Vibration picking machine suitable for steep hills and mountains

Abstract

The invention provides a vibration picking machine suitable for steep hills and mountains, which is low in center of gravity, high in gradeability, free of rollover and applicable to picking environments such as mountains and hills. The crawler-type robot is provided with a crawler-type vehicle body, an excitation clamping mechanism, a cantilever lifting mechanism, a pitching mechanism and a side tilting mechanism. The cantilever lifting mechanism comprises a gate-type cantilever and a lifting hydraulic cylinder; the door type cantilever comprises two longitudinal arms and a main supporting pipe, the two longitudinal arms are located between the two crawler belts, and the rear ends of the two longitudinal arms are hinged to the rear portion of the vehicle body; the portion, between the front ends of the two crawler belts, of the vehicle body is in a concave shape, and the rear portion of the excitation clamping mechanism is located in the concave portion. A gasoline engine and a hydraulic pump driven by the gasoline engine are arranged above the rear part of the vehicle body, a hydraulic oil tank arranged on the vehicle body is arranged in front of the gasoline engine, and a hydraulic valve group is arranged above the hydraulic oil tank; the gasoline engine, the hydraulic pump, the hydraulic oil tank and the hydraulic valve bank are all located between the two longitudinal arms of the portal suspension.

Description

Technical Field

[0001] This invention relates to a vibrating harvester, and more particularly to a vibrating harvester suitable for harvesting environments such as hilly and mountainous areas. Background Technology

[0002] my country's fruit tree industry is well-developed, but most trees are planted in mountainous and hilly areas. Due to the rugged terrain and tall trees, harvesting is difficult, inefficient, time-consuming, and costly. Currently, there are two main methods: manual harvesting and machine harvesting. Manual harvesting mainly involves using tree ladders, powered lifting platforms, etc., and using wooden sticks or bamboo poles to knock the branches containing the fruit or directly striking the fruit to make it fall. Manual harvesting is very dangerous for harvesters, and it can damage branches and buds, affecting next year's yield. It does not effectively improve harvesting efficiency or reduce labor costs. Summary of the Invention

[0003] To address the shortcomings of the existing technology, this invention provides a vibrating harvester suitable for steep hilly terrain. It has a low center of gravity, strong climbing ability, and will not tip over, making it suitable for harvesting environments such as mountains and hills.

[0004] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows: A vibratory harvesting machine suitable for steep hilly terrain includes a tracked chassis, a vibration clamping mechanism for gripping tree trunks or branches and vibrating them, the tracked chassis including tracks on both sides for driving the chassis to move, a track drive device, a cantilever lifting mechanism, a pitching mechanism, and a tilting mechanism. The cantilever lifting mechanism includes a gantry cantilever and a lifting hydraulic cylinder; the gantry cantilever includes two longitudinal arms extending longitudinally parallel to the track direction, a main support tube connected between the front ends of the two longitudinal arms, the two longitudinal arms are located between the two tracks, and the rear ends of the two longitudinal arms are hinged to the rear of the vehicle body; the cylinder body and piston rod of the lifting hydraulic cylinder are respectively hinged to the longitudinal arms and the vehicle body to drive the gantry cantilever to swing up and down around the hinge axis of the longitudinal beam relative to the vehicle body; The pitch mechanism includes a pitch frame and a pitch hydraulic cylinder; the rear of the pitch frame is hinged to the main support tube, and the cylinder body and piston rod of the pitch hydraulic cylinder are respectively hinged to the pitch frame and the main support tube to drive the pitch frame to swing up and down relative to the main support tube. The tilt mechanism includes a suspension frame and a tilt hydraulic cylinder; the rear of the suspension frame is hinged to the pitch frame, and the cylinder body and piston rod of the tilt hydraulic cylinder are respectively hinged to the suspension frame and the pitch frame to drive the suspension frame to swing left and right relative to the pitch frame. A vibration clamping mechanism is installed below the suspension frame; the part of the vehicle body between the front ends of the two tracks is recessed, and the rear part of the vibration clamping mechanism is located in the recessed part. A gasoline engine and a hydraulic pump driven by the gasoline engine are located on the upper rear of the vehicle body. A hydraulic oil tank is located on the vehicle body in front of the gasoline engine, and a hydraulic valve group is located above the hydraulic oil tank. The gasoline engine, hydraulic pump, hydraulic oil tank, and hydraulic valve group are all located between the two trailing arms of the portal suspension.

