Multi-degree-of-freedom manipulator vibration picking machine

Abstract

The invention provides a multi-degree-of-freedom manipulator vibration picking machine which comprises a walking mechanism, a flexible connecting assembly, a chuck, a rotating assembly and a vibration mechanism, the vibration mechanism is connected to the walking mechanism in a front-back free swinging mode through the flexible connecting assembly, and the chuck is connected to the vibration mechanism in a horizontal rotating mode through the rotating assembly; the flexible connecting assembly comprises two connecting rod assemblies arranged in a bilateral symmetry mode, each connecting rod assembly comprises a first connecting rod and a second connecting rod, the first connecting rods and the second connecting rods are arranged in a splayed mode, the bottom ends of the first connecting rods and the bottom ends of the second connecting rods are hinged to the vibrating mechanism, and the top ends of the first connecting rods and the top ends of the second connecting rods are connected to the walking mechanism in a front-back swinging mode. The vibration mechanism and the chuck can swing front and back through arrangement of the flexible connecting assembly, the vibration mechanism and the chuck can rotate in the horizontal direction through the rotating assembly, the degree of freedom is increased, and the application range of the equipment is adjusted.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting machinery technology, specifically to a multi-degree-of-freedom robotic arm vibrating harvester. Background Technology

[0002] In the fruit and forestry industry, vibratory harvesting machinery has gradually become the core equipment for large-scale fruit and forestry harvesting due to its advantages such as high harvesting efficiency and strong applicability. Its working principle is mainly to generate vibration through the harvesting head and transmit it to the trunk or branches, causing the fruit to detach from the branches due to vibration, thereby achieving rapid harvesting.

[0003] However, existing vibratory harvesting machinery still suffers from numerous technical defects in practical applications, severely hindering its promotion and use. Firstly, the connection between the harvesting head and the vehicle chassis in existing equipment is mostly rigid. While this connection structure ensures the stability of the harvesting head, during high-frequency vibration operation, the vibration energy is directly transmitted to the vehicle chassis through the connection. This not only results in a large amount of vibration energy being absorbed and consumed by the vehicle body, failing to concentrate on the tree trunk and reducing the effectiveness of vibratory harvesting, but also causes fatigue damage to key components such as the chassis frame, suspension, and transmission due to long-term continuous vibration, leading to loose parts, oil leaks, and other malfunctions, significantly increasing maintenance costs and shortening the equipment's lifespan. Secondly, the limited degrees of freedom prevent it from adapting to harvesting on sloping terrain.

[0004] Furthermore, existing vibratory harvesting machinery often employs traditional structures such as eccentric wheels and crankshafts, making precise control of the vibration direction difficult and resulting in multi-dimensional, disordered vibration. During harvesting, in addition to effective vibration along the line connecting the harvesting head and the trunk, significant lateral vibration occurs. This lateral vibration causes intense lateral friction and torsion between the harvesting head and the trunk, easily scratching and peeling the bark. The bark, a crucial tissue for transporting nutrients and water in fruit trees, weakens the tree's growth when damaged, affecting subsequent fruit development, reducing yield and quality, and potentially leading to disease infection and greater economic losses. Therefore, addressing the energy waste and chassis damage caused by vibration transmission, the poor adaptability to slope harvesting due to existing connection methods, and bark damage caused by uncontrolled vibration direction have become critical technical bottlenecks that urgently need to be overcome in the field of vibratory fruit harvesting machinery. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-degree-of-freedom robotic arm vibrating harvester, aiming to solve the technical problems of poor slope adaptability and energy waste caused by vibration transmission in existing harvesting machinery. The specific technical solution is as follows: A multi-degree-of-freedom robotic vibrating harvester includes a walking mechanism, a flexible connecting assembly, a gripper, a rotating assembly, and a vibration mechanism. The vibration mechanism is connected to the walking mechanism by the flexible connecting assembly, which allows it to swing freely back and forth. The gripper is connected to the vibration mechanism by the rotating assembly, which allows it to rotate horizontally. The flexible connecting assembly includes two sets of left-right symmetrically arranged link assemblies. Each link assembly includes a first link and a second link, which are arranged in a V-shape. The bottom ends of both the first and second links are hinged to the vibration mechanism, and the top ends of both links are connected to the walking mechanism by swinging back and forth.

[0006] Preferably, the linkage assembly further includes a screw and a nut, a connecting hole is provided on the traveling mechanism along the height direction, the screw is connected through the connecting hole along the height direction, the nut is threadedly connected to the screw above the traveling mechanism, and the first link and the second link are hinged to the bottom of the screw in a back-and-forth swinging manner.

