Green Chinese onion harvester integrating harvesting and bundling

Abstract

The utility model provides a green Chinese onion harvester integrating harvesting and bundling, which comprises a rack, a soil loosening unit, a green Chinese onion pulling and conveying unit, a bundling unit and a crank green Chinese onion pulling unit, the soil loosening unit comprises an opening and closing mechanism and a liftable vibration soil loosening mechanism; the opening and closing mechanism is ridge opening shovels which are arranged in front of the vibration soil loosening mechanism in a bilateral symmetry mode. According to the green Chinese onion harvester, traditional scattered operation of harvesting green Chinese onions is integrated, and the working efficiency and the productivity are improved. A traditional green Chinese onion harvester usually needs to carry out harvesting operation and bundling operation separately, however, the green Chinese onion harvester integrates multiple functions of the whole harvester, integrates the functions of digging, harvesting, distributing and bundling of green Chinese onions, not only simplifies the working process of farmers, but also saves a large amount of time and labor cost.

Description

Technical Field

[0001] The utility model belongs to the technical field of agricultural machinery, in particular to a green onion harvester integrating harvesting and bundling. Background Art

[0002] Agricultural products are an indispensable part of our daily life and one of China's main sources of income. According to surveys and studies, by 2023, the country's agricultural product planting area will be around 1.785 billion mu, and China will become the world's fourth largest organic agricultural planting country. Take green onions as an example. China is the world's largest exporter of green onions, so green onion harvesting is a heavy task. The traditional way of harvesting green onions has the following problems:

[0003] 1. High labor cost: Traditional onion harvesting mainly relies on manual labor, which requires a lot of manpower input and high labor costs. Especially in the season with high onion production, a large number of temporary workers need to be hired, which increases production costs.

[0004] 2. Inefficiency: The traditional manual harvesting method is inefficient and slow, and cannot meet the needs of large-scale planting. Since the onion harvesting process is complicated, it needs to be harvested first and then bundled, which takes a long time and easily causes the onions to expire and rot, affecting product quality and market competitiveness.

[0005] 3. Environmental pollution: Traditional diesel-driven harvesters have problems such as exhaust emissions and noise pollution, which are not in line with the development trend of green and environmental protection in modern agriculture; long-term and large-scale use of diesel will also aggravate air pollution and greenhouse gas emissions, and have a negative impact on the environment.

[0006] 4. Traditional agricultural machinery has a single function: Most of the green onion harvesting machinery currently on the market can only realize one function, have a low degree of intelligence, and are large in size. They are only suitable for large farms, resulting in a low penetration rate.

[0007] In short, the research on green onion harvesting machinery at home and abroad is still in its infancy. Although relevant technical research has been carried out in recent years, it still uses diesel power and consumes a lot of human resources, with high costs and low efficiency, and causes a high rate of green onion damage. There is no mature model on the market yet.

[0008] Patent document with announcement number CN219780927U discloses a fully automatic green onion harvester, which loosens the soil at the root of green onions through a loosening unit, then directly collects the upper and middle parts of green onions by pulling out the green onion unit, and removes the soil carried by the root of green onions during the collection and transmission process, thereby realizing the automation of green onion harvesting. However, it still has the following defects:

[0009] (1) The soil loosening unit of the harvester can only loosen the soil by moving the onion machine forward, and can only loosen the soil at a fixed height, with poor soil loosening effect and flexibility;

[0010] (2) The spacing between the conveyor belts of the onion pulling unit of the harvester is fixed. Since the diameters of onions vary, it is not possible to ensure that each onion can be completely clamped. Onions with too large diameters may be damaged by excessive squeezing pressure, or onions with too small diameters may fall directly from the middle of the conveyor belt.

[0011] (3) The collection unit of the harvester simply collects the green onions together. Long-term accumulation will cause the green onions to rot, and manual screening and bundling are still required, which increases labor and costs. Utility Model Content

[0012] In order to overcome the deficiencies of the prior art, the utility model provides a green onion harvester integrating harvesting and bundling, which integrates the harvesting and bundling functions, is easy to operate, saves labor costs, and is flexible to use.

