CN221010886U - An orchard autonomous picking and packaging integrated robot - Google Patents

Abstract

The utility model relates to an orchard self-operating picking and packing integrated robot, comprising a walking chassis and a picking and packing device, wherein the picking and packing device comprises a skeleton, a box unloading device, a picking device, a fruit conveying device, a grading device, a netting device, a box folding and sealing device, a control cabinet and a box packing and dividing device. The utility model has the following advantages: the picking of fruits is realized by the picking device, the conveying of fruits is realized by the fruit conveying device, the grading treatment of fruits is realized by the grading device, and the netting treatment of fruits is realized by the netting device, and then the netted fruits are loaded into the fruit boxes folded and sealed by the box folding and sealing device through the box packing and dividing device, and the packed fruit boxes are transported to the ground through the box unloading device, thereby realizing the integrated packaging operation of automatic picking, conveying, grading, netting, box packing and unloading of fruits, realizing the immediate picking and immediate processing, saving the subsequent packaging time, and improving the intelligence level of the machine.

Description

An orchard autonomous picking and packaging integrated robot

Technical Field

The utility model relates to an orchard self-operating picking and packing integrated robot.

Background technique

At present, the main methods of fruit picking are manual picking and manual netting. Manual picking is time-consuming and labor-intensive, manual netting is inefficient and costly, and is not suitable for on-site mobile operations in orchards. The overall mechanization level and picking efficiency are low, and it is impossible to complete the centralized picking of large orchards in a short period of time. The subsequent grading, netting and packaging process will take up a large factory space, and the fruits will be bumped during transportation from the orchard to the factory.

Utility Model Content

The utility model aims to solve the problem of low picking efficiency caused by the existing orchards using manual or lifting platform harvesting, and proposes an orchard self-operating picking and packaging integrated robot, which realizes the integrated packaging operations of automatic picking, transportation, grading, netting, packing and unloading of fruits through the picking and packaging device, ensures that the fruits are picked and processed immediately, saves subsequent packaging time, and improves the picking efficiency.

In order to solve the above technical problems, the utility model is realized through the following technical solutions: an orchard self-operating picking and packing integrated robot, comprising a walking chassis and a picking and packing device, the picking and packing device comprising a skeleton, a box unloading device, a picking device, a fruit conveying device, a grading device, a net device, a box folding and sealing device, a control cabinet and a box packing and sorting device, the skeleton is installed on the walking chassis, the box unloading device is installed on the rear side wall of the skeleton, the picking device is installed on the left and right walls of the skeleton, the fruit conveying device, the grading device, the net device, the box folding and sealing device and the box packing and sorting device are all installed in the skeleton, the control cabinet is installed on the front arm of the skeleton, the walking chassis, the box unloading device, the picking device, the fruit conveying device, the grading device, the net device, the box folding and sealing device and the box packing and sorting device are all connected to the control cabinet, the fruits picked by the picking device are successively transported to the ground through the fruit conveying device, the grading device, the net device and the box packing and sorting device through the box unloading device, and the skeleton is provided with an RTK system connected to the control cabinet.

Preferably, the picking device includes a camera, a robotic arm and a gripper, and a camera mounting bracket for mounting the camera and a fixing plate for mounting the robotic arm are provided on the left and right walls of the skeleton. The gripper is arranged on the robotic arm, and the camera and the robotic arm are both connected to a control cabinet.

Preferably, the fruit conveying device includes a side fruit guide plate, a lifting mechanism, an upper fruit guide plate and a single fruit dropping mechanism, the side fruit guide plate is installed on the frame below the fixed plate, the upper fruit guide plate is arranged at the top of the frame, the lifting mechanism is arranged between the side fruit guide plate and the upper fruit guide plate, the side fruit guide plate is provided with a flipping mechanism for flipping the fruit onto the lifting mechanism, and the single fruit dropping mechanism is arranged at the discharge end of the upper fruit guide plate.

Preferably, the grading device comprises a mounting bracket and a plurality of fruit trays, the mounting bracket is mounted in a frame, the fruit trays are mounted on the mounting bracket, a first flip cylinder is provided on the mounting bracket between two adjacent fruit trays, and a fruit tray is provided on the first flip cylinder.

Preferably, the net-covering device comprises a support frame, a supply mechanism, an opening mechanism, an opening and closing net-feeding mechanism, a fruit net storage mechanism, a fruit receiving and delivering mechanism and a hot-melt net-breaking mechanism. The supply mechanism, the opening mechanism, the opening and closing net-feeding mechanism, the fruit net storage mechanism, the fruit receiving and delivering mechanism and the hot-melt net-breaking mechanism are all installed on the support frame. The support frame is arranged in the skeleton. The fruit net storage mechanism stores net sleeves for covering fruits. The opening and closing net-feeding mechanism comprises a suction cup for sucking the net sleeve, an opening and closing drive and a lifting drive. The opening and closing drive is used to control the movement of the suction cup and thus open the net sleeve. The lifting drive is used to control the movement of the suction cup between the opening mechanism and the fruit net storage mechanism. The opening mechanism comprises a fruit guide bucket and an opening assembly. The surface of the fruit guide bucket is provided with a buffer pad, and the fruit guide bucket is located below the supply mechanism. The lower end of the fruit guide bucket is connected with the expansion component, and the expansion component is used to expand the net sleeve to allow the fruit to enter the net sleeve from the fruit guide bucket. The fruit receiving and delivering mechanism includes a fruit holding bucket, an output channel and a fruit moving driver. The fruit holding bucket is used to transport the set fruit to the output channel. The fruit moving driver controls the fruit holding bucket to move between the expansion mechanism and the output channel. The supply mechanism includes a controller. The supply mechanism only provides one fruit to the fruit guide bucket each time through the controller. The hot melt net mechanism is used to melt the net sleeve. A sensing mechanism is provided on the support frame. The sensing mechanism includes a fruit falling sensor for detecting whether the fruit falls into the fruit guide bucket, a net sleeve sensor for detecting whether the net sleeve is inserted into the expansion component, a net feeding sensor for detecting the position of the suction cup, and a fruit moving sensor for detecting whether the fruit holding bucket moves to the output channel.

Preferably, the supply mechanism also includes an input channel, and the controller includes a first limit cylinder and a second limit cylinder, both used to close the input channel, and the distance between the first limit cylinder and the second limit cylinder is larger than the width of one fruit and smaller than the sum of the widths of two fruits; the input channel is inclined, and the bottom end of the input channel is above the fruit guiding bucket, and the second limit cylinder is downstream of the first limit cylinder.