[0007] Preferably, the connecting rod assembly further includes a washer, an elastic element, and a guide sleeve. The guide sleeve is fixedly connected to the traveling mechanism and is coaxially arranged with the connecting hole. The elastic element is sleeved on the outside of the screw and is arranged inside the guide sleeve. The washer is sleeved on the outside of the screw and is arranged between the elastic element and the nut. The washer is slidably arranged inside the guide sleeve along the height direction.

[0008] Preferably, the vibration mechanism includes a housing, a first driving member, a first eccentric block, a driving gear, a driving shaft, a driven gear, a second eccentric block, and a driven shaft. The first driving member is mounted on the housing, and the driving end of the first driving member is coaxially and fixedly connected to the driving shaft. The first eccentric block is eccentrically arranged on the driving shaft, and the driving gear is coaxially and fixedly connected to the driving shaft. The driven shaft is rotatably connected to the housing, the second eccentric block is eccentrically and fixedly connected to the driven shaft, and the driven gear is coaxially and fixedly connected to the driven shaft. The driving gear and the driven gear are meshed. When the first eccentric block and the second eccentric block overlap, the direction of the first eccentric block's deviation is parallel to the extension direction of the chuck.

[0009] Preferably, the chuck includes a second drive member, a mounting bracket, a third link, a fourth link, a first clamping arm, and a second clamping arm. The first end of the mounting bracket is fixedly connected to the rotating assembly. The first end of the third link is hinged to the cantilever end of the mounting bracket, and the second end of the third link is hinged to the middle of the first clamping arm. The fourth link is symmetrically arranged relative to the third link, and the first end of the fourth link is hinged to the cantilever end of the mounting bracket, and the second end of the fourth link is hinged to the middle of the second clamping arm. The end of the first clamping arm is hinged to the drive end of the second drive member. The end of the second clamping arm is hinged to the drive end of the second drive member.

[0010] Preferably, the first clamping arm and the second clamping arm are provided with clamping arc surfaces on opposite sides.

[0011] Preferably, the second clamping arm is provided with a clearance groove, which is arranged opposite to the first clamping arm.

[0012] Preferably, the second driving component includes a driving cylinder and a driving frame. The mounting frame has two parallel guide rods arranged along the extended end of the mounting frame. The driving frame is slidably connected to the two guide rods. The first end of the driving frame is hinged to the first clamping arm, and the second end of the driving frame is hinged to the second clamping arm. The first end of the driving cylinder is connected to the mounting frame, and the second end of the driving cylinder is mounted on the driving frame.

[0013] Preferably, the traveling mechanism includes a vehicle chassis, a lifting assembly, and a telescopic assembly. The lifting assembly is mounted on the vehicle chassis. The first end of the telescopic assembly is connected to the lifting assembly, and the second end of the telescopic assembly is connected to the flexible connecting assembly. The lifting assembly includes a lifting cylinder and two parallel fifth links. The first ends of the two parallel fifth links are hinged to the vehicle chassis, and the second ends of the two fifth links are hinged to the telescopic assembly. The two fifth links, the vehicle chassis, and the telescopic assembly form a parallelogram structure, and the four hinge points of the two fifth links are located at the four points of the parallelogram. The first end of the lifting cylinder is hinged to the vehicle chassis, and the second end of the lifting cylinder is hinged to the middle of one of the fifth links. Two sets of fifth links and lifting cylinders are arranged at intervals along the width direction.

[0014] Preferably, the telescopic assembly includes a fixed frame, a movable frame, and a telescopic cylinder. The first end of the fixed frame is hinged to the fifth connecting rod, and the second end of the fixed frame is cantilevered outward. A sliding hole is provided on the fixed frame along its cantilever direction, and the movable frame is slidably connected in the sliding hole. The first end of the telescopic cylinder is hinged to the fixed frame, and the second end of the telescopic cylinder is hinged to the movable frame. A flexible connection assembly is installed on the movable frame.

[0015] The application of the technical solution of the present invention has the following beneficial effects: By arranging the first and second links in a way that allows them to swing back and forth relative to the traveling mechanism, the vibration mechanism and clamp connected to the bottom of the first and second links can swing back and forth along the traveling mechanism. This prevents the clamp from moving forward with the traveling mechanism when it reaches the tree trunk, thus protecting the tree from damage to the bark. When working on a slope, if the traveling mechanism is tilted relative to the front-back direction, the first and second links swing relative to the traveling mechanism, keeping the vibration mechanism and clamp connected to them horizontal, facilitating clamping the vertical tree trunk. If the traveling mechanism is tilted relative to the left-right direction, the rotating component drives the clamp to rotate, adjusting its angle in the left-right direction to keep it horizontal, facilitating clamping the tree trunk and ensuring the vibration is transmitted smoothly to the trunk. The design of the above structure increases the degree of freedom of the harvesting robot, allowing it to change the angle of the gripper in multiple directions so that the gripper can fit snugly against the tree trunk. This enables the vibration energy generated by the vibration mechanism to be smoothly transmitted to the tree trunk through the gripper, improving the adaptability of existing harvesting machinery.

