Automatic picking device for shrub berries

Abstract

The invention relates to the field of berry picking, and discloses an automatic shrub berry picking device which comprises a self-correcting mechanism, a picking mechanism, a collecting mechanism, a conveying mechanism, a power mechanism and a sorting mechanism. The self-correcting mechanism is used for correcting the deviation of the power mechanism in the walking process; the collecting mechanism is used for collecting berries picked by the picking mechanism, and the collecting mechanism is fixed on the power mechanism; and the conveying mechanism is used for conveying the berries collected by the collecting mechanism to the sorting mechanism for automatic sorting. According to the scheme, the picking device has the self-correcting steering and sorting functions, picking is conducted in a rotary vibration mode and a shaking vibration mode, the picking efficiency is high, the breakage rate is low, the picking net rate is high, plant damage is small, adaptability is high, modular design is achieved, and different berries can be picked.

Description

Technical Field

[0001] The invention relates to the field of berry picking, and in particular to an automatic shrub berry picking device. Background Art

[0002] my country's berry industry is experiencing rapid development. Statistics show that by 2024, the blueberry planting area had reached 95,880 hectares, a 44.38% increase from 2020, and total production exceeded 780,000 tons, achieving a significant 197% increase. The industry holds enormous potential for future growth. However, shrub berry plants have characteristics such as concentrated fruit ripening and fragile skins, making them susceptible to damage during the picking and sorting process. Current harvesting methods primarily rely on manual labor and semi-automated machinery, including self-propelled berry harvesters, air-suction harvesters, and towed berry harvesters. Self-propelled berry harvesters utilize a combination of swinging and vibrating berry picking systems. This method can easily damage the trunk, branches, and fruit, causing them to soften, and requires a high level of operator expertise. The integrity of the berries cannot be guaranteed, and the operator's expertise is also highly demanding. Air-suction pickers rely on a vacuum system to generate suction to pick the fruit, reducing physical contact with the berry skin during mechanical harvesting and effectively preserving the quality and freshness of the fruit after harvest. However, they cannot guarantee the impact of suction on the fruit, resulting in a high breakage rate. The power system uses a tractor, and the height of the frame-shaped body is adjustable to accommodate different growth conditions and berry varieties. However, current tractors are not compatible with the row spacing of berry plantations, which is generally only 1.8 meters. Berry picking cannot rely solely on tractor power, is unstable, easily causes mechanical damage to the plants, and requires high operating skills.

[0003] In summary, the current berry picking technology has problems such as high labor intensity, low operating efficiency, high production costs and high fruit breakage rate, which seriously restricts the economic benefits and sustainable development of the industry. Summary of the Invention

[0004] The present invention aims to provide an automatic bush berry picking device to solve the problems of high fruit damage rate and low operation efficiency in the current berry picking process.

[0005] To achieve the above-mentioned objectives, the present invention adopts the following technical solutions: an automatic shrub berry picking device, comprising: a self-correcting mechanism, a picking mechanism, a collecting mechanism, a conveying mechanism, a power mechanism and a sorting mechanism; the self-correcting mechanism is used to correct the deviation of the power mechanism during walking; the picking mechanism comprises a frame, a rotary vibration collecting assembly and a shaking picking assembly, the middle portion of the frame is provided with an opening for the plant to pass through, and both side portions of the frame opening are fixed on the corresponding power mechanism; the rotary vibration picking assembly is used for axial reciprocating vibration and circumferential reciprocating rotational vibration and rotational vibration of shrub branches and leaves, the shaking picking assembly is used for axial vibration and circumferential shaking vibration of shrub branches and leaves, and the rotary vibration picking assembly is located between the feed end of the frame opening and the shaking picking assembly; the collecting mechanism is used to collect berries picked by the picking mechanism, and the collecting mechanism is fixed on the power mechanism; the conveying mechanism is used to convey the berries collected by the collecting mechanism to the sorting mechanism for automatic sorting.

[0006] The principle of this solution is as follows: during operation, the whole machine crosses the rows from both sides of the berry plants, and the self-correction mechanism is used to correct the deviation of the power mechanism during the walking process. The power mechanism drives the whole device to move and walk, and the rotary vibration picking component first vibrates axially and reciprocates circumferentially and rotates and vibrates the bush branches and leaves to initially collect the berries. The shaking picking component vibrates axially and shakes circumferentially to vibrate the bush branches and leaves again to further collect the berries on the bush branches, achieving a higher picking rate; the picked berries fall into the collecting mechanism at the bottom and are collected, and the conveying mechanism conveys the berries to the sorting mechanism, which sorts the berries. After the sorting is completed, the berries are classified and stored.

[0007] Advantages of this solution: By correcting the deviation of the power mechanism during the walking process, the plants are placed within the picking range of the picking mechanism, ensuring the normal operation and continuous action of the equipment, ensuring the operating efficiency, and no manual operation is required to correct the direction, with a high degree of automation; picking is carried out by rotating vibration and shaking, and collection is carried out in steps, with little damage to the plants, a low breakage rate, and a high clean picking rate; the picked berries are sorted in time by the sorting mechanism, avoiding the low efficiency caused by traditional manual sorting and factory machine sorting, as well as the high fruit breakage rate caused by transportation and multiple sorting; automated picking is efficient and does not require human intervention to operate the equipment; it can achieve efficient and automated harvesting and precise sorting of berries, significantly improve harvesting efficiency, reduce operating costs, ensure fruit quality, promote the transformation and upgrading of the berry industry towards mechanization and automation, enhance its core competitiveness in the international market, and provide strong support for the modernization of agriculture.

[0008] Preferably, the rotary vibration picking assembly includes: a roller brush bracket, a rotating roller brush, a spring support seat, a vibration spring, a lower cover of the roller brush mounting frame, an axial reciprocating vibration module and a circumferential reciprocating vibration module; the spring support seat is symmetrically installed on both sides of the frame opening, and spring mounting holes are provided at both ends of the lower cover of the roller brush mounting frame, and the vibration spring is fixed on the upper and lower end surfaces of the spring support seat through the spring mounting holes; the lower cover of the roller brush mounting frame is symmetrically provided with through holes, the top of the rotating roller brush is rotatably connected to the through holes, the bottom end of the rotating roller brush is in contact with the power mechanism, the roller brush bracket is fixed to the bottom of the rotating roller brush, and the bottom of the roller brush bracket is in contact with the power mechanism; the axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame, and the axial reciprocating vibration module is used to drive the roller brush mounting frame to axially move; the circumferential reciprocating vibration module is used to drive the rotating roller brush to vibrate circumferentially and rotate.

