Automatic picking device for shrub-like berries

Abstract

The present application relates to the field of berry picking, and discloses a shrub berry automatic picking device, which comprises a self-correcting mechanism, a picking mechanism, a collecting mechanism, a conveying mechanism, a power mechanism and a sorting mechanism; the self-correcting mechanism is used for correcting the deviation of the power mechanism during walking; the collecting mechanism is used for collecting the berries picked by the picking mechanism, and the collecting mechanism is fixed on the power mechanism; the conveying mechanism is used for conveying the berries collected by the collecting mechanism to the sorting mechanism for automatic sorting. The picking device has self-correcting steering and sorting functions, and utilizes two modes of rotary vibration and shaking vibration for picking, so that the picking efficiency is high, the breakage rate is low, the picking rate is high, the plant damage is small, the adaptability is strong, and the modular design can pick different berries.

Description

Technical Field

[0001] This invention relates to the field of berry harvesting, and more specifically to an automatic berry harvesting device for shrubs. Background Technology

[0002] Shrub berry plants are characterized by concentrated fruit ripening and fragile peels, making them highly susceptible to damage during harvesting and sorting. Current harvesting methods primarily rely on manual labor and semi-automated machinery. Semi-automated machinery includes self-propelled berry harvesters, pneumatic harvesters, and tractor-mounted berry harvesters. Self-propelled berry harvesters utilize a combination of oscillation and vibration to pick berries. This method easily damages the trunk, branches, and fruit during harvesting, causing the fruit to soften, and requires a high level of operator skill. The integrity of the berries cannot be well guaranteed, and the operator's expertise is also crucial. Pneumatic harvesters rely on a vacuum system to generate suction for fruit harvesting, reducing physical contact with the berry skin during mechanical harvesting and effectively maintaining the quality and freshness of the harvested fruit; however, the effects of suction on the fruit cannot be guaranteed, resulting in a high rate of breakage. The power system uses a tractor for traction, and the height of the frame-shaped body is adjustable to adapt to different growth conditions and different varieties of berries for harvesting; however, the current tractor cannot match the row spacing of the berry planting base, which is generally only 1.8 meters. It cannot rely entirely on the power of the tractor to harvest berries, and it is unstable, easily causes mechanical damage to the plants, and requires high operating skills.

[0003] In summary, current berry harvesting techniques suffer from problems such as high labor intensity, low operational efficiency, high production costs, and high fruit breakage rates, which severely restrict the industry's economic benefits and sustainable development. Summary of the Invention

[0004] The present invention aims to provide an automatic berry harvesting device for shrubs to solve the problems of high fruit breakage rate and low operation efficiency in the current berry harvesting process.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: an automatic berry harvesting device for shrubs, comprising: a self-calibrating mechanism, a harvesting mechanism, a collecting mechanism, a conveying mechanism, a power mechanism, and a sorting mechanism; the self-calibrating mechanism is used to correct the deviation of the power mechanism during its movement; the harvesting mechanism includes a frame, a rotary vibrating harvesting component, and a shaking harvesting component, wherein the frame has an opening in the middle for plants to pass through, and both sides of the frame opening are fixed to the corresponding power mechanisms; the rotary vibrating harvesting component is used for axial reciprocating vibration and circumferential reciprocating rotational vibration to vibrate the shrub branches and leaves, and the shaking harvesting component is used for axial vibration and circumferential shaking vibration of the shrub branches and leaves, and the rotary vibrating harvesting component is located between the feed end of the frame opening and the shaking harvesting component; the collecting mechanism is used to collect the berries harvested by the harvesting mechanism, and the collecting mechanism is fixed to the power mechanism; the conveying mechanism is used to transport the berries collected by the collecting mechanism to the sorting mechanism for automatic sorting.

[0006] The principle of this solution is as follows: During operation, the machine moves across both sides of the berry plant. The self-correcting mechanism is used to correct the deviation of the power mechanism during the movement. The power mechanism drives the entire setup to move. The rotary vibrating picking component first vibrates axially and circumferentially to vibrate and rotate the shrub branches and leaves to initially collect the berries. The shaking picking component then vibrates axially and circumferentially to further collect the berries from the shrub branches, achieving a high harvesting rate. The harvested berries fall into the collection mechanism at the bottom and are collected. The conveying mechanism transports the berries to the sorting mechanism, which sorts the berries and stores them after sorting.

[0007] Advantages of this solution: By correcting deviations in the power mechanism during movement, the plants are kept within the harvesting range of the harvesting mechanism, ensuring normal and continuous operation of the equipment, guaranteeing operational efficiency, and eliminating the need for manual correction, resulting in a high degree of automation; the use of both rotary and rocking vibration methods for harvesting, with step-by-step collection, minimizes plant damage, reduces breakage rates, and maximizes harvest cleanliness; the sorting mechanism promptly sorts the harvested berries, avoiding the low efficiency of traditional manual and factory machine sorting, as well as the high fruit breakage rates caused by transportation and multiple sorting processes; automated harvesting, high efficiency, and no human intervention required; it enables highly efficient automated harvesting and precise sorting of berries, significantly improving harvesting efficiency, reducing operating costs, ensuring fruit quality, promoting the transformation and upgrading of the berry industry towards mechanization and automation, enhancing its core competitiveness in the international market, and providing strong support for the modernization of agriculture.

[0008] Preferably, the rotary vibratory harvesting assembly includes: a roller brush bracket, a rotating roller brush, a spring support, a vibration spring, a lower cover of the roller brush mounting frame, an axial reciprocating vibration module, and a circumferential reciprocating vibration module; the spring support is symmetrically installed on both sides of the frame opening, and the lower cover of the roller brush mounting frame has spring mounting holes at both ends, with the vibration spring passing through the spring mounting holes and fixed to the upper and lower end faces of the spring support; the lower cover of the roller brush mounting frame has symmetrical through holes, the top end of the rotating roller brush is rotatably connected to the through holes, the bottom end of the rotating roller brush is in contact with the power mechanism, the roller brush bracket is fixed to the bottom of the rotating roller brush, and the bottom of the roller brush bracket is in contact with the power mechanism; the axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame, and the axial reciprocating vibration module is used to drive the roller brush mounting frame to move axially; the circumferential reciprocating vibration module is used to drive the rotating roller brush to vibrate and rotate circumferentially.

[0009] The axial reciprocating vibration module drives the lower cover of the roller brush mounting frame to move axially, causing the rotating roller brush to vibrate strongly in a single coordinate direction. This overcomes the bonding force at the connection point between the berry stalk and the fruit, causing the fruit to fall off. Vibration springs and spring support seats at both ends of the roller brush mounting frame are used to reduce the impact of the rotating roller brush on the shrub branches and leaves, thus reducing damage to the shrub branches and leaves. The circumferential reciprocating vibration module, along with the circumferential reciprocating vibration of the rotating roller brush and the rotation of the roller brush shaft, overcomes the bonding force at the connection point between the berry stalk and the fruit, causing the fruit to fall off. Multi-directional vibration can generate a composite torque (torsion + bending + tension), making it easier to break through the strength threshold of the weak direction of the stalk, making the fruit fall off more easily. Moreover, continuous unidirectional vibration will cause repeated stress on the local branches, leading to bark tearing or xylem damage. In this solution, this multi-directional vibration avoids fatigue damage in a single area by dynamically switching the direction of force, reducing damage to branches and fruits.