[0016] In addition to the objectives, features, and advantages described above, the present invention has other objectives, features, and advantages. The invention will now be described in further detail with reference to the figures. Attached Figure Description

[0017] The accompanying drawings, which form part of this application, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of a multi-degree-of-freedom robotic arm vibrating harvester according to the present invention; Figure 2 This is a partial structural schematic diagram of a multi-degree-of-freedom robotic arm vibrating harvester according to the present invention; Figure 3 yes Figure 2 Enlarged view at point A in the middle; Figure 4 This is a schematic diagram of the overall structure of the gripper, rotating assembly, and vibration mechanism in a multi-degree-of-freedom manipulator vibrating harvester according to the present invention; Figure 5 This is a schematic diagram of the internal structure of the vibration mechanism in a multi-degree-of-freedom manipulator vibrating harvester according to the present invention; Figure 6 This is a schematic diagram of the force state when the first eccentric block and the second eccentric block overlap in a multi-degree-of-freedom manipulator vibrating harvester according to the present invention. Figure 7This is a schematic diagram of the force state when the first offset block and the second eccentric block are misaligned in a multi-degree-of-freedom manipulator vibrating harvester according to the present invention.

[0018] The components include: 1. Walking mechanism; 11. Automobile chassis; 12. Lifting assembly; 121. Lifting cylinder; 122. Fifth link; 13. Telescopic assembly; 131. Fixed frame; 132. Movable frame; 133. Telescopic cylinder; 2. Flexible connection assembly; 21. Linkage assembly; 211. First link; 212. Second link; 213. Screw; 214. Nut; 215. Washer; 216. Elastic element; 217. Guide sleeve; 3. Chuck; 31. Second drive. Components; 311, drive cylinder; 312, drive frame; 32, mounting bracket; 321, guide rod; 33, third connecting rod; 34, fourth connecting rod; 35, first clamping arm; 36, second clamping arm; 361, clearance groove; 37, clamping arc surface; 4, rotating assembly; 5, vibration mechanism; 51, housing; 52, first drive component; 53, first eccentric block; 54, drive gear; 55, drive shaft; 56, driven gear; 57, second eccentric block; 58, driven shaft. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more comprehensive description is provided below, along with preferred embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0021] Example: See Figures 1-7This embodiment provides a multi-degree-of-freedom manipulator vibrating harvester, including a walking mechanism 1, a flexible connecting assembly 2, a gripper 3, a rotating assembly 4, and a vibration mechanism 5. The vibration mechanism 5 is connected to the walking mechanism 1 by the flexible connecting assembly 2, which allows it to swing freely back and forth. The gripper 3 is connected to the vibration mechanism 5 by the rotating assembly 4, which allows it to rotate horizontally. The flexible connecting assembly 2 includes two sets of left-right symmetrically arranged link assemblies 21. Each link assembly 21 includes a first link 211 and a second link 212, which are arranged in a V-shape. The bottom ends of the first link 211 and the second link 212 are hinged to the vibration mechanism 5, and the top ends of the first link 211 and the second link 212 are connected to the walking mechanism 1 by swinging back and forth. Specifically, the top ends of the first link 211 and the second link 212 can be hinged to the same hinge axis as the walking mechanism 1, thereby allowing the first link 211 and the second link 212 to rotate around the hinge axis and swing back and forth relative to the walking mechanism 1.

[0022] It should be noted that existing harvesting robots all use wheeled or tracked chassis. When the harvesting robot docks with the tree trunk, it needs to align the chassis with the trunk. During the alignment process, the robot may collide with the trunk, causing the bark to peel off and thus damaging the fruit tree. In addition, when working on some slopes, the harvesting robot has limited freedom of movement and cannot hold the trunk well. That is, the clamping surface is at an angle to the trunk surface, resulting in an unstable fit. This means that the vibration energy cannot be effectively transmitted to the fruit tree, and it is also easy to damage the bark of the fruit tree.

