JP2006061162A - Working machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a working machine that can easily collect fruits growing at high places, as these fruits are prevented from falling down suddenly therefrom. <P>SOLUTION: A boom 24 is connected to the machine main body 12 so that the boom can stand up and lie down and an arm 26 is rotatably connected to the top point of the boom 24, and a fruit tree branch-collecting device 40 is attached to the top end of the arm 26. The fruit and branch collecting device 40 is equipped with an opening and closing grip 46 for holding a fruit and with an openable and closable scissors 48 for cutting the boundary part between the branch and the fruit and with supporting materials 42 to 44 for supporting these grip 46 and the scissors 48 and the supporting materials are attached to top point part of the arm 26. At least one of the boom 24 or the arm 26 is shrinkable and the transferring range of the fruit collector 40 can be expanded by the expansion and shrinkage of the boom or the arm. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a work machine including a fruit tree collecting device for cutting fruit from fruit trees such as palm.

  Traditionally, the collection of fruits from fruit trees has been performed manually by the operator.

  Some of the fruit trees have fruits in a considerably high position (a position where the back does not reach), such as palm. In order to collect such fruits, conventionally, for example, a method of fixing a sickle to the end of a long stick and cutting leaves and fruits with this sickle has been taken. Working with tools requires considerable skill and work efficiency is poor. Furthermore, since the fruit suddenly falls at the same time as the cutting is completed, it is difficult to ensure safety. If the drop is large, the fruit may be scattered or damaged by the impact of landing.

  In view of such circumstances, an object of the present invention is to provide a work machine including a fruit tree collecting device that can easily collect fruit while preventing the fruit from falling unexpectedly.

  As means for solving the above-mentioned problems, the present invention provides a main body that can travel, a boom that is connected to the main body so as to be raised and lowered, an arm that is rotatably connected to the tip of the boom, and a fruit tree. A fruit tree collecting device for cutting the fruit from the fruit tree collecting device, the fruit tree collecting device comprising: an openable and closable grip for gripping the fruit; a grip driving means for driving the grip to open and close; and the fruit tree and the fruit. An openable / closable cocoon for cutting the boundary portion, a cutting drive means for opening and closing the cocoon, and a boundary between the fruit and fruit tree held by the grip or a portion in the vicinity thereof at a position where the cocoon can cut the heel. A support member that supports the grip and the heel, and the support member is attached to the tip of the arm, and at least one of the boom and the arm is extendable and retractable. A working machine and a telescopic driving means for causing the telescopic.

  According to this working machine, the fruit collecting device can be easily transferred to a position where the fruit can be gripped and cut by the movement of the boom and the arm, and the grip is driven by the grip driving means of the fruit collecting device at this position. The fruit tree by cutting the boundary between the fruit and the fruit tree or the vicinity thereof by driving a ridge by a cutting drive means while holding the fruit and holding the fruit by the grip (that is, in a state where the position of the fruit is fixed). The fruit can be easily cut out from. Further, since the fruit is gripped by the grip at the time of cutting, there is no risk that the fruit will unexpectedly fall from a high place when the cutting is completed.

  Moreover, since at least one of the boom and the arm can be expanded and contracted and provided with an expansion and contraction drive means for performing expansion and contraction, the transfer range of the fruit collecting device is widened, for example, fruit at a high place can be collected without difficulty. Is possible.

  For example, if the boom is configured to be extendable and supported by the main body so that the boom can stand upright, the fruit tree collecting device can be easily made substantially vertical without using complicated operations and controls. It can be moved up and down in the direction, and the height can be easily adjusted in a narrow space.

  That is, for example, in a structure in which the boom is pivotally supported at the rear of the main unit and extends forward from the pivot point, such as a self-propelled crane, the boom must be raised and lowered to adjust the height. However, in order to keep the distance between the fruit tree collecting device and the fruit tree substantially constant while performing the undulation operation (that is, raising the fruit tree collecting device in a substantially vertical direction), complicated operation and control are required. If the boom is set upright from the main body as described above, the height of the fruit tree collecting device can be adjusted without difficulty only by expanding and contracting the boom in this state.

  Moreover, the range of transfer of the fruit harvesting device is further expanded by providing both the boom and the arm so that both the arms and the arms can be expanded and contracted and the telescopic driving means for performing the respective expansion and contraction.

