A variable frequency and variable amplitude walnut shaking harvesting vehicle

Abstract

This invention relates to the field of fruit harvesting technology and discloses a variable frequency and amplitude walnut shaking harvesting vehicle, including a chassis, a shaking device, a collection device, and a remote control device. The shaking device is used to harvest walnuts by shaking, and the collection device is used to collect the harvested walnuts. The remote control device controls the movement of the chassis and controls the shaking frequency of the shaking device. The shaking device includes a shaking frame, a crankshaft bearing seat, a sliding bearing seat, a crankshaft, a rocker arm, a connecting rod, an amplitude slider, and a positioning module mounted on the chassis. The crankshaft bearing seat and the sliding bearing seat are arranged opposite each other on the shaking frame, and the crankshaft and the rocker arm are respectively mounted thereon. The crankshaft and the rocker arm are connected by a connecting rod. An amplitude slider is movably mounted on the rocker arm, and the amplitude slider is connected to the positioning module. This invention has the characteristics of adapting to different tree shapes, high harvesting rate, and high harvesting efficiency, and also features remote control and a tracked chassis for obstacle crossing and slope climbing.

Description

Technical Field

[0001] The invention relates to the technical field of fruit harvesting, and more specifically, to a variable-frequency and variable-amplitude walnut shaking harvesting vehicle. Background Art

[0002] China's walnut industry has shown an upward trend in recent years. my country's walnut planting area and output have remained the largest in the world. Walnut harvesting is an important part of the walnut industry, and the industry has put forward requirements for efficient and low-consumption harvesting operations.

[0003] Walnut plantations in my country are mostly located in hilly areas. In recent years, most gardens have developed towards dwarfing and dense planting. Currently, walnut harvesting is mostly done manually by beating with long hand-held poles, which has shortcomings such as low efficiency, operational dangers and labor shortages. At the same time, it is easy to cause serious damage to the tree, affecting the walnut production next year. In order to adapt to the development of the walnut industry, it is necessary to address these shortcomings in walnut harvesting operations. Summary of the invention

[0004] The purpose of the present invention is to provide a variable frequency and variable amplitude walnut shaking harvesting vehicle to address the technical problems existing in the prior art, which can replace manual operations with machines, reduce harvesting costs, ensure operation safety, improve operation efficiency, reduce damage to trees, and reduce the impact on fruit production in the next year.

[0005] In order to solve the above problems, the technical solution adopted by the present invention is:

[0006] The present invention provides a variable frequency and variable amplitude walnut shaking harvesting vehicle, comprising a traveling chassis, a shaking device arranged on the traveling chassis, a collecting device and a remote control device, wherein the shaking device is used to pick walnuts by shaking, and the collecting device is used to collect the picked walnuts; the remote control device controls the traveling chassis to move, and controls the shaking frequency of the shaking device;

[0007] The shaking device includes a shaking frame, a crankshaft bearing seat, a sliding bearing seat, a crankshaft, a rocker, a connecting rod, a variable amplitude slider and a positioning module arranged on the walking chassis; the crankshaft bearing seat and the sliding bearing seat are relatively arranged on the shaking frame, the crankshaft is arranged on the crankshaft bearing seat, the rocker is arranged on the sliding bearing seat, and the crankshaft and the rocker are connected by a connecting rod; the variable amplitude slider is movably arranged on the rocker, and the variable amplitude slider is connected to the positioning module; the crankshaft can rotate and drive the rocker to swing, and the swing amplitude is adjusted by the variable amplitude slider.

[0008] Furthermore, the walking chassis includes a chassis frame, a chassis power device arranged on the chassis frame, a driving wheel, a supporting wheel, a guide wheel and a rubber track, the rubber track is mounted on the outer surfaces of the driving wheel, the supporting wheel and the guide wheel, and the driving wheel is connected to a hydraulic motor.