[0023] It is understood that by arranging the first link 211 and the second link 212 in a way that allows them to swing back and forth relative to the walking mechanism 1, the vibration mechanism 5 and the clamp 3 connected to the bottom of the first link 211 and the second link 212 can swing back and forth along the walking mechanism 1. Thus, when the walking mechanism 1 moves toward the fruit tree, and the clamp 3 comes into contact with the trunk of the fruit tree, the clamp 3 will not move forward with the walking mechanism 1, thereby preventing the bark of the fruit tree from being damaged and protecting the fruit tree. When construction is carried out on a slope, when the walking mechanism 1 is tilted relative to the front-to-back direction, the first link 211 and the second link 212 swing relative to the walking mechanism 1, keeping the vibration mechanism 5 and the clamp 3 connected to the first link 211 and the second link 212 horizontal, thus facilitating the clamp 3 to hold the vertical tree trunk. When the walking mechanism 1 is tilted relative to the left-to-right direction, the rotating component 4 drives the clamp 3 to rotate, thereby adjusting the angle of the clamp 3 in the left-to-right direction and keeping the clamp 3 horizontal, thus facilitating the clamping of the tree trunk and enabling the vibration to be smoothly transmitted to the fruit tree trunk. Through the design of the above structure, the degree of freedom of the harvesting robot is increased, allowing the harvesting robot to change the angle of the clamp 3 on the harvesting robot in multiple directions, so that the clamp 3 can fit snugly against the tree trunk, thereby enabling the vibration energy generated by the vibration mechanism 5 to be smoothly transmitted to the fruit tree trunk through the clamp 3, improving the adaptability of existing harvesting machinery.

[0024] Preferably, the linkage assembly 21 further includes a screw 213 and a nut 214. A connecting hole is provided on the traveling mechanism 1 along the height direction. The screw 213 is connected through the connecting hole along the height direction. The nut 214 is threadedly connected to the screw 213 above the traveling mechanism 1. The first connecting rod 211 and the second connecting rod 212 are hinged to the bottom of the screw 213 in a back-and-forth swinging manner. Specifically, a rotating pin is provided at the bottom of the screw 213, a collar is provided at the top of the first connecting rod 211, and a collar is also provided at the top of the second connecting rod 212. The two collars are simultaneously sleeved on the rotating pin. The first connecting rod 211 and the second connecting rod 212 rotate relative to the rotating pin on the screw 213. Because the space inside the collar is larger than the diameter of the pin, the first connecting rod 211 and the second connecting rod 212 can also move at small angles or small displacements in other directions. Of course, in some other embodiments of this application, a hinge hole can also be provided at the top of the first connecting rod 211 and the top of the second connecting rod 212, and they can be hinged to the pin through the hinge hole.

[0025] It is understood that the screw 213 is fixedly connected to the traveling mechanism 1 via the nut 214, and is oscillatingly connected to the screw 213 via the first connecting rod 211 and the second connecting rod 212, thereby enabling the first connecting rod 211, the second connecting rod 212, and the vibration mechanism 5 and the chuck 3 connected to the first connecting rod 211 and the second connecting rod 212 to oscillate relative to the traveling mechanism 1. Furthermore, by adjusting the relative height of the two connecting components through the screw 213 and the nut 214, the vibration mechanism 5 and the chuck 3 can be leveled left and right.

[0026] Preferably, the connecting rod assembly 21 further includes a washer 215, an elastic element 216, and a guide sleeve 217. The guide sleeve 217 is welded to the traveling mechanism 1 and is coaxially arranged with the connecting hole. The elastic element 216 is sleeved on the outside of the screw 213 and is arranged inside the guide sleeve 217. The washer 215 is sleeved on the outside of the screw 213 and is arranged between the elastic element 216 and the nut 214. The washer 215 is slidably arranged in the guide sleeve 217 along the height direction. Specifically, the elastic element 216 is a helical spring, a rubber spring, or a gas spring. Through the setting of the elastic element 216, the elastic element 216 isolates vibration and prevents the vibration of the vibration mechanism 5 from being transmitted to the traveling mechanism 1, which could cause damage to the traveling mechanism 1.

[0027] It is understood that the screw 213 and nut 214 are locked onto the washer 215, and the washer 215 presses against the elastic element 216. The elastic force of the elastic element 216 supports the screw 213 and the vibration mechanism 5 and clamp 3 connected below the screw 213. The elastic element 216 isolates the vibration of the vibration mechanism 5, preventing the vibration from being transmitted to the traveling mechanism 1.

