Unfolding type supporting and tree shaking picking method

Abstract

The invention discloses an unfolding type supporting tree shaking picking method. The method comprises the steps that a joint driving mechanism in a supporting joint combination mechanism drives the top of a left supporting joint and the top of a right supporting joint to be close, so that a tree trunk is clamped by the top of the left supporting joint and the top of the right supporting joint; a plurality of joints in the left supporting joints are expanded and then stretched to be supported on the ground, and a plurality of joints in the right supporting joints are expanded and then stretched to be supported on the ground; the oscillation clamp is suspended at the top of the vehicle rotating body; the oscillating clamp is started and vibrates after clamping a tree trunk, so that fruit picking is realized; after picking is finished, the oscillating pliers are detached, and the supporting joint combination mechanism resets. A trunk is clamped and supported on the ground through the supporting joint combination mechanism, when the oscillation clamp shakes the trunk to pick fruits, the lower portion of the trunk is stabilized, so that the tree root is protected, meanwhile, the oscillation clamp is hung on the vehicle rotating body, vehicle body resonance is reduced, fruit falling can be effectively promoted, and damage to the trunk is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical tree oscillation, in particular to a spread type support tree shaking and picking method. BACKGROUND

[0002] In fruit harvesting, mechanical vibration type tree picking method is widely used in walnut and oil tea fruit harvesting. However, the traditional mechanical vibration picking method is simply mechanical vibration picking by using a vibrator. The picking is too violent, and the oscillation amplitude is usually too large, which causes damage to the trunk and root, and adversely affects the sustainable high yield harvesting of the product.

[0003] Therefore, it is necessary to provide a new picking method to overcome the above problems. SUMMARY

[0004] The present application provides a spread type support tree shaking and picking method to overcome the above problems. The spread type support tree shaking and picking method clamps the trunk by the support joint combination mechanism and supports it on the ground. When the oscillation tongs shake the trunk to pick fruits, the support joint combination mechanism stabilizes the lower part of the trunk (the part below the position clamped by the support joint combination mechanism) to protect the trunk and root. At the same time, the oscillation tongs are suspended on the car body, which reduces the resonance of the car body, effectively promotes the fruit to fall off and reduces the damage to the trunk.

[0005] To achieve the above technical purpose, the technical solution adopted by the present application is as follows:

[0006] A spread type support tree shaking and picking method, which comprises picking fruits by a tree shaking car, wherein the tree shaking car comprises a car body; a car rotating disc is connected with a car body on the car body, and the car rotating disc is used to drive the car body to rotate; a support joint combination mechanism is installed on the car body.

[0007] The fruits are picked by the tree shaking car, and the specific steps are as follows:

[0008] Step 1: drive the top of the left support joint and the top of the right support joint of the support joint combination mechanism to clamp the trunk by the joint driving mechanism in the support joint combination mechanism;

[0009] Step 2: open and extend the multiple joints in the left support joint and the multiple joints in the right support joint to support on the ground;

[0010] Step 3: suspend the oscillation tongs on the top of the car body, and the oscillation tongs are located above the support joint combination mechanism;

[0011] Step 4: start the oscillation tongs, and the oscillation tongs clamp the trunk to produce vibration and realize fruit picking;

[0012] Step 5, after picking is finished, the oscillating pliers are removed, and the supporting joint combination mechanism is reset.

[0013] As a further improved technical solution of the application, the supporting joint combination mechanism comprises a clamping bottom plate, a joint driving mechanism, a left supporting joint and a right supporting joint, the clamping bottom plate is connected with the car body, the top of the left supporting joint and the top of the right supporting joint are both rotationally connected with the clamping bottom plate, and the joint driving mechanism is arranged on the clamping bottom plate; the joint driving mechanism is used to drive the top of the left supporting joint and the top of the right supporting joint to approach and separate, so as to realize clamping and loosening of the tree trunk by the top of the left supporting joint and the top of the right supporting joint.

[0014] As a further improved technical solution of the application, the left supporting joint and the right supporting joint are of the same structure and are symmetrically arranged, and both comprise a clamping supporting block and a plurality of joints; the plurality of joints comprise an inclined joint, a left auxiliary joint and a right auxiliary joint, all of which are internally provided with a supporting driving mechanism, the top of the inclined joint is fixedly connected with the clamping supporting block, the top of the left auxiliary joint and the top of the right auxiliary joint are rotationally connected with the clamping supporting block, the inclined joint is provided with a left auxiliary joint driving mechanism for pushing the left auxiliary joint away from itself and a right auxiliary joint driving mechanism for pushing the right auxiliary joint away from itself; the inclined joint, the left auxiliary joint and the right auxiliary joint are all internally provided with a supporting driving mechanism, the output end of the supporting driving mechanism is rotationally connected with a directional supporting plate, and the supporting driving mechanism is used to drive the directional supporting plate to move towards the ground until the directional supporting plate is in close contact with the ground.

[0015] Specifically, step 2 is as follows:

[0016] In the left supporting joint: the left auxiliary joint driving mechanism drives the left auxiliary joint to rotate on the clamping supporting block, so that the left auxiliary joint moves away from the inclined joint; the right auxiliary joint driving mechanism drives the right auxiliary joint to rotate on the clamping supporting block, so that the right auxiliary joint moves away from the inclined joint; the left auxiliary joint, the inclined joint and the right auxiliary joint are in an open state as a whole, and after being opened to a preset position, the supporting driving mechanisms in the left auxiliary joint, the inclined joint and the right auxiliary joint drive the directional supporting plate to move towards the ground until the directional supporting plate is in close contact with the ground, i.e., the directional supporting plate is supported on the ground.

[0017] Meanwhile, in the right supporting joint: the left auxiliary joint driving mechanism drives the left auxiliary joint to rotate on the clamping supporting block, so that the left auxiliary joint moves away from the inclined joint; the right auxiliary joint driving mechanism drives the right auxiliary joint to rotate on the clamping supporting block, so that the right auxiliary joint moves away from the inclined joint; the left auxiliary joint, the inclined joint and the right auxiliary joint are in an open state as a whole, and after being opened to a preset position, the supporting driving mechanisms in the left auxiliary joint, the inclined joint and the right auxiliary joint drive the directional supporting plate to move towards the ground until the directional supporting plate is in close contact with the ground, i.e., the directional supporting plate is supported on the ground.

