Autonomous variable frequency and amplitude fruit tree vibration harvesting device based on pneumatic type

Abstract

The present application relates to a kind of self-variable frequency variable amplitude's forest fruit vibration harvesting device, can be independently harvested to forest fruit, while reducing the vibration damage to walnut tree in the operation process.It is characterized by: including walking component, lifting assembly, vibration component, clamping assembly, control component, power component;First pneumatic paddle is installed on the first vibration shaft, first return spring is installed directly above the first pneumatic paddle, second pneumatic paddle is installed on the second vibration shaft, second pneumatic paddle is installed directly above the second pneumatic paddle, pressure sensing sheet is installed on clamping assembly.The present application compared with prior art, by the power of eccentric block transmitted by pneumatic paddle and the pressure sensing sheet installed on the clamping jaw component, solve the problem that fruit tree is easily damaged in the vibration type forest fruit mechanical harvesting process.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting, and in particular to a pneumatic variable frequency and variable amplitude fruit vibration harvesting device. Background Technology

[0002] Currently, the main type of fruit harvesting machinery is vibratory fruit harvesting machinery. Its vibration structure is usually a crank-slider structure or an eccentric block structure. It typically uses an electric motor as the power source for the vibration device. During the start-up or shutdown process, the motor may experience violent fluctuations in output power due to a large load. This causes the vibratory fruit harvesting machinery to bear a large inertial force during the start-up or shutdown process, and the output vibration force may change abruptly, which can easily damage the fruit trees. Summary of the Invention

[0003] To address the problem of sudden changes in the vibration force output by existing vibratory harvesting machinery for forest fruits during startup or shutdown, this invention proposes a pneumatically driven autonomous frequency- and amplitude-changing vibration device.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] The present invention is characterized in that it includes a walking component, a lifting component, a power component, a control component, a vibration component, and a clamping component. The power component consists of an air pump and an air pump mounting base. The air pump mounting base is fixedly installed on the base plate, and the air pump is fixedly installed on the air pump mounting base.

[0006] The walking assembly consists of a base plate and a walking mechanism, with the base plate fixedly mounted on top of the walking mechanism.

[0007] The lifting assembly consists of a first pneumatic push rod bearing seat, a first pneumatic push rod, an inclined support bearing seat, an inclined support, a second pneumatic push rod, a horizontal support, and a flexible steel cable. The first pneumatic push rod bearing is fixedly installed in the middle of the base plate. One end of the first pneumatic push rod is installed on the first pneumatic push rod bearing seat, and the other end of the first pneumatic push rod is installed on the inclined support. The inclined support bearing seat is fixedly installed in the middle of the base plate. One end of the inclined support is installed on the inclined support bearing seat, and the other end of the inclined support is connected to the horizontal support. One end of the second pneumatic push rod is installed on the inclined support, and the other end of the second pneumatic push rod is installed on the horizontal support. One end of the flexible steel cable is fixedly installed on the horizontal support.

[0008] The control assembly consists of a control box and a binocular camera. The control box is fixedly installed on one side of the base plate, and the binocular camera is fixedly installed on a horizontal bracket.

[0009] The vibrating component comprises a vibrating shell, a vibrating frame, a first eccentric block, a second eccentric block, a first pneumatic device shell, a second pneumatic device shell, a first air vent device, a second air vent device, a first return spring limiting plate, a second return spring limiting plate, a first return spring, a second return spring, a first bushing, a second bushing, a first pneumatic blade, a second pneumatic blade, a first vibrating shaft, and a second vibrating shaft. The vibrating shell is fixedly mounted on the vibrating frame. The upper part of the vibrating frame is connected to one end of a flexible steel cable. The lower end of the first vibrating shaft is mounted on one side of the lower end of the vibrating frame via a bearing, and the upper end of the first vibrating shaft is mounted on one side of the upper end of the vibrating frame via a bearing. The lower end of the second vibrating shaft is mounted on one side of the lower end of the vibrating frame via a bearing, and the upper end of the second vibrating shaft is mounted on one side of the upper end of the vibrating frame via a bearing. The first and second pneumatic blades are respectively mounted on the first and second vibrating shafts via flat keys. The first pneumatic device shell is fixedly mounted on the vibrating frame. The first pneumatic device is fixedly installed concentrically with the first vibration shaft. The first pneumatic device housing completely encloses the first pneumatic blade, and the first pneumatic blade divides the interior of the housing into four sealed cavities. A first air vent device is fixedly installed on the housing. This device has two air vents: an outlet and an inlet. The angle between the inlet and outlet and the first vibration shaft is between 90° and 180°. The inlet connects to an air vent on the air pump. A first bushing is mounted on the first vibration shaft via a flat key and is located directly above the housing. Two notches are formed on the circular boss at the lower end of the first bushing, and a rectangular boss is present at the upper end. One end of a first return spring limiting plate is installed between the two bosses on the upper surface of the housing, allowing the first return spring limiting plate to move up and down along the axis of the first vibration shaft. The other end of the first return spring limiting plate is connected to the lower boss of the first bushing.

