A highly automated blueberry picking apparatus

Abstract

The application discloses a kind of high automation blueberry picking equipment, including walking chassis system, operating system, side suspension arm system and vibration picking system, walking chassis system includes frame, track chassis and gauge adjustment component, frame is divided into left and right two parts, track chassis is separately provided with two groups and is respectively installed in the left and right two parts of frame, gauge adjustment component is installed between two groups of track chassis and includes sliding table, electric push rod one, sliding shaft, shaft sleeve, square tube, gyro wheel and electric push rod two, sliding table is separately provided with two groups and is symmetrically installed between two groups of track chassis, one end of sliding table is connected with left side frame and the other end is connected with right side frame.The blueberry picking high automation equipment designed in the application can be self-adaptive walking width adjustment, picking height adjustment and vibration picking treatment according to the actual space condition of planting area, which greatly improves the automation degree of the equipment for blueberry picking.

Description

Technical Field

[0001] This invention relates to the field of blueberry harvesting technology, specifically to a highly automated blueberry harvesting device. Background Technology

[0002] Blueberries can be eaten directly or processed into jams, juices, dried fruits, and other products. Due to their high nutritional value and wide range of health benefits, blueberries are known as the "King of Berries" and have been listed by the Food and Agriculture Organization of the United Nations as one of the five healthiest foods for mankind. With the continuous expansion of planting area, the trend of large-scale development of blueberry orchards is becoming increasingly apparent. After the blueberries ripen, they need to be harvested and processed.

[0003] However, existing blueberry harvesting methods have the following problems: blueberry harvesting mainly relies on seasonal workers, which is inefficient and labor-intensive. Although specialized blueberry harvesting machines exist, the diverse and unique cultivation techniques in blueberry plantations, such as obstacles like bird nets and concrete poles, make it difficult for large equipment like blueberry harvesting machines to be adjusted as needed, hindering their smooth operation and normal use within plantations. Therefore, it is necessary to design corresponding technical solutions to address these problems. Summary of the Invention

[0004] The purpose of this invention is to provide a highly automated blueberry picking device, which solves the problem that blueberry picking mainly relies on seasonal manual labor, which is inefficient and labor-intensive. Although there are specialized blueberry picking machines, due to the diversity and special nature of blueberry plantation cultivation, such as the existence of obstacles like bird nets and cement poles, large equipment such as blueberry picking machines are inconvenient to adjust as needed and cannot operate smoothly and normally in plantations.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a highly automated blueberry picking device, comprising a chassis system, an operating system, a side suspension arm system, and a vibratory picking system. The chassis system includes a frame, a tracked chassis, and a track gauge adjustment assembly. The frame is divided into left and right parts. The tracked chassis is divided into two sets and installed on the left and right parts of the frame, respectively. The track gauge adjustment assembly is installed between the two sets of tracked chassis and includes a sliding platform, an electric push rod one, a sliding shaft, a bushing, a square tube, a roller, and an electric push rod two. The sliding platform is divided into two sets and symmetrically installed between the two sets of tracked chassis. One end of the sliding platform is connected to the left side of the frame, and the other end is connected to the right side of the frame. The electric push rod is divided into two sets. One end of the electric push rod is installed on the left side of the frame and the other end is connected to the right side of the frame. At the vertical beams 100mm away from the left and right sides of the roller sliding table, on the horizontal line 150mm above the sliding table, there are sliding shafts and bushings with a sliding diameter of 30mm. The sliding shafts and bushings are respectively connected to the vertical beams of the left and right frames. The electric push rod is installed on the right side of the frame and its two ends are rotatably connected to two sets of square tubes. The lower end of the square tubes is connected to the rollers. 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. The vibration harvesting 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 moving cantilever. The lifting column includes a column base, a rectangular tube, a dual-guide rail slider assembly, a reduction motor, a transmission gear, and a rack. The dual-guide rail slider assembly is housed within the rectangular tube, consisting of a slider body and a dual-guide rail body. The slider body is fixed inside the rectangular tube. A disc is located at the upper end of the dual-guide rail body, with a drive shaft at its center. A rack is located in the middle section of the dual-guide rail body, meshing with a transmission gear mounted inside the rectangular tube. The transmission gear is equipped with a reduction motor. The lifting column is also equipped with a limit switch. The slewing mechanism includes a bearing seat, a tapered bearing, a bullseye pinion, a large gear, a small gear, a slewing motor, and a limit switch. The bearing seat is embedded in the aluminum profile base plate of the horizontally moving cantilever. The inner and lower ends are connected to a tapered bearing. The tapered bearing and bullseye are both mounted on a disc. The large gear is mounted on an aluminum profile base plate. The small gear is mounted on a rotary motor. The rotary motor is mounted on the upper end of the lifting column. The large gear and small gear mesh. The 270° rotation range of the side suspension arm system is controlled by a limit switch. The horizontal moving cantilever includes an aluminum profile base plate, a cantilever beam, a double guide rail slider assembly, a lead screw and nut assembly, a horizontal moving motor, a counterweight, and a limit switch. The double guide rails of the double guide rail slider assembly are mounted on the aluminum profile base plate, and the double sliders are mounted on the cantilever beam. The lead screw and nut assembly is mounted on the cantilever beam. One end of the lead screw is installed in the lead screw nut, and the other end is mounted on the horizontal moving motor. The horizontal moving motor and the counterweight are mounted on the aluminum profile base plate.