[0018] As a further improved technical solution of the present application, the joint driving mechanism comprises a clamping matching push hydraulic cylinder, a left clamping crank, a right clamping crank and a clamping push plate, the clamping matching push hydraulic cylinder is arranged on the upper surface of the clamping bottom plate, the clamping push plate is slidably connected with the push channel on the clamping bottom plate, the middle part of the left clamping crank is rotatably connected with the left front side of the clamping bottom plate, the middle part of the right clamping crank is rotatably connected with the right front side of the clamping bottom plate, the front end of the left clamping crank is fixedly connected with the clamping support block of the left support joint, and the front end of the right clamping crank is fixedly connected with the clamping support block of the right support joint.

[0019] The left side of the clamping push plate is provided with a left inclined surface, and the right side is provided with a right inclined surface.

[0020] The step 1 is specifically:

[0021] The clamping matching push hydraulic cylinder is started, the clamping matching push hydraulic cylinder pushes the clamping push plate to move forward, the left inclined surface of the clamping push plate moves forward to push the rear end of the left clamping crank to rotate outward, the right inclined surface of the clamping push plate moves forward to push the rear end of the right clamping crank to rotate outward, the front end of the left clamping crank and the front end of the right clamping crank are both rotated inward, and finally the clamping support block of the left support joint and the clamping support block of the right support joint clamp the tree trunk.

[0022] As a further improved technical solution of the present application, the clamping push plate comprises a middle strip plate, a left inclined plate, a left groove plate, a right inclined plate and a right groove plate; the two sides of the middle strip plate are respectively fixedly connected with the left inclined plate and the right inclined plate, the left inclined plate and the right inclined plate are symmetrically arranged, the side surface of the left inclined plate close to the left clamping crank is a left inclined surface, the side surface of the right inclined plate close to the right clamping crank is a right inclined surface, the left groove plate is fixedly connected with the corner position of the end of the left inclined plate away from the middle strip plate, the right groove plate is fixedly connected with the corner position of the end of the right inclined plate away from the middle strip plate, and the left groove plate and the right groove plate are symmetrically arranged.

[0023] The groove opening surface of the left groove plate faces the rear end of the left clamping crank, and the groove opening surface of the right groove plate faces the rear end of the right clamping crank.

[0024] In the process of clamping the tree trunk in step 1, if the rear end of the left clamping crank moves to the V-shaped groove of the left groove plate along the left inclined surface of the clamping push plate, the V-shaped groove of the left groove plate is opened by the rear end of the left clamping crank, if the rear end of the right clamping crank moves to the V-shaped groove of the right groove plate along the right inclined surface of the clamping push plate, the V-shaped groove of the right groove plate is opened by the rear end of the right clamping crank, and the clamping support block of the left support joint and the clamping support block of the right support joint clamp the tree trunk.

[0025] Then, the support joint combination mechanism is reset, comprising:

[0026] The clamping cooperation pushing hydraulic cylinder drives the clamping push plate to move backward along the pushing channel on the clamping bottom plate, the rear end of the left clamping crank is ejected from the groove of the left groove plate, the rear end of the right clamping crank is ejected from the groove of the right groove plate, and the rebounding force of the groove makes the left clamping crank and the right clamping crank slightly reset, so that the clamping support blocks of the left support joint and the right support joint are loosened from the tree trunk.

[0027] As a further improved technical solution of the present application, the left auxiliary joint driving mechanism adopts a left hydraulic cylinder, the cylinder body of the left hydraulic cylinder is fixedly connected with the left side surface of the inclined joint, one end of the pushing rod of the left hydraulic cylinder is provided with a left embracing block, the inner cavity of the left embracing block is rotatably connected with the convex ball on the left variable-angle ball through a ball connection mode, the left variable-angle ball comprises a convex ball and an L-shaped connecting rod, the convex ball is fixedly connected with one end of the L-shaped connecting rod, and the other end of the L-shaped connecting rod is slidably connected with a long cavity on one side surface of the left auxiliary joint.

[0028] The right auxiliary joint driving mechanism adopts a right hydraulic cylinder, the cylinder body of the right hydraulic cylinder is fixedly connected with the right side surface of the inclined joint, one end of the pushing rod of the right hydraulic cylinder is provided with a right embracing block, the right embracing block is rotatably connected with the convex ball on the right variable-angle ball through a ball connection mode, the right variable-angle ball comprises a convex ball and an L-shaped connecting rod, the convex ball is fixedly connected with one end of the L-shaped connecting rod, and the other end of the L-shaped connecting rod is slidably connected with a long cavity on one side surface of the right auxiliary joint.

[0029] As a further improved technical solution of the present application, the support driving mechanism comprises a support hydraulic cylinder, the inside of the inclined joint, the left auxiliary joint and the right auxiliary joint is provided with a cavity penetrating through the bottom, the support hydraulic cylinder is installed in the cavity, a lower embracing block is connected to the pushing rod of the support hydraulic cylinder after the pushing rod extends out of the cavity, a convex ball is connected to the top of the variable-direction support plate, and the inner cavity of the lower embracing block is rotatably connected with the convex ball of the variable-direction support plate through a ball connection mode.

[0030] As a further improved technical solution of the present application, the oscillating clamp comprises a large clamp plate, a small clamp plate, a clamp plate hydraulic cylinder and a counterweight, the handle portion of the large clamp plate is provided with a pushing cavity, the handle portion of the small clamp plate is embedded in the pushing cavity of the large clamp plate and can slide in the pushing cavity, the back portion of the small clamp plate is connected with the pushing rod of the clamp plate hydraulic cylinder, the clamp plate hydraulic cylinder is connected with the counterweight, and the counterweight is connected with the handle portion of the large clamp plate through a strip-shaped connecting rod; the inside of the large clamp plate is provided with an eccentric block exciter.

[0031] The step 3 comprises:

[0032] The cylinder body in the clamp plate hydraulic cylinder of the oscillating clamp is suspended on the top of the car body through a flexible rope;

[0033] The step 4 comprises:

[0034] The hydraulic cylinder of the clamping jaw is started, the hydraulic cylinder of the clamping jaw drives the small clamping jaw to slide in the pushing cavity of the large clamping jaw, so that the small clamping jaw and the large clamping jaw clamp the trunk;

[0035] The eccentric block exciter is started, the eccentric block exciter drives the large clamping jaw to vibrate, the vibration force is transmitted to the trunk, and the fruit is picked.

[0036] As a further improved technical solution of the application, the total hydraulic oil tank is fixedly connected on the vehicle body, and the total hydraulic oil tank is connected with the clamping and pushing hydraulic cylinder of the joint driving mechanism, the left hydraulic cylinder of the left auxiliary joint driving mechanism, the right hydraulic cylinder of the right auxiliary joint driving mechanism, the supporting hydraulic cylinder of the supporting driving mechanism and the clamping jaw hydraulic cylinder of the oscillating clamp through the electromagnetic valve and the multiple liquid conveying hoses.