[0005] As a further improvement to the aforementioned vibratory harvester suitable for steep hilly terrain, it also includes a hydraulic oil cooler located on the side of the hydraulic oil tank on the vehicle body, between the two longitudinal arms.

[0006] As a further improvement to the aforementioned vibratory harvester suitable for steep hilly terrain, a shock-absorbing device is connected to the excitation clamping mechanism below the suspension frame. The shock-absorbing device is a hanging spring shock absorber. As a further improvement to the above-mentioned vibratory harvester suitable for steep hilly terrain, the excitation clamping mechanism includes an excitation housing, an eccentric block shaft rotatably mounted on the excitation housing, an eccentric block connected to the eccentric block shaft, an excitation hydraulic motor that drives the eccentric block shaft to rotate, two movable clamping plates hinged to the front end of the excitation housing, and two clamping hydraulic cylinders that drive the two movable clamping plates to swing and open and close to release or clamp the trunk or branches; the cylinder body and piston rod of each clamping hydraulic cylinder are respectively hinged to the excitation housing and a movable clamping plate.

[0007] As a further improvement to the above-mentioned vibratory harvester suitable for steep hilly terrain, the front ends of the two opposing moving clamps have staggered notches. When the two moving clamps are closed, the front ends are crossed. The excitation shell between the two moving clamps and the rear of the two moving clamps forms a triangle that clamps the trunk or branches, and the size of the triangle can be changed to adapt to trunks of different thicknesses.

[0008] As a further improvement to the aforementioned vibratory harvester suitable for steep hilly terrain, the track drive device includes drive wheels, tension wheels, support wheels, floating wheels, and trailing wheels located on both sides of the vehicle body. Each drive wheel is connected to a travel hydraulic motor that drives its rotation.

[0009] As a further improvement to the aforementioned vibratory harvester suitable for steep hilly terrain, it includes an electronic control system located at the front of the vehicle body. The electronic control system is electrically connected to the hydraulic valve group and is used to control the actions of the travel hydraulic motor, the excitation hydraulic motor, the lifting hydraulic cylinder, the pitch hydraulic cylinder, the tilt hydraulic cylinder, and the clamping hydraulic cylinder.

[0010] As a further improvement to the aforementioned vibratory harvester suitable for steep hilly terrain, the electronic control system includes a battery and a remote control signal receiver, which are located at the front of the vehicle body and between the two longitudinal arms. It also includes a remote controller that can communicate wirelessly with the electronic control system. The operator communicates with the electronic control system through the remote controller to remotely control the actions of the walking hydraulic motor, the excitation hydraulic motor, the lifting hydraulic cylinder, the pitching hydraulic cylinder, the tilting hydraulic cylinder, and the clamping hydraulic cylinder.

[0011] The beneficial effects of this invention are: The vibratory harvester has two modes: First, in walking mode, the gantry cantilever is lowered to its lowest position, resulting in a very low center of gravity and allowing it to adapt to hilly and mountainous terrain due to its strong power and good maneuverability. Second, in vibration mode, the gantry cantilever adjusts its height according to the required clamping height of the target tree trunk to perform clamping and vibration operations. Through highly stable power transmission and a large vibration force, the fruit is forcefully removed from the branches.

