High-automation blueberry picking equipment

Abstract

The high-automation blueberry picking equipment comprises a walking chassis system, an operating system, a side suspension arm system and a vibration picking system, the walking chassis system comprises a frame, crawler chassis and a track gauge adjusting assembly, the frame is divided into a left part and a right part, and the two sets of crawler chassis are installed on the left part and the right part of the frame respectively; the track gauge adjusting assembly is installed between the two sets of track chassis and comprises two sets of sliding tables, first electric push rods, sliding shafts, shaft sleeves, square pipes, rollers and second electric push rods, the two sets of sliding tables are symmetrically installed between the two sets of track chassis front and back, one ends of the sliding tables are connected with the left side frame, and the other ends of the sliding tables are connected with the right side frame. According to the designed high-automation blueberry picking equipment, self-adaptive walking width adjustment, picking height adjustment and vibration type picking treatment can be carried out according to the actual space condition of a planting area, and the automation degree of blueberry picking of the equipment is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of blueberry picking, in particular to highly automated blueberry picking equipment. Background Art

[0002] Blueberry is a deciduous shrub of the Ericaceae family and the genus Vaccinium. Its scientific name is Vaccinium truncatum, commonly known as blueberry. The twigs of blueberry are green, angular or cylindrical, usually with rows of soft hairs; the leaves are nearly leathery, ovate to elliptical, with acute tips, cherry-shaped to nearly rounded bases, serrated to entire margins, and dark green; the racemes grow on last year's branches, the flowers are green and hairless; the corolla is white to pink and nearly cylindrical; the berries are spherical, dark blue, hairless, and covered with white powder. Blueberries are native to North America, especially eastern Canada and the eastern and southern United States. Blueberries like warm climates, are resistant to high temperatures, like semi-sunlight environments, and humid environments. They are suitable for growing in fertile, loose, and organic-rich acidic soils. Blueberries have extremely high nutritional value and are rich in flavonoids, vitamin C, vitamin K, vitamin A, and minerals such as potassium, manganese, calcium, iron, zinc, and phosphorus. Blueberries have significant antioxidant, anti-tumor, anti-viral and atherosclerosis prevention pharmacological activities. In addition, blueberries have many health benefits such as preventing brain nerve aging, protecting eyesight, strengthening the heart, anti-cancer, softening blood vessels, and enhancing human immune function. Blueberries are widely cultivated around the world, and the main economic production areas include the United States, the Netherlands, Canada and Germany. Blueberry fruits can be eaten directly or processed into jams, juices, dried fruits and other products. Due to its high nutritional value and wide range of health benefits, blueberries are known as the "king of berries" and are listed as one of the five major health foods for humans by the Food and Agriculture Organization of the United Nations. With the continuous expansion of the planting area, the scale development trend of blueberry orchards is becoming increasingly apparent, and blueberries need to be picked after they are ripe.

[0003] However, the existing method of picking blueberries has the following problems: blueberry picking is mainly done by seasonal workers, which is inefficient and labor-intensive. Although there are picking machines specifically for blueberry picking, due to the diversity and particularity of blueberry plantation agronomy, such as the obstacles of bird-proof nets and cement poles, large equipment such as blueberry picking machines are inconvenient to adjust according to needs due to their large size, and cannot be smoothly operated and used normally in the plantation area. Therefore, it is necessary to design corresponding technical solutions to solve the existing technical problems. Summary of the invention