[0009] Furthermore, the shaking device also includes a crankshaft pulley, a hydraulic motor pulley, a wedge belt, a rocker shaft, a connecting rod shaft, a first bearing and a second bearing, the crankshaft pulley is connected to the end of the crankshaft, the hydraulic motor is also arranged on the shaking frame, the hydraulic motor pulley is arranged at the end of the hydraulic motor shaft and is connected to the crankshaft pulley through a wedge belt; a journal is arranged in the middle of the crankshaft, and a first bearing is arranged on the journal; the rocker is arranged on the sliding bearing seat through the rocker shaft, a connecting rod shaft is arranged on the rocker shaft, a second bearing is arranged on the connecting rod shaft, and the connecting rod connects the second bearing and the first bearing.

[0010] Furthermore, a connecting rod shaft gland is provided on the connecting rod shaft for compression, and connecting rod heads for compressing the first bearing shell and the second bearing shell are respectively provided at both ends of the connecting rod.

[0011] Furthermore, a guide rail fastening clamp is provided on the rocker, and a guide rail connected to the guide rail fastening clamp is provided, and the guide rail is slidably matched with the amplitude-changing sliding block.

[0012] Furthermore, the variable amplitude slider includes a frame structure composed of a slider front plate, a slider rear plate and a slider side plate, a first inclined block, a second inclined block and a connecting block arranged in the frame structure, and a screw bolt, the connecting block cooperates with the guide rail, the first inclined block is located in the middle and the second inclined block is arranged between the connecting block; the contact surface between the first inclined block and the second inclined block is an inclined surface, a threaded hole is arranged on the first inclined block, and a screw bolt is arranged in the threaded hole.

[0013] Furthermore, a boss is formed on the front plate of the slider, and a bend is provided on the boss, and the bend is connected to the positioning module; the positioning module includes a connecting hook, a rope and a wide locking belt, one end of the rope cooperates with the bend through the connecting hook, and the other end is connected to the wide locking belt through the connecting hook.

[0014] Furthermore, counterweights are arranged relatively on the crankshaft, and the first bearing is located between the two counterweights; lubricating oil passages are arranged on the crankshaft and the connecting rod shaft respectively, and a pointed oil nipple connected to the roller oil passage is arranged on the shoulder of the crankshaft.

[0015] Furthermore, the collecting device includes a collecting box, a dump hydraulic cylinder, and a side baffle. The collecting box is arranged on the upper part of the chassis frame, the dump hydraulic cylinder is arranged on the lower part of the chassis frame and connected to the collecting box, and the side baffle is movably arranged on the side of the collecting box; the dump hydraulic cylinder is connected to the remote control device.

[0016] Furthermore, the remote control device includes a hydraulic control element box and a hydraulic oil tank arranged on the chassis frame, a remote control handle and a signal receiver arranged on the hydraulic control element box, the signal receiver receives the operation signal of the remote control handle and outputs it to the hydraulic control element box to control the flow size and direction of the hydraulic oil in the hydraulic oil tank, and the hydraulic control element box is respectively connected to the walking chassis, the shaking device and the collection device.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] (1) The present invention realizes mechanized operation of walnut harvesting through a shaking device, a walking chassis, a collecting device and a remote control device, thereby reducing the harvesting cost and improving the harvesting efficiency. Walnut harvesting is mostly done manually. With the increase in labor costs, the implementation of mechanized operations can reduce the harvesting cost. In addition, with the aging of the labor force and labor shortage, mechanized operations can improve the harvesting efficiency. Mechanized operations can solve the problem of high manual harvesting costs. In addition, the remote control device can conveniently control the harvesting vehicle to walk, turn and harvest in the forest, ensuring the safety of the operators, with the ability to overcome obstacles and climb slopes, and can collect walnuts during the operation.

[0019] (2) The present invention can adjust the shaking frequency and shaking amplitude. The shaking frequency can be changed by changing the rotation speed of the pulley; on the other hand, the shaking amplitude can be changed by changing the position of the variable amplitude slider. That is, by adjusting the different vibration frequencies and vibration amplitudes of the shaking device, different tree shapes can be adapted and a higher fruit drop rate can be achieved while keeping the tree body intact. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is an overall axonometric view of the variable frequency and variable amplitude walnut shaking harvesting vehicle of the present invention.

