A tapping harvesting method for various terrain environments and types of dried fruits

Abstract

This invention discloses a tapping harvesting method for various terrain environments and types of dried fruits. A lifting device is mounted on a walking platform; both the tapping device and the amplitude-limiting device are connected to the lifting device; the tapping bar in the tapping device passes through the gap between the two limiting rods in the amplitude-limiting device; the walking platform has multi-degree-of-freedom mechanical legs for moving the entire mechanical device and positioning the tapping device appropriately; the lifting device adjusts the height of the tapping device and the amplitude-limiting device to accommodate trees of different heights; the tapping device taps the tree canopy to cause the fruits to fall and controls the tapping force. This tapping harvesting method can adapt to various harvesting environments (sand, steep slopes, etc.), and can adjust the tapping height and amplitude for trees of different heights or canopy sizes (i.e., multiple types of dried fruits). It achieves a high harvesting rate, reduces damage to the tree, and overcomes the risk of falls associated with manual harvesting.

Description

Technical Field

[0001] This invention relates to the field of automated harvesting of dried fruits, specifically a tapping harvesting method for various terrain environments and types of dried fruits. Background Technology

[0002] The tapping fruit harvester is one of the main pieces of equipment in the automated harvesting process of dried fruits. It is mainly used to remove dried fruits from the tree when they are ripe.

[0003] Existing tapping harvesting methods involve using a walking mechanism (vehicle) to move the harvesting device near the target tree. The high-speed movement of an eccentric shaft within the harvesting device drives a tapping bar to move back and forth at high speed, transferring the energy generated by the tapping through the canopy to the fruit. This causes the fruit to accelerate off the tree and fall. However, in actual harvesting, the ground environment is complex and diverse, such as the sandy areas of Xinjiang Uygur Autonomous Region and the steep slopes of Guizhou. Traditional tapping harvesting methods using conventional circular wheels suffer from slippage, while tracked devices are costly. Furthermore, traditional tapping harvesting methods cannot adjust the tapping height and amplitude for trees of different heights or canopy sizes, resulting in low harvesting rates and tree damage. Additionally, manual harvesting carries the risk of falls. To address these issues, a new tapping harvesting method is proposed that is suitable for diverse ground environments and various fruit types (i.e., trees of different heights or canopy sizes). Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a patting harvesting method for multiple ground environments and multiple types of dried fruits, which addresses the shortcomings of the prior art. This patting harvesting method for multiple ground environments and multiple types of dried fruits can change the patting height and patting amplitude for trees of different heights or canopy sizes (i.e., multiple types of dried fruits), resulting in a high harvesting rate, reduced damage to the tree, and overcoming the risk of falling during manual harvesting.

[0005] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0006] A patting harvesting method for various ground environments and types of dried fruit is disclosed, wherein a lifting device is mounted on a walking carrier; both the patting device and the swing-limiting device are connected to the lifting device; the patting strip in the patting device passes through the gap between the two limiting rods in the swing-limiting device; the walking carrier is used for the movement of the entire mechanical device, moving the patting device to a suitable position; the lifting device is used to adjust the height of the patting device and the swing-limiting device to accommodate trees of different heights; the patting device is used to pat the tree crown to cause the fruit to fall from the tree and to control the patting force.

[0007] The tapping harvesting method includes the following steps:

[0008] Step 1: The walking carrier moves the lifting device, the beating device, and the swing limiting device to the vicinity of the tree to be harvested;

[0009] Step 2: The lifting device starts working, thereby adjusting the height of the striking device and the swing limiting device;

[0010] Step 3: After the height adjustment is completed, the swing limiting device starts to work, thereby adjusting the width of the gap between the two limiting rods 403;

[0011] Step 4: The beating device starts working. The rotary drive mechanism in the beating device drives the crankshaft to rotate, which in turn drives the beating strips on the crankshaft to move, thus producing a beating effect.

