Shaking and vibrating fruit harvesting machine and method

Abstract

The invention belongs to the field of agricultural product fruit harvesting machinery, and particularly discloses a shaking and vibrating fruit harvesting machine and method, the shaking and vibrating fruit harvesting machine comprises a frame body and a shaking and vibrating shell, the shaking and vibrating shell is movably connected with the frame body, and a plurality of limiting plates, a linear power part, a clamping arm, a driving part, a shaking and vibrating mechanism and a pressure sensor are arranged on the shaking and vibrating shell; the plurality of limiting plates are spherically hinged to the outer side of the shaking and vibrating shell through the linear power pieces respectively; the driving piece is used for driving the clamping arm to move, so that a self-adaptive clamping area which is adjustable in size and used for clamping fruit trees is defined by the clamping arm and the limiting plates; the pressure sensing device is used for detecting the pressure borne by the limiting plate; the shaking and vibrating mechanism is used for applying vibration to the shaking and vibrating shell, so that the fruit tree clamped in the self-adaptive clamping area is shaken and vibrated to drop fruits. By means of the shaking and vibrating fruit collecting machine, fruit tree barks are not prone to being clamped and damaged.

Description

Technical Field

[0001] The present application belongs to the field of agricultural product fruit harvesting machinery, and more specifically, to a shaking fruit harvesting machine and method. Background Art

[0002] With the continuous development of forestry and fruit in my country, the production of forestry and fruit has become an important way for farmers to get rich. Due to the strong seasonality and labor-intensive nature of forestry and fruit harvesting, in order to reduce costs and increase efficiency, the current mechanized harvesting of forestry and fruit is mostly carried out by using a segmented harvesting scheme of shaking the fruits off the trees and picking them up on the ground.

[0003] In the related art, shaking equipment is often used to shake and remove fruits from trees. The shaking equipment usually includes a body, on which an opening and closing clamp and a matching shaking mechanism are installed. When in use, the fruit tree is clamped and fixed by the clamp, and the shaking mechanism applies vibration to the clamp, which transmits the vibration to the fruit tree through the clamp to shake it, so that the fruit in the fruit tree is shaken and falls off.

[0004] However, the clamps in the shaking equipment are mostly double-claw arm clamps, which can only clamp the local surface of the fruit tree, and the clamping contact surface is usually small. When the fruit is shaken off, the pressure exerted by the clamp on the tree trunk is relatively concentrated due to the small clamping contact surface, making the bark of the fruit tree where the clamp is clamped very easy to be damaged. Damaged bark affects the healthy growth of the fruit tree, and may even lead to reduced quality and yield of subsequent fruits, affecting economic benefits. Summary of the invention

[0005] In response to the defects or improvement needs of the prior art, the present application provides a shaking fruit harvester and method, which aims to improve the problem that traditional shaking equipment is prone to pinching the bark of fruit trees.

[0006] The first aspect of the present application provides a shaking fruit harvester adopting the following technical solution:

[0007] The present application provides a shaking fruit harvester, which specifically includes a frame and a shaking shell, wherein the shaking shell is movably connected to the frame, and a limit plate, a linear power member, a clamping arm, a driving member, a shaking mechanism and a pressure sensor are arranged on the shaking shell, wherein:

[0008] There are multiple limit plates, and the multiple limit plates are respectively hinged to the outer side of the shaking shell through the linear power piece ball;

[0009] The driving member is used to drive the clamping arm to move so that the clamping arm and the plurality of limit plates form an adaptive clamping area with an adjustable size for clamping the fruit tree;

[0010] The pressure sensor is used to detect the pressure borne by the limit plate;

[0011] The shaking mechanism is used to apply vibration to the shaking shell, so that the fruit tree clamped in the adaptive clamping area is shaken to drop the fruit.

[0012] Through the above technical scheme conceived by the present application, compared with the prior art, the clamping arm and multiple limit plates in the fruit harvester can enclose an adaptive clamping area of ​​adjustable size to achieve the clamping of fruit trees of various diameters; and because the limit plate ball is hingedly arranged, and the limit plate can also be driven to move by a linear power part, the multiple limit plates can be adaptively fitted on the surface of the fruit tree to achieve large-area contact clamping of the fruit tree. On the basis of cooperating with the individually adjustable clamping arm, the pressure applied to the fruit tree by the clamping action will not be too concentrated, and it is not easy to clamp the bark of the fruit tree.

[0013] As a further preference, the outer surface of the shaking shell has an arc-shaped concave surface, and the plurality of limit plates are distributed on the arc-shaped concave surface.

