All-terrain vibration fruit shaking machine

Abstract

The invention provides an all-terrain vibration fruit shaking machine, and relates to the technical field of fruit harvesting. The all-terrain vibration fruit shaking machine comprises a machine frame, a walking mechanism, a clamping mechanism, a vibration mechanism, a collecting mechanism, an environment information collecting mechanism and a control mechanism. The control mechanism comprises a first control assembly and a second control assembly. The second control assembly is used for identifying fruit tree trunks, obstacle identification and path planning. The clamping mechanism comprises a first lead screw sliding table module, a bus steering engine and a mechanical clamping jaw. The first lead screw sliding table module is used for longitudinally moving the mechanical clamping jaw. The bus steering engine is used for driving the mechanical clamping jaw to open and close. The vibration mechanism comprises a frequency converter electrically connected to the first control assembly and a vibration motor. The collecting mechanism comprises a second lead screw sliding table module connected to the rack, a telescopic support connected to the second lead screw sliding table module and a collecting net connected to the telescopic support. The second lead screw sliding table module is constructed to be capable of driving the telescopic support to be opened or closed so as to drive the collecting net to be opened or closed.

Description

Technical Field

[0001] The present invention relates to the technical field of fruit harvesting, in particular to an all-terrain vibrating fruit shaking machine. Background Art

[0002] The method of using a handheld fruit picker to pick fruit is labor-intensive and inefficient. Moreover, since the clamps of the handheld picking equipment are fixed, it can only pick fruit at the branch position, and each tree needs to be picked multiple times to complete.

[0003] Automated harvesting machinery can effectively improve planting efficiency, reduce costs, and promote agricultural modernization. Currently, some regions use portable mechanical vibrating fruit removers, which mechanically vibrate branches to remove fruit. While this semi-mechanized planting method improves efficiency, it still requires a certain amount of manpower, lacks power, and has a relatively low vibration frequency and amplitude, which does not remove all ripe fruit.

[0004] Although fully automatic mechanical vehicles such as tractor-mounted hydraulic vibrating harvesters are currently available on the market, they are large-scale equipment suitable for harvesting fruit in large, flat areas. They are not friendly to individual farmers or those harvesting fruit in mountainous orchards with rugged terrain. For example, the trunk vibration self-propelled harvester described in patent CN115715507A, although this vehicle completes harvesting automatically, is bulky and complex in structure, not convenient enough, and has poor flexibility. In addition, the high-power vibration device it uses has a large amplitude, which can easily damage the roots of the harvested fruit trees. As a result, large-scale, fully automated harvesting equipment not only has low work efficiency, but is also difficult to carry, difficult to operate, complex in structure, and increases in cost. In addition, it is not friendly to individual farmers. Summary of the Invention

[0005] The present invention provides an all-terrain vibrating fruit shaker, aiming to improve at least one of the above technical problems.

[0006] In order to solve the above technical problems, the present invention provides an all-terrain vibrating fruit shaking machine, comprising a frame and a walking mechanism connected to the frame, characterized in that the all-terrain vibrating fruit shaking machine also includes a clamping mechanism, a vibration mechanism, a collection mechanism, an environmental information collection mechanism, and a control mechanism connected to the frame.

[0007] The environmental information collection mechanism includes an industrial camera and a laser radar.

[0008] The control mechanism includes a first control component electrically connected to the travel mechanism, the clamping mechanism, the vibrating mechanism, and the collecting mechanism, and a second control component electrically connected to the environmental information collection mechanism. The second control component is configured to identify the trunk of the fruit tree, identify obstacles, and perform path planning based on information collected by the industrial camera and the laser radar.

[0009] The clamping mechanism includes a first screw slide module coupled to the frame, a bus servo coupled to the first screw slide module, and a mechanical gripper coupled to the bus servo. The first screw slide module is used to longitudinally move the mechanical gripper. The bus servo is used to drive the mechanical gripper to open and close.

[0010] The vibration mechanism includes a frequency converter electrically connected to the first control component, and a vibration motor electrically connected to the frequency converter.

[0011] The collection mechanism includes a second screw slide module coupled to the frame, a telescopic bracket coupled to the second screw slide module, and a collection net coupled to the telescopic bracket. The second screw slide module is configured to drive the telescopic bracket to open or close, thereby driving the collection net to open or close.

