A greenhouse transport and transfer fully automatic working platform and use method

Abstract

The present invention relates to a fully automatic working platform for greenhouse transportation and transfer and a method for using the same, wherein the fully automatic working platform for greenhouse transportation and transfer comprises a working platform, a detection sensor, a picking box picking and unloading device, a horizontal conveying device and a picking box lifting and placing device; the working platform is used to connect a walking device to drive the entire working platform to move; the detection sensor is used to detect whether there are picking boxes in front and behind; the picking and unloading device comprises an auxiliary shovel that can be inserted into the bottom of the picking box and a hydraulic rod that drives the auxiliary shovel to be retracted and released; the auxiliary shovel comprises a transmission sprocket and a chain, and the picking box can move up and down on the auxiliary shovel through forward and reverse movements; the horizontal conveying device comprises a conveying roller, a photoelectric switch arranged inside a longitudinal platform, and a box pushing device installed on a slide rail, the box pushing device comprises a box pushing plate and a sliding platform; the picking box lifting and placing device comprises four groups of base columns for arranging a lifting platform, a lifting platform for lifting a box body, and a box lifting plate embedded in the lifting platform that can grab the box body.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery and equipment, and in particular to the transportation of picking boxes, and specifically refers to a greenhouse transportation and transfer fully automatic working platform and a use method thereof. Background Art

[0002] my country is a major producer of facility agriculture. The harvesting and transportation of fruits and vegetables in greenhouses is an important part of daily production, and is currently still mainly done manually. The harvested fruits are mainly transported by hand and semi-automatic machinery, which is labor-intensive and inefficient, and can no longer meet the current requirements of less-manned or unmanned facility agriculture production.

[0003] Establishing an unmanned production system for plant protection, picking, transportation and transfer based on robot operations has become an urgent requirement for current large-scale facility production, and the automatic work platform with automatic picking and unloading is the key to realizing unmanned greenhouse transportation and transfer. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides a fully automatic work platform for greenhouse transportation and transfer and a method for using the same, which can pick up, unload and transport fruit picking boxes in a greenhouse and can transport multiple picking boxes at one time, greatly reducing the waste of manpower and time and improving the efficiency of fruit transportation.

[0005] The present invention is achieved through the following technical scheme, which provides a fully automatic work platform for greenhouse transportation and transfer, including a workbench equipped with a walking device, and a horizontal conveying device installed on the workbench, the front and rear ends of the horizontal conveying device are respectively provided with auxiliary shovels that can extend to the bottom of the picking box, the auxiliary shovel is installed with a conveying chain extending in the front and rear directions and a driving device for driving the conveying chain to rotate, the end of the auxiliary shovel close to the horizontal conveying device is hinged to the workbench through a transverse hinge shaft, and the workbench is also provided with a driving rotating device for driving the auxiliary shovel to rotate around the transverse hinge shaft.

[0006] When the present solution is used in a greenhouse, the workbench is driven to move by the walking device. When there is a picking box in front of the workbench, the auxiliary shovel at the front end is lowered by driving the rotating device. As the workbench continues to move, the auxiliary shovel is extended to the bottom of the picking box, and the picking box is supported on the conveying chain. The picking box is conveyed to the horizontal conveying device by the conveying chain. The picking box is conveyed backward by the horizontal conveying device to provide space for the next picking box, and the picking box is blocked by the auxiliary shovel at the rear to prevent it from falling as the horizontal conveying device moves. When a certain number of picking boxes are reached, the auxiliary shovel at the front end is raised to prevent the picking box from falling. Then the workbench moves to a designated location, and unloading from the front end or the rear end is selected according to actual conditions. The corresponding auxiliary shovel is dropped, and the picking box is sent to the dropped auxiliary shovel by the horizontal conveying device. The picking box is moved to the ground by the first conveying chain of the auxiliary shovel, and the workbench moves accordingly to ensure that the picking boxes are placed one by one.