[0014] As further preferred, the clamping arm is rotatably connected to the shaking shell, and the clamping arm can swing under the drive of the driving member to approach and move away from the limiting plate.

[0015] As a further preference, the clamping arm is a flexible arm that can be bent and deformed, and a guide is provided in the flexible arm to prevent it from falling off. The guide is connected to the driving member, and the guide can move along the end face of the flexible arm in a direction approaching and moving away from the shaking shell under the drive of the driving member.

[0016] As a further preference, the flexible arm includes a plurality of flexible connecting sections, an elastic connecting piece is connected between two adjacent flexible connecting sections, the flexible connecting section at the head end is rotationally connected to the shaking shell, and the flexible connecting section at the end is used to install the guide piece.

[0017] As further preferred, the elastic connecting member is an elastic band, and there is one elastic band provided between two adjacent flexible connecting sections, or a plurality of elastic bands are provided side by side.

[0018] As further preferred, the shaking mechanism comprises an eccentric block and a rotating power member, the eccentric block is rotatably disposed on the shaking shell, and the rotating power member is fixed on the shaking shell to drive the eccentric block to rotate.

[0019] As further preferred, the frame body includes a frame and a suspension, wheels are installed at the bottom of the frame, the suspension is connected to the frame in a pitch-adjustable manner, and the vibration shell is movably connected to the cantilevered end of the suspension.

[0020] A second aspect of the present application provides a method using the following technical solution:

[0021] A method for controlling a shaking fruit harvester according to the first aspect comprises the following steps:

[0022] S1. The driving member drives the clamping arm to move, so that the fruit tree is clamped between the clamping arm and a plurality of limit plates, until the driving stops when the pressure on a certain limit plate is greater than the preload force of the pressure sensor;

[0023] S2. The linear power member drives the limit plate to contact the fruit tree until the pressure on the limit plate is greater than the preset clamping force of the pressure sensor and stops driving;

[0024] S3. Start the shaking mechanism to shake the fruit trees to cause the fruits to fall.

[0025] In general, the above technical solutions conceived by this application have the following technical advantages compared with the prior art:

[0026] 1. The clamping arms and multiple limit plates in the fruit harvester can enclose an adaptive clamping area of ​​adjustable size to achieve the clamping of fruit trees of various diameters; and because the limit plates are hingedly arranged and the limit plates can also be driven to move by a linear power member, the multiple limit plates can be adaptively fitted on the surface of the fruit trees to achieve large-area contact clamping of the fruit trees. When used in conjunction with the individually adjustable clamping arms, the pressure exerted on the fruit trees by the clamping action will not be too concentrated, and it is not easy to clamp the bark of the fruit trees.

[0027] 2. When the flexible arm fits the circumferential surface of the fruit tree, if the diameter of the fruit tree is large, under the continuous drive of the driving member, the elastic belt can be pulled to extend and stretch, so that the flexible arm composed of multiple flexible connecting sections and the elastic belt can be appropriately extended in length to fit multiple areas on the surface of the fruit tree, thereby clamping the fruit tree over a large area and multiple areas. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the shaking fruit harvester in the first embodiment of the present application;

[0029] Figure 2 It is a schematic diagram of the structure of the shaking housing, the clamping arm and the limiting plate in the first embodiment of the present application;

[0030] Figure 3 It is a structural schematic diagram of a linear power member, a ball joint and a limit plate in the first embodiment of the present application;

[0031] Figure 4 This is the main intention of the shaking housing, the clamping arm and the limiting plate in the second embodiment of the present application;

[0032] Figure 5 is a schematic diagram of the structure of the clamping arm in the second embodiment of the present application;

[0033] Figure 6 This is the main intention of the shaking housing, the clamping arm and the limit plate in the third embodiment of the present application;

[0034] Figure 7 It is a schematic diagram of the process of clamping fruit trees by the shaking fruit harvester in the embodiment of the present application.

[0035] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0036] 1. Frame; 1-1. Vehicle frame; 1-2. Suspension; 2. Shaking shell; 2-1. End cover; 2-2. Lifting ring; 3. Limiting plate; 4-A. Linear power part; 4-B. Linear power part; 5. Clamping arm; 5-1. Connecting section; 5-2. Elastic connecting part; 5-3. Guide interlayer; 5-4. Avoidance groove; 6. Driving part; 7. Chain; 8. Ball joint; 9. Eccentric block; 10. Rotating power part; 11. Reducer; 12. Guide part. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0038] The following is combined with Figure 1-7 This application is described in further detail.

