Automatic battery changing device for unmanned aerial vehicle

Abstract

The utility model discloses an unmanned aerial vehicle automatic battery changing device, which relates to the field of unmanned aerial vehicle battery changing and comprises a parking platform, a placing mechanism is arranged on the parking platform, and the placing mechanism is used for placing an unmanned aerial vehicle in the middle of the parking platform. A battery replacing mechanism and a charging bin mechanism matched with the battery replacing mechanism are arranged on the portions, located on the two sides of the placing mechanism, of the parking platform correspondingly, a push-in mechanism is arranged in the charging bin mechanism, the battery replacing mechanism is used for moving old batteries of the unmanned aerial vehicle into the charging bin mechanism, and the push-in mechanism is used for pushing new batteries in the charging bin mechanism into the unmanned aerial vehicle; the unmanned aerial vehicle is placed in the middle of the parking platform through the placing mechanism, meanwhile, an old battery in the unmanned aerial vehicle is moved out through the battery replacing mechanism, the moved-out old battery is received through the charging bin mechanism, a new battery in the charging bin mechanism is moved into a battery mounting position of the unmanned aerial vehicle through the pushing-in mechanism, and the battery replacing operation of the unmanned aerial vehicle is completed; the overall battery replacement operation is convenient and fast, and the battery replacement efficiency of the unmanned aerial vehicle is effectively improved.

Description

Technical Field

[0001] The utility model relates to the technical field of UAV battery replacement, and more specifically, to an automatic UAV battery replacement device. Background Technique

[0002] With the progress of technology, UAV technology has become increasingly mature, and its applications in various fields have become more and more extensive. UAVs not only have unique advantages such as high-altitude operation and remote monitoring, but also can perform high-risk tasks in complex environments, greatly improving work efficiency and safety. Therefore, the endurance and continuous operation ability of UAVs have become key factors affecting their wide application.

[0003] The continuous working time of most UAVs is relatively limited, usually not exceeding 30 minutes. This shortcoming seriously restricts the application of UAVs in scenarios that require long-term and high-intensity operations. Therefore, UAV battery replacement operations are required during the operation of UAVs.

[0004] Currently, for UAV battery replacement devices, most use a manipulator for battery replacement. First, the manipulator clamps the battery and takes it out, then puts it into the charging bin. Subsequently, the manipulator clamps the fully charged battery and installs it into the UAV. The entire battery replacement process is cumbersome and has many procedures, and the overall operation takes a long time for battery replacement.

[0005] In summary, how to improve the UAV battery replacement efficiency is an urgent problem for those skilled in the art currently. Content of the Utility Model

[0006] In view of this, the purpose of the utility model is to provide an automatic UAV battery replacement device, which can effectively improve the UAV battery replacement efficiency.

[0007] To achieve the above purpose, the utility model provides the following technical solution:

[0008] An automatic UAV battery replacement device includes a parking platform, and an installation mechanism is arranged on the parking platform, and the installation mechanism is used to place the UAV in the middle of the parking platform;

[0009] A battery replacement mechanism and a charging bin mechanism cooperating with the battery replacement mechanism are arranged on the parking platform, and the two are respectively located on both sides of the installation mechanism. A pushing mechanism is arranged in the charging bin mechanism. The battery replacement mechanism is used to move the battery of the UAV into the charging bin mechanism, the charging bin mechanism is used to receive the old battery of the UAV, and the pushing mechanism is used to push the new battery in the charging bin mechanism into the UAV.

[0010] Preferably, the placement mechanism includes a conveying component disposed on the parking platform, and two centering platforms oppositely arranged on both sides of the parking platform. The two centering platforms are slidably arranged at the midline position of the parking platform. The conveying component is used to drive the two centering platforms to move towards each other. Positioning plates are arranged on both centering platforms to position the drone at the middle of the parking platform.

[0011] Preferably, the conveying component includes a first guide rail fixedly arranged at the bottom of the parking platform. An annular conveyor belt is arranged on the first guide rail, and a first motor for driving the conveyor belt to move is arranged on the first guide rail.

[0012] The conveyor belt includes two belts arranged oppositely, and the two centering platforms are respectively arranged on the two belts.