[0007] The vibration harvesting system includes a cross-shaped suspension and four sets of vertically folding vibration rods mounted on the cross-shaped suspension. The center of the cross-shaped suspension is installed at the front end of the horizontally movable cantilever. The vertically folding vibration rods include a U-shaped frame, a hollow cross connector, and a rotary vibration mechanism. The cross-shaped suspension has a U-shaped frame at both ends, and a hollow cross connector is provided on the U-shaped frame. A folding motor is provided at the horizontal end of the hollow cross connector, and a rotary vibration mechanism is inserted at the vertical end of the hollow cross connector. The rotary vibration mechanism includes an upper vibration rod connected at the bottom and a vibration motor and a rotary motor connected at the top. The lower end of the upper vibration rod is connected to the folding motor, and the folding motor is connected to the lower vibration rod. Several sets of arc-shaped plastic vibration rods are provided on both the upper and lower vibration rods.

[0008] As a preferred embodiment of the present invention, the electric actuator is a 100W electric actuator with a thrust of 6000N.

[0009] As a preferred embodiment of the present invention, the electric actuator 2 is a 750W electric actuator with a thrust of 7000N.

[0010] In a preferred embodiment of the present invention, the sliding platform includes a sliding base plate, a sliding top plate, and pulleys. The sliding base plate with pulleys is connected to the main crossbeam of the left side of the vehicle frame, and the sliding top plate with guide rails is connected to the main crossbeam of the right side of the vehicle frame. The sliding top plate and the sliding base plate are slidably arranged up and down.

[0011] As a preferred embodiment of the present invention, the geared motor is a 48V, 12N·m, speed ratio 30 geared stepper motor.

[0012] In a preferred embodiment of the present invention, both the first rotary motor and the second rotary motor are 24V.

[0013] In a preferred embodiment of the present invention, the arc-shaped plastic vibrating rod includes an arc-shaped plastic main rod and a floating plastic rod with one end rotating with the arc-shaped plastic main rod. An elastic pad is formed between the arc-shaped plastic main rod and the floating plastic rod. The elastic pad is made of elastic material and its surface is processed into a layered structure.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0015] 1. This invention designs a highly automated device specifically for blueberry harvesting. This highly automated blueberry harvesting device includes a walking chassis system, an operating system, a side-suspension arm system, and a vibrating harvesting system. When blueberries need to be harvested, the operating system controls the operation of the walking chassis system, enabling the device to move within the plantation. It employs a variable wheelbase chassis design, adaptively adjusting the track width according to the width of the ridges in the planting area. This solves the problem of walking along the ditch between rows and meets the needs of machine relocation. During the device's movement, the side-suspension arm system allows the vibrating harvesting system to adapt to varying blueberry tree heights, canopy diameters, and the presence of bird netting in the blueberry plantation, ensuring the system's flexibility. Finally, the vibrating harvesting system facilitates vibratory harvesting of blueberries within a limited working space.