[0009] The axial reciprocating vibration module drives the axial movement of the lower cover of the roller brush mounting frame, so that the rotating roller brush performs strong reciprocating vibration in a single coordinate direction, overcomes the binding force at the connection point between the berry stalk and the fruit, and causes the fruit to fall off; the vibration springs and spring support seats installed at both ends of the roller brush mounting frame are used to reduce the impact of the rotating roller brush on the branches and leaves of the shrub, reducing the damage to the branches and leaves of the shrub; the circumferential reciprocating vibration module drives the circumferential reciprocating vibration of the rotating roller brush and is accompanied by the rotational movement of the roller brush shaft, overcoming the binding force at the connection point between the berry stalk and the fruit, and causing the fruit to fall off; multi-directional vibration can generate a composite torque (torsion + bending + stretching), which is easier to break through the strength threshold in the weak direction of the fruit stalk, making the fruit easier to fall off, and unidirectional continuous vibration will cause the fruit branch to be repeatedly stressed locally, resulting in bark tearing or xylem damage. In this scheme, this multi-directional vibration dynamically switches the force direction to avoid fatigue damage in a single area, reducing branch damage and fruit damage.

[0010] Preferably, the circumferential reciprocating module includes: a rotating motor, a second idler shaft, a second driving gear, a second driven gear and a second cam, the top of the rotating roller brush is fixedly connected to the output shaft of the rotating motor, and the upper cover of the roller brush mounting frame is symmetrically installed on the output shaft of the vibration motor; the second idler shaft is symmetrically installed between the upper covers of the roller brush mounting frame, the output shaft of the rotating motor passes through the upper cover of the roller brush mounting frame and is connected to the rotating roller brush, the second driving gear is arranged on the output shaft of the rotating motor and is located between the upper covers of the roller brush mounting frame, the second driven gear is installed on the second idler shaft, and the second driving gear and the second driven gear are meshed with each other; the second cams on the second idler shaft are symmetrically installed and turn in opposite directions.

[0011] The output shaft of the rotary motor rotates at high speed, causing the second driving gear and the rotating roller brush to rotate. The second driving gear drives the second driven gear meshing with it to rotate, and the second driven gear drives the second cam to rotate. The two second cams are symmetrically installed and rotate in opposite directions. The centrifugal forces generated by them cancel each other out in the horizontal direction, while the forces in the vertical direction are superimposed on each other, so that the circumferential reciprocating module generates circumferential reciprocating vibration, and the rotating roller brush of the rotary motor rotates at the same time.

[0012] Preferably, the shaking picking assembly includes: a roller brush bracket, a shaking roller brush, a spring support seat, a vibration spring, a roller brush mounting frame lower cover, an axial reciprocating vibration module, a crank rocker module and a rotating rod; the spring support seat is symmetrically mounted on both sides of the frame opening, and spring mounting holes are provided at both ends of the roller brush mounting frame lower cover, and the vibration spring is fixed on the upper and lower end surfaces of the spring support seat through the spring mounting hole; the roller brush mounting frame lower cover is symmetrically provided with through holes, the top of the shaking roller brush is rotatably connected to the through holes, the bottom of the shaking roller brush contacts the power mechanism, the roller brush bracket is fixed to the bottom of the shaking roller brush, and the bottom of the roller brush bracket contacts the power mechanism; the axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame, and the axial reciprocating vibration module is used to drive the lower cover of the roller brush mounting frame axial movement; one end of the rotating rod is connected to the shaking roller brush, and the other end of the rotating rod is connected to the crank rocker module, and the crank rocker module is used to drive the rotating rod circumferential rotation.

[0013] The axial reciprocating vibration module drives the axial movement of the lower cover of the roller brush mounting frame, causing the vibrating roller brush to vibrate strongly back and forth in a single coordinate direction, overcoming the binding force at the connection point between the berry stalk and the fruit, causing the fruit to fall off; the vibration springs and spring support seats installed at both ends of the roller brush mounting frame are used to reduce the impact of the vibrating roller brush on the branches and leaves of the shrubs, reducing damage to the branches and leaves of the shrubs; the crank rocker module drives the vibrating roller brush to vibrate circumferentially, further vibrating the shrub branches to cause the fruit to fall off.

[0014] Preferably, the crank-rocker module includes: a motor bracket, a drive motor, a crank, a rocker, and a connecting rod. The motor bracket is fixed to the frame, and the drive motor is mounted on the motor bracket. The drive motor is used to drive the crank to rotate. The crank, rocker, and connecting rod are rotatably connected in sequence. One end of the rotating rod is fixedly connected to the vibrating roller brush, and the other end of the rotating rod is rotatably connected to the connecting rod. The drive motor drives the crank to rotate, the crank drives the rocker to rotate, the rocker drives the connecting rod to rotate, and the connecting rod drives the vibrating roller brush to rotate. Under the action of the connecting rod and crank structures, the vibrating roller brush vibrates back and forth in a circumferential direction, further vibrating the shrub branches and releasing the fruits.

[0015] Preferably, the axial reciprocating vibration module includes a vibration motor, a cam support, a cam clamp, a first cam, a first idler long axis, a first idler short axis, an idler clamp, a first driving gear and a first driven gear; the cam support is installed in the middle of the lower cover of the roller brush mounting frame, the cam clamp is symmetrically installed on the cam support, the first idler long axis is symmetrically arranged on the cam clamp, the first cam is installed on the first idler long axis, and the first cams on the first idler long axis are symmetrically installed and rotate in opposite directions; the first idler short axis is arranged on the idler clamp and the cam clamp on which the vibration motor is installed, the output shaft of the vibration motor passes through the single-sided cam clamp and is located on the idler clamp, the first driving gear is located on the output shaft of the vibration motor between the idler clamp and the cam clamp, the first driven gear is fixed on the first idler long axis and the first idler short axis, the first driving gear and the first driven gear are meshed with each other, and the first driven gears are meshed with each other; the vibration motor is installed on the cam support.

[0016] Turn on the vibration motor, and the rotation of the vibration motor drives the first driving gear to rotate, the first driving gear drives the first driven gear to rotate, and the first driven gear drives the first cam to rotate. The two first cams are symmetrically installed and rotate in opposite directions. The centrifugal forces generated by them cancel each other out in the horizontal direction, while the forces in the vertical direction are superimposed on each other. In this way, the axial reciprocating vibration module can generate strong reciprocating vibration in a single coordinate direction. The centrifugal force generated by the high-speed rotation of the vibration motor is used to obtain the exciting force, and vibration springs and spring support seats are installed at both ends of the roller brush mounting frame to reduce impact while providing elastic force, thereby reducing damage to shrub branches.

[0017] Preferably, the collecting mechanism includes: a collecting blade assembly; the collecting blade assembly is symmetrically arranged at the bottom of both sides of the frame, the collecting blade assembly includes: a fixing frame shaft, a collecting blade and a collecting spring, a plurality of shafts are provided on the fixing frame along the direction of the frame opening, one end of the collecting blade is rotatably connected to the shaft, the other end of the collecting blade is overlapped with the symmetrically arranged collecting blade, the collecting blade is overlapped up and down along the direction of the frame opening, one end of the collecting spring is connected to the fixing frame, and the other end of the collecting spring is connected to the collecting blade; the overlapping parts of the collecting blades arranged opposite to each other on both sides of the frame are further extended by the brush.

