Abstract:
A versatile fruit harvesting machine having the ability to be transformed between an extremely transportable configuration having a reasonable elevational height and an extremely high operational configuration capable of harvesting fruit from the highest regions of fruit trees. The harvesting machine also has the ability to provide for an exceptional range of penetration of the fruit tree during a harvesting cycle to ensure optimum removal of fruit from the tree. Separate regions of picking arms are utilized wherein an upper region of arms is folded down amongst the lower region of arms to provide for the elevation change between a transport configuration and an operational configuration. At least two distinct displacement systems cooperate to provide for the exceptional extension of the array of arms with a first displacement transferring both the array of arms as will as a second displacement system while a further displacement of the array of arms by the second displacement system occurs. Utilization of components of the array of arms displacement system for the upper assembly to act as a guide during the pivotal movement of the arm array of the upper assembly into the arm array of the lower assembly.

Description:
CROSS-REFERENCE 
     This application is a continuation-in-part of Ser. No. 09/407,500 filed Sep. 28, 1999, entitled “Picking Finger Assembly for Fruit Harvesting”, now U.S. Pat. No. 6,098,389 which is a continuation-in-part of U.S. Pat. No. 5,966,915, issued Oct. 19, 1999, Ser. No. 08/941,608 filed Sep. 30, 1997, entitled “Fruit Harvesting Machine”. These applications are incorporated herein by this reference. 
    
    
     BACKGROUND 
     1. Field of the Invention 
     Generally, the invention relates to fruit harvesting machines. More specifically, the invention relates to such machines which utilize a canopy penetration and fruit stem engagement during withdrawal method of harvesting. 
     2. Description of the Prior Art 
     Numerous methods exist to harvest the various fruits currently being cultivated. A first group of such methods employ various mechanical devices which provide for a completely mechanical severing of the individual fruit from a tree. A second group of such methods employ various mechanical devices which provide assistance to individual human pickers during a picking procedure to sever the fruit from the tree. This group generally is limited to mechanical devices which may be held by the human picker during the picking procedure. A third method, specific to the type of fruit being harvested, involves the physical picking of the fruit from the tree by individual human pickers without utilization of any mechanical device. 
     Referring now specifically to citrus fruits, currently the vast majority of such fruit is harvested by being hand picked by people. This harvesting technique has changed little over the years. Pickers grasp individual citrus fruit members and exert a twisting action, a pulling action or a combination of a twisting and pulling action thereon to separate the fruit from the tree. Then, the picker places the severed fruit in a collection bag. This process is repeated until the collection bag has a desired quantity of picked fruit therein. At this point the contents of the collection bag are deposited into a secondary collection container of sufficient dimensions to contain a larger quantity of the picked fruit than that contained by the collection bag. While certain fruit on a tree is accessible while the picker stands on the ground, certain fruit on the tree may only be accessed by elevating the picker above ground level. The most common method of providing such elevation of the picker is by placing a ladder against the tree while the picker ascends the ladder. It is common practice in the industry to apply various chemicals to the tree and/or surrounding ground at various times prior to harvesting the crop. Therefore, chemicals may remain on the tree during the harvesting operation. As can be readily seen, the current method of manual harvesting of citrus fruit is time consuming and exposes the picker to dangerous conditions, including those during the period of time while the picker is elevated above ground level as well as possible exposure to chemicals. 
     Certain types of fruit are more adapted to such mechanical harvesting than other types of fruit. Reference is now made to machines which harvest fruit under the above identified method where there exists a completely mechanical severing of the fruit from the tree. The art is rich with such machines designed to harvest fruit by severing the fruit from fruit trees. Such machines generally employ one of two severing methods. The first method involves producing a ‘shaking action’ within the canopy of the tree. This ‘shaking action’ may involve grasping a portion of the tree and generating the desired ‘shaking action’ on the entire tree or may involve insertion of one or more members into the canopy wherein the member or members produce the desired ‘shaking action’ to the canopy without statically engaging, or otherwise grasping, a portion of the tree. The second method involves engaging individual fruit members, or engaging individual connecting stems, and producing a severing action between the individual fruit and the tree. 