[0013] Preferably, two centering grooves are oppositely formed on both sides of the parking platform. The two positioning plates are respectively slidably arranged in the two centering grooves. The two positioning plates are both arrow-shaped structural plates, and the arrows point to the middle of the parking platform.

[0014] Preferably, the battery replacement mechanism includes a second guide rail arranged on one of the centering platforms. A first push plate is slidably arranged on the second guide rail. A first driving component for driving the first push plate to move along the second guide rail is arranged on the second guide rail, so that the first push plate can push out the old battery of the drone.

[0015] Preferably, the first driving component includes a first conveyor belt arranged on the second guide rail and a second motor for driving the first conveyor belt to move. One side of the first conveyor belt is fixedly connected to the first push plate.

[0016] Preferably, the charging bin mechanism includes a transverse movement guide rail arranged on one of the centering platforms. A plurality of charging bins are slidably arranged on the transverse movement guide rail. A second driving component for driving the plurality of charging bins to move along the transverse movement guide rail is arranged on the transverse movement guide rail.

[0017] The pushing mechanism is arranged on the centering platform below the transverse movement guide rail. The pushing mechanism is used to push the new battery in the charging bin located on the centering platform into the drone.

[0018] Preferably, the second driving component includes a second conveyor belt arranged on one side of the transverse movement guide rail and a transverse movement motor arranged on the transverse movement guide rail for driving the second conveyor belt to move. The second conveyor belt is fixedly connected to the plurality of charging bins.

[0019] Preferably, the pushing mechanism includes a second push plate slidably disposed on the centering table, and a third driving component for driving the second push plate to slide along the center line of the centering table is disposed on the centering table.

[0020] Preferably, the third driving component includes a third conveyor belt disposed on the centering table and a pushing motor disposed on the centering table for driving the third conveyor belt to move. The third conveyor belt is fixedly connected to the second push plate.

[0021] The automatic battery swapping device for drones provided by the present utility model includes a parking platform, an placing mechanism is disposed on the parking platform, the placing mechanism is used to place the drone in the middle of the parking platform, a battery swapping mechanism is disposed on one side of the parking platform, and a charging bin mechanism cooperating with the battery swapping mechanism is disposed on the other side of the parking platform. The battery swapping mechanism is used to move the battery of the drone into the charging bin mechanism, and the charging bin mechanism is used to receive the old battery of the drone and provide a new battery to the drone.

[0022] While the automatic battery swapping device for drones provided by the present utility model places the drone in the middle of the parking platform by means of the placing mechanism, the battery swapping mechanism and the charging bin mechanism are placed on both sides of the battery installation position of the drone. The old battery in the drone is removed by the battery swapping mechanism, and the removed old battery is received by the charging bin mechanism. The new battery in the charging bin mechanism is moved into the battery installation place of the drone by the pushing mechanism to complete the battery swapping operation of the drone. The overall battery swapping operation is convenient and fast, effectively improving the battery swapping efficiency of the drone. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained according to the provided drawings without creative efforts.

[0024] Figure 1 It is an axonometric schematic diagram of the drone on the battery swapping device in this embodiment;

[0025] Figure 2 It is an axonometric schematic diagram of the overall structure of the battery swapping device in this embodiment;

[0026] Figure 3 It is a structural schematic diagram of the conveying component in the placing mechanism in this embodiment;

[0027] Figure 4 It is a structural schematic diagram of the battery swapping mechanism installed on the centering table in this embodiment;

[0028] Figure 5 This is a schematic structural diagram of the charging bin mechanism in this embodiment.

[0029] Figures 1-5 Among them, the reference numerals include:

[0030] 1. Parking platform; 2. UAV;

[0031] 3. Placement mechanism; 31. Conveyor component; 311. First guide rail; 312. Transmission belt; 313. First motor; 32. Centering platform; 33. Positioning plate; 34. Centering groove;

[0032] 4. Battery swapping mechanism; 41. Second guide rail; 42. First push plate; 43. First driving component; 431. First conveyor belt; 432. Second motor;

[0033] 5. Charging bin mechanism; 51. Transverse movement guide rail; 52. Charging bin; 53. Second driving component; 531. Second conveyor belt; 532. Transverse movement motor; 54. Pushing mechanism; 541. Second push plate; 542. Third driving component; 5421. Third conveyor belt; 5422. Pushing motor. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present utility model.