[0010] The upper end face is in contact. The first return spring is mounted on the first bushing and there are rectangular bosses at both ends of the first return spring. The boss at the upper end of the first return spring is connected to the boss at the upper end of the first bushing, and the boss at the lower end of the first return spring is connected to the boss at the lower end of the first bushing. The first eccentric block is connected to the first vibration shaft through a flat key. The first eccentric block is located directly above the first bushing.

[0011] The clamping component consists of a clamping jaw fixing plate, a clamping jaw block, a clamping jaw cylinder, and a clamping jaw head. There are two clamping jaw fixing plates, which are respectively installed at the front end of the vibration frame. The end of the clamping jaw block is installed on the clamping jaw fixing plate by a pin. The fixed end of the clamping jaw cylinder is installed on the clamping jaw fixing plate, and the telescopic end of the clamping jaw cylinder is installed on the clamping jaw block. The rear end of the lower two clamping jaw blocks is installed on the front end of the upper two clamping jaw blocks by a pin. The fixed end of the clamping jaw cylinder is installed on the front end of the upper two clamping jaw blocks, and the telescopic end of the clamping jaw cylinder is installed on the rear end of the first two clamping jaw blocks. The clamping jaw head is installed on the front end of the last two clamping jaw blocks by a pin. The fixed end of the clamping jaw cylinder is installed on the front end of the last two clamping jaw blocks, and the telescopic end of the clamping jaw cylinder is installed on the rear end of the clamping jaw head. Pressure sensing plates are installed on the inner sides of the clamping jaw block and the clamping jaw head.

[0012] Compared with existing technologies, this invention, when harvesting fruit using vibration, collects positioning and geometric information of the fruit trees and fruits through a binocular camera, and automatically adjusts the rotation speed and number of rotations of the eccentric block, thereby achieving efficient fruit harvesting and low damage to the fruit trees. Attached Figure Description

[0013] Figure 1 Here is a schematic diagram of the structure of the present invention:

[0014] Figure 2 for Figure 1 A schematic diagram of the overall structure of the vibration device (vibration assembly without outer casing):

[0015] Figure 3 for Figure 1 Schematic diagram of the vibration component and clamping component structure:

[0016] Figure 4 for Figure 1 A schematic diagram of the vibration component structure in the diagram;

[0017] Figure 5 for Figure 1 A partial cross-sectional view of the vibration component in the diagram;

[0018] Figure 6 for Figure 1 A schematic diagram of the clamping component structure;

[0019] In the diagram, 1 is the power component, 2 is the walking component, 3 is the lifting component, 4 is the control component, 5 is the vibration component, 6 is the clamping component, 101 is the air pump, 102 is the air pump mounting base, 201 is the base plate, 202 is the walking mechanism, 301 is the first pneumatic push rod bearing seat, 302 is the first pneumatic push rod, 303 is the inclined support bearing seat, 304 is the inclined support, 305 is the second pneumatic push rod, 306 is the horizontal support, 307 is the flexible steel cable, 401 is the control box, 402 is the binocular camera, 501 is the vibration housing, 502 is the vibration frame, 503 is the first eccentric block, 504 is the second eccentric block, 505 is the first pneumatic device housing, and 506 is the second pneumatic device.