[0028] The existing vibration mechanism 5 consists of an eccentric block mounted on the output shaft of a motor. The motor drives the eccentric block to rotate, and the centrifugal force of the eccentric block causes the equipment to vibrate. If this existing structure is directly applied to a harvester, the vibration of the existing vibration mechanism 5 is a 360-degree circumferential vibration, meaning it has no specific direction. When this non-directional vibration is applied to a harvester, combined with the setting of the clamp 3 (typically located at the end of the clamp 3), vibrations parallel to the clamp 3 can be smoothly transmitted to the fruit tree through the clamp 3. However, vibrations perpendicular to the clamp 3 cause the clamp 3 to rotate relative to the fruit tree, resulting in the clamp 3 peeling off the bark. Furthermore, vibrations deviating from the clamp 3 direction cannot be effectively transmitted to the fruit tree, thus wasting energy. Therefore, further improvements have been made. Specifically, the vibration mechanism 5 includes a housing 51, a first drive... The device comprises a driving member 52, a first eccentric block 53, a driving gear 54, a driving shaft 55, a driven gear 56, a second eccentric block 57, and a driven shaft 58. The first driving member 52 is mounted on the housing 51, and the driving end of the first driving member 52 is coaxially and fixedly connected to the driving shaft 55. The first eccentric block 53 is eccentrically arranged on the driving shaft 55, and the driving gear 54 is coaxially and fixedly connected to the driving shaft 55. The driven shaft 58 is rotatably connected to the housing 51, the second eccentric block 57 is eccentrically and fixedly connected to the driven shaft 58, and the driven gear 56 is coaxially and fixedly connected to the driven shaft 58. The driving gear 54 and the driven gear 56 are meshed. When the first eccentric block 53 and the second eccentric block 57 overlap, the direction of the first eccentric block 53 is parallel to the extension direction of the chuck 3. Specifically, the driving gear 54 and the driven gear 56 have the same number of teeth, meaning that for every rotation of the driving gear 54, the driven gear 56 also rotates once, so that the driving gear 54 drives the driven gear 56 to rotate synchronously. The first driving component 52 drives the driving shaft 55 to rotate, which in turn drives the driving gear 54 and the eccentric block mounted on the driving shaft 55 to rotate. The driving gear 54 drives the driven gear 56, the driven shaft 58, and the second eccentric block 57 to rotate. When the first eccentric block 53 and the second eccentric block 57 rotate, they generate centrifugal force. The centrifugal force acts on the housing 51 through the driving shaft 55 and the driven shaft 58, and then acts on the chuck 3 through the housing 51, causing the fruit tree to vibrate back and forth through the chuck 3. The first driving component 52 can be one of an electric motor, a hydraulic motor, or a micro-engine.

[0029] It can be seen that the first eccentric block 53 and the second eccentric block 57 are connected by two eccentric blocks and by the driving gear 54 and the driven gear 56. During rotation, when the first eccentric block 53 overlaps with the second eccentric block 57, the eccentric direction of the first eccentric block 53 is parallel to the direction of the extension of the chuck 3. At this time, the centrifugal force F1 generated by the first eccentric block 53 acts on the driving shaft 55 and is transmitted to the chuck 3 through the driving shaft 55 and the housing 51. The centrifugal force F2 generated by the second eccentric block 57 acts on the driven shaft 58 and is transmitted to the chuck 3 through the driven shaft 58 and the housing 51. The centrifugal force F2 is in the same direction as the centrifugal force F1 generated by the first eccentric block 53 and is parallel to the extension direction of the chuck 3. The resultant force of the centrifugal forces generated by the first eccentric block 53 and the second eccentric block 57 can be smoothly transmitted to the fruit tree through the chuck 3. When the driving gear 54 and driven gear 56 mesh, the direction of rotation of the driving gear 54 is opposite to that of the driven gear 56. As the first eccentric block 53 and the second eccentric block 57 continue to rotate, the first eccentric block 53 rotates to the left, and the second eccentric block 57 rotates to the right. At this time, the centrifugal force F1 of the first eccentric block 53 towards the left cancels out the centrifugal force F2 of the second eccentric block 57 towards the right, resulting in no vibration in the left-right direction. The resultant forces in the forward or backward directions are superimposed, thus producing only a front-back vibration. When this front-back vibration occurs, the clamp 3 extends forward, so the front-back vibration generated by the vibration mechanism 5 can be fully transmitted to the fruit tree through the clamp 3, greatly saving energy and reducing energy waste. Because there is no left-right vibration, the clamp 3 will not experience torsional force, thus preventing the clamp 3 from causing twisting damage to the bark of the fruit tree. This provides protection for the fruit tree.

