A shelled pecan vibration harvester based on negative pressure adsorption collection

Abstract

This invention relates to the field of agricultural machinery technology, specifically to a vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection. It includes a wheeled mobile chassis, with a trunk clamping assembly at the lower end of the chassis and a robotic arm mounted on the upper end. A side branch clamping assembly is connected to the upper end of the robotic arm, and a collection assembly is located below the side branch clamping assembly. This invention optimizes the structural design of the clamping mechanism and the vibration system to achieve combined upper and lower vibration, improving the harvesting efficiency and reducing damage to the fruit trees. Simultaneously, it optimizes the collection device, realizing automatic collection and negative pressure collection of thin-shelled pecans, thus improving harvesting efficiency and quality while reducing manual labor intensity.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically to a vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection. Background Technology

[0002] As a nut crop with high nutritional and economic value, the harvesting of thin-shelled pecans is a crucial step in the production process. Currently, the harvesting methods for thin-shelled pecans are mainly divided into two categories: manual harvesting and mechanical harvesting. Manual harvesting is labor-intensive and inefficient, requiring manual climbing of the fruit trees or the use of long poles to knock the fruit. This is not only time-consuming and labor-intensive but also poses personal safety hazards. Furthermore, the force of manual knocking is difficult to control, easily leading to branch breakage and fruit damage, thus increasing production costs. Existing mechanical harvesting equipment mostly uses a single vibration method on the trunk. In actual operation, the vibration is difficult to effectively transmit to lateral branches and fruiting parts, resulting in some fruits not falling off, low removal rate, and many fruit residues. Moreover, single vibration can easily cause mechanical damage to the trunk and lateral branches of the fruit trees, affecting their subsequent growth. In addition, the collection devices of existing vibratory harvesters are mostly simple mesh receiving structures. After harvesting, the fruits in the mesh device need to be cleaned and collected manually, which not only increases the manual operation steps but also easily causes fruits to fall to the ground and break, further reducing harvesting quality and efficiency.

[0003] Therefore, there is an urgent need for a vibratory harvester for thin-shelled pecans that can achieve efficient and low-damage vibration harvesting and automatically complete collection and gathering based on negative pressure adsorption, in order to solve the problems of low efficiency, high damage and cumbersome collection of existing harvesting methods. Summary of the Invention

[0004] To address the aforementioned issues, this application provides a vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection. By optimizing the structural design of the clamping mechanism and the excitation system, it achieves combined upper and lower vibration, improving the shaking cleanliness and reducing damage to the fruit trees. At the same time, it optimizes the collection device, realizing automatic collection and negative pressure collection of thin-shelled pecans, improving harvesting efficiency and quality, and reducing manual labor intensity.

[0005] The technical solution adopted by the present invention to solve the above-mentioned technical problems is: a vibrating harvester for thin-shelled pecans based on negative pressure adsorption collection, comprising a mobile chassis, wherein a first clamping vibration assembly, a robotic arm, a second clamping vibration assembly and a collection assembly are provided on the mobile chassis; The first clamping vibration assembly is used to clamp the tree trunk and apply vibration to the tree trunk; The second clamping vibration assembly is mounted on the robotic arm and is used to clamp the trunk, lateral branches, or fruiting branches and apply vibration to them; The collecting component is located below or near the second clamping vibration component and is used to collect the thin-shelled pecans that have fallen due to vibration. The collection assembly includes a position adjustment unit, a negative pressure adsorption unit, a material receiving and guiding structure, a enclosure unit, and a rejection unit. The position adjustment unit is used to adjust the position of the collecting component relative to the tree or branch; The negative pressure adsorption unit is used to generate negative pressure adsorption airflow and adsorb and transport fallen thin-shelled pecans. The receiving and guiding structure is connected to the negative pressure adsorption unit and is used to receive the fallen thin-shelled pecans and guide them to the negative pressure adsorption unit. The enclosure unit is set on the material receiving and guiding structure to form a collection area and restrict the thin-shelled pecans from scattering outwards; The removal unit is located within the collection assembly and is used to separate leaves, twigs, or light impurities from thin-shelled pecans using airflow.