[0020] The outer casing, 507 is the first air vent device, 508 is the second air vent device, 509 is the first return spring limiting plate, 510 is the second return spring limiting plate, 511 is the first return spring, 512 is the second return spring, 513 is the first bushing, 514 is the second bushing, 515 is the first pneumatic blade, 516 is the second pneumatic blade, 517 is the first vibration shaft, 518 is the second vibration shaft, 601 is the gripper fixing plate, 602 is the gripper block, 603 is the gripper cylinder, and 604 is the gripper head. Specific Implementation

[0021] like Figure 1 As shown, the pneumatically driven, frequency- and amplitude-variable forest fruit vibration harvesting device proposed in this embodiment includes: a power component 1, a walking component 2, a lifting component 3, a control component 4, a vibration component 5, and a clamping component 6.

[0022] like Figure 2 As shown, the power assembly 1 consists of an air pump 101 and an air pump mounting base 102. The air pump mounting base 102 is fixedly installed on the base plate 201, and the air pump 101 is fixedly installed on the air pump mounting base 102. The control box 401 controls the opening and closing of the air holes on the air pump 101 by transmitting signals, thereby controlling the working status of the vibration device.

[0023] like Figure 2 As shown, the walking component 2 consists of a base plate 201 and a walking mechanism 202. The base plate 201 is fixedly installed above the walking mechanism 202. The movement trajectory of the walking mechanism 202 is controlled by the signal output by the control box 401, so that the walking mechanism 202 can automatically identify and approach unharvested fruit trees.

[0024] like Figure 2As shown, the lifting assembly 3 consists of a first pneumatic push rod bearing seat 301, a first pneumatic push rod 302, a tilting bracket bearing seat 303, a tilting bracket 304, a second pneumatic push rod 305, a horizontal bracket 306, and a flexible steel cable 307. The first pneumatic push rod bearing seat 301 is fixedly installed in the middle of the base plate 201. One end of the first pneumatic push rod 302 is installed on the first pneumatic push rod bearing seat 301, and the other end of the first pneumatic push rod 302 is installed on the tilting bracket 304. When the first pneumatic push rod 302 extends, the tilting bracket 304 tilts forward, driving the vibration assembly 5 and the clamping assembly 6 to move forward. When the first pneumatic push rod 302 retracts, the tilting bracket 304 tilts backward, driving the vibration assembly 5 and the clamping assembly 6 to move backward. The tilting bracket bearing seat 303 is fixedly installed in the middle of the base plate 201, and the tilting bracket 305... One end of the 04 is installed on the inclined support bearing seat 303, and the other end of the inclined support 304 is connected to the horizontal support 306. One end of the second pneumatic push rod 305 is installed on the inclined support 304, and the other end of the second pneumatic push rod is installed on the horizontal support 306. When the second pneumatic push rod 305 retracts, the horizontal support 306 rotates downward. When the second pneumatic push rod 305 extends, the horizontal support 306 rotates upward. One end of the flexible steel cable 307 is fixedly installed on the horizontal support 306. When the vibration device approaches the fruit tree, the control box 401 outputs a signal to control the opening and closing of the relevant air holes of the air pump 101, thereby adjusting the extension state of the first pneumatic push rod 302 and the second pneumatic push rod 305, thereby controlling the forward tilt of the inclined support 304 and the rotation of the horizontal support 306, so that the clamping component 6 can vertically clamp the upper part of the fruit tree trunk.

[0025] like Figure 2 As shown, the control component 4 consists of a control box 401 and a binocular camera 402. The control box 401 is fixedly installed on one side of the base plate 201, and the binocular camera 402 is fixedly installed on the horizontal support 306. The binocular camera 402 collects environmental information around the vibration device and transmits the relevant information to the control box 401. The control box 401 processes the information collected by the binocular camera 402 to obtain the geometric structure information and position information of the fruit tree. Based on the positioning system embedded in the control box 401, it controls the walking mechanism 202 to drive the vibration device to move towards the position of the fruit tree. When the vibration device gets close to the fruit tree, the control box 401 controls the walking mechanism 202 to stop moving and controls the opening and closing state of the relevant air holes on the air pump 101 according to its own position and posture information, thereby controlling the extension and retraction state of the first pneumatic push rod 302 and the second pneumatic push rod 305, thereby adjusting the position of the inclined support 304 and the horizontal support 306 so that the clamping component 6 clamps the trunk of the fruit tree.

