A shaker and method

Abstract

This application belongs to the field of agricultural product harvesting machinery, specifically disclosing a shaking fruit harvester and method. The shaking fruit harvester includes a frame and a shaking shell, which is movably connected to the frame. The shaking shell is equipped with limit plates, a linear power component, a clamping arm, a drive component, a shaking mechanism, and a pressure sensor. Multiple limit plates are provided, each ball-hinged to the outside of the shaking shell via the linear power component. The drive component drives the clamping arm to move, forming an adjustable adaptive clamping area between the clamping arm and the multiple limit plates for clamping fruit trees. The pressure sensor detects the pressure exerted on the limit plates. The shaking mechanism applies vibration to the shaking shell, causing the fruit trees clamped in the adaptive clamping area to shake and drop their fruit. The shaking fruit harvester of this application is less likely to damage the bark of fruit trees.

Description

Technical Field

[0001] This application belongs to the field of agricultural product harvesting machinery, and more specifically, relates to a shaking harvesting machine and method. Background Technology

[0002] With the continuous development of forestry and fruit production in my country, it has become an important way for farmers to increase their income. Due to the strong seasonality and labor-intensive nature of fruit harvesting, in order to reduce costs and increase efficiency, a segmented harvesting scheme of shaking the fruit off the tree and picking it up from the ground is currently adopted to carry out mechanized fruit harvesting.

[0003] In related technologies, shaking and vibrating equipment is often used to shake and remove fruit from trees. This equipment typically includes a body with opening and closing grippers and a matching shaking mechanism. In use, the grippers clamp and secure the fruit tree, while the shaking mechanism applies vibration to the grippers, transmitting the vibration to the tree and causing the fruit to fall off.

[0004] However, the grippers in shaking equipment are mostly double-claw arm grippers, which often only clamp a localized area of ​​the fruit tree, and the clamping contact area is usually small. During fruit shaking, because the clamping contact area is small, the pressure applied to the trunk by the grippers is concentrated, making the bark of the fruit tree at the gripping point very easy to be damaged. Bark damage affects the healthy growth of the fruit tree and may even lead to reduced fruit quality and yield in subsequent growth, thus affecting economic benefits. Summary of the Invention

[0005] In response to the deficiencies or improvement needs of existing technologies, this application provides a shaking fruit harvester and method, which aims to improve the problem that traditional shaking equipment is prone to pinching and damaging the bark of fruit trees.

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

[0007] This application provides a shaking harvester, specifically including a frame and a shaking housing. The shaking housing is movably connected to the frame. The shaking housing is provided with a limit plate, a linear power component, a clamping arm, a drive component, a shaking mechanism, and a pressure sensor, wherein:

[0008] Multiple limiting plates are provided, and the multiple limiting plates are respectively connected to the outside of the rocking shell by ball hinges of linear power components;

[0009] The driving component is used to drive the clamping arm to move, so that the clamping arm and multiple limiting plates form an adjustable adaptive clamping area for clamping fruit trees.

[0010] The pressure sensor is used to detect the pressure exerted on the limiting plate;

[0011] The shaking mechanism is used to apply vibration to the shaking housing, causing the fruit tree held in the adaptive clamping area to shake and drop the fruit.

[0012] Compared with the prior art, the clamping arm and multiple limiting plates in this fruit harvester can form an adjustable adaptive clamping area to clamp fruit trees of various diameters. Due to the ball joint setting of the limiting plates and the fact that the limiting plates can be driven to move by linear power components, multiple limiting plates can adaptably fit against the surface of the fruit tree, achieving large-area contact clamping of the fruit tree. With the addition of individually adjustable clamping arms, the pressure applied to the fruit tree by the clamping action will not be too concentrated, and it is not easy to damage the bark of the fruit tree.

[0013] As a further preferred embodiment, the outer surface of the shaking housing has an arc-shaped concave surface, and a plurality of the limiting plates are distributed on the arc-shaped concave surface.