[0004] The purpose of the present invention is to provide a highly automated blueberry picking equipment, which solves the problem that blueberry picking is mainly completed by seasonal workers. This collection method is inefficient and labor-intensive. Although there are picking machines specifically used for blueberry picking, due to the diversity and particularity of blueberry plantation cultivation agronomy, such as the existence of obstacles such as bird-proof nets and cement poles, large equipment such as blueberry picking machines are inconvenient to adjust according to needs due to their large size, and cannot be smoothly operated and used normally in plantations. This technical problem.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a highly automated blueberry picking device, comprising a walking chassis system, an operating system, a side suspension arm system and a vibration picking system, wherein the walking chassis system comprises a frame, a crawler chassis and a track gauge adjustment component, wherein the frame is divided into left and right parts, the crawler chassis is divided into two groups and respectively installed on the left and right parts of the frame, the track gauge adjustment component is installed between the two groups of crawler chassis and comprises a sliding platform, an electric push rod 1, a sliding shaft, a shaft sleeve, a square tube, a roller and an electric push rod 2, the sliding platform is divided into two groups and is symmetrically installed between the two groups of crawler chassis front and back, wherein one end of the sliding platform is connected to the left frame and the other end is connected to the right frame , the electric push rod one is divided into two groups, one end of the electric push rod one is installed on the left frame and the other end is connected to the right frame. On the horizontal line 150mm higher than the sliding platform and 100mm away from the vertical beams of the left and right roller sliding platforms, sliding shafts and sleeves with a sliding diameter of 30mm are respectively provided. The sliding shafts and sleeves are respectively connected to the vertical beams of the left and right frames. The electric push rod two is installed on the frame on the right side and its two ends are distributed in two groups of square tubes for rotation connection. The lower end of the square tube is connected to the roller. The operating system is installed on the frame and consists of an operating table. The side suspension arm system is vertically installed on the top of the frame, and the vibration picking system is installed on the side suspension arm system;

[0006] The side suspension arm system includes a lifting column, a slewing mechanism and a horizontally movable cantilever, the lifting column includes a column seat, a rectangular tube, a double-guide slider assembly 1, a reduction motor, a transmission gear and a rack, a double-guide slider assembly 1 is arranged in the rectangular tube, the double-guide slider assembly 1 is composed of a slider body and a double-guide body, the slider body is fixed on the inner side of the rectangular tube, a disc is arranged at the upper end of the double-guide body, a driving shaft is arranged at the center of the disc, a rack is arranged in the middle section of the double-guide body, the rack is meshed with the transmission gear installed in the rectangular tube, the transmission gear is equipped with a reduction motor, the lifting column is also equipped with a limit switch 1, the slewing mechanism includes a bearing seat, a tapered bearing, a bull's eye, a large gear, a small gear, a slewing motor 1 and a limit switch 2, the bearing seat is embedded in the aluminum profile bottom plate of the horizontally movable cantilever The lower end is connected to a tapered bearing, the tapered bearing and the bull's eye are both mounted on a disc, the large gear is mounted on an aluminum profile bottom plate, the small gear is mounted on a rotary motor 1, the rotary motor 1 is mounted on the upper end of a lifting column, the large gear is meshed with the small gear, the 270° rotation range of the side suspension arm system is controlled by a limit switch 2, the horizontally movable cantilever comprises an aluminum profile bottom plate, a cantilever beam, a dual guide rail slider assembly 2, a screw and nut assembly, a horizontally movable motor, a counterweight and a limit switch 3, the dual guide rails of the dual guide rail slider assembly 2 are mounted on an aluminum profile bottom plate and the dual sliders are mounted on a cantilever beam, the screw and nut assembly is mounted on a cantilever beam, one end of the screw is mounted in a screw nut and the other end is mounted on a horizontally movable motor, and the horizontally movable motor and the counterweight are mounted on an aluminum profile bottom plate;

[0007] The vibration picking system includes a right cross suspension and four groups of upper and lower folding vibration rods installed on the right cross suspension. The center of the right cross suspension is installed at the front end of the horizontal movable cantilever. The upper and lower folding vibration rods include a U-shaped frame, a hollow cross connector and a rotary vibration mechanism. U-shaped frames are provided at both ends of the right cross suspension, and a hollow cross connector is provided on the U-shaped frame. A folding motor 1 is provided at the horizontal end of the hollow cross connector, and a rotary vibration mechanism is inserted through the lower end of the vertical line of the hollow cross connector. The rotary vibration mechanism includes an upper vibration rod connected to the lower part and a vibration motor and a rotary motor 2 connected to the upper part. The lower end of the upper vibration rod is connected to a folding motor 2, and the folding motor 2 is connected to a lower vibration rod. A plurality of groups of arc-shaped plastic vibration rods are provided on the upper vibration rod and the lower vibration rod.