[0021] Figure 2 It is a front view of the variable frequency and variable amplitude walnut shaking harvesting vehicle of the present invention.

[0022] Figure 3 It is an axonometric view of the shaking device in the present invention.

[0023] Figure 4 It is a top view of the shaking device in the present invention.

[0024] Figure 5 It is a rear view of the shaking device in the present invention.

[0025] Figure 6 It is an axonometric view of the variable amplitude sliding block in the present invention.

[0026] Figure 7 It is the front view of the variable amplitude sliding block in the present invention.

[0027] Figure 8 It is a partial schematic diagram of the remote control device in the present invention.

[0028] The reference numerals are as follows: 1-shaking device, 101-shaking frame, 102-crankshaft, 103-crankshaft pulley, 104-hydraulic motor pulley, 105-wedge belt, 106-bearing seat, 107-tapered roller bearing, 181-first bearing, 182-second bearing, 109-pointed oil nozzle, 110-counterweight, 111-connecting rod, 112-connecting rod head, 113-connecting rod shaft, 114-connecting rod shaft gland, 115-connecting piece, 116-rocker, 117-sliding bearing seat, 118-rocker shaft, 119-guide rail fastening clamp, 120-guide rail, 121-variable amplitude slider, 122-slider front plate, 124-slider rear plate, 125-connecting piece, 126-rocker, 127-slider front plate, 128-slider rear plate, 129-guide rail fastening clamp, 130-guide rail, 131-slider front plate, 132-slider rear plate, 133-slider rear plate, 134-slider rear plate, 135-connecting piece, 136-rocker 5-slider side plate, 126-connecting block, 127-first inclined block, 128-second inclined block, 130-screw bolt, 131-connecting hook, 132-rope, 133-wide locking belt, 134-hydraulic motor, 135-boss, 136-bend, 2-walking chassis, 201-chassis power unit, 202-chassis frame, 203-driving wheel, 204-support wheel, 205-guide wheel, 206-rubber track, 3-collection device, 301-dump hydraulic cylinder, 302-side baffle, 303-collection box, 4-remote control device, 401-remote control handle, 402-signal receiver, 403-hydraulic control element box, 404-hydraulic oil tank DETAILED DESCRIPTION

[0029] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0031] See also Figure 1 and attached Figure 2As shown, the present invention provides a variable frequency and variable amplitude walnut shaking harvesting vehicle, which includes a traveling chassis 2, a shaking device 1 arranged on the traveling chassis 2, a collecting device 3 and a remote control device 4, wherein the shaking device 1 is used for picking walnuts by shaking, and the collecting box 3 is used for collecting the picked walnuts; the remote control device 4 controls the traveling chassis 2 to move and controls the shaking frequency of the shaking device 1.

[0032] The shaking device 1 includes a shaking frame 101, a crankshaft bearing seat 106, a sliding bearing seat 117, a crankshaft 102, a rocker 116, a connecting rod 111, a variable amplitude slider 121 and a positioning module arranged on the walking chassis 2. The crankshaft bearing seat 106 and the sliding bearing seat 117 are arranged relatively on the shaking frame 101, the crankshaft 102 is arranged on the crankshaft bearing seat 106, the rocker 116 is arranged on the sliding bearing seat 117, and the crankshaft 102 and the rocker 116 are connected by a connecting rod 111. The variable amplitude slider 121 is movably arranged on the rocker 116, and the variable amplitude slider 121 is connected to the positioning module. The crankshaft 102 can rotate and drive the rocker 116 to swing, and the swing amplitude is adjusted by the variable amplitude slider 121.

[0033] In this embodiment, the shaking device 1 is assembled at the tail of the walking chassis 2 by bolt connection, the collecting device 3 is assembled at the middle of the walking chassis 2, and the remote control device 4 is assembled at the head of the walking chassis 2 and is located at the opposite ends of the collecting device 3 to the shaking device 1.