[0039] The embodiment of the present application discloses a shaking fruit harvester.

[0040] Embodiment 1:

[0041] Reference Figure 1-3 The shaking fruit harvester includes a frame 1 and a shaking shell 2, which is movably connected to the frame 1. A limit plate 3, a linear power component 4-A, a clamping arm 5, a driving component 6, a shaking mechanism and a pressure sensor are arranged on the shaking shell 2, wherein a plurality of limit plates 3 are arranged, and the plurality of limit plates 3 are respectively ball-hinged to the outside of the shaking shell 2 through the linear power component 4-A; the driving component 6 is used to drive the clamping arm 5 to move, so that the clamping arm 5 and the plurality of limit plates 3 form an adaptive clamping area with an adjustable size for clamping fruit trees; and the pressure sensor is used to detect the pressure borne by the limit plate 3; the shaking mechanism is used to apply vibration to the shaking shell 2, so that the fruit trees are shaken to drop fruits.

[0042] Specifically, if Figure 2-3As shown, the linear power member 4-A includes but is not limited to a push rod element, which can be an electric push rod; in this embodiment, the fixed end of the linear power member 4-A is fixedly connected to the outer surface of the shaking housing 2, and the driving end of the linear power member 4-A is ball-jointed with the limit plate 3 through a ball joint 8. In other embodiments, one end of the electric push rod can be ball-jointed with the shaking housing 2, and the limit plate 3 can be fixedly installed or ball-jointed at the other end of the electric push rod.

[0043] Further, such as Figure 2 As shown, the outer surface of the shaking shell 2 has an arc-shaped concave surface, and a plurality of limit plates 3 are distributed in multiple rows along the axial direction on the arc-shaped concave surface. Preferably, the surface of the limit plates 3 is also in an arc shape so as to fit the arc surface of the main trunk, branch trunk, etc. of the fruit tree.

[0044] Furthermore, in this embodiment, the pressure sensor is built into the linear power member 4-A, and the preload force value and the preset clamping force value are pre-adjusted and set, and the pressure sensor can monitor the pressure at the linear power member 4-A. In other embodiments, the pressure sensor can also be connected between the linear power member 4-A and the shaking housing 2. In this case, the pressure sensor acts as a detection device and also as a connection device.

[0045] Furthermore, in the present embodiment, the clamping arm 5 is a hard swing arm structure with an arc-shaped clamping surface, and one end of the clamping arm 5 is rotatably connected to the shaking shell 2. One end of the driving member 6 is rotatably connected to the shaking shell 2, and the other end is rotatably connected to the clamping arm 5 through a pin shaft, wherein the driving member 6 includes but is not limited to a jack, and specifically can be an electric-driven jack. In the present design, the connection between the driving member 6, the shaking shell 2, and the clamping arm 5 forms a triangular structure, and under the telescopic adjustment drive of the driving member 6, the clamping arm 5 can swing under the drive of the driving member 6 to approach and move away from the limit plate 3.

[0046] Furthermore, in some embodiments, a plurality of limit plates 3 may be provided on the surface of the clamping arm 5, and the plurality of limit plates 3 may be respectively hinged to the arc-shaped clamping surface of the clamping arm 5 through the linear power member 4-A ball, so as to better adapt to the surface to be clamped of the fruit tree.

[0047] Furthermore, in some other embodiments, the driving member 6 can be fixed on the shaking housing 2 and selected as an electric push rod or a jack; the clamping arm 5 is connected to the driving end of the driving member 6, and the clamping surface of the clamping arm 5 faces the position of the plurality of limit plates 3. In this case, the clamping arm 5 can be driven by the driving member 6 to linearly approach and linearly move away from the limit plates 3, so that the fruit tree can be clamped and released.

[0048] Further, such as Figure 2As shown, in order to shake the fruits off by vibration, the shaking mechanism includes an eccentric block 9 and a rotating power member 10. The eccentric block 9 is rotatably arranged on the shaking housing 2, and the rotating power member 10 is fixed on the shaking housing 2 to drive the eccentric block 9 to rotate to generate an exciting force. In other embodiments, the shaking mechanism can be a vibrator / exciter, or other mechanisms or devices that can generate vibration.