[0013] The technical solution adopted by the utility model to solve the technical problem is: a green onion harvester integrating harvesting and bundling, comprising a frame, a loosening unit, an onion pulling and conveying unit, and a bundling unit; the loosening unit comprises an opening and closing mechanism and a liftable vibrating loosening mechanism; the opening and closing mechanism is a ridging shovel symmetrically arranged in front of the vibrating loosening mechanism.

[0014] Preferably, the liftable vibrating loosening mechanism includes a loosening rake, a connecting pin, a fixing plate and an eccentric wheel; the upper end of the connecting pin is in contact with the eccentric wheel, and the lower end passes through a limit plate and is connected to the loosening rake; a compression spring is provided between the pin head and the limit plate; the eccentric wheel is fixed to the support seat through a rotating shaft, and the limit plate and the support seat are both fixed to the fixing plate; the left and right sides of the fixing plate are connected to the inclined guide rail fixed to the frame through a sliding rod, and the fixing plate is connected to an electric hydraulic rod; a driving motor for driving the eccentric wheel to rotate is also provided on the fixing plate.

[0015] Preferably, the onion pulling conveying unit comprises an inclined clamping conveyor belt, and a plurality of adjusting pulleys whose height can be finely adjusted in the vertical direction of the conveyor belt are provided on the inner side of the clamping conveyor belt.

[0016] Preferably, a driving pulley and a driven pulley are respectively provided at the upper and lower ends of the clamping conveyor belt, a supporting link is provided between the driving pulley and the driven pulley, a plurality of sliding grooves are provided on the supporting link, the outer axial end of the adjusting pulley is hinged to one end of the first link and the second link, the other end of the first link is hinged to the supporting link, and the other end of the second link is slidably connected to the sliding groove and is connected to a spring at the same time.

[0017] Preferably, it also includes a crank onion pulling unit, which includes a distribution plate with a switchable tilting direction; a downwardly tilted guide plate is provided on the rear side of the upper end of the onion pulling conveying unit, and the distribution plate is arranged below the guide plate.

[0018] Preferably, the crank onion-pulling unit also includes an active connecting rod, a first driven connecting rod, a second driven connecting rod, a transverse slide rail and a vertical slide rail driven by a third driving motor, the transverse slide rail is fixed on the frame, and the vertical slide rail is slidably connected to the transverse slide rail through a first slider; one end of the first driven connecting rod is connected to the active connecting rod, and the other end is connected to the first slider; one end of the second driven connecting rod is slidably connected to the vertical slide rail through a second slider, and the other end is fixedly connected to the middle of the distribution plate.

[0019] Preferably, conveyor belts with opposite transmission directions are respectively arranged below the left and right sides of the distribution plate, and photoelectric sensors are arranged on the sides of the conveyor belts.

[0020] Preferably, a bundling unit is respectively provided on the chassis of the frame below the left and right sides of the distribution plate.

[0021] Preferably, a gravity sensor is provided on the baling unit.

[0022] Preferably, a wheel is provided under the frame, and the wheel is connected to a second driving motor fixed on the frame through a chain; a tensioning sprocket is also provided on the chain.

[0023] Positive effects of the utility model:

[0024] (1) Integrated harvesting and baling function: Traditional green onion harvesters usually need to perform harvesting and baling operations separately, while the present patent application is provided with a baling unit, which realizes the integration of harvesting and baling, that is, the harvesting and baling of green onions can be completed on one machine, which greatly improves the harvesting efficiency and productivity, greatly simplifies the farmers' work process, and saves time and labor costs.

[0025] (2) Combined loosening: In the process of collecting green onions, a pair of combined loosening shovels are used to first remove the excess soil around the green onion stems, and then a vibrating loosening mechanism is used to loosen the soil at the roots of the green onions, thereby ensuring the quality of the collection and preventing the green onions from being damaged during collection to the greatest extent. The vibrating loosening mechanism can be raised and lowered and can be used on ridges at different heights, and has a wide range of applications.

[0026] (3) Standardized collection: The principle of the crank slider mechanism is utilized to create a time difference in the left and right swing of the distribution plate, and combined with sensors, the green onions can be accurately distributed, achieving the purpose of standardized collection and saving time and labor for workers.

[0027] (4) Wide application scope: The present invention can be applied not only in large farms in plain areas, but also in hilly areas and small farms, providing a flexible solution for agricultural production of different scales. In addition, each unit mechanism of the present patent application can be made detachable to facilitate application in the harvesting of various crops, including wheat, corn, rice, etc., covering a wide range.