[0012] As a further improvement to the present invention, the walking carrier includes a multi-degree-of-freedom mechanical leg and a support platform. The top of the multi-degree-of-freedom mechanical leg is connected to the support platform, and the lifting device is connected to the support platform. The multi-degree-of-freedom mechanical leg is a three-degree-of-freedom mechanical leg (including multiple motors, multiple gears, etc., to achieve multi-degree-of-freedom movement). The three-degree-of-freedom mechanical leg adopts the mechanical leg of a bionic mechanical dog in the prior art. The mechanical leg has a thigh and a lower leg, each with three degrees of freedom. The connection between the thigh and the body (support platform) is similar to the connection between a human thigh and body, with two degrees of freedom, both achieved by gear transmission. This allows for the thigh to move forward and backward, and also to move inward and outward (left and right). The connection between the thigh and the lower leg has one degree of freedom, also achieved by gear transmission, and can change the angle between the thigh and the lower leg. The support platform is connected to the three-degree-of-freedom mechanical leg and can be moved by it.

[0013] As a further improvement of the present invention, the lifting device includes an electric lifting platform, a telescopic rod and a horizontal support platform. The bottom of the electric lifting platform is connected to the support platform, and the top is connected to the bottom of the horizontal support platform through a first vertical rod. One end of the telescopic rod is connected to the support platform, and the other end is connected to the bottom of the horizontal support platform.

[0014] In step 2, when the lifting device is working, the electric lifting platform is started, and the electric lifting platform rises and falls, thereby driving the horizontal support platform to rise and fall. At the same time, under the force of the horizontal support platform rising and falling, the telescopic rod rises and falls accordingly, thereby adjusting the height of the horizontal support platform. The slapping device and the swing limiting device are set on the horizontal support platform, thereby adjusting the height of the slapping device and the swing limiting device.

[0015] As a further improved technical solution of the present invention, the limiting swing amplitude device includes an automatic telescopic mechanism, a limiting outer frame and limiting rods. The limiting outer frame is connected to the lifting device. The two opposite sides of the central opening of the limiting outer frame are connected to the automatic telescopic mechanism. The telescopic end of the automatic telescopic mechanism is connected to the limiting rod. The two limiting rods are arranged in parallel and are both located inside the central opening of the limiting outer frame. The automatic telescopic mechanism is used to drive the two limiting rods to move towards each other or away from each other, thereby adjusting the distance between the two limiting rods.

[0016] In step 3, when the amplitude limiting device is working, the automatic telescopic mechanism drives the two limiting rods to move towards each other or away from each other, thereby adjusting the width of the gap between the two limiting rods.

[0017] As a further improvement of the present invention, in the limiting swing device, the automatic telescopic mechanism adopts a cylinder, the outer frame of the limiting device is rectangular in shape, the middle opening is rectangular, and the outer frame of the limiting device is connected to the top of the horizontal support platform of the lifting device through the second vertical rod.

[0018] As a further improvement of the present invention, the tapping device includes a crankshaft, tapping bars, and a rotary drive mechanism. The rotary drive mechanism is connected to a lifting device via a bracket. The output end of the rotary drive mechanism is connected to one end of the crankshaft, and the other end of the crankshaft is rotatably connected to a bearing seat, which is connected to the lifting device. Multiple tapping bars have one end rotatably connected to a connecting rod journal on the crankshaft. These multiple tapping bars are inclined and rest between two limiting rods, extending upwards from the central opening of the limiting outer frame. The crankshaft is located below the central opening of the limiting outer frame. The tapping bars are rotatably connected to the crankshaft and can be divided into left and right tapping bars based on the direction of their connection point deviating from the crankshaft's rotation axis. The tapping bars pass through the square gap between the two limiting rods in the limiting outer frame, and this square gap limits the swing amplitude of the tapping bars. The limiting rods are connected to an automatic telescopic mechanism, restricting their ends to slide only along the inner wall of the central opening of the limiting outer frame when extended or retracted by the automatic telescopic mechanism, thereby changing the width of the square gap between the two limiting rods.

[0019] In step 4, when the patting device is working, the rotary drive mechanism drives the crankshaft to rotate, and the crankshaft drives one end of the patting bar to move, thereby producing a patting effect.