[0012] The machine has a low center of gravity, strong power, and good passability. Especially when moving, the vibration clamping mechanism, hydraulic oil tank (including the hydraulic valve group above the hydraulic oil tank), and gasoline engine are basically arranged in a horizontal plane. At the same time, the rear-mounted gasoline engine and the front vibration clamping mechanism, such as the hydraulic oil tank, are basically balanced in terms of gravity. In addition, the rear of the vibration clamping mechanism is located in a recessed part at the front of the vehicle body, which significantly reduces the overall height and center of gravity of the machine. Under conditions with a high coefficient of ground friction, it can theoretically climb a 55° longitudinal slope and adapt to a 50° lateral slope.

[0013] The swinging portal cantilever allows the vibration clamping mechanism to change its height position to adapt to different vibration heights. It also allows the vibration clamping mechanism to move to the recessed part at the front of the vehicle body, which means that during vibration harvesting, the clamping mechanism and the tree trunk are located in the recessed part at the front of the two tracks, improving the reliability and stability of the system. Moreover, the portal suspension composed of two longitudinal arms and one main support tube makes efficient use of the area of ​​the upper part of the vehicle body. The gasoline engine, hydraulic oil tank, hydraulic valve group, hydraulic oil cooler, etc. can be arranged between the two longitudinal arms without hindering the lifting (swinging) of the portal cantilever.

[0014] The pitching mechanism can drive the excitation clamping mechanism to change its angle in the vertical plane, and the tilting mechanism can drive the excitation clamping mechanism to change its angle in the horizontal plane, thereby adapting to tree trunks or branches with different growth directions. This basically ensures that the clamped tree trunk or branch is perpendicular to the excitation direction (i.e., the radial direction of the eccentric block shaft) in the excitation clamping mechanism, improving the vibration effect and reducing bark damage.

[0015] The shock absorption device can effectively reduce the vibration transmitted from the excitation clamping mechanism to the suspension frame, pitch frame, vehicle body, etc. There are various types of shock absorption devices, such as rubber dampers, but the suspension spring shock absorber of this invention has a better shock absorption effect.

[0016] Hydraulic oil coolers (which are existing technologies) can cool and dissipate heat from hydraulic oil.

[0017] When the two moving clamps are closed, their front ends cross, and the vibrating shell between the two moving clamps and their rear ends forms a triangle that clamps the tree trunk or branches. This allows for the effective clamping of tree trunks or branches of different diameters, expanding the range of applications.

[0018] The track drive system features a ground contact length-to-width ratio close to 1, combined with an ultra-low center of gravity layout, which theoretically makes the machine suitable for operation on 50° steep slopes, greatly improving its applicability in mountainous areas.

[0019] The vibration hydraulic motor drives the eccentric block shaft with eccentric blocks to rotate, generating vibration force, which is existing technology.

[0020] The electrical control system (including the battery and remote control signal receiver), remote controller, hydraulic pump, hydraulic valve group, hydraulic cylinder (lifting hydraulic cylinder, pitching hydraulic cylinder, tilting hydraulic cylinder, clamping hydraulic cylinder), hydraulic motor (travel hydraulic motor, vibration hydraulic motor) and the structure connecting them to each other are all existing technologies.

[0021] The vibration clamping mechanism is suitable for a wide range of tree trunk diameters and heights, and its tilt angle is adjustable. The clamping mechanism, composed of movable clamping plates, is used to clamp the tree trunk. The two movable clamping plates, driven by clamping hydraulic cylinders, can achieve rapid clamping of tree trunks with diameters ranging from 10cm to 35cm. Through the combined adjustment of the gantry cantilever, lifting hydraulic cylinder, tilting frame, and tilting hydraulic cylinder, the clamping height of the vibration clamping mechanism can be varied from 30cm to 90cm (ground clearance). A tilting hydraulic cylinder allows for a tilt angle of ±15°.

[0022] It features a wide frequency range and high excitation force. The eccentric block is directly driven by the excitation hydraulic motor through the eccentric block shaft, with an excitation frequency range of 10-25 Hz. The number of eccentric blocks can be easily disassembled and replaced to adapt to the excitation force required for different diameters and types of fruit trees.