[0034] Furthermore, the walking chassis 2 includes a chassis frame 202, a chassis power device 201 arranged on the chassis frame 202, a driving wheel 203, a supporting wheel 204, a guide wheel 205 and a rubber track 206, the rubber track 206 is mounted on the outer surfaces of the driving wheel 203, the supporting wheel 204 and the guide wheel 205, and the driving wheel 204 is connected to a hydraulic motor (not shown in the figure) connected to the remote control device 1.

[0035] Specifically, the chassis power device 201 is located at the upper part of the chassis frame 202, the driving wheel 203 and the guide wheel 205 are located at the lower part of the chassis frame 202, and are respectively located at opposite ends. The support wheel 204 is located between the driving wheel 203 and the guide wheel 205, and the number of the support wheels 204 can be adjusted according to actual needs, so as to ensure the stability and reliability of the operation of the walking chassis 2.

[0036] As attached Figure 3 and Figure 4As shown, the shaking device 1 also includes a crankshaft pulley 103 , a hydraulic motor pulley 104 , a wedge belt 105 , a connecting rod shaft 113 , a rocker shaft 118 , a first bearing 181 and a second bearing 182 .

[0037] The crankshaft pulley 103 is connected to the end of the crankshaft 102 through a key, and the hydraulic motor 134 is also arranged on the shaking frame 101. The hydraulic motor pulley 104 is arranged at the shaft end of the hydraulic motor 134 and is connected to the crankshaft pulley 103 through a wedge belt 105. A journal is arranged in the middle of the crankshaft 102, and a first bearing 181 is arranged on the journal. The rocker 116 is arranged on the sliding bearing seat 117 through a rocker shaft 118. A connecting rod shaft 113 is arranged on the rocker 116, and a second bearing 182 is arranged on the connecting rod shaft 113. The connecting rod 111 connects the second bearing 182 with the opposite first bearing 181.

[0038] Specifically, the crankshaft bearing seat 106 is symmetrically arranged on the shaking frame 101 by bolts, and a tapered roller bearing 107 is arranged on the crankshaft bearing seat 106. Both ends of the crankshaft 102 cooperate with the tapered roller bearing 107 and are fixed on the bearing seat 106. The sliding bearing seat 117 is arranged on the shaking frame 101 and is located at the other end opposite to the bearing seat 106. The sliding bearing seat 117 is connected to the rocker 116 through the rocker shaft 113.

[0039] Furthermore, lubricating oil passages are arranged on the crankshaft 102 and the connecting rod shaft 113 respectively. A sharp oil nipple 109 connected to the roller oil passage is provided on the shoulder of the crankshaft 102 for lubricating the two bearings, the crankshaft 102 journal and the connecting rod shaft 113 journal. The lubricating oil is injected through the sharp oil nipple 109 and prevented from flowing out.

[0040] Furthermore, the rocker arm 116 is connected to the connecting rod shaft 113 via a connecting piece 115, and a connecting rod shaft pressure cover 114 is provided on the connecting rod shaft 113 for compression to ensure the reliability of installation.

[0041] Furthermore, two groups of counterweights 110 are disposed on the crankshaft 102 . The two counterweights 110 are relatively arranged as a group, and the first bearing shell 181 is disposed between the two counterweights 110 .

[0042] Specifically, the crankshaft 102 is provided with two journals, each journal is provided with a pair of first bearings 181, and a set of counterweights 110 are provided on both sides of the first bearings 181, and sharp oil nozzles 109 are provided on the two shoulders. The rotation speed of the crankshaft 102 is 0-8r / s, the eccentricity of the two journals is 100mm, and the center distance of the two journals is 328mm.

[0043] As attached Figure 4 As shown, the connecting rod 111 is a symmetrical structure, and connecting rod heads 112 are respectively provided at both ends of the connecting rod 111, which are respectively used to press the first bearing shell 181 and the second bearing shell 182 to ensure the reliability of the connection.