[0014] As a further preferred embodiment, the clamping arm is rotatably connected to the rocking housing, and the clamping arm can swing under the drive of the driving member to move closer to and away from the limiting plate.

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

[0016] As a further preferred embodiment, the flexible arm includes multiple flexible connecting segments, with an elastic connector connecting adjacent flexible connecting segments. The flexible connecting segment at the first end is rotatably connected to the rocking housing, and the flexible connecting segment at the last end is used to install the guide.

[0017] As a further preferred embodiment, the elastic connector is an elastic band, with one elastic band provided between two adjacent flexible connecting segments, or multiple elastic bands provided side by side.

[0018] As a further preferred embodiment, the rocking mechanism includes an eccentric block and a rotating power component. The eccentric block is rotatably mounted on the rocking housing, and the rotating power component is fixed on the rocking housing to drive the eccentric block to rotate.

[0019] As a further preferred embodiment, the frame includes a chassis and a suspension, with wheels mounted at the bottom of the chassis, the suspension being pitch-adjustably connected to the chassis, and the rocking housing being movably connected to the cantilever end of the suspension.

[0020] The method provided in the second aspect of this application adopts the following technical solution:

[0021] A method for controlling a vibrating fruit harvester as described in the first aspect includes the following steps:

[0022] S1. The driving component drives the clamping arm to move, so that the fruit tree is clamped between the clamping arm and multiple limiting plates until the pressure on a certain limiting plate is greater than the preload of the pressure sensor and the driving stops.

[0023] S2. The linear motion component drives the limiting plate to contact the fruit tree until the pressure on the limiting plate exceeds the preset clamping force of the pressure sensor, at which point the drive stops.

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

[0025] In summary, compared with the prior art, the technical solutions conceived in this application have the following main technical advantages:

[0026] 1. The clamping arms and multiple limiting plates in this fruit harvester can form an adjustable adaptive clamping area to clamp fruit trees of various diameters. Due to the ball joint of the limiting plates and the fact that the limiting plates can be driven to move by linear power components, the multiple limiting plates can adaptably fit against the surface of the fruit tree, achieving large-area contact clamping of the fruit tree. When used in conjunction with the individually adjustable clamping arms, the pressure applied to the fruit tree by the clamping action will not be too concentrated, and it is not easy to damage the bark of the fruit tree.

[0027] 2. When the flexible arm is attached to the circumferential surface of the fruit tree, if the fruit tree has a large diameter, the elastic band can be stretched and elongated under the continuous drive of the drive component. This allows the flexible arm, composed of multiple flexible connecting sections and the elastic band, to be appropriately extended in length so as to attach to multiple areas on the surface of the fruit tree, thereby clamping the fruit tree over a large area and in multiple regions. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the overall structure of the shaking fruit harvester in Embodiment 1 of this application;

[0029] Figure 2 This is a schematic diagram of the structure of the shaking housing, clamping arm, and limiting plate in Embodiment 1 of this application;

[0030] Figure 3 This is a schematic diagram of the linear motion component, ball joint, and limiting plate in Embodiment 1 of this application;

[0031] Figure 4 This is the main intention of the shaking housing, clamping arm, and limiting plate in Embodiment 2 of this application;

[0032] Figure 5 This is a schematic diagram of the clamping arm in Embodiment 2 of this application;

[0033] Figure 6 This is the main intention of the shaking housing, clamping arm, and limiting plate in Embodiment 3 of this application;

[0034] Figure 7 This is a schematic diagram of the process of the shaking fruit harvester clamping fruit trees in the embodiments of this application.

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

[0036] 1. Frame; 1-1. Chassis; 1-2. Suspension; 2. Vibration housing; 2-1. End cap; 2-2. Lifting ring; 3. Limiting plate; 4-A. Linear drive component; 4-B. Linear drive component; 5. Clamping arm; 5-1. Connecting section; 5-2. Elastic connector; 5-3. Guide interlayer; 5-4. Clearance groove; 6. Drive component; 7. Chain; 8. Ball joint; 9. Eccentric block; 10. Rotary drive component; 11. Reducer; 12. Guide component. Detailed Implementation

[0037] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0038] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0039] This application discloses a shaking fruit harvester.