  Further, in the case where the support member of the fruit tree collecting device is rotatably attached to the tip of the arm and provided with a rotation driving means for performing the rotation, for example, the fruit tree is in a state where the fruit is inclined. Even when attached, the direction of the grip or cocoon can be freely adjusted by rotating the support member without causing the boom or arm to move greatly, and fruit collection becomes easier.

  As described above, the present invention can easily collect fruit while preventing the fruit from dropping unexpectedly by using the fruit tree collecting device attached to the tip of the arm. Moreover, since at least one of the boom and the arm can be expanded and contracted and provided with an expansion and contraction drive means for performing expansion and contraction, the transfer range of the fruit collecting device is widened, for example, fruit at a high place can be collected without difficulty. There is an effect that can.

  A preferred embodiment of the present invention will be described with reference to the drawings.

  The working machine shown in FIGS. 1 to 3 includes a lower traveling body 12 having left and right crawlers 10 and an upper revolving body 14 that revolves around a vertical axis on the lower traveling body 12. A main body is constituted by the upper swing body 14.

  A canopy 16 is provided at a substantially central portion of the upper swing body 14. A boom support bracket 18 is fixed to a front end of the upper swing body 14 at a position lower than the canopy 16, and a swing bracket 20 is attached to the boom support bracket 18 so as to be rotatable about a vertical axis. The swing bracket 20 is rotationally driven in the left-right direction around the vertical axis by a swing cylinder (not shown).

  A lower end of a boom 24 is attached to the swing bracket 20 via a horizontal pin 22. Both ends of a boom cylinder 26 made of a hydraulic cylinder are connected to the boom 24 and the swing bracket 20, and the boom 24 is driven to rotate around the horizontal pin 22 (that is, driven up and down) by the expansion and contraction of the boom cylinder 26. ) And the boom 24 can take an upright posture as shown in FIG.

  The boom 24 has a so-called telescope type extendable structure. Specifically, it has a hollow lower member 24a connected to the swing bracket 20 and the boom cylinder 26, and an upper member 24b fitted into the lower member 24a. A boom expansion / contraction cylinder (extension / contraction drive means) 28, which is a hydraulic cylinder for driving the upper member 24b in the axial direction (that is, extending / contracting the entire boom 24), is accommodated.

  An arm 32 is attached to the tip of the upper member 24b via a horizontal pin 30. Both ends of an arm cylinder 34 formed of a hydraulic cylinder are connected to the upper ends of the arm 32 and the boom 24, and the arm 32 is rotated relative to the boom 24 around the horizontal pin 30 by the expansion and contraction of the arm cylinder 34. It is designed to be driven.

  As with the boom 24, the arm 32 is also a so-called telescope-type extendable structure. Specifically, it has a hollow rear member 32a connected to the upper member 24b of the boom 24 and the arm cylinder 34, and a front member 32b fitted into the rear member 32a, and the rear member 32a. An arm expansion / contraction cylinder (extension / contraction drive means) 36, which is a hydraulic cylinder for driving the front member 32b in the axial direction (that is, extending / contracting the entire arm 32), is accommodated in the interior.

  Note that the present invention is not necessarily limited to one in which both the boom 24 and the arm 32 can be expanded and contracted. Only one of them may be stretchable.

  In this embodiment, the fruit tree collecting apparatus according to the present invention is configured as a fruit tree collecting attachment (hereinafter simply referred to as “attachment”) 40 as shown in FIGS. 4 to 9, and the attachment 40 is the front side of the arm 32. It is attached to the tip of the member 32b.

  The fruit tree collecting attachment 40 includes a support member including a main body portion 42, a grip support portion 43, and a heel support portion 44. The grip support portion 43 grips a fruit (palm fruit in the illustrated example). 46 is supported, and a heel 48 for cutting a boundary portion between the fruit and the fruit tree is supported by the heel support portion 44. As will be described later, the grip 46 and the collar 48 are of an openable type, and the grip 46 and the collar 48 are supported so that they open in substantially the same direction (forward).

  The main body 42 is hollow and has a shape opening forward, and the rear end of the main body 42 is connected to the front member 32 b of the arm 32 so as to be rotatable about the pin 38. Further, one end of a hydraulic cylinder (rotation drive means) 50 is connected to the side wall of the main body 42 via a pin 51, and the other end of the hydraulic cylinder 50 is connected to the tip of the front member 32b via a pin 52. The main body 42 and thus the entire fruit tree collecting attachment 40 are rotationally driven around the pin 38 by the expansion and contraction of the hydraulic cylinder 50.