Preferably, the spreading mechanism comprises a fixed support plate for positioning the fruit guide bucket, a movable support plate rotatably connected to the fixed support plate, and a rotary driver for driving the movable support plate to rotate; the spreading assembly comprises a plurality of slide bars, the ends of which are provided with support bars for supporting the net sleeve, the slide bars having a closed position in which the support bars are brought close to each other and an open position in which the support bars are moved away from each other to spread the net sleeve; the rotary driver controls the rotation of the movable support plate to drive the slide bars to slide between the closed position and the open position;

The fruit net storage mechanism includes a net storage disk bracket, a net storage disk for storing the net sleeve, and a guide component. The net storage disk is rotatably connected to the net storage disk bracket. The guide component includes two relatively arranged guide wheels, and the two guide wheels clamp the net sleeve.

Preferably, the boxing and sorting device includes a box sorting mechanism and a fruit placing mechanism, the fruit placing mechanism includes a first lifting cylinder and a fruit placing box arranged at the bottom end of the lifting cylinder, the first lifting cylinder is arranged in the frame, the bottom end of the fruit placing box is provided with an opening and closing mechanism, the side wall of the fruit placing box is provided with a feeding hole, the fruit placing box is provided with an opening and closing cylinder connected to the opening and closing mechanism, and the opening and closing mechanism is in a closed state and an open state by the extension and contraction of the opening and closing cylinder.

Preferably, the opening and closing mechanism includes a bolt and two folding plates, the bolt is provided with a first hinge, the first hinge is arranged between the two folding plates, the folding plates are provided with a fixing frame, the fixing frame is provided with a mounting shaft, the mounting shaft is provided with a roller, and the bolt is provided with a connecting frame connected to the opening and closing cylinder.

Preferably, the unloading device includes a fruit box bucket and a second lifting cylinder, the second lifting cylinder is arranged on the frame, the fruit box bucket is arranged on the second lifting cylinder, a feed port is provided on one side of the fruit box bucket, a discharge port is provided on the other side of the fruit box bucket, a bottom plate is provided at the bottom end of the fruit box bucket, a tail plate is rotatably connected to the bottom plate on the side of the discharge port, a second flipping cylinder for driving the bottom plate to tilt upward is connected to the bottom plate, a third flipping cylinder for driving the tail plate to open and close is connected to the tail plate, when the tail plate is opened, the outer side wall of the tail plate is in contact with the ground, and when the tail plate is closed, the inner side wall of the tail plate is in contact with the outer side wall of the fruit box bucket, a first smooth bar is provided on the tail plate, and a second smooth bar corresponding to the first smooth bar is provided on the bottom plate.

In summary, the advantages of the utility model are as follows: the fruits are picked and packaged by the picking and packaging device; since the picking and packaging device is composed of a frame, a box unloading device, a picking device, a fruit conveying device, a grading device, a netting device, a box folding and sealing device, a control cabinet and a box packing and dividing device, the fruits are picked by the picking device in sequence, conveyed by the fruit conveying device, graded by the grading device and automatically netted by the netting device; then the fruits fall into the fruit boxes after the box folding and sealing device has folded and sealed the bottoms; the packed fruit boxes are transported to the ground by the box unloading device; the various components are independent of each other and do not interfere with each other, which effectively achieves the purpose of unmanned orchard automatic operation and realizes the automatic picking, conveying, grading, netting and boxing of fruits. The integrated packaging operation of unloading and boxing realizes the immediate picking and processing, which saves the subsequent packaging time, improves the intelligence level of the machine, is suitable for mobile operation and various application scenarios, and each device is continuous and stable, safe and efficient, which can ensure the high quality of the fruit. The skeleton realizes the unloading device, picking device, fruit conveying device, grading device, netting device, box folding and sealing device, control cabinet and box loading and sorting device to form an installation as a whole, realizing the integrated setting of automatic packaging and sorting netting. The overall layout is compact, and the installation area of the whole picking and packaging device on the walking chassis is optimized. Secondly, because the skeleton is equipped with an RTK system, it can obtain the current position in real time, and then perform automatic navigation mode, so as to accurately control the overall walking and further improve the picking efficiency.

BRIEF DESCRIPTION OF THE DRAWINGS

The utility model is further described below in conjunction with the accompanying drawings:

FIG1 is a structural schematic diagram of an orchard self-operating picking and packing integrated robot according to the utility model;

FIG2 is a second structural schematic diagram of an orchard self-operating picking and packing integrated robot according to the utility model;

FIG3 is a schematic diagram of the structure of the grading device in the utility model;

Figure 4 is a schematic structural diagram of the middle net device of the utility model;

FIG5 is a schematic diagram of the structure of the supply mechanism in the net-covering device of the present invention;

FIG6 is a schematic diagram of the structure of the opening mechanism in the net-covering device of the utility model;

FIG7 is a cross-sectional view of the sliding rod in the net-covering device of the utility model when it is in an open position;

FIG8 is a schematic diagram of the structure of the net-covering device of the utility model when the slide bar is in a closed position;

FIG9 is a schematic structural diagram of the opening and closing net feeding mechanism in the net-laying device of the present invention;

10 is a schematic diagram of the structure of the fruit net storage mechanism in the net-wrapping device of the present invention;

FIG11 is a schematic diagram of the structure of the fruit receiving and delivering mechanism in the net-covering device of the utility model;

FIG12 is a schematic diagram of the structure of the fruit conveying mechanism in the net-covering device of the utility model for conveying fruits;

FIG13 is a schematic diagram of the structure of the thermal fuse disconnecting mechanism in the net-covering device of the present invention;

Figure 14 is a schematic diagram of the structure of the fruit placing mechanism in the utility model;

15 is a schematic diagram of the structure of the opening and closing mechanism of the fruit release mechanism of the utility model;

FIG16 is a schematic diagram of the structure of the fruit releasing mechanism of the utility model when releasing fruit;

Figure 17 is a schematic structural diagram of the utility model unloading device;

FIG. 18 is a schematic structural diagram of the utility model box unloading device when unloading boxes.