[0035] Unless otherwise defined, the technical terms or scientific terms used in this application disclosure should have the ordinary meaning understood by those of ordinary skill in the field to which the present utility model belongs. The "first", "second" and similar terms used in the present utility model do not indicate any order, quantity or importance. "Connection" or "connected" and similar terms are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Upper", "lower", "left", "right", etc. are only used to represent relative position relationships. When the absolute position of the object being described changes, the relative position relationship can also change accordingly. This application embodiment discloses an automatic UAV battery swapping device.

[0036] The core of the present utility model is to provide an automatic UAV battery swapping device.

[0037] Please refer to Figures 1 to 5 .

[0038] The automatic battery replacement device for drones provided by the present utility model includes a parking platform 1, on which an installation mechanism 3 is provided. The installation mechanism 3 is used to place the drone 2 in the middle of the parking platform 1. A battery replacement mechanism 4 and a charging bin mechanism 5 that cooperates with the battery replacement mechanism 4 are provided on the parking platform 1, and the two are respectively located on both sides of the installation mechanism 3. A pushing mechanism 54 is provided in the charging bin mechanism 5. The battery replacement mechanism 4 is used to move the battery of the drone 2 into the charging bin mechanism 5, the charging bin mechanism 5 is used to receive the old battery of the drone 2, and the pushing mechanism 54 is used to push the new battery in the charging bin mechanism 5 into the drone 2.

[0039] Park the drone 2 to be battery-replaced on the parking platform 1. With the help of the installation mechanism 3, gradually position and fix the drone 2 in the middle of the parking platform 1. Use the battery replacement mechanism 4 on the parking platform 1 to remove the old battery in the drone 2 into the charging bin mechanism 5, and then move the new battery into the battery installation part of the drone 2 through the charging bin mechanism 5 to complete the battery replacement operation for the drone 2. The entire operation process is fast and convenient.

[0040] When the above automatic battery replacement device for drones places the drone 2 in the middle of the parking platform 1 with the help of the installation mechanism 3, the battery replacement mechanism 4 and the charging bin mechanism 5 are placed on both sides of the battery installation position of the drone 2. The old battery in the drone 2 is removed through the battery replacement mechanism 4, and the removed old battery is received through the charging bin mechanism 5. The new battery in the charging bin mechanism 5 is moved into the battery installation place of the drone 2 through the pushing mechanism 54 to complete the battery replacement operation for the drone 2. The overall battery replacement operation is convenient and fast, effectively improving the battery replacement efficiency of the drone 2.

[0041] The following will introduce the automatic battery replacement device for drones provided by the present utility model in more detail with reference to the drawings and specific embodiments.

[0042] In a specific embodiment, refer to Figures 2 to 4 , where Figure 2 is an axonometric schematic diagram of the overall structure of the battery replacement device, Figure 3 is a schematic diagram of the structure of the conveying component in the installation mechanism, Figure 4 is a schematic diagram of the structure of the battery replacement mechanism installed on the centering platform. The installation mechanism 3 includes a conveying component 31 provided on the parking platform 1 and two centering platforms 32 oppositely arranged on both sides of the parking platform 1. The two centering platforms 32 are slidably arranged at the midline position of the parking platform 1. The conveying component 31 is used to drive the two centering platforms 32 to move towards each other. Positioning plates 33 are provided on both of the two centering platforms 32 to position the drone 2 in the middle of the parking platform 1.

[0043] The conveying assembly 31 synchronously drives two oppositely arranged centering platforms 32 to move towards each other, thereby gradually clamping the unmanned aerial vehicle 2 located on the parking platform 1 with the positioning plates 33 on the centering platforms 32 and adjusting the position of the unmanned aerial vehicle 2 on the parking platform 1. Since the centering platforms 32 are always in the middle line position of the parking platform 1, the position between the two centering platforms 32 is the middle position of the parking platform 1, thus realizing the positioning of the unmanned aerial vehicle 2 in the middle of the parking platform 1, which is convenient for subsequent battery replacement operations.