     Without regard to the severing method employed, there exist three strong desires which need to be fulfilled in order for the specific harvesting machine to be commercially accepted within the industry. The first desire is to avoid unnecessary damage to the tree during the harvesting of the fruit attached thereon. This desire relates to actual damage to the tree as well as incidental damage as enameled by removal of immature, or second crop, fruit from certain fruit trees which begin to produce the second crop prior to harvesting of a first mature crop. The second desire is to harvest an extremely high percentage of the mature fruit from each of the trees. The third desire is that the harvesting performed, which satisfies the above two desires, must be economically competitive compared to existing harvesting techniques. 
     Various deficiencies exist with machines which rely upon the severing action principle. Generally, these machines are referred to as canopy penetration machines which utilize rods with picking members, sometimes referred to as hooks, extending therefrom. Due primarily to the picking members utilized by these machines, these machines also universally have a tendency to damage the tree during harvesting. Additionally, these machines tend to leave an unacceptable quantity of fruit on the tree. 
     In the prior art we find numerous attempts to provide for a mechanical harvesting of fruit from trees. Several of these attempts have relied upon a ‘penetrate and engage’ method whereby a probe or arm is inserted into the canopy of the tree where members extending from the probe or arm engage the fruit in close proximity to the stem. Such engagement, following continued movement of the probe or arm, provides for generating a picking pressure between the individual fruit and the tree. Such pressure being preferably produced at, or in close proximity to, a terminal end of the stem where the fruit actually attaches to the tree. While much effort has been expended attempting to create a machine based upon the ‘penetrate and engage’ method, very little effort has been extended on creating an efficient and productive picking finger assembly which may operate with such machines. Your applicant has spent considerable time and effort in creating, developing and reducing to actual practice both a practical picking finger assembly and a practical harvesting machine which makes use of such picking finger assemblies. 
     Various attempts have been made to provide a canopy penetration machine capable of harvesting extremely high percentages of fruit from a tree while minimizing damage to the tree. These attempts have been less efficient than desired primarily due to the size requirements of the machines, and associated transport considerations, and the inability to ensure adequate reach, or extension, of the picking arms into the fruit tree. As such, it may be appreciated that there continues to be a need for a canopy penetration mechanical harvesting machine which is relatively small while in a transport configuration for ready movement between work places while having penetration capabilities which ensure ready passage of a central axis of a row of trees during each operational cycle. The present invention provides for canopy penetration machines which substantially fulfill these needs. 
     SUMMARY 
     In view of the foregoing disadvantages inherent in the known types of mechanical fruit harvesting machines, your applicant has devised a fruit harvesting machine having various features which may be utilized in various combinations. Ideally the machine will be capable of conversion between a transportable configuration and an operational configuration and capable of deep penetration of the fruit tree wherein an arm housing is capable of being deployed well beyond a perimeter of the transport assembly or chassis of the fruit harvesting machine. The fruit harvesting machine is capable of being moved about during operation by being towed or, more preferably, by utilizing self contained propulsion. The fruit harvesting machine has a plurality of arms contained in a lower array of arms and in an upper array of arms with each arm having at least one picking finger extending therefrom. Each picking finger provides for an engagement of fruit to produce a picking pressure to harvest the fruit. The lower array of arms are contained by a lower arm housing member which is displaceably mounted on the transport assembly for lateral penetration of the fruit tree. The upper array of arms are contained by an upper arm housing member which is also displaceably mounted on the transport assembly for lateral penetration of the fruit tree while in an operation orientation. The upper arm housing member, with the upper array of arms contained thereby, additionally is displaceable between the operational orientation, where the arms are retained relatively horizontal to the transport assembly, and a transport orientation, where the arms are retained relatively vertical to the transport assembly and where the arms intermix with the arms of the lower array of arms of the lower arm housing member. The upper arm housing member is alternatingly displaced between the operational orientation and the transport orientation utilizing any of several powering arrangements. The lower arm housing member and the upper arm housing member, while in the operational orientation, are displaceable between a respective fully retracted orientation and a fully extended orientation for penetration of the fruit trees. The displacement of at least the upper arm housing member utilized a dual stage displacement to provide for exceptional extension well beyond the perimeter of the transport assembly. A first displacement arrangement moves the upper arm housing member between the fully retracted orientation and an intermediate orientation while a second displacement arrangement moves the upper arm housing member between the intermediate orientation and the fully extended orientation. These displacement arrangements may occur sequentially, simultaneously, or may have an overlapping of occurrences. 