Detailed ways

As shown in Figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17 and 18, an orchard self-operating picking and packaging integrated robot includes a walking chassis 1 and a picking and packaging device 2. The walking chassis 1 is a prior art and is not described in detail in this embodiment. The picking and packaging device 2 includes a skeleton 21, a box unloading device 22, a picking device 23, a fruit conveying device 24, a grading device 25, a netting device 26, a box folding and sealing device 27, a control cabinet 28 and a box packing and sorting device 29. The box folding and sealing device 27 includes a box folding mechanism, a box feeding mechanism and a box sealing mechanism. The specific structure is a prior art and is not described in detail in this embodiment. The skeleton 21 is installed on the walking chassis 1. The device 22 is installed on the rear wall of the skeleton 21, the picking device 23 is installed on the left and right walls of the skeleton 21, the fruit conveying device 24, the grading device 25, the net device 26, the box folding and sealing device 27 and the box packing and dividing device 29 are all installed in the skeleton 21, and the control cabinet 28 is installed on the front wall of the skeleton 21. The walking chassis 1, the unloading device 22, the picking device, the fruit conveying device, the grading device, the net device, the box folding and sealing device and the box packing and dividing device are all connected to the control cabinet 28. The control cabinet is the prior art and is not described in detail in this embodiment. The fruits 3 picked by the picking device 23 pass through the fruit conveying device, the grading device, the net device and the box packing and dividing device in turn, and are then transported to the ground through the unloading device 22. An RTK system 211 connected to the control cabinet is provided on the skeleton.

The fruits are picked and packaged by the picking and packaging device. Since the picking and packaging device is composed of a skeleton, a box unloading device, a picking device, a fruit conveying device, a grading device, a netting device, a box folding and sealing device, a control cabinet and a box packing and dividing device, the fruits are picked by the picking device in sequence, transported by the fruit conveying device, graded by the grading device and automatically netted by the netting device. Then the fruits fall into the fruit boxes with the bottom folded and sealed by the box folding and sealing device through the box packing and dividing device. The packed fruit boxes are transported to the ground through the box unloading device. Each component is independent of each other and does not interfere with each other, which effectively achieves the purpose of unmanned orchard automatic operation and realizes the integration of automatic picking, transportation, grading, netting, box packing and unloading of fruits. The packaging operation realizes immediate picking and processing, saving subsequent packaging time, improving the intelligence of the machine, and is suitable for mobile operations and various application scenarios. Moreover, each device is continuous, stable, safe and efficient, and can ensure the high quality of the fruit. The skeleton realizes the unloading device, picking device, fruit conveying device, grading device, netting device, box folding and sealing device, control cabinet and box loading and sorting device to form an installation as a whole, realizing the integrated setting of automatic packaging, sorting and netting. The overall layout is compact, and the installation area of the entire picking and packaging device on the walking chassis is optimized. Secondly, since the skeleton is equipped with an RTK system, the current position can be obtained in real time, and then the automatic navigation mode is performed, so that the overall walking can be accurately controlled to further improve the picking efficiency.

As shown in Figure 1, the picking device 23 includes a camera 231, a mechanical arm 232 and a gripper 233. The specific structures of the camera, the mechanical arm and the gripper are existing technologies and are not described in detail in this embodiment. The left and right walls of the skeleton 21 are provided with a camera mounting frame 212 for mounting the camera, and a fixing plate 213 for mounting the mechanical arm. The gripper 233 is arranged on the mechanical arm 232. The camera and the mechanical arm are both connected to the control cabinet 28. When in use, the position of the fruit relative to the whole is obtained by the camera, and the target position is sent to the mechanical arm. The mechanical arm performs path inverse solution, moves to the specified position, and grabs the fruit through the end gripper. In order to improve the picking efficiency, multi-arm collaborative operation is adopted. The number of mechanical arms is not limited to the layout described in the figure, and the layout can be adjusted according to the actual working conditions.

As shown in Figure 2, the fruit conveying device 24 includes a side fruit guide plate 241, a lifting mechanism 242, an upper fruit guide plate 243 and a single fruit falling mechanism 244. The side fruit guide plate is installed on the frame 21 below the fixed plate, the upper fruit guide plate is arranged at the top of the frame, the lifting mechanism is arranged between the side fruit guide plate and the upper fruit guide plate, the side fruit guide plate is provided with a flipping mechanism 245 for flipping the fruit onto the lifting mechanism, and the single fruit falling mechanism is arranged at the discharge end of the upper fruit guide plate. The fruit conveying device is arranged into a structure of side fruit guide plates, lifting mechanisms, upper fruit guide plates and single fruit falling mechanisms. When in use, the side fruit guide plates are used to receive the fruits picked by the picking device. The side fruit guide plates in this embodiment are tilted on the frame 21 to facilitate the movement of the fruits into the flipping mechanism, ensuring that the fruits can be flipped onto the lifting mechanism through the flipping mechanism, and then the lifting mechanism lifts the fruits to the upper fruit guide plates, and the fruits enter the single fruit falling mechanism after being guided by the upper fruit guide plates, ensuring that the fruits can be transported from outside the frame to inside the frame one by one, thereby improving the conveying quality.

As shown in Figure 3, the grading device 25 includes a mounting bracket 251 and a plurality of fruit trays 252, the mounting bracket 251 is installed in the skeleton 21, the fruit tray 252 is installed on the mounting bracket 251, and a first flip cylinder 253 is provided on the mounting bracket 251 between two adjacent fruit trays 252, and a fruit distribution plate 254 is provided on the first flip cylinder. Specifically, when the fruit 3 is transported from the single fruit dropping mechanism to the first fruit distribution plate 254, a part of the fruits with small diameters fall to the first fruit tray 252 after being distributed by the fruit distribution plate, and the remaining part of the fruits with large diameters fall to the second fruit distribution plate 254 after being flipped by the first flip cylinder 253, and the cycle is repeated in sequence until the fruit falls into the last fruit tray. Therefore, the fruits can be graded one by one according to their diameters, and the overall structure is compact and the installation quality is good.

As shown in Figure 4, the net-covering device 26 includes a support frame 261, a supply mechanism 262, a propping mechanism 263, an opening and closing net-feeding mechanism 264, a fruit net storage mechanism 265, a fruit receiving and delivering mechanism 266 and a hot-melt net-breaking mechanism 267, wherein the fruit net storage mechanism 265 is placed at the bottom of the support frame 261, and the support frame 261 is provided with a first beam 2611 on the upper side of the fruit net storage mechanism 265, the fruit receiving and delivering mechanism 266, the opening and closing net-feeding mechanism 264 and the hot-melt net-breaking mechanism 267 are all fixedly installed on the first beam 2611, and the support frame 261 is provided with a second beam 2612 on the upper side of the first beam 2611, the propping mechanism 263 is fixedly installed on the second beam 2612, and the supply mechanism 262 is arranged above the propping mechanism 263. In this embodiment, the overall layout of the support frame 261 adopts a vertical space layout, which has a compact structure, occupies a small area, is suitable for mobile operations, and has various application scenarios.