[0010] Preferably, the circumferential reciprocating vibration module includes: a rotary motor, a second idler shaft, a second driving gear, a second driven gear, and a second cam. The top of the rotating brush is fixedly connected to the output shaft of the rotary motor, and the upper cover of the brush mounting bracket is symmetrically mounted on the output shaft of the rotary motor. The second idler shaft is symmetrically mounted between the upper covers of the brush mounting bracket. The output shaft of the rotary motor passes through the upper cover of the brush mounting bracket and connects to the rotating brush. The second driving gear is disposed on the output shaft of the rotary motor and located between the upper covers of the brush mounting bracket. The second driven gear is mounted on the second idler shaft, and the second driving gear and the second driven gear mesh with each other. The second cams on the symmetrical second idler shafts are symmetrically mounted.

[0011] The output shaft of the rotary motor rotates at high speed, causing the second drive gear and the rotary brush to rotate. The second drive gear drives the second driven gear meshing with it to rotate, and the second driven gear drives the second cam to rotate. The two second cams, which are symmetrically installed and rotate in opposite directions, generate centrifugal forces that cancel each other out in the horizontal direction, while the forces in the vertical direction are superimposed on each other. This causes the circumferential reciprocating vibration module to generate circumferential reciprocating vibration, while the rotary motor rotates the rotary brush.

[0012] Preferably, the shaking and picking assembly includes: a roller brush bracket, a shaking roller brush, a spring support, a vibration spring, a lower cover of the roller brush mounting bracket, an axial reciprocating vibration module, a crank rocker module, and a rotating rod; the spring support is symmetrically installed on both sides of the frame opening, and spring mounting holes are provided at both ends of the lower cover of the roller brush mounting bracket. The vibration spring passes through the spring mounting holes and is fixed to the upper and lower end faces of the spring support. The lower cover of the roller brush mounting bracket has symmetrical through holes, the top end of the shaking roller brush is rotatably connected to the through holes, the bottom end of the shaking roller brush is in contact with the power mechanism, the roller brush bracket is fixed to the bottom of the shaking roller brush, and the bottom end of the roller brush bracket is in contact with the power mechanism; the axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting bracket, and the axial reciprocating vibration module is used to drive the lower cover of the roller brush mounting bracket to move axially; one end of the rotating rod is connected to the shaking roller brush, and the other end of the rotating rod is connected to the crank rocker module, and the crank rocker module is used to drive the rotating rod to rotate circumferentially.

[0013] The axial reciprocating vibration module drives the lower cover of the roller brush mounting frame to move axially, causing the vibrating roller brush to vibrate strongly in a single coordinate direction. This overcomes the binding force at the connection point between the berry stem and the fruit, causing the fruit to fall off. The vibration springs and spring support seats at both ends of the roller brush mounting frame are used to reduce the impact of the vibrating roller brush on the shrub branches and leaves, thus reducing damage to the shrub branches and leaves. The crank rocker module drives the vibrating roller brush to vibrate circumferentially, further vibrating the shrub branches and causing the fruit to detach.

[0014] Preferably, the crank-rocker module includes: a motor bracket, a drive motor, a crank, a rocker arm, and a connecting rod. The motor bracket is fixed to the frame, and the drive motor is mounted on the motor bracket. The drive motor drives the crank to rotate. The crank, rocker arm, and connecting rod are rotatably connected in sequence. One end of the rotating rod is fixedly connected to the vibrating roller brush, and the other end of the rotating rod is rotatably connected to the connecting rod. The drive motor drives the crank to rotate, the crank drives the rocker arm to rotate, the rocker arm drives the connecting rod to rotate, and the connecting rod drives the vibrating roller brush to rotate. Under the action of the connecting rod and crank, the vibrating roller brush reciprocates circumferentially, further vibrating the shrub branches and causing the fruit to detach.

[0015] Preferably, the axial reciprocating vibration module includes a vibration motor, a cam support, a cam clamp, a first cam, a first idler wheel long shaft, a first idler wheel short shaft, an idler wheel clamp, a first driving gear, and a first driven gear. The cam support is installed in the middle of the lower cover of the roller brush mounting bracket. The cam clamp is symmetrically installed on the cam support. The first idler wheel long shaft is symmetrically arranged on the cam clamp. The first cam is installed on the first idler wheel long shaft, and the first cams on the symmetrical first idler wheel long shaft are symmetrically installed and rotate in opposite directions. The first idler wheel short shaft is arranged on the idler wheel clamp and the cam clamp on which the vibration motor is installed. The output shaft of the vibration motor passes through a single-sided cam clamp and is located on the idler wheel clamp. The first driving gear is located on the output shaft of the vibration motor between the idler wheel clamp and the cam clamp. The first driven gear is fixed on the first idler wheel long shaft and the first idler wheel short shaft. The first driving gear and the first driven gear mesh with each other, and the first driven gears mesh with each other. The vibration motor is installed on the cam support.

[0016] When the vibration motor is turned on, its rotation drives the first drive gear to rotate, which in turn drives the first driven gear to rotate. The first driven gear then drives the first cam to rotate. The two first cams, which are symmetrically installed and rotate in opposite directions, generate centrifugal forces that cancel each other out in the horizontal direction, while the forces in the vertical direction are superimposed. This allows the axial reciprocating vibration module to produce strong reciprocating vibration in a single coordinate direction. The centrifugal force generated by the high-speed rotation of the vibration motor is used to obtain the excitation force. Furthermore, the roller brush mounting bracket is equipped with vibration springs and spring support seats at both ends, which can reduce impact while providing elasticity, thus reducing damage to shrub branches.

[0017] Preferably, the collecting mechanism includes: a collecting blade assembly; the collecting blade assembly is symmetrically arranged at the bottom of both sides of the frame, and the collecting blade assembly includes: a fixing frame pivot, collecting blades and collecting springs. The fixing frame is provided with multiple pivots along the opening direction of the frame. One end of the collecting blade is rotatably connected to the pivot, and the other end of the collecting blade is vertically overlapped with the symmetrically arranged collecting blades. The collecting blades are vertically overlapped along the opening direction of the frame. One end of the collecting spring is connected to the fixing frame, and the other end of the collecting spring is connected to the collecting blades. The overlapping portion of the collecting blades located opposite each other on both sides of the frame is further extended by a brush.