[0018] When the equipment is operating, the plant enters the front section of the collecting blades. Under the action of the plant and the collecting spring, the corresponding collecting blades begin to rotate in the opposite direction of the equipment's movement. Under the dual action of the spring force and the equipment's propulsion force, the gaps in the collecting blades caused by the plant branches at the front end of the picking disappear, and the plant branches are gradually surrounded by the blade group, so that the fruits under the vibration of the picking mechanism can fall onto the collecting blades; after the relatively overlapping parts of the collecting blades on the left and right sides are extended with brushes, the collecting blades can quickly return to their positions to fill the gaps, continuing the fruit rolling slope with the middle higher and the sides lower on the blades, avoiding the blades from moving through the plant branches to create larger gaps between the collecting blades, and the fruits are not easy to fall from the gaps, reducing fruit losses. Because the brushes are relatively dense and have a rolling slope, and constantly move and vibrate with the blades, the intercepted fruits usually do not get stuck in the brushes.

[0019] Preferably, the self-correction mechanism includes: a correction contact plate, a tension spring, an optical axis, a rotating ring, a support seat, a bracket assembly and an encoder assembly for recording the position of the correction contact plate, the encoder assembly is fixed to the top of the optical axis, the bottom of the optical axis is rotatably connected to the support seat, and the support seat is fixed to the bottom of the bracket assembly; the rotating ring is fixed on the optical axis, the correction contact plate is fixed on the rotating ring, and the bracket assembly is rotatably connected to the rotating ring; the bracket assembly is used to fix the rotating shaft assembly on the feed end of the frame opening, and the correction contact plate is fixedly connected to the bracket assembly through a tension spring.

[0020] When the correction contact plate touches the shrub, the plants will be gathered together first, and the correction contact plate will be pushed open by the plant that contacts first. The tension of the stretching spring will make the correction contact plate fit tightly to both sides of the shrub. As the picking operation continues, the whole machine will offset during the walking process. The encoder component will record the real-time position and feed it back to the corresponding controller. The error will be calculated according to the program written in the controller and the feedback value. When the error reaches a certain range, the whole equipment will perform compensation movement. The controller will send a motion command to the actuator to make the power mechanism move until the error returns to the normal range. Then the motion compensation will be ended and the motion compensation will be performed again when the deviation occurs next time to ensure that the plants are within the range of the picking mechanism and the equipment can operate continuously.

[0021] Preferably, the sorting mechanism includes: a sorting storage body, a drum drive motor, a drum body, a feed port, a duct assembly and a storage bin; the drum body is installed in the sorting storage body, the drum drive motor is used to drive the drum body to rotate, the feed port is inclined, the lower end of the feed port is connected to the drum body, the air outlet of the duct assembly faces the feed port, the air outlet of the duct assembly is located at the lower end of the feed port, the diameter of the sorting hole on the drum body gradually increases along its discharging direction; the storage bin is located below the drum body, and the storage bin is arranged corresponding to the sorting hole. The conveying mechanism transports the berries to the feed port. During the unloading process, the branches and leaves, which are of different quality and fall at different speeds, separate from the berries. The blower assembly blows air toward the air inlet, blowing away the branches and leaves and removing impurities from the berries. After the berries enter the drum body, the drum drive motor drives the drum body to rotate. As the drum body rotates, berries of different particle sizes fall into the storage bin through the corresponding sorting holes. The different-sized sorting holes in the drum body are used to screen the berries of different particle sizes. The blower assembly quickly removes impurities from the berries without contacting or damaging them, achieving a fast separation speed.

[0022] Preferably, the device further includes a cleaning assembly, comprising two groups: one group mounted on the device housing, above the top corner of the conveyor belt, and the other group mounted at the feed inlets of the two sorting devices. The cleaning assembly comprises a blower and a fan, the fans symmetrically positioned at the openings at both ends of the blower. An air outlet is provided in the middle of the blower, the air outlet of the blower facing the berries about to enter the feed inlet. The blower and fan provide preliminary impurity removal for the berries, while also preventing the branches and leaves blown out of the opposing blower assemblies from interfering with each other, resulting in a more effective berry impurity removal effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a front view schematic diagram of a picking device according to an embodiment of the present invention.

[0024] Figure 2 Schematic side view of a picking device according to an embodiment of the present invention.

[0025] Figure 3 Schematic top view of a picking device according to an embodiment of the present invention.

[0026] Figure 4 FIG. 4 is a partial schematic diagram of a self-correcting mechanism according to an embodiment of the present invention.

[0027] Figure 5 This is a partial schematic diagram of a picking mechanism according to an embodiment of the present invention.

[0028] Figure 6 This is a partial schematic diagram of a picking mechanism according to an embodiment of the present invention.

[0029] Figure 7 This is a partial schematic diagram of a picking mechanism according to an embodiment of the present invention.

[0030] Figure 8 This is a partial schematic diagram of a picking mechanism according to an embodiment of the present invention.

[0031] Figure 9 It is a schematic structural diagram of the collecting mechanism, conveying mechanism and sorting mechanism of an embodiment of the present invention.

[0032] Figure 10 Schematic diagram of a collection mechanism according to an embodiment of the present invention.

[0033] Figure 11 Schematic diagram of the structure of the conveying mechanism according to an embodiment of the present invention.

[0034] Figure 12 This is a schematic structural diagram of a storage bin and a buffer plate according to an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following is further described in detail through specific implementation methods:

[0036] The reference numerals in the drawings of the specification include: self-correcting mechanism 1, correction contact plate 11, tension spring 12, encoder 13, bearing seat 14, rotating ring 15, optical axis 16, support seat 17, picking mechanism 2, frame 21, roller brush bracket 22, spring support seat 23, vibration spring 24, roller brush mounting frame lower cover 25, rotating roller brush 26, axial reciprocating vibration module 27, vibration motor 271, cam support 272, cam clamping plate 273, first cam 274, first idler long shaft 275, first idler short shaft 276, idler clamping plate 277, first driving gear 278, first driven gear 279, circumferential reciprocating vibration module 28, rotating motor 281, second idler shaft 282, second driving gear Wheel 283, second driven gear 284, second cam 285, crank rocker module 29, motor bracket 291, drive motor 292, crank 293, rocker 294, connecting rod 295, rotating rod 210, shaking roller brush 211, collecting mechanism 3, fixing frame 31, rotating shaft 32, collecting blade 33, collecting spring 34, conveying mechanism 4, frame 41, belt tensioning shaft 42, conveyor belt 43, belt positioning column 44, belt groove 45, material baffle 46, lifting motor 47, drive shaft 48, power mechanism 5, sorting mechanism 6, sorting and storage body 61, drum drive motor 62, drum body 63, feed port 64, air duct assembly 65, cleaning assembly 66, storage bin 67, buffer plate 68.

[0037] Example:

[0038] An automatic berry picking device for bushes, such as Figure 1 、 Figure 2 、 Figure 3 and Figure 9 As shown, it includes a power mechanism 5, and a self-correction mechanism 1, a picking mechanism 2, a collecting mechanism 3, a conveying mechanism 4, a power mechanism 5 and a sorting mechanism 6 which are arranged in sequence.