[0016] 2. The highly automated blueberry harvesting equipment designed in this invention can adaptively adjust the walking width, picking height, and vibration picking process according to the actual spatial conditions of the planting area, which greatly improves the automation level of the equipment for blueberry harvesting. Attached Figure Description

[0017] Figure 1 This is an overall front view of the present invention;

[0018] Figure 2 This is an overall side view of the present invention;

[0019] Figure 3This is a structural diagram of the sliding table described in this invention;

[0020] Figure 4 This is a cross-sectional view of the lifting column described in this invention;

[0021] Figure 5 This is a front view of the connection between the rotary mechanism and the horizontally moving cantilever described in this invention;

[0022] Figure 6 This is a side view showing the connection between the rotary mechanism and the horizontally moving cantilever described in this invention.

[0023] Figure 7 This is a structural diagram of the vibration harvesting system described in this invention;

[0024] Figure 8 This is a side view of the vibration harvesting system described in this invention;

[0025] Figure 9 This is a structural diagram of the arc-shaped plastic vibrator described in this invention.

[0026] In the diagram: 1. Chassis; 2. Tracked chassis; 3. Track gauge adjustment assembly; 4. Sliding table; 5. Electric push rod one; 6. Sliding shaft; 7. Bushing; 8. Square tube; 9. Roller; 10. Electric push rod two; 11. Control panel; 12. Lifting column; 13. Rotary mechanism; 14. Horizontal moving cantilever; 15. Column base; 16. Rectangular tube; 17. Double guide rail slider assembly one; 18. Gear motor; 19. Transmission gear; 20. Rack; 21. Slider body; 22. Double guide rail body; 23. Disc; 24. Drive shaft; 25. Rack; 27. Limit switch one; 28. Bearing seat; 29. ​​Tapered bearing; 30. Bullseye; 31. Large gear; 32. Small gear; 33. 34. Rotary motor 1; 35. Limit switch 2; 36. Aluminum profile base plate; 37. Cantilever beam; 38. Double guide rail slider assembly 2; 39. Screw and nut assembly; 40. Horizontal moving motor; 41. Counterweight block; 42. Limit switch 3; 43. Positive cross suspension; 44. Upward and downward folding vibrating rod; 45. U-shaped frame; 46. Hollow cross connector; 47. Folding motor 1; 48. Upper vibrating rod; 59. Vibrating motor; 50. Rotary motor 2; 51. Folding motor 2; 52. Lower vibrating rod; 53. Arc-shaped plastic vibrating rod; 54. Sliding base plate; 55. Sliding upper plate; 56. Pulley; 57. Arc-shaped plastic main rod; 58. Floating plastic rod; 59. Elastic pad. Detailed Implementation

