Forest fruit vibration picking machine

Abstract

The utility model discloses a forest fruit vibration picking machine which comprises a vehicle body, a mechanical arm and a vibration clamping mechanism, moving wheels are arranged at the bottoms of the two sides of the rear portion of the vehicle body, two sets of retractable universal wheels which are distributed in parallel are arranged at the bottom of the vehicle body, and an oil tank, a gearbox and a control cabinet are sequentially arranged on the vehicle body side by side. A radiator is arranged at the top end of the oil tank, the gearbox is connected with an output shaft of an external tractor, and a duplex gear pump is arranged on the gearbox. The rotating speed is measured in real time through the encoder, closed-loop control over the rotating speed of the gear motor is achieved, control over the vibration frequency of the picking head is achieved more accurately, when the gear motor rotates forwards, the eccentric blocks on the gear motor rotate, the upper eccentric block and the lower eccentric block rotate at the same time when the gear motor rotates reversely, and adjustment of two-gear exciting force is achieved. The excitation force can be adjusted according to different sizes of trees in different orchards, so that the fruit dropping efficiency is greatly improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of fruit picking, and in particular relates to a fruit vibration picking machine. Background Art

[0002] At present, my country is the largest producer of fruit, with a rich variety of fruit, such as apples, peaches, plums, walnuts, chestnuts and other fruit. Fruit harvesting is a labor-intensive and season-dependent job, which is time-consuming and labor-intensive. A large amount of labor and capital are required in the harvesting operation. If the ripe fruits cannot be harvested in time, the quality of the fruits will not be guaranteed, resulting in unnecessary losses. Mechanical harvesting has gradually become the most effective way to harvest fruit.

[0003] After searching, the Chinese patent with patent announcement number CN110959382A discloses a mechanical vibration harvester for fruit trees, including a load-bearing plate and a vibration motor, a vibration head is provided at the output end of the vibration motor, an adjustment mechanism is provided on the side of the vibration motor, a mounting seat is provided at the lower end of the adjustment mechanism, the lower end of the mounting seat is connected to the load-bearing plate through a shock-absorbing seat, an adjustment rod is rotatably connected to the end of the load-bearing plate, a collecting part is provided at one end of the adjustment rod, a collecting cover is provided at the lower end of the collecting part, and the collecting part includes a containing shell, a buffer cloth is provided at the opening of the lower end of the containing shell, and a plurality of through holes are evenly provided on the buffer cloth. The present invention drives the vibration head to vibrate the fruit to be harvested and make it fall, and the falling fruit is buffered by the buffer cloth, and the fruit falling on the buffer cloth directly falls into the collecting cover through the through holes near the buffer cloth, thereby solving the problem that the existing mechanical vibration harvester for fruit trees easily causes fruit aggregation and collision because only the winding cloth is used to collect the fruit. This patent only uses a vibrating head in contact with the tree trunk to vibrate and drop the fruit. This method causes the tree trunk to shake violently, which can easily lead to damage to the trunk, and the vibration amplitude cannot be adjusted, which affects the efficiency of fruit dropping. Summary of the invention

[0004] The utility model aims to provide a fruit vibrating picker to solve the technical problems raised in the background technology.

[0005] To achieve the above purpose, the specific technical solution of the utility model is as follows: a fruit vibration picking machine, comprising:

[0006] A vehicle body, wherein both bottom sides of the rear of the vehicle body are provided with movable wheels, the bottom of the vehicle body is provided with two sets of parallel distributed and retractable universal wheels, and an oil tank, a gearbox and a control cabinet are sequentially arranged side by side on the vehicle body, a radiator is arranged on the top of the oil tank, the gearbox is connected to the output shaft of an external tractor, and a double gear pump is arranged on the gearbox;

[0007] A mechanical arm, the mechanical arm is rotatably connected to the upper surface of the vehicle body through a rotating seat, and a hydraulic control valve is provided on the mechanical arm, and the hydraulic control valve is connected to a double gear pump;