  The rotation direction of the attachment 40 is not particularly limited. For example, the attachment 40 may be coupled so that the attachment 40 twists with respect to the arm 32. Further, depending on the specification, it is not always necessary to be configured to be rotatable.

  The grip support portion 43 is formed by connecting a long rear member 43A and a front member 43B in the longitudinal direction (front-rear direction), and the rear member 43A can be displaced in the front-rear direction with respect to the main body portion 42. The grip 46 is supported by the front end of the front member 43B while being fitted into the main body portion 42 so as to be.

  Similarly, the heel support portion 44 is also formed by connecting a long rear side member 44A and a front side member 44B in the longitudinal direction (front-rear direction) and supporting the grip in a posture substantially parallel to the grip support portion 43. It is provided at a position close to the portion 43. And while the said rear side member 44A is inserted in the main-body part 42 so that it can displace with respect to the said main-body part 42 in the front-back direction, the said collar 48 is supported by the front end of the front-side member 44B.

  On the other hand, a grip transfer cylinder (grip transfer means) 53 and a soot transfer cylinder (shoe transfer means) 54, which are hydraulic cylinders, are housed in the main body 42, and the rear end portions (in the illustrated example) of the transfer cylinders 53, 54 are accommodated. The head ends are connected to the main body 42 via pins 53a and 54a, respectively, while the front ends (rod ends in the illustrated example) of the transfer cylinders 53 and 54 are connected via pins 53b and 54b, respectively. It is connected to the rear members 43A and 44A. Accordingly, the grip support portions 43 and the heel support portions 44 are individually driven in the front-rear direction by the expansion and contraction of the grip transfer cylinders 53 and 54.

  Note that the present invention is not necessarily limited to the one in which the grip support portion 43 and the heel support portion 44 can be relatively displaced with respect to the main body portion 42, and may be configured integrally. Further, even if only one of the grip support portion 43 and the heel support portion 44 can be relatively displaced with respect to the main body portion 42, the relative position between the grip 46 and the heel 48 can be adjusted.

  The structure of the grip 46 is shown in FIGS.

  The grip 46 includes a pair of left and right grip members 60. Each gripping member 60 has a crescent shape in plan view, and is arranged symmetrically in a direction in which the inner surface is concave. In addition, a gripping protrusion 61 that protrudes into the body of the fruit F (shown by a two-dot chain line in FIGS. 5 and 6) is provided inwardly at a position on the tip side of the inner surface.

  The rear end of each gripping member 60 is connected to the front end of the front side member 43B of the grip support portion 43 so as to be rotatable in the left-right direction (opening / closing direction) about the pin 62. On the other hand, a gripping drive cylinder (grip drive means) 64 made up of a hydraulic cylinder is housed in the front side member 43B, and a rear end portion (a head side end portion in the illustrated example) is connected to the front side via a pin 66. While being connected to the member 43B, an advance / retreat block 68 is connected to a front end portion (rod end portion in the illustrated example) via a pin 67.

  An advancing / retreating link 70 extending in the left-right direction is fixed to the advancing / retreating block 68, and both left and right end portions of the advancing / retreating link 70 are connected to the gripping members 60 via connection links 72. Specifically, the rear ends of the connection links 72 are rotatably connected to the left and right end portions of the advance / retreat link 70 via pins 71, and the front ends of the connection links 72 project from the back surface of the gripping members 60. It is connected to the connected part 73 via a pin 74 so as to be rotatable. As the advance / retreat block 68 and the advance / retreat link 70 are driven back and forth due to the expansion and contraction of the grip drive cylinder 64, the grip members 60 are rotationally driven in the left and right directions in opposite directions while maintaining a symmetrical posture (that is, It is designed to open and close).

  In this embodiment, the rear member 43A and the front member 43B of the grip support portion 43 are connected to each other around the pin 56 via the connecting pin 56 so as to be relatively rotatable. The inclination angle of the front member 43B and the grip 60 with respect to the rear member 43A is variable.