[0006] The beneficial effects of this invention are as follows: 1. This invention uses a composite vibration mode, with high frequency and low amplitude adapted to lateral branches and low frequency and high amplitude adapted to the main trunk, to reduce the impact of vibration on fruit trees, significantly improve the shaking cleanliness of thin-shelled pecans, and reduce the residue of thin-shelled pecans. At the same time, the negative pressure automatic collection structure realizes the automatic collection and transportation of thin-shelled pecans, eliminating the need for manual cleaning steps, significantly improving harvesting efficiency, reducing manual labor intensity, and is suitable for harvesting operations in large-scale thin-shelled pecan orchards. 2. The inverted hollow frustum-shaped base of this invention, combined with the double-layer inflatable enclosure, allows for flexible adjustment of the collection range under the action of the adjustment unit. It also provides a certain buffer for the fruit, reducing the rate of spoiled fruit. In conjunction with the removal unit, it ensures the purity of the harvested fruit. The negative pressure adsorption unit can quickly suck the fruit in the base into the collection box, preventing fruit accumulation and leakage. Attached Figure Description

[0007] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0008] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the three-dimensional connection structure between the wheeled mobile chassis and the trunk clamping assembly in this invention; Figure 3 In this invention Figure 1 A schematic diagram of the three-dimensional connection structure between the negative pressure adsorption unit, the base support, the enclosure unit, and the removal unit, without the negative pressure adsorption unit; Figure 4 This is a schematic diagram of the three-dimensional connection structure between the robotic arm and the side branch clamping assembly in this invention; Figure 5 This is a schematic diagram of the three-dimensional connection structure between the negative pressure adsorption unit, the base support, and the enclosure unit in this invention; Figure 6 This is a cross-sectional view of the enclosure unit in this invention; Figure 7 In this invention Figure 6 A magnified structural diagram at point A; Figure 8 In this invention Figure 5 A schematic diagram of the three-dimensional connection structure after the enclosure layer has been removed; Figure 9 It is in the process of invention Figure 8 A magnified structural diagram at point B.

[0009] In the picture: 1. Wheeled mobile chassis; 2. Trunk clamping assembly; 21. First excitation system; 22. Vertical plate; 221. Adhesive block; 23. First electric push rod; 24. Push plate; 25. Connecting rod; 26. Slider; 27. Slide rail; 28. Clamping plate; 29. ​​Gripper; 3. Robotic arm; 4. Side branch clamping assembly; 41. Mounting plate; 42. Side branch clamping unit; 421. Drive motor; 422. Drive gear; 423. Driven gear; 424. Driven shaft; 425. Arc-shaped clamping plate; 4251. First airbag; 4252. Second airbag; 4253. Air tube; 4254. Flexible clamping plate; 43. Second vibration system; 5. Collection component; 51. Adjustment unit; 511. Rotating base; 512. C-shaped frame; 513. Adjustment motor; 514. Threaded rod; 515. Slide rod; 516. Adjustment plate; 52. Negative pressure adsorption unit; 521. Collection box; 522. Air pump; 523. Flexible negative pressure tube; 524. Negative pressure cover; 525. Support rod; 53. Base support; 531. Material discharge hole; 54. Enclosure unit; 541. Enclosure layer; 542. Support plate; 543. Frame; 544. Fan-shaped filter screen; 55. Removal unit; 551. Rigid pipe; 552. Air diffuser plate; 553. Air diffuser nozzle; 554. Second electric push rod. Detailed Implementation

[0010] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the present invention will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is for the purpose of helping to understand the present invention, but does not constitute a limitation of the present invention.

[0011] It should be noted that, in this invention, both the first excitation system 21 and the second excitation system 43 have integrated exciters with controllable frequency and amplitude.

[0012] Example 1: As Figure 1 , Figure 2 as well as Figure 4 As shown, a vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection includes a wheeled mobile chassis 1. A trunk clamping assembly 2 is provided at the lower end of the wheeled mobile chassis 1, and a mechanical arm 3 is installed at the upper end of the wheeled mobile chassis 1. A side branch clamping assembly 4 is connected to the upper end of the mechanical arm 3.