[0008] A vibration clamping mechanism, which is connected to the top of the mechanical arm, and includes a horizontal adjustment bracket, the front side of the horizontal adjustment bracket is rotatably connected to a hanger through a rotating shaft, the bottom of the hanger is connected to an exciter box through three orderly distributed polyethylene rods, the inside of the polyethylene rod is connected to the hanger through a chain, one end of the exciter box is rotatably connected to a second connecting plate through a rotating shaft, the end of the second connecting plate is rotatably connected to a clamping arm through a rotating shaft, and clamping blocks are provided on the opposite sides of the clamping arm and the exciter box, the inner cavity of the exciter box is provided with two mutually meshing first gears and second gears, and eccentric blocks are provided on the connecting shafts of the first gear and the second gear, the eccentric blocks are respectively connected to the connecting shafts of the first gear and the second gear through a one-way bearing, and the connecting shafts of the first gear and the second gear are respectively connected to a gear motor and an encoder through a first elastic coupling and a second elastic coupling.

[0009] Preferably, the gearbox is rotatably connected to a transmission shaft extending to the rear side of the vehicle body via a bearing, and the transmission shaft is provided with a large gear located in the inner cavity of the gearbox. The large gear is rotatably connected to a first small gear meshing with the large gear, and the first small gear is rotatably connected to the gearbox via a bearing, and the shaft of the first small gear 18 is connected to an external double gear pump.

[0010] Preferably, a hydraulic motor is installed on one side of the upper surface of the vehicle body, the shaft of the hydraulic motor is connected to a second pinion, and the outer side wall of the rotating seat is provided with external teeth meshing with the second pinion.

[0011] Preferably, two limit switches are arranged on the upper surface of the vehicle body, and the two limit switches are arranged in the rotation direction of the rotating seat.

[0012] Preferably, a binocular camera is installed on the upper surface of the vehicle body.

[0013] Preferably, U-shaped bases are provided on both sides of the bottom of the vehicle body, a movable plate is slidably connected inside the U-shaped base, and universal wheels are installed at the bottom of the end of the movable plate.

[0014] Preferably, the mechanical arm includes a boom, a forearm is rotatably connected to the top bending part of the boom via a rotating shaft, the end of the forearm is rotatably connected to the horizontal adjustment bracket via a rotating shaft, a mounting bracket is installed on the upper surface of the rotating seat, the top of the mounting bracket is rotatably connected to the bottom of the boom via a rotating shaft, and a boom cylinder is rotatably connected to the mounting bracket via a rotating shaft, the top of the oil rod of the boom cylinder is rotatably connected to the side wall of the boom via a rotating shaft, the side wall of the boom at the bending part is rotatably connected to the forearm cylinder via a rotating shaft, the end of the oil rod of the forearm cylinder is rotatably connected to the side wall of the forearm via a rotating shaft, the upper surface of the forearm is rotatably connected to the horizontal adjustment bracket cylinder via a rotating shaft, and the end of the oil rod of the horizontal adjustment bracket cylinder is rotatably connected to the horizontal adjustment bracket via a rotating shaft.

[0015] Preferably, the hydraulic control valve comprises a solenoid valve seat installed on the side wall of the boom, and six groups of solenoid valves, two one-way solenoid valves, a superimposed overflow valve and a proportional reversing valve are respectively installed on the solenoid valve seat.

[0016] Preferably, one side of the bottom of the horizontal adjustment bracket is rotatably connected to a first oil cylinder via a rotating shaft, the end of the oil rod of the first oil cylinder is rotatably connected to the bottom side wall of the hanger via a rotating shaft, one end side wall of the exciter box is rotatably connected to a second oil cylinder via a rotating shaft, the end of the oil rod of the second cylinder is rotatably connected to a first connecting plate via a rotating shaft, the end of the first connecting plate is rotatably connected to the surface of the clamping arm via a rotating shaft, and optical axes are installed on the opposite sides of the exciter box and the clamping arm, and two sliders slidably connected to the optical axis are provided on the back of the clamping block.