[0012] As a further optimization, the first screw slide module is coupled to the frame and comprises a screw, a slider configured to slide longitudinally along the screw, a slide plate coupled to the front of the slider, and a clamp bracket coupled to the slide plate. The bus servo is located in the center of the clamp bracket. The mechanical clamp uses a gear transmission to enable relative movement of the left and right clamping parts. The clamp is electrically driven, and the driver is the bus servo.

[0013] As a further optimization, the vibration motor is provided with an eccentric block with an adjustable angle, wherein the vibration amplitude and speed of the vibration motor can be adjusted by adjusting the eccentric block angle of the vibration motor, the supply current value, and the inverter output frequency.

[0014] The first screw slide module is located above the frame and can slide longitudinally. It is connected to the frame through a right-angle support frame and has a sliding distance of 250 mm.

[0015] The maximum opening and closing angle of the mechanical gripper is 160°, the closed width of the clamping part is 45mm, and the maximum opening and closing width is 230mm.

[0016] As a further optimization, the collection mechanism is located on top of the all-terrain vibrating fruit shaker. The collection mechanism includes a plurality of telescopic supports. An inverted umbrella-like structure is formed between the plurality of telescopic supports and the collection net.

[0017] The second screw slide module is equipped with a slide that can be raised and lowered. The telescopic bracket is constructed as a diamond-shaped telescopic bracket structure with an X-shaped hinge structure at the end. The upper and lower ends of the X-shaped hinge structure are respectively connected to the top of the second screw slide module and the slide, so that the lifting and lowering of the slide can drive the opening and closing of the telescopic bracket.

[0018] As a further optimization, the mechanical gripper is arranged above the frame, and the mechanical gripper and the frame are configured as a metamorphic mechanism. The metamorphic mechanism is configured to enable relative movement to provide overload protection when the thrust load on the mechanical gripper exceeds a set value.

[0019] As a further optimization, one end of the first screw slide module is hinged to the frame. The other end of the first screw slide module is connected to the frame via a preload spring. The preload spring is configured to deform when the thrust load on the mechanical gripper exceeds a set value, thereby allowing the first screw slide module to rotate relative to the frame.

[0020] As a further optimization, the walking mechanism is configured as a crawler vehicle, and the chain plate driving wheels are configured on the wheel shafts on both sides of the crawler vehicle. The power of the driving member is engaged with the chain plate through the chain plate driving wheels, thereby transmitting the power to the wheel shaft to supply the crawler vehicle with power.

[0021] As a further optimization, the frame includes a double-layer frame, a bottom mounting plate connected to the lower layer of the double-layer frame, and a top mounting plate connected to the upper layer of the double-layer frame. The walking mechanism is arranged on both sides of the lower layer frame. The collection mechanism is arranged on the top mounting plate.

[0022] As a further optimization, the first control component is an STM32 single-chip microcomputer. The second control component is a Jetson Nano developer kit.

[0023] As a further optimization, the driving element of the walking mechanism is a DC planetary gear reduction motor with a model number of MY36GP-555. When the first control component controls the motors on both sides to supply different currents, the motors rotate at differential speeds to complete the steering function.

[0024] By adopting the above technical solution, the present invention can achieve the following technical effects: The all-terrain vibrating fruit shaker of the present application can fully automatically harvest a variety of fruit trees, including blueberries, kumquats, wax apples, jujubes, and walnuts. It features a simple structure, easy operation, and high safety, effectively freeing up labor and significantly reducing labor costs. In particular, it is extremely suitable for harvesting by individual farmers. Configured as a small, fully automated harvesting device, it not only improves harvesting efficiency but is also portable, flexible, and affordable, making it more user-friendly for individual farmers. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the specific embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 This is a schematic diagram of the structure of an all-terrain vibrating fruit shaker from a first-person perspective.

[0027] Figure 2 It is a structural diagram of the all-terrain vibrating fruit shaker from a second perspective.

[0028] Figure 3 It is a structural diagram of an all-terrain vibrating fruit shaker from a third-person perspective.

[0029] Figure 4 It is a structural diagram of an all-terrain vibrating fruit shaker from a fourth perspective.