[0039] The power mechanism 5 includes: a crawler vehicle hinge, a baffle, a crawler track, a track roller connecting plate, a suspension spring (not shown), a power motor, a driving wheel, and a driven wheel. The crawler vehicle hinge is in an inverted L-shape. The track roller connecting plate is fixed to the vertical portion of the crawler vehicle hinge by screws. At the same time, the screws fix the rocker arm connected to the driven wheel in the middle of the track to the track roller connecting plate. The driving wheel and the driven wheel are located within the crawler track and cooperate with each other. The driving wheel is located at the front end of the crawler track, and its wheel axle is fixed to the track roller connecting plate. The driven wheel at the rear end of the crawler track is arranged parallel to the driving wheel. The output shaft of the power motor is fixedly connected to the wheel axle of this driven wheel. The suspension spring is set on the track roller connecting plate. The more detailed crawler wheel structure of the power mechanism 5 in this solution refers to the existing technology and will not be described in detail.

[0040] In this solution, when the power is on, the power motor transmits power to the driving wheel with the help of the corresponding connecting shaft, causing the driving wheel to rotate. At the same time, the driven wheel supports the track structure while cooperating with the rotation of the driving wheel to achieve two-way displacement of the track system. When the system encounters uneven ground conditions, the suspension spring assembly will undergo corresponding elastic deformation. At this stage, the linkage mechanism composed of the suspension spring connecting shaft and the track connecting plate will play the role of dynamic balance adjustment to ensure the stability of the system operation. The structure and installation of the suspension spring are implemented with reference to the existing technology.

[0041] This solution uses an electric motor to drive the entire machine. Power mechanisms 5 are installed on both sides of the machine. The crawler tracks on both sides move differentially, enabling free travel and steering. The entire machine is powered by an environmentally friendly power source. The use of crawler wheels reduces the requirements for road surfaces, making it suitable for a variety of locations and offering outstanding performance in terms of roadability, grip, and off-road capabilities.

[0042] Among them, the picking mechanism 2, the collecting mechanism 3 and the conveying mechanism 4 are all fixed on the folding leaves of the crawler vehicle, the sorting mechanism 6 is fixed on the picking mechanism 2, and the self-correcting mechanism 1 is fixed on the picking mechanism 2.

[0043] Self-correcting mechanism 1, such as Figure 4 As shown, it includes a correction contact plate 11, a tension spring 12, a rotating shaft assembly and a bracket assembly. The rotating shaft assembly includes: an encoder 13, a coupling, an encoder flange, a bearing seat 14, a rotating ring 15, an optical axis 16 and a support seat 17. The encoder 13, the encoder flange, the coupling and the bearing seat 14 are arranged in sequence from top to bottom.

[0044] The bearing seat 14 is mounted on the optical axis 16. One end of the coupling is fixedly connected to the top of the optical axis 16, and the other end of the coupling is fixedly connected to the shaft of the encoder 13. The bottom of the encoder 13 is fixed to the encoder flange. The flange and bearing seat 14 are fixed to the bracket assembly via a connecting bracket. The flange and bearing seat 14 are fixed to the bracket assembly via the connecting bracket to ensure the stability of the optical axis 16 during rotation, providing rigid support and stability. The stability of the optical axis 16 is ensured by the bearing seat 14 and the connecting bracket.

[0045] In this solution, the encoder 13 is an absolute encoder. The whole machine will produce deviations during the walking process. The absolute encoder will record the real-time position and feed it back to the corresponding controller for motion compensation.

[0046] The rotating ring 15 is fixed to the optical axis 16. A connecting seat is welded to the correction contact plate 11. The connecting seat is provided with a slot. The connecting seat is provided with a connecting hole that passes through the upper and lower ends of the slot. The middle part of the rotating ring 15 is located in the connecting hole. The connecting seat is sleeved and fixed on the rotating ring 15. The bracket assembly and the connecting end of the rotating ring 15 are provided with a through hole. The rotating ring 15 is located in the through hole. The outer wall of the rotating ring 15 is rotatably connected to the through hole. In this solution, the upper and lower diameters of the rotating ring 15 are larger than the middle diameter. The rotating ring 15 can be an assembly structure to facilitate the connection and assembly of the rotating ring 15, the connecting seat, and the bracket assembly. The bracket assembly is located between the slotted connecting holes. In this solution, other structures can also be selected in which the correction contact door is fixedly connected to the optical axis 16, and the bracket assembly is rotatably connected to the optical axis 16.

[0047] The connecting seat is provided with a first limit block, and the bracket assembly is provided with a second limit block. The limit blocks cooperate to ensure the extreme position of the correction contact plate 11, constrain the position of the correction contact plate 11, and ensure the quality of fruit picking.

[0048] Among them, one end of the tension spring 12 is fixedly connected to the correction contact plate 11, and the other end is fixedly connected to the bracket assembly. U-shaped parts are welded on the correction contact plate 11 and the bracket assembly for installing the tension spring 12. When just touching the plant (the front side line of the contact plate is 1281mm away from the picking roller brush), the running trajectory of the optical axis 16 first turns to the maximum opening angle, that is, the extreme position of the correction contact plate 11. As the whole machine is running, when the tension of the tension spring 12 is constant, the optical axis 16 will gradually tend to the deformation position of the plant under the current spring force. When the position of the plant at the starting end (the main viewing surface of the bush) is 342mm away from the roller brush, the direction of the optical axis 16 reaches the minimum opening angle (contact plate), and then the opening angle of the contact plate will not change significantly, and the equipment will perform normal operation correction.

[0049] One end of the bearing seat 14 is fixed to the bracket assembly, specifically connected to the bracket assembly by bolts, and the other end is connected to the bottom of the optical axis 16. A corresponding optical fiber sensor is installed on the side of the correction contact plate 11, and the optical fiber sensor is symmetrically installed on the bracket assembly. The transmitting end emits light and the receiving end receives the light signal. If the width of the current ridge plant changes too much and the receiving end does not receive the corresponding signal data, it will automatically turn to find the starting position of the next ridge of berry plants based on the relevant data set by the user before the equipment is operated, such as ridge width, average plant width, and the preset picking type mode. The walking trajectory of the whole machine presents an "S" shape.

[0050] The bracket assembly includes a first bracket and a second bracket. One end of the first bracket is welded to the housing, and the other end is used to connect to the rotating ring 15. The number of first brackets matches the number of rotating rings 15. In this embodiment, three first brackets are provided. The second bracket is used to connect adjacent first brackets. The first brackets are connected via multiple second brackets.

[0051] Picking mechanism 2, such as Figure 5-Figure 9 It includes: a frame 21, a rotary vibration collection component and a shaking picking component. An opening for plants to pass through is provided in the middle of the frame 21. Both sides of the opening of the frame 21 are fixed on the corresponding power mechanism 5. The opening in the plant is entered. Under the action of the rotary vibration collection component and the shaking picking component, the fruits on the shrub branches are picked.