[0044] In some other embodiments, the placing mechanism 3 can also adopt two oppositely arranged cylinders (not shown in the figures in this part, which are optional other embodiments). The two cylinders are arranged along the middle line of the parking platform 1, and clamping plates are fixedly arranged at the ends of the piston rods of the cylinders. The clamping of the bottom of the unmanned aerial vehicle 2 is realized by means of two relatively moving clamping plates and adjusted to the middle of the parking platform 1 to complete the centering operation of the unmanned aerial vehicle 2.

[0045] Based on any one of the above embodiments, referring to Figure 2 and Figure 3 , the conveying assembly 31 includes a first guide rail 311 fixedly arranged at the bottom of the parking platform 1. A ring-shaped conveyor belt 312 is arranged on the first guide rail 311, and a first motor 313 for driving the conveyor belt 312 to move is arranged on the first guide rail 311. The conveyor belt 312 includes two relatively arranged belts, and the two centering platforms 32 are respectively arranged on the two belts.

[0046] The first guide rail 311 is arranged along the middle line of the parking platform 1 and is arranged below the parking platform 1. Optionally, mounting plates are fixedly arranged at both ends of the bottom of the parking platform 1, and both ends of the first guide rail 311 are welded to the two mounting plates to realize the fixed setting of the first guide rail 311 relative to the parking platform 1. The conveyor belt 312 is arranged in a ring shape on the first guide rail 311. A first motor 313 is arranged at one end of the first guide rail 311 where the conveyor belt 312 is located. The output end of the first motor 313 meshes with one end of the conveyor belt 312. The other end of the conveyor belt 312 is arranged on the first guide rail 311 through a fixed gear arranged on the first guide rail 311. The first motor 313 works and cooperates with the fixed gear to drive the conveyor belt 312 to move. The first motor 313 and the fixed gear divide the conveyor belt 312 into two relatively arranged belts. During the movement of the conveyor belt 312, the two relatively arranged belts move in opposite directions with the same speed, thereby driving the two centering platforms 32 to move towards each other.

[0047] With the cooperation of the first motor 313 and the conveyor belt 312, the first motor 313 drives the conveyor belt 312 to move, thereby driving the two centering platforms 32 on the conveyor belt 312 to move towards each other, which is convenient for the centering operation of the unmanned aerial vehicle 2, and the overall operation is convenient and effective, improving the overall convenience of the device.

[0048] Based on any of the above embodiments, with reference to Figure 3 and Figure 4 , two centering grooves 34 are oppositely formed on both sides of the parking platform 1, and two positioning plates 33 are respectively slidably arranged in the two centering grooves 34. Both of the two positioning plates 33 are arrow-shaped structural plates, and the arrows point to the middle of the parking platform 1.

[0049] The plate body with an arrow shape is used as the positioning plate 33. The hypotenuse of the arrow shape can play a guiding role, so as to facilitate guiding the drone 2 to the middle of the parking platform 1. At the same time, a guiding surface matching with the hypotenuse of the arrow-shaped structure can be arranged at the bottom of the drone 2 to further improve the convenience and accuracy in the centering operation.

[0050] Based on any of the above embodiments, with reference to Figure 4 , the battery swapping mechanism 4 includes a second guide rail 41 arranged on one centering platform 32. A first push plate 42 is slidably arranged on the second guide rail 41, and a first driving component 43 for driving the first push plate 42 to move along the second guide rail 41 is arranged on the second guide rail 41, so that the first push plate 42 pushes out the old battery of the drone 2.

[0051] The first driving component 43 drives the first push plate 42 to move along the second guide rail 41. During the process of the first push plate 42 extending out, the old battery located in the drone 2 is pushed out towards the outside of the drone 2, realizing the removal of the old battery in the drone 2.

[0052] By adopting the pushing method of the first push plate 42, it is ensured that the battery inside the drone 2 is smoothly removed from the drone 2, thereby effectively improving the stability during the battery swapping process.

[0053] Specifically, with reference to Figure 4 , the first driving component 43 includes a first conveyor belt 431 arranged on the second guide rail 41 and a second motor 432 for driving the first conveyor belt 431 to move. One side of the first conveyor belt 431 is fixedly connected to the first push plate 42.