[0030] Icons: 1-frame, 11-bottom mounting plate, 12-top mounting plate, 2-travel mechanism, 21-wheel axle, 22-track, 3-clamping mechanism, 31-mechanical gripper, 32-bus servo, 33-first screw slide module, 4-vibration mechanism, 41-vibration motor, 42-inverter, 5-collection mechanism, 51-second screw slide module, 52-telescopic bracket, 6-environmental information collection mechanism, 61-industrial camera, 62-lidar. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are 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 making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention for which protection is sought, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] Depend on Figures 1 to 4 As shown, an embodiment of the present invention provides an all-terrain vibrating fruit shaker, comprising a frame 1 and a traveling mechanism 2 coupled to the frame 1. The all-terrain vibrating fruit shaker further comprises a clamping mechanism 3 coupled to the frame 1, a vibrating mechanism 4, a collecting mechanism 5, an environmental information collecting mechanism 6, and a control mechanism.

[0033] The clamping mechanism 3 includes a first screw slide module 33 coupled to the frame 1, a bus actuator 32 coupled to the first screw slide module 33, and a mechanical gripper 31 coupled to the bus actuator 32. The first screw slide module 33 is used to longitudinally move the mechanical gripper 31. The bus actuator 32 is used to drive the mechanical gripper 31 to open and close.

[0034] The vibration mechanism 4 includes a frequency converter 42 electrically connected to the first control assembly, and a vibration motor 41 electrically connected to the frequency converter 42. The vibration motor 41 is equipped with an eccentric weight with an adjustable angle. The amplitude and speed are adjusted by adjusting the eccentric weight angle of the vibration motor 41, the motor supply current, and the output frequency of the frequency converter 42.

[0035] The collecting mechanism 5 includes a second screw slide module 51 coupled to the frame 1, a telescopic bracket 52 coupled to the second screw slide module 51, and a collecting net coupled to the telescopic bracket 52. The second screw slide module 51 is constructed to be able to drive the telescopic bracket 52 to open or close, thereby driving the collecting net to open and close. Specifically, the telescopic bracket 52 is foldably arranged on the second screw slide module 51 in the transverse direction, and its opening and closing is controlled by the second screw slide module 51. When closed, the slide is at the bottom, and the telescopic bracket 52 is in a folded state. When opened, the slide rises to the top, and the telescopic bracket 52 is in an open state, so that the fallen fruits can be collected.

[0036] The environmental information collection mechanism 6 includes an industrial camera 61 and a laser radar 62. The industrial camera 61 is a monocular camera. The environmental information collection mechanism 6 also includes a solar-powered lighting lamp (not shown) for providing illumination for the monocular industrial camera 61.

[0037] The control mechanism includes a first control component electrically connected to the traveling mechanism 2, the clamping mechanism 3, the vibrating mechanism 4, and the collecting mechanism 5, and a second control component electrically connected to the environmental information collecting mechanism 6. The first control component is an STM32 microcontroller. The second control component is a Jetson Nano developer kit. The STM32 microcontroller is electrically connected to the Jetson Nano developer kit. The STM32 microcontroller receives commands from the Jetson Nano developer kit to control the vehicle's direction and speed. The first control component is configured to control the movement of the traveling mechanism 2, the clamping mechanism 3 to clamp the tree trunk, the collection mechanism 5 to open and close, and the vibrating mechanism 4 to vibrate. The second control component is configured to identify the main trunk of the fruit tree, identify obstacles, and perform path planning based on information collected by the industrial camera 61 and the lidar 62.

[0038] The monocular camera can be used to automatically identify the trunks of the fruit trees to be harvested, and the laser radar 62 completes path planning through SLAM autonomous navigation and perception technology, so that the fruit shaker can automatically go to the fruit trees to collect them for operation. The method of identifying the trunks of fruit trees is a prior art and will not be described in detail in this invention. For example: Publication number: CN118675127A, invention name: A method for identifying and locating fruit tree trunks based on improved YOLOv3. Publication number: CN118840539A, invention name: A method for identifying and locating apple tree trunks based on improved YOLOv5s and binocular vision. The method of obstacle recognition and path planning is a prior art and will not be described in detail in this invention. For example: Publication number: CN113778081B, invention name: A method and robot for orchard path recognition based on laser radar 62 and vision.

[0039] The all-terrain vibrating fruit shaker of the present invention can fully automatically harvest a variety of fruit trees, including blueberries, kumquats, wax apples, jujubes, and walnuts. It features a simple structure, easy operation, and high safety, effectively freeing up labor and significantly reducing labor costs. It is particularly suitable for individual farmers. Configured as a small, fully automated harvesting device, it not only improves harvesting efficiency but is also portable, flexible, and affordable, making it suitable for individual harvesters.