[0040] Example 1:

[0041] Reference Figure 1-3 The shaking fruit harvester includes a frame 1 and a shaking housing 2, which is movably connected to the frame 1. The shaking housing 2 is equipped with limit plates 3, linear power components 4-A, clamping arms 5, drive components 6, a shaking mechanism, and pressure sensors. Multiple limit plates 3 are provided, and the multiple limit plates 3 are respectively ball-hinged to the outside of the shaking housing 2 through the linear power components 4-A. The drive component 6 is used to drive the clamping arms 5 to move, so that the clamping arms 5 and the multiple limit plates 3 form an adjustable adaptive clamping area for clamping fruit trees. The pressure sensor is used to detect the pressure borne by the limit plates 3. The shaking mechanism is used to apply vibration to the shaking housing 2, so that the fruit trees shake and the fruit falls.

[0042] Specifically, such as Figure 2-3As shown, the linear actuator 4-A includes, but is not limited to, push rod elements, specifically an electric push rod. In this embodiment, the fixed end of the linear actuator 4-A is fixedly connected to the outer surface of the rocking housing 2, and the driving end of the linear actuator 4-A is ball-jointed to the limiting plate 3 via a ball joint 8. In other embodiments, one end of the electric push rod can be ball-jointed to the rocking housing 2, while the limiting plate 3 is fixedly installed or ball-jointed to the other end of the electric push rod.

[0043] Furthermore, such as Figure 2 As shown, the outer surface of the vibrating housing 2 has an arc-shaped concave surface, and multiple limiting plates 3 are arranged in multiple rows along the axial direction on the arc-shaped concave surface. Preferably, the surface of the limiting plates 3 is also arc-shaped so as to conform to the arc-shaped surface of the main trunk, branches and other clamping parts of the fruit tree.

[0044] Furthermore, in this embodiment, the pressure sensor is built into the linear power component 4-A, and is pre-set with a pre-tightening force value and a preset clamping force value. The pressure sensor can monitor the pressure at the linear power component 4-A. In other embodiments, the pressure sensor can also be connected between the linear power component 4-A and the rocking housing 2. In this case, the pressure sensor acts as both a detection device and a connecting device.

[0045] Furthermore, in this embodiment, the clamping arm 5 is a rigid swing arm structure with an arc-shaped clamping surface, and one end of the clamping arm 5 is rotatably connected to the rocking housing 2. One end of the driving component 6 is rotatably connected to the rocking housing 2, and the other end is rotatably connected to the clamping arm 5 via a pin. The driving component 6 may include, but is not limited to, a jack, specifically an electrically driven jack. In this design, the connection between the driving component 6, the rocking housing 2, and the clamping arm 5 forms a triangular structure. Under the extension and retraction adjustment of the driving component 6, the clamping arm 5 can swing to move closer to and further away from the limiting plate 3.

[0046] Furthermore, in some embodiments, multiple limiting plates 3 can be provided on the surface of the clamping arm 5, and the multiple limiting plates 3 can be respectively connected to the arc-shaped clamping surface of the clamping arm 5 by ball hinge of the linear power member 4-A, so as to better adapt to the surface of the fruit tree to be clamped.

[0047] Furthermore, in some other embodiments, the driving component 6 can be fixed to the shaking housing 2 and is selected as an electric push rod or a jack; while the clamping arm 5 is connected to the driving end of the driving component 6, and the clamping surface of the clamping arm 5 faces the location of the multiple limiting plates 3. In this case, by driving the clamping arm 5 to move linearly closer to and away from the limiting plates 3 by the driving component 6, the clamping and releasing of the fruit tree can also be achieved.