     My invention resides not in any one of these features per se, but rather in the particular combinations of them herein disclosed and it is distinguished from the prior art in these particular combinations of these structures for the functions specified. 
     There has thus been outlined, rather broadly, the more important features of the invention in order that the detailed description thereof that follows may be better understood, and in order that the present contribution to the art may be better appreciated. There are, of course, additional features of the invention that will be described hereinafter and which will form the subject matter of the claims appended hereto. Those skilled in the art will appreciate that the conception, upon which this disclosure is based, may readily be utilized as a basis for the designing of other structures, methods and systems for carrying out the several purposes of the present invention. It is important, therefore, that the claims be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the present invention. 
     It is therefore a primary object of the present invention to provide for a canopy penetration mechanical fruit harvesting machine which may be readily converted to a small size for transport under it&#39;s own power, towed or transported on a flat bed trailer. 
     Other objects include; 
     a) to provide for the above defined conversion for transport by splitting the arm housing into a lower set and an upper set and providing for the upper set to pivot down into the lower set to reduce the height of the harvesting machine. 
     b) to provide for a track member which remains level while moving upward and downward relative to the harvesting machine and which slidably engages a portion of the upper arm housing member to guide the upper arm housing member during a pivotal movement of the upper arm housing member between an operational orientation and a transport orientation. 
     c) to provide for utilization of a track of a track system primarily employed for extension and retraction of the upper arm housing member relative to the fruit tree for guidance of the pivotal movement of the upper arm housing member between the operational orientation and the transport orientation. 
     d) to provide for a staggering of columns of arms of the upper arm housing member relative to columns of arms of the lower arm housing member wherein the columns of arms of the upper arm housing member pass between the columns of arms of the lower arm housing member. 
     e) to provide for an extra column of arms on the upper arm housing member in cooperation with the staggering of the columns of the upper to the lower arm housing member. 
     f) to provide for sleeves to cover each column of the lower arm housing member wherein the arms of the upper arm housing member may readily move therebetween during transfer between the operational orientation and the transport orientation. 
     g) to provide for a canopy penetration mechanical fruit harvesting machine capable of extension of a rearward most portion of an arm housing member well beyond the perimeter of the chassis of the harvesting machine wherein adequate penetration of the fruit trees is ensured. 
     h) to provide for a dual track system to provide for the desired extension beyond the perimeter of the chassis of the harvesting machine wherein a first set of tracks slide within a second set of tracks while the arm housing slides within the second set of tracks. 
     i) to provide for an expansion of a scissor like assembly along a track of a track system to provide for stability of the arm housing member. 
     j) to provide for a displacement of the expanded scissor like assembly along the track member to provide for a partial displacement of the arm housing member. 
     k) to provide for a displacement of the track having the expanded and displaced scissor like assembly contained therein along another track system to provide for a partial displacement of the arm housing member. 
     l) to provide for a cable system to control displacement of the various components including the track members and the components slidable mounted within the track members. 
     These together with other objects of the invention, along with the various features of novelty which characterize the invention, are pointed out with particularity in the claims annexed to and forming a part of this disclosure. For a better understanding of the invention, its operating advantages and the specific objects attained by its uses, reference should be had to the accompanying drawings and descriptive matter in which there is illustrated the preferred embodiments of the invention. 