As shown in FIG5 , the supply mechanism 262 in this embodiment includes an input channel 2621 and a controller, wherein the input channel 2621 is inclined, and the bottom end of the input channel 2621 is located above the propping mechanism 263, and the controller includes a first limiting cylinder 2622 and a second limiting cylinder 2623 for closing the input channel 2621, and the first limiting cylinder 2622 and the second limiting cylinder 2623 are both located on the side of the input channel 2621, and an avoidance hole for the first limiting cylinder 2622 to extend into is provided on the input channel 2621, and the second limiting cylinder 2623 is located at the bottom end of the input channel 2621, and the distance between the first limiting cylinder 2622 and the second limiting cylinder 2623 is greater than the distance between one fruit. width, and is less than the sum of the widths of two fruits. During use, the output end of the second limiting cylinder 2623 extends and closes the bottom end of the input channel 2621. When the fruit enters the input channel 2621, the output end of the first limiting cylinder 2622 extends, and a space for accommodating only one fruit is formed between the first limiting cylinder 2622 and the second limiting cylinder 2623. After the output end of the second limiting cylinder 2623 is retracted, one fruit can fall from the input channel to the opening mechanism 263. The supply mechanism 262 can provide only one fruit to the fruit guide bucket each time, avoiding multiple fruits from entering the fruit guide bucket 2631 at the same time, affecting the fruit set, making the fruit set netting more orderly, and ensuring that each fruit can complete the set netting.

As shown in FIG6 , the spreading mechanism 263 in this embodiment includes a fruit guide bucket 2631 and a spreading assembly. The fruit guide bucket 2631 is funnel-shaped, and a buffer pad is provided on the surface of the fruit guide bucket 2631. After the fruit falls into the fruit guide bucket 2631, the buffer pad can mitigate the impact force on the fruit and reduce the possibility of injury to the fruit.

As shown in FIG. 7 , the support assembly in this embodiment includes a fixed support plate 2633 for positioning the fruit guide bucket 2631, a movable support plate 2632 rotatably connected to the fixed support plate 2633, and a rotary driver 2637 for driving the movable support plate 2632 to rotate. The support assembly includes 8 sliding rods 2634 uniformly surrounding the fruit guide bucket 2631, and the sliding rods 2634 are located at the lower side of the fruit guide bucket 2631. The ends of the sliding rods 2634 are provided with support rods 26342 for supporting the net sleeve 4. The upper ends of the support rods 26342 are connected to the sliding rods 2634, and the lower ends of the support rods 26342 extend downward. The lower side of the fixed support plate 2633 is provided with a slide rail 26341 slidably connected to the sliding rods 2634. The lower side of the sliding rods 2634 is fixed It is connected to a support block 26351, and a roller 2635 is provided at the lower end of the support block 26351. The dynamic support plate 2632 is provided with a guide groove 26321 for the roller 2635 to slide. The guide groove 26321 can guide the roller 2635 to move, thereby allowing the slide bar 2634 to slide between a closed position and an open position. In addition, there is rolling friction between the roller 2635 and the inner wall of the guide groove 26321, which can reduce the possibility of damage to the roller 2635; the slide bar 2634 has a closed position in which the support rods 26342 are brought close to each other and an open position in which the support rods are moved away from each other to open the net sleeve. The rotary driver 2637 controls the rotation of the dynamic support plate 2632 to drive the slide bar to slide between the closed position and the open position.

In this embodiment, a connecting bearing is provided between the fixed support plate 2633 and the dynamic support plate 2632, and the connecting bearing includes an inner ring 26361 and an outer ring 26362. The outer edge of the fixed support plate 2633 is fixedly connected to the inner ring 26361, and the dynamic support plate 2632 is fixedly connected to the outer ring 26362. The outer ring 26362 and the dynamic support plate 2632 are connected via a column 26363, and a shaft sleeve 26364 is sleeved on the column 26363. The fixed support plate 2633 and the inner ring 26361 are separated from each other by the shaft sleeve 26364. Secondly, the support rod 26342 described in this embodiment is made of a high-friction material, and a guide surface 26343 for guiding the installation of the mesh sleeve is provided on the outer side of the bottom end of the support rod 26342. The guide surface 26343 can guide the mesh sleeve to be installed into the support rod 26342, thereby reducing the difficulty of installing the mesh sleeve, and at the same time can also reduce the possibility of the mesh sleeve automatically slipping, thereby effectively improving the positioning stability of the support rod 26342 on the mesh sleeve.

As shown in Figures 7 and 8, the use process of the expansion assembly in this embodiment is as follows: in the initial state, the slide bar 2634 is in the closed position, at this time, the support rods 26342 are close to each other to close the bottom of the fruit guide bucket 2631, and the opening and closing net feeding mechanism 264 installs the net sleeve 4 into the outside of the support rod 26342, so that the net sleeve 4 keeps in contact with the outer wall of the support rod 26342. When the net sleeve 4 is installed, the rotating driver 2637 controls the rotation of the support plate 2632 to move the roller 2635 along the guide groove 26321, and then The sliding rod 2634 is driven to slide, so that the sliding rod 2634 moves from the closed position to the open position. At this time, the support rods 26342 separate from each other and open the bottom of the fruit guide bucket 2631. At the same time, the net sleeve 4 is opened by the support rod 26342, and the fruit 3 falls into the net sleeve 4 from the fruit guide bucket 2631. Then the rotary driver 2637 controls the support plate 2632 to rotate in the opposite direction again, so that the roller 2635 moves along the guide groove 26321, and then the sliding rod 2634 moves from the open position to the closed position, completing the wrapping of the fruit 3 by the net sleeve 4.

