A shaking crown fruit picking mechanism and a picking method thereof

Abstract

The application discloses a kind of crown forest fruit harvesting mechanism and its harvesting method.The sliding table one and sliding table two are with base to form horizontal direction sliding pair, gear one and gear two are with sliding table one and sliding table two respectively to form rotating pair, and are driven by two servo motors respectively, and are engaged with rack;Rotating shaft one and rotating shaft two are with sliding table one and sliding table two respectively to form rotating pair;One end of connecting rod one and connecting rod two is respectively hinged with the same end of rotating shaft one and rotating shaft two, the other end is hinged with one end of connecting shaft, the other end of connecting shaft is fixed with excitation frame;Four sliding blocks fixed on excitation frame are with four fixed blocks fixed on sliding shaft respectively to form vertical direction sliding pair, each fixed block is with fixed frame to form horizontal direction sliding pair.The application can realize the harvesting work of fruit, and the harvesting efficiency is high;The application can realize the fruit harvesting of different kinds of fruit trees and different physical properties and biomechanical properties fruit trees.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fruit harvesting machinery, and particularly relates to a tree crown fruit harvesting mechanism and a harvesting method thereof. BACKGROUND

[0002] The fruit vibration harvesting technology refers to applying the vibration characteristics of a mechanical device to the fruit harvesting process, so that the fruit shakes through vibration, and when the inertial force generated by the fruit is greater than the connecting force between the fruit and the fruit stem, the fruit is shaken off to be collected. Most of the existing fruit vibration harvesting mechanisms adopt the form of trunk vibration to realize the harvesting of fruits, which is easy to cause damage to the trunk of the fruit tree, and the vibration effect is poor, thereby reducing the harvesting efficiency. In the existing fruit vibration harvesting mechanism, the vibration is directly applied to the branches and trunks of the fruit trees to realize the harvesting of fruits, but the vibration trajectory is mainly circular or elliptical, the vibration effect is poor, thereby reducing the harvesting efficiency, and the vibration parameters are single, and the application range is limited. SUMMARY

[0003] The present application aims to overcome the shortcomings of the prior art and provides a tree crown fruit harvesting mechanism and a harvesting method thereof.

[0004] To achieve the above-mentioned purpose, the present application adopts the following technical solutions:

[0005] A tree crown fruit harvesting mechanism, comprising a fixed frame, a vibration frame and a vibration mechanism.

[0006] The vibration mechanism comprises a sliding table one, a rotating shaft one, a connecting rod one, a connecting shaft, a connecting rod two, a rotating shaft two, a sliding table two, a base, a rack, a gear one and a gear two; the horizontally arranged base is fixed to the fixed frame; the horizontally parallel sliding table one and the sliding table two form a horizontal sliding pair with the base; the gear one and the gear two are arranged in the groove formed in the base, and form a rotating pair with the lower surfaces of the sliding table one and the sliding table two, respectively, and are driven by two servo motors through two speed reducers; the rack is fixed in the groove, and the gear one and the gear two are engaged with the rack; the horizontally parallel rotating shaft one and the rotating shaft two form a rotating pair with the sliding table one and the sliding table two, respectively; one end of the connecting rod one and the connecting rod two is hingedly connected to the same end of the rotating shaft one and the rotating shaft two, respectively, and the other end is hingedly connected to one end of the connecting shaft, and the other end of the connecting shaft is fixed to the middle part of the vibration frame, and the connecting shaft is parallel to the rotating shaft one.

[0007] A plurality of vibration excitation rod groups are arranged on the vibration excitation frame, each vibration excitation rod group is composed of a plurality of vibration excitation rods arranged at intervals from top to bottom, the vibration excitation rods are horizontally fixed on the vibration excitation frame, and the vibration excitation rods of each adjacent two vibration excitation rod groups are arranged in a staggered manner; a sliding block is fixed at each corner of the vibration excitation frame, each sliding block and a sliding shaft form a sliding pair in the vertical direction, each sliding shaft is fixed with a fixed block, and each fixed block and the fixed frame form a sliding pair in the horizontal direction.

[0008] Preferably, the shell of the servo motor is fixed on the shell of the corresponding speed reducer, the shell of the speed reducer is fixed with the sliding table one or the sliding table two, the output shaft of the servo motor is fixed with the input shaft of the speed reducer, the output shaft of the speed reducer passes through the through hole formed on the sliding table one or the sliding table two, forms a rotating pair with the through hole, and is fixed with the gear one or the gear two.