    
    
     BRIEF DESCRIPTION OF THE DRAWINGS 
     The invention will be better understood and objects other than those set forth above will become apparent when consideration is given to the following detailed description thereof. Such description makes reference to the annexed drawings wherein; 
     FIG. 1 is a rear elevational view of a harvesting machine in a transport orientation. 
     FIG. 2 is a rear elevational view of the harvesting machine during transfer between the transport orientation and an operational orientation. 
     FIG. 3 is a rear elevational view of the harvesting machine in the operational orientation and in a fully retracted orientation. 
     FIG. 4 is a rear elevational view of the harvesting machine during transfer between the fully retracted orientation and the fully extended orientation. 
     FIG. 5 is a rear elevational view of the harvesting machine during transfer between the fully retracted orientation and the fully extended orientation. 
     FIG. 6 is a rear elevational view of the harvesting machine in the fully extended orientation. 
     FIG. 7 is a rear elevational view of the harvesting machine with an upper array of arms in the fully extended orientation and with a lower array of arms in the fully retracted orientation. 
     FIG. 8 is an overhead plan view of the harvesting machine in the orientation depicted in FIG. 3 positioned in a fruit grove. 
     FIG. 9 is a side elevational view of a portion of a lower arm housing member and a portion of an upper arm housing member. 
     FIG. 10 is a side elevational view of the harvesting machine in the orientation depicted in FIG.  3  and FIG.  8 . 
     FIG. 11 is a rear elevational view of a portion of a displacement assembly in the fully retracted orientation. 
     FIG. 12 a  is a rear elevational view of the assembly depicted in FIG. 11 in the fully extended orientation. 
     FIG. 12 b  is an overhead plan view of a portion of the assembly depicted in FIG. 12 a  including a cable system and means to control the displacement. 
     FIG. 13 is a rear elevational view of the assembly depicted in FIG. 11 during transfer between the operational orientation and the transport orientation. 
    
    
     DESCRIPTION 
     Reference is hereafter made to the drawings where like reference numerals refer to like parts throughout the various views. 
     Configuration Transfer Between Operation and Transport 
     It is a strong desire to provide for a harvesting machine which may be readily transported while not in service harvesting fruit. This requires that the harvesting machine not exceed certain height limits imposed by various jurisdictions. When it is required to transport the harvesting machine on a separate carrier, wherein the harvesting machine rides on the separate carrier, the height of the separate carrier must be considered. It is also a strong desire to provide for a harvesting machine which may harvest fruit from all portions of the fruit trees. This requires that the harvesting machine have an imposing height during a harvesting operation. These conflicting desires may be met by providing transfer means to displace an upper extent of the harvesting machine between an elevated placement and a lowered placement. Numerous methods are known in the art to provide for the desired elevational displacement and many of these methods are applicable to the present invention. 
     A harvesting machine  30 , or portions thereof, is depicted in the various views. Harvesting machine  30  has various orientations including a transport orientation  32 , shown in FIG.  1  and an operational orientation  34 , shown in FIG.  3  through FIG.  8  and FIG.  10 . While in operational orientation  34  harvesting machine  30  further has a fully retracted orientation  36 , see FIG. 3, and a fully extended orientation  38 , see FIG.  6  and any desired position therebetween. 
     In a preferred embodiment an upper assembly  40 , which has an upper arm housing member  42  which retains an upper array of arms  44 , is pivotally displaced utilizing several structural components utilized for the displacement of upper arm housing member  42  between fully retracted orientation  36  and fully extended orientation  38 . Opposing sets of these components will be positioned in spaced relationship relative to upper array of arms  44  and preferably outside of upper array of arms  44 . As depicted in FIG.  2  and FIG. 13 a pivot member  46  engages a portion of a displacement assembly  48  of upper arm housing member  42 . Pivot member  46  then temporarily engages a portion of a displacement assembly  50  of a lower arm housing member  52 . This arrangement provides for a pivotal displacement of upper arm housing member  42  relative to lower arm housing member  52  wherein upper array of arms  44  folds into a lower array of arms  54 . 