[0044] Furthermore, the rocker 116 is symmetrically provided with a guide rail fastening clamp 119 , and is provided with a guide rail 120 connected to the guide rail fastening clamp 119 . The guide rail 120 is slidably matched with the amplitude-changing slider 121 , and the amplitude-changing slider 121 can translate on the guide rail 120 .

[0045] As attached Figure 5 and Figure 6 As shown, the variable amplitude slider 121 adopts a combined structure, including a frame structure composed of a slider front plate 122, a slider rear plate 124 and a slider side plate 125, a first inclined block 127, a second inclined block 128 and a connecting block 126 arranged in the frame structure, the connecting block 126 cooperates with the guide rail 120, the first inclined block 127 is located in the middle and the second inclined block 128 is arranged between the connecting block 126. The contact surface between the first inclined block 127 and the second inclined block 128 is an inclined surface, a threaded hole is arranged on the first inclined block 127, and a lead screw bolt 130 is arranged in the threaded hole.

[0046] Specifically, since the guide rails 120 are arranged in two sets in parallel, two connecting blocks 126 are provided to cooperate with the corresponding guide rails 120. Figure 7 As shown, the second inclined block 128 is respectively arranged between the first inclined block 127 and the two connecting blocks 126, and the inclined surfaces are matched, that is, the first inclined block 127 is a double-sided inclined block, and the second inclined block 128 is a single-sided inclined block. In order to facilitate installation and connection, the connecting block 126 uses two semicircular rings to match the outer surface of the guide rail 120.

[0047] Furthermore, a boss 135 is formed on the slider front plate 122 , and a bend 136 is provided on the boss 135 , and the bend 136 is connected to the positioning module.

[0048] The positioning module includes a connecting hook 131, a rope 132 and a wide locking belt 133. One end of the rope 132 cooperates with the bend 136 through the connecting hook 131, and the other end is connected to the wide locking belt 133 through the connecting hook 131. In order to facilitate installation and connection, the connecting hook 131 adopts an S-shaped connecting hook, and the rope 132 adopts a nylon rope. The rope 132 is provided to connect the tree body and the variable amplitude slider 121, that is, the shaking force is transmitted through the rope 132. Since the rope 132 is a flexible body and only has a pulling force on the tree body, it has good protection for the bark.

[0049] In this embodiment, by rotating the lead screw bolt 130, the first inclined block 127 is driven to move downward, so that the amplitude-changing slider 121 is loosened as a whole, and the amplitude-changing slider 121 is moved and moved to a specified position on the guide rail 120; then, by rotating the lead screw bolt 130, the first inclined block 127 is moved upward, so that the amplitude-changing slider 121 is tightened, thereby achieving the effect of changing the amplitude. Through the cooperation of the inclined surfaces between the first inclined block 127 and the second inclined block 128, on the one hand, the position of the amplitude-changing slider 121 can be conveniently fixed, and on the other hand, the connection between the amplitude-changing slider 121 and the rope 132 can be achieved, ensuring that the shaking device 1 can work stably.

[0050] For further information, see Figure 2 As shown in the figure, the collecting device 3 includes a collecting box 303, a self-unloading hydraulic cylinder 301, and a side baffle 302. The collecting box 303 is arranged on the upper part of the chassis frame 202, the self-unloading hydraulic cylinder 301 is arranged on the lower part of the chassis frame 202 and connected to the collecting box 303, and the side baffle 302 is movably arranged on the side of the collecting box 303. Through the movable connection of the side baffle 302, the side baffle 302 can be opened, and the side tipping bucket of the collecting box 303 can be unloaded.