[0040] The all-terrain vibrating fruit shaker is equipped with five motors (two for moving the tracks 22 on both sides of the walking mechanism 2, one vibration motor 41, one for driving the second screw slide module 51, and one for driving the first screw slide module 33) and a bus servo 32 (for driving the mechanical clamp 31 to open and close), and the transmission of the driving parts is mainly shaft transmission, which improves the laying efficiency while saving energy and reducing emissions.

[0041] Preferably, the driving element of the walking mechanism 2 is a motor, a DC planetary gear reduction motor of model MY36GP-555. When the stm32 microcontroller controls the currents of the motors on both sides to be different, the motors rotate at differential speeds to complete the steering function.

[0042] The coordination between the motors makes the entire device compact and easy to operate, making it more flexible and convenient to use. It is suitable for harvesting a variety of fruit trees and is particularly convenient for individual farmers. Furthermore, the configuration of the mechanical grippers 31 of the clamping mechanism 3 makes its operation safer, effectively preventing equipment damage and malfunctions, and extending its service life. In particular, the configuration of the clamping mechanism 3, the vibrating mechanism 4, the collecting mechanism 5, and the environmental information collection mechanism 6 on the frame 1 enables automated identification of fruit trees, thereby enabling automated fruit harvesting. Furthermore, the design of the various structural components is very ingenious, fully reflecting the innovative nature of the mechanical design.

[0043] On the basis of the above embodiment, in an optional embodiment of the present invention, as Figures 1 to 4 As shown, the first screw slide module 33 is coupled to the frame 1 and is provided with a screw, a slider configured to slide longitudinally on the screw, a slide plate coupled to the front of the slider, and a clamp bracket coupled to the slide plate. The bus servo 32 is located in the middle of the clamp bracket. The mechanical clamp 31 uses gear transmission to move the left and right clamping parts relative to each other. The mechanical clamp 31 is electrically driven, and the driver is the bus servo 32. The maximum opening and closing angle of the mechanical clamp 31 is 160°, the closed width of the clamping part is 45mm, and the maximum opening and closing width is 230mm.

[0044] In a preferred embodiment, the first screw slide module 33 is located above the frame 1 and can slide longitudinally. It is connected to the frame 1 via a right-angle support frame and has a sliding distance of 250 mm, so that the mechanical gripper 31 can clamp the fruit tree in the appropriate position. This configuration allows for better gripping of the fruit tree trunk.

[0045] In this embodiment, after the power is turned on, the vibration motor 41 drives the fruit shaker to perform mechanical vibration with adjustable amplitude and frequency, causing the fruit tree to produce forced vibration. The fruit tree drives the fruit to perform accelerated motion. When the inertial force generated by the fruit is greater than the binding force between the fruit and the branch, the fruit will fall from the tree.

[0046] Specifically, the vibration mechanism 4 mainly uses an eccentric vibration device to utilize the centrifugal force generated by the rotation of the eccentric block to excite the trunk of the fruit tree, causing the fruit tree to be forced to vibrate at a certain frequency and amplitude, and the fruit is shaken off by vibration. Based on the test of the biomechanical characteristics of the branches and fruits of small-scale fruit trees, the kinematic and dynamic simulation of the mechanism are carried out to determine the amplitude and frequency range suitable for the operation of the vibration mechanism 4. The output frequency is adjusted by the frequency converter 42 to control the vibration frequency of the vibration motor 41, and the amplitude and vibration direction of the vibration motor 41 are controlled by changing the angle of the adjustable eccentric block. When the clamping mechanism 3 of the fruit shaker clamps the trunk of the fruit tree to be harvested, it starts to vibrate. After the vibration harvesting is completed, the next fruit tree is harvested, and this process is repeated to achieve automated harvesting.

[0047] The power output by the vibration motor 41 is transmitted to the main trunk of the fruit tree in the form of an exciting force. This is specifically achieved by installing a set of adjustable eccentric blocks at each end of the rotor shaft of the vibration motor 41, utilizing the centrifugal force generated by the high-speed rotation of the shaft and eccentric blocks to generate the exciting force. The frequency converter 42 can adjust the current output frequency between 0 and 400 Hz, and the motor's exciting force can reach up to 55 kg. Furthermore, through testing the biomechanical properties of branches and fruit of typical small-scale orchard fruit trees, as well as through kinematic and dynamic simulation of the mechanism, the vibration device's suitable operating amplitude and frequency range have been determined. Its performance and design are more reliable, and the damage to the fruit, branches, leaves, and main trunk during vibration meets industry standards.