[0023] Flexible clamping and connection. The movable clamping plate and clamping base plate are fixed with rubber pads by bolts at the contact points with the tree trunk, which can increase the contact area with the tree, reduce damage to the bark surface, and also increase friction, making it less likely for the clamping device to slip off the tree. The vibration clamping mechanism is connected to the suspension frame through a hanging spring shock absorber, which can significantly reduce the transmission of vibration force to the vehicle body.

[0024] Equipped with a 20-horsepower gasoline engine and a pair of 400-liter hydraulic motors for travel, each with a maximum torque of 500 Nm, the machine is 0.8 meters high. The vibration device is lowered during travel, resulting in a low center of gravity. Theoretically, it can climb a 55° slope longitudinally and adapt to a 50° slope laterally when the ground friction coefficient is high. Attached Figure Description

[0025] Figure 1 , 2 Figures 2 and 3 are overall structural diagrams of a vibratory harvester suitable for hilly and mountainous areas; Figure 4 This is a diagram showing the layout of the gasoline engine, hydraulic oil tank, etc., on the vehicle body. Figure 5 , 6 These are all schematic diagrams of cantilever lifting mechanisms, vibration clamping mechanisms, etc. Figure 7 Three-dimensional diagrams of the suspension frame, vibration clamping mechanism, etc. Figure 8 This is a schematic diagram of the vibration clamping mechanism when the moving clamps cross. Figure 9 This is a schematic diagram of the excitation clamping mechanism (with part of the excitation housing removed). Figure 10 , 11 Figures 1 and 12 are structural diagrams of the pitching frame and tilting mechanism.

[0026] In the figure, the tracked vehicle body 1, the vehicle body 11, the track 12, the track drive device 13, the drive wheel 131, the tension wheel 132, the track roller 133, the floating wheel 134, the towing wheel 135, the travel hydraulic motor 136, and the recess 14 are shown. 2. Cantilever lifting mechanism; 21. Lifting hydraulic cylinder; 22. Main support tube (horizontal arm); 23. Longitudinal arm; Pitch mechanism 3, pitch hydraulic cylinder 31, pitch frame 32, first pin 33; Side tilting mechanism 4, side tilting hydraulic cylinder 41, suspension frame 42, second pin 43.

[0027] Spring shock absorber 7, guide shaft 71, shock absorber frame 72, spring 73; Vibration clamping mechanism 5, vibration housing 51, eccentric block shaft 52, eccentric block 53, vibration hydraulic motor 54, moving clamping plate 55, clamping hydraulic cylinder 56, notch 57, clamping base plate 58, rubber pad 59; 8. Power mechanism; 81. Gasoline engine; 82. Hydraulic pump; 83. Hydraulic oil tank; 84. Hydraulic valve group; 85. Hydraulic oil cooler; 91. Storage battery; 92. Remote control signal receiver. Detailed Implementation

[0028] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0029] See Figure 1-3 A vibratory harvester suitable for steep hilly terrain, comprising a tracked vehicle body 1, a cantilever lifting mechanism 2, a pitching mechanism 3, a tilting mechanism 4, a vibration clamping mechanism 5, a suspended spring shock absorber 7, a power mechanism 8, and an electrical control system.

[0030] The tracked vehicle body 1 includes tracks 12 and track drive devices 13 arranged on both sides of the vehicle body 11 for driving the vehicle body to move. The track drive device 13 includes drive wheels 131, tension wheels 132, support wheels 133, floating wheels 134 and trailing wheels 135 arranged on both sides of the vehicle body. Each drive wheel 131 is connected to a travel hydraulic motor 136 that drives it to rotate.