[0013] The trunk clamping assembly 2 includes a first vibration system 21 fixedly installed on the lower end of the wheeled mobile chassis 1. A vertical plate 22 is fixedly connected to the lower end of the first vibration system 21. A first electric push rod 23 is fixedly installed on the side wall of the vertical plate 22. A push plate 24 is fixedly connected to the telescopic end of the first electric push rod 23. Both ends of the push plate 24 are hinged with connecting rods 25. Slider 26 is hinged to the lower side of both ends of the connecting rods 25. Slide rails 27 are provided on the vertical plates 22 on both sides of the first electric push rod 23. The slider 26 is slidably installed on the slide rails 27. A clamping plate 28 is fixedly connected to the upper end of the slider 26.

[0014] The end face of the vertical plate 22 away from the first electric push rod 23 is provided with a bonding block 221. The bonding block 221 is made of flexible material and has an arc-shaped structure.

[0015] The clamping plate 28 is symmetrically equipped with clamping claws 29 at the end away from the slider 26. The clamping claws 29 are made of hard rubber and have a protective layer on their inner surface.

[0016] The side branch clamping assembly 4 includes a mounting plate 41 fixedly connected to the upper end of the robotic arm 3. A side branch clamping unit 42 is provided on the side wall of the mounting plate 41 near the upper end. A second excitation system 43 is installed below the side branch clamping unit 42.

[0017] The side branch clamping unit 42 includes a drive motor 421 fixedly installed on the side wall of the mounting plate 41. The output shaft of the drive motor 421 is fixedly connected to a drive gear 422. Driven gears 423 mesh on both sides of the drive gear 422. Driven gears 423 are mounted on a driven shaft 424. One end of the driven shaft 424 is rotatably mounted on the mounting plate 41, and the other end is fixedly connected to an arc-shaped clamping plate 425.

[0018] A first airbag 4251 is fixedly installed on the inner side of the arc-shaped clamping plate 425 near the upper end. A second airbag 4252 is installed below the first airbag 4251. The first airbag 4251 and the second airbag 4252 are connected by an air tube 4253. A flexible clamping plate 4254 is installed on the inner wall of the arc-shaped clamping plate 425 between the first airbag 4251 and the second airbag 4252.

[0019] In practice, the vibratory harvester is first moved to the target thin-shelled pecan tree by the wheeled mobile chassis 1. The position of the vibratory harvester is adjusted so that the bonding block 221 on the vertical plate 22 is attached to one side of the tree trunk. Then, the first electric push rod 23 is started. The push plate 24 is moved by the telescopic end of the first electric push rod 23. The push plate 24 drives the connecting rod 25 with hinged ends to move. The connecting rod 25 pulls the slider 26 to slide along the slide rail 27. The slider 26 drives the upper clamping plate 28 to move closer to each other until the clamping claw 29 on the clamping plate 28 is tightly attached to the tree trunk, thus completing the clamping and fixing of the tree trunk. The clamping claw 29 is made of hard rubber and has a protective layer. The bonding block 221 has a flexible arc structure, which can avoid damage to the tree trunk during the clamping process. After the above process is completed, the position of the side branch clamping assembly 4 is adjusted by the robotic arm 3 so that the side branch clamping unit 42 is aligned with the side branch to be harvested. Then, the drive motor 421 is started, which drives the drive gear 422 to rotate, and at the same time drives the driven gears 423 and driven shaft 424 meshing on both sides to rotate. During the rotation of the driven shaft 424, the arc-shaped clamping plates 425 will clamp each other until the first airbag 4251 on the inner side of the arc-shaped clamping plate 425 is in contact with the side branch. At this time, with the drive motor 421, the position of the side branch clamping assembly 422 is adjusted by the robotic arm 3 so that the side branch clamping unit 422 is aligned with the side branch. As 21 continues to rotate, the first airbag 4251 will be compressed. Since the first airbag 4251 and the second airbag 4252 are connected through the air tube 4253, they can adaptively clamp side branches of different thicknesses. When the first airbag 4251 is compressed, the air inside it will be introduced into the second airbag 4252 through the air tube 4253, thereby causing the second airbag 4252 to expand and squeeze the flexible clamping plate 4254, thereby driving the flexible clamping plate 4254 to move upward and provide abutment support to the lower part of the side branch, further improving the clamping stability. After the lateral branches are clamped and fixed, the first excitation system 21 and the second excitation system 43 are activated. The first excitation system 21 generates low-frequency, high-amplitude vibrations and transmits the vibrations to the trunk through the vertical plate 22 and the clamping plate 28. The second excitation system 43 generates high-frequency, low-amplitude vibrations and transmits the vibrations directly to the lateral branches, achieving the effect of coordinated vibration between the trunk and the lateral branches, and causing the thin-shelled pecans on the lateral branches to fall off under the action of vibration.