[0048] On the basis of the above embodiment, in an optional embodiment of the present invention, as Figures 1 to 3 As shown, the collecting mechanism 5 is located on the top of the all-terrain vibrating fruit shaker. The collecting mechanism 5 includes a plurality of telescopic brackets 52. An inverted umbrella-like structure is formed between the plurality of telescopic brackets 52 and the collecting net.

[0049] The second screw slide module 51 is equipped with a slide that can be raised and lowered. The telescopic bracket 52 is constructed as a diamond-shaped telescopic bracket structure with an X-shaped hinge structure at its end. The upper and lower ends of the X-shaped hinge structure are respectively connected to the top of the second screw slide module 51 and the slide, so that the telescopic bracket 52 can be opened and closed by raising and lowering the slide.

[0050] In this embodiment, the upper end of the X-shaped hinge structure is connected to the top of the second screw slide module 51. The lower end of the X-shaped hinge structure is connected to the slide. Thereby, when closed, the slide is located at the bottom and the support frame is in a folded state. When opened, the slide rises to the top, the support frame is in an open state, and the fruit falls into the collection net (not shown) after being shaken off, and the fallen fruit can be collected. In other embodiments, the upper end of the X-shaped hinge structure can be connected to the slide, and the lower end of the X-shaped hinge structure can be connected to the top of the second screw slide module 51. The present invention does not make specific limitations on this.

[0051] In an alternative embodiment of the present invention, based on the above embodiment, the environmental information acquisition mechanism 6 includes a vision system comprising an industrial camera 61, an improved YOLOv5s neural network, a StereoVision algorithm, a ROS2 robot operating system, and a lidar 62. The vision system is used to detect and identify obstacles and terrain features ahead in real time, thereby enabling SLAM (Simultaneous Localization and Mapping) two-dimensional mapping and path planning.

[0052] The environmental information collection mechanism 6 plus the Jetson Nano developer kit form a vision system. This integrated vision system enables the all-terrain vibrating fruit shaker to autonomously navigate complex terrain, avoid obstacles, and improve operational efficiency and safety. The application of an improved YOLOv5s neural network and StereoVision algorithm enables the all-terrain vibrating fruit shaker to accurately identify and locate obstacles and terrain features, enhancing its environmental perception capabilities. The combination of the ROS2 robot operating system and SLAM technology enables high-precision 2D mapping and path planning, enabling the all-terrain vibrating fruit shaker to efficiently complete its tasks along the optimal path.

[0053] Specifically, the industrial camera 6161 is used to capture high-resolution images of the forward environment. The improved YOLOv5s neural network is used to process the images to identify and locate forward obstacles and terrain features. The StereoVision algorithm is used to further enhance environmental perception capabilities by leveraging the depth information in the images.

[0054] The laser radar 62 is combined with the ROS2 robot operating system to measure distance and create a high-precision two-dimensional map. The map is used for path planning and navigation to ensure that the fruit shaker can autonomously avoid obstacles and harvest fruit trees according to a predetermined path.

[0055] The improved YOLOv5s neural network has been trained to identify a variety of terrain features and obstacle types, including but not limited to sand dunes, rocks, vegetation, etc., to improve the work efficiency and safety of the work vehicle in different environmental conditions.

[0056] The ROS2 robot operating system is used to coordinate data transmission and processing between the industrial camera 61, the lidar 62 and the improved YOLOv5s neural network, ensuring that the vision system can respond to environmental changes in real time and adjust the motion path of the work vehicle.

[0057] The SLAM two-dimensional mapping and path planning module contains a set of algorithms for generating an environmental map based on data from the vision system and the LiDAR 62, and planning the optimal path based on the generated map to ensure that the fruit shaker can complete the fruit tree harvesting task efficiently and accurately.

[0058] like Figure 1 and Figure 2 As shown, the frame 1 includes a double-layer frame, a bottom mounting plate 11 connected to the lower layer of the double-layer frame, and a top mounting plate 12 connected to the upper layer of the double-layer frame. The walking mechanism 2 is arranged on both sides of the lower frame. The collection mechanism 5 is arranged on the top mounting plate 12.