[0026] like Figure 3 , 4As shown in Figure 5, the vibrating component 5 consists of a vibrating housing 501, a vibrating frame 502, a first eccentric block 503, a second eccentric block 504, a first pneumatic device housing 505, a second pneumatic device housing 506, a first air vent device 507, a second air vent device 508, a first return spring limiting plate 509, a second return spring limiting plate 510, a first return spring 511, a second return spring 512, a first bushing 513, a second bushing 514, a first pneumatic blade 515, a second pneumatic blade 516, a first vibrating shaft 517, and a second vibrating shaft 518. The vibrating housing 501 is fixedly mounted on the vibrating frame 502, and the upper part of the vibrating frame 502 is connected to the flexible...

[0027] One end of the steel cable 307 is connected. Since the vibration frame 502 and the horizontal support 306 are connected by the flexible steel cable 307, the connection between the vibration component 5 and the lifting component 3 is flexible. When the clamping component 6 clamps the tree trunk, the excitation force generated by the vibration component 5 will not be transmitted to the lifting component 3 through the flexible steel cable 307, so that the excitation force generated by the vibration component 5 acts entirely on the fruit tree, improving the utilization rate of vibration energy. The lower end of the first vibration shaft 517 is mounted on one side of the lower end of the vibration frame 502 through a bearing, and the upper end of the first vibration shaft 517 is mounted on one side of the upper end of the vibration frame 502 through a bearing. The lower end of the second vibration shaft 518 is mounted on one side of the lower end of the vibration frame 502 through a bearing. The upper end of 8 is mounted on one side of the upper end of the vibration frame 502 via a bearing. The first pneumatic blade 515 and the second pneumatic blade 516 are respectively mounted on the first vibration shaft 517 and the second vibration shaft 518 via flat keys. The first pneumatic device housing 505 is fixedly mounted at a position concentric with the first vibration shaft 517. The first pneumatic device housing 505 completely encloses the first pneumatic blade 515, and the first pneumatic blade 515 divides the interior of the first pneumatic device housing 505 into four sealed cavities. The first air vent device 507 is fixedly mounted on the first pneumatic device housing 505. The first air vent device 507 has two air vents, namely an air outlet and an air inlet, and the angle formed between the air inlet and the air outlet and the first vibration shaft 517 is within a certain range. The air inlet is connected to the air inlet on the air pump 101. The air pump 101 transmits gas to the interior of the first pneumatic device housing 505 through the first air inlet device 507. Since the first pneumatic blade 515 divides the interior space of the first pneumatic device housing 505 into four sealed internal cavities, when the air pump 101 inputs gas into the interior of the first pneumatic device housing 505 through the first air inlet device 507, the first pneumatic blade 515 rotates. When the gas-filled cavity rotates to the air outlet area, the gas is discharged and continues to rotate under the action of the cavity connected to the air inlet. The rotational speed of the first pneumatic blade 515 can be controlled by controlling the gas flow rate at the air inlet of the first air inlet device 507, thereby achieving control. The rotational speed of the first vibration shaft 517 is controlled by a first bushing 513, which is mounted on the first vibration shaft 517 via a flat key and is located directly above the first pneumatic device housing 505. The lower end of the first bushing 513 has two notches on its circular boss, and its upper end has a rectangular boss. One end of the first return spring limiting plate 509 is installed between the two bosses on the upper surface of the first pneumatic device housing 505, allowing it to move up and down along the axial direction of the first vibration shaft 517. The other end of the first return spring limiting plate 509 contacts the upper surface of the lower boss of the first bushing 513. The first return spring 511 is mounted on the first bushing 513, and both ends of the first return spring 511 have rectangular bosses.The boss at the upper end of the first return spring 511 is connected to the boss at the upper end of the first bushing 513, and the boss at the lower end of the first return spring 511 is connected to the boss at the lower end of the first bushing 513. The first eccentric block 503 is connected to the first vibration shaft 517 via a flat key. The first eccentric block 503 is located directly above the first bushing 513. When the air pump 101 inputs gas into the housing 505 of the first pneumatic device through the first air hole device 507, the first pneumatic blade 515 rotates, driving the first vibration shaft 517 to rotate, thereby driving the first bushing 513 and the first eccentric block 503 to rotate. The rotation of the first eccentric block 503 generates an excitation force. Since the boss at the upper end of the first bushing 513 is connected to the boss at the upper end of the first return spring 511, the first... The bushing 513 drives the first return spring 511 to rotate. When the notch of the lower boss of the first bushing 513 is not directly below the first return spring limiting plate 509, the first return spring limiting plate 509 connects with the lower boss of the first return spring 511, and the height of the contact surface is less than the depth of the notch of the lower boss of the first bushing, thus restricting the rotation of the lower end of the first return spring 511. Since the upper end of the first return spring 511 rotates synchronously with the first bushing 513, the line segment of the first return spring 511 remains fixed. At this time, the first return spring 511 has internal torque. When the notch of the lower boss of the first bushing 513 rotates to be directly below the first return spring limiting plate 509, the first return spring limiting plate 509 falls onto the first bushing 511. At the notch of the lower boss, the first return spring limiting plate 509 separates from the lower boss of the first return spring 511, allowing the lower end of the first return spring 511 to rotate freely. Due to the internal torque of the first return spring 511, it rotates in the opposite direction to the first bushing 513, releasing the internal torque and returning the first return spring 511 to its equilibrium position. During the installation of the first return spring 511, the first return spring limiting plate 509, and the first bushing 513, the contact surfaces connecting these components are positioned on the same two vertical planes, thus enabling the first bushing 513 to rotate two revolutions. The first return spring 511 completes the accumulation and release of torque, and the boss of the first return spring limiting