Automatic vibration fruit shaking machine

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of fruit harvesting technology, and more specifically, to an automatic vibrating fruit shaker. Background Technology

[0002] Using handheld fruit pickers for fruit harvesting is labor-intensive and inefficient. Furthermore, because the grip of the handheld picking equipment is fixed, it can only pick from the branches, requiring multiple harvests per tree to complete the process.

[0003] Automated harvesting machinery can effectively improve planting efficiency and reduce costs, thus promoting agricultural modernization. Currently, some regions use handheld mechanical vibratory fruit harvesters, which harvest fruit by mechanically vibrating branches. While this semi-mechanized planting method improves efficiency, it still requires a certain amount of manpower, has insufficient power, and its vibration frequency and amplitude are relatively small, making it impossible to shake all ripe fruit off the tree.

[0004] Although fully automated mechanical harvesters, such as tractor-mounted hydraulic vibratory harvesters, exist on the market, these are large-scale machines suitable for harvesting fruit in large, flat areas. They are not ideal for individual farmers or harvesting in rugged, mountainous orchards. For example, the trunk-vibrating self-propelled harvester described in patent CN115715507A, while automating the harvest, is bulky, complex, inconvenient, and lacks flexibility. Furthermore, its high-powered vibrating device has a large amplitude, which can easily damage the roots of the harvested fruit trees. Therefore, large-scale, fully automated harvesting equipment is not only inefficient but also inconvenient to carry, difficult to operate, complex in structure, and increases costs, making it less suitable for individual farmers. Utility Model Content

[0005] This invention provides an automatic vibrating fruit shaker, which aims to improve at least one of the above-mentioned technical problems.

[0006] To solve the above-mentioned technical problems, this utility model provides an automatic vibrating fruit shaker, including a frame and a walking mechanism connected to the frame. The automatic vibrating fruit shaker further includes a clamping mechanism, a vibration mechanism, a collection mechanism, an environmental information acquisition mechanism, and a control mechanism connected to the frame.

[0007] The environmental information acquisition mechanism includes industrial cameras and lidar.

[0008] The control mechanism includes a first control component electrically connected to the walking mechanism, the clamping mechanism, the vibration mechanism, and the collecting mechanism, and a second control component electrically connected to the environmental information acquisition mechanism. The second control component is configured to identify the trunk of the fruit tree, as well as perform obstacle recognition and path planning, based on information acquired by the industrial camera and the lidar.

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

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

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

[0012] As a further optimization, the first lead screw slide module is coupled to the frame and includes a lead screw, a slider slidable longitudinally on the lead screw, a slide plate coupled to the front of the slider, and a gripper bracket coupled to the slide plate. The bus servo is located in the middle of the gripper bracket. The mechanical gripper moves the left and right gripping parts relative to each other through gear transmission. The mechanical gripper is electrically driven, and the driver is a bus servo.

[0013] As a further optimization, the vibration motor is equipped with an eccentric block with an adjustable angle. The vibration amplitude and rotational speed of the vibration motor can be adjusted by changing the angle of the eccentric block, the power supply current, and the inverter output frequency.

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

[0015] The mechanical gripper has a maximum opening angle of 160°, a clamping width of 45mm, and a maximum opening width of 230mm.

[0016] As a further optimization, the collecting mechanism is located at the top of the automatic vibrating fruit shaker. The collecting mechanism includes multiple telescopic supports. An inverted umbrella-like structure is formed between the multiple telescopic supports and the collecting net.

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

[0018] As a further optimization, the mechanical gripper is positioned above the frame, and the mechanical gripper and the frame are configured as a variable-cell mechanism. The variable-cell mechanism is designed to allow relative movement to occur when the thrust load on the mechanical gripper exceeds a set value, thus providing overload protection.

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

[0020] As a further optimization, the traveling mechanism is configured as a tracked vehicle, with the chain plate drive wheels mounted on the wheel axles on both sides of the tracked vehicle. The power of the drive component is transmitted to the wheel axles via the engagement of the chain plate drive wheels with the chain plates, thereby supplying the tracked vehicle with propulsion.

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

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

[0023] As a further optimization, the driving component of the walking mechanism is a DC planetary gear reducer motor of model MY36GP-555. When the first control component controls the two motors to supply different currents, the motors rotate at different speeds to complete the steering function.