[0049] Furthermore, a chamber is built into one end of the shaking housing 2 with the limit plate 3, and a plurality of through holes connected to the chamber are arranged outside the shaking housing 2. The eccentric block 9 is rotatably connected in the chamber through the rotating shaft and the bearing sleeve, and is restricted in the chamber by the detachable end cover 2-1. One end of the eccentric block 9 passes through the chamber and is connected to the rotating power member 10 through the reducer 11. The eccentric block 9 can rotate and generate vibration under the drive of the rotating power member 10.

[0050] Among them, in order to improve the lightness and convenience of the fruit harvester and make the fruit harvester suitable for working in complex forest environments, the reducer 11 is preferably a large speed ratio reducer 11, specifically a cycloidal pinwheel reducer 11, and the rotating power part 10 includes but is not limited to a drive motor. When a drive motor is selected, a multi-rotor brushless motor is preferably selected.

[0051] In this design, the exciting force of the shaking mechanism is the main factor that causes the clamp formed by the clamping arm 5 and the limiting plate 3 to shake and displace, causing the fruit trees to fall. Specifically, the exciting force F' can be calculated using the following formula:

[0052] F'=mv2 / r

[0053] Wherein, m is the mass of the eccentric mass 9, v is the rotation speed of the eccentric mass 9, and r is the rotation radius of the center of mass of the eccentric mass 9.

[0054] Secondly, the calculation formula of the preset clamping force F can be expressed as: F = kF', where k is the friction coefficient of the fixture. This formula can be used to calculate the size of the clamping force F that needs to be set to ensure that the workpiece is firmly clamped;

[0055] In addition, the calculation formula of the preload force f can be expressed as: f=k'F, wherein k' is a proportional coefficient, including but not limited to selecting k' as 0.1; when k'=0.1, it means: selecting 1 / 10 of the preset clamping force F as the preload force f. By setting the preload force f, the clamping surface (friction surface) of the clamp can be prevented from loosening before it is fully clamped.

[0056] Furthermore, in this embodiment, the frame 1 includes a frame 1-1 and a suspension 1-2. A plurality of wheels are installed at the bottom of the frame 1-1. The wheels are divided into front wheels and rear wheels, and the rear wheels are preferably universal wheels, so that the fruit harvester can move freely between fruit trees such as chestnut trees. A battery is also installed on the frame 1 to supply power to various electrical devices.

[0057] In addition, the frame 1-1 has a bottom opening for accommodating fruit trees, and the shaking housing 2 is located above the opening. In this solution, as a preferred embodiment, the frame 1-1 is welded from a plurality of stainless steel square tubes, and has the following advantages: the hollow steel tube is light in weight, convenient and stable to drive; the price is relatively low, and the cost is low. At the same time, in order to ensure the stability of the overall frame 1-1 during operation, several steel tubes are welded at the front wheel and the rear wheel to connect them, so that the overall strength is improved.

[0058] The suspension 1-2 is connected to the frame 1-1 in a pitch-adjustable manner, and the vibration housing 2 is movably connected to the cantilevered end of the suspension 1-2. Preferably, a suspension ring 2-2 is fixed to the vibration housing 2, and the suspension ring 2-2 on the vibration housing 2 is suspended from the cantilevered end of the suspension 1-2 through a chain 7.

[0059] Further, such as Figure 1 As shown, a linear power member 4-B is connected between the suspension 1-2 and the frame 1-1, one end of the linear power member 4-B is rotationally connected to the frame 1-1, and the other end is rotationally connected to the middle part of the suspension 1-2. The linear power member 4-B includes but is not limited to an electric push rod or a jack to drive the suspension 1-2 to perform pitch rotation, so as to adjust the height of the vibration shell 2 by adjusting the pitch angle of the suspension 1-2.

[0060] Due to the lightweight and miniaturized design of the frame 1, the reducer 11, the rotating power part 10 and other components, the fruit harvester is light and flexible, and is particularly suitable for nut harvesting operations in hilly and mountainous areas.

[0061] Furthermore, the fruit harvester also includes a controller and a control panel. The controller is electrically connected to the driving member 6, the linear power member 4-A, the linear power member 4-B, the pressure sensor, the control panel, etc. The controller can control the linear power member 4-A and the driving member 6 based on the detection information of the pressure sensor to achieve the clamping and releasing of the fruit tree. The control principle of the controller is the prior art and will not be elaborated here.

[0062] The implementation principle of a shaking fruit harvester in an embodiment of the present application is as follows: an operator pushes the fruit harvester to drive it to a reasonable working position, and then adjusts the suspension 1-2 to adjust the height and position of the shaking shell 2 so that the chestnut trees and other fruit trees to be harvested are located in the shaking shell 2. After determination, the position of the driving member is adjusted to allow the clamping arm 5 to clamp the fruit tree, and finally the rotating power member 10 is turned on. The rotating power member 10 drives the eccentric block 9 to rotate to form vibration, and the fruit tree vibrates freely together with the shaking shell 2. Under the action of shaking, mature tree fruits (such as chestnuts) are shaken off, completing the harvesting of a fruit tree.