plate 509 and the boss of the line segment of the first return spring 511 complete the contact-separation-contact process. The second pneumatic device housing 506 is fixedly installed at a position concentric with the second vibration shaft 518. The second pneumatic device housing 506 completely encloses the second pneumatic blade 516, and the second pneumatic blade 516 divides the interior of the second pneumatic device housing 506 into four sealed cavities. The second air vent device 508 is fixedly installed on the second pneumatic device housing 506. The second air vent device 508 has two air vents, namely an air outlet and an air inlet, and the angle formed between the air inlet and the air outlet and the second vibration shaft 518 is in the range of 90°~180°.The air inlet is connected to the air port on the air pump 101. The air pump 101 transmits gas to the interior of the second pneumatic device housing 506 through the second air port device 508. Since the second pneumatic blade 516 divides the interior space of the second pneumatic device housing 506 into four sealed internal cavities, when the air pump 101 inputs gas into the interior of the second pneumatic device housing 506 through the second air port device 508, the second pneumatic blade 516 rotates. When the gas-filled cavity rotates to the air outlet area, the gas is discharged and continues to rotate under the action of the cavity connected to the air inlet. The rotational speed of the second pneumatic blade 516 can be controlled by controlling the gas flow rate at the air inlet of the second air port device 508, thereby controlling the rotation of the second vibration shaft 518. The second bushing 514 is mounted on the second vibration shaft 518 via a flat key and is located directly above the housing 506 of the second pneumatic device. Two notches are formed on the circular boss at the lower end of the second bushing 514, and a rectangular boss is present at the upper end. One end of the second return spring limiting plate 510 is installed between the two bosses on the upper surface of the housing 506 of the second pneumatic device, allowing the second return spring limiting plate 510 to move up and down along the axial direction of the second vibration shaft 518. The other end of the second return spring limiting plate 510 contacts the upper surface of the lower boss of the second bushing 514. The second return spring 512 is mounted on the second bushing 514, and both ends of the second return spring 512 have rectangular bosses. The boss at the end of the second sleeve 514 is connected to the boss at the upper end of the second sleeve 514. The boss at the lower end of the second return spring 512 is connected to the boss at the lower end of the second sleeve 514. The second eccentric block 504 is connected to the second vibration shaft 518 via a flat key. The second eccentric block 504 is located directly above the second sleeve 514. When the air pump 101 inputs gas into the second pneumatic device housing 506 through the second air hole device 508, the second pneumatic blade 516 rotates, driving the second vibration shaft 518 to rotate, thereby driving the second sleeve 514 and the second eccentric block 504 to rotate. The rotation of the second eccentric block 504 generates an excitation force. Since the boss at the upper end of the second sleeve 514 is connected to the boss at the upper end of the second return spring 512, the second sleeve 514 drives the second return spring 512 to rotate. When spring 512 rotates, and the notch of the lower boss of the second bushing 514 is not directly below the second return spring limiting plate 510, the second return spring limiting plate 510 connects with the lower boss of the second return spring 512, and the height of the contact surface is less than the depth of the notch of the lower boss of the second bushing, thus restricting the rotation of the lower end of the second return spring 512. Since the upper end of the second return spring 512 rotates synchronously with the second bushing 514, the line segment of the second return spring 512 remains fixed. At this time, the second return spring 512 has internal torque. When the notch of the lower boss of the second bushing 514 rotates to be directly below the second return spring limiting plate 510, the second return spring limiting plate 510 falls to the notch of the lower boss of the second bushing 514.At this point, the second reset spring limiting plate 510 separates from the boss at the lower end of the second reset spring 512, allowing the lower end of the second reset spring 512 to rotate freely. Due to the internal torque of the second reset spring 512, it rotates in the opposite direction to the second bushing 514, releasing the internal torque and returning the second reset spring 512 to its equilibrium position. During the installation of the second reset spring 512, the second reset spring limiting plate 510, and the second bushing 514, the second reset spring... 512. The contact surfaces connecting the second return spring limiting plate 510 and the second bushing 514 are located on the same two vertical planes. This allows the second return spring 512 to accumulate and release torque when the second bushing 514 rotates two revolutions, and the boss of the second return spring limiting plate 510 and the boss of the second return spring 512 to complete the contact-separation-contact process. During installation, the eccentric directions of the first eccentric block 503 and the second eccentric block 504 are the same, and the rotation directions of the first eccentric block 503 and the second eccentric block 504 are the same. The vibration force generated by the vibrating component 5 is twice that generated by the first eccentric block 503 or the second eccentric block 504; the binocular camera 402 collects the geometric information of the fruit tree and transmits it to the control box 402. When the diameter of the fruit tree trunk is small, the control box 402 controls the air pump 101 to deliver gas to the first air vent device 507, causing the first eccentric block 503 to rotate; when the diameter of the fruit tree trunk is large, the control box 402 controls the air pump 101 to deliver gas to the first air vent device 507 and the second air vent device 508 respectively, and the first air vent device 507... The gas flow rates at the inlets of the vent device 507 and the second vent device 508 are equal, allowing the vibrating component 5 to generate a greater excitation force at the same excitation frequency, thus making the vibrating device more adaptable to different fruit trees. Since the power source of the eccentric block is pneumatic, and the gas has a certain degree of compressibility, the inertial force generated by the vibrating component 5 is relatively large when it first starts working. This changes the pressure inside the cavities of the first pneumatic device housing 505 (and the second pneumatic device housing 506), thereby adjusting the excitation force curve output by the vibrating component 5.