As shown in FIG. 9 , the net-opening and net-feeding mechanism 264 in this embodiment includes a suction cup 2641 for sucking the net sleeve 4, an opening and closing driver 2642 and a lifting driver 2643, wherein the net-opening and net-feeding mechanism 264 is provided with two suction cups 2641 arranged opposite to each other, the opening and closing driver 2642 controls the two suction cups 2641 to move closer to or apart from each other, and the lifting driver 2643 controls the suction cups 2641 to move between the fruit net storage mechanism 265 and the opening mechanism 263. During use, the lifting driver 2643 controls the suction cups 2641 to move closer to or away from each other. 641 descends to the fruit net storage mechanism 265, and the suction cup 2641 absorbs the net sleeve 4 from the fruit net storage mechanism 265. At this time, the net sleeve 4 is in a flat state, and then the lifting driver 2643 controls the suction cup 2641 to move toward the opening mechanism 263. During the movement, the opening and closing driver 2642 simultaneously controls the suction cups 2641 to separate from each other, thereby opening the net sleeve 4 and installing the net sleeve 4 into the support rod 26342. Then the suction cup 2641 detaches from the net sleeve, and the net sleeve rebounds under the action of its own elastic force and wraps around the outside of the support rod.

As shown in FIG. 10 , the fruit net storage mechanism 265 in this embodiment includes a net storage disk bracket 2651, a net storage disk 2652 for storing the net sleeve 4, and a guide assembly. The net storage disk bracket 2651 is placed at the bottom of the support frame 261, the net storage disk 2652 is rotatably connected to the net storage disk bracket 2651, the net sleeve 4 is wrapped around the net storage disk 2652, and end caps 26521 are provided at both ends of the net storage disk 2652. The diameter of the end caps 26521 is larger than the diameter of the net storage disk 2652. The end caps 26521 can effectively limit the net sleeve 4 from detaching from the net storage disk 2652 along the axial direction of the net storage disk 2652. The guide assembly includes two relatively arranged guide wheels 2653. The guide Wheel 2653 is fixed on the first crossbeam 2611 through mounting seat 26531, and net sleeve 4 passes through two guide wheels 2653, and two guide wheels 2653 clamp the net sleeve 4 at the same time. After the opening and closing net feeding mechanism 264 absorbs the net sleeve 4, the lifting driver 2643 drives the net sleeve 4 to move upward. At this time, the net storage disk 2652 rotates with the movement of the net sleeve 4 to release the net sleeve 4. At the same time, the two guide wheels 2653 can position the movement of the net sleeve 4 to prevent the net sleeve 4 from floating at will and reduce the possibility of damage to the net sleeve 4. At the same time, the guide wheels 2653 and the net sleeve 4 form rolling friction to reduce the damage of the guide wheels 2653 to the net sleeve 4, so that the movement of the net sleeve 4 is smoother.

As shown in FIGS. 11 and 12 , the fruit receiving and delivering mechanism 266 in this embodiment includes a fruit receiving bucket 2662, an output channel 2665, a fruit receiving bracket 2661, and a fruit transfer driver 2664. The fruit receiving bracket 2661 is provided with a fruit transfer guide rail 26611 for moving the fruit receiving bucket 2662. A support platform 26621 is slidably connected to the fruit transfer guide rail 26611. A slider 26612 is provided at the lower side of the support platform 26621. The support platform 26621 is slidably connected to the fruit transfer guide rail 26611 through the slider 26612. The fruit bucket 2662 is installed on the support platform 26621. The fruit bucket 2662 is funnel-shaped, and a buffer pad is provided on the surface of the fruit bucket 2662. After the fruit falls into the fruit bucket 2662, the buffer pad can reduce the impact force on the fruit and reduce the possibility of injury to the fruit. A flip driver 2663 is provided on the support platform 26621. The output end of the flip driver 2663 is connected to the fruit bucket 2662. The flip driver 2663 controls the rotation of the fruit bucket 2662 to pour the fruit into the output channel 2665.

As shown in Figure 13, the hot melt mesh cutting mechanism 267 in this embodiment includes a hot melt bracket 2671, a hot melt driver 2672 and a hot melt 2673. The hot melt driver 2672 is fixedly mounted on the first crossbeam 2611, and the hot melt driver 2672 is fixed on the hot melt bracket 2671. The hot melt 2673 is connected to the output end of the hot melt driver 2672 through the cover plate 2674. When the fruit 3 enters the mesh sleeve 4, the hot melt driver 2672 controls the hot melt 2673 to approach the mesh sleeve. The hot melt 2673 will cut off the mesh sleeve after power is turned on, so that the set fruit can fall off from the opening mechanism 263 and fall into the fruit holding bucket 2662.

The support frame in this embodiment is provided with a sensing mechanism, which includes a fruit drop sensor 2613 for detecting whether the fruit 3 falls into the fruit guide bucket 2631, a net sensor 2614 for detecting whether the net 4 is inserted into the support assembly, a net feeding sensor 2615 for detecting the position of the suction cup 41, and a fruit transfer sensor 2616 for detecting whether the fruit holding bucket 2662 moves to the output channel 2665. The sensing mechanism can cooperate with other mechanisms to make the movements of each mechanism more precise and improve the operating efficiency of each mechanism.

In this embodiment, the use process of the net-covering device 26 specifically includes a net-covering preparation stage, a fruit net-covering stage, and a fruit transfer stage. Specifically,

Net set preparation stage: before starting the operation, all mechanisms are in the reset state, the suction cup 2641 in the opening and closing net feeding mechanism 264 moves downward under the action of the lifting driver 2643, and absorbs the net set 4 from the fruit net storage mechanism 265, and then the lifting driver 2643 controls the suction cup 2641 to move toward the opening mechanism 263, and during the movement, the opening and closing driver 2642 simultaneously controls the suction cups 2641 to separate from each other, thereby opening the net set 4, and installing the net set 4 into the support rod 26342, and then the suction cup 2641 is separated from the net set 4, and the net set 4 rebounds under the action of its own elastic force and wraps around the outside of the support rod 26342; then the rotating driver 2 637 controls the movable support plate 2632 to rotate, so that the roller 2635 moves along the guide groove 26321, and then drives the sliding rod 2634 to slide, so that the sliding rod 2634 moves from the closed position to the open position. At this time, the support rods 26342 separate from each other and open the bottom of the fruit guide bucket 2631. At the same time, the net sleeve 4 is stretched open by the support rods 26342. At this time, the opening and closing net feeding mechanism 264 returns to the reset state. When the net sleeve sensor 2614 detects that the net sleeve 4 is correctly mounted on the support rods 26342, and the net feeding sensor 2615 detects that the opening and closing net feeding mechanism 264 returns to the reset state, the preparation stage of the net sleeve 4 is completed.