[0024] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0025] The automatic vibrating fruit shaker of this application can automatically harvest fruits from various fruit trees, including blueberries, kumquats, wax apples, jujubes, and walnuts. It features a simple structure, easy operation, and high safety, effectively freeing up labor and significantly reducing labor costs. In particular, it is extremely suitable for individual farmers. Configured as a small, fully automated harvesting device, it not only improves harvesting efficiency but is also portable, flexible in use, and significantly cheaper, making it more user-friendly for individual harvesters. Attached Figure Description

[0026] To more clearly illustrate the technical solutions of the specific embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a structural schematic diagram of an automatic vibrating fruit shaker from a first-person perspective.

[0028] Figure 2 This is a structural schematic diagram of an automatic vibrating fruit shaker from a second-view perspective.

[0029] Figure 3 This is a structural diagram of an automatic vibrating fruit shaker from a third-person perspective.

[0030] Figure 4 This is a structural diagram of an automatic vibrating fruit shaker from a fourth-person perspective.

[0031] Icons: 1-Frame, 11-Bottom Mounting Plate, 12-Top Mounting Plate, 2-Walking Mechanism, 21-Wheel Axle, 22-Track, 3-Clamping Mechanism, 31-Mechanical Gripper, 32-Bus Servo, 33-First Screw Slide Module, 4-Vibration Mechanism, 41-Vibration Motor, 42-Frequency Inverter, 5-Collection Mechanism, 51-Second Screw Slide Module, 52-Telescopic Bracket, 6-Environmental Information Acquisition Mechanism, 61-Industrial Camera, 62-LiDAR. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this utility model, not all of them. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model. Therefore, the following detailed description of the embodiments of this utility model provided in the accompanying drawings is not intended to limit the scope of the claimed utility model, but merely represents selected embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0033] Depend on Figures 1 to 4 As shown, this utility model embodiment provides an automatic vibrating fruit shaker, including a frame 1 and a traveling mechanism 2 connected to the frame 1. The automatic vibrating fruit shaker also includes a clamping mechanism 3, a vibration mechanism 4, a collecting mechanism 5, an environmental information acquisition mechanism 6, and a control mechanism, all connected to the frame 1.

[0034] The clamping mechanism 3 includes a first lead screw slide module 33 coupled to the frame 1, a bus servo motor 32 coupled to the first lead screw slide module 33, and a mechanical gripper 31 coupled to the bus servo motor 32. The first lead screw slide module 33 is used to move the mechanical gripper 31 longitudinally. The bus servo motor 32 is used to drive the mechanical gripper 31 to open and close.

[0035] The vibration mechanism 4 includes a frequency converter 42 electrically connected to the first control component, and a vibration motor 41 electrically connected to the frequency converter 42. The vibration motor 41 is equipped with an eccentric block with an adjustable angle. The amplitude and speed are adjusted by adjusting the angle of the eccentric block of the vibration motor 41, the motor supply current value, and the output frequency of the frequency converter 42.

[0036] The collecting mechanism 5 includes a second lead screw slide module 51 coupled to the frame 1, a telescopic bracket 52 coupled to the second lead screw slide module 51, and a collecting net coupled to the telescopic bracket 52. The second lead screw slide module 51 is configured to drive the telescopic bracket 52 to open or close, thereby causing the collecting net to open or close. Specifically, the telescopic bracket 52 is foldably arranged laterally on the second lead screw slide module 51, and its opening and closing are controlled by the second lead screw slide module 51. When closed, the slide is at its bottom, and the telescopic bracket 52 is in a folded state. When open, the slide rises to its top, and the telescopic bracket 52 is in an open state, allowing for the collection of fallen fruit.

[0037] The environmental information acquisition mechanism 6 includes an industrial camera 61 and a lidar 62. The industrial camera 61 is a monocular camera. The environmental information acquisition mechanism 6 also includes a solar-powered light (not shown) for providing illumination to the monocular industrial camera 61.