[0018] During equipment operation, the plant enters the foremost section of the collecting leaves. Under the action of the plant and the collecting spring, the corresponding collecting leaves begin to rotate in the opposite direction of the equipment's movement. Under the combined action of the spring force and the equipment's propulsion force, the gaps in the collecting leaves caused by the plant branches at the picking front disappear, and the plant branches are gradually surrounded by the leaf cluster, allowing the fruit vibrating under the picking mechanism to fall onto the collecting leaves. By extending the relatively overlapping parts of the collecting leaves on the left and right sides with brushes, the collecting leaves can quickly return to their original position to fill the gaps, continuing the fruit rolling slope of the leaves, which is higher in the middle and lower on both sides. This prevents the leaves from moving through the plant branches and creating large gaps between the collecting leaves, making it less likely for the fruit to fall through the gaps and reducing fruit loss. Because the brushes are relatively dense and have a rolling slope, and are constantly moving and vibrating with the leaves, the intercepted fruit usually does not get stuck in the brushes.

[0019] Preferably, the self-calibration mechanism includes: a calibration contact plate, a tension spring, an optical shaft, a rotating ring, a support base, a bracket assembly, and an encoder assembly for recording the position of the calibration contact plate. The encoder assembly is fixed to the top of the optical shaft, the bottom of the optical shaft is rotatably connected to the support base, and the support base is fixed to the bottom of the bracket assembly. The rotating ring is fixed to the optical shaft, the calibration contact plate is fixed to the rotating ring, and the bracket assembly is rotatably connected to the rotating ring. The bracket assembly is used to fix the rotating shaft assembly to the feed end of the frame opening, and the calibration contact plate is fixedly connected to the bracket assembly via the tension spring.

[0020] When the calibrating contact plate touches a shrub, it first gathers the shrub together. The first shrub to come into contact pushes the calibrating contact plate open, and the tension of the springs tightly presses the calibrating contact plate against both sides of the shrub. As the harvesting operation continues, the machine will deviate during its movement. The encoder component records the real-time position and feeds it back to the corresponding controller. The controller calculates the error based on the program written in the controller and the feedback value. When the error reaches a certain range, the machine will perform a compensation movement. The controller sends a movement command to the actuator, causing the power mechanism to move until the error returns to the normal range, and then the movement compensation ends. The movement compensation will start again when the next deviation occurs, ensuring that the shrub stays within the harvesting mechanism's range and ensuring continuous operation of the equipment.

[0021] Preferably, the sorting mechanism includes: a sorting and storage body, a roller drive motor, a roller body, a feed inlet, an air duct assembly, and a storage bin; the roller body is installed inside the sorting and storage body, the roller drive motor drives the roller body to rotate, the feed inlet is inclined, the lower end of the feed inlet is connected to the roller body, the air outlet of the air duct assembly faces the feed inlet, the air outlet of the air duct assembly is located at the lower end of the feed inlet, and the diameter of the sorting holes on the roller body gradually increases along its discharge direction; the storage bin is located below the roller body, and the storage bin is correspondingly arranged with the sorting holes. The conveyor system transports the berries to the feed inlet. During the feeding process, due to the different weights and falling speeds of the branches and fruits, they separate. An air duct assembly directs airflow towards the inlet, blowing away the branches and leaves and cleaning impurities from the berries. After the berries enter the drum body, the drum drive motor rotates the drum body. As the drum body rotates, berries of different sizes fall sequentially through corresponding sorting holes into the storage bin. The drum body uses different sized sorting holes to separate berries of different sizes; the air duct assembly quickly removes impurities from the berries without contact or damage, resulting in rapid separation.

[0022] Preferably, the system also includes two cleaning components. One set is installed on the equipment housing, above the top corner of the conveyor belt, and the other set is installed at the inlet of the two sorting devices. This set includes a blower and a fan. The fan is symmetrically positioned at the openings at both ends of the blower, and an air outlet is located in the middle of the blower, with the outlet facing the berries about to enter the inlet. Using the blower and fan for initial impurity removal from the berries also prevents the leaves blown out by the opposing blower components from interfering with each other, resulting in better impurity removal. Attached Figure Description

[0023] Figure 1 This is a front view schematic diagram of the harvesting device according to an embodiment of the present invention.

[0024] Figure 2 This is a side view of the harvesting device according to an embodiment of the present invention.

[0025] Figure 3 This is a top view schematic diagram of the harvesting device according to an embodiment of the present invention.

[0026] Figure 4 This is a partial schematic diagram of the self-calibration mechanism according to an embodiment of the present invention.

[0027] Figure 5 This is a partial schematic diagram of the harvesting mechanism according to an embodiment of the present invention.

[0028] Figure 6 This is a partial schematic diagram of the harvesting mechanism according to an embodiment of the present invention.

[0029] Figure 7 This is a partial schematic diagram of the harvesting mechanism according to an embodiment of the present invention.

[0030] Figure 8 This is a partial schematic diagram of the harvesting mechanism according to an embodiment of the present invention.

[0031] Figure 9 This is a schematic diagram of the collection mechanism, conveying mechanism, and sorting mechanism according to an embodiment of the present invention.

[0032] Figure 10 This is a schematic diagram of the collection mechanism according to an embodiment of the present invention.

[0033] Figure 11 This is a schematic diagram of the conveying mechanism according to an embodiment of the present invention.

[0034] Figure 12 This is a schematic diagram of the storage bin and buffer plate according to an embodiment of the present invention. Detailed Implementation

[0035] The following detailed description illustrates the specific implementation method: The reference numerals in the accompanying drawings include: self-calibration mechanism 1, calibration contact plate 11, tension spring 12, encoder 13, bearing seat 14, rotating ring 15, optical axis 16, support seat 17, picking mechanism 2, frame 21, roller brush bracket 22, spring support seat 23, vibration spring 24, roller brush mounting bracket lower cover 25, rotating roller brush 26, axial reciprocating vibration module 27, vibration motor 271, cam support 272, cam clamping plate 273, first cam 274, first idler wheel long shaft 275, first idler wheel short shaft 276, idler wheel clamping plate 277, first driving gear 278, first driven gear 279, circumferential reciprocating vibration module 28, rotary motor 281, second idler wheel shaft 282, second driving gear Wheel 283, second driven gear 284, second cam 285, crank rocker module 29, motor bracket 291, drive motor 292, crank 293, rocker arm 294, connecting rod 295, rotating rod 210, vibrating roller brush 211, collecting mechanism 3, fixed frame 31, rotating shaft 32, collecting blade 33, collecting spring 34, conveying mechanism 4, frame 41, belt tensioning shaft 42, conveyor belt 43, belt positioning column 44, belt groove 45, baffle plate 46, lifting motor 47, drive shaft 48, power mechanism 5, sorting mechanism 6, sorting and storage machine body 61, roller drive motor 62, roller body 63, feed port 64, air duct assembly 65, cleaning assembly 66, storage bin 67, buffer plate 68.

[0036] Example:

[0037] An automatic berry-picking device for shrubs, such as Figure 1 , Figure 2 , Figure 3 and Figure 9 As shown, it includes a power mechanism 5, and a self-calibration mechanism 1, a picking mechanism 2, a collecting mechanism 3, a conveying mechanism 4, a power mechanism 5, and a sorting mechanism 6 arranged in sequence.