[0028] (5) Green and energy-saving: It adopts electric drive, is pollution-free, low-noise, and complies with the policy requirements of energy conservation and emission reduction. Compared with existing similar products, it helps to improve the farmland environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural schematic diagram of the green onion harvester of the utility model;

[0030] Figure 2 This is a structural schematic diagram of the green onion harvester of the utility model from another angle;

[0031] Figure 3 This is a schematic diagram of the structure of the ridging shovel of the utility model;

[0032] Figure 4 This is a schematic diagram of the structure of the liftable vibration loosening mechanism of the utility model;

[0033] Figure 5 This is a structural schematic diagram of the onion pulling and conveying unit of the utility model;

[0034] Figure 6 This is a structural schematic diagram of the crank onion-picking unit of the utility model;

[0035] Figure 7 It is a structural schematic diagram of the bundling unit of the utility model. DETAILED DESCRIPTION

[0036] Reference Figure 1-Figure 7 The utility model provides a green onion harvester integrating harvesting and bundling, including a frame 101, a loosening unit, an onion pulling and conveying unit 104, and a bundling unit 106; the loosening unit includes an opening and closing mechanism 102 and a liftable vibrating loosening mechanism 103; the opening and closing mechanism is a ridging shovel 301 symmetrically arranged in front of the vibrating loosening mechanism.

[0037] like Figure 1 and Figure 3 As shown, the ridging shovel 301 is designed as a hyperbolic surface (xoy surface and xoz surface). When the green onion harvester moves forward, the ridging shovel 301 can remove part of the soil around the green onion stalks to prevent the green onions from being damaged during subsequent collection. Figure 3As shown, the ridging shovel 301 is fixed on the frame, a vertical slide rail 302 is provided on the back of the ridging shovel, and a sliding block matched with the vertical slide rail 302 is provided on the frame 101. The height adjustment of the ridging shovel 301 is achieved through the cooperation of the sliding block and the vertical slide rail 302. At the same time, a locking mechanism is provided to lock the sliding block to limit its sliding on the vertical slide rail.

[0038] like Figure 4 As shown, the liftable vibrating loosening mechanism 103 includes a loosening rake 401, a connecting pin 406, a fixing plate 409 and an eccentric wheel 405; the upper end of the connecting pin 406 is in contact with the eccentric wheel 405, and the lower end passes through a limit plate 407 to be connected to the loosening rake 401, and a compression spring 408 is provided between the pin head and the limit plate 407, and the eccentric wheel 405 is fixed to the support seat 410 through a rotating shaft, and the limit plate 407 and the support seat 410 are both fixed on the fixing plate 409; the left and right sides of the fixing plate 409 are connected to the inclined guide rail 402 fixed on the frame 101 through a sliding rod 411, and the back of the fixing plate 409 is connected to an electric hydraulic rod 403; the fixing plate 409 is also provided with a driving motor 404 for driving the eccentric wheel 405 to rotate. The working principle of the lifting vibration loosening mechanism 103 is as follows: the extension and retraction of the electric hydraulic rod 403 drives the fixed plate 409 to move up and down along the inclined guide rail 402, thereby realizing the lifting and lowering of the loosening rake 401; the driving motor 404 drives the eccentric wheel 405 to rotate and squeeze the connecting pin 406, and at the same time, under the elastic force of the compression spring 408, the eccentric wheel 405 and the connecting pin 406 always maintain contact, thereby realizing that the connecting pin 406 drives the loosening rake 401 to vibrate up and down. The patented liftable vibration loosening mechanism 103 can flexibly adjust the penetration depth of the loosening rake 401 according to the actual conditions such as the planting depth of the green onions, the growth height of the green onions, the height of the field ridges, etc., and at the same time adopts a force-closed (the eccentric wheel and the pin head of the connecting pin are always in contact) direct-acting flat-bottom (the contact surface between the eccentric wheel and the pin head of the connecting pin is a flat bottom, and the connecting pin moves up and down in a straight line under the action of the limiting hole of the limiting plate) vibration mechanism to achieve the up and down vibration of the loosening rake to loosen the soil at the root of the green onions, thereby improving the harvesting efficiency and reducing the damage to the green onions. Preferably, a retaining plate 107 (such as Figure 1 As shown), the motor and eccentric wheel vibration mechanism are protected during operation.