[0009] Preferably, a linear guide rail is fixed on the base, and the sliding table one and the sliding table two form a sliding pair with the linear guide rail.

[0010] Preferably, a fixed plate one and a fixed plate two are respectively fixed on the sliding table one and the sliding table two, and the fixed plate one and the fixed plate two are arranged in a horizontal parallel manner, and the rotating shaft one and the rotating shaft two form rotating pairs with the fixed plate one and the fixed plate two, respectively.

[0011] Preferably, an axle hole one and a bearing hole are formed at two ends of the connecting rod one respectively, two axle holes two are formed at two ends of the connecting rod two, the rotating shaft one passes through the axle hole one and forms a rotating pair with the axle hole one, the rotating shaft two passes through one of the axle holes two and forms a rotating pair with the one of the axle holes two, the connecting shaft passes through the other of the axle holes two and forms a rotating pair with the other of the axle holes two, and is supported on the bearing hole through the deep groove ball bearing; wherein, two elastic retaining rings arranged at intervals are arranged in the axle hole one and the two axle holes two, and the connecting rod one, the connecting rod two and the connecting shaft are axially positioned through the corresponding two elastic retaining rings.

[0012] Preferably, a limiting baffle is fixed at each end of the base, and a plurality of damping rings arranged at intervals are fixed on the inner side of each limiting baffle.

[0013] Preferably, the fixed block is fixed with the connecting piece through bolts, the connecting piece forms a sliding pair in the horizontal direction with the vibration excitation frame, and a plurality of guide wheels are hinged on the connecting piece, and each guide wheel forms a rolling friction pair with the fixed frame.

[0014] Preferably, a fixed piece is fixed on the vibration excitation frame, and a circular hole is formed on the vibration excitation frame and the fixed piece, a sliding guide sleeve is fixed on the side of the fixed piece away from the vibration excitation frame, the center holes of the two circular holes and the sliding guide sleeve are coaxially arranged, and the end of the connecting shaft away from the connecting rod one passes through the two circular holes and the center hole and is fixed with the center hole.

[0015] The harvesting method of the vibration excitation type tree crown fruit harvesting mechanism is as follows:

[0016] Initially, slides one and two are located at their extreme positions at both ends of the base. The fixed frame is mounted on the moving trolley, which, through the fixed frame, moves the excitation frame and excitation mechanism, causing the excitation rods on the excitation frame to insert into the canopy of the target fruit tree. A collection frame is then placed below the canopy. Next, the rotation angle of the output shafts of the two servo motors is set, and the controller controls the operation of the two servo motors. The two servo motors, through two reducers, drive gear one and gear two to rotate respectively. Both gear one and gear two mesh with racks, thereby driving slides one and two respectively. The sliding platform 1 and sliding platform 2 drive the connecting shaft to move along a rotary wheel trajectory via connecting rod 1 and connecting rod 2, which in turn drives the excitation frame and each excitation rod to move along a rotary wheel trajectory. Each excitation rod excites the fruit tree canopy, and the fruit is forced to vibrate under the action of each excitation rod, generating inertial force. When the inertial force is greater than the binding force between the fruit and the branch, the fruit falls off and into the collection box, thus completing the harvesting of the fruit. During the movement of the excitation frame, the excitation frame drives each slider to rise and fall synchronously along the corresponding sliding shaft, and drives each fixed block to move synchronously through each slider and each sliding shaft.

[0017] Preferably, when the connecting shaft moves along a rotary trajectory, the calculation process for the rotation angle of the output shafts of the two servo motors is as follows:

[0018] Let A1, A2, and P be the projection points of the central axes of rotating shaft one, rotating shaft two, and connecting shaft on the same vertical plane. Establish a rectangular coordinate system xOy with the line containing points A1 and A2 as the x-axis and the midpoint of points A1 and A2 in the initial state as the origin O. Let the length of line segment A1P be l1 and the length of line segment A2P be l2. Using the inverse kinematics method, divide the trajectory of the rotating wheel along the trajectory direction into multiple trajectory points according to a preset time period, denoted as P1, P2, ..., P. k ,…,P n Where P1 is the starting and ending point of the cycloid trajectory, and the coordinates of each trajectory point satisfy the following equation:

[0019]

[0020] In the formula, and Let x be the x-coordinate of point A1 and point A2 at time k, respectively. k and y k Let x and y be the x-coordinates and y-coordinates of point P at time k.