Fruit netting stage: During the netting preparation stage, the supply mechanism 262 simultaneously limits a fruit 3 between the first limiting cylinder 2622 and the second limiting cylinder 2623. When the netting sensor 2614 and the net feeding sensor 2615 respond, the output end of the second limiting cylinder 2623 retracts, thereby opening the input channel 2621, so that the fruit 3 automatically falls into the fruit guide bucket 2631. When the fruit falling sensor 2613 detects that the fruit 3 has fallen, the output end of the second limiting cylinder 2623 extends, and at the same time, the output end of the first limiting cylinder 2622 retracts, so that the next fruit 3 slides to the second limiting cylinder 2623. After that, the output end of the first limiting cylinder 2622 extends, limiting a fruit 3 between the first limiting cylinder 2 622 and the second limit cylinder 2623; after the fruit 3 falls into the fruit guide bucket 2631, it automatically slides into the net sleeve 4 that has been stretched out, and the hot melt driver 2672 controls the hot melt 2673 to approach the net sleeve 4, and the hot melt 2673 will cut off the net sleeve 4 after being energized, and then the fruit receiving and delivering mechanism 266 moves the fruit holding bucket 2662 to the bottom of the stretching component through the fruit transfer driver 2664, and the rotary driver 2637 controls the movable support plate 2632 to rotate in the opposite direction again, so that the roller 2635 moves along the guide groove 26321, and then the slide bar 2634 moves from the open position to the closed position, and the net sleeve 4 is separated from the support rod 26342 under the gravity of the fruit 3 and falls into the fruit holding bucket 2662, completing the fruit netting stage.

Fruit transfer stage: the fruit transfer driver 2664 controls the fruit holding bucket 2662 to move from the bottom of the opening mechanism 263 to the output channel. When the fruit transfer sensor 2616 detects that the fruit holding bucket 2662 moves to the output channel 2665, the flip driver controls the fruit holding bucket 2662 to rotate, so that the netted fruits 10 in the fruit holding bucket 2662 slide to the output channel, and finally the netted fruits 10 are transported to the boxing and sorting device through the output channel 2665, completing the fruit transfer stage.

The boxing and sorting device 29 includes a boxing mechanism and a fruit placing mechanism 291. The boxing mechanism includes a box moving module, a lifting module and a box unloading module. The specific technology is the prior art and will not be described in detail in this embodiment. The boxing mechanism can realize the boxing and packaging of fruits, thereby reducing labor costs. As shown in Figures 14, 15 and 16, the fruit placing mechanism includes a first lifting cylinder 2911 and a fruit placing box 2912 arranged at the bottom end of the lifting cylinder. In this embodiment, a fixing plate connected to the fruit placing box 2912 can be provided at the bottom end to ensure the stability of the fruit placing box 2912 during lifting. The first lifting cylinder 2911 is arranged in the skeleton, and an opening and closing mechanism 2913 is provided at the bottom end of the fruit placing box 2912. A feeding hole 29121 is provided on the side wall of the fruit placing box 2912. An opening and closing cylinder 2914 connected to the opening and closing mechanism 2913 is provided in the fruit placing box 2912. The opening and closing mechanism 2913 is in a closed state and an open state by the extension and contraction of the opening and closing cylinder 2914. The fruits are placed in sequence on the opening and closing mechanism 2913 of the fruit box 2912 through the feed hole 29121. Since the fruit box 2912 is provided with an opening and closing cylinder 2914 connected to the opening and closing mechanism 2913, the opening and closing mechanism 2913 can be in a closed state and an open state under the extension and contraction of the opening and closing cylinder 2914. When placing the fruits, the fruit box is first placed in the fruit box, and then the opening and closing mechanism 2913 only needs to be opened to realize that the fruits are automatically laid flat in the fruit box. Moreover, the fruits are placed one by one during the placing process, which effectively reduces the mutual collision between the fruits. Therefore, the fruit placing efficiency can be effectively improved, and the damage to the fruits can be reduced. In addition, the height of the fruit box 2912 is adjusted by the lifting cylinder provided on the fruit box, thereby effectively adjusting the laying height of the fruits in the fruit box. Therefore, the entire lifting and buffering bottom fruit placing device can meet the requirements of single-layer and multi-layer free selection, and has a wide coverage.

The opening and closing mechanism 2913 includes a bolt 29131 and two folding plates 29132. The bolt 29131 is provided with a first hinge 29133, and the first hinge 29133 is arranged between the two folding plates 29132. The folding plates 29132 are provided with a fixing frame 29134, and the fixing frame 29134 is provided with a mounting shaft 29135. The mounting shaft 29135 is provided with a roller 29136. The bolt 29131 is provided with a connecting frame 29137 connected to the opening and closing cylinder 2914. The opening and closing mechanism 2913 is configured as a structure of a bolt 29131 and a flip plate. Since the bolt 29131 is provided with a first hinge 29133 connected to the flip plate, and a connecting frame 29137 connected to the opening and closing cylinder 2914, the bolt 29131 is driven to be lifted and lowered by the opening and closing cylinder 2914. Under the action of the first hinge 29133, the bolt 29131 can drive the flip plate to be closed and opened. Specifically, when the opening and closing cylinder 2914 contracts, the bolt 29131 drives the flip plate 29132 to open. When the opening and closing cylinder 2914 is pushed out, the bolt 29131 drives the flip plate to be closed. The setting of the roller 29136 can ensure the stability of the flip plate when it is opened and closed, and can quickly realize the opening and closing of the flip plate.

The workflow of the fruit placing device includes the following steps:

Step 1: Fruit loading: The first lifting cylinder 2911 is retracted, the opening and closing cylinder 2914 is extended, the opening and closing mechanism 2913 is in a closed state, the folding plate 29132 is flush with the output channel, and the netted fruits 10 enter the fruit box 100 one by one from the output channel;

Step 2: Fruit placement at the bottom layer: the lifting cylinder 1 extends, the fruit placement box 2912 enters the fruit box, the opening and closing cylinder 2914 retracts, the opening and closing mechanism 2913 is in an open state, the folding plate 29132 rises, and the netted fruits slide from the folding plate 29132 into the fruit box and are laid flat, and the fruit placement at the bottom layer is completed;

Step 3: Second-layer fruit placement: Repeat the fruit loading process. When the fruit box 2912 is filled with netted fruits, the first lifting cylinder 2911 extends. The extension at this time is less than the extension of the bottom-layer fruit placement process by a fruit diameter. When the process is completed, the first opening and closing cylinder 2914 retracts, the opening and closing mechanism 2913 is in an open state, the folding plate 29132 rises, and the netted fruits slide from the folding plate 29132 into the fruit box and are laid flat. At this time, the fruits fall on the bottom layer, completing the second-layer fruit placement and a two-layer fruit box is packed.