     This pivotal displacement is guided by travel of a guide member  56  within a guide slot  58  during elevational displacement of an upper control assembly  60 , specifically see FIG.  1  through FIG.  3 . Various elevational displacement means may be employed to provide for the desired elevational displacement of upper control assembly  60  relative to a transport assembly  62  of harvesting machine  30 . Hydraulic drives  64  are depicted performing this elevational displacement between FIG.  1  and FIG.  3 . If required additional structures may be provided for structural integrity of upper arm housing member  42  and/or upper control assembly  60  while in operational orientation  34 . 
     The dimensional configurations of the various components are important in order to provide for maximization of the various sizes while in operational orientation  34  and to provide for minimization of the various sizes while in transport orientation  32 . Referring now to FIG. 3 transport assembly  62  will have a width  66  which ideally will be uniform for both a lower assembly  68  and upper assembly  40 . Upper assembly  40  will have a height  70  while lower assembly  68  will have a height  72 . In order to ensure the desired mating while in transport orientation  32 , see FIG. 1, height  70  must be no greater, and preferable slightly less depending upon placement of the pivot point, than width  66 . Additionally, width  66  of upper assembly  40  must allow for placement relative to lower assembly  68 . While upper array of arms  44  may extend below lower array of arms  54  while in transport orientation  32 , preferably width  66  of upper assembly  40  will be no greater than height  72 . 
     It is necessary to provide for a interweaving of arms  74  of upper array of arms  44  with arms  74  of lower array of arms  54  while not in operational orientation  34 . This is accomplished by providing for an offsetting of each column of arms of the two (2) arrays  44  and  54  at least while not actually performing a harvesting operation. This may be accomplished by providing for a shifting of upper array of arms  44  relative to lower array of arms  54  or a shifting of lower array of arms  54  relative to upper array of arms  44 . Preferably, this involves construction wherein the desired offset fixedly exists. FIG.  9  and FIG. 10 depict upper array of arms  44  having one (1) extra upper column  76  of arms  74  relative to the number of lower columns  78  of arms  74  of lower array of arms  54  and the desired offset between each upper column  76  and each adjacent lower column  78 . 
     As an aid to displacement, and to prevent any harmful engagement of interacting picking fingers  80  during the transfer, sleeves  82 , see FIG. 10, are placed over each lower column  78  prior to commencement of the transfer process from operational orientation  34  to transport orientation  32  and removed after transfer back to operational orientation  34 . Sleeves  82  also act to guide each arm  74  of upper array of arms  44  into proper placement relative to lower array of arms  54 . 
     Dual Displacement 
     It is a requirement to provide for a harvesting machine which has arm members which may be displaced into and out of a canopy of a fruit tree in an alternating displacement. It is a strong desire to provide for maximum penetration capabilities wherein a rearward extent of an arm housing member containing the arms is displaced well beyond a perimeter of the frame of the harvesting machine. Ideally, a dual displacement system provides for this extraordinary extension capability wherein means for a first displacement arrangement provides for displacement of the arm housing thereon while means for a second displacement arrangement provides for displacement of at least a portion of the structures utilized for the first displacement arrangement. Numerous methods are known in the art to provide for the desired dual displacement and many of these methods are applicable to the present invention. 
     Harvesting machine  30  comprises transport assembly  62  which comprises a frame  84  and wheels  86  sufficient to allow harvesting machine  30  to move about freely during operation using any transport means conventionally known in the art. Transport assembly  62  has a perimeter  88 , see FIG. 8, which defines the outer extents of harvesting machine  30  while all arms  74  are in fully retracted orientation  36 . 
     Displaceably positioned on transport assembly  62  is lower array of arms  54  contained in lower arm housing member  52 , specifically see FIG.  9 . Also displaceably positioned on transport assembly  62 , and above lower array of arms  54  while in operational orientation  34 , is upper array of arms  44  contained in upper arm housing member  42 , specifically see FIG.  9 . 