[0037] As a further improved technical solution of the application, the total controller and the power supply are further arranged on the vehicle body, the total controller is connected with the electromagnetic valve and the motor in the vehicle rotating disc respectively, and the power supply is connected with the total controller, the electromagnetic valve and the motor in the vehicle rotating disc respectively.

[0038] The application has the following beneficial effects:

[0039] The unfolded supporting tree shaking picking method of the application first pushes the left supporting joint and the right supporting joint to tightly embrace the trunk through the hydraulic cylinder, then pushes multiple direction changing supporting plates in the left supporting joint and the right supporting joint to the ground, surrounds and stabilizes the trunk, when the trunk is shaken to pick the fruit, the left supporting joint and the right supporting joint embrace and stabilize the trunk, reduce the shaking of the lower part of the trunk and the tree root, protect the trunk and the tree root, and reduce the damage of the trunk and the tree root. The oscillating clamp is suspended and connected with the vehicle body by using a flexible rope, is located above the left supporting joint and the right supporting joint, the hydraulic cylinder pushes the oscillating clamp to tightly hold the trunk, the vibrator in the large clamping body of the oscillating clamp is started, the trunk is shaken, the fruit is picked, and the suspension mode reduces the resonance of the vehicle body, can effectively promote the fruit to fall off and reduce the damage of the trunk. BRIEF DESCRIPTION OF DRAWINGS

[0040] Figure 1 It is a structural schematic view of an unfolded supporting tree shaking vehicle.

[0041] Figure 2 It is a structural schematic view of an unfolded supporting tree shaking vehicle.

[0042] Figure 3 It is a structural schematic view of an unfolded supporting tree shaking vehicle.

[0043] Figure 4 It is Figure 3 It is a local enlarged view of A.

[0044] Figure 5 It is a structural schematic view of an unfolded supporting tree shaking vehicle hidden behind the oscillating clamp.

[0045] Figure 6 For Figure 5 Local enlarged view of B.

[0046] Figure 7 For a structure diagram of a joint driving mechanism of an unfolding support tree shaking vehicle.

[0047] Figure 8 For a structure diagram of a clamping push plate in an unfolding support tree shaking vehicle.

[0048] Figure 9 For a structure diagram of an oscillating clamp in an unfolding support tree shaking vehicle. DETAILED DESCRIPTION

[0049] The specific embodiments of the present application are further described below with reference to the accompanying drawings:

[0050] As Figures 1-2 shown, an unfolding support tree shaking vehicle includes a vehicle body 1, a vehicle rotating body 2, a vehicle rotating disc 3, a support joint combination mechanism 4, and an oscillating clamp 5. The vehicle body 1 is connected to the vehicle rotating body 2 through the vehicle rotating disc 3, and the vehicle rotating disc 3 is used to drive the vehicle rotating body 2 to rotate.

[0051] The top of the vehicle rotating body 2 is connected by a suspension method to the oscillating clamp 5, which is used to clamp and oscillate the tree trunk.

[0052] As Figure 2 shown, the support joint combination mechanism 4 is located below the oscillating clamp 5, and the support joint combination mechanism 4 includes a clamping bottom plate 401, a joint driving mechanism 402, a left support joint, and a right support joint. The clamping bottom plate 401 is fixedly connected to the vehicle rotating body 2, the top of the left support joint and the top of the right support joint are both rotationally connected to the clamping bottom plate 401, the clamping bottom plate 401 is provided with the joint driving mechanism 402, and the joint driving mechanism 402 is used to drive the top of the left support joint and the top of the right support joint to approach and separate, thereby realizing clamping and releasing the tree trunk.

[0053] As Figure 2As shown, the left support joint and the right support joint are identical in structure and symmetrically arranged, each including a clamping support block 403, an inclined joint 404, a left auxiliary joint 405 located at the left side of the inclined joint 404, and a right auxiliary joint 406 located at the right side of the inclined joint 404, the top of the inclined joint 404 being fixedly connected with the clamping support block 403, the top of the left auxiliary joint 405 and the top of the right auxiliary joint 406 being rotatably connected with the clamping support block 403, the inclined joint 404 being provided with a left auxiliary joint driving mechanism 407 for pushing the left auxiliary joint 405 away from itself and a right auxiliary joint driving mechanism 408 for pushing the right auxiliary joint 406 away from itself; the inclined joint 404, the left auxiliary joint 405, and the right auxiliary joint 406 are each internally provided with a support driving mechanism 409, the output end of the support driving mechanism 409 being rotatably connected with a direction-changing support plate 410, the support driving mechanism 409 being used to drive the direction-changing support plate 410 to move towards the ground until the direction-changing support plate 410 is in close contact with the ground.

[0054] The car rotating disc 3 adopts an automatic rotating disc. The automatic rotating disc includes a motor and a rotating disc and the like. The motor is arranged in the car body 1. The car rotating disc 3 can be controlled to adjust the angle, so as to adjust the direction of the car rotating body 2.

[0055] As shown in Figure 5 The joint driving mechanism 402 includes a clamping and pushing hydraulic cylinder 4021, a left clamping handle 4022, a right clamping handle 4023, and a clamping push plate 4024. The clamping and pushing hydraulic cylinder 4021 is fixedly connected to the upper surface of the clamping bottom plate 401. The clamping push plate 4024 is slidably connected with the pushing channel on the clamping bottom plate 401. The middle part of the left clamping handle 4022 is rotatably connected with the left front side of the clamping bottom plate 401. The middle part of the right clamping handle 4023 is rotatably connected with the right front side of the clamping bottom plate 401. The front end of the left clamping handle 4022 is fixedly connected with the clamping support block 403 of the left support joint. The front end of the right clamping handle 4023 is fixedly connected with the clamping support block 403 of the right support joint.