[0038] The power mechanism 5 includes: a tracked vehicle flap, a baffle, a track, a track wheel connecting plate, a suspension spring (not shown in the figure), a power motor, a drive wheel, and a driven wheel. The tracked vehicle flap is inverted L-shaped. The track wheel connecting plate is fixed to the vertical part of the tracked vehicle flap with screws. At the same time, these screws fix the rocker arm, which is connected to the driven wheel in the middle of the track, to the track wheel connecting plate. The drive wheel and the driven wheel are located inside the track and cooperate with the track. The drive wheel is located at the front end of the track, and its axle is fixed to the track wheel connecting plate. The driven wheel located at the rear end of the track is arranged parallel to the drive wheel. The output shaft of the power motor is fixedly connected to the axle of this driven wheel. The suspension spring is set on the track wheel connecting plate. The more detailed track wheel structure of the power mechanism 5 in this solution refers to the existing technology and will not be described in further detail.

[0039] In this scheme, when the system is powered on, the drive motor transmits power to the drive wheel via a corresponding connecting shaft, causing the drive wheel to rotate. At the same time, the driven wheel supports the track structure on one side and works in conjunction with the rotation of the drive wheel to achieve bidirectional displacement of the track system. When the system encounters uneven ground, the suspension spring assembly will undergo corresponding elastic deformation. During this stage, the linkage mechanism composed of the suspension spring connecting shaft and the track connecting plate will perform dynamic balance adjustment to ensure the stability of the system operation. The structure and installation of the suspension spring are implemented with reference to existing technologies.

[0040] This design utilizes an electric motor drive to complete the machine's movement. Power units 5 are installed on both sides of the machine, and the tracks on both sides move at differential speeds, enabling free movement and steering changes. The entire machine is powered by an environmentally friendly electricity source. The use of tracked wheels reduces the requirements for road surfaces, making it suitable for various terrains. It exhibits outstanding performance in terms of passability, traction, and off-road capability.

[0041] Among them, the picking mechanism 2, the collecting mechanism 3 and the conveying mechanism 4 are all fixed on the folding blades of the tracked vehicle, the sorting mechanism 6 is fixed on the picking mechanism 2, and the self-correcting mechanism 1 is fixed on the picking mechanism 2.

[0042] Self-calibration mechanism 1, such as Figure 4 As shown, it includes a correction contact plate 11, a tension spring 12, a rotating shaft assembly and a support assembly. The rotating shaft assembly includes an encoder 13, a coupling, an encoder flange, a bearing housing 14, a rotating ring 15, an optical shaft 16 and a support base 17. The encoder 13, encoder flange, coupling and bearing housing 14 are arranged sequentially from top to bottom.

[0043] Bearing housing 14 is mounted on optical shaft 16. One end of the coupling is fixedly connected to the top of optical shaft 16, and the other end is fixedly connected to the shaft of encoder 13. The bottom of encoder 13 is fixed to encoder flange. Flange and bearing housing 14 are fixed to bracket assembly via connecting bracket. Fixing flange and bearing housing 14 to bracket assembly via connecting bracket ensures the stability of optical shaft 16 during rotation, providing rigid support and stability. The stability of optical shaft 16 is ensured by bearing housing 14 and connecting bracket.

[0044] In this solution, encoder 13 is an absolute encoder. When the whole machine moves, it will deviate. The absolute encoder will record the real-time position and feed it back to the corresponding controller for motion compensation.

[0045] The rotating ring 15 is fixed to the optical axis 16. A connecting seat is welded to the correction contact plate 11. The connecting seat has a slot and a connecting hole that passes through the upper and lower ends of the slot. The middle part of the rotating ring 15 is located in the connecting hole. The connecting seat is sleeved and fixed on the rotating ring 15. The support assembly has a through hole at the connection end with the rotating ring 15. The rotating ring 15 is located in the through hole, and the outer wall of the rotating ring 15 is rotatably connected to the through hole. In this design, the diameter of the upper and lower ends of the rotating ring 15 is larger than its middle diameter. The rotating ring 15 can be an assembly structure to facilitate the connection and assembly of the rotating ring 15, the connecting seat, and the support assembly. The support assembly is located between the connecting holes of the slot. In this design, other structures can also be selected, in which the correction contact gate is fixedly connected to the optical axis 16, and the support assembly is rotatably connected to the optical axis 16.

[0046] The connecting seat is equipped with a first limiting block, and the support assembly is equipped with a second limiting block. The limiting blocks work together to ensure the extreme position of the correction contact plate 11, constrain the position of the correction contact plate 11, and ensure the quality of fruit harvesting.

[0047] One end of the tension spring 12 is fixedly connected to the correction contact plate 11, and the other end is fixedly connected to the support assembly. U-shaped parts are welded onto both the correction contact plate 11 and the support assembly for mounting the tension spring 12. Upon initial contact with the plant (1281mm from the front edge of the contact plate to the picking roller), the optical axis 16 first turns to its maximum opening angle, i.e., the limit position of the correction contact plate 11. As the machine operates, when the tension of the tension spring 12 is constant, the optical axis 16 gradually tends towards the plant deformation position under the current spring force. When the position of the plant at the starting end (main view of the shrub) is 342mm from the roller, the optical axis 16 reaches its minimum opening angle (contact plate). Subsequently, the opening angle of the contact plate does not change significantly, and the equipment performs normal operation correction.

[0048] One end of the bearing housing 14 is fixed to the support assembly, specifically connected to the support assembly by bolts, and the other end is connected to the bottom of the optical axis 16. A through-beam fiber optic sensor is installed on the side of the calibration contact plate 11, and the fiber optic sensors are symmetrically mounted on the support assembly. The transmitting end emits light, and the receiving end receives the light signal. If the width of the current row of berries changes too much and the receiving end does not receive the corresponding signal data, the machine will automatically turn to find the starting position of the next row of berry plants based on the relevant data set by the user before operation, such as row width, average plant width, and preset harvesting type mode. The overall machine's movement trajectory presents an "S" shape.

[0049] The support assembly includes a first support and a second support. One end of the first support is welded and fixed to the outer shell, and the other end is used to connect to the rotating ring 15. The number of first supports matches the number of rotating rings 15. In this embodiment, three first supports are provided. The second support is used to connect adjacent first supports, and the first supports are connected to each other through multiple second supports.

[0050] Picking organization 2, such as Figures 5-9 It includes: a frame 21, a rotary vibrating harvesting component and a shaking harvesting component. The frame 21 has an opening in the middle for the plant to pass through. Both sides of the opening of the frame 21 are fixed to the corresponding power mechanism 5. The plant enters through the opening, and the fruit on the shrub branch is harvested under the action of the rotary vibrating harvesting component and the shaking harvesting component.

[0051] The rotary vibratory harvesting assembly includes: a roller brush bracket 22, a rotating roller brush 26, a spring support 23, a vibration spring 24, a roller brush mounting bracket lower cover 25, an axial reciprocating vibration module 27, and a circumferential reciprocating vibration module 28.