[0051] For further information, see Figure 2 and Figure 8 As shown, the remote control device 4 includes a hydraulic control element box 403 and a hydraulic oil tank 404 arranged on the chassis frame 202, a remote control handle 401 and a signal receiver 402 arranged on the hydraulic control element box 403, the signal receiver 402 receives the operation signal of the remote control handle 401, and outputs it to the hydraulic control element box 403, controls the flow size and direction of the hydraulic oil in the hydraulic oil tank 404, and the hydraulic control element box 403 connects the walking chassis 2 and the hydraulic motor of the shaking device 1, and the self-unloading hydraulic cylinder 301 of the collecting device 3. Specifically, the remote control handle 401 is a movable remote control handle for easy operation.

[0052] The working process of the variable frequency and variable amplitude walnut shaking harvesting vehicle provided by the present invention is as follows:

[0053] Continue reading Figure 2 As shown, when the harvesting vehicle is moving, the chassis power device 201 transmits power to the hydraulic motor and the dump hydraulic cylinder 301 through the hydraulic circuit, that is, the remote control handle 401 is operated and the hydraulic control element box 403 is controlled through the signal receiver 402, and the speed and direction of the hydraulic motor are controlled by changing the flow size and direction of the hydraulic oil in the hydraulic oil tank 404, and the power is transmitted to the driving wheel 203 respectively, so as to realize the movement and steering of the harvesting vehicle, remotely control the harvesting vehicle to move to a suitable position, and pre-tighten the rope.

[0054] Before the harvester moves to a suitable position and performs shaking operation, the wide locking belt 133 is tied to a suitable position of the tree, and the lead screw bolt 130 is rotated to move the first inclined block 127 downward, thereby moving the second inclined block 128 and causing slack between the connecting block 126 and the guide rail 120, so that the amplitude-changing slider 121 on the rocker 116 can be adjusted to a suitable position. Then the lead screw bolt 130 is rotated in the opposite direction to move the first inclined block 127 upward, thereby causing the second inclined block 128 to drive the connecting block 126 to move and be tightened on the guide rail 120, even if the amplitude-changing slider 121 is fixed at this position of the guide rail 120, the reliability of the amplitude is ensured.

[0055] During the vibration process, the rotation speed of the hydraulic motor on the shaking device 1 is controlled by remotely controlling the remote control handle 401. The hydraulic motor transmits power to the crankshaft pulley 103 through the hydraulic motor pulley 104 and the wedge belt 105, and then transmits it to the crankshaft 102. The rotational motion of the crankshaft 102 transmits power to the rocker 116 through the connecting rod 111, causing the rocker 116 to swing, and the variable amplitude slider 121 follows the rocker 116 to swing, and the variable amplitude slider 121 transmits the swinging motion to the tree body through the rope 132.

[0056] During the above process, the speed of the hydraulic motor of the shaking device 1 is adjusted from small to large until no more fruits fall or the speed of fruit falling is greatly attenuated, so as to achieve vibration effects suitable for different tree shapes. The fallen fruits are placed in the collection box 303. After the collection box 303 is full, the harvesting vehicle is remotely controlled at a designated position, the side baffle 302 of the collection box is opened, and the collection box self-unloading hydraulic cylinder 301 is remotely controlled to drive the collection box 303 to tilt, and the fruits are unloaded at this position, completing the entire harvesting operation process.

[0057] The invention can realize variable frequency and variable amplitude shaking of walnut trees, has the characteristics of adaptability to different tree shapes, high harvest rate and high harvest efficiency, and has the advantages of remote control and track chassis obstacle crossing and slope climbing.