[0028] like Figure 6As shown, the clamping component 6 consists of a jaw fixing plate 601, jaw blocks 602, jaw cylinders 603, and jaw heads 604. There are two jaw fixing plates 601, which are respectively installed at the front end of the vibrating frame 502. The ends of the jaw blocks 602 are mounted on the jaw fixing plates 601 via pins. The fixed end of the jaw cylinders 603 is mounted on the jaw fixing plates 601, and the telescopic end of the jaw cylinders 603 is mounted on the jaw blocks 602. The rear ends of the lower two jaw blocks 602 are mounted on the front ends of the upper two jaw blocks 602 via pins. The fixed end of the jaw cylinders 603 is mounted on the front ends of the upper two jaw blocks 602, and the telescopic end of the jaw cylinders 603 is mounted on the rear ends of the first two jaw blocks 602. The jaw heads 604 are mounted on the front ends of the last two jaw blocks 602 via pins, and the fixed end of the jaw cylinders 603 is mounted on the last two jaw blocks 602.

[0029] The front end of the gripper block 602 and the telescopic end of the gripper cylinder 603 are installed at the rear end of the gripper head 604. Pressure sensing plates are installed on the inner sides of the gripper block 602 and the gripper head 604. When the control box 401 automatically sets the gripping force of the gripping component 6 on the fruit tree based on the fruit tree information transmitted by the binocular camera 402, the control box 401 controls the gas transmitted to the gripper cylinder 603 by the air pump 101 and the information fed back by the pressure sensing plate to realize the real-time adjustment of the gripping force of the gripping component 6 on the fruit tree trunk.