[0008] As a preferred embodiment of the present invention, the electric push rod 1 adopts an electric push rod with 100W and a thrust of 6000N.

[0009] As a preferred embodiment of the present invention, the sliding shaft and the sleeve adopt a specification of φ30m.

[0010] As a preferred embodiment of the present invention, the second electric push rod adopts an electric push rod with a power of 750W and a thrust of 7000N.

[0011] As a preferred embodiment of the present invention, the sliding platform includes a sliding bottom plate, a sliding upper plate and a pulley. The sliding bottom plate equipped with a pulley is connected under the main crossbeam of the frame on the left side, and the sliding upper plate equipped with a guide rail is connected to the main crossbeam of the frame on the right side. The sliding upper plate and the sliding bottom plate are arranged to slide up and down.

[0012] As a preferred embodiment of the present invention, the reduction motor is a reduction stepping motor with a voltage of 48V, 12N.M and a speed ratio of 30.

[0013] As a preferred embodiment of the present invention, the first rotary motor and the second rotary motor both use 24V.

[0014] As a preferred embodiment of the present invention, the arc-shaped plastic vibration rod includes an arc-shaped plastic main rod and a floating plastic rod whose one end rotates with the arc-shaped plastic main rod. An elastic gasket is formed between the arc-shaped plastic main rod and the floating plastic rod. The elastic gasket is made of elastic material and its surface is processed into a layered structure.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] 1. The present invention designs a highly automated equipment specially used for picking blueberries. The highly automated equipment for picking blueberries comprises a walking chassis system, an operating system, a side suspension arm system and a vibration picking system. When blueberries need to be picked, the walking chassis system is controlled to operate by the operating system. The walking chassis system can realize the movement of the equipment in the plantation area, and a variable wheelbase vehicle chassis design is adopted to adaptively adjust the width of the crawler according to the width of the ridges in the planting area, thereby solving the problem of walking on the ditch between rows and meeting the needs of the transfer operation of the machine. During the operation and movement of the equipment, the side suspension arm system can realize the adaptation of the vibration picking system to the actual conditions such as the different heights of blueberry trees and the different crown diameters, and the bird-proof nets set above the ground in the blueberry planting base, thereby ensuring the flexibility of the vibration picking system. Finally, the vibration picking system is convenient for the machine to perform vibration picking processing on blueberries in a limited working space.

[0017] 2. The highly automated blueberry picking equipment designed by the present invention can perform adaptive walking width adjustment, picking height adjustment and vibration picking processing according to the actual space conditions of the planting area, which greatly improves the degree of automation of blueberry picking by the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is an overall front view of the present invention;

[0019] Figure 2 It is an overall side view of the present invention;

[0020] Figure 3 This is a structural diagram of the sliding platform of the present invention;

[0021] Figure 4 This is a cross-sectional view of the lifting column of the present invention;

[0022] Figure 5 This is a front view of the connection between the slewing mechanism and the horizontal movable cantilever of the present invention;

[0023] Figure 6 It is a side view of the connection between the slewing mechanism and the horizontal movable cantilever of the present invention;

[0024] Figure 7 This is a structural diagram of the vibration picking system of the present invention;

[0025] Figure 8 It is a side view of the vibration picking system of the present invention;

[0026] Fig. 9 This is a structural diagram of the arc-shaped plastic vibrating rod described in the present invention.