[0021] Substituting the x-axis and y-axis coordinates of each trajectory point into the above equations, we obtain the x-axis coordinates of points A1 and A2 corresponding to each trajectory point. Then, based on the relationship equations between the gear leads of gear one and gear two, the reduction ratios of the two reducers, and the rotation angles of the output shafts of the two servo motors, we calculate the rotation angles of the output shafts of the two servo motors corresponding to each trajectory point on the rotary trajectory. The relationship equations between the gear leads of gear one and gear two, the reduction ratios of the two reducers, and the rotation angles of the output shafts of the two servo motors are as follows:

[0022]

[0023] In the formula, and These represent the rotation angles of the servo motors on slide one and slide two at time k, respectively. and Given that s1 and s2 are the gear leads of gear one and gear two respectively, that is, the linear distance that gear one and gear two drive slide one and slide two to translate when they rotate one revolution, and i1 and i2 are the reduction ratios of the reducer on slide one and the reducer on slide two respectively.

[0024] The present invention has the following beneficial effects:

[0025] 1. This invention enables fruit harvesting with high efficiency. Specifically, two servo motors drive gear one and gear two to move slide one and slide two. Slide one and slide two, through connecting rod one and connecting rod two, drive the connecting shaft, the excitation frame, and each excitation rod to move, causing each excitation rod to excite the fruit tree canopy. This causes the fruit to be forced to vibrate under the action of each excitation rod, generating inertial force. When the inertial force is greater than the binding force between the fruit and the branch, the fruit falls off and into the collection box, thus achieving fruit harvesting. Furthermore, compared with the existing trunk excitation method, the excitation generated in this invention acts directly on the branches and fruit, thereby improving the excitation effect and increasing harvesting efficiency. Moreover, the excitation trajectory of each excitation rod in this invention is a rotary excitation trajectory. Compared with the existing circular or elliptical excitation trajectories, the rotary excitation trajectory used in this invention can effectively improve the excitation effect, thereby further improving harvesting efficiency.

[0026] 2. This invention can change the shape of the rotating wheel trajectory by changing the rotation speed of the output shafts of the two servo motors respectively, and can change the excitation frequency by changing the rotation speed of the output shafts of the two servo motors simultaneously. By changing the distance between the hinge points at both ends of connecting rod one and connecting rod two, the excitation amplitude can be changed, and the overall size of the rotating wheel trajectory can be scaled. Thus, this invention can be used to harvest fruits from different types of fruit trees and fruit trees with different physical and biomechanical characteristics, and has a wide range of applications. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0028] Figure 2 This is a schematic diagram of the structure of the excitation frame, excitation rod group, each sliding shaft, each fixing block, and part of the fixing frame in this invention;

[0029] Figure 3 This is a schematic diagram of the excitation mechanism and part of the excitation frame in this invention;

[0030] Figure 4 This is a schematic diagram of the excitation mechanism in this invention;

[0031] Figure 5 This is a schematic diagram of the sliding shaft, fixing block, part of the fixing frame, and part of the excitation frame in this invention.

[0032] Figure 6 This is a schematic diagram of the structure of the base, rack, gear one, and gear two in this invention;

[0033] Figure 7 This is a diagram showing the motion trajectory of the connecting shaft when slide table one and slide table two are in different positions in this invention;

[0034] Figure 8 This is a simplified structural diagram of the excitation mechanism in this invention at time k;

[0035] Figure 9 This is a diagram showing the motion trajectory of the connecting shaft in this invention during harvesting. Detailed Implementation

[0036] The present invention will now be further described with reference to the accompanying drawings.

[0037] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 As shown, the present invention provides a vibration-type canopy fruit harvesting mechanism, comprising a fixed frame 101, a vibration frame 307, and a vibration mechanism.