[0030] During harvesting, the binocular camera 402 collects information such as the geometric structure and location of the fruit tree and transmits this information to the control box 401. The control box 401 controls the walking component 2 to move towards the fruit tree based on this information. When the vibrating device approaches the fruit tree, the walking component 2 stops moving. The control box 401 then controls the air intake of the first pneumatic push rod 302 and the second pneumatic push rod 305 via the air pump 101, causing the clamping component 6 to clamp the fruit tree trunk. The control box 401 controls the extension and retraction length of the gripper cylinder 603 via the air pump 101, thereby controlling the clamping force of the gripper component 6 on the trunk. When the gripper component 6 stably clamps the fruit tree... At this time, based on the geometric structure information of the fruit tree collected by the binocular camera 402, if the diameter of the fruit tree trunk is small, the control box 401 controls the air pump 101 to deliver gas to the first air hole device 507, and controls the amount of air intake of the first air hole device 507 to output the excitation force and excitation frequency of the vibration component 5; if the diameter of the fruit tree trunk is large, the control box 401 controls the air pump 101 to deliver gas to the first air hole device 507 and the second air hole device 508, and controls the amount of air intake of the first air hole device 507 and the second air hole device 508 to output the excitation force and excitation frequency of the vibration component 5, thereby realizing the autonomous frequency and amplitude conversion function of the vibration device.

Claims

1. An autonomous variable frequency and amplitude fruit harvesting device based on pneumatic, characterized in that: The utility model relates to a kind of multi-functional hydraulic pressure gripper, including walking component, power component, lifting component, control component, vibration component, clamping component;First pneumatic paddle is fixedly installed on first vibration shaft, second pneumatic paddle is fixedly installed on second vibration shaft, jaw block and jaw head are installed stress sensing sheet, the power component is composed of air pump and air pump fixed seat, air pump fixed seat is fixedly installed on bottom plate, air pump is fixedly installed on air pump fixed seat, the vibration component is composed of vibration shell, vibration frame, first eccentric block, second eccentric block, first pneumatic device shell, second pneumatic device shell, first air hole device, second air hole device, first reset spring limit plate, second reset spring limit plate, first reset spring, second reset spring, first shaft sleeve, second shaft sleeve, first pneumatic paddle, second pneumatic paddle, first vibration shaft and second vibration shaft, vibration shell is fixedly installed on vibration frame, vibration frame upper end is connected with flexible steel cable one end, the lower end of first vibration shaft is installed on the side of vibration frame lower end by bearing, the upper end of first vibration shaft is installed on the side of vibration frame by bearing, first pneumatic paddle and second pneumatic paddle are installed on first vibration shaft and second vibration shaft respectively by flat key, first pneumatic device shell is fixedly installed on the position concentric with first vibration shaft, first pneumatic device shell completely wraps first pneumatic paddle and first pneumatic paddle divides the inner portion of first pneumatic device shell into four closed chambers, first reset spring is installed on first shaft sleeve, first reset spring upper end boss is in contact with first shaft sleeve upper end boss, first shaft sleeve lower end boss has gap, one end of first reset spring limit plate is installed in the middle of two bosses of first pneumatic device shell upper end face, the other end of first reset spring limit plate is in contact with the upper end face of first shaft sleeve lower end boss, first reset spring limit plate is in contact with first reset spring lower end boss, and the height of contact surface is less than the depth of first shaft sleeve lower end boss gap.

2. The self-powered pneumatic-based variable frequency and amplitude orchard vibration harvester of claim 1, wherein: Second reset spring is installed on second shaft sleeve, second reset spring upper end boss is in contact with second shaft sleeve upper end boss, second shaft sleeve lower end boss has gap, second reset spring limit plate is in contact with second reset spring lower end boss, and the height of contact surface is less than the depth of second shaft sleeve lower end boss gap.

3. The self-powered variable frequency and amplitude pneumatic based fruit harvesting device according to claim 1, wherein: Pressure sensing sheet is fixedly installed on jaw block and jaw head, jaw cylinder is installed between jaw block and jaw fixed plate, between adjacent jaw blocks and between jaw block and jaw head.

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