[0027] In the figure: 1. frame; 2. crawler chassis; 3. track gauge adjustment assembly; 4. sliding table; 5. electric push rod 1; 6. sliding shaft; 7. bushing; 8. square tube; 9. roller; 10. electric push rod 2; 11. operating table; 12. lifting column; 13. slewing mechanism; 14. horizontal movable cantilever; 15. column seat; 16. rectangular tube; 17. double guide rail slider assembly 1; 18. reduction motor; 19. transmission gear; 20. rack; 21. slider body; 22. double guide rail body; 23. disc; 24. drive shaft; 25. rack; 27. limit switch 1; 28. bearing seat; 29. ​​tapered bearing; 30. bull's eye; 31. large gear; 32. small gear; 33 , rotary motor one; 34, limit switch two; 35, aluminum profile bottom plate; 36, cantilever beam; 37, double guide slider assembly two; 38, screw and nut assembly; 39, horizontal moving motor; 40, counterweight; 41, limit switch three; 42, regular cross suspension; 43, upper and lower folding vibration rod; 44, U-shaped frame; 45, hollow cross connector; 46, folding motor one; 47, upper vibration rod; 48, vibration motor; 50, rotary motor two; 51, folding motor two; 52, lower vibration rod; 53, arc-shaped plastic vibration rod; 54, sliding bottom plate; 55, sliding upper plate; 56, pulley; 57, arc-shaped plastic main rod; 58, floating plastic rod; 59, elastic gasket. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] See also Figure 1-9 The present invention provides a technical solution: a highly automated blueberry picking device, including a walking chassis system, an operating system, a side suspension arm system and a vibration picking system. The walking chassis system includes a frame 1, a crawler chassis 2 and a track gauge adjustment component 3. The frame 1 is divided into left and right parts. The crawler chassis 2 is divided into two groups and is respectively installed on the left and right parts of the frame 1. The track gauge adjustment component 3 is installed between the two groups of crawler chassis 2 and includes a sliding platform 4, an electric push rod 1 5, a sliding shaft 6, a shaft sleeve 7, a square tube 8, a roller 9 and an electric push rod 2 10. The sliding platform 4 is divided into two groups and is symmetrically installed between the two groups of crawler chassis 2, wherein one end of the sliding platform 4 is connected to the left frame 1 and the other end is connected to the right frame 1 , the electric push rod 1 5 is divided into two groups, one end of the electric push rod 1 5 is installed on the left frame 1 and the other end is connected to the right frame 1. On the horizontal line 4150mm higher than the sliding table and 4100mm away from the vertical beam of the left and right roller 9 sliding tables, a sliding shaft 6 and a shaft sleeve 7 with a sliding diameter of 30mm are respectively provided. The sliding shaft 6 and the shaft sleeve 7 are respectively connected to the vertical beams of the left and right frames 1. The electric push rod 2 10 is installed on the right frame 1 and its two ends are distributed in two groups of square tubes 8 for rotation connection. The lower end of the square tube 8 is connected to the roller 9. The operating system is installed on the frame 1 and consists of an operating table 11. The side suspension arm system is vertically installed on the top of the frame 1, and the vibration picking system is installed on the side suspension arm system;