[0056] As shown in Figure 7As shown, the left side of the clamping push plate 4024 is provided with a left inclined surface 4024A, and the right side is provided with a right inclined surface 4024B. When the clamping cooperation pushes the hydraulic cylinder 4021 to push the clamping push plate 4024 forward, the left inclined surface 4024A of the clamping push plate 4024 moves forward, thereby pushing the rear end of the left clamping crook 4022 to rotate outward, and the right inclined surface 4024B of the clamping push plate 4024 moves forward, thereby pushing the rear end of the right clamping crook 4023 to rotate outward, and finally realizing that the front end of the left clamping crook 4022 and the front end of the right clamping crook 4023 are both rotated inward, and finally realizing that the inner wall of the clamping support block 403 of the left support joint and the inner wall of the clamping support block 403 of the right support joint clamp the tree trunk. When the clamping cooperation pushes the hydraulic cylinder 4021 to drive the clamping push plate 4024 to move backward, the left inclined surface 4024A and the right inclined surface 4024B of the clamping push plate 4024 are respectively away from the rear end of the left clamping crook 4022 and the rear end of the right clamping crook 4023, and the front end of the left clamping crook 4022 and the front end of the right clamping crook 4023 have no thrust to rotate inward, and the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint have no force to clamp the trunk, that is, the trunk is loosened.

[0057] like Figure 8 As shown, the clamping push plate 4024 includes a middle strip plate 40241, a left oblique plate 40242, a left groove plate 40243, a right oblique plate 40244 and a right groove plate 40245; the two sides of the middle strip plate 40241 are fixedly connected to the left oblique plate 40242 and the right oblique plate 40244 respectively, and the left oblique plate 40242 and the right oblique plate 40244 are symmetrically arranged, and the left oblique plate 40242 is close to the left clamping turn 4022. One side is a left inclined surface 4024A, and the side of the right inclined plate 40244 near the right clamping bend 4023 is a right inclined surface 4024B. The end of the left inclined plate 40242 away from the middle strip plate 40241 is fixedly connected to the left grooved plate 40243, and the end of the right inclined plate 40244 away from the middle strip plate 40241 is fixedly connected to the right grooved plate 40245. The left grooved plate 40243 and the right grooved plate 40245 are arranged symmetrically. The groove opening of the left grooved plate 40243 faces the rear end of the left clamping bend 4022, while the groove opening of the right grooved plate 40245 faces the rear end of the right clamping bend 4023.

[0058] When the clamping and pushing hydraulic cylinder 4021 pushes the clamping push plate 4024 to move forward along the pushing channel on the clamping bottom plate 401, the rear end of the left clamping elbow 4022 is turned outward under the action of the left inclined surface 4024A of the clamping push plate 4024 (i.e., the rear end of the left clamping elbow 4022 moves along the left inclined surface 4024A of the clamping push plate 4024), thereby driving the clamping support block 403 of the left support joint to turn inward, and the rear end of the right clamping elbow 4023 is turned outward under the action of the right inclined surface 4024B of the clamping push plate 4024 (i.e., the rear end of the right clamping elbow 4023 moves along the right inclined surface 4024B of the clamping push plate 4024), thereby driving the clamping support block 403 of the right support joint to turn inward, and the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint are turned to the appropriate position and clamp the trunk.

[0059] If the outer diameter of the trunk is small, during the clamping of the trunk, the rear end of the left clamping elbow 4022 can move into the V-shaped groove of the left groove plate 40243 along the left inclined surface 4024A of the clamping push plate 4024, the V-shaped groove of the left groove plate 40243 is opened by the rear end of the left clamping elbow 4022, and the rear end of the right clamping elbow 4023 can move into the V-shaped groove of the right groove plate 40245 along the right inclined surface 4024B of the clamping push plate 4024, the V-shaped groove of the right groove plate 40245 is opened by the rear end of the right clamping elbow 4023, at this time, the inner side wall of the clamping support block 403 of the left support joint and the inner side wall of the clamping support block 403 of the right support joint clamp the trunk; when the clamping and pushing hydraulic cylinder 4021 drives the clamping push plate 4024 to move backward along the pushing channel on the clamping bottom plate 401, the rear end of the left clamping elbow 4022 can pop out of the groove of the left groove plate 40243, and the rear end of the right clamping elbow 4023 can pop out of the groove of the right groove plate 40245. The left groove plate 40243 and the right groove plate 40245 are flexible and are a kind of resilient flexible plates, and the resilience of the left clamping elbow 4022 and the right clamping elbow 4023 is slightly reset, thereby loosening the trunk.

[0060] The clamping push plate 4024 of the embodiment is arranged in the pushing channel of the clamping bottom plate 401, and is pushed forward by the clamping and pushing hydraulic cylinder 4021 to drive the left clamping elbow 4022 and the right clamping elbow 4023 to turn inward under the action of the force on the front end, thereby driving the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint to turn inward and achieve the effect of tightening the trunk.

[0061] As Figures 3-4As shown, the left auxiliary joint driving mechanism 407 adopts a left hydraulic cylinder, the cylinder body of the left hydraulic cylinder is fixedly connected to the left side of the oblique joint 404, and one end of the push rod of the left hydraulic cylinder is fixedly connected to the left embracing block 511. The inner cavity of the left embracing block 511 is rotatably connected to the convex ball on the left angle-changing ball 512 through a ball connection. The left angle-changing ball 512 includes a convex ball and an L-shaped connecting rod. The convex ball is fixedly connected to one end of the L-shaped connecting rod, and the other end of the L-shaped connecting rod is slidably connected to the long cavity 4051 on one side of the left auxiliary joint 405. The right secondary joint driving mechanism 408 adopts a right hydraulic cylinder, the cylinder body of the right hydraulic cylinder is fixedly connected to the right side of the oblique joint 404, and one end of the push rod of the right hydraulic cylinder is fixedly connected to the right embracing block 513. The right embracing block 513 is rotatably connected to the convex ball on the right angle-changing ball 514 through a ball connection. The right angle-changing ball 514 includes a convex ball and an L-shaped connecting rod. The convex ball is fixedly connected to one end of the L-shaped connecting rod, and the other end of the L-shaped connecting rod is slidably connected to the long cavity 4051 on one side of the right secondary joint 406.

[0062] The support drive mechanism 409 includes a support hydraulic cylinder. Each of the oblique joint 404, the left auxiliary joint 405, and the right auxiliary joint 406 has a cavity extending through the bottom. The support hydraulic cylinder is mounted within this cavity. The support hydraulic cylinder's push rod extends out of the cavity and connects to the lower embracing block 515. A convex ball is connected to the top of the direction-changing support plate 410. The inner cavity of the lower embracing block 515 is rotatably connected to the convex ball of the direction-changing support plate 410 via a ball joint. Each of the oblique joint 404, the left auxiliary joint 405, and the right auxiliary joint 406 has a conduit hole, through which an infusion hose is connected to the support hydraulic cylinder, thereby supplying hydraulic oil to the support hydraulic cylinder.