[0038] The control mechanism includes a first control component electrically connected to the walking mechanism 2, the clamping mechanism 3, the vibration mechanism 4, and the collecting mechanism 5, and a second control component electrically connected to the environmental information acquisition mechanism 6. The first control component is an STM32 microcontroller. The second control component is a Jetson Nano developer kit. The STM32 microcontroller is electrically connected to the Jetson Nano developer kit. The STM32 microcontroller receives instructions from the Jetson Nano developer kit to control the vehicle's direction of movement, speed, etc. The first control component is configured to control the movement of the walking mechanism 2, control the clamping mechanism 3 to perform trunk clamping actions, control the collecting mechanism 5 to perform opening and closing actions, and control the vibration mechanism 4 to perform vibration actions. The second control component is configured to identify the main trunk of the fruit tree, as well as perform obstacle recognition and path planning, based on information collected by the industrial camera 61 and the lidar 62.

[0039] A monocular camera can be used to automatically identify the trunk of the fruit tree to be harvested. The LiDAR 62 uses SLAM autonomous navigation and perception technology to complete path planning, enabling the fruit shaker to automatically travel to the harvesting tree for operation. The method for identifying the fruit tree trunk is existing technology and will not be described in detail here. For example: Publication No.: CN118675127A, Utility Model Name: A Method for Fruit Tree Trunk Identification and Location Detection Based on Improved YOLOv3. Publication No.: CN118840539A, Utility Model Name: A Method for Apple Tree Trunk Identification and Location Based on Improved YOLOv5s and Binocular Vision. The methods for obstacle identification and path planning are existing technologies and will not be described in detail here. For example: Publication No.: CN113778081 B, Utility Model Name: An Orchard Path Recognition Method and Robot Based on LiDAR 62 and Vision.

[0040] This utility model's automatic vibrating fruit shaker can automatically harvest various fruits from trees including blueberries, kumquats, wax apples, jujubes, and walnuts. It features a simple structure, easy operation, and high safety, effectively freeing up labor and significantly reducing labor costs. In particular, it is extremely suitable for individual farmers. Configured as a small, fully automated harvesting device, it not only improves harvesting efficiency but is also portable, flexible in use, and significantly cheaper, making it more user-friendly for individual harvesters.

[0041] The automatic vibrating fruit shaker is equipped with five motors (two for moving the tracks 22 on both sides of the walking mechanism 2, one vibrating motor 41, one for driving the second lead screw slide module 51, and one for driving the first lead screw slide module 33) and one bus servo motor 32 (for driving the mechanical gripper 31 to open and close). The transmission of the drive components is mainly shaft transmission, which improves laying efficiency while saving energy and reducing emissions.

[0042] Preferably, the driving component of the walking mechanism 2 is a motor, specifically a DC planetary gear reducer motor of model MY36GP-555. When the STM32 microcontroller controls the two motors to supply different currents, the motors rotate at different speeds to complete the steering function.

[0043] The coordinated operation of the motors makes the entire device compact, easy to operate, and more flexible and convenient to use. It is applicable to the harvesting of various fruit tree varieties, making it particularly convenient for individual farmers. Furthermore, the configuration of the mechanical grippers 31 in the clamping mechanism 3 ensures safer operation, effectively preventing equipment damage and malfunctions, and extending its service life. In particular, the configuration of the clamping mechanism 3, vibration mechanism 4, collection mechanism 5, and environmental information acquisition mechanism 6 on the frame 1 enables automated identification of fruit trees, leading to automated fruit harvesting. In addition, the ingenious design of each structural component fully demonstrates the innovation of mechanical design.

[0044] Based on the above embodiments, in an optional embodiment of the present invention, such as... Figures 1 to 4 As shown, the first lead screw slide module 33 is coupled to the frame 1 and includes a lead screw, a slider slidable longitudinally on the lead screw, a slide plate coupled to the front of the slider, and a gripper bracket coupled to the slide plate. The bus servo motor 32 is located in the middle of the gripper bracket. The mechanical gripper 31 moves its left and right gripping parts relative to each other via gear transmission. The mechanical gripper 31 is electrically driven, and the driver is the bus servo motor 32. The maximum opening angle of the mechanical gripper 31 is 160°, the closed width of the gripping part is 45mm, and the maximum opening width is 230mm.