[0063] Embodiment 2:

[0064] Reference Figure 4-5 The difference between this embodiment and the first embodiment is that the clamping arm 5 is a flexible arm that can be bent and deformed, and a guide member 12 is provided in the flexible arm to prevent it from falling off. The guide member 12 is connected to the driving member 6. The guide member 12 can move in the flexible arm in the direction of approaching and moving away from the shaking shell 2 under the drive of the driving member 6. During the movement, the guide member 12 drives the flexible arm to move and deform so as to fit and cover the fruit tree.

[0065] Specifically, a long strip of guide interlayer 5-3 is provided on the side of the clamping arm 5, and the guide member 12 is preferably a guide rod, and in other embodiments it can also be a slider, etc. The guide rod is penetrated in the guide interlayer 5-3 and can move closer and farther along the cantilevered end of the clamping arm 5.

[0066] In addition, a long strip-shaped avoidance groove 5-4 is formed on one end of the clamping arm 5 away from the limiting plate 3, and the avoidance groove 5-4 is connected to the guide interlayer 5-3, and one end of the driving member 6 extends into the avoidance groove 5-4 and is rotatably connected to the guide rod in the guide interlayer 5-3 to form a T-shaped movable connection structure. Of course, in some other embodiments, one end of the guide rod in the length direction can also be extended to pass through the guide interlayer, and then the extended end is rotatably connected to the driving end of the driving member 6 through a connecting rod.

[0067] When the flexible arm is used to clamp the fruit tree, the flexible arm can better fit the surface of the fruit tree to increase the clamping area so that the pressure applied to the fruit tree is not too concentrated. When the driving member 6 drives the guide rod to drive the clamping arm 5, since the guide rod can be adjusted movably, after the root area of ​​the clamping arm 5 (i.e., the area at one end close to the shaking shell 2) fits the main trunk of the fruit tree, the driving rod continues to extend, so that the cantilevered end of the clamping arm 5 can be wrapped around the main trunk of the fruit tree to increase the fitting clamping area.

[0068] Embodiment three:

[0069] Reference Figure 6The difference between this embodiment and the second embodiment is that the flexible arm includes a plurality of flexible connecting sections 5-1, and two adjacent flexible connecting sections 5-1 are connected by an elastic connecting member 5-2, and the flexible connecting section 5-1 at the head end is rotationally connected to the shaking shell 2, and the flexible connecting section 5-1 at the end is installed with a guide 12. Among them, the elastic connecting member 5-2 is preferably an elastic band, and one elastic band is provided between two adjacent flexible connecting sections 5-1, or multiple elastic bands are provided side by side. In other embodiments, the elastic connecting member 5-2 can also be selected as a spring, etc.

[0070] When the flexible arm fits the circumferential surface of the fruit tree, if the diameter of the fruit tree is large, under the continuous drive of the driving member 6, the elastic band can be pulled to extend and stretch, so that the flexible arm composed of multiple flexible connecting sections 5-1 and the elastic band can be appropriately extended in length to fit the surface of the fruit tree in multiple areas, thereby clamping the fruit tree in a large area and multiple areas. When the elastic band is stretched longer, the elastic band can also fit the surface of the fruit tree. After the driving member 6 stops moving, the linear power member 4-A in the shaking shell 2 drives the limit plate 3, so that the multiple limit plates are respectively pressed against the surface of the fruit tree, and cooperate with the flexible arm to clamp the fruit tree.

[0071] The present application also discloses a method for controlling the above-mentioned shaking fruit harvester, which specifically includes the following steps:

[0072] S1. The driving member 6 drives the clamping arm 5 to move, so that the fruit tree is clamped between the clamping arm 5 and the plurality of limit plates 3, until the pressure on a certain limit plate 3 exceeds the preload force, and the driving stops;

[0073] S2. The linear power member 4-A drives the limit plate 3 against the fruit tree until the pressure on the limit plate 3 reaches the preset clamping force and stops driving;

[0074] S3. Start the shaking mechanism to shake the fruit trees to drop the fruits. After the vibration duration reaches the preset target working time, the shaking mechanism stops running, or the user actively shuts down the shaking mechanism;

[0075] S4. The driving member 6 drives the clamping arm 5 away from the limiting plate 3 so that the fruit tree is no longer clamped.

