Procedure and equipment to automate and robotize the vibrating of tree trunks planted in a reticle, for the demolition of their fruits in the collection.

摘要

Procedure and equipment to automate and robotize the vibration of tree trunks planted in a reticle, for the demolition of their fruits in the collection, by means of an autonomous vehicle (1) that carries at least one pair of vibrating heads (6) oriented each of they towards one of the sides, which navigates through the different streets (18) of the plantation, stopping to vibrate simultaneously the trees located on each side of the street, two or four, depending on whether it carries one or two pairs of vibrating heads . The procedure foresees the way by which, automatically and in a controlled manner, the vehicle moves and stops at the right point, directs the vibrating heads to the trunks of the trees, makes the clamps of these grip them conveniently and then vibrate them in order to bring down its fruits, then pick up the arms that carry these heads and start a new sequence by moving to the next location.