[0052] The rotary vibration picking assembly includes: a roller brush bracket 22, a rotating roller brush 26, a spring support seat 23, a vibration spring 24, a roller brush mounting frame lower cover 25, an axial reciprocating vibration module 27 and a circumferential reciprocating vibration module 28.

[0053] The rotating roller brush 26 includes a rotating shaft and beating rods. The rotating shaft is provided with a plurality of beating rod rings axially therefrom. The beating rod rings are evenly distributed on the rotating shaft. In this embodiment, two rotating shafts are symmetrically provided. The height of the beating rod rings and the number of beating rods are set according to actual needs.

[0054] The spring support seats 23 are symmetrically mounted on either side of the opening in the frame 21. Spring mounting holes are provided at both ends of the roller brush mounting frame's lower cover 25. Vibration springs 24 pass through these holes and are secured to the upper and lower end surfaces of the spring support seats 23. Symmetrical through-holes are also provided on the roller brush mounting frame's lower cover 25. The top end of the rotating roller brush 26 is rotatably connected to the through-holes, and the bottom end of the rotating roller brush 26 contacts the power mechanism 5. The roller brush bracket 22 is secured to the bottom of the rotating roller brush 26, and the bottom of the roller brush bracket 22 contacts the power mechanism 5. In this solution, the vibration springs 24 and spring support seats 23 are installed at both ends of the roller brush mounting frame, reducing impact and providing elasticity, thereby minimizing damage to shrub branches.

[0055] In this solution, a shell is further provided on the outer side of the frame 21 to prevent the berries from leaking out from the sides during the separation process.

[0056] The axial reciprocating vibration module 27 includes a vibration motor 271 , a cam support 272 , a cam clamping plate 273 , a first cam 274 , a first idler gear long shaft 275 , a first idler gear short shaft 276 , an idler gear clamping plate 277 , a first driving gear 278 and a first driven gear 279 .

[0057] The cam support 272 is mounted in the middle of the roller brush mounting bracket lower cover 25, ensuring more balanced vibration of the corresponding roller brush. The cam clamp 273 is symmetrically mounted on the cam support 272. The first idler gear's long axis 275 is symmetrically arranged on the cam clamp 273. The first cam 274 is mounted on the first idler gear's long axis 275. The first cams 274 on the symmetrical first idler gear's long axis 275 are symmetrically mounted and rotate in opposite directions. In this solution, the two symmetrically mounted and oppositely rotated first cams 274 generate centrifugal forces that cancel each other out horizontally and add to each other's vertical forces. This allows the axial reciprocating vibration module 27 to generate strong reciprocating vibrations in a single coordinate direction, utilizing the centrifugal force generated by the high-speed rotation of the vibration motor 271 to generate the excitation force.

[0058] The first idler short shaft 276 is set on the idler clamp plate 277 and the cam clamp plate 273 on which the vibration motor 271 is installed. The output shaft of the vibration motor 271 passes through the single-sided cam clamp plate 273 and is located on the idler clamp plate 277. The first driving gear 278 is located on the output shaft of the vibration motor 271 between the idler clamp plate 277 and the cam clamp plate 273. The first driven gear 279 is fixed on the first idler long shaft 275 and the first idler short shaft 276. The first driving gear 278 and the first driven gear 279 are engaged with each other, and the first driven gears 279 are engaged with each other. The vibration motor 271 is installed on the cam support 272.

[0059] The circumferential reciprocating module includes: a rotating motor 281, a second idler shaft 282, a second driving gear 283, a second driven gear 284, a second cam 285, a coupling, a harmonic reducer and a bearing. The top of the rotating roller brush 26 is fixedly connected to the output shaft of the motor through the harmonic reducer and the coupling, and the top of the rotating roller brush 26 is rotatably connected to the lower cover 25 of the roller brush mounting frame through a bearing.

[0060] The brush mount cover is symmetrically mounted on the output shaft of the vibration motor 271. A second idler shaft 282 is symmetrically mounted between the brush mount covers. The output shaft of the rotating motor 281 passes through the brush mount covers and connects to the rotating brush 26. A second driving gear 283 is mounted on the output shaft of the rotating motor 281 and located between the brush mount covers. A second driven gear 284 is mounted on the second idler shaft 282. The second driving gear 283 and the second driven gear 284 mesh with each other. The second cam 285 on the second idler shaft 282 is symmetrically mounted and rotates in opposite directions. This is similar to the principle of the axial reciprocating module described above, achieving strong reciprocating vibration in a single coordinate direction.

[0061] In this method, the rotation of the rotary motor 281 drives the second driving gear 283 to rotate, and the circumferential reciprocating vibration module 28 as a whole performs high-speed rotation along the motor shaft. A coupling is installed under the shaft of the second driving gear 283, and a harmonic reducer is installed behind the coupling. After deceleration by the harmonic reducer, the rotating roller brush 26 is driven to perform a 360° rotation motion, and the engaged driven gear drives the two second cams 285 to rotate.

[0062] In this solution, the rotary vibration picking component generates two types of vibration forces. The first is an up and down reciprocating vibration along the axial direction, and the second is a circumferential reciprocating vibration along the roller brush and accompanied by the rotation of the roller brush shaft. The multi-directional vibration can generate a composite torque (torsion + bending + stretching), which is easier to break through the strength threshold in the weak direction of the fruit stalk, making the fruit easier to fall off. The continuous unidirectional vibration will cause the local fruit branch to be repeatedly stressed, resulting in bark tearing or xylem damage. In this solution, this multi-directional vibration avoids fatigue damage in a single area by dynamically switching the force direction, reducing branch damage and fruit damage.

[0063] The shaking picking assembly includes: a roller brush bracket 22, a shaking roller brush 211, a spring support seat 23, a vibration spring 24, a roller brush mounting frame lower cover 25, an axial reciprocating vibration module 27, a crank 293, a rocker 294 module 29 and a rotating rod 210.

[0064] The vibrating roller brush 211 includes a rotating shaft and beating rods. A plurality of beating rod rings are provided axially of the rotating shaft. The beating rods are evenly distributed on the rotating shaft. In this embodiment, two rotating shafts are symmetrically provided. The height of the beating rod rings and the number of beating rods are set according to actual needs.

[0065] The crank 293 rocker 294 module 29 includes a motor bracket 291, a drive motor 292, a crank 293, a rocker 294, a connecting rod 295, and a rotating rod 210. The motor bracket 291 is fixed to the frame 21, and the drive motor 292 is mounted on the motor bracket 291. The drive motor 292 is used to drive the crank 293 to rotate. The crank 293, rocker 294, and connecting rod 295 are rotatably connected in sequence. One end of the rotating rod 210 is fixedly connected to the rotating roller brush 26, and the other end of the rotating rod 210 is rotatably connected to the connecting rod 295. The crank 293 rocker 294 module 29 drives the vibrating roller brush 211 to vibrate circumferentially, further vibrating the shrub branches and removing the fruit. The crank 293 rotates at high speed, and the connecting rod 295 drives the rocker 294 to vibrate. The roller brush connecting rod 295 drives the other roller brush to produce the same movement, compensating for the fruit that was not picked by the first set of roller brushes. In this solution, the connection between the crank 293, the rocker 294 and the connecting rod 295 refers to the existing technology and will not be described in further detail.