[0027] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0028] Please see Figure 1-9 This invention provides a technical solution: a highly automated blueberry picking device, comprising a chassis system, an operating system, a side suspension arm system, and a vibratory picking system. The chassis system includes a frame 1, a tracked chassis 2, and a track gauge adjustment assembly 3. The frame 1 is divided into left and right parts. The tracked chassis 2 are divided into two sets and installed on the left and right parts of the frame 1 respectively. The track gauge adjustment assembly 3 is installed between the two sets of tracked chassis 2 and includes a sliding platform 4, an electric push rod 5, a sliding shaft 6, a bushing 7, a square tube 8, a roller 9, and an electric push rod 10. The sliding platform 4 is divided into two sets and symmetrically installed between the two sets of tracked chassis 2. One end of the sliding platform 4 is connected to the left side of the frame 1, and the other end is connected to the right side of the frame 1. The electric push rod 15 is divided into two sets. One end of the electric push rod 15 is installed on the left frame 1 and the other end is connected to the right frame 1. At the vertical beams 100mm away from the left and right sides of the roller sliding table 4, on the horizontal line 150mm above the sliding table, there are sliding shafts 6 and bushings 7 with a sliding diameter of 30mm respectively. The sliding shafts 6 and bushings 7 are respectively connected to the vertical beams of the left and right frames 1. The electric push rod 210 is installed on the right frame 1 and its two ends are rotatably connected to two sets of square tubes 8 respectively. The lower end of the square tubes 8 is connected to the rollers 9. The operating system is installed on the frame 1 and is composed of the operating table 11. The side suspension arm system is vertically installed on the top of the frame 1. The vibration harvesting system is installed on the side suspension arm system.

[0029] The side suspension arm system includes a lifting column 12, a slewing mechanism 13, and a horizontally moving cantilever 14. The lifting column 12 includes a column base 15, a rectangular tube 16, a double-rail slider assembly 17, a reduction motor 18, a transmission gear 19, and a rack 20. The double-rail slider assembly 17 is housed inside the rectangular tube 16. The double-rail slider assembly 17 consists of a slider body 21 and a double-rail body 22. The slider body 21 is fixed inside the rectangular tube 16. A disc 23 is located at the upper end of the double-rail body 22, and a drive shaft 24 is located at the center of the disc 23. A rack 20 is located in the middle section of the double-rail body 22. The rack 20 meshes with the transmission gear 19 mounted inside the 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 rotating mechanism 13 includes a bearing housing 28, a tapered bearing 29, a bullseye 30, a large gear 31, a small gear 32, a rotating motor 33, and a limit switch 34. The bearing housing 28 is embedded in the aluminum profile base plate 35 of the horizontal moving cantilever 14 and its lower end is connected to the tapered bearing 29. The tapered bearing 29 and the bullseye 30 are both mounted on the disc 23. The large gear 31 is mounted on the aluminum profile base plate 35, and the small gear 32 is mounted on the rotating motor 33. The rotating motor 33 is mounted on the upper end of the lifting column 12. The large gear 31 meshes with the small gear 32. The 270° rotation range of the side suspension arm system is controlled by the limit switch 34. The horizontal moving cantilever 14 includes an aluminum profile base plate. 35. Cantilever beam; 36. Double guide rail slider assembly 2; 37. Lead screw and nut assembly 38. Horizontal moving motor; 39. Counterweight 40 and limit switch 31. The double guide rails of the double guide rail slider assembly 2 37 are mounted on the aluminum profile base plate 35, and the double sliders are mounted on the cantilever beam 36. The lead screw and nut assembly 38 is mounted on the cantilever beam 36. One end of the lead screw is installed in the lead 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 reduction motor 18 drives the transmission gear 19 to rotate. During the rotation, the transmission gear 19 acts on the rack 20, thereby driving the double guide rail body 22 to perform longitudinal height adjustment, and thus adjusting the height of the double guide rails mounted on the double guide rails. The disc 23, rotary mechanism 13, and horizontal moving cantilever 14 of the main body 22 are adjusted longitudinally. Then, the rotary motor 33 drives the pinion 32 to rotate. During the rotation, the pinion 32 acts on the large gear 31. During the rotation, the large gear 31 drives the horizontal moving cantilever 14 above to adjust its 270° rotation range. During the rotation, the bullseye 30 performs real-time angle detection to facilitate the rotation of the horizontal moving cantilever 14 and the vibrating harvesting system to the blueberry harvesting area. At this time, the horizontal moving motor 39 drives the lead screw to rotate. During the rotation, the lead screw acts on the nut assembly 38 and the cantilever beam 36 to move laterally, thereby adjusting the position of the vibrating harvesting system.