[0039] like Figure 2 and Figure 5As shown, the onion pulling conveying unit 104 includes an inclined clamping conveyor belt 501, which is arranged above the loosening unit, and the inclination angle is preferably 30 degrees; the inner side of the clamping conveyor belt 501 is provided with a plurality of adjusting pulleys 505 whose height can be finely adjusted in the vertical direction of the conveyor belt, and the number of the adjusting pulleys 505 can be flexibly arranged according to actual conditions. Since the diameters of onions vary, the adjusting pulleys 505 can automatically adjust the belt tension according to the diameter of the onions, thereby changing the size of the left and right belt intervals, so that onions of different diameters can be clamped while preventing the onions from being damaged by excessive squeezing force.

[0040] Specifically, the upper and lower ends of the clamping conveyor belt 501 are respectively provided with a driving pulley 502 and a driven pulley 503, a supporting link 504 is provided between the driving pulley 502 and the driven pulley 501, and a plurality of slide grooves 508 are provided on the supporting link 504, the outer axial end of the adjusting pulley 505 is hinged with one end of the first link 506 and the second link 507, the other end of the first link 506 is hinged with the supporting link 504, and the other end of the second link 507 is slidably connected with the slide groove 508 and is connected to a spring. Under the action of the spring and the connecting rod mechanism, the belt is tensioned and adjusted in real time, thereby realizing the flexible clamping of the green onion. The onion pulling and conveying unit 104 of the present patent is a vital component of the onion harvester and an important guarantee for the quality of onion harvesting. When working, the driving motor drives the active pulley 502 to rotate, so as to use the friction of the conveyor belt to squeeze the onions to pull them out and clamp them upward for transportation. The way of clamping the belt can ensure that the onions are clamped without mechanical damage, and the design of the adjusting pulley prevents the onions from being damaged by excessive squeezing force during the transportation process.

[0041] Furthermore, the onion harvester also includes a crank onion pulling unit 105, which includes a distribution plate 601 with a switchable tilting direction; a downwardly tilted guide plate 202 is provided on the rear side of the upper end of the onion pulling conveying unit, and the distribution plate 601 is arranged below the guide plate 202.

[0042] Specifically, Figure 6As shown, the crank onion-pushing unit 105 also includes an active connecting rod 605 driven by a third driving motor 604, a first driven connecting rod 606, a second driven connecting rod 607, a transverse slide rail 602 and a vertical slide rail 603, wherein the transverse slide rail 602 is fixed on the frame 101, and the vertical slide rail 603 is slidably connected to the transverse slide rail 602 through a first slider 608; one end of the first driven connecting rod 606 is connected to the active connecting rod 605, and the other end is connected to the first slider 608; one end of the second driven connecting rod 607 is slidably connected to the vertical slide rail 603 through a second slider, and the other end is fixedly connected to the middle of the distribution plate 601; further, a base plate 609 is further provided below the distribution plate 601, and the base plate 609 is fixed on the frame 101, and limit support grooves 610 are respectively provided on both sides above the base plate 609, and support rods 611 corresponding to the limit support grooves 610 are provided on both sides of the bottom of the distribution plate 601. The crank onion-pushing unit 105 of the utility model utilizes the principle of the crank slider mechanism, and can control the movement cycle of the crank slider mechanism by controlling the motor speed, thereby creating a time difference between the left and right swings of the distribution plate, so as to achieve the left and right distribution of the green onions. When the harvester is working, the green onions are conveyed to the upper end of the clamping conveyor belt under the clamping of the crank onion-pushing unit 105. After losing the clamping force of the left and right conveyor belts, the green onions slide to the guide plate 202, and the guide plate 202 guides the green onions to continue to slide to the distribution plate 601. Since the distribution plate 601 is tilted, the green onions are continuously divided into left and right groups by the distribution plate 601. Preferably, a limit block 203 is also provided at the upper end of the guide plate 202, and a limit groove with the same width as the guide plate 202 is provided on the limit block 203 to prevent the green onions from scattering when they slide from the upper end of the clamping conveyor belt.