  Specifically, connecting plates 43a and 43b extending in the vertical direction are provided at the front end of the rear member 43A and the rear end of the front member 43B, respectively, and the connecting pins 56 are inserted into predetermined positions of the connecting plates 43a and 43b. In addition to being fixed, pin insertion holes 57 and 58 are provided in the connection plates 43 a and 43 b at positions away from the connection pin 56. Then, when the pin insertion holes 57 of both the connecting plates 43a and 43b are in alignment with each other, by inserting unillustrated pins into these insertion holes 57, the angular position at which the front member 43B is aligned with the rear member 43A (see FIG. 5), while the pin insertion holes 58 of both the connecting plates 43a and 43b are in alignment with each other, by inserting unillustrated pins into these insertion holes 58, the front member 43B becomes the rear member 43A. Is fixed at an angle position slightly bent (an angle position inclined in a direction away from the heel support portion 44; a two-dot chain line position in FIG. 5). Therefore, the distance between the collar 48 and the grip 46 can be changed by switching the angular position.

  The structure of the collar 48 is shown in FIGS. 5 and 7 to 9.

  The collar 48 includes a pair of opening / closing members 76 that can be opened and closed in the left-right direction. A cutting tool 78 is fixed to the inner side of each opening / closing member 76 by a bolt 77, and a serrated cutting blade 78 a is formed on the inner side of each cutting tool 78. Each cutting blade 78a is shaped so as to mesh with each other in a state in which the collar 48 is closed as shown by a two-dot chain line in FIG.

  In the present invention, the specific shape and structure of the collar 48 are not limited, and any structure having an openable / closable cutter structure may be used. Further, the opening / closing direction of the grip 46 and the opening / closing direction of the collar 48 are not necessarily parallel, and both directions may be inclined at a predetermined angle.

  The rear end of each open / close member 76 is connected to the front end of the front side member 44B of the heel support portion 44 so as to be rotatable in the left-right direction (open / close direction) about the pin 80. Similarly, each pin 80 is attached with a base end portion of a rotation link 81 so as to be rotatable around the pin 80, and the rotation link 81 is fixed to the opening / closing member 76 by welding or the like. Accordingly, the rotation link 81 and the opening / closing member 76 are integrally rotated about the pin 80.

  On the other hand, a cutting drive cylinder (cutting drive means) 82 made up of a hydraulic cylinder is housed in the front member 44B, and its rear end (head side end in the example) is interposed via a pin 83 (FIG. 5). The forward / backward block 86 is connected to the front end portion (rod end portion in the illustrated example) via a pin 84 while being connected to the front side member 44B. The advancing / retreating block 86 is connected to the rear ends of a pair of left and right connecting links 88, and the front ends of these connecting links 88 are connected to the rotating end portions of the respective rotating links 81 via pins 90.

  Therefore, in this structure, as the advance / retreat block 86 and the connecting link 88 are driven back and forth due to the expansion and contraction of the cutting drive cylinder 82, the open / close members 76 maintain left-right symmetry and rotate in the left-right direction opposite to each other. It is driven (that is, opened and closed).

  Furthermore, in this embodiment, the arrangement position of the pin 80 which is the opening / closing rotation shaft of each opening / closing member 76 is set to a position slightly outside, and each opening / closing member 76 rotates inward (in the closing direction). The tip of each cutting tool 78 is retracted as it rotates.

  On the other hand, the canopy 16 of the upper-part turning body 14 is provided with a driver seat 92 as shown in FIG. 10, and boom and arm operation levers 93L and 93R are provided on the left and right sides thereof. Operation levers) 94L and 94R are provided. Further, a grip operation lever 96L is provided on the outside of the travel lever 94L, and a saddle operation lever 96R is provided on the outside of the travel lever 94R.

  The grip operation lever 96L can be operated in the front / rear and left / right directions. By operating the grip operation lever 96L in the front direction, the grip transfer cylinder 53 extends (that is, the grip 46 moves forward in the opening direction) and conversely operates in the rear direction. As a result, the grip transfer cylinder 53 contracts (that is, the grip 46 moves backward). Further, by operating the grip operation lever 96L to the outside (left side as viewed from the driver's seat 92), the grip driving cylinder 64 contracts (that is, the grip 46 is driven in the opening direction), and conversely (inside, viewed from the driver's seat). By operating to the right), the grip driving cylinder 64 is extended (that is, the grip 46 is driven in the closing direction).