[0017] Preferably, the gear motor and the encoder are both mounted on the upper surface of the exciter box through a U-shaped frame.

[0018] The utility model of a fruit vibration picking machine has the following advantages:

[0019] 1. The shaft of the gear motor of the utility model is connected through the first elastic coupling, which has a good vibration reduction effect. Through gear transmission, the two groups of eccentric blocks rotate in opposite directions, thereby realizing one-dimensional vibration. The encoder measures the rotation speed in real time to realize closed-loop control of the gear motor rotation speed, and more accurately realizes the control of the vibration frequency of the picking head. When the one-way bearing rotates forward, a group of eccentric blocks on it rotates, and when it rotates reversely, the upper and lower groups rotate at the same time, realizing the adjustment of the two-speed exciting force. The exciting force can be adjusted according to the different sizes of trees in different orchards, thereby greatly improving the fruit dropping efficiency;

[0020] 2. By connecting the transmission shaft of the gearbox with the rear output shaft of the tractor, the speed of the double gear pump can be effectively increased, thereby increasing the flow into the entire hydraulic system. By setting a movable plate and a U-shaped card seat for sliding connection, the universal wheel can be easily retracted and extended, making it easy to move when there is no tractor. It can be retracted when the tractor is working, which does not affect the movement during work, greatly improving the flexibility of the harvester. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present utility model and should not be regarded as limiting the scope. For those skilled in the art, other relevant drawings can be obtained based on these drawings without creative work.

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 for Figure 1 A schematic diagram of the structure from another perspective;

[0024] Figure 3 It is a structural schematic diagram of the gearbox in the utility model;

[0025] Figure 4 It is a structural schematic diagram of the mechanical arm in the utility model;

[0026] Figure 5 It is a structural schematic diagram of the vibration clamping mechanism in the utility model;

[0027] Figure 6 It is a structural schematic diagram of the vibration exciter box in the utility model;

[0028] Figure 7 for Figure 6 A schematic diagram of the structure from another perspective;

[0029] Explanation of the markings in the figure: 1. Car body; 2. Mechanical arm; 3. Vibration clamping mechanism; 4. Rotating seat; 5. Hydraulic motor; 6. Limit switch; 7. Moving wheel; 8. Universal wheel; 9. Fuel tank; 10. Radiator; 11. Control cabinet; 12. Transmission shaft; 13. Binocular camera; 15. U-shaped card holder; 16. Movable plate; 17. Large gear; 18. First small gear; 19. Double gear pump; 20. Mounting bracket; 21. Big arm; 22. Big arm oil cylinder; 23. Small arm; 24. Small arm oil cylinder; 25. Horizontal adjustment bracket; 26. Water Horizontal adjustment bracket cylinder; 27, solenoid valve seat; 28, solenoid valve; 29, one-way solenoid valve; 30, superimposed overflow valve; 32, hanger; 33, first cylinder; 34, exciter box; 35, second cylinder; 36, polyethylene rod; 37, first connecting plate; 38, second connecting plate; 39, clamping arm; 40, optical axis; 41, clamping block; 42, slider; 43, gear motor; 44, encoder; 45, first elastic coupling; 46, first gear; 47, second elastic coupling; 48, second gear; 49, eccentric block. DETAILED DESCRIPTION

[0030] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit or scope of the embodiments of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0031] In the description of the embodiments of the present invention, it should be understood that the terms "length", "vertical", "horizontal", "top", "bottom", etc. indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present invention.

[0032] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present utility model, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0033] In the embodiments of the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a communication; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0034] The disclosure below provides many different embodiments or examples for realizing different structures of the embodiments of the present utility model. In order to simplify the disclosure of the embodiments of the present utility model, the components and settings of specific examples are described below. Of course, they are only examples, and the purpose is not to limit the embodiments of the present utility model. In addition, the embodiments of the present utility model can repeat reference numbers and / or reference letters in different examples, and this repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed.

[0035] In order to better understand the purpose, structure and function of the utility model, the following is a further detailed description of a fruit vibration picker of the utility model in conjunction with the accompanying drawings.