[0043] like Figure 2 As shown, conveyor belts 204 with opposite transmission directions are respectively arranged below the left and right sides of the distribution plate 601, a baffle 201 is fixed on the outer frame of the conveyor belt 204, and an inwardly inclined inclined plate 205 is arranged below the baffle 201, and the bundling unit 106 is arranged on the frame chassis 206 below the inclined plate 205; a photoelectric sensor is arranged on the side of the conveyor belt 204, and a gravity sensor is arranged on the bundling unit 106. When the green onion slides down on the distribution plate 601, it falls on the left or right conveyor belt 204 accordingly. After the green onion is conveyed to the gap between the conveyor belt 204 and the baffle 201 on the conveyor belt 204, it directly falls to the bundling unit 106 under the action of the inclined plate 205 for bundling. At the same time, the photoelectric sensor is used to detect the number of green onions that fall, and the gravity sensor detects the weight of the green onions. The two sensors cooperate with each other to accurately and quickly control the weight of each bundle of green onions.

[0044] like Figure 7As shown, the baling unit 106 includes an arc-shaped material tray 701 with openings at both ends, and the arc-shaped opening of the material tray 701 corresponds to the lower end position of the inclined plate 205, so that the green onions fall directly from the inclined plate 205 into the material tray 701. The middle section of the material tray 701 is provided with a baling mechanism, which includes a planetary wheel 702 and a sun wheel 703 with an arc-shaped opening. The axle of the planetary wheel 702 is fixed on the frame 101, and the baling belt is fixed on the sun wheel 703. The outer peripheral side of the sun wheel 703 is provided with a slide groove matched with the planetary wheel 702. When baling, the driving motor drives the planetary wheel 702 to rotate in the slide groove of the sun wheel 703, and uses inertia and speed difference to drive the sun wheel 703 to rotate, thereby realizing automatic baling. At the same time, a first telescopic rod 704 and a second telescopic rod 706 are respectively provided on both sides of the arc-shaped opening of the material tray 701. The first telescopic rod 704 is provided with a blade 705 for cutting the strapping tape. The telescopic end of the second telescopic rod 706 is connected to a first connecting plate 707. The first connecting plate 707 is slidably connected to a slide plate 708 fixed on the frame 101. At the same time, the first connecting plate 707 is connected to a circular push plate 710 through a second connecting plate 709. The diameter of the circular push plate 710 is slightly smaller than the diameter of the material tray 701. When the strapping is completed, the blade 705 moves under the drive of the first telescopic rod 704 to cut the strapping tape, and then the circular push plate 710 pushes the green onion to fall out of the end opening of the material tray 701 under the drive of the second telescopic rod 706. The first telescopic rod 704 and the second telescopic rod 706 are both electric telescopic rods.

[0045] Furthermore, if Figure 1 As shown, wheels 108 are provided at the four corners below the frame 101, and the wheels 108 are connected to a drive motor 110 fixed on the frame 101 through a chain 109; the chain 109 is also provided with a tensioning sprocket 111 fixed on the frame 101. The utility model adopts a chain drive driving mode, which can make the drive motor at a high position of the frame, thereby preventing soil from affecting the performance and service life of the motor, and at the same time, a tensioning sprocket 111 is added to prevent the chain 109 from being too long and having a large amplitude.

[0046] When the utility model is working, the harvester moves in the green onion field by rotating the wheels 108, and the ridge-opening mechanism 102 and the liftable vibrating loosening mechanism 103 loosen the soil at the roots of the green onions so that the green onions can be pulled out, and then the green onion pulling and conveying unit 104 clamps and pulls out the green onions by using the friction force and flexible design of the conveyor belt, and at the same time, the green onions are clamped and conveyed to the upper output end, and under the guidance of the guide plate 202, the green onions fall to the distribution plate 601, and the movement cycle of the crank mechanism is used to create a time difference for left and right distribution, and then the green onions are conveyed to the side gaps via the conveyor belt 204, and the green onions fall to the baling unit 106 at the side gaps for automatic baling, and finally the bundled green onions are pushed out of the baling unit 106 and fall into the ground, finally realizing the integrated operation of harvesting and baling the green onions.

[0047] In addition, the opening and closing mechanism 102, the liftable vibrating soil loosening mechanism 103, the onion pulling and conveying unit 104, the crank onion pulling unit 105, and the baling unit 106 of the utility model can all be designed to be detachable, so as to facilitate the technical updating and iteration of each component structure, thereby facilitating its flexible use in some other agricultural machinery or other automated machinery to expand the scope of application.