[0030] The vibratory harvesting system includes a cross-shaped suspension 42 and four sets of vertically folding vibratory rods 43 mounted on the cross-shaped suspension 42. The center of the cross-shaped suspension 42 is mounted at the front end of the horizontally movable cantilever 14. The vertically folding vibratory rods 43 include a U-shaped frame 44, a hollow cross connector 45, and a rotary vibration mechanism. The cross-shaped suspension 42 has U-shaped frames 44 at both ends, and hollow cross connectors 45 are mounted on the U-shaped frames 44. A folding motor 46 is mounted on the horizontal end of the hollow cross connector 45, and a rotary vibration mechanism is inserted at the vertical end of the hollow cross connector 45. The rotary vibration mechanism includes an upper vibratory rod 47 connected at the bottom and a vibratory motor 48 and a rotary motor 50 connected at the top. The lower end of the 7 is connected to a folding motor 2 51, which is connected to a lower vibrating rod 52. Both the upper vibrating rod 47 and the lower vibrating rod 52 are equipped with several sets of arc-shaped plastic vibrating rods 53. According to the height of the blueberry bush, the upper vibrating rod 47 and the lower vibrating 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 vibrating rods 53 on the upper vibrating rod 47 and the lower vibrating rod 52 can act on the blueberry bush. Then, the rotary motor 2 50 drives the folding vibrating rod 43 to rotate and adjust, and the vibration motor 48 drives the upper vibrating rod 47, the lower vibrating rod 52 and the arc-shaped plastic vibrating rods 53 to vibrate up and down, shaking the blueberries off.

[0031] Further improvements, such as Figure 1 As shown, the electric linear actuator 5 uses a 100W electric linear actuator with a thrust of 6000N.

[0032] Further improvements, such as Figure 1 As shown, the electric linear actuator 210 uses a 750W electric linear actuator with a thrust of 7000N.

[0033] Further improvements, such as Figure 3 As shown, the sliding platform 4 includes a sliding base plate 54, a sliding upper plate 55, and pulleys 56. The sliding base plate 54 with pulleys 56 is connected to the main crossbeam of the left frame 1, and the sliding upper plate 55 with guide rails is connected to the main crossbeam of the right frame 1. The sliding upper plate 55 and the sliding base plate 54 are slidably arranged up and down. The sliding platform base plate with pulleys is connected to the main crossbeam of the left frame, and the sliding upper plate with guide rails is connected to the main crossbeam of the right frame. The upper and lower sliding platforms are reinforced with triangular plates to the main crossbeams. Vertical beams are provided on the left and right main crossbeams, and upper crossbeams are provided on the vertical beams. A working platform panel is provided on the upper left crossbeam, and round steel is provided on the upper right crossbeam to reduce the frictional resistance when pushing the right track to change tracks.

[0034] Further improvements, such as Figure 1 As shown, the geared motor 18 is a 48V, 12N·m, speed ratio 30 geared stepper motor.

[0035] Further improvements, such as Figure 1 As shown, both rotary motor 1 (33) and rotary motor 2 (50) are 24V.

[0036] Specifically, the arc-shaped plastic vibrator 53 includes an arc-shaped plastic main rod 57 and a floating plastic rod 58 with one end rotating with the arc-shaped plastic main rod 57. An elastic pad 59 is formed between the arc-shaped plastic main rod 57 and the floating plastic rod 58. The elastic pad 59 is made of elastic material and its surface is processed into a layered structure. When the arc-shaped plastic vibrator 53 vibrates the blueberry branches up and down, the floating plastic rod 58, together with the elastic pad 59, can effectively improve the vibration effect and vibration frequency of the blueberry branches, and improve the effect of shaking the blueberries off the blueberry branches.