[0052] The rotating brush 26 includes a rotating shaft and leaf-beating rollers. Multiple leaf-beating roller rings are arranged axially on the rotating shaft, with the rollers evenly distributed around it. In this embodiment, two rotating shafts are symmetrically arranged. The height of the leaf-beating roller rings and the number of leaf-beating rollers are set according to actual needs.

[0053] In this design, spring support seats 23 are symmetrically installed on both sides of the opening of frame 21. Spring mounting holes are provided at both ends of the lower cover 25 of the roller brush mounting bracket. Vibration springs 24 pass through these holes and are fixed to the upper and lower end faces of the spring support seats 23. Symmetrical through holes are provided on the lower cover 25 of the roller brush mounting bracket. The top end of the rotating roller brush 26 is rotatably connected to one of these through holes, and the bottom end of the rotating roller brush 26 contacts the power mechanism 5. The roller brush bracket 22 is fixed to the bottom of the rotating roller brush 26, and the bottom of the roller brush bracket 22 contacts the power mechanism 5. In this design, the roller brush mounting bracket is equipped with vibration springs 24 and spring support seats 23 at both ends, which can reduce impact and provide elasticity, thus reducing damage to shrub branches.

[0054] In this design, a shell is also provided on the outside of the frame 21 to prevent the berries from leaking out from the side during the detachment process.

[0055] The axial reciprocating vibration module 27 includes a vibration motor 271, a cam support 272, a cam clamping plate 273, a first cam 274, a first idler wheel long shaft 275, a first idler wheel short shaft 276, an idler wheel clamping plate 277, a first driving gear 278, and a first driven gear 279.

[0056] In this design, the cam support 272 is installed in the middle of the lower cover 25 of the roller brush mounting bracket, making the vibration of the corresponding roller brush more balanced. The cam clamping plate 273 is symmetrically installed on the cam support 272. The long shaft 275 of the first idler wheel is symmetrically arranged on the cam clamping plate 273. The first cam 274 is installed on the long shaft 275 of the first idler wheel. The first cams 274 on the symmetrical first idler wheel long shaft 275 are symmetrically installed and rotate in opposite directions. In this design, the centrifugal forces generated by the two symmetrically installed and oppositely rotated first cams 274 cancel each other out in the horizontal direction, while the forces in the vertical direction are superimposed. This allows the axial reciprocating vibration module 27 to generate strong reciprocating vibration in a single coordinate direction. The centrifugal force generated by the high-speed rotation of the vibration motor 271 is used to obtain the excitation force.

[0057] The first idler wheel short shaft 276 is mounted on the idler wheel clamping plate 277 and the cam clamping plate 273 on which the vibration motor 271 is mounted. The output shaft of the vibration motor 271 passes through the cam clamping plate 273 on one side and is located on the idler wheel clamping plate 277. The first driving gear 278 is located on the output shaft of the vibration motor 271 between the idler wheel clamping plate 277 and the cam clamping plate 273. The first driven gear 279 is fixed on the first idler wheel long shaft 275 and the first idler wheel short shaft 276. The first driving gear 278 and the first driven gear 279 mesh with each other, and the first driven gears 279 mesh with each other. The vibration motor 271 is mounted on the cam support 272.

[0058] The circumferential reciprocating vibration module includes: a rotary motor 281, a second idler shaft 282, a second driving gear 283, a second driven gear 284, a second cam 285, a coupling, a harmonic reducer, and bearings. The top of the rotating brush 26 is fixedly connected to the output shaft of the motor through the harmonic reducer and the coupling. The top of the rotating brush 26 is rotatably connected to the lower cover 25 of the brush mounting bracket through the bearings.

[0059] The roller brush mounting bracket covers are symmetrically mounted on the output shaft of the rotary motor 281. The second idler gear shaft 282 is symmetrically mounted between the roller brush mounting bracket covers. The output shaft of the rotary motor 281 passes through the roller brush mounting bracket covers and connects to the rotating roller brush 26. The second driving gear 283 is located on the output shaft of the rotary motor 281 and between the roller brush mounting bracket covers. The second driven gear 284 is mounted on the second idler gear shaft 282. The second driving gear 283 and the second driven gear 284 mesh with each other. The second cam 285 is symmetrically mounted on the second idler gear shaft 282. Referring to the aforementioned axial reciprocating module principle, strong reciprocating vibration in a single coordinate direction is obtained.

[0060] In this invention, the rotary motor 281 rotates, driving the second drive gear 283 to rotate. The circumferential reciprocating vibration module 28 rotates at high speed along the motor shaft. A coupling is installed below the shaft of the second drive gear 283, and a harmonic reducer is installed after the coupling. After being reduced in speed by the harmonic reducer, the rotating brush 26 rotates 360°. The meshing driven gear drives the two second cams 285 to rotate.

[0061] In this solution, the rotary vibratory harvesting component generates two types of vibration forces: the first is an up-and-down reciprocating vibration along the axial direction, and the second is a circumferential reciprocating vibration along the roller brush, accompanied by the rotational movement of the roller brush shaft. Through multi-directional vibration, a composite torque (torsion + bending + tension) can be generated, making it easier to break through the strength threshold of the weak direction of the fruit stalk, making the fruit easier to fall off. Moreover, continuous unidirectional vibration will cause repeated stress on the local branches, leading to bark tearing or xylem damage. In this solution, this multi-directional vibration avoids fatigue damage in a single area by dynamically switching the direction of force, reducing damage to branches and fruits.

[0062] The shaking and picking assembly includes: a roller brush bracket 22, a shaking roller brush 211, a spring support 23, a vibration spring 24, a roller brush mounting bracket lower cover 25, an axial reciprocating vibration module 27, a crank 293, a rocker arm 294, a module 29, and a rotating rod 210.

[0063] The vibrating roller brush 211 includes a rotating shaft and leaf-beating rollers. Multiple leaf-beating roller rings are arranged axially on the rotating shaft, with the rollers evenly distributed on the shaft. In this embodiment, two rotating shafts are symmetrically arranged. The height of the leaf-beating roller rings and the number of leaf-beating rollers are set according to actual needs.

[0064] The crank 293 and rocker arm 294 module 29 includes: a motor bracket 291, a drive motor 292, a crank 293, a rocker arm 294, a connecting rod 295, and a rotating rod 210. The motor bracket 291 is fixed to the frame 21, and the drive motor 292 is mounted on the motor bracket 291. The drive motor 292 drives the crank 293 to rotate. The crank 293, rocker arm 294, and connecting rod 295 are sequentially rotatably connected. One end of the rotating rod 210 is fixedly connected to the rotating roller brush 26, and the other end of the rotating rod 210 is rotatably connected to the connecting rod 295. The crank 293 and rocker arm 294 module 29 drives the vibrating roller brush 211 to perform circumferential vibration, further vibrating the shrub branches and causing the fruit to detach. The crank 293 rotates at high speed, the connecting rod 295 drives the rocker arm 294 to vibrate, and the roller brush connecting rod 295 drives the other side of the roller brush to produce the same movement, compensating for the fruit not picked by the first set of roller brushes. The connection of crank 293, rocker arm 294 and connecting rod 295 in this solution is based on existing technology and will not be described in further detail.