[0020] As a further improvement of the present invention, in the slapping device, the rotary drive mechanism is connected to the horizontal support platform of the lifting device through a bracket, and the bearing seat is connected to the horizontal support platform of the lifting device.

[0021] As a further improvement of the present invention, the rotary drive mechanism adopts an electric motor.

[0022] As a further improvement of the present invention, it also includes a box body, which is a cuboid with open structures at the bottom and top. The bottom of the box body is connected to the platform in the walking carrier. The lifting device and the tapping device are located inside the box body, and the tapping strip in the tapping device passes through the open structure at the top of the box body.

[0023] As a further improvement to the present invention, the striking bar can be replaced with a telescopic striking bar, enabling it to strike tree crowns of different sizes. The lifting platform can be modified into a telescopic cylinder, which can increase the range of height variation of the striking device. The bottom of the multi-degree-of-freedom mechanical legs can be made of materials with stronger grip, or the number of multi-degree-of-freedom mechanical legs can be increased to distribute the weight of the entire mechanical device.

[0024] The beneficial effects of this invention are as follows:

[0025] The walking vehicle in the patting harvesting method of this invention uses an electrically powered multi-degree-of-freedom mechanical leg, which can move flexibly on different ground surfaces and adapt to various harvesting environments (sand, steep slopes, etc.). It has strong obstacle avoidance capabilities in orchards with various soil types and terrains, and good traversal of undulating terrain. The height of the patting bar can be adjusted by a lifting device to pat tree canopies (dried fruit trees) of different heights. The range of motion of the patting bar can also be adjusted by a limiting swing amplitude device to output more suitable energy, that is, to adjust the patting amplitude to pat tree canopies of different sizes. This invention has a higher generalization ability for different ground environments, dried fruit trees of different heights, and tree canopies of different sizes, improving harvesting efficiency and avoiding the risks of manual harvesting.

[0026] This invention provides a walking platform that carries a lifting device and a striking device, moving them to the vicinity of a tree. The lifting device adjusts the height of the striking device and the swing-limiting device. The striking device strikes the tree, causing the fruit to fall. During operation, multiple motors in the four multi-degree-of-freedom mechanical legs of the walking platform, upon receiving movement signals from the controller, coordinate through bending and rotation to move the entire mechanical device. In sandy environments, the multi-degree-of-freedom mechanical legs provide grip, preventing slippage. On sloping ground, the device moves to the vicinity of the tree with the assistance of the multi-degree-of-freedom mechanical legs, which bend to align the platform perpendicular to gravity. The motors in the electric lifting platform of the lifting device, upon receiving signals, adjust the height of the striking device and the swing-limiting device, thereby adjusting the height of the striking bars to strike different heights of the tree canopy (fruit-bearing tree). Once the beating device and the amplitude-limiting device are adjusted to the appropriate height, the cylinder in the amplitude-limiting device begins to operate. By controlling the extension and retraction of the cylinder, the width of the square gap between the two limiting rods that restrict the movement of the beating bar is changed, thereby adjusting the range of motion of the beating bar, i.e., adjusting the beating amplitude, to beat tree canopies of different sizes. After the width of the square gap is adjusted, the motor controlling the crankshaft rotation starts to operate, causing the crankshaft to rotate at a suitable and constant frequency. This drives the beating bars on both sides of the shaft, where the hinge points are off-center, to perform cross-beating. After being beaten, the fruit falls from the tree canopy, ready for later collection. Attached Figure Description

[0027] Figure 1-2 This is a schematic diagram of the overall structure of the patting harvester in this invention.

[0028] Figure 3-5 This is a schematic diagram of the structure of the tapping harvester hidden in the housing of the present invention.