[0045] In a preferred embodiment, the first lead screw slide module 33 is located above the frame 1 and can slide longitudinally. It is connected to the frame 1 via a right-angle support frame and can slide a distance of 250mm to facilitate the mechanical gripper 31 to hold the fruit tree to be harvested at a suitable position. This configuration makes its gripping effect on the fruit tree trunk better.

[0046] In this embodiment, after the power is turned on, the vibration motor 41 drives the fruit shaker to perform mechanical vibration with adjustable amplitude and frequency, causing the fruit tree to vibrate under pressure. The fruit tree causes the fruit to accelerate. When the inertial force generated by the fruit is greater than the binding force between the fruit and the branch, the fruit will fall off the tree.

[0047] Specifically, the vibration mechanism 4 mainly uses an eccentric vibration device to excite the trunk of the fruit tree by utilizing the centrifugal force generated by the rotation of the eccentric block. This forces the fruit tree to vibrate at a certain frequency and amplitude, causing the fruit to fall from the tree. Based on tests of the biomechanical characteristics of harvesting branches and fruits from small orchards, the appropriate amplitude and frequency range for the vibration mechanism 4 are determined through kinematic and dynamic simulations. The vibration frequency of the vibration motor 41 is controlled by adjusting the output frequency of the frequency converter 42, and the amplitude and direction of the vibration motor 41 are controlled by changing the angle of the adjustable eccentric block. After the clamping mechanism 3 of the fruit shaker clamps the trunk of the tree to be harvested, vibration begins. After the vibration harvest is completed, the harvesting of the next fruit tree begins, and so on, achieving automated harvesting.

[0048] The power output by the vibratory motor 41 is transmitted to the trunk of the fruit tree in the form of excitation force. Specifically, an adjustable eccentric block is installed at each end of the rotor shaft of the vibratory motor 41. The excitation force is generated by the centrifugal force produced by the high-speed rotation of the shaft and eccentric blocks. The frequency converter 42 can adjust the current output frequency between 0-400 Hz, and the maximum excitation force of the motor can reach 55 kg. Furthermore, through biomechanical characteristic tests on branches and fruits of typical small-scale fruit orchards, as well as kinematic and dynamic simulations of the mechanism, the suitable amplitude and frequency range for the vibration device have been determined. Its performance and design are more reliable, and the damage to fruits, branches, leaves, and the trunk during vibration meets industry standard requirements.

[0049] Based on the above embodiments, in an optional embodiment of the present invention, such as... Figures 1 to 3 As shown, the collecting mechanism 5 is located at the top of the automatic vibrating fruit shaker. The collecting mechanism 5 includes multiple telescopic supports 52. An inverted umbrella-shaped structure is formed between the multiple telescopic supports 52 and the collecting net.

[0050] The second lead screw slide module 51 is equipped with a slide that can be raised and lowered. The telescopic bracket 52 is constructed as a diamond-shaped telescopic frame structure, and its ends are provided with an X-shaped hinge structure. The upper and lower ends of the X-shaped hinge structure are respectively connected to the top of the second lead screw slide module 51 and the slide, so as to drive the opening and closing of the telescopic bracket 52 by raising and lowering the slide.

[0051] In this embodiment, the upper end of the X-shaped hinge structure is engaged with the top of the second lead screw slide module 51. The lower end of the X-shaped hinge structure is engaged with the slide. Thus, when closed, the slide is at its lowest position, and the support frame is in a folded state. When open, the slide rises to its highest position, the support frame is in an open state, and the fruit, after being shaken off, falls into a collection net (not shown), allowing for the collection of the fallen fruit. In other embodiments, the upper end of the X-shaped hinge structure can be engaged with the slide, and the lower end of the X-shaped hinge structure can be engaged with the top of the second lead screw slide module 51; this invention does not specifically limit this arrangement.

[0052] Based on the above embodiments, in an optional embodiment of this utility model, the environmental information acquisition mechanism 6 includes a vision system, which includes an industrial camera 61, an improved YOLOv5s neural network, a StereoVision algorithm, a ROS2 robot operating system, and a LiDAR 62. The vision system is used to detect and identify obstacles and terrain features in real time to achieve SLAM (Simultaneous Localization and Mapping) two-dimensional mapping and path planning.