[0030] The side suspension arm system includes a lifting column 12, a slewing mechanism 13 and a horizontally movable cantilever 14. The lifting column 12 includes a column seat 15, a rectangular tube 16, a double-guide slider assembly 17, a reduction motor 18, a transmission gear 19 and a rack 20. A double-guide slider assembly 17 is arranged in the rectangular tube 16. The double-guide slider assembly 17 is composed of a slider body 21 and a double-guide body 22. The slider body 21 is fixed to the inner side of the rectangular tube 16. A disc 23 is arranged at the upper end of the double-guide body 22. A drive shaft 24 is arranged at the center of the disc 23. A rack 20 is arranged in the middle section of the double-guide body 22. The rack 20 is meshed with the transmission gear 19 installed in the rectangular tube 16. The transmission gear 19 is equipped with a reduction motor 18. The lifting column 1 2 is also equipped with a limit switch 1 27. The slewing mechanism 13 includes a bearing seat 28, a tapered bearing 29, a bull's eye 30, a large gear 31, a small gear 32, a slewing motor 1 33 and a limit switch 2 34. The bearing seat 28 is embedded in the aluminum profile bottom plate 35 of the horizontal movable cantilever 14 and the lower end is connected to the tapered bearing 29. The tapered bearing 29 and the bull's eye 30 are both installed on the disc 23. The large gear 31 is installed on the aluminum profile bottom plate 35. The small gear 32 is installed on the slewing motor 1 33. The slewing motor 1 33 is installed on the upper end of the lifting column 12. The large gear 31 is meshed with the small gear 32. The 270° slewing range of the side suspension arm system is controlled by the limit switch 2 34. The horizontal movable cantilever 14 includes the aluminum profile bottom plate 3 5. Cantilever beam 36, dual guide rail slider assembly 2 37, screw and nut assembly 38, horizontal moving motor 39, counterweight 40 and limit switch 3 41. The dual guide rails of dual guide rail slider assembly 2 37 are mounted on the aluminum profile base plate 35 and the dual sliders are mounted on the cantilever beam 36. The screw and nut assembly 38 are mounted on the cantilever beam 36. One end of the screw is mounted in the screw nut and the other end is mounted on the horizontal moving motor 39. The horizontal moving motor 39 and the counterweight 40 are mounted on the aluminum profile base plate 35. First, the transmission gear 19 is driven to rotate by the reduction motor 18. The transmission gear 19 acts on the rack 20 during the rotation process, thereby driving the dual guide rail body 22 to perform longitudinal height adjustment, and then the gears installed on the dual guide rails are adjusted. The disc 23 of the body 22, the slewing mechanism 13 and the horizontal movable cantilever 14 are adjusted in the longitudinal height, and then the small gear 32 is driven to rotate by the slewing motor 33. The small gear 32 acts on the large gear 31 during the rotation. The large gear 31 drives the upper horizontal movable cantilever 14 to adjust the 270° rotation range during the rotation. The bull's eye 30 is used to detect the angle in real time during the rotation, so as to facilitate the rotation of the horizontal movable cantilever 14 and the vibration picking system to the blueberry picking area. At this time, the screw rod is driven to rotate by the horizontal movable motor 39. The screw rod acts on the nut assembly 38 and the cantilever beam 36 during the rotation to move the lateral position and adjust the position of the vibration picking system.

[0031] The vibration picking system includes a right cross suspension 42 and four groups of upper and lower folding vibration rods 43 installed on the right cross suspension 42. The center of the right cross suspension 42 is installed at the front end of the horizontal movable cantilever 14. The upper and lower folding vibration rods 43 include a U-shaped frame 44, a hollow cross connector 45 and a rotary vibration mechanism. U-shaped frames 44 are provided at both ends of the right cross suspension 42. A hollow cross connector 45 is provided on the U-shaped frame 44. A folding motor 46 is provided at the horizontal end of the hollow cross connector 45. A rotary vibration mechanism is inserted at the lower end of the vertical line of the hollow cross connector 45. The rotary vibration mechanism includes an upper vibration rod 47 connected to the lower part and a vibration motor 48 and a rotary motor 50 connected to the upper part. The upper vibration rod 4 The lower end of the blueberry bush is connected with a folding motor 2 51, and the folding motor 2 51 is connected with a lower vibration rod 52. A plurality of arc-shaped plastic vibration rods 53 are arranged on the upper vibration rod 47 and the lower vibration rod 52. According to the height of the blueberry bush, the upper vibration rod 47 and the lower vibration rod 52 can be folded and adjusted by the folding motor 1 46 and the folding motor 2 51 respectively, so that the arc-shaped plastic vibration rods 53 on the upper vibration rod 47 and the lower vibration rod 52 can act on the blueberry bush, and then the folding vibration rod 43 is driven to rotate and adjust by the rotary motor 2 50, and the upper vibration rod 47, the lower vibration rod 52 and the arc-shaped plastic vibration rod 53 are driven to vibrate up and down by the vibration motor 48 to shake the blueberries off.

[0032] Further improvement, such as Figure 1 As shown, the electric push rod 5 adopts an electric push rod with 100W and a thrust of 6000N.

[0033] Further improvement, such as Figure 1 As shown, the sliding shaft 6 and the sleeve 7 are of a specification of φ30m.

[0034] Further improvement, such as Figure 1 As shown, the electric push rod 10 uses an electric push rod with 750W and a thrust of 7000N.