[0058] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A variable frequency and variable amplitude walnut shaking harvesting vehicle, characterized in that: It comprises a walking chassis, a shaking device arranged on the walking chassis, a collecting device and a remote control device, wherein the shaking device is used to pick walnuts by shaking, and the collecting device is used to collect the picked walnuts; the remote control device controls the walking chassis to move and controls the shaking frequency of the shaking device; The shaking device comprises a shaking frame, a crankshaft bearing seat, a sliding bearing seat, a crankshaft, a rocker, a connecting rod, a variable amplitude slider and a positioning module arranged on the walking chassis; the crankshaft bearing seat and the sliding bearing seat are arranged relatively on the shaking frame, the crankshaft is arranged on the crankshaft bearing seat, the rocker is arranged on the sliding bearing seat, and the crankshaft and the rocker are connected by a connecting rod; the variable amplitude slider is movably arranged on the rocker, and the variable amplitude slider is connected to the positioning module; the crankshaft can rotate and drive the rocker to swing, and the swing amplitude is adjusted by the variable amplitude slider; The rocker is provided with a guide rail fastening clamp, and two groups of parallel guide rails connected to the guide rail fastening clamp are provided, and the guide rails are slidably matched with the variable amplitude slider; the variable amplitude slider includes a frame structure composed of a slider front plate, a slider rear plate and a slider side plate, a first inclined block, a second inclined block and a connecting block arranged in the frame structure, and a lead screw bolt, the connecting block is matched with the guide rail, the first inclined block is located in the middle and the second inclined block is arranged between the connecting block; the contact surface between the first inclined block and the second inclined block is an inclined surface, a threaded hole is arranged on the first inclined block, and a lead screw bolt is arranged in the threaded hole.

2. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 1, characterized in that: The walking chassis includes a chassis frame, a chassis power device arranged on the chassis frame, a driving wheel, a supporting wheel, a guide wheel and a rubber track, wherein the rubber track is sleeved on the outer surfaces of the driving wheel, the supporting wheel and the guide wheel, and the driving wheel is connected to a hydraulic motor.

3. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 1, characterized in that: The shaking device also includes a crankshaft pulley, a hydraulic motor pulley, a wedge belt, a rocker shaft, a connecting rod shaft, a first bearing and a second bearing. The crankshaft pulley is connected to the end of the crankshaft, and the hydraulic motor is also arranged on the shaking frame. The hydraulic motor pulley is arranged at the end of the hydraulic motor shaft and is connected to the crankshaft pulley through a wedge belt; a journal is arranged in the middle of the crankshaft, and a first bearing is arranged on the journal; the rocker is arranged on the sliding bearing seat through the rocker shaft, a connecting rod shaft is arranged on the rocker shaft, and a second bearing is arranged on the connecting rod shaft, and the connecting rod connects the second bearing and the first bearing.

4. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 1, characterized in that: A connecting rod shaft gland is arranged on the connecting rod shaft for compression, and connecting rod heads for compressing the first bearing shell and the second bearing shell are arranged at both ends of the connecting rod respectively.

5. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 1, characterized in that: A boss is formed on the front plate of the slider, and a bend is provided on the boss, and the bend is connected to the positioning module; the positioning module includes a connecting hook, a rope and a wide locking belt, one end of the rope cooperates with the bend through the connecting hook, and the other end is connected to the wide locking belt through the connecting hook.

6. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 3, characterized in that: The crankshaft is provided with counterweights opposite to each other, and the first bearing is located between the two counterweights; the crankshaft and the connecting rod shaft are respectively provided with lubricating oil passages, and a pointed oil nipple connected with the lubricating oil passages is provided on the shoulder of the crankshaft.

7. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 2, characterized in that: The collecting device comprises a collecting box, a self-unloading hydraulic cylinder and a side baffle. The collecting box is arranged on the upper part of the chassis frame, the self-unloading hydraulic cylinder is arranged on the lower part of the chassis frame and connected to the collecting box, and the side baffle is movably arranged on the side of the collecting box; the self-unloading hydraulic cylinder is connected to the remote control device.

8. The variable frequency and variable amplitude walnut shaking harvesting vehicle according to claim 2, characterized in that: The remote control device includes a hydraulic control element box and a hydraulic oil tank arranged on the chassis frame, a remote control handle and a signal receiver arranged on the hydraulic control element box. The signal receiver receives the operation signal of the remote control handle and outputs it to the hydraulic control element box to control the flow size and direction of the hydraulic oil in the hydraulic oil tank. The hydraulic control element box is respectively connected to the walking chassis, the shaking device and the collecting device.

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