[0029] Figure 6 This is a schematic diagram illustrating the beating principle of the beating strips in the beating harvester of this invention. Detailed Implementation

[0030] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings:

[0031] like Figure 1-5 As shown, this embodiment first provides a patting harvester for various ground environments and types of dried fruits, including a walking carrier 1, a lifting device 2, a patting device 3, a swing limiting device 4, and a housing 5; the lifting device 2 and the housing 5 are mounted on the walking carrier 1; the patting device 3 and the swing limiting device 4 are both connected to the lifting device 2, and the lifting device 2 is located inside the housing 5.

[0032] like Figure 3-5 As shown, the limiting swing device 4 includes an automatic telescopic mechanism 401, a limiting outer frame 402, and limiting rods 403. The limiting outer frame 402 is connected to the lifting device 2. The automatic telescopic mechanism 401 is connected to both opposite sides of the central opening of the limiting outer frame 402. The telescopic end of the automatic telescopic mechanism 401 is connected to the limiting rods 403. The two limiting rods 403 are arranged in parallel and are both located inside the central opening of the limiting outer frame 402. The automatic telescopic mechanism 401 is used to drive the two limiting rods 403 to move towards each other or away from each other, thereby adjusting the spacing of the square gap between the two limiting rods 403.

[0033] like Figure 3-5 As shown, the tapping device 3 includes a crankshaft 301, tapping bars 302, and a rotary drive mechanism 303. The rotary drive mechanism 303 is connected to the lifting device 2 via a bracket 304. The output end of the rotary drive mechanism 303 is connected to one end of the crankshaft 301, and the other end of the crankshaft 301 is rotatably connected to a bearing seat 305. The bearing seat 305 is connected to the lifting device 2. Multiple tapping bars 302 are rotatably connected to connecting rod journals 3011 on the crankshaft 301. Multiple tapping bars 302 are inclined and rest between two limiting rods 403 and extend upward from the central opening of the limiting outer frame 402. The crankshaft 301 is located below the central opening of the limiting outer frame 402.

[0034] The walking carrier 1 includes a multi-degree-of-freedom mechanical leg 102 and a platform 101. The top of the multi-degree-of-freedom mechanical leg 102 is connected to the platform 101. The multi-degree-of-freedom mechanical leg 102 is a three-degree-of-freedom mechanical leg.

[0035] like Figure 2As shown, the multi-degree-of-freedom mechanical leg 102 has three degrees of freedom: a thigh and a lower leg. The connection between the thigh 1028 and the support platform 101 is similar to the connection between a human thigh and body, having two degrees of freedom, both achieved through gear transmission. This allows for both forward and backward movement of the thigh, and inward and outward (left and right) movement of the thigh. The connection between the thigh 1028 and the lower leg 1032 has one degree of freedom, also achieved through gear transmission, and can change the angle between the thigh and the lower leg. The specific structure is as follows: The multi-degree-of-freedom mechanical leg 102 includes a motor 1021, a gear 1022, a gear 2 1023, a rotating shaft 1024, a motor 2 1025, a gear 3 1026, a gear 4 1027, a thigh 1028, a motor 3 1029, a gear 5 1030, a gear 6 1031, and a lower leg 1032. Motor 1021 is connected to the platform 101. The output end of motor 1021 is connected to gear 1022. Gear 1022 meshes with gear 2 1023. The middle part of gear 2 1023 is connected to the rotating shaft 1024. The rotating shaft 1024 is rotatably connected to the connecting plate at the bottom of the platform 101. The housing of motor 2 1025 is fixedly connected to the rotating shaft 1024. The output end of motor 2 1025 is connected to gear 3 1026. Gear 3 1026 meshes with gear 4 1027. The middle part of 027 is fixedly connected to the thigh 1028. The upper end of the thigh 1028 is hinged to the housing of the motor 2 1025 with the axis of gear 4 1027 as the center. Motor 3 1029 is provided on the thigh 1028. The output end of motor 3 1029 is connected to gear 5 1030. Gear 5 1030 meshes with gear 6 1031. The middle part of gear 6 1031 is fixedly connected to the lower leg 1032. The upper end of the lower leg 1032 is hinged to the lower end of the thigh 1028 with the axis of gear 6 1031 as the center. When motor 1021 is working, it sequentially drives the rotating shaft 1024, motor 1025, thigh 1028, and lower leg 1032 to move left and right (oscillate) relative to the platform 101 around the axis of rotating shaft 1024 via gear 1022 and gear 2 1023. When motor 2 1025 is working, it sequentially drives the thigh 1028 and lower leg 1032 to move back and forth (oscillate) relative to the housing of motor 2 1025 around the axis of gear 4 1027 via gear 3 1026 and gear 4 1027. When motor 3 1029 is working, it sequentially drives the lower leg 1032 to move back and forth (oscillate) relative to the thigh 1028 around the axis of gear 6 1031 via gear 5 1030 and gear 6 1031, thereby changing the angle between thigh 1028 and lower leg 1032. This embodiment has four multi-degree-of-freedom mechanical legs 102. Two of the multi-degree-of-freedom mechanical legs 102 share the same rotating shaft 1024.

