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.

A harvester having a frame, an agitating system and a product gathering system. The frame has a central portion configured to receive and pass plants therethrough. The agitating system is positioned within the central portion that has a first side agitating assembly further comprising an axle with an axis of rotation and a plural of axial wands extending axially outwardly therefrom in a spaced apart configuration. The axle has a first end which is both above and outboard of the second end and the axle is angled relative to a vertical plane bisecting the frame body from front to back thereof. The axial wands can be agitated. The product gathering system includes an outer guide wall positioned below the rotary agitator assembly. The outer guide wall is angled relative to a vertical plane bisecting the frame body from front to back thereof.

Embodiments of the present invention provide methods and apparatus for inducing (harmonic) vibration of objects having a large mass(es), such as the trunk of a fruit or nut tree, the crop of which may be harvested by shaking the tree through the induced vibration. Linear and radial embodiments utilize and include an actuator using Terfenol-D, a magnetostrictive actuator. Alternative embodiments utilize a piston rod actuator.

Embodiments of the present invention provide methods and apparatus for inducing (harmonic) vibration of objects having a large mass(es), such as the trunk of a fruit or nut tree, the crop of which may be harvested by shaking the tree through the induced vibration. Linear and radial embodiments utilize and include an actuator using Terfenol-D, a magnetostrictive actuator. Alternative embodiments utilize a piston rod actuator.

A device being made up of respective frames, mounted in parallel and facing each other on both sides of the line of trees/bushes to be harvested, in a machine or implement capable of moving astride above said line of trees/bushes. Each of said frames includes a longitudinal guide along which skids move for conveying a trolley that bears a vibration clamp, the jaws of which open and close independently depending on the location thereof relative to the closest tree, at the same time that each trolley moves alternately from a forward position relative to the movement of the machine or implement on which this device is mounted to another more rearward position, while the vibration clamp is holding a tree and is subjecting same to vibration, and returns to the forward position when the tree is beyond the possible travel of said trolley along the linear guide.

A device being made up of respective frames, mounted in parallel and facing each other on both sides of the line of trees/bushes to be harvested, in a machine or implement capable of moving astride above said line of trees/bushes. Each of said frames includes a longitudinal guide along which skids move for conveying a trolley that bears a vibration clamp, the jaws of which open and close independently depending on the location thereof relative to the closest tree, at the same time that each trolley moves alternately from a forward position relative to the movement of the machine or implement on which this device is mounted to another more rearward position, while the vibration clamp is holding a tree and is subjecting same to vibration, and returns to the forward position when the tree is beyond the possible travel of said trolley along the linear guide.

A shaker mechanism for an agricultural harvester. The shaker mechanism adapted to shake a crop while the agricultural harvester is moving, wherein the shaker mechanism is operatively associated with the agricultural harvester so that the shaker mechanism is movable at zero velocity relative to the crop being shook while the agricultural harvester continuously moves at a non-zero velocity.

A shaker mechanism for an agricultural harvester. The shaker mechanism adapted to shake a crop while the agricultural harvester is moving, wherein the shaker mechanism is operatively associated with the agricultural harvester so that the shaker mechanism is movable at zero velocity relative to the crop being shook while the agricultural harvester continuously moves at a non-zero velocity.

A graphical user interface is disclosed for controlling a harvesting system, the harvesting system driving each of two shaking actuator frequencies individually, the user interface setting or displaying the frequencies of the two actuators as a Value-Time User Interface (VTUI). The VTUI shows shaking parameters in the vertical axis against time in the horizontal axis, the VTUI able to be used to control the shaker in real time, to create and edit a shake pattern, and to display values of shake parameters as the shake is occurring.

A harvester using shaking to dislodge product from trees is disclosed in which the shaking in each of at least two inertial force generators is controlled independently of the others. Embodiments provide the flexibility to adapt a harvesting procedure to different product and to adapt the harvesting procedure to different individuals within a particular type of plant, and in real-time.