[0063] like Figure 9 As shown, the oscillating pliers 5 include a large nipper 501, a small nipper 502, a nipper hydraulic cylinder 503, and a counterweight 504. The handle of the large nipper 501 is provided with a push cavity, and the handle of the small nipper 502 is embedded in the push cavity of the large nipper 501 and can slide within the push cavity. The back of the small nipper 502 is connected to the push rod of the nipper hydraulic cylinder 503, and the nipper hydraulic cylinder 503 is connected to the counterweight 504. The counterweight 504 is connected to the handle of the large nipper 501 via a bar connecting rod 505. The large nipper 501 is internally equipped with a conventional eccentric mass exciter. The eccentric mass exciter contains a motor that drives the eccentric mass to rotate and achieve vibration. The counterweight 504 functions to ensure that the oscillating pliers 5 remain horizontal when suspended from the top of the vehicle swivel 2 via a flexible rope. In addition, a vertical rod is also provided on the clamping base 401, and the oscillating pliers 5 are suspended from the vertical rod via a flexible rope.

[0064] The vehicle swivel 2 is fixedly connected to a main hydraulic oil tank 6 , which is connected to each hydraulic cylinder (i.e., the left hydraulic cylinder, the right hydraulic cylinder, the support hydraulic cylinder, the clamp hydraulic cylinder 503 , etc.) through a solenoid valve group and a fluid infusion hose.

[0065] The vehicle body 1 is also provided with a main controller and a power supply. The main controller is respectively connected to the electromagnetic valve group and the motor in the automatic rotating disk. The power supply is respectively connected to the main controller, the electromagnetic valve group, the automatic rotating disk and the eccentric block vibrator, etc., to supply power to each device. The main controller is also provided with a control panel. Manually input signals to the main controller through the control panel, so that the main controller controls the electromagnetic valve group to operate and thus controls the operation of each hydraulic cylinder. The structure of the control panel adopts existing technology, and the connection relationship between the control panel, the main controller, the electromagnetic valve group and each hydraulic cylinder adopts existing technology and is not within the scope of protection of this embodiment.

[0066] The working process of this embodiment is as follows: In the initial state, the oscillating clamp 5 is placed in an empty position (appropriate position) on the vehicle body 1, not suspended on the top of the vehicle swivel 2 or above the clamping base 401. The vehicle body 1 adopts an existing commonly used crawler-type running mechanism, and the vehicle body 1 can be driven to a designated position by manual driving or remote control. If remote control is used, that is, the remote control device is wirelessly connected to the main controller, and the main controller is connected to the motor in the crawler-type running mechanism. The human sends a signal to the main controller through the remote control device, and the main controller controls the movement of the motor in the crawler-type running mechanism, thereby achieving steering and travel. After reaching the appropriate position, the human inputs a signal to the main controller through the control panel, and the main controller controls the rotation of the vehicle turntable 3 to adjust the direction of the vehicle swivel 2. Finally, the gap between the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint on the vehicle swivel 2 is made to face the tree trunk; the vehicle body 1 continues to move forward, and the tree trunk enters the gap between the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint; thereafter, the manual input signal is input to the main controller through the control panel, and the main controller controls the clamping and pushing hydraulic cylinder 4021 to push the clamping push plate 4024 forward by controlling the solenoid valve group, thereby pushing the rear ends of the left clamping crook 4022 and the right clamping crook 4023 to be clamped. The force rotates outward, and the front ends of the left clamping crook 4022 and the right clamping crook 4023 are forced to rotate inward, thereby driving the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint to rotate inward and thus clamp the tree trunk; the clamping surfaces of the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint can be provided with pressure sensors, and the pressure sensors can feedback signals to the main controller so that the main controller can judge whether the clamping support block 403 of the left support joint and the clamping support block 403 of the right support joint are clamped on the tree trunk. After clamping the tree trunk, Figure 4As shown, the pushing rod of the left hydraulic cylinder applies a pushing force to the left embracing block 511, the left embracing block 511 transmits the pushing force to the left angle-changing ball 512, the left angle-changing ball 512 rotates in the inner cavity of the left embracing block 511, and the long cavity 4051 on the side surface of the left auxiliary joint 405 of the L-shaped connecting rod of the left angle-changing ball 512 slides, so as to realize the pushing of the left auxiliary joint 405 to rotate away from the oblique joint 404, at the same time, the pushing rod of the right hydraulic cylinder applies a pushing force to the right embracing block 513, the right embracing block 513 transmits the pushing force to the right angle-changing ball 514, the right angle-changing ball 514 rotates in the inner cavity of the right embracing block 513, and the long cavity 4051 on the side surface of the right auxiliary joint 406 of the L-shaped connecting rod of the right angle-changing ball 514 slides, so as to realize the pushing of the right auxiliary joint 406 to rotate away from the oblique joint 404; that is, the left auxiliary joint 405 and the right auxiliary joint 406 are in an open state (i.e. in an unfolded state, after the oblique joint 404, the left auxiliary joint 405 and the right auxiliary joint 406 are unfolded, they are supported on the ground by the support hydraulic cylinders and the direction-changing support plates 410); after being opened to a preset position, the total controller controls the electromagnetic valve group, so as to control the total hydraulic oil tank 6 to deliver liquid to the support hydraulic cylinders in the oblique joint 404, the left auxiliary joint 405 and the right auxiliary joint 406 through the liquid delivery hose, the pushing rod of the support hydraulic cylinder pushes the lower embracing block 515, the lower embracing block 515 pushes the convex ball of the direction-changing support plate 410, under the action of the rotation connection between the inner cavity of the lower embracing block 515 and the convex ball of the direction-changing support plate 410, the direction-changing support plate 410 moves towards the ground, and finally the bottom of the direction-changing support plate 410 is in close contact with the ground, and the bottom of the direction-changing support plate 410 is a disc surface. The bottom of the direction-changing support plate 410 can also be provided with a pressure sensor, which feeds back signals to the total controller in real time, and the total controller can judge whether the bottom of the direction-changing support plate 410 is in close contact with the ground through the signals fed back by the pressure sensor, and after close contact, the total controller controls the pushing rod of the support hydraulic cylinder to stop moving downward. After the bottoms of all the direction-changing support plates 410 are in close contact with the ground, the oscillating tongs 5 are manually suspended and connected to the car body 2 by flexible ropes, or the oscillating tongs 5 are suspended and connected to the vertical rods on the bottom plate 401 by flexible ropes, and in the process of suspension, the tree trunk is kept between the large tong plate 501 and the small tong plate 502, and the oscillating tongs 5 are kept in a horizontal state as much as possible. Figure 9As shown, the artificial inputs signals to the general controller through the control panel, the general controller controls the electromagnetic valve group to control the action of the clamp plate hydraulic cylinder 503, the clamp plate hydraulic cylinder 503 pushes the small clamp plate 502 to move so that the trunk is clamped by the small clamp plate 502 and the large clamp plate 501, the clamping surfaces of the small clamp plate 502 and the large clamp plate 501 can be provided with pressure sensors, the pressure sensors feed back signals to the general controller in real time, the general controller can judge whether the small clamp plate 502 and the large clamp plate 501 clamp the trunk through the signals fed back by the pressure sensors, after clamping the trunk, the general controller controls the motor in the eccentric block exciter in the large clamp plate 501 to move, and performs vibration (oscillation) operation on the trunk to realize the picking of the fruits. After the operation is completed, the artificial inputs signals to the general controller through the control panel, the general controller controls the clamp plate hydraulic cylinder 503 in the oscillation clamp 5 to reset, the eccentric block exciter stops working, the flexible rope is loosened, the oscillation clamp 5 is detached from the flexible rope, and then the artificial inputs signals to the general controller through the control panel, the general controller controls each hydraulic cylinder to reset.