[0036] The lifting device 2 includes an electric lifting platform 201, a telescopic rod 202, and a horizontal support platform 203. The bottom of the electric lifting platform 201 is connected to the support platform 101, and the top is connected to the bottom of the horizontal support platform 203 through a first vertical rod. One end of the telescopic rod 202 is connected to the support platform 101, and the other end is connected to the bottom of the horizontal support platform 203.

[0037] The electric lifting platform 201 is an electric scissor lift platform.

[0038] In the limiting swing device 4, the automatic telescopic mechanism 401 is a cylinder, the limiting outer frame 402 is rectangular in shape with a rectangular opening in the middle, and the limiting outer frame 402 is connected to the top of the horizontal support platform 203 of the lifting device 2 through the second vertical rod.

[0039] In the slapping device 3, the rotary drive mechanism 303 is connected to the horizontal support platform 203 of the lifting device 2 via a bracket 304, and the bearing seat 305 is connected to the horizontal support platform 203 of the lifting device 2.

[0040] The rotary drive mechanism 303 is a motor.

[0041] In this embodiment, the box 5 is a cuboid with open structures at both the bottom and top. The bottom of the box 5 is connected to the platform 101 in the walking carrier 1. The lifting device 2 and the tapping device 3 are located inside the box 5, and the tapping strip 302 in the tapping device 3 penetrates through the open structure at the top of the box 5. The swing amplitude limiting device 4 is located above the top of the box 5. The box 5 serves as a fence. In this embodiment, each motor is connected to a power supply, and the cylinder is connected to an air source through a control valve.

[0042] For example, the harvesting of walnuts in the mountains of Guizhou. The terrain where walnuts grow in Guizhou is usually quite steep, making it difficult for a wheeled support device to move. A tracked support device would require a diesel engine, which is both cumbersome and expensive. This embodiment can solve the problems existing in the above environment.

[0043] The working process of this embodiment is as follows: When the entire mechanical device is in the environment and in working condition, after receiving signals from the surrounding environment, the multiple motors in the four multi-degree-of-freedom mechanical legs of the walking carrier 1 begin to cooperate with each other. The multi-degree-of-freedom mechanical legs make the entire mechanical device walk smoothly on the mountain by bending, rotating and other actions. After reaching the vicinity of the target tree, the motor in the electric scissor lift platform works, and the lifting device 2 begins to extend and retract, moving the slapping device to the center of the tree crown. After moving to the appropriate position, the swing amplitude limiting device 4 begins to move. Through the extension and retraction of the cylinder therein, the square gap between the two limiting rods 403 is adjusted. After the width is adjusted, the motor drives the crankshaft 301 to start moving. The crankshaft 301 rotates around a fixed axis. One end of the patting bar 302 is hinged to a point on the crankshaft 301 that is offset from the crankshaft axis, specifically to the connecting rod journal 3011 on the crankshaft 301, and rests against the edge of the square gap between the two limiting rods 403. During the movement of the crankshaft 301, the patting bar 302 will always rest against the edge of the square gap between the two limiting rods 403. The absolute movement of the hinge point is circular motion, which causes the patting bar to produce a patting effect. The size of the square gap is controlled to obtain a suitable patting amplitude, and the rotational speed of the crankshaft 301 is controlled to obtain a suitable patting frequency. As the patting continues, the fruit falls, and collection can then begin.