[0053] The environmental information acquisition system, combined with the Jetson Nano developer kit, forms a vision system. This integrated vision system enables the automated vibrating fruit shaker to navigate autonomously in complex terrain, avoiding obstacles and improving operational efficiency and safety. The application of an improved YOLOv5 neural network and StereoVision algorithm allows the automated vibrating fruit shaker to accurately identify and locate obstacles and terrain features, enhancing its environmental perception capabilities. The combination of the ROS2 robot operating system and SLAM technology enables high-precision 2D mapping and path planning, allowing the automated vibrating fruit shaker to efficiently complete tasks along the optimal path.

[0054] Specifically, the industrial camera 6161 is used to capture high-resolution images of the foreground environment. The improved YOLOv5s neural network is used to process the images to identify and locate obstacles and terrain features. The StereoVision algorithm is used to further enhance environmental perception capabilities using depth information from the images.

[0055] The lidar 62, combined with the ROS2 robot operating system, is used for ranging and creating a high-precision two-dimensional map. This map is used for path planning and navigation to ensure that the fruit shaker can autonomously avoid obstacles and harvest fruit trees according to a predetermined path.

[0056] The improved YOLOv5s neural network, once trained, can identify various terrain features and obstacle types, including but not limited to sand dunes, rocks, and vegetation, to improve the working efficiency and safety of the work vehicle under different environmental conditions.

[0057] The ROS2 robot operating system is used to coordinate data transmission and processing between the industrial camera 61, the lidar 62, and the improved YOLOv5s neural network, ensuring that the vision system can respond to environmental changes in real time and adjust the movement path of the work vehicle.

[0058] The SLAM 2D mapping and path planning module contains a set of algorithms for generating environmental maps based on data from the vision system and LiDAR 62, and planning optimal paths based on the generated maps to ensure that the fruit harvester can complete the fruit tree harvesting task efficiently and accurately.

[0059] like Figure 1 and Figure 2 As shown, the frame 1 includes a double-layer frame, a bottom mounting plate 11 attached to the lower layer of the double-layer frame, and a top mounting plate 12 attached to the upper layer of the double-layer frame. The walking mechanism 2 is disposed on both sides of the lower frame. The collecting mechanism 5 is disposed on the top mounting plate 12.

[0060] Based on the above embodiments, in an optional embodiment of the present invention, such as... Figures 1 to 4 As shown, the traveling mechanism 2 is configured as a tracked vehicle 22, with the chain plate drive wheels mounted on the wheel axles 21 on both sides of the tracked vehicle 22. Thus, the power of the driving component is transmitted to the wheel axles 21 via the chain plate drive wheels engaging with the chain plates, thereby supplying the tracked vehicle 22 with the power to move.

[0061] In addition, based on the harvesting size requirements for small fruit trees (trunk diameter at breast height 50 to 230 mm, height 3 to 5 m), the total length of frame 1 is 540 mm, the total width of frame 1 is 600 mm, the total height is 631 mm, the opening range of mechanical grippers 31 is 45 to 230 mm, the distance between the two front and rear wheels is 320 mm, and to ensure that all fruits can be collected, the maximum opening diameter of the telescopic net is 1100 mm, which is conducive to meeting the needs of small-scale harvesting.

[0062] Based on the above embodiments, in an optional embodiment of the present invention, such as... Figures 1 to 4 As shown, the mechanical gripper 31 is positioned above the frame 1, and the mechanical gripper 31 and the frame 1 are configured as a variable-cell mechanism. When the thrust load on the mechanical gripper 31 exceeds a set value, it can freely change its degrees of freedom to implement overload protection.

[0063] During the motion of a mechanism, if a component changes from a relatively static state to a relatively moving state with its adjacent component, or vice versa, then that component is called a variable-cell component. When a variable-cell component and its adjacent component are in a relatively static state, since there is no relative motion between them, the two components can be considered as one component. In this case, the number of effective components of the mechanism will decrease, and the number of kinematic pairs will also decrease, thus causing a change in the degree of freedom of the mechanism.

[0064] In this embodiment, one end of the first lead screw slide module 33 is hinged to the frame 1. The other end of the first lead screw slide module 33 is connected to the frame 1 via a preload spring. The preload spring is configured to deform when the thrust load on the mechanical gripper 31 exceeds a set value, thereby causing the first lead screw slide module 33 to rotate relative to the frame 1.

