Abstract: Aiming at the problems of low mechanization degree, high labor intensity, low operation efficiency and high labor cost in forest fruit harvesting in China, the design of the forest fruit harvesting robot was proposed in the paper. The robot is mainly composed of gatherer, conveying mechanism, horizontal swing mechanism, fruit collector, solar-powered device and self-moving mobile chassis, which can realize the functions of automatic picking up, cleaning and collecting of the falling forest fruit such as walnut, chestnut and jujube. It is flexible and easy to operate, and has good adaptability to the topography of orchards. The performance test of the physical prototype shows that it has high collecting efficiency and success rate.

Key words: falling forest fruit, harvesting robot, gatherer, horizontal swing mechanism, fruit collector