[0059] On the basis of the above embodiment, in an optional embodiment of the present invention, as Figures 1 to 4 As shown, the walking mechanism 2 is configured as a crawler 22 vehicle, and the chain plate driving wheel is configured on the wheel shaft 21 on both sides of the crawler 22 vehicle. Thus, the power of the driving member is engaged with the chain plate via the chain plate driving wheel, thereby transmitting the power to the wheel shaft 21 to supply the crawler 22 vehicle to travel.

[0060] In addition, according to the harvesting size requirements of small fruit trees (trunk diameter at breast height 50 to 230 mm, height 3 to 5 m), the total length of the frame 1 is 540 mm, the total width of the frame 1 is 600 mm, the total height is 631 mm, the opening range of the mechanical gripper 31 is 45 to 230 mm, and the distance between the front and rear wheels is 320 mm. To ensure that all fruits can be collected, the maximum opening diameter of the telescopic net is 1100 mm, which is conducive to completing small-scale harvesting needs.

[0061] On the basis of the above embodiment, in an optional embodiment of the present invention, as Figures 1 to 4 As shown, the mechanical gripper 31 is arranged above the frame 1, and the mechanical gripper 31 and the frame 1 are configured as a metamorphic mechanism. When the thrust load on the mechanical gripper 31 exceeds the set value, it can freely change the degree of freedom to implement overload protection.

[0062] During the motion of a mechanism, if a component changes from a state of relative rest to a state of relative motion with its adjacent components, or vice versa, the component is called a metamorphic component. When a metamorphic component and its adjacent components are in a state of relative rest, since there is no relative motion between them, the two components can be considered as one component. In this case, the number of effective components of the mechanism will decrease, and the number of corresponding kinematic pairs will also decrease, resulting in a change in the degree of freedom of the mechanism.

[0063] In this embodiment, one end of the first screw slide module 33 is hinged to the frame 1. The other end of the first screw slide module 33 is connected to the frame 1 via a preload spring. The preload spring is configured to deform when the thrust load on the mechanical gripper 31 exceeds a set value, thereby allowing the first screw slide module 33 to rotate relative to the frame 1.

[0064] In another embodiment, the frame 1 is composed of a main frame and an auxiliary frame that can move relative to each other. The clamping mechanism 3 is connected to the main frame. The main frame and the auxiliary frame are hinged at the front axle and connected at the rear axle by a preload spring. By utilizing the characteristic that the main frame and the auxiliary frame can move relative to each other, a metamorphic mechanism is formed by constraining the change in their degrees of freedom. When the load on the mechanical clamp 31 is a normal value, that is, when the reaction force torque at the mechanical clamp 31 is less than the gravity torque of the positive frame and the spring preload torque, the mechanical clamp 31 remains stationary. When there is a hard object in front of the mechanical clamp 31 that hinders its movement, the reaction force at the mechanical clamp 31 is too large, the degree of freedom of the mechanism changes from one to two, and the main frame rotates around the front axle at the same time. Therefore, by adjusting the preload spring, the maximum load value can be set, thereby achieving overload protection.

[0065] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An all-terrain vibrating fruit shaker, comprising a frame (1) and a walking mechanism (2) connected to the frame (1), characterized in that: The all-terrain vibrating fruit shaker further comprises a clamping mechanism (3) coupled to the frame (1), a vibrating mechanism (4), a collecting mechanism (5), an environmental information collecting mechanism (6), and a control mechanism; The environmental information collection mechanism (6) includes an industrial camera (61) and a laser radar (62); The control mechanism includes a first control component electrically connected to the walking mechanism (2), the clamping mechanism (3), the vibration mechanism (4), and the collection mechanism (5), and a second control component electrically connected to the environmental information collection mechanism (6); the second control component is configured to be able to identify the trunk of the fruit tree, as well as obstacle recognition and path planning based on information collected by the industrial camera (61) and the laser radar (62); The clamping mechanism (3) includes a first screw slide module (33) coupled to the frame (1), a bus servo (32) coupled to the first screw slide module (33), and a mechanical clamp (31) coupled to the bus servo (32); wherein the first screw slide module (33) is used to longitudinally move the mechanical clamp (31); and the bus servo (32) is used to drive the mechanical clamp (31) to open and close. The vibration mechanism (4) includes a frequency converter (42) electrically connected to the first control component, and a vibration motor (41) electrically connected to the frequency converter (42); The collecting mechanism (5) comprises a second screw slide module (51) coupled to the frame (1), a telescopic bracket (52) coupled to the second screw slide module (51), and a collecting net coupled to the telescopic bracket (52); the second screw slide module (51) is configured to drive the telescopic bracket (52) to open or close, thereby driving the collecting net to open or close.

