Patent ID: 9468146
Filing Date: 2016-10-18
CPC Classification: A01D

Claim Text:
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.