[0048] Furthermore, such as Figure 2As shown, for shaking and dropping fruit, the shaking mechanism includes an eccentric block 9 and a rotating power component 10. The eccentric block 9 is rotatably mounted on the shaking housing 2, and the rotating power component 10 is fixed to the shaking housing 2 to drive the eccentric block 9 to rotate, thereby generating a vibration force. In other embodiments, the shaking mechanism may be a vibrator / exciter, or other mechanisms or devices capable of generating vibration.

[0049] Furthermore, the vibrating housing 2 has a cavity built into one end with a limiting plate 3, and several through holes communicating with the cavity are provided on the outside of the vibrating housing 2. The eccentric block 9 is rotatably connected to the cavity through a rotating shaft and a bearing sleeve, and is restricted inside the cavity by a detachable end cover 2-1. One end of the eccentric block 9 extends out of the cavity and is connected to the rotating power component 10 through a reducer 11. The eccentric block 9 can rotate and generate vibration under the drive of the rotating power component 10.

[0050] In order to improve the compactness and convenience of the fruit harvester and make it suitable for working in complex forest environments, the reducer 11 is preferably a high speed ratio reducer 11, specifically a cycloidal pinwheel reducer 11. The rotating power component 10 includes, but is not limited to, a drive motor. When a drive motor is selected, a multi-rotor brushless motor is preferred.

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

[0052] F'=mv2 / r

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

[0054] Secondly, the formula for calculating 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 magnitude of the required clamping force F, ensuring that the workpiece is firmly clamped.

[0055] In addition, the formula for calculating the preload force f can be expressed as: f = k'F, where k' is a proportionality coefficient, including but not limited to selecting k' as 0.1; when k' = 0.1, it means: select 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 fixture is 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. Multiple 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 omnidirectional wheels so that the fruit harvester can move freely among chestnut trees and other fruit trees. A storage battery is also installed on the frame 1 to supply power to various electrical components.

[0057] Furthermore, the frame 1-1 has a bottom opening for accommodating fruit trees, and the vibrating housing 2 is located above this opening. In this design, preferably, the frame 1-1 is welded from several stainless steel square tubes, offering the following advantages: the hollow steel tubes are lightweight, making riding convenient and stable; and the price is relatively low, resulting in lower costs. Simultaneously, to ensure the overall stability of the frame 1-1 during operation, several steel tubes are welded at the front and rear wheels for connection, thereby increasing the overall strength.

[0058] The suspension 1-2 is pitch-adjustably connected to the frame 1-1, and the rocker housing 2 is movably connected to the cantilever end of the suspension 1-2. Preferably, a hanging ring 2-2 is fixed on the rocker housing 2, and the hanging ring 2-2 on the rocker housing 2 is suspended from the cantilever end of the suspension 1-2 by a chain 7.

[0059] Furthermore, such as Figure 1 As shown, a linear actuator 4-B is connected between the suspension 1-2 and the frame 1-1. One end of the linear actuator 4-B is rotatably connected to the frame 1-1, and the other end is rotatably connected to the middle of the suspension 1-2. The linear actuator 4-B includes, but is not limited to, using an electric push rod or a jack to drive the suspension 1-2 to pitch and rotate, so as to adjust the height of the sway housing 2 by adjusting the pitch angle of the suspension 1-2.

[0060] With the lightweight and miniaturized design of components such as the frame 1, reducer 11, and rotating power component 10, this fruit harvester is lightweight and flexible, and is especially suitable for nut harvesting operations in hilly and mountainous areas.

[0061] Furthermore, this fruit harvester also includes a controller and a control panel. The controller is electrically connected to the drive unit 6, linear power units 4-A and 4-B, pressure sensors, and control panel. The controller can control the linear power units 4-A and 6 based on the detection information from the pressure sensors to clamp and release the fruit trees. The control principle of the controller is existing technology and will not be elaborated upon here.