  The rod operating lever 96R can also be operated forward, backward, left and right. By operating this lever forward, the rod transfer cylinder 54 extends (that is, the rod 48 advances in the opening direction thereof), and conversely operates backward. As a result, the kite transfer cylinder 54 contracts (that is, the kite 48 moves backward). Further, by operating the eaves operating lever 96R to the outside (right side as viewed from the driver's seat 92), the cutting drive cylinder 82 contracts (that is, the eaves 48 are driven in the opening direction), and conversely, inside (as viewed from the driver's seat). By operating to the left), the cutting drive cylinder 82 extends (that is, the rod 48 is driven in the closing direction).

  By operating the levers described above, an electrical signal (command signal) is input to a controller (not shown), and the controller outputs a control signal to the solenoid valve of the hydraulic circuit based on the input signal, and the hydraulic oil to each hydraulic cylinder is output. Control the supply and discharge of

  Next, an example of a fruit tree collecting method using this work machine will be described.

  1) Raise the boom 24 to bring it upright. Then, the main body is driven to approach the desired fruit tree.

  2) Extend and retract the boom 24 to adjust the height. At this time, if the boom 24 is set in the upright state as shown in FIG. 1, the height of the arm 32 or the fruit tree collection attachment 40 and the fruit tree can be suitably adjusted while keeping the distance between the fruit tree constant. It is possible to cope with a relatively tall fruit tree as shown in FIG. 2 or a relatively short fruit tree as shown in FIG. In addition, since the distance between the attachment 40 and the fruit tree is almost the same regardless of the expansion and contraction of the boom 24, no complicated operation or control is required to maintain this distance, especially for work in a narrow place (for example, in a palm forest). Very effective.

  3) With the grip 46 and the collar 48 in the open state, the grip 46 can be moved by the arm 46 by rotating, expanding and contracting, rotating the fruit tree attachment 40, and moving the support portions 43 and 44 forward and backward. The fruit F is transferred to a position where the body of the fruit F can be gripped, and the basket 48 is transferred to a position where the basket 48 can cut the boundary between the fruit F and the fruit tree or its vicinity.

  At this time, the grip 46 and the rod 48 are driven in a direction substantially parallel to the opening direction (front-rear direction; a direction parallel to the longitudinal direction of the support portions 43, 44) by the expansion and contraction of the grip transfer cylinder 53 and the rod transfer cylinder 54. Therefore, the grip 46 and the collar 48 can be easily positioned. Further, by changing the relative positions of the grip 46 and the heel 48, the grip 46 and the heel 48 can be positioned without difficulty in the grippable position and the cuttable position, respectively, even when the size of the fruit F varies significantly. . Further, the relative position between the grip 46 and the collar 48 can be adjusted by changing the relative angle between the rear member 43A and the front member 43B in the grip support 46 as shown by the solid line and the two-dot chain line in FIG. Can do.

  4) The grip driving cylinder 64 is contracted to close the grip 46. In other words, the body of the fruit F is sandwiched from both the left and right sides by both gripping members 60.

  5) The cutting drive cylinder 82 is contracted to close the flange 48. At this time, the cutting blade 78a of the cutting tool 78 fixed to each opening / closing member 76 cuts the boundary between the fruit and the fruit tree or the vicinity thereof. In this embodiment, since the cutting blade 78a has a sawtooth shape, the portion to be cut can be firmly captured without escaping, and reliable cutting can be performed. In addition, since the position of the pin 80 that is the opening / closing rotation shaft is set so that the tip (blade edge) of each cutting tool 78 is retracted as the barb 48 is closed, the blade edge is erroneously cut during the cutting operation. The situation that damages the trunk etc. can be prevented beforehand.

  Moreover, since the grip 46 holds the body of the fruit F during the cutting operation, there is no possibility that the fruit F will drop unexpectedly when the cutting is completed.

  6) After cutting, the attachment 40 is lowered by operating the boom 24 and the arm 32, and the cut fruit F is lowered (see the two-dot chain lines in FIGS. 2 and 3). This fruit F may be put into a basket or the like by operating the attachment 40 as it is, or it may be properly landed and later collected at once with the dozer 13 (FIG. 1 etc.) installed on the work machine. Good.

  In the present invention, the shape of the cutting tool 78 constituting the rod 48 can be variously set. For example, as shown in FIGS. 11A and 11B, in addition to the saw blade-shaped cutting blade 78a provided at the inner edge of the cutting tool 78, a flea-shaped tip blade 78b is formed at the tip of each cutting tool 78. By doing so, the cutting site of the portion that is difficult to cut with the cutting blade 78a (for example, the site on the root side of the branch when the branch surrounding the fruit is cut) is the tip of the cutting blade 48a in the closed state. The cutting can be performed by piercing the cutting portion with the blade 78b (in FIG. 7A, 78d is a through hole through which the bolt 77 is inserted).

