Harvesting machine for formally trained orchards

Patent metadata

Field	Value
Publication number	US-9468146-B2
Application number	US-201414533635-A
Country	US
Kind code	B2
Filing date	Nov 5, 2014
Priority date	Nov 5, 2014
Publication date	Oct 18, 2016
Grant date	Oct 18, 2016

Abstract

The embodiments are directed to a fruit harvesting system that includes at least one end-effector coupled to a distal end of the manipulating arm and configured using at least one of a jaw and a clamp to couple to one or more branches of a fruit tree or a trellis wire that is coupled to the fruit tree residing in a trained orchard. The embodiments also include a pair of dual motor actuators eccentrically coupled to the at least one end-effector and directed to manipulate the at least one end-effector with a same or different frequency, and amplitude, and with same or counter-propagating motions, wherein the directed same or different frequency and amplitude, and same or counter-propagating motions provide one or more eccentric shaking patterns to the coupled branches or the trellis wire so as to enable fruit to be removed and collected by catch frames.

First claim

What is claimed is:

1. A trained orchard fruit harvesting system, comprising:
a mobile platform;
a manipulating arm operably coupled to a proximate end of the mobile platform;
at least one end-effector coupled to a distal end of the manipulating arm and configured to be coupled using at least one of a jaw and a clamp to one or more branches of a fruit tree or a trellis wire that is coupled to the fruit tree residing in a trained orchard;
a pair of dual motor actuators, wherein the dual motor actuators are eccentrically coupled to the at least one end-effector and directed to manipulate the at least one end-effector with at least one of a same of and different frequency, and amplitude, and with same or counter-propagating motions, wherein the directed same or different frequency and amplitude, and same or counter-propagating motions provide one or more eccentric shaking patterns to the coupled branches or the trellis wire; and
one or more catch frames rotatably coupled to the mobile platform for movement within sections therebetween trees in a trained orchard having fruit to be harvested via the one or more eccentric shaking patterns.

2. The fruit harvesting system of claim 1 , wherein the one or more catch frames is configured as a layered catch frame assembly mechanically coupled to the at least one end-effector.

3. The fruit harvesting system of claim 1 , wherein the at least one end-effector is coupled to circular disks configured with the pair of dual motor actuators, wherein the circular disks are fixed to a rotating axle with respective dual motor actuators with the centers offset from that of the axis of the axles.

4. The fruit harvesting system of claim 3 , wherein the coupled circular disks that aid in eccentric motions are connected to a cross-bar via linkage arms so as to provide motion to a point on a tree or a trellis wire within a trained orchard when the tree or the trellis wire is gripped by the coupled at least one end-effector.

5. The fruit harvesting system of claim 1 , wherein the one or more catch frames is configured as a layered catch frame assembly coupled to a support shaft that is coupled to the mobile platform.

6. The fruit harvesting system of claim 5 , wherein each of the one or more catch frames that comprises the layered catch frame assembly is additionally coupled to a rotational assembly to provide 360 degrees of movement.

7. The fruit harvesting system of claim 6 , wherein the rotational assembly each is coupled to a bearing means for the rotation and a shaft collar coupled to the support shaft for height adjustment.

8. The fruit harvesting system of claim 6 , wherein the layered catch frame assembly provides a padded, close proximity bed coupled to the rotational assembly to enable to be inserted selected from at least one of between and around fruit bearing trees.

9. The fruit harvesting system of claim 1 , wherein the dual motor actuators are operated at low frequencies from about 50 Hz up to about 1000 Hz.

Assignees

• Univ Washington State

Inventors

• De Kleine Mark
• Karkee Manoj
• Ye Yunxiang

Classifications

• A01D46/264 Primary

  Devices for beating or vibrating the foliage; Fruit catching devices to be used therewith · CPC title

• A01D2046/266

  Portable devices to shake branches · CPC title