[0054] The second motor 432 drives the first conveyor belt 431 to drive along the rotating shaft of the second motor 432, thereby driving the first push plate 42 located on one side of the first conveyor belt 431 to move along with the first conveyor belt 431, realizing the movement of the first push plate 42 along the second guide rail 41. The driving process of this driving component is stable, further improving the stability during the battery swapping process of the device.

[0055] Based on any of the above embodiments, with reference to Figure 2 and Figure 5 , Figure 5It is a schematic structural diagram of the charging bin mechanism. The charging bin mechanism 5 includes a transverse movement guide rail 51 arranged on a countertop 32. A plurality of charging bins 52 are slidably arranged on the transverse movement guide rail 51. A second driving assembly 53 is arranged on the transverse movement guide rail 51 for driving the plurality of charging bins 52 to move along the transverse movement guide rail 51. A pushing mechanism 54 is arranged on the countertop 32 below the transverse movement guide rail 51. The pushing mechanism 54 is used to push the new battery in the charging bin 52 located on the countertop 32 into the drone 2.

[0056] The second driving assembly 53 drives the plurality of charging bins 52 to move along the transverse movement guide rail 51, facilitating the alignment of the empty charging bin 52 with the position of the old battery when receiving the old battery, and the alignment of the charging bin 52 carrying the new battery with the battery installation position of the drone 2 when transporting the new battery. The pushing mechanism 54 is in a fixed form and is used to push the new battery in the charging bin 52 that has been moved horizontally into the drone 2. Optionally, the pushing mechanism 54 can also be in the form of multiple ones respectively arranged in a plurality of charging bins 52.

[0057] Further, the second driving assembly 53 includes a second conveyor belt 531 arranged on one side of the transverse movement guide rail 51 and a transverse movement motor 532 arranged on the transverse movement guide rail 51 for driving the second conveyor belt 531 to move. The second conveyor belt 531 is fixedly connected to the plurality of charging bins 52.

[0058] The transverse movement motor 532 drives the second conveyor belt 531 to drive, thereby driving the plurality of charging bins 52 on the second conveyor belt 531 to move along the transverse movement guide rail 51, realizing the adjustment of the positions of the plurality of charging bins 52 on the transverse movement guide rail 51, facilitating the subsequent recycling of the old battery and the transportation of the new battery.

[0059] On the basis of any of the above embodiments, referring to Figure 5 , the pushing mechanism 54 includes a second push plate 541 slidably arranged on the countertop 32. A third driving assembly 542 is arranged on the countertop 32 for driving the second push plate 541 to slide along the center line of the countertop 32.

[0060] The third driving assembly 542 drives the second push plate 541 to slide along the center line of the countertop 32, pushing the new battery in the charging bin 52 that has moved to the countertop 32 into the battery installation place in the drone 2, completing the battery replacement operation.

[0061] On the basis of any of the above embodiments, referring to Figure 5 , the third driving assembly 542 includes a third conveyor belt 5421 arranged on the countertop 32 and a pushing motor 5422 arranged on the countertop 32 for driving the third conveyor belt 5421 to move. The third conveyor belt 5421 is fixedly connected to the second push plate 541.

[0062] Similar to the first driving component 43 described above, the pushing motor 5422 drives the third conveyor belt 5421 to transmit power. The third conveyor belt 5421 drives the second push plate 541 located on the third conveyor belt 5421 to move, thereby pushing the new battery located in the charging bin 52 into the battery installation location of the drone 2, completing the battery replacement operation.

[0063] The above has introduced in detail an automatic battery replacement device for a drone provided by the present utility model. Specific examples are used in this article to elaborate on the principle and implementation manner of the present utility model. The description of the above embodiments is only used to help understand the method and its core idea of the present utility model. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present utility model, several improvements and modifications can still be made to the present utility model, and these improvements and modifications also fall within the protection scope of the present utility model.