[0030] Preferably, the chuck 3 includes a second driving member 31, a mounting frame 32, a third connecting rod 33, a fourth connecting rod 34, a first clamping arm 35, and a second clamping arm 36. The first end of the mounting frame 32 is fixedly connected to the rotating assembly 4 by screws or welding. The first end of the third connecting rod 33 is hinged to the cantilever end of the mounting frame 32, and the second end of the third connecting rod 33 is hinged to the middle of the first clamping arm 35. The fourth connecting rod 34 is symmetrically arranged relative to the third connecting rod 33, and the first end of the fourth connecting rod 34 is hinged to the cantilever end of the mounting frame 32, and the second end of the fourth connecting rod 34 is hinged to the middle of the second clamping arm 36. The end of the first clamping arm 35 is hinged to the driving end of the second driving member 31, and the end of the second clamping arm 36 is hinged to the driving end of the second driving member 31. Specifically, the rotating assembly 4 is a rotary cylinder, the fixed end of the rotary cylinder is fixedly connected to the housing 51, and the output end of the rotary cylinder is fixedly connected to the chuck 3.

[0031] It can be understood that the first clamping arm 35 and the second clamping arm 36 are driven to move simultaneously by the second driving member 31. Under the constraint of the third link 33, the first clamping arm 35 and the second clamping arm 36 are driven to rotate toward the center to achieve clamping. When it is necessary to remove the clamping, the first clamping arm 35 and the second clamping arm 36 are driven to move in opposite directions by the second driving member 31 to release the clamping.

[0032] Preferably, clamping arc surfaces 37 are provided on the opposite sides of the first clamping arm 35 and the second clamping arm 36.

[0033] It is understood that by setting the clamping arc surface 37, the contact area between the first clamping arm 35 and the second clamping arm 36 and the fruit tree is increased, thereby reducing the pressure of the first clamping arm 35 and the second clamping arm 36 in contact with the fruit tree, thus preventing the first clamping arm 35 and the second clamping arm 36 from damaging the fruit tree. It should also be noted that rubber pads can be installed on the arc surface to protect the fruit tree and further reduce damage to the tree trunk.

[0034] Preferably, the second clamping arm 36 is provided with a clearance groove 361, which is arranged opposite to the first clamping arm 35.

[0035] It is understood that the clearance groove 361 allows the first clamping arm 35 to extend into the clearance groove 361 of the second clamping arm 36. This design enables the clamp 3 to clamp tree trunks with smaller diameters, thereby increasing the application range of the device.

[0036] Preferably, the second driving component 31 includes a driving cylinder 311 and a driving frame 312. The mounting frame 32 has two parallel guide rods 321 arranged along the extended end of the mounting frame 32. Two sliding bearings on the driving frame 312 are simultaneously slidably connected to the two guide rods 321. The two ends of the driving frame 312 are respectively hinged to the ends of the first clamping arm 35 and the second clamping arm 36. The first end of the driving cylinder 311 is connected to the mounting frame 32, and the second end of the driving cylinder 311 is mounted on the driving frame 312.

[0037] It can be understood that the drive frame 312 is pushed to move back and forth along the guide rod 321 by the drive cylinder 311. When the drive frame 312 moves along the guide rod 321, it drives the first clamping arm 35 and the second clamping arm 36 to clamp and release. When the drive frame 312 moves toward the first clamping arm 35 and the second clamping arm 36, the drive frame 312 drives the first clamping arm 35 and the second clamping arm 36 to clamp the fruit tree. When the drive frame 312 moves away from the first clamping arm 35 and the second clamping arm 36, the drive frame 312 drives the first clamping arm 35 and the second clamping arm 36 to release the clamp.

[0038] Preferably, the walking mechanism 1 includes a vehicle chassis 11, a lifting component 12, and a telescopic component 13. The lifting component 12 is mounted on the vehicle chassis 11. The first end of the telescopic component 13 is connected to the lifting component 12, and the second end of the telescopic component 13 is connected to the flexible connection component 2. The lifting component 12 controls the lifting of the telescopic component 13, the vibration mechanism 5 mounted on the telescopic component 13, and the clamp 3 to adapt to fruit trees of different heights. The lifting assembly 12 includes a lifting cylinder 121 and two parallel fifth connecting rods 122. The first ends of the two parallel fifth connecting rods 122 are hinged to the vehicle chassis 11, and the second ends of the two fifth connecting rods 122 are hinged to the telescopic assembly 13. The two fifth connecting rods 122, the vehicle chassis 11, and the telescopic assembly 13 form a parallelogram structure, with the four hinge points of the two fifth connecting rods 122 located at the four points of the parallelogram. The first end of the lifting cylinder 121 is hinged to the vehicle chassis 11, and the second end of the lifting cylinder 121 is hinged to the middle of one of the fifth connecting rods 122. Two sets of fifth connecting rods 122 and lifting cylinders 121 are arranged at intervals along the width direction. Specifically, the vehicle chassis 11 can be a tracked chassis or a wheeled chassis.