2. The all-terrain vibrating fruit shaker according to claim 1, characterized in that: The first screw slide module (33) is connected to the frame (1) and is provided with a screw, a slider configured to slide along the longitudinal direction on the screw, a slide plate connected to the front of the slide plate, and a clamping bracket connected to the slide plate; the bus servo (32) is arranged in the middle of the clamping bracket; the mechanical clamp (31) enables the left and right clamping parts to move relative to each other through gear transmission, and the mechanical clamp (31) is electrically driven, and the driver is the bus servo (32).

3. The all-terrain vibrating fruit shaker according to claim 2, characterized in that: The vibration motor (41) is provided with an eccentric block with an adjustable angle; wherein the vibration amplitude and rotation speed of the vibration motor (41) can be adjusted by adjusting the eccentric block angle of the vibration motor (41), the power supply current value, and the output frequency of the frequency converter (42); The first screw slide module (33) is located above the frame (1) and can slide longitudinally. It is connected to the frame (1) via a right-angle support frame and has a sliding distance of 250 mm. The maximum opening and closing angle of the mechanical clamp (31) is 160°, the closing width of the clamping part is 45 mm, and the maximum opening and closing width is 230 mm.

4. The all-terrain vibrating fruit shaker according to claim 1, characterized in that: The collecting mechanism (5) is located on the top of the all-terrain vibrating fruit shaker; the collecting mechanism (5) comprises a plurality of telescopic brackets (52); an inverted umbrella-shaped structure is formed between the plurality of telescopic brackets (52) and the collecting net; The second screw slide module (51) is provided with a slide that can be raised and lowered; the telescopic bracket (52) is constructed as a diamond-shaped telescopic bracket structure, and an X-shaped hinge structure is provided at the end; the upper end and the lower end of the X-shaped hinge structure are respectively connected to the top of the second screw slide module (51) and the slide, so as to drive the opening and closing of the telescopic bracket (52) by raising and lowering the slide.

5. The all-terrain vibrating fruit shaker according to claim 1, characterized in that: The mechanical gripper (31) is arranged above the frame (1), and the mechanical gripper (31) and the frame (1) are configured as a metamorphic mechanism; wherein the metamorphic mechanism is constructed so that when the thrust load on the mechanical gripper (31) is greater than a set value, relative movement can occur to perform overload protection.

6. The all-terrain vibrating fruit shaker according to claim 5, characterized in that: One end of the first screw slide module (33) is hinged to the frame (1); the other end of the first screw slide module (33) is connected to the frame (1) via a preload spring; the preload spring is configured to deform when the thrust load on the mechanical clamp (31) is greater than a set value, so that the first screw slide module (33) rotates relative to the frame (1).

7. An all-terrain vibrating fruit shaker according to any one of claims 1 to 6, characterized in that: The traveling mechanism (2) is configured as a crawler (22) vehicle, and the chain plate driving wheels are configured on the wheel shafts (21) on both sides of the crawler (22) vehicle; wherein the power of the driving member is engaged with the chain plate via the chain plate driving wheels, thereby transmitting the power to the wheel shafts (21) to supply the crawler (22) vehicle with power for traveling.

8. The all-terrain vibrating fruit shaker according to claim 7, characterized in that: The driving element of the walking mechanism (2) is a DC planetary gear reduction motor of model MY36GP-555; when the first control component controls the motors on both sides to supply different currents, the motors perform differential rotation to complete the steering function.

9. An all-terrain vibrating fruit shaker according to any one of claims 1 to 6, characterized in that: The frame (1) comprises a double-layer frame, a bottom mounting plate (11) connected to the lower layer of the double-layer frame, and a top mounting plate (12) connected to the upper layer of the double-layer frame; the walking mechanism (2) is arranged on both sides of the lower layer frame; and the collecting mechanism (5) is arranged on the top mounting plate (12).

10. An all-terrain vibrating fruit shaker according to any one of claims 1 to 6, characterized in that: The first control component is an STM32 single-chip microcomputer; the second control component is a Jetson Nano developer kit.

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