[0007] As an optimization, the horizontal conveying device includes two conveying rollers arranged in the front-to-back direction and extending in the left-to-right direction, and a photoelectric switch and a box-pushing device installed inside the longitudinal platform. The horizontal conveying device of this optimization scheme uses a box-pushing device and a conveying roller as components to drive the picking box to move, with a simple structure and low cost. The picking box is detected by the self-transmitting and receiving signal photoelectric switch, and the pushing distance of the box-pushing device is controlled to avoid the picking box falling due to excessive pushing distance. The use of conveying rollers reduces the friction with the bottom of the picking box and reduces the wear on the picking box.

[0008] As an optimization, the horizontal conveying device also includes two longitudinal platforms fixed on the upper surface of the workbench, and the conveying roller is installed on the horizontal axis of the gap between the two longitudinal platforms, and the upper surface of the conveying roller is lower than the upper surface of the longitudinal platform. This optimization scheme installs the conveying roller in the gap between the longitudinal platforms, and uses the side walls of the longitudinal platforms to protect the picking box and prevent the picking box from falling from the side.

[0009] As an optimization, a picking box lifting device is also installed on the workbench, and the picking box lifting device includes a plurality of base columns respectively located on the left and right sides of the horizontal conveying device, a lifting platform slidably mounted on the base columns, and a driving lifting device for driving the lifting platform to lift and lower. The base columns are fixedly connected to the workbench and extend in the vertical direction. The lifting platform is equipped with a box lifting plate and a lateral pushing device that drives the box lifting plate to extend toward the side where the horizontal conveying device is located. This optimization scheme realizes the lifting of the picking box by setting up a picking box lifting device, thereby realizing the stacking of multiple layers of picking boxes, increasing the number of placed picking boxes, and improving the efficiency of transportation and transfer.

[0010] As an optimization, detection sensors electrically connected to the driving rotation device are installed on the front and rear end surfaces of the workbench, and the detection distance of the detection sensor is greater than the length of the auxiliary shovel extending out of the workbench when it is in a horizontal state. This optimization scheme detects whether there is a picking box in front of the workbench through the detection sensor. When the picking box is detected, the driving rotation device acts accordingly, which greatly improves the level of automation.

[0011] The present invention also provides a method for using the above-mentioned greenhouse transport and transfer fully automatic work platform, comprising the following steps:

[0012] 1. When the workbench moves with the walking device, the detection sensor at the front end detects whether there is a picking box in front of the workbench;

[0013] 2. After the detection sensor detects the picking box, the auxiliary shovel at the front end is lowered by retracting the hydraulic rod. As the workbench moves forward, the auxiliary shovel at the front end is inserted into the bottom of the picking box. At this time, the picking box contacts the conveyor chain on the auxiliary shovel at the front end, and the picking box is transported toward the side where the horizontal conveyor device is located by the rotation of the conveyor chain. After the picking box moves out of the auxiliary shovel under the action of the conveyor chain, it falls on the conveying roller of the horizontal conveyor device. The signal emitted upward by the photoelectric switch is blocked by the picking box, thereby detecting that a picking box has entered the platform. The box pushing device moves to the end where the picking box enters, and the box pushing plate rotates counterclockwise to the maximum angle, which can contact the back of the picking box. The box pushing is controlled by the blocking of the photoelectric switch signal. The pushing distance of the device, assuming that one layer can accommodate m picking boxes, and m photoelectric switches can be set, and each photoelectric switch is set to detect a distance of half the height of the picking box. When the first picking box enters the platform, it blocks the signal of the first photoelectric switch. At this time, only one photoelectric signal is blocked, and the pushed distance is the width of m-1 picking boxes. The picking box is pushed on the conveying roller by the box pushing device, and pushed backward to the rear end of the working platform to block the signal of the mth photoelectric switch. When the second picking box enters the working platform, the first photoelectric signal and the mth photoelectric signal are blocked at the same time. At this time, there are two photoelectric signals blocked, and the pushed distance is m-2 picking box widths, and so on;

[0014] 3. When the number of picking boxes laid on the conveying roller reaches the set number m, the lifting platform moves in the vertical direction until the height of the box lifting plate corresponds to the edge of the first layer of picking boxes, and the box lifting plate is pushed to the bottom of the edge of the first layer of picking boxes by the lateral pushing device; then the first layer of picking boxes is lifted upward by driving the lifting device until the distance between the first layer of picking boxes and the conveying roller is greater than the height of the picking boxes. Since the detection height of the photoelectric switch is set to half the height of the picking box, no photoelectric switch is blocked when the picking box is lifted into the air;