[0036] like Figure 1-7As shown, a fruit vibrating harvester of the utility model comprises a vehicle body 1, a mechanical arm 2 and a vibrating clamping mechanism 3. Moving wheels 7 are arranged at the bottom of both sides of the rear of the vehicle body 1. Two sets of parallel distributed and retractable universal wheels 8 are arranged at the bottom of the vehicle body 1. An oil tank 9, a gearbox and a control cabinet 11 are arranged side by side on the vehicle body 1 in sequence. A control system such as a PLC is placed in the control cabinet 11 for controlling various actions of the harvester. A radiator 10 is arranged at the top of the oil tank 9. The gearbox is connected to the output shaft of an external tractor. A double gear pump 19 is arranged on the gearbox. The bearing is rotatably connected with a transmission shaft 12 extending to the rear side of the vehicle body 1. The transmission shaft 12 is provided with a large gear 17 at the inner cavity of the gearbox. The large gear 17 is rotatably connected with a first pinion 18 meshing with it. The first pinion 18 is rotatably connected with the gearbox through the bearing, and the shaft of the first pinion 18 extends to the outside of the gearbox and is connected to the double gear pump 19. The entire picking machine is towed and carried by a tractor. The transmission shaft 12 is connected to the rear output shaft of the tractor and connected to the gearbox to increase the speed of the double gear pump 19, thereby increasing the flow rate flowing into the entire hydraulic system. A hydraulic motor 5 is installed on one side of the upper surface of the vehicle body 1. The shaft of the hydraulic motor 5 is connected with a second pinion, and the outer wall of the rotating seat 4 is provided with external teeth meshing with the second pinion. When the hydraulic motor 5 is started, the second pinion rotates, so that the second pinion drives the rotating seat 4 to rotate, thereby realizing the adjustment of the direction of the mechanical arm 2. Two limit switches 6 are provided on the upper surface of the vehicle body 1. The two limit switches 6 are provided in the rotation direction of the rotating seat 4 to ensure that the torsion angle does not exceed the limit. A binocular camera 13 is installed on the upper surface of the vehicle body 1, and the binocular camera 13 is used to position the mechanical arm 2, so as to facilitate the automatic grasping of the mechanical arm 2. U-shaped holders 15 are provided on both sides of the bottom of the vehicle body 1, and a movable plate 16 is slidably connected in the U-shaped holder 15, and a universal wheel 8 is installed at the bottom of the end of the movable plate 16. By setting the movable plate 16 and the U-shaped holder 15 in a slidable connection, the universal wheel 8 can be retracted and extended, so that it can be moved when there is no tractor, and can be retracted when the tractor is working, without affecting the movement during work.

[0037] The mechanical arm 2 is rotatably connected to the upper surface of the vehicle body 1 through a rotating seat 4. A hydraulic control valve is provided on the mechanical arm 2, and the hydraulic control valve is connected to a double gear pump 19. The mechanical arm 2 includes a large arm 21, and a small arm 23 is rotatably connected to the top bend of the large arm 21 through a rotating shaft. The end of the small arm 23 is rotatably connected to a horizontal adjustment bracket 25 through a rotating shaft. A mounting bracket 20 is installed on the upper surface of the rotating seat 4. The top of the mounting bracket 20 is rotatably connected to the bottom of the large arm 21 through a rotating shaft, and a large arm oil cylinder 22 is rotatably connected to the mounting bracket 20 through a rotating shaft. The top of the oil rod of the large arm oil cylinder 22 is rotatably connected to the side wall of the large arm 21 through a rotating shaft. The side wall of the bending part of the boom 21 is rotatably connected to the arm cylinder 24 through a rotating shaft, the end of the oil rod of the arm cylinder 24 is rotatably connected to the side wall of the arm 23 through a rotating shaft, the upper surface of the arm 23 is rotatably connected to the horizontal adjustment bracket cylinder 26 through a rotating shaft, and the end of the oil rod of the horizontal adjustment bracket cylinder 26 is rotatably connected to the horizontal adjustment bracket 25 through a rotating shaft. Through the cooperation between the boom 21 and the boom cylinder 22, the cooperation between the arm 23 and the arm cylinder 24, and the cooperation between the horizontal adjustment bracket 25 and the horizontal adjustment bracket cylinder 26, the position of the vibration clamping mechanism 3 can be flexibly adjusted, which greatly improves the flexibility of the structure. The hydraulic control valve includes an electromagnetic valve seat 27 installed on the side wall of the boom 21, and six groups of electromagnetic valves 28, two one-way electromagnetic valves 29, a superimposed relief valve 30 and a proportional reversing valve are respectively installed on the electromagnetic valve seat 27. The hydraulic control valve is installed on the boom 21, which can reduce the overall size and avoid torsional interference of the mechanical arm boom 21. The hydraulic control valve is used to control the hydraulic motor 5, the boom cylinder 22, the arm cylinder 24, the horizontal adjustment bracket cylinder 26, the first cylinder 33, the second cylinder 35 and the gear motor 43 respectively, so as to realize the movement of each action, and a control system such as PLC is set in the control cabinet 11, which can realize both local control and remote dual control, thereby improving the practicality of the overall device.