[0076] For ease of understanding, Figure 7 A schematic diagram of the process of clamping fruit trees using a shaking fruit harvester is shown.

[0077] It should be understood that expressions such as "include" and "may include" used in this application indicate the existence of the disclosed functions, operations or constituent elements, and do not limit one or more additional functions, operations and constituent elements. In this application, terms such as "include" and / or "have" may be interpreted as indicating specific characteristics, numbers, operations, constituent elements, components or combinations thereof, but may not be interpreted as excluding the existence or possibility of adding one or more other characteristics, numbers, operations, constituent elements, components or combinations thereof.

[0078] It should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0079] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0080] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0081] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A shaking fruit harvester, It is characterized in that The invention comprises a frame (1) and a shaking housing (2), wherein the shaking housing (2) is movably connected to the frame (1), and the shaking housing (2) is provided with a limit plate (3), a linear power member (4-A), a clamping arm (5), a driving member (6), a shaking mechanism and a pressure sensor, wherein: A plurality of the limit plates (3) are provided, and the plurality of limit plates (3) are respectively ball-hinged to the outside of the shaking housing (2) through linear power members (4-A); The driving member (6) is used to drive the clamping arm (5) to move, so that the clamping arm (5) and the plurality of limit plates (3) form an adaptive clamping area with an adjustable size for clamping the fruit tree; The pressure sensor is used to detect the pressure borne by the limit plate (3); The shaking mechanism is used to apply vibration to the shaking housing (2), so that the fruit tree clamped in the adaptive clamping area is shaken to drop the fruit.

2. The shaking fruit harvester according to claim 1, It is characterized in that The outer surface of the shaking housing (2) has an arc-shaped concave surface, and a plurality of limit plates (3) are distributed on the arc-shaped concave surface.

3. The shaking fruit harvester according to claim 1, It is characterized in that The clamping arm (5) is rotatably connected to the shaking housing (2), and the clamping arm (5) can swing under the drive of the driving member (6) to approach and move away from the limiting plate (3).

4. The shaking fruit harvester according to claim 1, It is characterized in that The clamping arm (5) is a flexible arm that can be bent and deformed, and a guide member (12) is provided in the flexible arm to prevent it from falling off. The guide member (12) is connected to the driving member (6), and the guide member (12) can move in a direction close to and away from the shaking housing (2) under the drive of the driving member (6).

5. The shaking fruit harvester according to claim 4, It is characterized in that The flexible arm comprises a plurality of flexible connecting sections (5-1), an elastic connecting member (5-2) being connected between two adjacent flexible connecting sections (5-1), the flexible connecting section (5-1) at the head end being rotationally connected to the shaking shell (2), and the flexible connecting section (5-1) at the tail end being used for installing the guide member (12).

6. The shaking fruit harvester according to claim 5, It is characterized in that The elastic connecting member (5-2) is an elastic band, and one elastic band is provided between two adjacent flexible connecting sections (5-1), or a plurality of elastic bands are provided side by side.

7. The shaking fruit harvester according to any one of claims 1 to 6, It is characterized in that The shaking mechanism comprises an eccentric block (9) and a rotating power member (10); the eccentric block (9) is rotatably arranged on a shaking shell (2); and the rotating power member (10) is fixed on the shaking shell (2) to drive the eccentric block (9) to rotate.

8. The shaking fruit harvester according to any one of claims 1 to 6, It is characterized in that The frame (1) comprises a vehicle frame (1-1) and a suspension (1-2); a wheel is installed at the bottom of the vehicle frame (1-1); the suspension (1-2) is connected to the vehicle frame (1-1) in a pitch-adjustable manner; and the vibration housing (2) is movably connected to the cantilevered end of the suspension (1-2).

9. A method for harvesting fruit by shaking, implemented by using the fruit harvesting machine according to any one of claims 1 to 8, It is characterized in that The following steps are involved: S1. The driving member (6) drives the clamping arm (5) to move, so that the fruit tree is clamped between the clamping arm (5) and the plurality of limit plates (3), until the driving stops when the pressure on a certain limit plate (3) is greater than the preload force of the pressure sensor; S2. The linear power member (4-A) drives the limit plate (3) to contact the fruit tree until the limit plate (3) is subjected to a pressure greater than the preset clamping force of the pressure sensor and stops driving; S3. Start the shaking mechanism to shake the fruit trees to cause the fruits to fall.

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