[0031] See Figure 4 The cantilever lifting mechanism 2 includes a lifting hydraulic cylinder 21 and a portal cantilever. The portal cantilever includes two longitudinal arms 23 extending longitudinally parallel to the track direction and a main support tube (cross arm) 22 connected between the front ends of the two longitudinal arms. The two longitudinal arms 23 are located between the two tracks, and the rear ends of the two longitudinal arms 23 are hinged to the rear of the vehicle body. The cylinder body and piston rod of the lifting hydraulic cylinder 21 are respectively hinged to the rear of the vehicle body and the lower part of the front end of the longitudinal arms to drive the portal cantilever to swing up and down around the hinge axis of the longitudinal beam relative to the vehicle body.

[0032] See Figure 7-12 The pitch mechanism 3 includes a pitch hydraulic cylinder 31 and a pitch frame 32. The rear part of the pitch frame 32 is hinged to the main support tube 22 via a first pin 33. The cylinder body and piston rod of the pitch hydraulic cylinder 31 are respectively hinged to the main support tube 22 and the pitch frame 32 to drive the pitch frame 32 to swing up and down relative to the main support tube 22 around the first pin 33.

[0033] The tilting mechanism 4 includes a tilting hydraulic cylinder 41, a suspension frame 42, and a second pin 43. The rear part of the suspension frame 42 is hinged to the pitch frame 32 via the second pin 43. The cylinder body and piston rod of the tilting hydraulic cylinder 41 are respectively hinged to the pitch frame 32 and the suspension frame 42 to drive the suspension frame 41 to swing left and right relative to the pitch frame around the second pin 43.

[0034] The suspension frame 42 is connected to the excitation housing 51 of the excitation clamping mechanism 5 via four hanging spring dampers 7. Each spring damper 7 includes a guide shaft 71 fixed to the suspension frame 42, a damping frame 72 fixed to the upper part of the excitation housing 51, and springs 73. The guide shaft 71 passes downward through the damping frame 72. The springs 73, located within the damping frame 72, are positioned between the lower end of the guide shaft 71 and the damping frame 72. The damping frame 72 does not contact the suspension frame 42.

[0035] The vibration clamping mechanism 5 includes a vibration housing 51, an eccentric block shaft 52 rotatably mounted on the vibration housing via tapered roller bearings, an eccentric block 53 detachably connected to the eccentric block shaft via a key, a vibration hydraulic motor 54 that drives the eccentric block shaft to rotate, two movable clamping plates 55 hinged at the front end of the vibration housing, and two clamping hydraulic cylinders 56 that drive the two movable clamping plates to swing and open and close to release or clamp the trunk or branches; the cylinder body and piston rod of each clamping hydraulic cylinder 56 are respectively hinged to the rear end of the vibration housing 51 and a movable clamping plate 55.

[0036] The front ends of the two opposing movable clamping plates 55 have staggered notches 57. When the two movable clamping plates are closed, their front ends cross each other. The front parts of the two movable clamping plates (the parts extending forward from the hinge point between the movable clamping plates 55 and the excitation housing 51) and the excitation housing between the front parts of the two movable clamping plates form a triangle for clamping the tree trunk or branches. The excitation housing between the front parts of the two movable clamping plates is also called the clamping base plate 58. Rubber pads 59 are fixed on the inner sides of the front parts of the movable clamping plates and on the clamping base plate 58.

[0037] See Figure 1 , 2 4. The power mechanism 8 includes a gasoline engine 81, a hydraulic pump 82, a hydraulic oil tank 83, a hydraulic valve group 84, a hydraulic oil radiator 85, etc.

[0038] A gasoline engine 81 and a hydraulic pump 82 driven by the gasoline engine are installed on the upper rear of the vehicle body 11. A hydraulic oil tank 83 is installed on the vehicle body in front of the gasoline engine. A hydraulic valve group 84 is installed above the hydraulic oil tank. A hydraulic oil cooler 85 is installed on the side of the hydraulic oil tank 83.

[0039] The front of the hydraulic oil tank 83 houses the battery 91 and remote control signal receiver 92 of the electronic control system mounted on the vehicle body.

[0040] The gasoline engine 81, hydraulic pump 82, hydraulic oil tank 83, hydraulic valve group 84, hydraulic oil radiator 85, storage battery 91, and remote control signal receiver 92 are all located between the two trailing arms 23 of the portal suspension.