[0020] Example 2: Figure 1 , Figure 3 as well as Figures 5 to 9 As shown, Embodiment 2 is basically the same as Embodiment 1, except that: a collection component 5 is provided below the side branch clamping component 4. The collection component 5 includes an adjustment unit 51. An adjustment unit 51 is installed on the upper end of the wheeled mobile chassis 1. A negative pressure adsorption unit 52 is fixedly installed on the upper end of the adjustment unit 51. A base 53 is fixedly connected to the upper end of the negative pressure adsorption unit 52. The base 53 has an inverted hollow frustum structure and several discharge holes 531 are opened at its bottom. A baffle unit 54 for collecting thin-shelled walnuts is fixedly installed on the upper end of the base 53. A rejection unit 55 is provided inside the baffle unit 54.

[0021] The adjustment unit 51 includes a rotating base 511 fixedly installed on the upper end of the wheeled mobile chassis 1. A U-shaped frame 512 is fixedly connected to the upper end of the rotating base 511. An adjustment motor 513 is fixedly installed on the side wall of the U-shaped frame 512. A threaded rod 514 is fixedly installed on the output shaft of the adjustment motor 513. Slide rods 515 are symmetrically arranged on both sides of the threaded rod 514. An adjustment plate 516 is screwed onto the threaded rod 514. The adjustment plate 516 and the slide rod 515 slide in cooperation.

[0022] The negative pressure adsorption unit 52 includes a collection box 521 located on the upper end of the adjustment plate 516. An air pump 522 is provided on the side wall of the collection box 521. The inlet of the collection box 521 is connected to a negative pressure cover 524 through a flexible negative pressure pipe 523. The upper end of the negative pressure cover 524 is sealed to the bottom support 53, and the lower end of the negative pressure cover 524 is fixedly connected to the collection box 521 through a support rod 525.

[0023] The enclosure unit 54 includes an enclosure layer 541 fixedly installed on the upper end of the base 53. The enclosure layer 541 is a double-layer inflatable structure with an air inlet on its side wall. The upper diameter of the enclosure layer 541 is larger than the lower diameter, which facilitates the collection of thin-shelled pecans. A support plate 542 is coaxially arranged in the middle of the upper end of the enclosure layer 541. A frame 543 is evenly hinged to the axial side wall of the support plate 542. The end of the frame 543 away from the support plate 542 is fixedly connected to the enclosure layer 541. A fan-shaped filter screen 544 is arranged between two adjacent frames 543. The arc edge of the fan-shaped filter screen 544 is fixedly connected to the enclosure layer 541.

[0024] The rejection unit 55 includes a rigid pipe 551 connected to the air outlet of the air pump 522. The rigid pipe 551 passes through the inner wall of the base 53 and extends to the top of the discharge hole 531 and is fixedly connected to a diffuser plate 552. A diffuser nozzle 553 is evenly arranged on the upper surface of the diffuser plate 552. A second electric push rod 554 is fixedly arranged in the middle of the upper end of the diffuser plate 552. The upper end of the second electric push rod 554 is fixedly connected to the support plate 542.