[0037] In use: When blueberries need to be harvested using the blueberry picking equipment, the chassis system is adjusted according to the space available in the blueberry planting area. The two sets of square tubes 8 are rotated and adjusted by the electric push rod 10. During rotation, the rollers 9 move down to contact the ground, raising the tracked chassis 2 on the right side of the frame 1. At this time, the tracked chassis 2 is moved laterally by the electric push rod 5. Because the tracked chassis is heavy and has high sliding resistance, linear bearing modules cannot be used; instead, the rolling motion of the rollers on the sliding platform is utilized. With low frictional resistance and high load-bearing capacity, the distance between the two sets of tracked chassis 2 can be adjusted, ensuring that the specifications of the walking chassis system can meet the spatial requirements of the driving area and the characteristics of deep and narrow blueberry furrows. The geared motor 18 drives the transmission gear 19 to rotate, and the transmission gear 19 acts on the rack 20 during rotation, thereby driving the double guide rail body 22 to adjust its longitudinal height. This, in turn, adjusts the longitudinal height of the disc 23, the slewing mechanism 13, and the horizontal moving cantilever 14 mounted on the double guide rail body 22. Then, the slewing motor 3... 3 drives the small gear 32 to rotate. During the rotation of the small gear 32, the small gear 32 acts on the large gear 31. During the rotation of the large gear 31, the upper horizontal moving cantilever 14 is adjusted to a 270° rotation range. During the rotation, the bullseye 30 performs real-time angle detection to facilitate the rotation of the horizontal moving cantilever 14 and the vibrating harvesting system to the blueberry harvesting area. At this time, the horizontal moving motor 39 drives the lead screw to rotate. During the rotation of the lead screw, it acts on the nut assembly 38 and the cantilever beam 36 to move laterally, thereby adjusting the vibrating harvesting system. The position of the system is adjusted according to the height of the blueberry bush. The upper vibrating rod 47 and the lower vibrating rod 52 can be folded and adjusted by folding motor 1 46 and folding motor 2 51 respectively, so that the arc-shaped plastic vibrating rods 53 on the upper vibrating rod 47 and the lower vibrating rod 52 can act on the blueberry bush. Then, the rotary motor 2 50 drives the folding vibrating rod 43 to rotate and adjust, and the vibration motor 48 drives the upper vibrating rod 47, the lower vibrating rod 52 and the arc-shaped plastic vibrating rod 53 to vibrate up and down, shaking the blueberries down and completing the harvest.

[0038] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0039] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of those features.