[0066] The leaf-beating rings and leaf-beating sticks of the rotating roller brush 26 and the shaking roller brush 211 are made of rubber material to minimize the damage to the fruit and the plant caused by the picking roller brush. The four groups of picking roller brushes come into contact with the berry branches to remove the ripe fruit.

[0067] Collection agency 3, such as Figure 9 and Figure 10 As shown, it includes a collecting blade 33 component, which is fixed on the conveying mechanism 4. The collecting blade 33 component and the conveying mechanism 4 are symmetrically arranged at the bottom of the frame 21.

[0068] The collecting blade 33 assembly includes a fixing frame 31, a rotating shaft 32, a collecting blade 33 and a collecting spring 34. The collecting blades 33 are a left collecting blade and a right collecting blade. The rotating shaft 32 is fixed on the fixing frame 31. There are multiple rotating shafts 32. One end of the left collecting blade and the right collecting blade is fixed on the corresponding rotating shaft 32. The opposite ends of the left collecting blade and the right collecting blade are arranged to overlap up and down to prevent berries from leaking out from between the two.

[0069] The left collecting blades and the right collecting blades are respectively arranged in an overlapping manner up and down. The dense left and right blade groups can ensure that the equipment passes through the plants smoothly during operation and can also ensure the complete collection of the fruits.

[0070] One end of the collecting spring 34 is fixedly connected to the fixing frame 31, and the other end is fixedly connected to the left collecting blade and the right collecting blade. Accordingly, the collecting spring 34 is connected by setting an L-shaped connecting column at the bottom of the left collecting blade and the right collecting blade. When the equipment is in operation, the plant enters the front end of the collecting blade 33. Under the action of the plant and the collecting spring 34, the corresponding collecting blade 33 begins to rotate in the opposite direction of the equipment's travel. Under the dual action of the spring force and the propulsion force of the equipment, the gaps in the collecting blades 33 caused by the plant branches at the front end of the picking disappear, and the plant branches are gradually surrounded by the blade group, so that the fruits under the vibration of the picking mechanism 2 can fall onto the collecting blade 33.

[0071] Among them, the upper and lower overlapping parts of the left collecting blades and the right collecting blades are installed with brushes to further extend the overlapping surface. The relatively overlapping parts of the left and right collecting blades 33 are extended by the brushes, so that the collecting blades 33 can be quickly returned to their positions, avoiding large gaps between the collecting blades 33 due to the movement of the plant branches and reducing fruit loss.

[0072] Among them, the collecting blades 33 are set in a V shape, and the V-shaped opening of the collecting blades 33 is opposite to the walking direction. With this inverted V-shaped design, the picked fruits fall into the collecting blades 33 and then slide into the lifting conveying mechanism 4.

[0073] The portion of each collecting blade 33 that contacts the plant trunk is designed with an arc transition structure to reduce plant damage and allow the equipment to pass through the planting area smoothly.

[0074] Among them, the collecting blades 33 are made of rubber material to reduce damage to fruits and plants. The collecting blades 33 will be squeezed when the plants pass through, causing their angles to change. After the plants pass through, they will return to their original shape under the action of the elastic force of the tension spring 12. For different types of plants, the sizes of the plants will be different. The collecting blades 33 can meet the needs of more types of plants and achieve adaptability.

[0075] The edges of the collecting blades 33 at both ends are higher than the middle collecting blade 33, so that the collecting blade 33 is in an inwardly concave shape to prevent the fruit from leaking out.

[0076] Conveying mechanism 4, such as Figure 11 As shown, it includes: a belt tensioning shaft 42, a frame 41, a conveyor belt 43, a belt positioning column 44, a belt groove 45, a material blocking plate 46, a lifting motor 47, a reducer, a motion converter and a drive shaft 48.

[0077] The belt tensioning shaft 42 is located at the feed end of the conveyor belt 43, and the drive shaft 48 is located at the discharge end of the conveyor belt 43. A lifting motor 47, a speed reducer, and a motion converter are used to drive the drive shaft 48. The specific connection structure is similar to that of the prior art. The output shaft of the lifting motor 47 is oriented in the same direction as the machine's motion, and a motion converter is used to redirect the motor's output force. In this method, the conveying mechanism 4 lifts the fruit collected by the bottom collection mechanism 3 to the top, where it is then fed into the sorting mechanism 6 for sorting.

[0078] The conveyor belt 43 is located below the collecting blades 33 and is arranged corresponding to the collecting blades 33. The conveyor belt 43 is provided with a belt groove 45 for separating and carrying berries to prevent the berries from falling off the conveyor belt 43 during transportation. The frame 41 is provided with a belt positioning post 44, which is arranged at the belt turning point to prevent the belt from deviating and ensure the stable operation of the conveyor belt 43.

[0079] A baffle plate 46 is provided on the frame 41 and is located at the edge of the conveyor belt 43 to prevent the berries from escaping from the conveyor belt 43 . The baffle plate 46 also blocks the branches and reduces the collision damage of the branches to the berries.

[0080] The frame 41 is assembled from aluminum profiles and angle brackets, and is fixedly connected at the turns by the angle brackets.

[0081] The belt tensioning shaft 42 maintains optimal belt tension through adjustable position changes, ensuring efficient power transmission and extending system life. The belt tensioning pulley, drive shaft 48, and belt positioning column 44 drive the conveyor belt 43 to rotate, driving the belt groove 45 to move and transport the berries.

[0082] After the berries are picked, part of the berries fall directly into the conveyor belt 43, and the other part falls into the collecting blades 33 and rolls onto the conveyor belt 43. The fruits are sent to the sorting mechanism 6 through the conveyor belt 43 and stored after sorting.

[0083] Sorting mechanism 6, such as Figure 9 and Figure 12 As shown, it includes: a sorting and storage body 61, a drum drive motor 62, a drum body 63, a feed port 64, a wind tube assembly 65 and a storage bin 67. The sorting mechanism 6 of this solution is symmetrically arranged so that the middle space is convenient for plants to pass through.

[0084] The feed port 64 is inclined, its lower end communicating with the drum body 63. A blower assembly 65 is fixed to the sorting and storage body 61, with its outlet facing the feed port 64 and located at its lower end. The conveyor mechanism 4 transports the berries into the feed port 64. During the unloading process, the berries separate due to the varying weight and falling speed of the branches and leaves from the berries. The blower assembly 65 then blows air toward the air inlet, blowing away the branches and leaves and removing impurities from the berries.

[0085] The air duct assembly 65 includes a power fan and an impurity removal air duct. The air outlet of the impurity removal air duct is flat, which can more effectively guide the airflow, reduce the turbulence and separation of the airflow, help maintain the stability and continuity of the airflow, and enable impurities to be separated more evenly.