[0067] The embodiment also provides a spread type support tree shaking vehicle based on the above spread type support tree shaking vehicle.

[0068] Step 1, drive the joint driving mechanism 402 in the support joint combination mechanism 4 to drive the top of the left support joint and the top of the right support joint to be close to each other to realize clamping of the top of the left support joint and the top of the right support joint to the trunk; specifically,

[0069] Start the clamping and taking cooperation pushing hydraulic cylinder 4021, the clamping and taking cooperation pushing hydraulic cylinder 4021 pushes the clamping push plate 4024 to move forward, the left inclined surface 4024A of the clamping push plate 4024 moves forward to push the rear end of the left clamping elbow 4022 to rotate outward, the right inclined surface 4024B of the clamping push plate 4024 moves forward to push the rear end of the right clamping elbow 4023 to rotate outward, the front end of the left clamping elbow 4022 and the front end of the right clamping elbow 4023 both rotate inward, and finally realize clamping of the clamping support blocks 403 of the left support joint and the clamping support blocks 403 of the right support joint to the trunk.

[0070] Step 2, after the multiple joints in the left support joint are opened and then elongated, support to the ground, after the multiple joints in the right support joint are opened and then elongated, support to the ground; specifically,

[0071] In the left support joint: the left auxiliary joint driving mechanism 407 drives the left auxiliary joint 405 to rotate on the clamping support block 403, so that the left auxiliary joint 405 is away from the inclined joint 404; the right auxiliary joint driving mechanism 408 drives the right auxiliary joint 406 to rotate on the clamping support block 403, so that the right auxiliary joint 406 is away from the inclined joint 404; the left auxiliary joint 405, the inclined joint 404 and the right auxiliary joint 406 are in an open state as a whole, and after being opened to a preset position, the support driving mechanism 409 in the left auxiliary joint 405, the inclined joint 404 and the right auxiliary joint 406 drives the direction-changing support plate 410 to move towards the ground until the direction-changing support plate 410 is in close contact with the ground, that is, the direction-changing support plate 410 is supported on the ground.

[0072] At the same time, in the right support joint: the left auxiliary joint driving mechanism 407 drives the left auxiliary joint 405 to rotate on the clamping support block 403, so that the left auxiliary joint 405 is away from the inclined joint 404; the right auxiliary joint driving mechanism 408 drives the right auxiliary joint 406 to rotate on the clamping support block 403, so that the right auxiliary joint 406 is away from the inclined joint 404; the left auxiliary joint 405, the inclined joint 404 and the right auxiliary joint 406 are in an open state as a whole, and after being opened to a preset position, the support driving mechanism 409 in the left auxiliary joint 405, the inclined joint 404 and the right auxiliary joint 406 drives the direction-changing support plate 410 to move towards the ground until the direction-changing support plate 410 is in close contact with the ground, that is, the direction-changing support plate 410 is supported on the ground.

[0073] Step 3: The cylinder body in the plier plate hydraulic cylinder 503 of the oscillating pliers 5 is suspended on the top of the car body 2 through a flexible rope; and the oscillating pliers 5 are located above the support joint combination mechanism 4.

[0074] Step 4: The plier plate hydraulic cylinder 503 is started, the plier plate hydraulic cylinder 503 pushes the small plier plate 502 to slide in the pushing cavity of the large plier plate 501, so that the small plier plate 502 and the large plier plate 501 clamp the tree trunk. The eccentric block exciter is started, the eccentric block exciter drives the large plier plate 501 to vibrate, the vibration force is transmitted to the tree trunk, and the fruit picking is realized.

[0075] Step 5: After the picking is completed, the plier plate hydraulic cylinder 503 in the oscillating pliers 5 is reset, the oscillating pliers 5 are removed, and each hydraulic cylinder in the support joint combination mechanism 4 is reset.

[0076] In the process of clamping the trunk in step 1, if the rear end of the left clamping elbow 4022 can move into the V-shaped groove of the left groove plate 40243 along the left inclined surface 4024A of the clamping push plate 4024, the V-shaped groove of the left groove plate 40243 is opened by the rear end of the left clamping elbow 4022, if the rear end of the right clamping elbow 4023 can move into the V-shaped groove of the right groove plate 40245 along the right inclined surface 4024B of the clamping push plate 4024, the V-shaped groove of the right groove plate 40245 is opened by the rear end of the right clamping elbow 4023, and the clamping support blocks 403 of the left support joints and the clamping support blocks 403 of the right support joints clamp the trunk;

[0077] Then, the support joint combination mechanism 4 is reset, including:

[0078] The clamping cooperation push hydraulic cylinder 4021 drives the clamping push plate 4024 to move backward along the push channel on the clamping bottom plate 401, the rear end of the left clamping elbow 4022 is bounced out of the groove of the left groove plate 40243, the rear end of the right clamping elbow 4023 is bounced out of the groove of the right groove plate 40245, and the bouncing force of the groove makes the left clamping elbow 4022 and the right clamping elbow 4023 slightly reset, so that the clamping support blocks 403 of the left support joints and the clamping support blocks 403 of the right support joints loosen the trunk.

[0079] The protection scope of the present application includes but is not limited to the above embodiments, the protection scope of the present application is subject to the claims, any replacement, deformation, improvement of the present technology easily thought by the skilled in the art falls within the protection scope of the present application.