[0035] Further improvement, such as Figure 3 As shown, the sliding platform 4 includes a sliding bottom plate 54, a sliding upper plate 55 and a pulley 56. The sliding bottom plate 54 equipped with the pulley 56 is connected under the main crossbeam of the left frame 1, and the sliding upper plate 55 equipped with a guide rail is connected on the main crossbeam of the right frame 1. The sliding upper plate 55 and the sliding bottom plate 54 are arranged to slide up and down. The sliding platform bottom plate equipped with pulleys is connected under the main crossbeam of the left frame, and the sliding platform upper plate equipped with guide rails is connected on the main crossbeam of the right frame. The upper and lower plates of the sliding platform are respectively reinforced with triangular plates on the main crossbeams; vertical beams are arranged on the left and right main crossbeams, and upper crossbeams are arranged on the vertical beams. A working platform panel is arranged on the left upper crossbeam, and round steel is arranged on the right upper crossbeam to reduce the friction resistance when pushing the right crawler to change tracks.

[0036] Further improvement, such as Figure 1As shown, the reduction motor 18 uses a reduction stepping motor with 48V, 12N.M and a speed ratio of 30.

[0037] Further improvement, such as Figure 1 As shown, both rotary motor 1 33 and rotary motor 2 50 use 24V.

[0038] Specifically, the arc-shaped plastic vibration rod 53 includes an arc-shaped plastic main rod 57 and a floating plastic rod 58 whose one end rotates with the arc-shaped plastic main rod 57. An elastic gasket 59 is formed between the arc-shaped plastic main rod 57 and the floating plastic rod 58. The elastic gasket 59 is made of elastic material and its surface is processed into a layered structure. When the arc-shaped plastic vibration rod 53 vibrates the blueberry branches up and down, the floating plastic rod 58 cooperates with the elastic gasket 59 to effectively improve the vibration effect and vibration frequency on the blueberry branches, thereby improving the effect of shaking off the blueberries on the blueberry branches.

[0039] When in use: When it is necessary to pick blueberries with the blueberry picking equipment, the walking chassis system is adjusted according to the space conditions of the blueberry planting area, and the two sets of square tubes 8 are pushed and rotated by the electric push rod 10. During the rotation of the square tube 8, the roller 9 moves down and contacts the ground, and the position of the crawler chassis 2 on the right side of the frame 1 is lifted. At this time, the crawler chassis 2 is pushed by the electric push rod 5 to move horizontally. Since the crawler chassis is heavy and has a large sliding resistance, it cannot be achieved by using a linear bearing module group. The rolling of the rollers on the sliding table is utilized. The friction resistance is small and the load-bearing capacity is large, so the spacing between the two sets of crawler chassis 2 is adjusted, so that the specifications of the walking chassis system can meet the space requirements of the driving area and the deep and narrow furrow operation characteristics of blueberry ridge cultivation. The transmission gear 19 is driven to rotate by the reduction motor 18, and the transmission gear 19 acts on the rack 20 during the rotation process, thereby driving the double-rail body 22 to adjust the longitudinal height, and then the disc 23 installed on the double-rail body 22, the slewing mechanism 13 and the horizontal movable cantilever 14 are adjusted in the longitudinal height, and then the slewing motor 3 is used to rotate the transmission gear 19. 3 drives the small gear 32 to rotate, and the small gear 32 acts on the large gear 31 during the rotation process. The large gear 31 drives the upper horizontal movable cantilever 14 to adjust the 270° rotation range during the rotation process, and performs real-time angle detection through the bull's eye 30 during the rotation process, so as to facilitate the horizontal movable cantilever 14 and the vibration picking system to rotate to the blueberry picking area. At this time, the screw rod is driven to rotate by the horizontal movable motor 39, and the screw rod acts on the nut assembly 38 and the cantilever beam 36 during the rotation process to move the horizontal position, thereby adjusting the vibration picking system. The position of the system is adjusted. According to the height of the blueberry bushes, the upper vibration rod 47 and the lower vibration rod 52 can be folded and adjusted respectively by the folding motor 1 46 and the folding motor 2 51, so that the arc-shaped plastic vibration rod 53 on the upper vibration rod 47 and the lower vibration rod 52 can act on the blueberry bushes, and then the folding vibration rod 43 is driven to rotate and adjust by the rotary motor 2 50, and the upper vibration rod 47, the lower vibration rod 52 and the arc-shaped plastic vibration rod 53 are driven to vibrate up and down by the vibration motor 48 to shake the blueberries off and complete the picking.