[0038] The vibration clamping mechanism 3 is connected to the top of the mechanical arm 2, and the vibration clamping mechanism 3 includes a horizontal adjustment bracket 25. The front side of the horizontal adjustment bracket 25 is rotatably connected to a hanger 32 through a rotating shaft. The bottom of the hanger 32 is connected to an exciter box 34 through three orderly distributed polyethylene rods 36. The inside of the polyethylene rod 36 is connected to the hanger 32 through a chain. The polyethylene rod 36 is elastic and can play a supporting and shock-absorbing role, which is convenient for supporting the components when they are lifted upward. One end of the exciter box 34 is rotatably connected to a second connecting plate 38 through a rotating shaft. The end of the second connecting plate 38 is rotatably connected to a clamping arm 39 through a rotating shaft. A clamping block 41 is provided on the opposite side of the clamping arm 39 and the exciter box 34. The clamping block 41 is made of soft elastic material, such as rubber material. The inner cavity of the exciter box 34 is provided with two mutually meshing first gears 46 and second gears 48, and the first gear 46 and the second gear 48 are interlocking. Eccentric blocks 49 are arranged on the connecting shafts of the gears 48. The eccentric blocks 49 are connected to the connecting shafts of the first gear 46 and the second gear 48 respectively through one-way bearings, and the connecting shafts of the first gear 46 and the second gear 48 are connected to the gear motor 43 and the encoder 44 through the first elastic coupling 45 and the second elastic coupling 47 respectively. The shaft of the gear motor 43 is connected through the first elastic coupling 45, which has a good vibration reduction effect. Through gear transmission, the two groups of eccentric blocks 49 can rotate in opposite directions, thereby realizing one-dimensional vibration. The speed is measured in real time through the encoder 44 to realize closed-loop control of the speed of the gear motor 43, and the vibration frequency of the picking head can be controlled more accurately. When the gear motor 43 rotates forward, a group of eccentric blocks 49 on the one-way bearing rotates, and when it rotates reversely, the upper and lower groups rotate at the same time, so as to realize the adjustment of the magnitude of the exciting force in two gears, and the exciting force can be adjusted according to the different sizes of trees in the orchard. The bottom side of the horizontal adjustment bracket 25 is rotatably connected to the first oil cylinder 33 through a rotating shaft, and the end of the oil rod of the first oil cylinder 33 is rotatably connected to the bottom side wall of the hanger 32 through a rotating shaft. One end side wall of the exciter box 34 is rotatably connected to the second oil cylinder 35 through a rotating shaft, and the end of the oil rod of the second oil cylinder 35 is rotatably connected to the first connecting plate 37 through a rotating shaft. The end of the first connecting plate 37 is rotatably connected to the surface of the clamping arm 39 through a rotating shaft, and the optical axis 40 is installed on the opposite side of the exciter box 34 and the clamping arm 39, and the back of the clamping block 41 is provided with two optical axes. The slider 42, gear motor 43 and encoder 44 which are slidably connected to the shaft 40 are all installed on the upper surface of the exciter box 34 through a U-shaped frame. The two clamping blocks 41 can be opened or closed through the cooperation between the first oil cylinder 33 and the second oil cylinder 35, thereby realizing the clamping action. The cooperation between the optical axis 40 and the slider 42 can limit the clamping block 41. Springs can be put on both ends of the optical axis 40 so that one end of the spring is connected to the side wall of the slider 42, thereby reducing the vibration amplitude of the clamping block 41, which is beneficial to realize the one-dimensional shaking of the tree.