[0015] 4. Continue to pick up the collection boxes in the same manner as in step 2 until a second layer of picking boxes is formed under the first layer of picking boxes. The lifting platform falls, and the first layer of picking boxes is placed on the second layer of picking boxes. The box lifting plate is retracted, and the lifting platform continues to fall until the box lifting plate corresponds to the edge of the second layer of picking boxes, and the box lifting plate is pushed under the edge of the second layer of picking boxes; then the second layer of picking boxes is lifted upward, and the first layer of picking boxes is lifted at the same time, until the distance between the second layer of picking boxes and the conveying roller is greater than the height of the picking boxes;

[0016] 5. When the number of layers of the picking box reaches the set number n, the auxiliary shovel at the front end rotates and rises to form a limit on the front end, the workbench moves to the designated location, and one of the auxiliary shovels rotates and falls;

[0017] 6. The lifting platform drives the box lifting plate to move to the edge of the picking box on the n-1th layer, and pushes the box lifting plate to the bottom of the edge of the picking box on the n-1th layer. The picking boxes on the nth layer are lifted by the lifting platform, and the picking boxes on the nth layer are transported one by one to the falling auxiliary shovel through the box pushing device, and the picking boxes are transported to the ground through the conveying chain on the auxiliary shovel. The workbench moves accordingly to ensure that the picking boxes are arranged in sequence on the ground.

[0018] 7. After the picking boxes on the nth layer are unloaded, the lifting platform drops the lifted picking boxes to the conveying rollers, and the bottom layer is re-set as the nth layer, and the picking boxes are unloaded layer by layer according to step 6.

[0019] The beneficial effects of the present invention are:

[0020] (1) By setting detection sensors at the front and rear ends of the workbench, it is possible to detect whether there are picking boxes on the front and rear sides of the workbench at any time, thereby improving the level of automation;

[0021] (2) Picking box picking and unloading devices are installed at the front and rear ends of the workbench. The picking box can be picked up and unloaded in both the front and rear directions, which meets more usage conditions, reduces the time for the vehicle to adjust the direction, and greatly improves the transportation efficiency;

[0022] (3) The present invention provides a picking box lifting device, which can lift the loaded picking boxes into the air. After the next row of picking boxes is loaded, they can be stacked on the upper surface. The working platform can accommodate n (self-set) layers of picking boxes, which reduces the total number of transportations and saves transportation time.

[0023] (4) The auxiliary shovel of the picking box picking and unloading device of the present invention can fully enter the bottom of the picking box when it is lowered, and a conveying chain is installed on the surface to convey the picking box, so that the picking box in the vehicle can be prevented from falling when it is folded;

[0024] (5) The present invention can complete the integrated work of picking up, transporting and unloading the picking box, with a perfect process. Compared with manpower, it greatly improves the transportation efficiency, reduces the transportation time and reduces the transportation cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 It is a schematic diagram of the auxiliary shovel and hydraulic rod structure;

[0027] Figure 3 This is a schematic diagram of the lifting platform and box lifting board structure;

[0028] Figure 4 This is a schematic diagram of the structure of the picking box and pushing box device;

[0029] As shown in the figure:

[0030] 1. Workbench, 2. Detection sensor, 3. Hydraulic rod lock, 4. Auxiliary shovel, 5. Hydraulic rod, 6. Conveyor chain, 7. Conveyor roller, 8. Longitudinal platform, 9. Photoelectric switch, 10. Slide rail, 11. Sliding platform, 12. Box pushing plate, 13. Base column, 14. Inner column, 15. Lifting platform, 16. Box lifting plate. DETAILED DESCRIPTION