[0086] The interior of the sorting and storage body 61 is hollow, with a drum body 63 mounted within. A drum drive motor 62 is used to drive the rotation of the drum body 63. The drum drive motor 62 is mounted to the sorting and storage body 61 via bearings. The diameter of the sorting holes in the drum body 63 gradually increases along the discharge direction. A storage bin 67 is located below the drum body 63 and corresponds to the sorting holes. After the fruit enters the drum body 63, the drum drive motor 62 drives the drum body 63 to rotate. As the drum body 63 rotates, fruit of different particle sizes sequentially fall through the corresponding sorting holes into the storage bin 67. The different sorting holes in the drum body 63 are used to screen the fruit of different particle sizes.

[0087] The drum body 63 is tilted at a certain angle. As the drum rotates, the fruit is sorted into five grades: 15mm, 18mm, 20mm, and 22mm, from small to large. The five-grade sorting hole size classification is based on the size distribution of berries (such as blueberries). Furthermore, the sorting module can be changed to accommodate different berry types based on their physical size and shape.

[0088] In this solution, the drum body 63 is inclined at 3° to the bottom surface of the sorting and storage body 61. When the equipment is in operation, the fruit enters the drum body 63. With the rotation of the drum body 63 and the weight of the fruit, the physical size classification is completed. After sorting, the fruit falls into the corresponding storage box. In addition, the drum body 63 is made of rubber, and the rotation speed is moderate and adjustable, which effectively avoids damage to the fruit by the machine.

[0089] Among them, a storage box is provided in the storage bin 67, and a storage door is provided on the side of the sorting and storage body 61. The storage door is used to take out the storage box. The storage door is provided with a handle to facilitate pulling out and replacing the storage box.

[0090] In this solution, a weighing device is installed at the bottom of the storage bin 67. The weighing device is located at the bottom of the storage box and can perform cumulative weighing of the fruits. The relevant parameters are fed back to the corresponding human-computer interaction system and control system to remind the replacement of the storage bin 67. After the sorting is completed, the fruits fall into the storage bin 67 due to their own weight. As the berries are continuously picked and sorted, the storage boxes in the storage bin 67 are gradually filled with berries. At this time, it is only necessary to replace the corresponding storage boxes to continuously carry out the harvesting operation. In this solution, the lower space of the drum body 63 in the sorting and storage body 61 is the storage bin 67. A partition can be set to correspond to the starting section of the change in the diameter of the sorting hole of the drum body 63 to separate the storage bin 67 into storage spaces for storing berries of different specifications. The weighing mechanism adopts existing technologies such as weighing sensors, which are not described in detail here.

[0091] Among them, a buffer baffle is provided on the top of the storage bin 67, and the size matches the top of the storage box. The buffer baffle is fixed on the rotating shaft 32, and the rotating shaft 32 is fixedly connected to the motor output shaft installed on the inner wall of the sorting and storage body 61. By controlling the rotation of the buffer plate 68, the opening of the top of the storage box is controlled. At the same time, when the berries enter the storage box, the buffer plate 68 can buffer the berries to reduce the damage of the berries.

[0092] The picking mechanism 2 is also equipped with a cleaning mechanism. The cleaning assembly 66 includes a cleaning duct and a cleaning fan. The cleaning fans are symmetrically positioned at the openings at both ends of the cleaning duct. An air outlet is located in the middle of the cleaning duct, facing the berries about to enter the feed port 64. The cleaning duct and cleaning fan provide preliminary impurity removal from the berries while also preventing interference between branches and leaves blown from the opposing cleaning duct assembly 65, resulting in more effective berry cleaning. A motor retaining ring is also included to secure the motor. Dust screens are installed at both ends of the cleaning duct to prevent impurities from entering the duct.

[0093] The overall structure of this proposal is divided into two parts distributed along both sides of the berry tree, and is combined into a whole through the shell that flows over the top of the berry tree.

[0094] The specific implementation process is as follows:

[0095] During operation, the machine strides across rows of berry plants. The calibration contact plates 11 of the self-calibration mechanism 1 on both sides clamp the plants. Based on the real-time position feedback from the absolute encoder 13, the controller performs real-time calibration of the machine's position according to a stored program. The motor drives the crawler tracks to move. Two sets of rotating brushes 26 and two sets of vibrating brushes 211 pick the fruit through a combination of rotational vibration and sweeping vibration. The picked fruit falls onto the collection blades 33 and slides onto the conveyor belt 43. The lifting motion of the conveyor belt 43 transports the fruit to the sorting mechanism 6. After being cleaned twice by the blower assembly 65 and the cleaning assembly 66, the fruit falls into the drum body 63. After five levels of sorting by the drum body 63, the fruit falls into the storage bin. When the bin is full, the weighing device issues an alarm via the human-machine interface according to the user's pre-set parameters and the user-programmed program in the controller. Upon receiving the alarm, the user rotates the intermediate buffer baffle, temporarily blocking the fruit in the buffer bin until a new bin is replaced. The intermediate buffer baffle is then manually opened to resume the next round of operation.

[0096] In this solution, rotation vibration is used first, followed by shaking vibration, to adapt to the differences in fruit maturity. The former step can pick mature fruits, and the latter step can be used for fruits that are not fully mature. By setting the two vibration forces at the same time, the picking of immature fruits can be minimized. The use of both rotation vibration and shaking vibration for picking causes less damage to the plants, a low breakage rate, and a high clean picking rate. Automated picking is highly efficient and does not require human intervention to operate the equipment. Efficient and automated harvesting and precise sorting of berries are achieved, which significantly improves harvesting efficiency, reduces operating costs, ensures fruit quality, promotes the transformation and upgrading of the berry industry towards mechanization and automation, enhances its core competitiveness in the international market, and provides strong support for the modernization of agriculture.

[0097] The above is only an embodiment of the present invention, and the common knowledge such as the specific technical solutions and / or characteristics in the solution are not described in detail here. It should be pointed out that for those skilled in the art, several variations and improvements can be made without departing from the technical solution of the present invention. In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. The scope of protection claimed by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. An automatic shrub berry picking device, characterized in that: include: Self-correcting mechanism, picking mechanism, collecting mechanism, conveying mechanism, power mechanism and sorting mechanism; The self-correction mechanism is used to correct the deviation of the power mechanism during the walking process; the picking mechanism includes a frame, a rotary vibration collection component and a shaking picking component, the middle part of the frame is provided with an opening for the plant to pass through, and the two sides of the frame opening are fixed to the corresponding power mechanism; the rotary vibration picking component is used for axial reciprocating vibration and circumferential rotational reciprocating vibration and rotational vibration of the shrub branches and leaves, the shaking picking component is used for axial vibration and circumferential shaking vibration of the shrub branches and leaves, and the rotary vibration picking component is located between the feeding end of the frame opening and the shaking picking component; The collecting mechanism is used to collect the berries picked by the picking mechanism, and the collecting mechanism is fixed on the power mechanism; the conveying mechanism is used to convey the berries collected by the collecting mechanism to the sorting mechanism for automatic sorting.