[0062] The implementation principle of a shaking fruit harvester according to an embodiment of this application is as follows: The operator pushes the fruit harvester to a reasonable working position, then adjusts the suspension 1-2 to adjust the height and position of the shaking shell 2 so that the fruit trees such as chestnuts to be harvested are located in the shaking shell 2. After determining the position, the position of the drive component is adjusted so that the clamping arm 5 clamps the fruit tree. Finally, the rotating power component 10 is turned on, and the rotating power component 10 drives the eccentric block 9 to rotate, forming vibration. The fruit tree vibrates freely along with the shaking shell 2. Under the shaking action, the mature fruit (such as chestnuts) is shaken off and the harvesting of a fruit tree is completed.

[0063] Example 2:

[0064] Reference Figure 4-5 The difference between this embodiment and embodiment one is that the clamping arm 5 is a flexible arm that can be bent and deformed, and a guide 12 is provided in the flexible arm to prevent it from falling off. The guide 12 is connected to the driving member 6. The guide 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 12 drives the flexible arm to move and deform so as to fit and cover the fruit tree.

[0065] Specifically, the side of the clamping arm 5 is provided with a long strip-shaped guide layer 5-3. The guide 12 is preferably a guide rod, but in other embodiments it can also be a slider or the like. The guide rod passes through the guide layer 5-3 and can move closer to and away from the cantilever end of the clamping arm 5.

[0066] Furthermore, a long strip-shaped clearance groove 5-4 is provided on the end face of the clamping arm 5 away from the limiting plate 3. This clearance groove 5-4 connects to the guide interlayer 5-3, and one end of the driving member 6 extends into the clearance 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 be extended to pass through the guide interlayer, and then the extended end can be rotatably connected to the driving end of the driving member 6 through a connecting rod.

[0067] When using a flexible arm to clamp fruit trees, the flexible arm can better conform to the surface of the fruit tree, thereby increasing the clamping area and preventing excessive pressure concentration on the fruit tree. When the drive unit 6 drives the guide rod, causing the guide rod to move the clamping arm 5, since the guide rod is adjustable, after the root area of ​​the clamping arm 5 (i.e., the area near the shaking housing 2) conforms to the main trunk of the fruit tree, the drive rod continues to extend, allowing the cantilever end of the clamping arm 5 to wrap around and cover the main trunk of the fruit tree, thereby increasing the contact and clamping area.

[0068] Example 3:

[0069] Reference Figure 6The difference between this embodiment and Embodiment 2 is that the flexible arm includes multiple flexible connecting segments 5-1, adjacent flexible connecting segments 5-1 are connected by elastic connectors 5-2, the flexible connecting segment 5-1 at the first end is rotatably connected to the rocking housing 2, and the flexible connecting segment 5-1 at the last end is equipped with a guide 12. The elastic connector 5-2 is preferably an elastic band, with one elastic band between adjacent flexible connecting segments 5-1, or multiple elastic bands arranged side-by-side. In other embodiments, the elastic connector 5-2 can also be a spring, etc.

[0070] When the flexible arm conforms to the circumferential surface of the fruit tree, if the fruit tree has a large diameter, the continuous drive of the drive component 6 can stretch the elastic band, allowing the flexible arm, composed of multiple flexible connecting segments 5-1 and the elastic band, to extend appropriately. This allows for multi-area conformation on the fruit tree's surface, thus clamping the fruit tree over a large area. Even when the elastic band is stretched, it can still adhere to the fruit tree's surface. After the drive component 6 stops moving, the linear power component 4-A in the vibrating housing 2 drives the limiting plate 3, causing multiple limiting plates to abut against the surface of the fruit tree, cooperating with the flexible arm to clamp the fruit tree.

[0071] This application also discloses a method for controlling the above-mentioned shaking fruit harvester, specifically including the following steps:

[0072] S1. The driving component 6 drives the clamping arm 5 to move, so that the fruit tree is clamped between the clamping arm 5 and multiple limiting plates 3 until the pressure on a certain limiting plate 3 exceeds the pre-tightening force and the driving stops.