[0039] It is understood that when the lifting cylinder 121 extends, it drives the fifth link 122 to rotate upward, thereby causing the telescopic component 13 to move upward. Because the two fifth links 122, the vehicle chassis 11, and the telescopic component 13 form a parallelogram structure, the telescopic mechanism moves upward by translating upward. The telescopic mechanism does not change angle during movement, ensuring the stability of the vibration mechanism 5 and the clamp 3 mounted on the telescopic mechanism. Similarly, it also translates downward. It should also be noted that when the lifting cylinder 121 extends, the telescopic mechanism moves upward while simultaneously moving backward. Therefore, after shaking the fruit tree, releasing the clamp 3 and extending the lifting cylinder 121 allows the clamp 3 to be lifted upward and retracted. When working on a new fruit tree, the lifting cylinder 121 retracts. At this time, the fifth link 122 rotates downward around the hinge point with the vehicle chassis 11. During this rotation, the telescopic component 13 simultaneously moves downward and forward to facilitate clamping the fruit tree.

[0040] Preferably, the telescopic assembly 13 includes a fixed frame 131, a movable frame 132, and a telescopic cylinder 133. The first end of the fixed frame 131 is hinged to the fifth connecting rod 122, and the second end of the fixed frame 131 is cantilevered outward. A sliding hole is provided on the fixed frame 131 along its cantilever direction, and the movable frame 132 is slidably connected in the sliding hole. The first end of the telescopic cylinder 133 is hinged to the fixed frame 131, and the second end of the telescopic cylinder 133 is hinged to the movable frame 132. The flexible connection assembly 2 is installed on the movable frame 132.

[0041] It is known that the movable frame 132 is slidably connected to the fixed frame 131. The sliding frame is driven to extend or retract from the fixed frame 131 by the telescopic cylinder 133, thereby realizing the telescopic movement of the telescopic component 13, which in turn drives the movable frame 132 and the vibration mechanism 5 and the clamp 3 connected to the movable frame 132 to move forward or backward.

[0042] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A multi-degree-of-freedom robot vibration picking machine, characterized by: The vibration picking machine comprises a walking mechanism (1), a flexible connecting assembly (2), a chuck (3), a rotating assembly (4) and a vibration mechanism (5), the vibration mechanism (5) is connected to the walking mechanism (1) in a front and back swing manner through the flexible connecting assembly (2), and the chuck (3) is connected to the vibration mechanism (5) in a horizontal rotating manner through the rotating assembly (4); The flexible connecting assembly (2) comprises two groups of left and right symmetrical connecting rod assemblies (21), the connecting rod assembly (21) comprises a first connecting rod (211) and a second connecting rod (212), the first connecting rod (211) and the second connecting rod (212) are arranged in a figure-of-eight pattern, the bottom ends of the first connecting rod (211) and the second connecting rod (212) are hingedly connected to the vibration mechanism (5), and the top ends of the first connecting rod (211) and the second connecting rod (212) are connected to the walking mechanism (1) in a front and back swing manner.

2. The multi-degree-of-freedom mechanical hand vibration picking machine according to claim 1, wherein: The connecting rod assembly (21) further comprises a screw rod (213) and a nut (214), the walking mechanism (1) is provided with a connecting hole in the height direction, the screw rod (213) penetrates through the connecting hole in the height direction, the nut (214) is threadedly connected to the screw rod (213) above the walking mechanism (1), and the first connecting rod (211) and the second connecting rod (212) are hingedly connected to the bottom of the screw rod (213) in a front and back swing manner.

3. The multi-degree-of-freedom mechanical hand vibration picking machine according to claim 2, wherein: The connecting rod assembly (21) further comprises a gasket (215), an elastic element (216) and a guide sleeve (217), the guide sleeve (217) is fixedly connected to the walking mechanism (1), and the guide sleeve (217) is coaxially arranged with the connecting hole; The elastic element (216) is sleeved outside the screw rod (213), and the elastic element (216) is arranged in the guide sleeve (217); The gasket (215) is sleeved outside the screw rod (213), and the gasket (215) is arranged between the elastic element (216) and the nut (214), and the gasket (215) is arranged in the guide sleeve (217) in a sliding manner in the height direction.

4. The multi-degree-of-freedom mechanical hand vibration picking machine according to claim 1, wherein: The vibration mechanism (5) comprises a shell (51), a first driving element (52), a first eccentric block (53), a driving gear (54), a driving shaft (55), a driven gear (56), a second eccentric block (57) and a driven shaft (58), the first driving element (52) is installed on the shell (51), and the driving end of the first driving element (52) is coaxially fixedly connected with the driving shaft (55); The first eccentric block (53) is eccentrically arranged on the driving shaft (55), and the driving gear (54) is coaxially fixedly connected to the driving shaft (55). The driven shaft (58) is rotationally connected to the housing (51), the second eccentric block (57) is eccentrically fixedly connected to the driven shaft (58), and the driven gear (56) is coaxially fixedly connected to the driven shaft (58); the driving gear (54) is arranged in meshing with the driven gear (56); When the first eccentric block (53) overlaps with the second eccentric block (57), the direction in which the first eccentric block (53) deviates is arranged in parallel with the extension direction of the chuck (3).