[0025] In this embodiment, a control motor is installed inside the rotating base 511, and its upper end is fixedly connected to the lower end of the shaped frame 512. In addition, in order to prevent pecans from accumulating on the upper end of the air diffuser plate 552, the air diffuser plate 552 can be set as a hollow arc-shaped structure with an upward protrusion.

[0026] In specific operation, before starting the first excitation system 21 and the second excitation system 43, the adjustment motor 513 is started. The adjustment motor 513 drives the threaded rod 514 to rotate, thereby driving the adjustment plate 516 to move. At the same time, according to the falling range of the hickory nuts, the control motor set inside the rotating base 511 is started to drive the adjustment unit 51 to rotate, thereby adjusting the collection position of the enclosure unit 54. Then, air is inflated into the enclosure layer 541 through the air inlet, causing it to expand. After expansion, the enclosure layer 541 drives the frame 543 to rotate upwards around its hinge point to a horizontal position, simultaneously unfolding the fan-shaped filter screen 544. During this process, the second electric push rod 554 adaptively adjusts the height of the support plate 542 to achieve the optimal unfolding state of the fan-shaped filter screen 544. Then, the air pump 522 is activated, creating negative pressure inside the collection box 521. This negative pressure is transmitted to the negative pressure cover 5 through the flexible negative pressure pipe 523. 24. A negative pressure adsorption area is formed. As the thin-shelled pecans fall downwards, the fruits fall into the base 53 through the fan-shaped filter 544. Fallen leaves and broken branches remain on the upper part of the fan-shaped filter 544. Then, the fruits enter the negative pressure hood 524 through several discharge holes 531 at the bottom of the base 53, and then enter the collection box 521 through the flexible negative pressure tube 523. In actual use, the flexible negative pressure tube 523 can be shaken manually to avoid the fruits from clogging the flexible negative pressure tube 523. While the above process is in progress, the air outlet of the air pump 522 delivers airflow to the air diffuser plate 552 through the rigid pipe 551. The air diffuser nozzle 553 on the air diffuser plate 552 sprays airflow upward to blow air onto the thin-shelled pecans and fallen leaves on the fan-shaped filter screen 544. The fallen leaves are blown up by the airflow due to their light weight and detach from the fan-shaped filter screen 544, while the thin-shelled pecans fall downward into the base 52 due to their heavy weight. After harvesting, the air inlet of the enclosure layer 541 is opened manually. At this time, the enclosure layer 541 will shrink, and the frame 543 will rotate downward around its hinge point due to its own gravity, which will drive the fan-shaped filter screen 544 to shrink. At this time, the fallen leaves and broken branches on the upper part of the fan-shaped filter screen 544 can fall down, thus automatically completing the cleaning process.