[0039] When in use, the rear output shaft of the tractor is connected to the transmission shaft 12, so that the picking machine is moved to the target position by the tractor, and the rotating seat 4 drives the mechanical arm 2 to rotate by starting the hydraulic motor 5, and the position of the trunk is located by the provided binocular camera 13, so that the mechanical arm 2 drives the clamping mechanism 3 to align with the trunk, so that the trunk can be automatically clamped, and the eccentric block 49 is activated by starting the gear motor 43 to achieve one-dimensional vibration of the trunk, so that the branches fall fruits, and the speed is measured in real time by the encoder 44 to achieve closed-loop control of the speed of the gear motor 43, so as to more accurately achieve the control of the vibration frequency of the picking head, and when the gear motor 43 rotates forward, a group of eccentric blocks 49 on the one-way bearing rotates, and when it rotates reversely, the upper and lower groups rotate at the same time, so as to achieve the adjustment of the magnitude of the two-speed exciting force, and the exciting force can be adjusted according to the different sizes of trees in the orchard, which greatly improves the fruit falling efficiency.

[0040] It is understood that the present invention is described by some embodiments, and those skilled in the art are aware that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.

Claims

1. A vibrating harvester for fruits and trees, characterized by: include: A vehicle body (1), wherein both sides of the rear bottom of the vehicle body (1) are provided with moving wheels (7), the bottom of the vehicle body (1) is provided with two sets of parallel distributed and retractable universal wheels (8), and an oil tank (9), a gearbox and a control cabinet (11) are sequentially arranged side by side on the vehicle body (1), a radiator (10) is arranged at the top of the oil tank (9), the gearbox is connected to the output shaft of an external tractor, and a double gear pump (19) is arranged on the gearbox; A mechanical arm (2), the mechanical arm (2) being rotatably connected to the upper surface of the vehicle body (1) via a rotating seat (4), the mechanical arm (2) being provided with a hydraulic control valve, the hydraulic control valve being connected to a double gear pump (19); A vibration clamping mechanism (3), the vibration clamping mechanism (3) is connected to the top of the mechanical arm (2), the vibration clamping mechanism (3) comprises a horizontal adjustment bracket (25), the front side of the horizontal adjustment bracket (25) is rotatably connected to a hanger (32) via a rotating shaft, the bottom of the hanger (32) is connected to an exciter box (34) via three orderly distributed polyethylene rods (36), the inside of the polyethylene rod (36) is connected to the hanger (32) via a chain, one end of the exciter box (34) is rotatably connected to a second connecting plate (38) via a rotating shaft, and the end of the second connecting plate (38) is rotatably connected to a clamping arm (39) via a rotating shaft. ), a clamping block (41) is provided on the opposite side of the clamping arm (39) and the exciter housing (34), the inner cavity of the exciter housing (34) is provided with two mutually meshing first gears (46) and second gears (48), and an eccentric block (49) is provided on the connecting shaft of the first gear (46) and the second gear (48), the eccentric block (49) of the second gear (48) is connected to its connecting shaft through a one-way bearing, and the connecting shafts of the first gear (46) and the second gear (48) are respectively connected to the gear motor (43) and the encoder (44) through a first elastic coupling (45) and a second elastic coupling (47).