[0041] The electrical control system is electrically connected to the hydraulic valve assembly. The operator communicates with the electrical control system via a remote control to remotely control the movement of the travel hydraulic motor, vibration hydraulic motor, lifting hydraulic cylinder, pitching hydraulic cylinder, tilting hydraulic cylinder, and clamping hydraulic cylinder.

[0042] The hydraulic pump, hydraulic valve group, hydraulic cylinders (lifting hydraulic cylinder, pitching hydraulic cylinder, tilting hydraulic cylinder, clamping hydraulic cylinder), and hydraulic motors (travel hydraulic motor, vibration hydraulic motor) are connected by hydraulic pipelines.

[0043] The portion of the vehicle body 11 between the front ends of the two tracks is recessed. When in motion, the rear part of the vibration clamping mechanism 5 is located in the recessed portion 14 at the front end of the vehicle body 11.

[0044] Equipped with a 20-horsepower gasoline engine, the tracks on both sides are obtuse-angled triangles, the drive wheel is located at the rear and above, with a large wrap angle, the ground contact length of a single track is 1.5m, the distance between the two tracks (the distance between the outer sides of the two tracks) is about 1.3m, and the ratio of track ground contact length to track width is close to 1. The overall height of the machine is about 0.8m (the distance between the contact plane between the track and the ground and the highest point of the vibrating harvester in walking mode, i.e., the top of the hydraulic valve group). The vibration device is lowered in walking mode, resulting in a low center of gravity. Under conditions of high ground friction coefficient, it can theoretically climb a 55° longitudinal slope and adapt to a 50° lateral slope.

[0045] It can quickly change the diameter of the ring formed by the gripping head and quickly grip tree trunks or branches. It can shake large fruit trees and has a wide range of excitation frequencies. It can replace manual harvesting, has high work efficiency, and has a simple structure.

[0046] This invention discloses a vibratory harvester suitable for steep hilly terrain. The vibratory harvester has two states: first, a walking state, in which the gantry cantilever is lowered to its lowest position, resulting in a very low center of gravity for the entire machine. Its strong power and good maneuverability make it suitable for steep hilly terrain. Second, a vibration working state, in which the gantry cantilever adjusts its height according to the required clamping height of the target tree trunk to perform clamping and vibration operations. The highly stable power transmission and large vibration force cause the fruit to fall from the branches. During vibration operation, the vehicle first moves to the target tree trunk in walking mode. Then, the gantry cantilever is controlled by remote control to swing and lift. Simultaneously, the pitch and tilt hydraulic cylinders are operated to keep the plane of the two moving clamps perpendicular to the tree trunk. The tracked vehicle body is then moved towards the tree trunk so that the trunk is positioned between the two moving clamps. The clamping hydraulic cylinder is then used to clamp the trunk firmly. The speed of the vibration hydraulic motor is controlled by remote control to control the magnitude and frequency of the vibration force. The power is output from the vibration motor output shaft and then transmitted to the tree trunk through the eccentric block shaft, eccentric block, and clamping device. Rubber pads are used to protect the bark and ensure the fruit drop rate.