[0040] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0041] Finally, it should be noted that the above descriptions are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A highly automated blueberry picking device, characterized in that: The system includes a chassis system, an operating system, a side suspension arm system, and a vibration harvesting system. The chassis system includes a frame (1), a tracked chassis (2), and a track gauge adjustment assembly (3). The frame (1) is divided into left and right parts. The tracked chassis (2) is divided into two sets and installed on the left and right parts of the frame (1), respectively. The track gauge adjustment assembly (3) is installed between the two sets of tracked chassis (2) and includes a sliding platform (4), an electric push rod (5), a sliding shaft (6), a bushing (7), a square tube (8), a roller (9), and an electric push rod (10). The sliding platform (4) is divided into two sets and is symmetrically installed between the two sets of tracked chassis (2). 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 (5) is divided into two sets. The electric push rod (5) is installed on the left frame (1) at one end and connected to the right frame (1) at the other end. On the horizontal line 150mm higher than the sliding table (4), at the vertical beams 100mm away from the left and right sides of the roller sliding table (4), there are sliding shafts (6) and bushings (7) with a sliding diameter of 30mm respectively. The sliding shafts (6) and bushings (7) are respectively connected to the vertical beams of the left and right frames (1). The electric push rod (2) is installed on the right frame (1) and its two ends are rotatably connected to two sets of square tubes (8). The lower end of the square tubes (8) is connected to the rollers (9). The operating system is installed on the frame (1) and is composed of an operating table (11). The side suspension arm system is vertically installed on the top of the frame (1). The vibration harvesting system is installed on the side suspension arm system. The side suspension arm system includes a lifting column (12), a slewing mechanism (13), and a horizontally moving cantilever (14). The lifting column (12) includes a column base (15), a rectangular tube (16), a double-rail slider assembly (17), a reduction motor (18), a transmission gear (19), and a rack (20). The double-rail slider assembly (17) is provided inside the rectangular tube (16). The double-rail slider assembly (17) consists of a slider body (21) and a double-rail body (22). The slider body (21) is fixed inside the rectangular tube (16). The upper end of the double-rail body (22) is provided with a disc (…). 23), the disk (23) is provided with a drive shaft (24) at the center, the double guide rail body (22) is provided with a rack (20) in the middle section, the rack (20) meshes with a transmission gear (19) installed inside the 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) includes a bearing seat (28), a tapered bearing (29), a bullseye (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 An aluminum profile base plate (35) is embedded in the horizontal moving cantilever (14) and its lower end is connected to a tapered bearing (29). The tapered bearing (29) and the bullseye (30) are both mounted on a disc (23). The large gear (31) is mounted on the aluminum profile base plate (35), and the small gear (32) is mounted on a rotary motor (33). The rotary motor (33) is mounted on the upper end of the lifting column (12). The large gear (31) and the small gear (32) mesh. The 270° rotation range of the side suspension arm system is controlled by a limit switch (34). The horizontal moving cantilever (14) includes an aluminum profile. The components include a base plate (35), a cantilever beam (36), a double guide rail slider assembly (37), a lead screw and nut assembly (38), a horizontal moving motor (39), a counterweight (40), and a limit switch (41). The double guide rails of the double guide rail slider assembly (37) are mounted on the aluminum profile base plate (35), and the double sliders are mounted on the cantilever beam (36). The lead screw and nut assembly (38) is mounted on the cantilever beam (36). One end of the lead screw is installed in the lead 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). The vibration harvesting system includes a cross-shaped suspension (42) and four sets of vertically folding vibration rods (43) mounted on the cross-shaped suspension (42). The center of the cross-shaped suspension (42) is mounted at the front end of the horizontally moving cantilever (14). The vertically folding vibration rods (43) include a U-shaped frame (44), a hollow cross connector (45), and a rotary vibration mechanism. The cross-shaped suspension (42) has U-shaped frames (44) at both ends, and hollow cross connectors (45) are provided on the U-shaped frames (44). 45) is provided with a folding motor (46) at one horizontal end. The hollow cross connector (45) is inserted with a rotary vibration mechanism at the lower vertical end. The rotary vibration mechanism includes an upper vibration rod (47) connected at the lower part and a vibration motor (48) and a rotary motor (50) connected at the upper part. The lower end of the upper vibration rod (47) is connected with a folding motor (51). The folding motor (51) is connected with a lower vibration rod (52). The upper vibration rod (47) and the lower vibration rod (52) are each provided with several sets of arc-shaped plastic vibration rods (53).

2. The highly automated blueberry picking equipment according to claim 1, characterized in that: The electric actuator 1 (5) is a 100W electric actuator with a thrust of 6000N.

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

4. The highly automated blueberry picking equipment according to claim 1, characterized in that: The sliding platform (4) includes a sliding base plate (54), a sliding upper plate (55), and pulleys (56). The sliding base plate (54) with pulleys (56) is connected to the main crossbeam of the left frame (1), and the sliding upper plate (55) with guide rails is connected to the main crossbeam of the right frame (1). The sliding upper plate (55) and the sliding base plate (54) are slidably arranged up and down.

5. The highly automated blueberry picking equipment according to claim 1, characterized in that: The geared motor (18) is a 48V, 12N·m, speed ratio 30 geared stepper motor.

6. The highly automated blueberry picking equipment according to claim 1, characterized in that: Both the rotary motor one (33) and the rotary motor two (50) are 24V.

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

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