[0031] The greenhouse transportation and transfer fully automatic work platform of this scheme includes a workbench, a detection sensor, a picking box picking and unloading device, a horizontal conveying device and a picking box lifting device; the workbench is used to connect the walking device to drive the entire work platform forward and backward; the detection sensor is used to detect whether there are picking boxes in front and behind; the picking and unloading device includes an auxiliary shovel that can be inserted into the bottom of the picking box and a hydraulic rod that drives the auxiliary shovel to retract and extend; the auxiliary shovel includes a transmission sprocket and a chain, and the up and down movement of the picking box on the auxiliary shovel is completed through forward and reverse movements; the horizontal conveying device includes a conveying roller, a photoelectric switch placed inside the longitudinal platform, and a box pushing device installed on the slide rail, and the box pushing device includes a box pushing plate and a sliding platform; the picking box lifting device includes four sets of base columns for placing the lifting platform, a lifting platform for lifting the box body, and a box lifting plate embedded in the lifting platform that can grab the box body.

[0032] In order to clearly illustrate the technical features of this solution, this solution is described below through a specific implementation method.

[0033] like Figure 1 The shown fully automatic work platform for greenhouse transport and transfer includes a workbench 1 equipped with a walking device, and a horizontal conveying device and a picking box lifting device installed on the workbench. Detection sensors 2 are respectively installed on the front and rear end surfaces of the workbench. The detection sensors 2 are used to detect whether there are picking boxes on the front and rear sides of the work platform. The workbench 1 plays the role of supporting the entire vehicle body.

[0034] Auxiliary shovels 4 that can extend to the bottom of the picking box are respectively provided at the front and rear ends of the horizontal conveyor. The auxiliary shovels are equipped with a plurality of conveyor chains 6 extending in the front-back direction and a driving device for driving the conveyor chains to rotate. The conveyor chains are arranged in sequence in the left-right direction. The upper surface of the conveyor chain is higher than the upper surface of the auxiliary shovel, so that the picking box can be driven to move by the rotation of the conveyor chain. The end of the auxiliary shovel close to the horizontal conveyor is hinged to the workbench through a transverse hinge shaft. The workbench is also provided with a driving rotation device for driving the auxiliary shovel to rotate around the transverse hinge shaft. The driving rotation device is electrically connected to the detection sensor 2. The detection distance of the detection sensor is greater than the length of the auxiliary shovel extending out of the workbench when it is in a horizontal state. When the detection sensor detects the picking box, the driving rotation device on the corresponding side is activated to drop the auxiliary shovel. As a preferred solution, two conveyor chains are provided on each auxiliary shovel of this embodiment. The driving rotation device adopts a hydraulic rod 5. One end of the hydraulic rod 5 is hinged to the workbench 1 through a hydraulic rod lock 3, and the other end is hinged to the auxiliary shovel 4. The auxiliary shovel 4 and the hydraulic rod 5 form a picking and unloading device for the picking box.

[0035] The horizontal conveying device includes two longitudinal platforms 8, a photoelectric switch 9, and a plurality of conveying rollers 7 arranged in sequence along the front-to-back direction and extending along the left-to-right direction. The two longitudinal platforms 8 are fixed on the upper surface of the workbench, and the two longitudinal platforms are connected by seven transverse axes. The two ends of the transverse axes are rotatably connected to the two longitudinal platforms respectively. Conveying rollers 9 are installed on the left and right ends of the transverse axes respectively. The conveying rollers 7 are arranged flatly, and the surface of the conveying rollers is lower than the surface of the longitudinal platform. A groove is provided on the top of the longitudinal platform. A fixed photoelectric switch 9 is installed in the groove on the surface of the longitudinal platform on one side. The photoelectric switch 9 can receive and send signals emitted upward. A slide rail 10 for a sliding platform 11 to slide is installed in the gap in the middle of the conveying roller 7. The slide rail is located above each horizontal axis and passes through the gap between the two conveying rollers on the horizontal axis in sequence. A sliding platform 11 is provided on the front and rear end surfaces of the slide rail 10. The sliding platform is driven by a motor to slide along the slide rail. A box pushing plate 12 is installed on the upper surface of the sliding platform. The box pushing plate 12 is hinged to the sliding platform 11 and rotates clockwise and counterclockwise under the action of the driving device. The sliding platform 11 and the box pushing plate 12 together constitute a box pushing device.