[0065] Among them, the leaf-beating rings and leaf-beating sticks of the rotating roller brush 26 and the vibrating roller brush 211 are made of rubber to minimize damage to the fruit and plant caused by the harvesting roller brushes. The four sets of harvesting roller brushes come into contact with the berry branches to cause the mature fruit to fall off.

[0066] Collection agency 3, such as Figure 9 and Figure 10 As shown, it includes a collecting blade assembly 33, which is fixed to a conveying mechanism 4. Both the collecting blade assembly 33 and the conveying mechanism 4 are symmetrically arranged at the bottom of the frame 21.

[0067] The collecting blade 33 assembly includes a fixing frame 31, a rotating shaft 32, collecting blades 33, and a collecting spring 34. The collecting blades 33 are a left collecting blade and a right collecting blade. The rotating shaft 32 is fixed on the fixing frame 31. There are multiple rotating shafts 32. One end of the left collecting blade and the right collecting blade are fixed on the corresponding rotating shaft 32. The left collecting blade and the right collecting blade are arranged with their opposite ends overlapping each other to prevent berries from leaking out between them.

[0068] The left and right collecting leaves are arranged in an overlapping manner, and the dense cluster of left and right leaves ensures that the equipment can pass smoothly over the plant during operation and also ensures the complete collection of the fruit.

[0069] One end of the collecting spring 34 is fixedly connected to the fixed frame 31, and the other end is fixedly connected to the left and right collecting blades. Correspondingly, the collecting spring 34 is connected by L-shaped connecting posts at the bottom of the left and right collecting blades. When the equipment is in operation, the plant enters the foremost part of the collecting blade 33. Under the action of the plant and the collecting spring 34, the corresponding collecting blade 33 begins to rotate in the opposite direction of the equipment's movement. Under the combined action of the spring force and the equipment's propulsion force, the gaps in the collecting blade 33 caused by the plant branches at the picking front disappear, and the plant branches are gradually surrounded by the leaf cluster, allowing the fruit vibrating under the picking mechanism 2 to fall onto the collecting blade 33.

[0070] Among them, the overlapping parts of the left and right collecting leaves are equipped with brushes to further extend the overlapping surface. By extending the relatively overlapping parts of the left and right collecting leaves 33 through the brushes, the collecting leaves 33 can be quickly returned to their original position, avoiding large gaps between the collecting leaves 33 due to the movement of plant branches and trunks, and reducing fruit loss.

[0071] The collecting leaf 33 is V-shaped, with the V-shaped opening facing the opposite direction of travel. This inverted V-shaped design allows the harvested fruit to fall into the collecting leaf 33 and slide into the lifting conveyor mechanism 4.

[0072] Each of the 33 leaf collection points that come into contact with the plant trunk is designed with a rounded transition structure to reduce plant damage and allow the equipment to pass smoothly through the planting area.

[0073] The collecting leaf 33 is made of rubber material to reduce damage to the fruit and plant. When the plant passes by, the collecting leaf 33 is squeezed and changes its angle. After the plant passes by, it returns to its original shape under the elastic force of the tension spring 12. Different types of plants have different sizes, and the collecting leaf 33 can meet the needs of many types of plants, achieving self-adaptation.

[0074] The edge height of the collecting leaves 33 at both ends is higher than that of the collecting leaves 33 in the middle, making them concave inward to prevent the fruit from leaking out.

[0075] Conveying mechanism 4, such as Figure 11 As shown, it includes: a belt tensioning shaft 42, a frame 41, a conveyor belt 43, a belt positioning post 44, a belt groove 45, a baffle plate 46, a lifting motor 47, a reducer, a motion converter, and a drive shaft 48.

[0076] The belt tensioning shaft 42 is located at the feed end of the conveyor belt 43, and the drive shaft 48 is located at the discharge end of the conveyor belt 43. The lifting motor 47, reducer, and motion converter structure are used to drive the drive shaft 48 to rotate; the specific connection structure is as described in existing technology. The output shaft direction of the lifting motor 47 is the same as the movement direction of the equipment, and the direction of the motor's output force is changed using a motion converter. In this invention, the conveying mechanism 4 is used to lift and transport the fruit collected by the bottom collecting mechanism 3 to the top, and then send it to the sorting mechanism 6 for sorting.

[0077] The conveyor belt 43 is located below the collecting blade 33 and is set corresponding to the collecting blade 33. The conveyor belt 43 is provided with a belt groove 45 for separating the berries and preventing the berries from falling off the conveyor belt 43 during transportation. The frame 41 is provided with a belt positioning post 44, which is set at the belt bend to prevent the belt from running off-center and ensure the stable operation of the conveyor belt 43.

[0078] A baffle plate 46 is provided on the frame 41. The baffle plate 46 is located at the edge of the conveyor belt 43 to prevent the berries from falling off the conveyor belt 43, and also to block the branches and reduce the collision damage of the branches to the berries.

[0079] The frame 41 is assembled from aluminum profiles and corner brackets, and is fixedly connected at the corners by corner brackets.

[0080] The belt tensioning shaft 42 maintains optimal belt tension through adjustable position changes, ensuring efficient power transmission and extending system life. The conveyor belt 43 is driven to rotate via the belt tensioning pulley, drive shaft 48, and belt positioning post 44, which in turn moves the belt groove 45 to transport berries.

[0081] After the berries are harvested, some of the berries fall directly into the conveyor belt 43, while the rest fall into the collection leaf 33 and roll onto the conveyor belt 43. The berries are then sent to the sorting mechanism 6 via the conveyor belt 43 and stored after sorting.

[0082] Sorting mechanism 6, such as Figure 9 and Figure 12 As shown, it includes: a sorting and storage machine body 61, a roller drive motor 62, a roller body 63, a feed inlet 64, an air duct assembly 65, and a storage bin 67. In this design, the sorting mechanism 6 is symmetrically arranged to allow plants to pass through the central space.

[0083] The feed inlet 64 is inclined, and its lower end is connected to the roller body 63. The air duct assembly 65 is fixed on the sorting and storage machine body 61, and the air outlet of the air duct assembly 65 faces the feed inlet 64, located at the lower end of the feed inlet 64. The conveying mechanism 4 conveys the berries into the feed inlet 64. During the feeding process, due to the different weights and falling speeds of the branches and fruits, the branches and fruits may separate. The air duct assembly 65 blows air towards the air inlet, causing the branches and leaves to be blown away, thus cleaning impurities from the berries.

[0084] The air duct assembly 65 includes a power fan and a dust removal duct. The outlet of the dust removal duct is flat, which can more effectively guide the airflow, reduce airflow turbulence and separation, help maintain the stability and continuity of the airflow, and enable impurities to be separated more evenly.