2. The fruit vibrating picker according to claim 1, characterized in that: The gearbox is rotatably connected to a transmission shaft (12) extending to the rear side of the vehicle body (1) via a bearing; the transmission shaft (12) is provided with a large gear (17) located in the inner cavity of the gearbox; the large gear (17) is rotatably connected to a first small gear (18) meshing with the large gear (17); the first small gear (18) is rotatably connected to the gearbox via a bearing; and the shaft of the first small gear (18) is connected to an external double gear pump (19).

3. The fruit vibrating picker according to claim 1, characterized in that: A hydraulic motor (5) is installed on one side of the upper surface of the vehicle body (1); a shaft of the hydraulic motor (5) is connected to a second pinion gear, and an outer side wall of the rotating seat (4) is provided with external teeth that mesh with the second pinion gear.

4. The fruit vibrating picker according to claim 1, characterized in that: Two limit switches (6) are arranged on the upper surface of the vehicle body (1), and the two limit switches (6) are arranged in the rotation direction of the rotating seat (4).

5. The fruit vibrating picker according to claim 1, characterized in that: A binocular camera (13) is installed on the upper surface of the vehicle body (1).

6. The fruit vibrating picker according to claim 1, characterized in that: U-shaped holders (15) are provided on both sides of the bottom of the vehicle body (1), a movable plate (16) is slidably connected inside the U-shaped holder (15), and a universal wheel (8) is installed at the bottom of the end of the movable plate (16).

7. The fruit vibrating picker according to claim 1, characterized in that: The mechanical arm (2) comprises a large arm (21), the top bending part of the large arm (21) is rotatably connected to a small arm (23) via a rotating shaft, the end of the small arm (23) is rotatably connected to a horizontal adjustment bracket (25) via a rotating shaft, a mounting bracket (20) is mounted on the upper surface of the rotating seat (4), the top of the mounting bracket (20) is rotatably connected to the bottom of the large arm (21) via a rotating shaft, and a large arm oil cylinder (22) is rotatably connected to the mounting bracket (20) via a rotating shaft, and the large arm The top end of the oil rod of the oil cylinder (22) is rotatably connected to the side wall of the boom (21) via a rotating shaft; the side wall at the bend of the boom (21) is rotatably connected to the arm oil cylinder (24) via a rotating shaft; the end of the oil rod of the arm oil cylinder (24) is rotatably connected to the side wall of the arm (23) via a rotating shaft; the upper surface of the arm (23) is rotatably connected to the horizontal adjustment bracket oil cylinder (26) via a rotating shaft; the end of the oil rod of the horizontal adjustment bracket oil cylinder (26) is rotatably connected to the horizontal adjustment bracket (25) via a rotating shaft.

8. The vibrating harvester for fruits and trees according to claim 7, characterized in that: The hydraulic control valve comprises a solenoid valve seat (27) mounted on the side wall of the arm (21), and six groups of solenoid valves (28), two one-way solenoid valves (29), a superimposed relief valve (30) and a proportional reversing valve are respectively mounted on the solenoid valve seat (27).

9. The fruit vibrating picker according to claim 1, characterized in that: A first oil cylinder (33) is rotatably connected to one side of the bottom of the horizontal adjustment bracket (25) via a rotating shaft, and an end of an oil rod of the first oil cylinder (33) is rotatably connected to the bottom side wall of the hanger (32) via a rotating shaft. A second oil cylinder (35) is rotatably connected to one side wall of the exciter box (34) via a rotating shaft, and an end of an oil rod of the second oil cylinder (35) is rotatably connected to a first connecting plate (37) via a rotating shaft. An end of the first connecting plate (37) is rotatably connected to the surface of a clamping arm (39) via a rotating shaft, and an optical axis (40) is installed on the opposite side of the exciter box (34) and the clamping arm (39), and two sliders (42) slidably connected to the optical axis (40) are provided on the back of the clamping block (41).

10. The fruit vibrating picker according to claim 1, characterized in that: The gear motor (43) and the encoder (44) are both mounted on the upper surface of the vibration exciter box (34) via a U-shaped frame.

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