2. The automatic shrub berry picking device according to claim 1, characterized in that: The rotary vibration picking assembly includes: a roller brush bracket, a rotating roller brush, a spring support seat, a vibration spring, a roller brush mounting frame lower cover, an axial reciprocating vibration module and a circumferential reciprocating vibration module; The spring support seat is symmetrically mounted on both sides of the frame opening, and spring mounting holes are provided at both ends of the lower cover of the roller brush mounting frame. The vibration spring passes through the spring mounting holes and is fixed to the upper and lower end surfaces of the spring support seat; the lower cover of the roller brush mounting frame is symmetrically provided with through holes, the top end of the rotating roller brush is rotatably connected to the through holes, the bottom end of the rotating roller brush is in contact with the power mechanism, the roller brush bracket is fixed to the bottom of the rotating roller brush, and the bottom of the roller brush bracket is in contact with the power mechanism; The axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame, and is used to drive the lower cover of the roller brush mounting frame to move axially; the circumferential reciprocating vibration module is used to drive the rotating roller brush to vibrate circumferentially and rotate.

3. The automatic shrub berry picking device according to claim 2, characterized in that: The circumferential reciprocating module includes: a rotating motor, a second idler shaft, a second driving gear, a second driven gear and a second cam. The top of the rotating roller brush is fixedly connected to the output shaft of the rotating motor, and the upper cover of the roller brush mounting frame is symmetrically installed on the output shaft of the vibration motor; the second idler shaft is symmetrically installed between the upper covers of the roller brush mounting frame, and the output shaft of the rotating motor passes through the upper covers of the roller brush mounting frame and is connected to the rotating roller brush. The second driving gear is provided on the output shaft of the rotating motor and is located between the upper covers of the roller brush mounting frame. The second driven gear is installed on the second idler shaft, and the second driving gear and the second driven gear are meshed with each other; the second cams on the second idler shaft are symmetrically installed and rotate in opposite directions.

4. The automatic shrub berry picking device according to claim 1, characterized in that: The vibration picking assembly includes: a roller brush bracket, a vibration roller brush, a spring support seat, a vibration spring, a roller brush mounting frame lower cover, an axial reciprocating vibration module, a crank rocker module and a rotating rod; The spring support seat is symmetrically mounted on both sides of the frame opening, and spring mounting holes are provided at both ends of the lower cover of the roller brush mounting frame. The vibration spring is fixed to the upper and lower end surfaces of the spring support seat through the spring mounting holes; the lower cover of the roller brush mounting frame is symmetrically provided with through holes, the top end of the shaking roller brush is rotatably connected to the through holes, the bottom end of the shaking roller brush is in contact with the power mechanism, the roller brush bracket is fixed to the bottom of the shaking roller brush, and the bottom of the roller brush bracket is in contact with the power mechanism; The axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame, and the axial reciprocating vibration module is used to drive the axial movement of the lower cover of the roller brush mounting frame; one end of the rotating rod is connected to the shaking roller brush, and the other end of the rotating rod is connected to the crank rocker module, and the crank rocker module is used to drive the rotating rod to rotate circumferentially.

5. The automatic shrub berry picking device according to claim 4, characterized in that: The crank rocker module includes: a motor bracket, a drive motor, a crank, a rocker and a connecting rod. The motor bracket is fixed on the frame, and the drive motor is installed on the motor bracket. The drive motor is used to drive the crank to rotate. The crank, rocker and connecting rod are rotatably connected in sequence. One end of the rotating rod is fixedly connected to the vibrating roller brush, and the other end of the rotating rod is rotatably connected to the connecting rod.

6. The automatic bush berry picking device according to claim 2 or claim 4, characterized in that: The axial reciprocating vibration module includes a vibration motor, a cam support, a cam clamping plate, a first cam, a first idler long axis, a first idler short axis, an idler clamping plate, a first driving gear and a first driven gear; the cam support is installed in the middle of the lower cover of the roller brush mounting frame, the cam clamping plate is symmetrically installed on the cam support, the first idler long axis is symmetrically arranged on the cam clamping plate, the first cam is installed on the first idler long axis, and the first cams on the first idler long axis are symmetrically installed and have opposite directions; the first idler short axis is arranged on the idler clamping plate and the cam clamping plate on which the vibration motor is installed, the output shaft of the vibration motor passes through the single-sided cam clamping plate and is located on the idler clamping plate, the first driving gear is located on the output shaft of the vibration motor between the idler clamping plate and the cam clamping plate, the first driven gear is fixed on the first idler long axis and the first idler short axis, the first driving gear and the first driven gear are meshed with each other, and the first driven gears are meshed with each other; the vibration motor is installed on the cam support.

7. The automatic bush berry picking device according to claim 1, characterized in that: The collecting mechanism includes: a collecting blade assembly; the collecting blade assembly is symmetrically arranged at the bottom of both sides of the frame, the collecting blade assembly includes: a fixing frame shaft, a collecting blade and a collecting spring, a plurality of shafts are provided on the fixing frame along the direction of the frame opening, one end of the collecting blade is rotatably connected to the shaft, the other end of the collecting blade is arranged to overlap with the symmetrically arranged collecting blade, the collecting blade is arranged to overlap up and down along the direction of the frame opening, one end of the collecting spring is connected to the fixing frame, and the other end of the collecting spring is connected to the collecting blade; the overlapping parts of the collecting blades arranged opposite to each other on both sides of the frame are extended by a brush.

8. The automatic bush berry picking device according to claim 1, characterized in that: The self-correction mechanism includes: a correction contact plate, a tension spring, an optical axis, a rotating ring, a support seat, a bracket assembly and an encoder assembly for recording the position of the correction contact plate, the encoder assembly is fixed to the top of the optical axis, the bottom of the optical axis is rotatably connected to the support seat, and the support seat is fixed to the bottom of the bracket assembly; the rotating ring is fixed on the optical axis, the correction contact plate is fixed on the rotating ring, and the bracket assembly is rotatably connected to the rotating ring; the bracket assembly is used to fix the rotating shaft assembly on the feed end of the frame opening, and the correction contact plate is fixedly connected to the bracket assembly via a tension spring.

9. The automatic bush berry picking device according to claim 1, characterized in that: The sorting mechanism includes: a sorting and storage body, a drum drive motor, a drum body, a feed port, a duct assembly and a storage bin; the drum body is installed in the sorting and storage body, the drum drive motor is used to drive the drum body to rotate, the feed port is inclined, the lower end of the feed port is connected to the drum body, the air outlet of the duct assembly faces the feed port, the air outlet of the duct assembly is located at the lower end of the feed port, the diameter of the sorting hole on the drum body gradually increases along its discharging direction; the storage bin is located below the drum body, and the storage bin is arranged corresponding to the sorting hole.

10. The automatic bush berry picking device according to claim 9, characterized in that: The cleaning assembly also includes a wind tube and a fan. The fans are symmetrically arranged at the openings at both ends of the wind tube. An air outlet is provided in the middle of the wind tube, and the air outlet of the wind tube faces the berries that are about to enter the feed port.

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