[0038] The vibration excitation mechanism includes a servo motor 201, a slide table 401, a rotating shaft 405, a connecting rod 406, a connecting shaft 408, a connecting rod 410, a rotating shaft 411, a slide table 412, a base 413, a rack 416, a gear 417, and a gear 418. The horizontally arranged base 413 is fixed to the fixed frame 101. The horizontally parallel slide tables 401 and 412 form a horizontal sliding pair with the base 413. The gears 417 and 418 are placed in grooves on the base 413 and rotate with the lower surfaces of the slide tables 401 and 412, respectively. The system consists of two servo motors 201 driven by two reducers 202; a rack 416 is fixed in a groove, and gear 417 and gear 418 mesh with the rack 416; horizontally parallel rotating shafts 405 and 411 form rotating pairs with slides 401 and 412 respectively; one end of connecting rod 406 and 410 is hinged to the same end of rotating shaft 405 and 411 respectively, and the other end is hinged to one end of connecting shaft 408. The other end of connecting shaft 408 is fixed to the middle of the excitation frame 307, and connecting shaft 408 is parallel to rotating shaft 405.

[0039] The excitation frame 307 is provided with multiple excitation rod groups arranged at intervals. Each excitation rod group consists of multiple excitation rods 308 arranged at intervals from top to bottom. The excitation rods 308 are horizontally fixed on the excitation frame 307, and the excitation rods 308 of each two adjacent excitation rod groups are staggered. Each of the four corners of the excitation frame 307 is fixed with a slider 306. Each slider 306 and a sliding shaft 305 form a vertical sliding pair. Each sliding shaft 305 is fixed with a fixed block 304. Each fixed block 304 and the fixed frame 101 form a horizontal sliding pair.

[0040] In a preferred embodiment, the housing of the servo motor 201 is fixed to the housing of the corresponding reducer 202. The housing of the reducer 202 is fixed to the slide table 401 or the slide table 412. The output shaft of the servo motor 201 is fixed to the input shaft of the reducer 202. The output shaft of the reducer 202 passes through a through hole opened on the slide table 401 or the slide table 412, forming a rotating pair with the through hole, and is fixed to the gear 417 or the gear 418.

[0041] In a preferred embodiment, a linear guide rail 419 is fixed on the base 413, and both the first slide 401 and the second slide 412 form a sliding pair with the linear guide rail 419.

[0042] In a preferred embodiment, a fixing plate 402 and a fixing plate 409 are fixed on the slide table 401 and the slide table 412 respectively, and the fixing plate 402 and the fixing plate 409 are arranged horizontally and parallel to each other. The rotating shaft 405 and the rotating shaft 411 form a rotating pair with the fixing plate 402 and the fixing plate 409 respectively.

[0043] More preferably, the first rotating shaft 405 is supported on the first fixed plate 402 by two bearing seats 403, and the second rotating shaft 411 is supported on the second fixed plate 409 by two other bearing seats 403.

[0044] In a preferred embodiment, connecting rod 406 has a shaft hole 1 and a bearing hole at both ends, and connecting rod 410 has a shaft hole 2 at both ends. Rotating shaft 405 passes through shaft hole 1 and forms a rotating pair with shaft hole 1. Rotating shaft 411 passes through one shaft hole 2 and forms a rotating pair with shaft hole 2. Connecting shaft 408 passes through another shaft hole 2 and forms a rotating pair with shaft hole 2, and is supported on bearing hole by deep groove ball bearing 407. Two elastic retaining rings 404 are arranged at intervals in shaft hole 1 and two shaft holes 2. Connecting rod 406, connecting rod 410 and connecting shaft 408 are axially positioned by the corresponding two elastic retaining rings 404.

[0045] As a preferred embodiment, both ends of the base 413 are fixed with limit baffles 414. The limit baffles 414 are used to limit the sliding range of slide 1 401 or slide 2 412. A plurality of damping rings 415 are fixed on the inner side of each limit baffle 414 at intervals. The damping rings 415 are used to protect slide 1 401 or slide 2 412.

[0046] In a preferred embodiment, the fixing block 304 is fixed to the connector 302 by bolts. The connector 302 and the excitation frame 307 form a horizontal sliding pair. Several guide wheels 303 are hinged on the connector 302, and each guide wheel 303 forms a rolling friction pair with the fixing frame 101.

[0047] More preferably, the upper and lower ends of the fixed frame 101 are both fixed with horizontally arranged guide wheel rails 301. Each guide wheel 303 located at the upper end of the excitation frame 307 forms a rolling friction pair with the upper guide wheel rail 301, and each guide wheel 303 located at the lower end of the excitation frame 307 forms a rolling friction pair with the lower guide wheel rail 301.