[0036] The picking box lifting device includes a plurality of base columns 13 respectively located on the left and right sides of the horizontal conveying device, a lifting platform 15 slidably mounted on the base columns, and a driving lifting device for driving the lifting platform to lift and lower. In this embodiment, there are four base columns, two on each side of the horizontal conveying device. The base columns are fixedly connected to the workbench and extend in the vertical direction. The lifting platform is embedded with a box lifting plate 16 and a lateral pushing device that drives the box lifting plate to extend toward the side where the horizontal conveying device is located. The box lifting plate is pushed out and retracted by the lateral pushing device. The pushing device can be a cylinder. The opposite sides of the box lifting plates on both sides are three-toothed shapes, which is convenient for adapting to grabbing picking boxes of different sizes. In order to improve the stability of the lifting platform, the base columns adopt a channel steel structure, and the base columns on both sides are opened oppositely. A slider extending into the base column is fixed on the lifting platform. The slider is pierced with an inner column 14 extending in the vertical direction. The slider is slidably connected to the inner column, and the lower end of the inner column is fixed to the workbench. The driving lifting device adopts an electric push rod, the fixed part of the electric push rod is fixed to the upper end of the base column, and the telescopic part extends downward to the lifting platform and is fixedly connected to the lifting platform. In order to avoid obstruction, the electric push rod is not drawn in the figure.

[0037] The method for using the greenhouse transport and transfer fully automatic work platform of this embodiment includes the following steps:

[0038] 1. The workbench is connected to a walking device, and the workbench walks when the picking boxes in the greenhouse need to be transported and transferred. The walking device is equipped with a hydraulic system that supplies oil to the hydraulic rod. When the workbench moves forward with the walking device, the detection sensor at the front end detects whether there is a picking box in front of the workbench.

[0039] 2. After the detection sensor detects the picking box, the auxiliary shovel at the front end is lowered by retracting the hydraulic rod. As the workbench moves forward, the auxiliary shovel at the front end is inserted into the bottom of the picking box, and the work platform continues to move forward. At this time, the picking box contacts the upper surface of the conveyor chain on the front auxiliary shovel. The auxiliary shovel scoops up the picking box and conveys it toward the side where the horizontal conveyor device is located by the rotation of the conveyor chain. After the picking box moves out of the auxiliary shovel under the action of the conveyor chain, it falls on the conveyor roller of the horizontal conveyor device. The pushing distance of the box pushing device is controlled by the photoelectric switch. A layer can accommodate m picking boxes and m photoelectric switches can be set. Each photoelectric switch can detect The distance is half the height of the picking box. When the first picking box enters the platform, it blocks the signal of the first photoelectric switch. At this time, only one photoelectric signal is blocked and the pushed distance is the width of m-1 picking boxes. The picking box is pushed on the conveyor roller by the box pushing device and pushed backward to the rear end of the working platform to block the signal of the mth photoelectric switch. When the second picking box enters the working platform, the first photoelectric signal and the mth photoelectric signal are blocked at the same time. At this time, there are two photoelectric signals blocked, and the pushed distance is m-2 widths of picking boxes. And so on, the auxiliary shovel at the rear end is used to block the picking box.

[0040] 3. When the number of picking boxes laid on the conveying roller reaches the set number m, the lifting platform moves in the vertical direction until the height of the box lifting plate corresponds to the top edge of the first layer of picking boxes, and the box lifting plate is pushed to below the top edge of the first layer of picking boxes by the lateral pushing device; then the lifting platform is driven upward by the lifting device to lift the first layer of picking boxes upward until the distance between the first layer of picking boxes and the conveying roller is greater than the height of the picking boxes, and there is free space inside the vehicle body for placing the next layer of picking boxes.