If the fruit box can hold multiple layers, step 3 can be repeated to achieve multiple layers of net-covered fruits being laid flat and stacked in the fruit box.

As shown in Figures 17 and 18, the unloading device 22 includes a fruit box bucket 221 and a second lifting cylinder 222. The second lifting cylinder 222 is arranged on the skeleton, and the fruit box bucket 221 is arranged on the second lifting cylinder 222. Specifically, a connecting plate connected to the fruit box bucket 221 is provided at the bottom end of the lifting cylinder 222, which can increase the contact area between the lifting cylinder 222 and the fruit box bucket 221 and improve the stability of the fruit box bucket 221 during lifting. A feeding port 2211 is provided on one side of the fruit box bucket 221, and a discharge port 2212 is provided on the other side of the fruit box bucket 221. A bottom plate 223 is provided at the bottom end of the fruit box bucket 221, and a tail plate 224 is rotatably connected to the bottom plate 223 on the side of the discharge port 2212. The tail plate 224 in this embodiment is rotatably connected to the bottom plate 223 using a second hinge 227 to ensure the flexible rotation of the tail plate 4. The bottom plate 223 is connected with a lever for driving the bottom plate 223 to tilt upward. The third flip cylinder 226 in this embodiment is provided with a top plate 2251, which can increase the contact area with the bottom plate 223 and ensure the stability of the bottom plate 223 inclination. The tail plate 224 is connected with a fourth flip cylinder for driving the tail plate 224 to open and close. When the tail plate 224 is opened, the outer wall of the tail plate 224 is in contact with the ground. When the tail plate 224 is closed, the inner wall of the tail plate 224 is in contact with the outer wall of the fruit box bucket 221. The tail plate 224 is provided with a first smooth strip 2241. In this embodiment, the bottom plate 223 is provided with a second smooth strip 2231 corresponding to the first smooth strip 2241. The fruit box is transported to the fruit box bucket 221 through the feed port 2211. Since the bottom plate 223 is connected with the third flip cylinder 226 for driving the bottom plate 223 to tilt upward, the bottom plate 223 can form a first slope under the action of the third flip cylinder 226, so that the fruit box moves close to the tail plate 22 4. At this time, the fruit box is restricted by the tail plate 224, and then under the action of the fourth flip cylinder, the outer wall of the tail plate 224 can be made to fit the ground, so that the bottom plate 223 and the tail plate 224 form another slope. At this time, the fruit box is not restricted by the tail plate 224, and the fruit box slides down under the action of its own weight to realize the placement of the fruit box. The entire placement process is energy-saving and has an adaptive function. Secondly, since the tail plate 224 is provided with a first smooth strip 2241, the sliding efficiency of the fruit box can be guaranteed, the efficiency and stability of the placement are further improved, and the damage to the fruit box can be effectively reduced. Then, the lifting cylinder 222 is used to realize the lifting and lowering of the fruit box bucket 221, thereby realizing the self-adaptation of the lifting and lowering of the fruit box bucket 221, which can be suitable for vehicles of different heights, has a wide range of applications, high adaptability, compact overall layout, and small footprint. When used specifically, the fruit box bucket 221 is installed on a sports chassis vehicle. First, the lifting cylinder 222 is in a retracted state, and the tail plate 22 4 is in a vertical state, the bottom plate 223 is in a horizontal state, and the carton is from one side of the opening of the fruit box bucket 221; then, the first flip cylinder flips upward, driving the bottom plate 223 to tilt upward, and driving the tail plate 224 to tilt, at this time the fruit box moves close to the tail plate 224 to prevent the fruit box from sliding out of the entrance, the lifting cylinder 222 extends to transport the fruit box, and when the fruit box bucket 221 is close to the ground, the lifting cylinder 222 stops moving, and the box delivery link is completed; again, the second flip cylinder starts to work, the outer side of the tail plate 224 contacts the ground, because the first flip cylinder is in a working state, so that the bottom plate 223 and the tail plate 224 form a slope, the fruit box slides down under the action of its own weight, and the vehicle body moves forward at the same time, and the fruit box is successfully placed on the ground. After the fruit box is placed on the ground, the second flip cylinder 225 retracts to return to the tail plate, the first flip cylinder retracts to reset the bottom plate to the initial horizontal position, and the second lifting cylinder retracts to wait for the next fruit box to be in place.

The above description is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any changes or modifications made by any technician in the field of the present invention are included in the patent scope of the present invention.

Claims (10)

1. The utility model provides a packing integration robot is picked from operation in orchard, includes walking chassis and picks packing apparatus, its characterized in that: the picking and packing device comprises a framework, a box unloading device, a picking device, a fruit conveying device, a grading device, a net sleeving device, a box folding and sealing device, a control cabinet and a box packing and separating device, wherein the framework is arranged on a walking chassis, the box unloading device is arranged on the rear side wall of the framework, the picking device is arranged on the left side wall and the right side wall of the framework, the fruit conveying device, the grading device, the net sleeving device, the box folding and sealing device and the box packing and separating device are all arranged in the framework, the control cabinet is arranged on the front side arm of the framework, the walking chassis, the box unloading device, the picking device, the fruit conveying device, the grading device, the net sleeving device, the box folding and sealing device and the box packing and separating device are all connected with the control cabinet, fruits picked by the picking device are sequentially conveyed to the ground through the fruit conveying device, the grading device, the net sleeving device and the box packing and separating device, and the RTK system connected with the control cabinet is arranged on the framework.

2. The orchard self-operation picking and packing integrated robot according to claim 1, wherein: the picking device comprises a camera, a mechanical arm and a gripper, wherein a camera mounting frame for mounting the camera and a fixing plate for mounting the mechanical arm are arranged on the left side wall and the right side wall of the framework, the gripper is arranged on the mechanical arm, and the camera and the mechanical arm are connected with a control cabinet.