[0048] More preferably, the connector 302 has a vertical slot, and the bolt passes through the vertical slot and is connected to the fixing block 304 by thread; wherein, the position of the fixing block 304 can be adjusted by adjusting the position of the bolt on the vertical slot.

[0049] In a preferred embodiment, a fastener 309 is fixed on the excitation frame 307, and both the excitation frame 307 and the fastener 309 have round holes. A sliding guide sleeve 310 is fixed on the side of the fastener 309 away from the excitation frame 307, and the two round holes and the center hole of the sliding guide sleeve 310 are coaxially arranged. The end of the connecting shaft 408 away from the connecting rod 406 passes through the two round holes and the center hole and is fixed to the center hole.

[0050] The present invention discloses a harvesting method for a vibration-type canopy fruit harvesting mechanism, as detailed below:

[0051] In the initial state, slide table 401 and slide table 412 are located at their extreme positions at both ends of the base 413. The fixed frame 101 is installed on the moving trolley, which drives the excitation frame 307 and the excitation mechanism to move via the fixed frame 101, causing each excitation rod 308 on the excitation frame 307 to insert into the canopy of the target fruit tree, and a collection frame is placed below the canopy. Then, the rotation angle of the output shafts of the two servo motors 201 is set, and the controller controls the operation of the two servo motors 201. The two servo motors 201 drive gear 417 and gear 418 to rotate via two reducers. Gear 417 and gear 418 mesh with rack 416, thereby driving slide table 401 and slide table 412 to translate. Slide table 401 and slide table 412 drive the connecting shaft 408 to move along a rotary trajectory via connecting rod 406 and connecting rod 410, as shown in the image. Figure 9 As shown, this causes the excitation frame 307 and each excitation rod 308 to move along a rotary trajectory. Each excitation rod 308 excites the fruit tree canopy, and the fruit, under the action of each excitation rod 308, is forced to vibrate and generates inertial force. When the inertial force is greater than the binding force between the fruit and the branch, the fruit falls off and into the collection box, thus achieving fruit harvesting. During the movement of the excitation frame 307, the excitation frame 307 drives each slider 306 to rise and fall synchronously along the corresponding sliding shaft 305, and drives each fixed block 304 to move synchronously through each slider 306 and each sliding shaft 305.

[0052] Among them, such as Figure 7As shown, circle ① represents the motion trajectory of the connecting shaft 408 in the PR series mechanism consisting of slide 401, connecting rod 406, and connecting shaft 408 when slide 401 is at its extreme end position on base 413, far from slide 412; circle ② represents the motion trajectory of the connecting shaft 408 in the PR series mechanism consisting of slide 401, connecting rod 406, and connecting shaft 408 when slide 401 is at a position on base 413, close to the middle of slide 412; circle ③ represents the motion trajectory of the connecting shaft 408. Circle 4 represents the motion trajectory of the connecting shaft 408 when the slide 412 is positioned on the base 413 near the middle of the slide 401, forming the PR series mechanism consisting of slide 412, connecting rod 410, and connecting shaft 408. Circle 5 represents the motion trajectory of the connecting shaft 408 when the slide 412 is positioned at the extreme end position on the base 413 away from the slide 401. Circles 6 and 7 intersect. Figure 7 The conditions under which the connecting shaft 408 can move correctly in a closed-loop mechanism consisting of slide 401, connecting rod 406, connecting rod 410, slide 412, and connecting shaft 408 (with shaded areas in the image) can be used to determine the initial positions of slide 401 and slide 412.

[0053] When the connecting shaft 408 moves along a rotary trajectory, the calculation process for the rotation angle of the output shafts of the two servo motors 201 is as follows: Let the projection points of the central axes of shaft one 405, shaft two 411, and connecting shaft 408 on the same vertical plane be points A1, A2, and P, respectively. Figure 8 As shown, a rectangular coordinate system xOy is established with the line containing points A1 and A2 as the x-axis and the midpoint of points A1 and A2 in the initial state as the origin O. Let the length of line segment A1P be l1 and the length of line segment A2P be l2. Using the inverse kinematics method, multiple trajectory points are divided along the trajectory direction according to a preset time period on the rotary trajectory, denoted as P1, P2, ..., P k ,…,P n In this embodiment, n = 20, where point P1 is the starting and ending point of the wheel trajectory, and the coordinates of each trajectory point satisfy the following equation:

[0054]

[0055] In the formula, and Let x be the x-coordinate of point A1 and point A2 at time k, respectively. k and y k Let x and y be the x-coordinates and y-coordinates of point P at time k.