5. The multi-degree-of-freedom mechanical hand vibration picking machine according to any one of claims 1-4, characterized in that: The chuck (3) comprises a second driving member (31), a mounting frame (32), a third connecting rod (33), a fourth connecting rod (34), a first clamping arm (35), and a second clamping arm (36), and the first end of the mounting frame (32) is fixedly connected to the rotating assembly (4); The first end of the third connecting rod (33) is hingedly connected to the overhanging end of the mounting frame (32), and the second end of the third connecting rod (33) is hingedly connected to the middle part of the first clamping arm (35); The fourth connecting rod (34) is symmetrically arranged relative to the third connecting rod (33), the first end of the fourth connecting rod (34) is hingedly connected to the overhanging end of the mounting frame (32), and the second end of the fourth connecting rod (34) is hingedly connected to the middle part of the second clamping arm (36); The end of the first clamping arm (35) is hingedly connected to the driving end of the second driving member (31); The end of the second clamping arm (36) is hingedly connected to the driving end of the second driving member (31).

6. The multi-degree-of-freedom mechanical hand vibration picking machine according to claim 5, characterized in that: The side opposite to the first clamping arm (35) and the second clamping arm (36) is provided with a clamping arc surface (37).

7. The multi-degree-of-freedom mechanical hand vibration picking machine according to claim 5, characterized in that: The second clamping arm (36) is provided with an avoiding groove (361), and the avoiding groove (361) is arranged opposite to the first clamping arm (35).

8. The multi-degree-of-freedom mechanical hand vibration picking machine according to claim 5, characterized in that: The second driving member (31) comprises a driving oil cylinder (311) and a driving frame (312), the mounting frame (32) is provided with two guide rods (321) arranged in parallel, and the two guide rods (321) are arranged along the extension end of the mounting frame (32); The driving frame (312) is simultaneously slidingly connected to the two guide rods (321), the first end of the driving frame (312) is hingedly connected to the first clamping arm (35), and the second end of the driving frame (312) is hingedly connected to the second clamping arm (36); The first end of the driving oil cylinder (311) is connected to the mounting frame (32), and the second end of the driving oil cylinder (311) is mounted on the driving frame (312).

9. The multi-degree-of-freedom mechanical hand vibration picking machine according to any one of claims 1-4, characterized in that: The walking mechanism (1) comprises a vehicle chassis (11), a lifting assembly (12) and a telescopic assembly (13), the lifting assembly (12) is installed on the vehicle chassis (11), the first end of the telescopic assembly (13) is connected with the lifting assembly (12), and the second end of the telescopic assembly (13) is connected with the flexible connecting assembly (2); The lifting assembly (12) comprises a lifting oil cylinder (121) and two fifth connecting rods (122) arranged in parallel, the first ends of the two fifth connecting rods (122) are hingedly connected to the vehicle chassis (11), the second ends of the two fifth connecting rods (122) are hingedly connected to the telescopic assembly (13), the two fifth connecting rods (122), the vehicle chassis (11) and the telescopic assembly (13) form a parallelogram structure, and four hinge points of the two fifth connecting rods (122) are located at four points of the parallelogram. The first end of the lifting oil cylinder (121) is hingedly connected to the vehicle chassis (11), and the second end of the lifting oil cylinder (121) is hingedly connected to the middle of one of the fifth connecting rods (122). The fifth connecting rods (122) and the lifting oil cylinder (121) are arranged in two groups in the width direction.

10. The multi-degree-of-freedom manipulator vibration picking machine according to claim 9, characterized in that: The telescopic assembly (13) comprises a fixed frame (131), a movable frame (132) and a telescopic oil cylinder (133), the first end of the fixed frame (131) is hingedly connected to the fifth connecting rod (122), and the second end of the fixed frame (131) is outwardly cantilevered. A sliding hole is arranged on the fixed frame (131) in the cantilever direction, the movable frame (132) is slidingly connected in the sliding hole, the first end of the telescopic oil cylinder (133) is hingedly connected to the fixed frame (131), and the second end of the telescopic oil cylinder (133) is hingedly connected to the movable frame (132). The flexible connecting assembly (2) is installed on the movable frame (132).

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