[0027] Working principle of the invention: First, the vibratory harvester is moved to the target thin-shelled pecan tree using the wheeled mobile chassis 1. The position of the vibratory harvester is adjusted so that the bonding block 221 on the vertical plate 22 is attached to one side of the tree trunk. Then, the first electric push rod 23 is started. The push plate 24 is moved by the telescopic end of the first electric push rod 23. The push plate 24 drives the connecting rod 25 with hinged ends to move. The connecting rod 25 pulls the slider 26 to slide along the slide rail 27. The slider 26 drives the upper clamping plate 28 to move closer to each other until the clamping claw 29 on the clamping plate 28 is tightly attached to the tree trunk, thus completing the clamping and fixing of the tree trunk. The clamping claw 29 is made of hard rubber and has a protective layer. The bonding block 221 has a flexible arc structure, which can avoid damage to the tree trunk during the clamping process. After the above process is completed, the position of the side branch clamping assembly 4 is adjusted by the robotic arm 3 so that the side branch clamping unit 42 is aligned with the side branch to be harvested. Then, the drive motor 421 is started, which drives the drive gear 422 to rotate, and at the same time drives the driven gears 423 and driven shaft 424 meshing on both sides to rotate. During the rotation of the driven shaft 424, the arc-shaped clamping plates 425 will clamp each other until the first airbag 4251 on the inner side of the arc-shaped clamping plate 425 is in contact with the side branch. At this time, with the drive motor 421, the position of the side branch clamping assembly 422 is adjusted by the robotic arm 3 so that the side branch clamping unit 422 is aligned with the side branch. As 21 continues to rotate, the first airbag 4251 will be compressed. Since the first airbag 4251 and the second airbag 4252 are connected through the air tube 4253, they can adaptively clamp side branches of different thicknesses. When the first airbag 4251 is compressed, the air inside it will be introduced into the second airbag 4252 through the air tube 4253, thereby causing the second airbag 4252 to expand and squeeze the flexible clamping plate 4254, thereby driving the flexible clamping plate 4254 to move upward and provide abutment support to the lower part of the side branch, further improving the clamping stability. After the lateral branches are clamped and fixed, the first excitation system 21 and the second excitation system 43 are activated. The first excitation system 21 generates low-frequency high-amplitude vibration and transmits the vibration to the trunk through the vertical plate 22 and the clamping plate 28. The second excitation system 43 generates high-frequency low-amplitude vibration and transmits the vibration directly to the lateral branches, so as to achieve the effect of coordinated vibration of the trunk and lateral branches, and cause the thin-shelled pecans on the lateral branches to fall off under the action of vibration. Before starting the first excitation system 21 and the second excitation system 43, start the adjustment motor 513. The adjustment motor 513 drives the threaded rod 514 to rotate, thereby driving the adjustment plate 516 to move. At the same time, according to the falling range of the hickory nuts, the control motor set inside the rotating base 511 can be started to drive the adjustment unit 51 to rotate, thereby adjusting the collection position of the enclosure unit 54. Then, air is inflated into the enclosure layer 541 through the air inlet, causing it to expand. After expansion, the enclosure layer 541 drives the frame 543 to rotate upwards around its hinge point to a horizontal position, simultaneously unfolding the fan-shaped filter screen 544. During this process, the second electric push rod 554 adaptively adjusts the height of the support plate 542 to achieve the optimal unfolding state of the fan-shaped filter screen 544. Then, the air pump 522 is activated, creating negative pressure inside the collection box 521. This negative pressure is transmitted to the negative pressure cover 5 through the flexible negative pressure pipe 523. 24. A negative pressure adsorption area is formed. As the thin-shelled pecans fall downwards, the fruits fall into the base 53 through the fan-shaped filter 544. Fallen leaves and broken branches remain on the upper part of the fan-shaped filter 544. Then, the fruits enter the negative pressure hood 524 through several discharge holes 531 at the bottom of the base 53, and then enter the collection box 521 through the flexible negative pressure tube 523. In actual use, the flexible negative pressure tube 523 can be shaken manually to avoid the fruits from clogging the flexible negative pressure tube 523. While the above process is in progress, the air outlet of the air pump 522 delivers airflow to the air diffuser plate 552 through the rigid pipe 551. The air diffuser nozzle 553 on the air diffuser plate 552 sprays airflow upward to blow air onto the thin-shelled pecans and fallen leaves on the fan-shaped filter screen 544. The fallen leaves are blown up by the airflow due to their light weight and detach from the fan-shaped filter screen 544, while the thin-shelled pecans fall downward into the base 52 due to their heavy weight. After harvesting, the air inlet of the enclosure layer 541 is opened manually. At this time, the enclosure layer 541 will shrink, and the frame 543 will rotate downward around its hinge point due to its own gravity, which will drive the fan-shaped filter screen 544 to shrink. At this time, the fallen leaves and broken branches on the upper part of the fan-shaped filter screen 544 can fall down, thus automatically completing the cleaning process.