[0047] 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 vibratory harvester suitable for steep hilly terrain, comprising a tracked chassis, a vibration clamping mechanism for gripping tree trunks or branches and vibrating them, the tracked chassis including tracks on both sides for driving the chassis to move, and a track drive device, characterized in that: It also includes cantilever lifting mechanisms, pitching mechanisms, and tilting mechanisms; The cantilever lifting mechanism includes a gantry cantilever and a lifting hydraulic cylinder; the gantry cantilever includes two longitudinal arms extending longitudinally parallel to the track direction, a main support tube connected between the front ends of the two longitudinal arms, the two longitudinal arms are located between the two tracks, and the rear ends of the two longitudinal arms are hinged to the rear of the vehicle body; the cylinder body and piston rod of the lifting hydraulic cylinder are respectively hinged to the longitudinal arms and the vehicle body to drive the gantry cantilever to swing up and down around the hinge axis of the longitudinal beam relative to the vehicle body; The pitch mechanism includes a pitch frame and a pitch hydraulic cylinder; the rear of the pitch frame is hinged to the main support tube, and the cylinder body and piston rod of the pitch hydraulic cylinder are respectively hinged to the pitch frame and the main support tube to drive the pitch frame to swing up and down relative to the main support tube. The tilt mechanism includes a suspension frame and a tilt hydraulic cylinder; the rear of the suspension frame is hinged to the pitch frame, and the cylinder body and piston rod of the tilt hydraulic cylinder are respectively hinged to the suspension frame and the pitch frame to drive the suspension frame to swing left and right relative to the pitch frame. A vibration clamping mechanism is installed below the suspension frame; the part of the vehicle body between the front ends of the two tracks is recessed, and the rear part of the vibration clamping mechanism is located in the recessed part. A gasoline engine and a hydraulic pump driven by the gasoline engine are located on the upper rear of the vehicle body. A hydraulic oil tank is located on the vehicle body in front of the gasoline engine, and a hydraulic valve group is located above the hydraulic oil tank. The gasoline engine, hydraulic pump, hydraulic oil tank, and hydraulic valve group are all located between the two trailing arms of the portal suspension.

2. The vibratory harvester suitable for steep hilly terrain as described in claim 1, characterized in that: It also includes a hydraulic oil cooler located on the side of the hydraulic oil tank on the vehicle body, between the two longitudinal arms.

3. The vibratory harvester suitable for steep hilly terrain as described in claim 1, characterized in that: The suspension frame is connected to the vibration clamping mechanism via a shock absorption device.

4. The vibratory harvester suitable for steep hilly terrain as described in claim 1, characterized in that: The vibration clamping mechanism includes a vibration housing, an eccentric block shaft rotatably mounted on the vibration housing, an eccentric block connected to the eccentric block shaft, a vibration hydraulic motor that drives the eccentric block shaft to rotate, two movable clamping plates hinged to the front end of the vibration housing, and two clamping hydraulic cylinders that drive the two movable clamping plates to swing and open and close to release or clamp the tree trunk or branches; the cylinder body and piston rod of each clamping hydraulic cylinder are respectively hinged to the vibration housing and a movable clamping plate.

5. The vibratory harvester for steep hilly terrain as described in claim 1, characterized in that: The front ends of the two opposing movable clamps have staggered notches. When the two movable clamps are closed, the front ends are crossed. The two movable clamps and the excitation shell between the rear of the two movable clamps form a triangle that clamps the trunk or branches.

6. The vibratory harvester for steep hilly terrain as described in claim 1, characterized in that: The track drive system includes drive wheels, tension wheels, support wheels, floating wheels, and trailing wheels located on both sides of the vehicle body. Each drive wheel is connected to a travel hydraulic motor that drives its rotation.

7. The vibratory harvester for steep hilly terrain as described in claim 1, characterized in that: It includes an electronic control system located at the front of the vehicle body. The electronic control system is electrically connected to the hydraulic valve group and is used to control the movement of the travel hydraulic motor, the vibration hydraulic motor, the lifting hydraulic cylinder, the pitching hydraulic cylinder, the tilting hydraulic cylinder, and the clamping hydraulic cylinder.

8. The vibratory harvester for steep hilly terrain as described in claim 7, characterized in that: The electronic control system includes a battery and a remote control signal receiver, which are located at the front of the vehicle body and between the two longitudinal arms. It also includes a remote controller that can communicate wirelessly with the electronic control system. The operator communicates with the electronic control system through the remote controller to remotely control the movement of the travel hydraulic motor, the vibration hydraulic motor, the lifting hydraulic cylinder, the pitch hydraulic cylinder, the tilt hydraulic cylinder, and the clamping hydraulic cylinder.

Images