Claims

1. A method for picking trees by expanding support and shaking, characterized by: The invention relates to a method for picking fruits by using a tree-shaking vehicle, wherein the tree-shaking vehicle comprises a vehicle body (1); the vehicle body (1) is connected to a vehicle rotating body (2) via a vehicle turntable (3), and the vehicle turntable (3) is used to drive the vehicle rotating body (2) to rotate; and a supporting joint assembly mechanism (4) is installed on the vehicle rotating body (2); Fruit picking is achieved by tree shaking car, specifically: Step 1: The joint driving mechanism (402) in the supporting joint assembly mechanism (4) drives the top of the left supporting joint and the top of the right supporting joint to approach each other so that the top of the left supporting joint and the top of the right supporting joint clamp the tree trunk; Step 2: Open and extend multiple joints in the left supporting joint to support the ground, and open and extend multiple joints in the right supporting joint to support the ground; Step 3: suspend the oscillating clamp (5) on the top of the vehicle swivel (2), and the oscillating clamp (5) is located above the supporting joint assembly mechanism (4); Step 4, starting the oscillating clamp (5), the oscillating clamp (5) clamps the tree trunk to generate vibration, thereby picking the fruit; Step 5: After the picking is completed, the oscillating clamp (5) is removed and the supporting joint assembly mechanism (4) is reset.

2. The method for picking trees by expanding support and shaking according to claim 1, characterized in that: The support joint assembly mechanism (4) comprises a clamping base plate (401), a joint driving mechanism (402), a left support joint and a right support joint. The clamping base plate (401) is connected to the vehicle swivel (2). The tops of the left support joint and the right support joint are both rotatably connected to the clamping base plate (401). The clamping base plate (401) is provided with a joint driving mechanism (402). The joint driving mechanism (402) is used to drive the top of the left support joint and the top of the right support joint to move closer to and apart from each other, thereby enabling the top of the left support joint and the top of the right support joint to clamp and release the tree trunk.

3. The method for picking trees by expanding support and shaking according to claim 2, characterized in that: The left support joint and the right support joint have the same structure and are symmetrically arranged, and both include a clamping support block (403) and a plurality of joints; the plurality of joints include an oblique joint (404) each of which is provided with a support drive mechanism (409), a left sub-joint (405) and a right sub-joint (406); the top of the oblique joint (404) is fixedly connected to the clamping support block (403); the tops of the left sub-joint (405) and the right sub-joint (406) are respectively rotatably connected to the clamping support block (403); the oblique joint (404) is provided with a mechanism for pushing the left sub-joint (405) to move far away; A left sub-joint driving mechanism (407) for moving away from the body and a right sub-joint driving mechanism (408) for pushing the right sub-joint (406) away from the body; a support driving mechanism (409) is provided inside the oblique joint (404), the left sub-joint (405) and the right sub-joint (406); an output end of the support driving mechanism (409) is rotatably connected to the direction-changing support plate (410), and the support driving mechanism (409) is used to drive the direction-changing support plate (410) to move in a direction close to the ground until the direction-changing support plate (410) is in close contact with the ground; Step 2 is as follows: In the left supporting joint: the left auxiliary joint driving mechanism (407) drives the left auxiliary joint (405) to rotate on the clamping support block (403) so that the left auxiliary joint (405) is away from the oblique joint (404); The right sub-joint driving mechanism (408) drives the right sub-joint (406) to rotate on the clamping support block (403), thereby moving the right sub-joint (406) away from the oblique joint (404); the left sub-joint (405), the oblique joint (404) and the right sub-joint (406) are in an open state as a whole. After opening to a preset position, the support driving mechanism (409) in the left sub-joint (405), the oblique joint (404) and the right sub-joint (406) drives the direction-changing support plate (410) to move in a direction close to the ground until the direction-changing support plate (410) is in close contact with the ground, that is, the direction-changing support plate (410) is supported on the ground; At the same time, in the right supporting joint: the left auxiliary joint driving mechanism (407) drives the left auxiliary joint (405) to rotate on the clamping support block (403) so that the left auxiliary joint (405) is away from the oblique joint (404); The right sub-joint driving mechanism (408) drives the right sub-joint (406) to rotate on the clamping support block (403), thereby moving the right sub-joint (406) away from the oblique joint (404); the left sub-joint (405), the oblique joint (404) and the right sub-joint (406) are in an open state as a whole. After opening to a preset position, the support driving mechanism (409) in the left sub-joint (405), the oblique joint (404) and the right sub-joint (406) drives the direction-changing support plate (410) to move in a direction close to the ground until the direction-changing support plate (410) is in close contact with the ground, that is, the direction-changing support plate (410) is supported on the ground.

4. The method for picking trees by expanding support and shaking according to claim 2, characterized in that: The joint driving mechanism (402) comprises a clamping and cooperating pushing hydraulic cylinder (4021), a left clamping crook (4022), a right clamping crook (4023) and a clamping push plate (4024), wherein the clamping and cooperating pushing hydraulic cylinder (4021) is arranged on the upper surface of the clamping base plate (401), the clamping push plate (4024) is slidably connected to the pushing channel on the clamping base plate (401), the middle part of the left clamping crook (4022) is rotatably connected to the left front side of the clamping base plate (401), the middle part of the right clamping crook (4023) is rotatably connected to the right front side of the clamping base plate (401), the front end of the left clamping crook (4022) is fixedly connected to the clamping support block (403) of the left support joint, and the front end of the right clamping crook (4023) is fixedly connected to the clamping support block (403) of the right support joint; The left side of the clamping and pushing plate (4024) is provided with a left inclined surface (4024A), and the right side is provided with a right inclined surface (4024B); The step 1 is specifically as follows: The clamping cooperation pushing hydraulic cylinder (4021) is started, and the clamping cooperation pushing hydraulic cylinder (4021) pushes the clamping push plate (4024) to move forward, and the left inclined surface (4024A) of the clamping push plate (4024) moves forward, thereby pushing the rear end of the left clamping crutch (4022) to rotate outward, and the right inclined surface (4024B) of the clamping push plate (4024) moves forward, thereby pushing the rear end of the right clamping crutch (4023) to rotate outward, and the front end of the left clamping crutch (4022) and the front end of the right clamping crutch (4023) are both rotated inward, and finally the clamping support block (403) of the left support joint and the clamping support block (403) of the right support joint clamp the tree trunk.