[0028] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. 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 vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection, comprising a movable chassis, characterized in that: The mobile chassis is equipped with a first clamping vibration assembly, a robotic arm, a second clamping vibration assembly, and a collection assembly; The first clamping vibration assembly is used to clamp the tree trunk and apply vibration to the tree trunk; The second clamping vibration assembly is mounted on the robotic arm and is used to clamp the trunk, lateral branches, or fruiting branches and apply vibration to them; The collecting component is located below or near the second clamping vibration component and is used to collect the thin-shelled pecans that have fallen due to vibration. The collection assembly includes a position adjustment unit, a negative pressure adsorption unit, a material receiving and guiding structure, a enclosure unit, and a rejection unit. The position adjustment unit is used to adjust the position of the collecting component relative to the tree or branch; The negative pressure adsorption unit is used to generate negative pressure adsorption airflow and adsorb and transport fallen thin-shelled pecans. The receiving and guiding structure is connected to the negative pressure adsorption unit and is used to receive the fallen thin-shelled pecans and guide them to the negative pressure adsorption unit. The enclosure unit is set on the material receiving and guiding structure to form a collection area and restrict the thin-shelled pecans from scattering outwards; The removal unit is located within the collection assembly and is used to separate leaves, twigs, or light impurities from thin-shelled pecans using airflow.

2. A pecan shaker harvester based on negative pressure suction collection as claimed in claim 1, characterized in that: The first clamping vibration assembly includes a first excitation device, a clamping drive, a transmission mechanism, and at least two clamping members arranged opposite to each other; The clamping drive unit drives at least two clamping members to move closer or further apart from each other through a transmission mechanism to clamp or release the tree trunk. The first excitation device is used to apply vibration to the tree trunk after the clamping members clamp the tree trunk.

3. A pecan shaker harvester based on negative pressure adsorption collection as claimed in claim 2, characterized in that: The clamping surface of the clamping member is provided with a flexible contact part or a protective layer to reduce damage to the bark when clamping the tree trunk.

4. A pecan shaker harvester based on negative pressure suction collection as claimed in claim 1, characterized in that: The second clamping vibration assembly includes a mounting component, a second excitation device, and a branch clamping unit. The mounting component is connected to the end of the robotic arm. The branch clamping unit is used to clamp lateral branches or fruiting branches. The second excitation device is used to apply vibration to the lateral branches or fruiting branches after the branch clamping unit has clamped them.

5. A pecan shaker harvester based on negative pressure suction collection as claimed in claim 4, characterized in that: The branch clamping unit includes a clamping drive mechanism and at least two clamping members. The clamping drive mechanism is used to drive the opening and closing of at least two clamping members to accommodate lateral branches or fruiting branches of different diameters or different postures.

6. A vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection as described in claim 5, characterized in that: The inner side of the clamping member is provided with a flexible buffer; and / or The flexible buffer is an elastic pad, an air bladder, a flexible clamping plate, or a combination thereof, used to improve clamping stability and reduce damage to lateral branches or fruiting branches.

7. A vibratory harvester for thin-shelled pecans based on negative pressure adsorption collection as described in claim 1, characterized in that: The position adjustment unit includes a rotation adjustment mechanism, a lifting adjustment mechanism, a translation adjustment mechanism, or a combination thereof, used to adjust the spatial position of the material receiving and guiding structure and the enclosure unit.

8. A pecan shaker harvester based on negative pressure suction collection as claimed in claim 1, characterized in that: The negative pressure adsorption unit includes a collection container, an airflow generator, and a negative pressure conveying channel. The negative pressure conveying channel is connected between the collection container and the material receiving and guiding structure. The airflow generator is used to generate a negative pressure airflow in the negative pressure conveying channel to transport the thin-shelled pecans to the collection container.

9. A pecan shaker harvester based on negative pressure adsorption collection as claimed in claim 8, characterized in that: The receiving and guiding structure has a guiding surface facing the negative pressure conveying channel, and one or more discharge channels are provided on the guiding surface, the discharge channels being connected to the negative pressure conveying channel.

10. A pecan shaker harvester based on negative pressure adsorption collection as claimed in claim 1, characterized in that: The enclosure unit includes a flexible enclosure layer, a support structure, and a filter structure. The flexible enclosure layer forms a collection area with an upper opening under the support of the support structure. The filter structure is designed to allow airflow while preventing the thin-shelled pecans from escaping. The rejection unit includes an airflow guiding structure, which is connected to a negative pressure adsorption unit or an independent air supply device. It is used to output a separating airflow to the collection area, the receiving and guiding structure, or the vicinity of the discharge channel to separate light impurities from thin-shelled pecans.

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