3. The orchard self-operation picking and packing integrated robot according to claim 1, wherein: fruit conveyor includes that the side leads fruit board, lifting mechanism, goes up fruit board and single fruit drop mechanism, the side is led the fruit board and is installed on the skeleton of fixed plate below, go up the top that leads the fruit board and set up at the skeleton, the lifting mechanism sets up between the side leads fruit board and last fruit board, be equipped with the tilting mechanism on the side leads fruit board with fruit upset to the lifting mechanism, single fruit drop mechanism sets up the discharge end at last fruit board.

4. The orchard self-operation picking and packing integrated robot according to claim 1, wherein: the grading device comprises a mounting bracket and a plurality of fruit supports, wherein the mounting bracket is arranged in a framework, the fruit supports are arranged on the mounting bracket, a first overturning cylinder is arranged on the mounting bracket between two adjacent fruit supports, and a fruit dividing tray is arranged on the first overturning cylinder.

5. The orchard self-operation picking and packing integrated robot according to claim 1, wherein: the net sleeving device comprises a first supporting frame, a feeding mechanism, a spreading mechanism, an opening and closing net conveying mechanism, a fruit net storage mechanism, a fruit receiving and conveying mechanism and a thermal fuse net mechanism, wherein the feeding mechanism, the spreading mechanism, the opening and closing net conveying mechanism, the fruit net storage mechanism, the fruit receiving and conveying mechanism and the thermal fuse net mechanism are all arranged on the first supporting frame, the first supporting frame is arranged in the framework, the fruit net storage mechanism stores a net sleeve for sleeving fruits, the opening and closing net feeding mechanism comprises a sucker for sucking the net sleeve, an opening and closing driver and a lifting driver, wherein the opening and closing driver is used for controlling the sucker to move so as to open the net sleeve, the lifting driver is used for controlling the sucker to move between the opening mechanism and the fruit net storage mechanism, the spreading mechanism comprises a fruit guide hopper and a spreading assembly, the surface of the fruit guide hopper is provided with a cushion pad, the fruit guide hopper is positioned below the feeding mechanism, the lower end of the fruit guide hopper is communicated with the opening assembly, the opening assembly is used for opening the net sleeve so that fruits enter the net sleeve from the fruit guide hopper, the fruit receiving and conveying mechanism comprises a fruit containing hopper, an output channel and a fruit moving driver, wherein the fruit containing hopper is used for conveying the fruit after being sleeved to the output channel, the fruit moving driver controls the fruit containing hopper to move between the opening mechanism and the output channel, the feeding mechanism comprises a controller, through which the feeding mechanism only provides one fruit at a time to the fruit hopper, the thermal fusing net mechanism is used for fusing the net cover, a sensing mechanism is arranged on the first supporting frame and comprises a fruit falling sensor for detecting whether fruits fall into the fruit guide hopper, a net cover sensor for detecting whether the net cover is sleeved into the supporting component, a net feeding sensor for detecting the position of the sucker and a fruit moving sensor for detecting whether the fruit storage hopper moves to the output channel.

6. The orchard self-operation picking and packing integrated robot according to claim 5, wherein: the feeding mechanism further comprises an input channel, the controller comprises a first limiting cylinder and a second limiting cylinder which are both used for sealing the input channel, and the distance between the first limiting cylinder and the second limiting cylinder is larger than the width of one fruit and smaller than the sum of the widths of two fruits; the input channel is inclined, the bottom end of the input channel is located above the fruit guide hopper, and the second limiting cylinder is located at the downstream of the first limiting cylinder.

7. The orchard self-operation picking and packing integrated robot according to claim 5, wherein: the opening mechanism comprises a fixed supporting disc for positioning the fruit guide hopper, a movable supporting disc rotationally connected with the fixed supporting disc and a rotary driver for driving the movable supporting disc to rotate, the opening assembly comprises a plurality of sliding rods, the end parts of the sliding rods are provided with supporting rods for supporting the net cover, the sliding rods are provided with a closing position for enabling the supporting rods to be close to each other and an opening position for enabling the supporting rods to be far away from each other so as to open the net cover, and the rotary driver controls the movable supporting disc to rotate so as to drive the sliding rods to slide between the closing position and the opening position;

The fruit net storage mechanism comprises a net storage disc support, a net storage disc for storing net sleeves and a guide assembly, wherein the net storage disc is rotationally connected with the net storage disc support, the guide assembly comprises two guide wheels which are oppositely arranged, and the two guide wheels clamp the net sleeves.

8. The orchard self-operation picking and packing integrated robot according to claim 1, wherein: the boxing and separating device comprises a separating mechanism and a fruit placing mechanism, wherein the fruit placing mechanism comprises a first lifting cylinder and a fruit placing box arranged at the bottom end of the lifting cylinder, the first lifting cylinder is arranged in a framework, an opening and closing mechanism is arranged at the bottom end of the fruit placing box, a feeding hole is formed in the side wall of the fruit placing box, an opening and closing cylinder connected with the opening and closing mechanism is arranged in the fruit placing box, and the opening and closing mechanism is in a closed state and an open state by means of the expansion and contraction of the opening and closing cylinder.

9. The orchard self-operation picking and packing integrated robot according to claim 8, wherein: the opening and closing mechanism comprises a bolt and two folding plates, a first hinge is arranged on the bolt, the first hinge is arranged between the two folding plates, a fixing frame is arranged on the folding plates, a mounting shaft is arranged on the fixing frame, rollers are arranged on the mounting shaft, and a connecting frame connected with an opening and closing cylinder is arranged on the bolt.

10. The orchard self-operation picking and packing integrated robot according to claim 1, wherein: the box unloading device comprises a box hopper and a second lifting cylinder, the second lifting cylinder is arranged on a framework, the box hopper is arranged on the second lifting cylinder, a feeding hole is formed in one side of the box hopper, a discharging hole is formed in the other side of the box hopper, a bottom plate is arranged at the bottom end of the box hopper, a tail plate is rotationally connected onto the bottom plate on one side of the discharging hole, a second overturning cylinder used for driving the bottom plate to incline upwards is connected onto the bottom plate, a third overturning cylinder used for driving the tail plate to open and close is connected onto the tail plate, the outer side wall of the tail plate is attached to the ground when the tail plate is opened, the inner side wall of the tail plate is attached to the outer side wall of the box hopper when the tail plate is closed, a first fluent strip is arranged on the tail plate, and a second fluent strip corresponding to the first fluent strip is arranged on the bottom plate.