In a shaker head for a tree shaker, a hydraulically actuated ram is mounted between the clamping arm and frame of the shaker head with a pin assembly which extends into a spherical bearing disposed within an aperture of the shaker head. The spherical bearing allows a certain amount of misalignment and provides a through-hardened and lubricated wear point which prevents or reduces structural failure in the shaker head components.

In a shaker head for a tree shaker, a hydraulically actuated ram is mounted between the clamping arm and frame of the shaker head with a pin assembly which extends into a spherical bearing disposed within an aperture of the shaker head. The spherical bearing allows a certain amount of misalignment and provides a through-hardened and lubricated wear point which prevents or reduces structural failure in the shaker head components.

A plant detection device is provided that includes a robotic arm having gripping element that includes first and second curved grippers with opposing concave surfaces that move between an open and closed states, and the arm moves and vibrates the gripping element, a proximity force sensor that is disposed on the gripper and outputs a measurement signal of a force between the gripping element and an outgrowth from a stem of a plant under test to a computer, a force and frequency sensor that is orthogonal to the proximity force sensor outputs a gripping force measurement and a frequency response measurement of the stem of the plant under test to the computer, where the computer moves the gripping and vibrating arm according to the sensor signal outputs.

A harvesting device for harvesting fruit hanging from a plant, includes a frame which is displaceable in a transport direction and carries a loop-like conveyor track which can be driven in circular manner, and at least one harvesting bin connected to the conveyor track. The conveyor track lies in a plane which is substantially parallel to the transport direction and which lies at a first acute angle to the horizon in a direction transversely of the transport direction during normal use of the harvesting device. A method for harvesting fruit hanging from a plant, wherein the harvesting device is used.

A harvesting device for harvesting fruit hanging from a plant, includes a frame which is displaceable in a transport direction and carries a loop-like conveyor track which can be driven in circular manner, and at least one harvesting bin connected to the conveyor track. The conveyor track lies in a plane which is substantially parallel to the transport direction and which lies at a first acute angle to the horizon in a direction transversely of the transport direction during normal use of the harvesting device. A method for harvesting fruit hanging from a plant, wherein the harvesting device is used.

Apparatuses for and methods of moving the ends of windrows inward are disclosed. The apparatuses of the present invention include a front end, a rear end and two opposing sides, the front end configured to be wider than the rear end, two skids attached to the two opposing sides, a gate rotatably attached to the rear end and configured to cover an opening in the rear end, a gate cylinder operably attached to the gate and configured to close the gate to collect fruit and/or nuts within the apparatus, and open the gate to distribute the fruit and/or nuts outside of the apparatus, thus eliminating the need to hand rake the ends of the windrows inward or to blow the ends of the windrow inward with a hand blower.

Apparatuses for and methods of moving the ends of windrows inward are disclosed. The apparatuses of the present invention include a front end, a rear end and two opposing sides, the front end configured to be wider than the rear end, two skids attached to the two opposing sides, a gate rotatably attached to the rear end and configured to cover an opening in the rear end, a gate cylinder operably attached to the gate and configured to close the gate to collect fruit and/or nuts within the apparatus, and open the gate to distribute the fruit and/or nuts outside of the apparatus, thus eliminating the need to hand rake the ends of the windrows inward or to blow the ends of the windrow inward with a hand blower.

An apparatus for harvesting small fruit detached from fruit trees or bushes has a tarpaulin, a winding shaft fastened to a proximal end of the tarpaulin, a first bearing structure supporting the winding shaft, a rotary drive motor coupled to the winding shaft, at least one band having bending and shape memory, a winding drum connected to one end of the band, and a second bearing structure supporting the winding drum. The band has an end connected to the distal end of the tarpaulin. A distal end of the band pushes the distal end of the tarpaulin so as to move the tarpaulin away from the winding shaft so as to deploy the tarpaulin above the ground.

An apparatus for harvesting small fruit detached from fruit trees or bushes has a tarpaulin, a winding shaft fastened to a proximal end of the tarpaulin, a first bearing structure supporting the winding shaft, a rotary drive motor coupled to the winding shaft, at least one band having bending and shape memory, a winding drum connected to one end of the band, and a second bearing structure supporting the winding drum. The band has an end connected to the distal end of the tarpaulin. A distal end of the band pushes the distal end of the tarpaulin so as to move the tarpaulin away from the winding shaft so as to deploy the tarpaulin above the ground.

A self-propelled tree fruit picking machine, of the type which includes a vibrator device which acts on the trunk of a tree detected by a probe device. The picking machine includes two side frames joined by a transverse gantries device, equipped with transporting devices to move the fruit towards peeling devices, and from these towards hoppers. Each gantry includes four successively articulated segments with anchoring devices between adjacent segments, which are extractable to fold the machine by closing together both side frames via the action of cylinders to a minimum width. The machine is further equipped with a control cabin which can be moved inwards to the position of minimum width, and with the transport wheels connected to suspension devices adjustable in height via cylinders.