     Each array of arms  54  and  44  comprises a plurality of arms  74  having at least one (1) picking finger  80  extending therefrom. In operation, see FIG. 8, harvesting machine  30  moves about a fruit grove  90  while repetitively displacing arms  74  into and out of trees  92 . During the retraction from the tree movement picking fingers  80  provide for an engagement of fruit  94  in close proximity to the stem connecting fruit  94  to trees  92 . During continued retraction of the respective arm  74  a picking pressure is produced to cause a severing of fruit  94  from tree  92 . 
     In the embodiment depicted both upper assembly  40  and lower assembly  68  are displaceable utilizing nearly identical structures. Therefore, a detailed description is only provided for displacement of upper assembly  40  which is also applicable to displacement of lower assembly  68 . 
     Referring now to FIG.  3  through FIG.  7  and FIG.  11  through FIG. 13, opposing sets of displacement assembly  48 , or portions thereof, are depicted. FIG.  3  through FIG. 7 show the displacement assembly  48  shown on the left hand side of FIG. 10 looking toward the machine from the left while FIG.  11  through FIG. 13 show a portion of displacement assembly  48  shown on the right hand side of FIG. 10 looking outward also from the left. 
     Each displacement assembly  48  comprises a first track system  96 , a second track system  98  and a scissor assembly  100 . First track system  96  is fixedly positioned relative to upper control assembly  60 . Slidably positioned relative to first track system  96  is second track system  98  which may be selectively displaced along first track system  96 . Second track system  98  has guide slot  58  positioned therealong to slidably receive two (2) guide members  56  of displacement assembly  48 . 
     Scissor assembly  100  further comprises a first coupling assembly  102  and a second coupling assembly  104  which are linked together by a first linking member  106  and a second linking member  108 . Second coupling assembly  104  in turn connects to, or is part of, upper arm housing member  42 . Lower guide members  110  of scissor assembly  100  engage slots  112  for controlled displacement therein. This arrangement provides for scissor assembly  100  to remain perpendicular to guide slot  58  and particularly when in an extended placement  114 . 
     Scissor assembly  100  provides stability to upper arm housing member  42  while scissor assembly  100  is in extended placement  114 , see FIG.  4  through FIG.  7  and FIG. 12 a.  It being noted that scissor assembly  100  is free hanging from second track system  98  without similar support at lower extents, see FIG.  7 . If desired such lower support may be provided. Scissor assembly  100  slides within second track system  98  during expansion and contraction of scissor assembly  100 . Additionally, scissor assembly  100  is displaceable within guide slot  58  of second track system  98  while in either extended placement  114  or in a retracted placement  116 , see FIG.  11 . 
     If desired first coupling assembly  102  may consist of a single connection member positioned relative to guide slot  58  wherein three points are utilized for the desired displacement while providing for the desired positioning of second coupling assembly  104  and therefore upper array of arms  44 . 
     Second track system  98  is at least partially displaceable along first track system  96  between a retracted placement  118 , see FIG. 11, and an extended placement  120 , see FIG. 12 a.  This displacement is independent of positioning of scissor assembly  100  within guide slot  58  of second track system  98 . 
     When it is desired to displace upper arm housing member  42  relative to transport assembly  62  control may occur to provide whatever measurement of extension which is desired anywhere between fully retracted orientation  36  and fully extended orientation  38 . Additionally, it is possible, and desirable due to the configurations of specific trees, to provide for distinct measurements of extension between the extension of lower array of arms  54  and the extension of upper array of arms  44 . 
     Several different sequences may be employed during displacement of displacement assembly  48 . Ideally, during an extension period of upper arm housing member  42 , and therefore upper array of arms  44 , scissor assembly  100  is transferred from retracted placement  116  to extended placement  114  while fully retracted relative to second track system  98 . Following this extension scissor assembly  100  is displaced along second track system  98 . Following this displacement second track system  98  is displaced relative to first track system  96  from retracted placement  118  to extended placement  120 . This sequence of events provides for greater stability of displacement assembly  48  during operation. Similarly, during the withdrawal period it is preferred to first displace second track system  98  from extended placement  120  to retracted placement  118  within first track system  96 . Following this retraction scissor assembly  100  is transferred from extended placement  114  to retracted placement  116  relative to second track system  98 . Following this retraction scissor assembly  100  is transferred from extended placement  114  to retracted placement  116 . This sequence of events similarly provides for greater stability of displacement assembly  48  during operation. 