[0040] In the description of the present invention, it is necessary to understand that the terms "coaxial", "bottom", "one end", "top", "middle", "the other end", "upper", "one side", "top", "inside", "front", "center", "both ends" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0041] In addition, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, the features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include at least one of such features.

[0042] In the present invention, unless otherwise clearly stipulated and limited, the terms such as "installation", "setting", "connection", "fixation" and "screw-on" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. Unless otherwise clearly defined, ordinary technicians in this field can understand the specific meanings of the above terms in the present invention according to the specific circumstances.

[0043] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A highly automated blueberry picking device, characterized in that: The invention comprises a walking chassis system, an operating system, a side suspension arm system and a vibration picking system. The walking chassis system comprises a vehicle frame (1), a crawler chassis (2) and a track gauge adjustment component (3). The vehicle frame (1) is divided into two left and right parts. The crawler chassis (2) is divided into two groups and is respectively installed on the left and right parts of the vehicle frame (1). The track gauge adjustment component (3) is installed between the two groups of crawler chassis (2) and comprises a sliding platform (4), an electric push rod 1 (5), a sliding shaft (6), a shaft sleeve (7), a square tube (8), a roller (9) and an electric push rod 2 (10). The sliding platform (4) is divided into two groups and is symmetrically installed between the two groups of crawler chassis (2). One end of the sliding platform (4) is connected to the left vehicle frame (1) and the other end is connected to the right vehicle frame (1). The electric push rod 1 (5) is divided into two groups. One end of the electric push rod 1 (5) is mounted on the left frame (1) and the other end is connected to the right frame (1). On a horizontal line 150 mm higher than the sliding platform (4) and at a vertical beam 100 mm away from the left and right roller (9) sliding platforms (4), a sliding shaft (6) and a shaft sleeve (7) with a sliding diameter of 30 mm are respectively provided. The sliding shaft (6) and the shaft sleeve (7) are respectively connected to the vertical beams of the left and right frames (1). The electric push rod 2 (10) is mounted on the right frame (1) and its two ends are distributed on two groups of square tubes (8) for rotational connection. The lower end of the square tube (8) is connected to the roller (9). The operating system is mounted on the frame (1) and is composed of an operating table (11). The side suspension arm system is vertically mounted on the top of the frame (1), and the vibration picking system is mounted on the side suspension arm system. The side suspension arm system comprises a lifting column (12), a slewing mechanism (13) and a horizontally movable cantilever (14); the lifting column (12) comprises a column seat (15), a rectangular tube (16), a double-guide rail slider assembly (17), a reduction motor (18), a transmission gear (19) and a rack (20); a double-guide rail slider assembly (17) is arranged inside the rectangular tube (16); the double-guide rail slider assembly (17) is composed of a slider body (21) and a double-guide rail body (22); the slider body (21) is fixed inside the rectangular tube (16); a disc (21) is arranged at the upper end of the double-guide rail body (22) 23), a driving shaft (24) is arranged at the center of the disk (23), a rack (20) is arranged at the middle section of the double guide rail body (22), the rack (20) is meshed with a transmission gear (19) mounted on a rectangular tube (16), the transmission gear (19) is equipped with a reduction motor (18), the lifting column (12) is also equipped with a limit switch (27), the rotary mechanism (13) comprises a bearing seat (28), a tapered bearing (29), a bull's eye (30), a large gear (31), a small gear (32), a rotary motor (33) and a limit switch (34), the bearing seat (28) is inlaid with The lower end of the conical bearing (29) is connected to the aluminum profile bottom plate (35) of the horizontal movable cantilever (14), the conical bearing (29) and the bull's eye (30) are both mounted on the disc (23), the large gear (31) is mounted on the aluminum profile bottom plate (35), the small gear (32) is mounted on the rotary motor 1 (33), the rotary motor 1 (33) is mounted on the upper end of the lifting column (12), the large gear (31) is meshed with the small gear (32), the 270° rotation range of the side suspension arm system is controlled by the limit switch 2 (34), the horizontal movable cantilever (14) includes the aluminum profile bottom plate A plate (35), a cantilever beam (36), a double guide rail slider assembly (37), a screw rod and a nut assembly (38), a horizontal moving motor (39), a counterweight (40) and a limit switch (41), wherein the double guide rails of the double guide rail slider assembly (37) are mounted on the aluminum profile bottom plate (35) and the double sliders are mounted on the cantilever beam (36), the screw rod and the nut assembly (38) is mounted on the cantilever beam (36), one end of the screw rod is mounted in the screw rod nut and the other end is mounted on the horizontal moving motor (39), and the horizontal moving motor (39) and the counterweight (40) are mounted on the aluminum profile bottom plate (35); The vibration picking system comprises a right cross suspension (42) and four groups of up and down folding vibration rods (43) mounted on the right cross suspension (42); the center of the right cross suspension (42) is mounted on the front end of a horizontal movable cantilever (14); the up and down folding vibration rods (43) comprise a U-shaped frame (44), a hollow cross connecting piece (45) and a rotary vibration mechanism; the two ends of the right cross suspension (42) are provided with a U-shaped frame (44); the U-shaped frame (44) is provided with a hollow cross connecting piece (45); the hollow cross connecting piece ( A folding motor 1 (46) is provided at one horizontal end of the hollow cross connecting piece (45); a rotary vibration mechanism is inserted through the lower end of the vertical line of the hollow cross connecting piece (45); the rotary vibration mechanism comprises an upper vibration rod (47) connected at the lower part and a vibration motor (48) and a rotary motor 2 (50) connected at the upper part; a folding motor 2 (51) is connected at the lower end of the upper vibration rod (47); the folding motor 2 (51) is connected to a lower vibration rod (52); and a plurality of groups of arc-shaped plastic vibration rods (53) are provided on both the upper vibration rod (47) and the lower vibration rod (52).

