping action or a loosening action.

[0063] In one embodiment, the material to be rolled is a spherical object, and both the first clamping arm and the second clamping arm are double-layer clamping arms with arc contact surfaces. Thus, at least four clamping points are formed by the two double-layer clamping arms, thereby playing a role in stably clamping the spherical object.

[0064] like Figure 4 and Figure 7 As shown, in one embodiment, the mobile chassis 4 includes a chassis body 41, two driving wheel units 42 arranged on the chassis body 41, and at least four driven wheel units 43; the driving wheel unit 42 includes a mounting frame 421, two servo motors 422 arranged on the mounting frame 421, a driving shaft 423 driven by the two servo motors 422, and a driving wheel body 424 connected to the hub of the driving shaft 423; the driven wheel unit 43 is connected to the driving shaft 423 through a sprocket chain assembly. In this way, the driving shaft 423 driven by the two servo motors 422 is driven stably and reliably; the driven wheel unit 43 is connected to the driving shaft 423 through the sprocket chain assembly, thereby achieving stable movement.

[0065] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0066] The above-mentioned embodiments only express several implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A coiling and conveying device, characterized in that: include: A first frame (1); The winding component (2) comprises a driving assembly (21) and a winding assembly (22), wherein the driving assembly (21) comprises a swing driving unit (23) fixedly arranged on the first frame (1), and a swing frame (24) driven by the swing driving unit (23), and the winding assembly (22) comprises a winding driving unit (25) arranged on the swing frame (24), a rotating shaft (26) driven to rotate by the winding driving unit (25), a friction winding wheel (27) arranged on the rotating shaft (26), two material collecting units (28) arranged on both sides of the friction winding wheel (27), and a material placing plate (29) arranged on the swing frame (24), and the material collecting unit (28) comprises a plurality of Mecanum wheels connected to the rotating shaft (26); A conveying component (3) is arranged on the first frame (1) and is used for conveying the material to be wound on the friction winding wheel (27).

2. A coiling and conveying device according to claim 1, characterized in that: The aggregate unit (28) includes at least three Mecanum wheels.

3. A coiling and conveying device according to claim 1, characterized in that: The material placement plate (29) is rotatably connected to the swing frame (24), so that the winding angle between the plate surface of the material placement plate (29) and the friction winding wheel (27) can be adjusted.

4. A coiling and conveying device according to claim 1, characterized in that: The conveying component (3) comprises a material clamping component (31) and a material sliding component (32), and the material clamping component (31) comprises a first material clamping unit (33) and a second material clamping unit (34); The first material clamping unit (33) comprises a first driving shaft (331) arranged parallel to the rotating shaft (26), a first material clamping cam (332) whose hub is connected to the first driving shaft (331), and a first motor (333) driving the first driving shaft (331) to rotate; The second material clamping unit (34) comprises a second driving shaft (341) arranged parallel to the rotating shaft (26), a second material clamping cam (342) whose hub is connected to the second driving shaft (341), and a second motor (343) driving the second material clamping cam (342) to rotate; A material clamping space adapted to the friction winding wheel (27) is formed between the first material clamping cam (332) and the second material clamping cam (342); The sliding material assembly (32) comprises a sliding material trough body (321), and the sliding material trough body (321) is provided with a sliding material inlet adapted to the material clamping space.

5. A coiling and conveying device according to claim 1, characterized in that: The winding component (2) further comprises an auxiliary swing component (210); The auxiliary swing assembly (210) comprises an auxiliary drive unit (211) arranged on the first frame (1), a swing hook (212) driven by the auxiliary drive unit (211), and a positioning rod (213) arranged on the swing frame (24).

6. A picking robot, characterized in that: It comprises a movable chassis (4), a clamping conveying device (5) and a winding conveying device (6) as claimed in any one of claims 1 to 5; The clamping and conveying device (5) comprises a second frame (7) arranged on the mobile chassis (4), a lifting component (8) arranged on the second frame (7), and a clamping component (9) arranged on the lifting component (8); The first frame (1) is arranged on the mobile chassis (4); The clamping component (9) is used to clamp the material to be coiled that is conveyed by the conveying component (3), and the lifting component (8) is used to lift and lower the clamping component (9).

7. A picking robot according to claim 6, characterized in that: The clamping component (9) comprises a clamping assembly (91) and a rotating assembly (92); The rotating assembly (92) comprises a rotating drive unit (921) fixedly arranged on the lifting component (8), and a rotating seat (922) driven to rotate by the rotating drive unit (921); The clamping assembly (91) includes a first clamping arm (911), a second clamping arm (912), and a clamping driving unit (913) for driving the first clamping arm (911) and the second clamping arm (912) to move closer to or away from each other, and a clamping space is formed between the first clamping arm (911) and the second clamping arm (912).

8. The picking robot according to claim 6, characterized in that: The lifting component (8) comprises two sets of lifting drive components (81) respectively arranged on both sides of the second frame (7); The lifting drive assembly (81) comprises a lifting drive unit (82) fixedly arranged on the second frame (7), a lifting transmission unit (83) driven by the lifting drive unit (82), and a lifting seat (84); The lifting transmission unit (83) comprises a driving pulley (831) driven by the lifting drive unit (82), a driven pulley (832), and a transmission synchronous belt (833) arranged around the outer edges of the driving pulley (831) and the driven pulley (832), and the lifting seat (84) is connected to the transmission synchronous belt (833); The clamping component (9) is arranged on the lifting seat (84).

9. The picking robot according to claim 7, characterized in that: The rotating seat (922) is provided with a movable guide rail (923), and the first clamping arm (911) and the second clamping arm (912) are both provided with a pulley seat (914) adapted to the movable guide rail (923); The clamping drive unit (913) is a clamping drive cylinder, the fixed end of which is arranged on the first clamping arm (911), and the telescopic end of which is arranged on the second clamping arm (912).

10. The picking robot according to claim 6, characterized in that: The mobile chassis (4) comprises a chassis body (41), two driving wheel units (42) arranged on the chassis body (41), and at least four driven wheel units (43); The driving wheel unit (42) comprises a mounting frame (421), two servo motors (422) arranged on the mounting frame (421), a driving shaft (423) driven by the two servo motors (422), and a driving wheel body (424) connected to the hub of the driving shaft (423); The driven wheel unit (43) is transmission-connected to the driving shaft (423) via a sprocket chain assembly.

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