[0085] The sorting and storage machine body 61 is hollow inside. A roller body 63 is installed inside the sorting and storage machine body 61. A roller drive motor 62 drives the roller body 63 to rotate. The roller drive motor 62 is mounted on the sorting and storage machine body 61 via bearings. The diameter of the sorting holes on the roller body 63 gradually increases along its discharge direction. A storage bin 67 is located below the roller body 63, and the storage bin 67 is correspondingly set with the sorting holes. After the fruit enters the roller body 63, the roller drive motor 62 drives the roller body 63 to rotate. As the roller body 63 rotates, fruits of different sizes fall sequentially from the corresponding sized sorting holes into the storage bin 67. Fruits of different sizes are screened using the different sized sorting holes of the roller body 63.

[0086] The roller body 63 has a certain tilt angle. As the roller rotates, the fruits are sorted into five grades, with sizes ranging from small to large: 15mm, 18mm, 20mm, and 22mm. The five-grade sorting hole sizes are based on the size distribution of the berries (blueberries). In addition, for different types of berries, the sorting module can be changed according to the physical size and shape characteristics of the berries.

[0087] In this design, the roller body 63 is inclined at 3° to the bottom surface of the sorting and storage machine body 61. When the equipment is in operation, the fruit enters the inside of the roller body 63. With the rotation of the roller body 63 and the weight of the fruit, the physical size is graded. After sorting, the fruit falls into the corresponding storage box. In addition, the roller body 63 is made of rubber and has a moderate and adjustable rotation speed, which effectively avoids damage to the fruit by the machine.

[0088] The storage bin 67 is equipped with a storage box, and the side of the sorting and storage machine body 61 is equipped with a storage door. The storage door is used to take out the storage box and has a handle for easy pulling out to replace the storage box.

[0089] In this design, a weighing device is installed at the bottom of the storage bin 67. Located at the bottom of the storage box, the weighing device accumulates the weight of the fruit and feeds back the relevant parameters to the corresponding human-machine interface and control system, prompting a reminder to replace the storage bin 67. After sorting, the fruit falls into the storage bin 67 due to its own weight. As berries are continuously harvested and sorted, the storage box in the storage bin 67 gradually fills with berries. At this point, simply replacing the corresponding storage box allows for continuous harvesting. In this design, the space below the roller body 63 in the sorting and storage machine body 61 is the storage bin 67. A partition can be installed to correspond to the starting section of the changing diameter of the sorting holes in the roller body 63, dividing the storage bin 67 into storage spaces for berries of different sizes. The weighing mechanism uses existing technologies such as weighing sensors, which will not be described in detail here.

[0090] The storage bin 67 is equipped with a buffer baffle on top, which matches the size of the top of the storage box. The buffer baffle is fixed on the rotating shaft 32, which is fixedly connected to the motor output shaft installed on the inner wall of the sorting and storage machine body 61. By controlling the rotation of the buffer plate 68, the opening of the top of the storage box can be controlled. At the same time, when the berries enter the storage box, the buffer plate 68 can buffer the berries and reduce the damage to the berries.

[0091] The outer casing of the harvesting mechanism 2 is also equipped with a cleaning mechanism. The cleaning component 66 includes a cleaning duct and a cleaning fan. The cleaning fan is symmetrically arranged at the openings at both ends of the cleaning duct, and an air outlet is provided in the middle of the cleaning duct, which faces the berries that are about to enter the feed inlet 64. The cleaning duct and cleaning fan are used to perform preliminary impurity removal on the berries, while also preventing the branches and leaves blown out by the oppositely arranged cleaning duct components 65 from interfering with each other, thus improving the impurity removal effect on the berries. A motor fixing ring is also included for fixing the motor. Dustproof screens are provided at both ends of the cleaning duct to reduce the amount of impurities entering the cleaning duct.

[0092] The structure of this design is divided into two parts distributed along both sides of the berry tree, which are combined into a whole by the outer shell that flows over the top of the berry tree.

[0093] The specific implementation process is as follows: During operation, the machine straddles both sides of the berry plant. The self-correction mechanism 1 on both sides clamps the plant with its correction contact plates 11. Based on the real-time position feedback from the absolute encoder 13, the controller corrects the machine's position in real time according to the corresponding stored program. The motor drives the track to move. Two sets of rotating roller brushes 26 and two sets of vibrating roller brushes 211 harvest the fruit through a combination of rotary vibration and sweeping vibration. The harvested fruit falls into the collecting leaf 33 and slides into the conveyor belt 43. The lifting motion of the conveyor belt 43 sends the fruit into the sorting mechanism 6. After being cleaned twice by the air duct assembly 65 and the cleaning assembly 66, the fruit falls into the drum body 63. After five-stage sorting by the drum body 63, the fruit falls into the storage box. When the storage box is full, the weighing device issues an alarm through the human-machine interface according to the parameters set by the user in advance and the program written by the user in the controller. After receiving the alarm, the user rotates the intermediate buffer baffle, and the fruit is temporarily blocked in the buffer storage box, waiting for a new hopper. The user then manually opens the intermediate buffer baffle to continue the new round of work.

[0094] This solution employs a combination of rotational and shaking vibrations to accommodate varying fruit ripeness. The former allows for the harvesting of mature fruits, while the latter targets less mature ones. Simultaneous or combined vibration settings minimize the harvesting of immature fruit. Utilizing both rotational and shaking methods results in minimal plant damage, low breakage rates, and high harvesting efficiency. Automated harvesting ensures high efficiency without human intervention. This approach achieves highly efficient and automated berry harvesting and precise sorting, significantly improving harvesting efficiency, reducing operating costs, and guaranteeing fruit quality. It promotes the transformation and upgrading of the berry industry towards mechanization and automation, enhancing its core competitiveness in the international market and providing strong support for agricultural modernization.