[0048] The utility model integrates the traditional scattered operations of harvesting green onions into one, improving the work efficiency and productivity. Traditional green onion harvesters usually need to perform harvesting and bundling operations separately, while the green onion harvester realizes the multifunctional integration of the whole machine, integrating the digging, harvesting, sorting and bundling functions of green onions. Compared with similar products on the market, it not only simplifies the farmers' work process, but also saves a lot of time and labor costs.

[0049] The above is only a preferred embodiment of the present invention. It should be understood that the description of the above embodiment is only used to help understand the method and core idea of ​​the present invention, and is not used to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, etc. made within the ideas and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A green onion harvester integrating harvesting and bundling, comprising a frame, a soil loosening unit, and an onion pulling and conveying unit. Features: It also includes a baling unit; the loosening unit includes an opening and closing mechanism and a liftable vibrating loosening mechanism; the opening and closing mechanism is a ridging shovel that is symmetrically arranged in front of the vibrating loosening mechanism.

2. A green onion harvester integrating harvesting and bundling according to claim 1, Features: The liftable vibrating loosening mechanism includes a loosening rake, a connecting pin, a fixing plate and an eccentric wheel; the upper end of the connecting pin is in contact with the eccentric wheel, and the lower end passes through a limit plate and is connected to the loosening rake; a compression spring is provided between the pin head and the limit plate; the eccentric wheel is fixed to the support seat through a rotating shaft, and the limit plate and the support seat are both fixed to the fixing plate; the left and right sides of the fixing plate are connected to the inclined guide rail fixed to the frame through a sliding rod, and the fixing plate is connected to an electric hydraulic rod; a driving motor is also provided on the fixing plate to drive the eccentric wheel to rotate.

3. The green onion harvester integrating harvesting and bundling according to claim 1, Features: The onion pulling conveying unit comprises an inclined clamping conveyor belt, and a plurality of adjusting pulleys whose height can be finely adjusted in the vertical direction of the conveyor belt are arranged on the inner side of the clamping conveyor belt.

4. The green onion harvester integrating harvesting and bundling according to claim 3, Features: A driving pulley and a driven pulley are respectively provided at the upper and lower ends of the clamping conveyor belt, a supporting link is provided between the driving pulley and the driven pulley, a plurality of sliding grooves are provided on the supporting link, the outer axial end of the adjusting pulley is hinged to one end of the first link and the second link, the other end of the first link is hinged to the supporting link, and the other end of the second link is slidably connected to the sliding groove and is connected to a spring at the same time.

5. The green onion harvester integrating harvesting and bundling according to claim 1, Features: It also includes a crank onion pulling unit, which includes a distribution plate with a switchable tilting direction; a downwardly tilted guide plate is provided on the rear side of the upper end of the onion pulling conveying unit, and the distribution plate is arranged below the guide plate.

6. The green onion harvester integrating harvesting and bundling according to claim 5, Features: The crank onion-pulling unit also includes an active connecting rod, a first driven connecting rod, a second driven connecting rod, a transverse slide rail and a vertical slide rail driven by a third driving motor. The transverse slide rail is fixed on the frame, and the vertical slide rail is slidably connected to the transverse slide rail through a first slider; one end of the first driven connecting rod is connected to the active connecting rod, and the other end is connected to the first slider; one end of the second driven connecting rod is slidably connected to the vertical slide rail through a second slider, and the other end is fixedly connected to the middle of the distribution plate.

7. The green onion harvester integrating harvesting and bundling according to claim 5, Features: Conveyor belts with opposite transmission directions are respectively arranged below the left and right sides of the distribution plate, and photoelectric sensors are arranged on the sides of the conveyor belts.

8. The green onion harvester integrating harvesting and bundling according to claim 5, Features: A bundling unit is respectively arranged on the chassis of the frames below the left and right sides of the distribution plate.

9. The green onion harvester integrating harvesting and bundling according to claim 1, Features: The baling unit is provided with a gravity sensor.

10. The green onion harvester integrating harvesting and bundling according to claim 1, Features: A wheel is arranged below the frame, and the wheel is connected to a second driving motor fixed on the frame through a chain; a tensioning sprocket is also arranged on the chain.

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