[0073] S2. The linear power component 4-A drives the limiting plate 3 to push against the fruit tree until the pressure on the limiting plate 3 reaches the preset clamping force and then stops driving.

[0074] S3. Start the shaking mechanism to shake the fruit trees to drop the fruit. After the vibration time reaches the preset target working time, the shaking mechanism stops running, or the user can manually turn off the shaking mechanism.

[0075] S4. The driving component 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 a shaking fruit harvester clamping fruit trees is shown.

[0077] It should be understood that expressions such as "comprising" and "may include" as 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 "comprising" and / or "having" may be interpreted as indicating a specific characteristic, number, operation, constituent element, component, or combination thereof, but should 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,” “upper,” “lower,” “front,” “rear,” “left,” “right,” “vertical,” “horizontal,” “inner,” “outer,” “clockwise,” “counterclockwise,” “axial,” “radial,” and “circumferential” indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0079] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0080] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0081] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A shaking fruit harvester, characterized in that, The system includes a frame (1) and a vibrating housing (2), the vibrating housing (2) being movably connected to the frame (1). The vibrating housing (2) is equipped with a limit plate (3), a linear power component (4-A), a clamping arm (5), a drive component (6), a vibrating mechanism, and a pressure sensor. Multiple limiting plates (3) are provided, and the multiple limiting plates (3) are respectively ball-hinged to the outside of the rocking shell (2) by 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 multiple limiting plates (3) form an adjustable adaptive clamping area for clamping fruit trees. The pressure sensor is used to detect the pressure borne by the limiting plate (3); The shaking mechanism is used to apply vibration to the shaking housing (2) so that the fruit tree held in the adaptive clamping area shakes and drops the fruit. The outer surface of the vibrating housing (2) has an arc-shaped concave surface, and a plurality of the limiting plates (3) are distributed on the arc-shaped concave surface; The clamping arm (5) is a flexible arm that can be bent and deformed, and a guide (12) is provided in the flexible arm to prevent it from falling off. The guide (12) is connected to the drive (6), and the guide (12) can move in the direction of approaching and moving away from the shaking shell (2) under the drive of the drive (6). The flexible arm includes multiple flexible connecting segments (5-1), and an elastic connector (5-2) connects two adjacent flexible connecting segments (5-1). The flexible connecting segment (5-1) at the first end is rotatably connected to the rocking housing (2), and the flexible connecting segment (5-1) at the end is used to install the guide (12).

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

3. The shaking fruit harvester as described in claim 1, characterized in that, The elastic connector (5-2) is an elastic band, and there is one elastic band between two adjacent flexible connecting sections (5-1), or multiple elastic bands are arranged side by side.

4. The shaking fruit harvester as described in any one of claims 1-3, characterized in that, The rocking mechanism includes an eccentric block (9) and a rotating power component (10). The eccentric block (9) is rotatably mounted on the rocking housing (2), and the rotating power component (10) is fixed on the rocking housing (2) to drive the eccentric block (9) to rotate.

5. The shaking fruit harvester as described in any one of claims 1-3, characterized in that, The frame (1) includes a frame (1-1) and a suspension (1-2). The bottom of the frame (1-1) is equipped with wheels. The suspension (1-2) is pitch-adjustably connected to the frame (1-1), and the rocking housing (2) is movably connected to the cantilever end of the suspension (1-2).

6. A method for harvesting fruit by shaking, implemented using a shaking fruit harvester as described in any one of claims 1-5, characterized in that, Includes the following steps: S1. The driving component (6) drives the clamping arm (5) to move, so that the fruit tree is clamped between the clamping arm (5) and multiple limiting plates (3) until the pressure on a certain limiting plate (3) is greater than the preload of the pressure sensor and the driving stops. S2. The linear power component (4-A) drives the limiting plate (3) to contact the fruit tree until the pressure on the limiting plate (3) is greater than the preset clamping force of the pressure sensor and then stops driving. S3. Start the shaking mechanism to shake the fruit trees and cause the fruit to fall.

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