Claims

1. An automatic battery replacement device for a drone, characterized in that: It comprises a parking platform (1), on which a placement mechanism (3) is arranged, and the placement mechanism (3) is used to place a drone (2) in the middle of the parking platform (1); The parking platform (1) is provided with a battery replacement mechanism (4) and a charging compartment mechanism (5) cooperating with the battery replacement mechanism (4), the two being located on both sides of the placement mechanism (3), respectively; a pushing mechanism (54) is provided in the charging compartment mechanism (5); the battery replacement mechanism (4) is used to move the battery of the drone (2) into the charging compartment mechanism (5); the charging compartment mechanism (5) is used to receive the old battery of the drone (2); and the pushing mechanism (54) is used to push the new battery in the charging compartment mechanism (5) into the drone (2).

2. The automatic battery replacement device for a drone according to claim 1, characterized in that: The placement mechanism (3) comprises a conveying assembly (31) arranged on the parking platform (1), and two centering platforms (32) arranged on both sides of the parking platform (1) relative to each other. The two centering platforms (32) are slidably arranged at the centerline position of the parking platform (1). The conveying assembly (31) is used to drive the two centering platforms (32) to move towards each other. Positioning plates (33) are arranged on the two centering platforms (32) to position the drone (2) in the middle of the parking platform (1).

3. The automatic battery replacement device for a drone according to claim 2, characterized in that: The conveying assembly (31) comprises a first guide rail (311) fixedly arranged at the bottom of the parking platform (1); an annular conveyor belt (312) is arranged on the first guide rail (311); and a first motor (313) for driving the conveyor belt (312) to move is arranged on the first guide rail (311); The conveyor belt (312) comprises two belts arranged opposite to each other, and the two centering platforms (32) are respectively arranged on the two belts.

4. The automatic battery replacement device for a drone according to claim 2, characterized in that: Two centering grooves (34) are provided on opposite sides of the parking platform (1), and the two positioning plates (33) are respectively slidably arranged in the two centering grooves (34). Both of the two positioning plates (33) are arrow-shaped structural plates, and the arrows point to the middle of the parking platform (1).

5. An automatic battery replacement device for a drone according to any one of claims 2 to 4, characterized in that: The battery replacement mechanism (4) comprises a second guide rail (41) arranged on one of the centering platforms (32), a first push plate (42) being slidably arranged on the second guide rail (41), and a first drive assembly (43) for driving the first push plate (42) to move along the second guide rail (41) being arranged on the second guide rail (41) so that the first push plate (42) pushes out the old battery of the drone (2).

6. The automatic battery replacement device for a drone according to claim 5, characterized in that: The first driving assembly (43) comprises a first conveyor belt (431) arranged on the second guide rail (41) and a second motor (432) for driving the first conveyor belt (431) to move; one side of the first conveyor belt (431) is fixedly connected to the first push plate (42).

7. An automatic battery replacement device for a drone according to any one of claims 2 to 4, characterized in that: The charging bin mechanism (5) comprises a transverse guide rail (51) arranged on one of the centering platforms (32), a plurality of charging bins (52) being slidably arranged on the transverse guide rail (51), and a second driving assembly (53) for driving the plurality of charging bins (52) to move along the transverse guide rail (51) being arranged on the transverse guide rail (51); The pushing mechanism (54) is arranged on the centering platform (32) below the transverse guide rail (51), and the pushing mechanism (54) is used to push a new battery in the charging compartment (52) on the centering platform (32) into the drone (2).

8. The automatic battery replacement device for a drone according to claim 7, characterized in that: The second driving assembly (53) comprises a second conveyor belt (531) arranged on one side of the transverse guide rail (51) and a transverse motor (532) arranged on the transverse guide rail (51) for driving the second conveyor belt (531) to move, and the second conveyor belt (531) is fixedly connected to the plurality of charging bins (52).

9. The automatic battery replacement device for a drone according to claim 7, characterized in that: The pushing mechanism (54) comprises a second pushing plate (541) slidably arranged on the centering platform (32), and the centering platform (32) is provided with a third driving component (542) for driving the second pushing plate (541) to slide along the center line of the centering platform (32).

10. The automatic battery replacement device for a drone according to claim 9, characterized in that: The third driving assembly (542) comprises a third conveyor belt (5421) arranged on the centering platform (32) and a pushing motor (5422) arranged on the centering platform (32) for driving the third conveyor belt (5421) to move, and the third conveyor belt (5421) is fixedly connected to the second pushing plate (541).

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