Harvesting machine for formally trained orchards
US9468146B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 5, 2014 |
| Grant date | Oct 18, 2016 |
| Priority date | — |
| Expiry date | Nov 5, 2034 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA01D2046/266
- WIPO fieldOther special machines
- WIPO sectorMechanical engineering
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.