[0044] like Figure 6 As shown, when the bottom of the slapping bar 302 moves from point A to point B with the crankshaft 301, due to the presence of the amplitude limiting device 4, the slapping bar 302 will always lean against it to produce a swaying effect. Because the slapping bar 302 is very long, even if the change in the tilt angle of the slapping bar 302 is relatively small, a relatively large swaying amplitude will be generated near the end, so as to achieve fruit picking.

[0045] The multi-degree-of-freedom mechanical leg in this embodiment adopts existing technology in its specific structural form and internal motor control method. The motors in the multi-degree-of-freedom mechanical leg, the rotary drive mechanism 303, and the electric lifting platform 201 are all connected to a power source. The cylinders are connected to an air source via control valves. All the motors in the multi-degree-of-freedom mechanical leg, the rotary drive mechanism 303, the electric lifting platform 201, and the control valves are connected to a controller, which controls the operation of each component. The controller controls the action of the control valve, thereby controlling the extension and retraction of the cylinders. The controller can be installed on a tapping harvester. Alternatively, the controller can be wirelessly connected to a remote control device for operation.

[0046] This embodiment also provides a tapping harvesting method for various terrain environments and types of dried fruits, including the following steps:

[0047] Step 1: The walking carrier 1 moves the lifting device 2, the beating device 3, and the swing limiting device 4 to the vicinity of the tree to be harvested;

[0048] Step 2: The lifting device 2 starts working, that is, the electric lifting platform 201 is started. The electric lifting platform 201 rises and falls, which in turn drives the horizontal support platform 203 to rise and fall. At the same time, under the force of the horizontal support platform 203 rising and falling, the telescopic rod 202 rises and falls accordingly, thereby adjusting the height of the horizontal support platform 203. Since the striking device 3 and the swing limiting device 4 are set on the horizontal support platform 203, the height of the striking device 3 and the swing limiting device 4 is adjusted.

[0049] Step 3: After the height adjustment is completed, the swing limiting device 4 starts to work, that is, the automatic telescopic mechanism 401 drives the two limiting rods 403 to move towards each other or away from each other, thereby adjusting the width of the gap between the two limiting rods 403.

[0050] Step 4: The slapping device 3 starts to work, that is, the rotary drive mechanism 303 drives the crankshaft 301 to rotate, and the crankshaft 301 drives one end of the slapping bar 302 to move, thereby producing a slapping effect.

[0051] The scope of protection of this invention includes, but is not limited to, the above embodiments. The scope of protection of this invention is defined by the claims. Any substitutions, modifications, or improvements to this technology that are easily conceived by those skilled in the art fall within the scope of protection of this invention.

Claims

1. A tapping-style harvesting method for various terrain environments and types of dried fruits, characterized in that, The lifting device (2) is installed on the walking carrier (1); the slapping device (3) and the limiting swing device (4) are both connected to the lifting device (2); the slapping strip (302) in the slapping device (3) passes through the gap between the two limiting rods (403) in the limiting swing device (4); The walking carrier (1) includes a multi-degree-of-freedom mechanical leg (102) and a platform (101). The top of the multi-degree-of-freedom mechanical leg (102) is connected to the platform (101), and the lifting device (2) is connected to the platform (101). The limiting swing device (4) includes an automatic telescopic mechanism (401), a limiting outer frame (402), and a limiting rod (403). The limiting outer frame (402) is connected to the lifting device (2). The two opposite sides of the opening in the middle of the limiting outer frame (402) are connected to the automatic telescopic mechanism (401). The telescopic end of the automatic telescopic mechanism (401) is connected to the limiting rod (403). The two limiting rods (403) are arranged in parallel and are both located inside the opening in the middle of the limiting outer frame (402). The automatic telescopic mechanism (401) is used to drive the two limiting rods (403) to move towards each other or away from each other, thereby adjusting the distance between the two limiting rods (403). The tapping harvesting method includes the following steps: Step 1: The walking carrier (1) moves the lifting device (2), the beating device (3) and the swing limiting device (4) to the vicinity of the tree to be harvested; Step 2: The lifting device (2) starts working, thereby adjusting the height of the striking device (3) and the swing limiting device (4); Step 3: After the height adjustment is completed, the swing limiting device (4) starts to work, and the automatic telescopic mechanism (401) drives the two limiting rods (403) to move towards each other or away from each other, thereby adjusting the width of the gap between the two limiting rods (403); Step 4: The patting device (3) starts to work. The rotary drive mechanism (303) in the patting device (3) drives the crankshaft (301) to rotate, which in turn drives the patting strip (302) on the crankshaft (301) to move and thus produce a patting effect.