[0065] In another embodiment, the frame 1 consists of a main frame and a subframe that can move relative to each other. The clamping mechanism 3 is engaged with the main frame. The main frame and the subframe are hinged at the front axle and connected at the rear axle by a preload spring. Utilizing the relative movement of the main frame and the subframe, a variable-cell mechanism is constructed by constraining the changes in their degrees of freedom. When the load on the mechanical gripper 31 is at a normal value, i.e., the reaction torque at the mechanical gripper 31 is less than the gravitational torque of the main frame and the preload torque of the spring, the mechanical gripper 31 remains stationary. When a hard object obstructs the movement of the mechanical gripper 31, the reaction force at the mechanical gripper 31 becomes excessive, the degree of freedom of the mechanism changes from one to two, and the main frame rotates around the front axle simultaneously. Thus, by adjusting the preload spring, the maximum load value can be set, thereby achieving overload protection.

[0066] The above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. An automatic vibrating fruit shaker, comprising a frame (1) and a traveling mechanism (2) coupled to the frame (1), characterized in that, The automatic vibrating fruit shaker also includes a clamping mechanism (3), a vibration mechanism (4), a collection mechanism (5), an environmental information acquisition mechanism (6), and a control mechanism, all connected to the frame (1). The environmental information acquisition device (6) includes an industrial camera (61) and a lidar (62); The control mechanism includes a first control component electrically connected to the walking mechanism (2), the clamping mechanism (3), the vibration mechanism (4), and the collecting mechanism (5), and a second control component electrically connected to the environmental information acquisition mechanism (6); the second control component is configured to identify the trunk of the fruit tree, as well as identify obstacles and plan paths, based on information collected by the industrial camera (61) and the lidar (62); The clamping mechanism (3) includes a first lead screw slide module (33) coupled to the frame (1), a bus servo motor (32) coupled to the first lead screw slide module (33), and a mechanical gripper (31) coupled to the bus servo motor (32); wherein, the first lead screw slide module (33) is used to move the mechanical gripper (31) longitudinally; the bus servo motor (32) is used to drive the mechanical gripper (31) to open and close; The vibration mechanism (4) includes a frequency converter (42) electrically connected to the first control component, and a vibration motor (41) electrically connected to the frequency converter (42); The collecting mechanism (5) includes a second lead screw slide module (51) connected to the frame (1), a telescopic bracket (52) connected to the second lead screw slide module (51), and a collecting net connected to the telescopic bracket (52); the second lead screw slide module (51) is configured to drive the telescopic bracket (52) to open or close, thereby driving the collecting net to open and close.

2. The automatic vibrating fruit shaker according to claim 1, characterized in that, The first lead screw slide module (33) is connected to the frame (1) and is provided with a lead screw, a slider that can slide longitudinally and is arranged on the lead screw, a slide plate connected to the front of the slider, and a gripper bracket connected to the slide plate; the bus servo (32) is located in the middle of the gripper bracket; The mechanical gripper (31) moves the left and right gripping parts relative to each other through gear transmission. The mechanical gripper (31) is electrically driven, and the driver is a bus servo motor (32).

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

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

5. An automatic vibrating fruit shaker according to claim 1, characterized in that, The mechanical gripper (31) is disposed above the frame (1), and the mechanical gripper (31) and the frame (1) are configured as a variable cell mechanism; wherein, the variable cell mechanism is constructed such that when the thrust load on the mechanical gripper (31) is greater than a set value, it can undergo relative movement to perform overload protection.

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

7. An automatic vibrating fruit shaker according to any one of claims 1 to 6, characterized in that, The walking mechanism (2) is configured as a tracked vehicle (22), with the chain plate drive wheel configured on the wheel axles (21) on both sides of the tracked vehicle (22); wherein, the power of the driving component is transmitted to the wheel axles (21) via the chain plate drive wheel meshing with the chain plate to supply the tracked vehicle (22) for movement.

8. An automatic vibrating fruit shaker according to claim 7, characterized in that, The driving component of the walking mechanism (2) is a DC planetary gear reducer motor with model number MY36GP-555; when the first control component controls the current supplied to the motors on both sides to be different, the motors rotate at different speeds to complete the steering function.

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

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