[0041] 4. Continue to pick up the collection boxes in the manner of step 2 until a second layer of picking boxes is formed under the first layer of picking boxes, the lifting platform falls, and the first layer of picking boxes is placed on the second layer of picking boxes. The upper and lower layers of picking boxes are stacked, the box lifting plate is retracted, and the lifting platform continues to fall until the box lifting plate corresponds to the top edge of the second layer of picking boxes, and the box lifting plate is pushed below the top edge of the second layer of picking boxes; then the second layer of picking boxes is lifted upward, and the first layer of picking boxes is lifted at the same time, until the distance between the second layer of picking boxes and the conveying roller is greater than the height of the picking boxes, and the picking of each layer of picking boxes is performed in this way. The working platform of this embodiment can carry n layers (which can be set by yourself) of picking boxes at a time.

[0042] 5. When the number of layers of the picking boxes reaches the set number n, the auxiliary shovel at the front end rotates and rises to form a limit on the front end to protect the picking boxes in the vehicle and prevent them from slipping. The workbench moves to the designated location and the auxiliary shovel at one end rotates and falls according to actual needs to unload the picking boxes.

[0043] 6. During unloading, the lowest layer is the nth layer, and the layers decrease gradually upwards. The lifting platform drives the box lifting plate to move to the edge of the picking box on the n-1th layer, and pushes the box lifting plate to the bottom of the edge of the picking box on the n-1th layer. The picking boxes above the nth layer are lifted by the rising lifting platform, and the picking boxes on the nth layer are transported one by one to the falling auxiliary shovel through the box pushing device, and the picking boxes are transported to the ground through the conveying chain on the auxiliary shovel. The workbench moves accordingly in the opposite direction of the unloading conveying direction to ensure that the picking boxes are arranged in sequence on the ground.

[0044] 7. After the picking boxes on the nth layer are unloaded, the lifting platform drops the lifted picking boxes to the conveying rollers, and the bottom layer is re-set as the nth layer, and the picking boxes are unloaded layer by layer according to step 6.

[0045] Of course, the above description is not limited to the above examples. Technical features not described in the present invention can be achieved by or by using existing technologies, which will not be described here. The above embodiments and drawings are only used to illustrate the technical scheme of the present invention and are not limitations of the present invention. The present invention is described in detail with reference to the preferred implementation methods. Ordinary technicians in this field should understand that changes, modifications, additions or substitutions made by ordinary technicians in this technical field within the essential scope of the present invention do not depart from the purpose of the present invention, and should also fall within the scope of protection of the claims of the present invention.

Claims

1. A greenhouse transport and transfer fully automatic working platform, characterized by: It comprises a workbench (1) equipped with a walking device, and a horizontal conveying device installed on the workbench, wherein the front and rear ends of the horizontal conveying device are respectively provided with auxiliary shovels (4) that can extend to the bottom of the picking box, and the auxiliary shovel is provided with a conveying chain (6) extending in the front and rear directions and a driving device for driving the conveying chain to rotate, and the auxiliary shovel is hinged to the workbench at one end close to the horizontal conveying device through a transverse hinge shaft, and the workbench is also provided with a driving rotating device for driving the auxiliary shovel to rotate around the transverse hinge shaft; The horizontal transmission device comprises two longitudinal platforms (8) fixedly mounted on the upper surface of the workbench and a photoelectric switch (9). The photoelectric switch (9) is mounted in a groove of one longitudinal platform and transmits a signal upward. A plurality of transverse axes connecting the two longitudinal platforms (8) are mounted with transmission rollers (7). The transmission rollers are distributed at the left and right ends of the transverse axes. A slide rail (10) is arranged in the gap in the middle of the transverse axis. A slide platform (11) is arranged on the front and rear end surfaces of the slide rail (10). The slide platform is driven by a motor to slide along the slide rail. A box pusher plate (12) is hinged to the slide platform. The box pusher plate (12) rotates clockwise and counterclockwise through a driving device. The workbench is also provided with a picking box lifting device, which comprises a plurality of base columns (13) respectively located on the left and right sides of the horizontal conveying device, a lifting platform (15) slidably mounted on the base columns, and a driving lifting device for driving the lifting platform to move up and down, the base columns being fixedly connected to the workbench and extending in the vertical direction, and a box lifting plate (16) and a lateral pushing device for driving the box lifting plate to extend toward the side where the horizontal conveying device is located being installed on the lifting platform; Detection sensors (2) electrically connected to the driving rotation device are respectively installed on the front and rear end surfaces of the workbench, and the detection distance of the detection sensor is greater than the length of the auxiliary shovel extending out of the workbench when the auxiliary shovel is in a horizontal state.