2. The tapping harvesting method for various terrain environments and types of dried fruits according to claim 1, characterized in that, The lifting device (2) includes an electric lifting platform (201), a telescopic rod (202) and a horizontal support platform (203). The bottom of the electric lifting platform (201) is connected to the support platform (101), and the top is connected to the bottom of the horizontal support platform (203) through a first vertical rod. One end of the telescopic rod (202) is connected to the support platform (101), and the other end is connected to the bottom of the horizontal support platform (203). In step 2, when the lifting device (2) is working, the electric lifting platform (201) is started. The electric lifting platform (201) rises and falls, thereby driving the horizontal support platform (203) to rise and fall. At the same time, under the force of the horizontal support platform (203) rising and falling, the telescopic rod (202) rises and falls accordingly, thereby adjusting the height of the horizontal support platform (203), the patting device (3) and the limiting swing device (4).

3. The tapping harvesting method for various terrain environments and types of dried fruits according to claim 1, characterized in that, In the limiting swing device (4), the automatic telescopic mechanism (401) is a cylinder, the outer frame (402) is rectangular in shape, the middle opening is rectangular, and the outer frame (402) is connected to the top of the horizontal support platform (203) of the lifting device (2) through the second vertical rod.

4. The tapping harvesting method for various terrain environments and types of dried fruits according to claim 1, characterized in that, The slapping device (3) includes a crankshaft (301), slapping bars (302), and a rotary drive mechanism (303); the rotary drive mechanism (303) is connected to the lifting device (2) via a bracket (304), the output end of the rotary drive mechanism (303) is connected to one end of the crankshaft (301), the other end of the crankshaft (301) is rotatably connected to a bearing seat (305), and the bearing seat (305) is connected to the lifting device (2); one end of each of the multiple slapping bars (302) is rotatably connected to a connecting rod journal (3011) on the crankshaft (301), and the multiple slapping bars (302) are respectively inclined and rest between two limiting rods (403) and extend upward from the middle opening of the limiting outer frame (402), and the crankshaft (301) is located below the middle opening of the limiting outer frame (402); In step 4, when the patting device (3) is working, the rotary drive mechanism (303) drives the crankshaft (301) to rotate, and the crankshaft (301) drives one end of the patting bar (302) to move, thereby producing a patting effect.

5. The tapping harvesting method for various terrain environments and types of dried fruits according to claim 4, characterized in that, In the slapping device (3), the rotary drive mechanism (303) is connected to the horizontal support platform (203) of the lifting device (2) via a bracket (304), and the bearing seat (305) is connected to the horizontal support platform (203) of the lifting device (2).

6. The tapping harvesting method for various terrain environments and types of dried fruits according to claim 5, characterized in that, The rotary drive mechanism (303) is a motor.

7. The tapping harvesting method for various terrain environments and types of dried fruits according to claim 1, characterized in that, It also includes a box (5), which is a cuboid with an open structure at the bottom and top. The bottom of the box (5) is connected to the platform (101) in the walking carrier (1). The lifting device (2) and the slapping device (3) are located inside the box (5), and the slapping strip (302) in the slapping device (3) passes through the open structure at the top of the box (5).

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