  The cutting blade 78a preferably has a saw blade shape as described above. With such a shape, the target cutting portion can be reliably bitten and cut without escaping, but the shape of the cutting blade is not necessarily a saw. For example, a straight cutting blade 78a ′ as shown in FIG. 12 may be used. However, with the cutting blade 78a ′ having this shape, for example, when the branch 100 surrounding the palm fruit is to be cut, the branch 100 has a substantially triangular shape as shown in the drawing and extends along the straight cutting blade 78a ′. Since it is easy to slip and there is a high possibility that the cutting blade 78a 'will escape to the tip side and it will be difficult to cut. In this case, as shown in FIG. 12, the tip of the cutting tool 78 protrudes inward. More preferably, a sickle-shaped projecting blade 78d is formed so that the projecting blade 78d does not escape even when the branch 100 or the like slides along the cutting blade 78a '. Furthermore, by making the protruding blade 78b have a sharp shape that is easy to bite into the cutting site, it is possible to further enhance the function of capturing the cutting site without escaping.

  In each of the above embodiments, a hydraulic cylinder is used as an actuator for driving each part. However, depending on the part, a hydraulic motor may be used, or an electric actuator may be used.

  Further, in the illustrated example, the grip 46 is disposed above the ridge 48 in order to cut out the fruit of the palm that grows upward from the top of the trunk, but the vertical relationship between the grip 46 and the heel 48 is the fruit to be collected. What is necessary is just to set suitably according to the form.

1 is a front view of a work machine according to an embodiment of the present invention. It is a front view which shows a mode that the fruit of a comparatively high fruit tree is extract | collected with the said working machine. It is a front view which shows a mode that the fruit of a comparatively low fruit tree is extract | collected with the said working machine. (A) is a top view of the fruit tree collection attachment attached to the said working machine, (b) is a front view. It is a front view which shows the principal part of the said fruit tree collection attachment. It is a top view which shows the grip of the said fruit tree collection attachment, and its drive means. It is a partial cross section bottom view which shows the ridge of the said fruit tree collection attachment and its drive means. It is the sectional view on the AA line of FIG. It is the BB sectional view taken on the line of FIG. It is a top view which shows the canopy structure of the said working machine. (A) is a top view which shows the modification of the cutting tool which comprises the said cage | basket, (b) is CC sectional view taken on the line of (a). It is a top view which shows the modification of the cutting tool which comprises the said collar.

Explanation of symbols

12 Lower body (main unit)
14 Upper swing body (main unit)
24 Boom 32 Arm 40 Fruit tree collection attachment (fruit tree collecting device)
42 Main body portion 43 Grip support portion 44 鋏 Support portion 46 Grip 48 ５０ 50 Hydraulic cylinder (rotation drive means)
60 Gripping member 64 Gripping drive cylinder 78 Cutting tool 78a, 78a 'Cutting blade 82 Cutting drive cylinder

Claims (4)

A main body capable of traveling, a boom connected to the main body so as to be raised and lowered, an arm rotatably connected to the tip of the boom, and a fruit tree collecting device for cutting the fruit from the fruit tree,
The fruit tree collecting device includes an openable / closable grip for gripping the fruit, a gripping drive means for driving the grip to open / close, an openable / closable bowl for cutting a boundary portion between the fruit tree and the fruit, Cutting drive means for opening and closing the heel, and a support member for supporting the grip and the heel at a position where the heel can cut a boundary between a fruit and a fruit tree held by the grip or a portion in the vicinity thereof,
The support member is attached to the tip of the arm,
A working machine characterized in that at least one of the boom and the arm can be extended and contracted, and provided with an expansion / contraction driving means for performing expansion and contraction.   2. The work machine according to claim 1, wherein the boom is extendable and supported by the main body so that the boom can stand upright.   3. The work machine according to claim 1, wherein the boom and the arm are extendable and contractible, and each of the work machines is provided with an extension / contraction drive means for performing the extension / contraction.   The work machine according to any one of claims 1 to 3, further comprising: a rotation drive unit that rotatably supports a support member of the fruit tree collecting device at a tip of the arm, and that rotates the support member. A working machine characterized by

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