2. A method for using the greenhouse transport and transfer fully automatic work platform according to claim 1, characterized in that: The steps include: (1) When the workbench moves with the walking device, the detection sensor at the front end detects whether there is a picking box in front of the workbench; (2) After the detection sensor detects the picking box, the auxiliary shovel at the front end is lowered by retracting the hydraulic rod. As the workbench moves, the auxiliary shovel at the front end is inserted into the bottom of the picking box. At this time, the picking box contacts the conveying chain on the auxiliary shovel at the front end. The picking box is conveyed toward the side where the horizontal conveyor device is located through the rotation of the conveying chain. After the picking box moves out of the auxiliary shovel under the action of the conveying chain, it contacts the conveying roller of the horizontal conveyor device and falls onto the conveying roller under the transmission of the conveying chain. (3) The signal emitted upward by the photoelectric switch in the groove is blocked by the picking box, thereby detecting that a picking box has entered the platform. The box-pushing device moves to the end where the picking box enters, and the box-pushing plate rotates counterclockwise to the maximum angle. The crossbeam of the sliding platform can limit the rotation angle of the box-pushing plate and can contact the rear of the picking box. The pushing distance of the box-pushing device is controlled by the blocking of the photoelectric switch signal. Assume that one layer can accommodate m picking boxes, and m photoelectric switches can be set. Each photoelectric switch is set to detect a distance of half the height of the picking box. When the first picking box enters the platform, the signal of the first photoelectric switch is blocked. At this time, only one photoelectric signal is blocked, and the pushed distance is m-1 picking box widths; when the second picking box enters the platform, the two photoelectric switches are blocked, and the pushed distance is m-2 picking box widths, and so on; the picking box is pushed on the conveying roller by the box-pushing device and pushed backward to the rear end of the working platform; (4) When the number of picking boxes laid on the conveyor roller reaches the set number m, the lifting platform moves in the vertical direction until the height of the box lifting plate corresponds to the edge of the first layer of picking boxes, and the box lifting plate is pushed to the bottom of the edge of the first layer of picking boxes by the lateral pushing device; then the first layer of picking boxes is lifted upward by driving the lifting device until the distance between the first layer of picking boxes and the conveyor roller is greater than the height of the picking boxes. Since the detection height of the photoelectric switch is set to half the height of the picking box, when the picking box is lifted into the air, no photoelectric switch is blocked, preparing for collecting the next picking box; (5) Continue picking up the collection boxes in the manner of step (2) until a second layer of picking boxes is formed under the first layer of picking boxes, the lifting platform falls, and the first layer of picking boxes is placed on the second layer of picking boxes. The box lifting plate is retracted, and the lifting platform continues to fall until the box lifting plate corresponds to the edge of the second layer of picking boxes, and the box lifting plate is pushed below the edge of the second layer of picking boxes; then the second layer of picking boxes is lifted upward, and at the same time, the first layer of picking boxes is lifted up, until the distance between the second layer of picking boxes and the conveying roller is greater than the height of the picking boxes; (6) When the number of layers of the picking box reaches the set number n, the auxiliary shovel at the front end rotates and rises to form a limit for the front end, the workbench moves to the designated location, and one of the auxiliary shovels rotates and falls; (7) The lifting platform drives the box lifting plate to move to the edge of the picking box on the n-1th layer, and pushes the box lifting plate to the bottom of the edge of the picking box on the n-1th layer. The picking boxes on the nth layer are lifted by the lifting platform, and the picking boxes on the nth layer are pushed one by one to the falling auxiliary shovel through the box pushing device. The picking boxes are transported to the ground through the conveyor chain on the auxiliary shovel, and the workbench moves accordingly to ensure that the picking boxes are arranged in sequence on the ground; (8) After the picking boxes on the nth layer are unloaded, the lifting platform drops the lifted picking boxes onto the conveying rollers, and the bottom layer is re-set as the nth layer, and the picking boxes are unloaded layer by layer in the manner of step (7).

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