     Of course during any extension or retraction operation it is necessary to provide for at least some control over the opposing sets of displacement assemblies  48  which control upper array of arms  44  to maintain a synchronized operation. Similar, but independent if desired, control must be made of displacement assemblies  50  which control lower array of arms  54 . Depending upon the configuration of the various components and the power source utilized many different control means, as conventionally known in the art, may be utilized to provide this control. 
     A particularly expedient power source for the desired operation of displacement assembly  48  involves a cable system  122 , see FIG. 12 b.  While configurations exist which allow for use of a single reversible cable system to operate the desired displacement cycles, a particularly expedient method involves use of an extension cable drive  124  and a retraction cable drive  126  for the two directions of displacement. Various tension means may be employed to provide for a biasing of various components toward certain orientations wherein a desired sequence of events occur during operation. 
     During the extension period retraction cable drive  126  is idled wherein a retraction cable  128  is fed from retraction cable drive  126 . During the extension period extension cable drive  124  pulls an extension cable  130  along a path of pulleys. Extension cable  130  anchors to a forward portion of scissor assembly  100  wherein when operated scissor assembly  100  expands then advances along second track system  98 . Once scissor assembly  100  is expanded and fully displaced relative to second track system  98  further retraction of extension cable  130  results in displacement of second track system  98  along first track system  96  up to fully extended orientation  38 . 
     During the retraction period extension cable drive  124  is idled wherein extension cable  130  is fed from extension cable drive  124 . During the retraction period retraction cable drive  126  pulls retraction cable  128  along a path of pulleys. Retraction cable  128  anchors to a forward portion of scissor assembly  100  wherein when operated second track system  98  is retracted along first track system  96 . Once second track system  98  is fully retracted relative to first track system  96  further retraction of retraction cable  128  results in displacement of scissor assembly  100  along second track system  98 . Following the displacement of scissor assembly  100  along second track system  98  continued retraction of retraction cable  128  results in a closure of scissor assembly  100  up to fully retracted orientation  36 . 
     It is desirable to provide for automation of the harvesting operation utilizing harvesting machine  30 . Ideally, the operator would only be required to steer harvesting machine  30  along the row of trees. As depicted in FIG. 12 b  a control device  132  would receive input from a measuring device  134  which would determine travel of harvesting machine  30  as exampled by coupling to wheel  86 . Based upon a predefined spacing of cycles of operation along the row of trees control device  132  would advance harvesting machine  30  the desired distance by exerting control over a transmission  136  of harvesting machine  30 . Based upon this advance control device  132  would exert control over extension cable drive  124  and retraction cable drive  126  to provide for the desired extension and withdrawal of upper array of arms  44  in any definable distance between fully retracted orientation  36  and fully extended orientation  38 . Typically, only one cycle of extension and retraction will occur at each placement location of harvesting machine  30  but, if desired, control device may direct that subsequent cycles occur. 
     While not depicted in any of the various views due to not being relevant to the present invention, preferably a catcher—transfer assembly will be installed on harvesting machine  30  to provide for ready capture and transfer of harvested fruit prior to contact with the ground. 
     With respect to the above description then, it is to be realized that the optimum dimensional relationships for the parts of the invention, to include variations in size, material, shape, form, function and manner of operation, assembly and use, are deemed readily apparent and obvious to one skilled in the art, and all equivalent relationships to those illustrated in the drawings and described in the specification are intended to be encompassed by the present invention. 
     Therefore, the foregoing is considered as illustrative only of the principles of the invention. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the invention to the exact construction and operation shown and described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope of the invention.