[0056] Substituting the x-axis and y-axis coordinates of each trajectory point into the above equations, we obtain the x-axis coordinates of points A1 and A2 corresponding to each trajectory point. Then, based on the relationship equations between the gear leads of gear 1 (417) and gear 2 (418), the reduction ratios of the two reducers, and the rotation angles of the output shafts of the two servo motors 201, we calculate the rotation angles of the output shafts of the two servo motors 201 corresponding to each trajectory point on the rotary trajectory. The relationship equations between the gear leads of gear 1 (417) and gear 2 (418), the reduction ratios of the two reducers, and the rotation angles of the output shafts of the two servo motors 201 are as follows:

[0057]

[0058] In the formula, and These represent the rotation angles of servo motor 201 on slide 1 (401) and servo motor 201 on slide 2 (412) at time k. and Given that s1 and s2 are the gear leads of gear 417 and gear 418 respectively, that is, the linear distance that gear 417 and gear 418 drive slide 401 and slide 412 to translate when they rotate one revolution, which can be obtained from the specifications of gear 417 and gear 418, i1 and i2 are the reduction ratios of the reducer on slide 401 and slide 412 respectively.

[0059] The shape of the wheel trajectory can be changed by changing the rotation speed of the output shafts of the two servo motors 201 respectively. The excitation frequency can be changed by changing the rotation speed of the output shafts of the two servo motors 201 simultaneously. The excitation amplitude can be changed by changing the length of line segments A1P and A2P, that is, the distance between the hinge points at both ends of connecting rod 1 406 and connecting rod 2 410 (reflected in the scaling of the overall size of the wheel trajectory). In this way, it is possible to harvest fruits from different types of fruit trees and fruit trees with different physical and biomechanical characteristics.

Claims

1. A vibration-type canopy fruit harvesting mechanism, comprising a fixed frame, a vibration frame, and a vibration mechanism, characterized in that: The vibration excitation mechanism includes a slide table, a rotating shaft, a connecting rod, a connecting shaft, a connecting rod, a rotating shaft, a slide table, a base, a rack, a gear, and a gear. The horizontally positioned base is fixed to a fixed frame. The horizontally parallel slide tables 1 and 2 form a horizontal sliding pair with the base. The gears 1 and 2 are placed in grooves on the base and form a rotating pair with the lower surfaces of the slide tables, respectively, and are driven by two servo motors through two reducers. The rack is fixed in the groove, and both gears 1 and 2 mesh with it. The horizontally parallel rotating shafts 1 and 2 form a rotating pair with the slide tables, respectively. One end of the connecting rods 1 and 2 is hinged to the same end of the rotating shafts 1 and 2, and the other end is hinged to one end of the connecting shaft. The other end of the connecting shaft is fixed to the middle of the vibration frame and is parallel to the rotating shaft. The excitation frame is provided with multiple excitation rod groups arranged at intervals. Each excitation rod group consists of multiple excitation rods arranged at intervals from top to bottom. The excitation rods are horizontally fixed to the excitation frame, and the excitation rods of each two adjacent excitation rod groups are staggered. Each of the four corners of the excitation frame is fixed with a slider. Each slider and a sliding shaft form a vertical sliding pair. Each sliding shaft is fixed with a fixed block. Each fixed block and the fixed frame form a horizontal sliding pair. Initially, slides one and two are located at their extreme positions at both ends of the base. The fixed frame is mounted on the moving trolley, which, through the fixed frame, moves the excitation frame and excitation mechanism, causing the excitation rods on the excitation frame to insert into the canopy of the target fruit tree. A collection frame is then placed below the canopy. Next, the rotation angle of the output shafts of the two servo motors is set, and the controller controls the operation of the two servo motors. The two servo motors, through two reducers, drive gear one and gear two to rotate respectively. Both gear one and gear two mesh with racks, thereby driving slides one and two respectively. The sliding platform 1 and sliding platform 2 drive the connecting shaft to move along a rotary wheel trajectory via connecting rod 1 and connecting rod 2, which in turn drives the excitation frame and each excitation rod to move along a rotary wheel trajectory. Each excitation rod excites the fruit tree canopy, and the fruit is forced to vibrate under the action of each excitation rod, generating inertial force. When the inertial force is greater than the binding force between the fruit and the branch, the fruit falls off and into the collection box, thus completing the harvesting of the fruit. During the movement of the excitation frame, the excitation frame drives each slider to rise and fall synchronously along the corresponding sliding shaft, and drives each fixed block to move synchronously through each slider and each sliding shaft. When the connecting shaft moves along a rotary trajectory, the calculation process for the rotation angle of the output shafts of the two servo motors is as follows: Let A1, A2, and P be the projection points of the central axes of rotating shaft one, rotating shaft two, and connecting shaft on the same vertical plane. Establish a rectangular coordinate system xOy with the line containing points A1 and A2 as the x-axis and the midpoint of points A1 and A2 in the initial state as the origin O. Let the length of line segment A1P be l1 and the length of line segment A2P be l2. Using the inverse kinematics method, divide the trajectory of the rotating wheel along the trajectory direction into multiple trajectory points according to a preset time period, denoted as P1, P2, ..., P. k ,…, P n Where P1 is the starting and ending point of the cycloid trajectory, and the coordinates of each trajectory point satisfy the following equation: In the formula, and Let A1 and A2 be the x-coordinates of points A1 and A2 at time k, respectively. and Let x and y be the x-coordinates and y-coordinates of point P at time k. Substituting the x-axis and y-axis coordinates of each trajectory point into the above equations, we obtain the x-axis coordinates of points A1 and A2 corresponding to each trajectory point. Then, based on the relationship equations between the gear leads of gear one and gear two, the reduction ratios of the two reducers, and the rotation angles of the output shafts of the two servo motors, we calculate the rotation angles of the output shafts of the two servo motors corresponding to each trajectory point on the rotary trajectory. The relationship equations between the gear leads of gear one and gear two, the reduction ratios of the two reducers, and the rotation angles of the output shafts of the two servo motors are as follows: In the formula, and These represent the rotation angles of the servo motors on slide one and slide two at time k, respectively. and Given, and These are the gear leads of gear one and gear two, respectively, which are the linear distances that gear one and gear two translate when they rotate one revolution, respectively, to slide table one and slide table two. and These are the reduction ratios of the reducers on slide one and slide two, respectively.

2. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: The servo motor housing is fixed to the corresponding reducer housing. The reducer housing is fixed to slide table one or slide table two. The output shaft of the servo motor is fixed to the input shaft of the reducer. The output shaft of the reducer passes through a through hole opened on slide table one or slide table two, forming a rotating pair with the through hole, and is fixed to gear one or gear two.

3. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: A linear guide rail is fixed on the base, and both slide table one and slide table two form a sliding pair with the linear guide rail.

4. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: Fixed plates 1 and 2 are respectively fixed on slide 1 and slide 2, and fixed plates 1 and 2 are arranged horizontally and parallel to each other. Rotating shaft 1 and rotating shaft 2 form rotating pairs with fixed plates 1 and 2 respectively.

5. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: The first connecting rod has a shaft hole and a bearing hole at both ends, and the second connecting rod has a shaft hole at both ends. The first rotating shaft passes through the first shaft hole and forms a rotating pair with the first shaft hole. The second rotating shaft passes through one shaft hole and forms a rotating pair with the second shaft hole. The connecting shaft passes through the other shaft hole and forms a rotating pair with the other shaft hole. It is supported on the bearing hole by a deep groove ball bearing. Each shaft hole and the two shaft holes are provided with two elastic retaining rings arranged at intervals. The first connecting rod, the second connecting rod and the connecting shaft are axially positioned by the corresponding two elastic retaining rings.

6. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: Both ends of the base are fixed with limit baffles, and several damping rings arranged at intervals are fixed on the inner side of each limit baffle.

7. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: The fixing block is fixed to the connector by bolts. The connector and the excitation frame form a horizontal sliding pair. Several guide wheels are hinged on the connector, and each guide wheel forms a rolling friction pair with the fixing frame.

8. The vibration-type canopy fruit harvesting mechanism according to claim 1, characterized in that: A fixing component is fixed on the excitation frame, and both the excitation frame and the fixing component have round holes. A sliding guide sleeve is fixed on the side of the fixing component away from the excitation frame, and the two round holes and the center hole of the sliding guide sleeve are coaxially arranged. The end of the connecting shaft away from the first connecting rod passes through the two round holes and the center hole and is fixed to the center hole.

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