5. The method for picking trees by expanding support and shaking according to claim 4, characterized in that: The clamping push plate (4024) comprises a middle strip plate (40241), a left oblique plate (40242), a left groove plate (40243), a right oblique plate (40244) and a right groove plate (40245); the two sides of the middle strip plate (40241) are respectively fixedly connected to the left oblique plate (40242) and the right oblique plate (40244), the left oblique plate (40242) and the right oblique plate (40244) are symmetrically arranged, and the side surface of the left oblique plate (40242) close to the left clamping bend (4022) is the left An inclined surface (4024A) is provided, and a side surface of the right inclined plate (40244) close to the right clamping corner (4023) is a right inclined surface (4024B). A left grooved plate (40243) is fixedly connected to a corner position of one end of the left inclined plate (40242) away from the middle strip plate (40241). A right grooved plate (40245) is fixedly connected to a corner position of one end of the right inclined plate (40244) away from the middle strip plate (40241). The left grooved plate (40243) and the right grooved plate (40245) are symmetrically arranged. The groove opening of the left groove plate (40243) faces the rear end of the left clamping bend (4022), and the groove opening of the right groove plate (40245) faces the rear end of the right clamping bend (4023); During the process of clamping the tree trunk in step 1, if the rear end of the left clamping crook (4022) moves along the left inclined surface (4024A) of the clamping push plate (4024) into the V-shaped groove of the left groove plate (40243), the V-shaped groove of the left groove plate (40243) is opened by the rear end of the left clamping crook (4022); if the rear end of the right clamping crook (4023) moves along the right inclined surface (4024B) of the clamping push plate (4024) into the V-shaped groove of the right groove plate (40245), the V-shaped groove of the right groove plate (40245) is opened by the rear end of the right clamping crook (4023), and the clamping support block (403) of the left support joint and the clamping support block (403) of the right support joint clamp the tree trunk; Then, the supporting joint assembly mechanism (4) is reset, including: The clamping cooperation pushes the hydraulic cylinder (4021) to drive the clamping push plate (4024) to move backward along the push channel on the clamping base plate (401), and the rear end of the left clamping crook (4022) pops out from the groove of the left groove plate (40243), and the rear end of the right clamping crook (4023) pops out from the groove of the right groove plate (40245). The rebound force of the groove causes the left clamping crook (4022) and the right clamping crook (4023) to slightly reset, thereby causing the clamping support block (403) of the left support joint and the clamping support block (403) of the right support joint to release the trunk.

6. The unfolded support shaking tree picking method according to claim 3, characterized in that: The left auxiliary joint driving mechanism (407) adopts a left hydraulic cylinder, the cylinder body of the left hydraulic cylinder is fixedly connected to the left side of the oblique joint (404), one end of the push rod of the left hydraulic cylinder is provided with a left embracing block (511), the inner cavity of the left embracing block (511) is rotatably connected to the convex ball on the left angle-changing ball (512) through a ball connection, the left angle-changing ball (512) comprises a convex ball and an L-shaped connecting rod, the convex ball is fixedly connected to one end of the L-shaped connecting rod, and the other end of the L-shaped connecting rod is slidably connected to the long cavity (4051) on one side of the left auxiliary joint (405); The right secondary joint driving mechanism (408) adopts a right hydraulic cylinder, the cylinder body of the right hydraulic cylinder is fixedly connected to the right side of the oblique joint (404), one end of the push rod of the right hydraulic cylinder is provided with a right embracing block (513), the right embracing block (513) is rotatably connected to the convex ball on the right angle-changing ball (514) through a ball connection, the right angle-changing ball (514) comprises a convex ball and an L-shaped connecting rod, the convex ball is fixedly connected to one end of the L-shaped connecting rod, and the other end of the L-shaped connecting rod is slidably connected to the long cavity (4051) on one side of the right secondary joint (406).

7. The method for picking trees by expanding support and shaking according to claim 6, characterized in that: The support drive mechanism (409) includes a support hydraulic cylinder. The oblique joint (404), the left auxiliary joint (405) and the right auxiliary joint (406) are each provided with a cavity penetrating the bottom. The support hydraulic cylinder is installed in the cavity. The push rod of the support hydraulic cylinder extends out of the cavity and is connected to the lower embracing block (515). The top of the direction-changing support plate (410) is connected to a convex ball. The inner cavity of the lower embracing block (515) and the convex ball of the direction-changing support plate (410) are rotatably connected through a ball connection.

8. The expansion support picking method according to claim 7, characterized in that: The oscillating pliers (5) include a large pliers plate (501), a small pliers plate (502), a pliers plate hydraulic cylinder (503) and a counterweight (504); the handle of the large pliers plate (501) is provided with a pushing cavity; the handle of the small pliers plate (502) is embedded in the pushing cavity of the large pliers plate (501) and can slide in the pushing cavity; the back of the small pliers plate (502) is connected to the pushing rod of the pliers plate hydraulic cylinder (503); the pliers plate hydraulic cylinder (503) is connected to the counterweight (504); the counterweight (504) is connected to the handle of the large pliers plate (501) via a strip connecting rod (505); an eccentric block exciter is provided inside the large pliers plate (501); The step 3 includes: The cylinder body of the clamp plate hydraulic cylinder (503) of the oscillating clamp (5) is suspended on the top of the vehicle swivel (2) through a flexible rope; The step 4 includes: The clamp plate hydraulic cylinder (503) is started, and the clamp plate hydraulic cylinder (503) pushes the small clamp plate (502) to slide in the pushing cavity of the large clamp plate (501), so that the small clamp plate (502) and the large clamp plate (501) clamp the tree trunk; The eccentric block vibrator is started, and the eccentric block vibrator drives the large clamp plate (501) to vibrate, and the vibration force is transmitted to the tree trunk, thereby achieving fruit picking.

9. The unfolded support shaking tree picking method according to claim 8, characterized in that: A main hydraulic oil tank (6) is fixedly connected to the vehicle swivel (2). The main hydraulic oil tank (6) is connected to the clamping and cooperating hydraulic cylinder (4021) of the joint driving mechanism (402), the left hydraulic cylinder of the left auxiliary joint driving mechanism (407), the right hydraulic cylinder of the right auxiliary joint driving mechanism (408), the supporting hydraulic cylinder of the supporting driving mechanism (409), and the clamp plate hydraulic cylinder (503) of the oscillating clamp (5) through a solenoid valve and a plurality of infusion hoses.

10. The unfolded support shaking tree picking method according to claim 9, characterized in that: The vehicle body (1) is also provided with a master controller and a power supply. The master controller is respectively connected to the electromagnetic valve and the motor in the vehicle turntable (3). The power supply is respectively connected to the master controller, the electromagnetic valve and the motor in the vehicle turntable (3).

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