2. A highly automated blueberry picking device according to claim 1, characterized in that: The electric push rod 1 (5) adopts an electric push rod with 100W and thrust 6000N.

3. The highly automated blueberry picking device according to claim 1, characterized in that: The sliding shaft (6) and the shaft sleeve (7) are of a specification of φ30m.

4. The highly automated blueberry picking device according to claim 1, characterized in that: The electric push rod 2 (10) adopts an electric push rod with a power of 750W and a thrust of 7000N.

5. The highly automated blueberry picking device according to claim 1, characterized in that: The sliding platform (4) comprises a sliding bottom plate (54), a sliding upper plate (55) and a pulley (56); the sliding bottom plate (54) equipped with the pulley (56) is connected under the main cross beam of the left frame (1); the sliding upper plate (55) equipped with a guide rail is connected on the main cross beam of the right frame (1); the sliding upper plate (55) and the sliding bottom plate (54) are arranged to slide up and down.

6. The highly automated blueberry picking device according to claim 1, characterized in that: The reduction motor (18) is a reduction stepping motor with a voltage of 48V, 12N.M and a speed ratio of 30.

7. The highly automated blueberry picking device according to claim 1, characterized in that: The rotary motor 1 (33) and the rotary motor 2 (50) are both powered by 24V.

8. The highly automated blueberry picking device according to claim 1, characterized in that: The arc-shaped plastic vibrating rod (53) comprises an arc-shaped plastic main rod (57) and a floating plastic rod (58) having one end rotating with the arc-shaped plastic main rod (57). An elastic gasket (59) is formed between the arc-shaped plastic main rod (57) and the floating plastic rod (58). The elastic gasket (59) is made of elastic material and its surface is processed into a laminated structure.

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