[0095] The above descriptions are merely embodiments of the present invention, and common knowledge such as specific technical solutions and / or characteristics are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the technical solutions of the present invention. In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; or they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. An automatic berry-harvesting device for shrubs, characterized in that, include: Self-calibrating mechanism, picking mechanism, collecting mechanism, conveying mechanism, power mechanism and sorting mechanism; The self-correcting mechanism is used to correct the deviation of the power mechanism during the walking process; the picking mechanism includes a frame, a rotary vibrating picking component, and a shaking vibrating picking component. The frame has an opening in the middle for the plant to pass through, and both sides of the frame opening are fixed to the corresponding power mechanism; the rotary vibrating picking component is used for axial reciprocating vibration and circumferential rotary reciprocating vibration and rotational vibration of shrub branches and leaves, and the shaking vibrating picking component is used for axial vibration and circumferential shaking vibration of shrub branches and leaves. The rotary vibrating picking component is located between the feed end of the frame opening and the shaking vibrating picking component. The collecting mechanism is used to collect the berries picked by the harvesting mechanism, and the collecting mechanism is fixed on the power mechanism; the conveying mechanism is used to transport the berries collected by the collecting mechanism to the sorting mechanism for automatic sorting. The rotary vibration harvesting assembly includes: a roller brush bracket, a rotating roller brush, a spring support seat, a vibration spring, a roller brush mounting bracket lower cover, an axial reciprocating vibration module, and a circumferential reciprocating vibration module; The spring support seats are symmetrically installed on both sides of the frame opening. The lower cover of the roller brush mounting bracket has spring mounting holes at both ends. The vibration spring passes through the spring mounting holes and is fixed to the upper and lower end faces of the spring support seats. The lower cover of the roller brush mounting bracket has symmetrical through holes. The top end of the rotating roller brush is rotatably connected to the through hole. The bottom end of the rotating roller brush is in contact with the power mechanism. The roller brush bracket is fixed to the bottom of the rotating roller brush. The bottom of the roller brush bracket is in contact with the power mechanism. The axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame. The axial reciprocating vibration module is used to drive the lower cover of the roller brush mounting frame to move axially; the circumferential reciprocating vibration module is used to drive the rotating roller brush to reciprocate circumferentially and rotate. The circumferential reciprocating vibration module includes: a rotary motor, a second idler shaft, a second driving gear, a second driven gear, and a second cam. The top of the rotating brush is fixedly connected to the output shaft of the rotary motor, and the upper cover of the brush mounting bracket is symmetrically mounted on the output shaft of the rotary motor. The second idler shaft is symmetrically mounted between the upper covers of the brush mounting bracket. The output shaft of the rotary motor passes through the upper cover of the brush mounting bracket and connects to the rotating brush. The second driving gear is located on the output shaft of the rotary motor and between the upper covers of the brush mounting bracket. The second driven gear is mounted on the second idler shaft, and the second driving gear and the second driven gear mesh with each other. The second cam is symmetrically mounted on the symmetrical second idler shaft.

2. The automatic berry harvesting device for shrubs according to claim 1, characterized in that: The shaking and picking assembly includes: a roller brush bracket, a shaking roller brush, a spring support seat, a vibration spring, a roller brush mounting bracket lower cover, an axial reciprocating vibration module, a crank rocker module, and a rotating rod; The spring support seats are symmetrically installed on both sides of the frame opening. The lower cover of the roller brush mounting bracket has spring mounting holes at both ends. The vibration spring passes through the spring mounting holes and is fixed to the upper and lower end faces of the spring support seats. The lower cover of the roller brush mounting bracket has symmetrical through holes. The top end of the vibrating roller brush is rotatably connected to the through hole. The bottom end of the vibrating roller brush is in contact with the power mechanism. The roller brush bracket is fixed to the bottom of the vibrating roller brush. The bottom of the roller brush bracket is in contact with the power mechanism. The axial reciprocating vibration module is installed in the middle of the lower cover of the roller brush mounting frame. The axial reciprocating vibration module is used to drive the lower cover of the roller brush mounting frame to move axially. One end of the rotating rod is connected to the vibrating roller brush, and the other end of the rotating rod is connected to the crank rocker module. The crank rocker module is used to drive the rotating rod to rotate circumferentially.

3. The automatic berry harvesting device for shrubs according to claim 2, characterized in that: The crank-rocker module includes: a motor bracket, a drive motor, a crank, a rocker arm, and a connecting rod. The motor bracket is fixed on the frame, and the drive motor is mounted on the motor bracket. The drive motor is used to drive the crank to rotate. The crank, rocker arm, and connecting rod are rotatably connected in sequence. One end of the rotating rod is fixedly connected to the vibrating roller brush, and the other end of the rotating rod is rotatably connected to the connecting rod.

4. The automatic berry harvesting device for shrubs according to claim 2, characterized in that: The axial reciprocating vibration module includes a vibration motor, a cam support, a cam clamp, a first cam, a first idler wheel long shaft, a first idler wheel short shaft, an idler wheel clamp, a first driving gear, and a first driven gear. The cam support is installed in the middle of the lower cover of the roller brush mounting bracket. The cam clamp is symmetrically installed on the cam support. The first idler wheel long shaft is symmetrically arranged on the cam clamp. The first cam is installed on the first idler wheel long shaft, and the first cams on the first idler wheel long shaft are symmetrically installed and rotate in opposite directions. The first idler wheel short shaft is arranged on the idler wheel clamp and the cam clamp on which the vibration motor is installed. The output shaft of the vibration motor passes through a single-sided cam clamp and is located on the idler wheel clamp. The first driving gear is located on the output shaft of the vibration motor between the idler wheel clamp and the cam clamp. The first driven gear is fixed on the first idler wheel long shaft and the first idler wheel short shaft. The first driving gear and the first driven gear mesh with each other, and the first driven gears mesh with each other. The vibration motor is installed on the cam support.

5. The automatic berry harvesting device for shrubs according to claim 1, characterized in that: The collection mechanism includes: a collection blade assembly; the collection blade assembly is symmetrically arranged at the bottom of both sides of the frame, and the collection blade assembly includes: a fixed frame pivot, a collection blade, and a collection spring. The fixed frame has multiple pivots along the direction of the frame opening. One end of the collection blade is rotatably connected to the pivot, and the other end of the collection blade overlaps vertically with the symmetrically arranged collection blade. The collection blades overlap vertically along the direction of the frame opening. One end of the collection spring is connected to the fixed frame, and the other end of the collection spring is connected to the collection blade. The overlapping portion of the collection blades located opposite each other on both sides of the frame is extended by a brush.

6. The automatic berry harvesting device for shrubs according to claim 1, characterized in that: The self-calibration mechanism includes: a calibration contact plate, a tension spring, an optical shaft, a rotating ring, a support base, a bracket assembly, and an encoder assembly for recording the position of the calibration contact plate. The encoder assembly is fixed to the top of the optical shaft, the bottom of the optical shaft is rotatably connected to the support base, and the support base is fixed to the bottom of the bracket assembly. The rotating ring is fixed to the optical shaft, the calibration contact plate is fixed to the rotating ring, and the bracket assembly is rotatably connected to the rotating ring. The bracket assembly is used to fix the rotating shaft assembly to the feed end of the frame opening, and the calibration contact plate is fixedly connected to the bracket assembly via the tension spring.

7. The automatic berry harvesting device for shrubs according to claim 1, characterized in that: The sorting mechanism includes: a sorting and storage body, a roller drive motor, a roller body, a feed inlet, an air duct assembly, and a storage bin; the roller body is installed inside the sorting and storage body, the roller drive motor drives the roller body to rotate, the feed inlet is inclined, the lower end of the feed inlet is connected to the roller body, the air outlet of the air duct assembly faces the feed inlet, the air outlet of the air duct assembly is located at the lower end of the feed inlet, and the diameter of the sorting holes on the roller body gradually increases along its discharge direction; the storage bin is located below the roller body, and the storage bin is correspondingly arranged with the sorting holes.

8. The automatic berry harvesting device for shrubs according to claim 7, characterized in that: It also includes a cleaning component, which includes a duct and a fan. The fan is symmetrically arranged at the openings at both ends of the duct, and an air outlet is provided in the middle of the duct. The air outlet of the duct faces the berries that are about to enter the feed inlet.

Images