Walnut picking device and control method

Abstract

The present application relates to the technical field of agricultural machinery equipment, and specifically discloses a walnut picking device and a control method, which comprises: a picking assembly, comprising a picking head and a collecting piece, the picking head being used for separating walnuts from walnut trees, and the collecting piece being used for collecting the separated walnuts; a driving assembly, which is detachably connected with the picking head and the collecting piece, and is used for driving the picking head to perform a picking action; a telescopic piece, one end of which is connected with the driving assembly, and the other end of which is connected with a handheld assembly; and a control device, which is used for starting the first motor at a set rotating speed when the first distance reaches a first distance threshold. A picker holds the handheld assembly to carry the picking device to a position to be picked, adjusts the telescopic piece to make the picking assembly reach the position of the walnuts, and drives the picking assembly by using the driving assembly, so that the picking assembly picks the walnuts, thereby adapting to the picking of walnuts in non-standard planting areas.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery and equipment technology, and in particular to a walnut harvesting device and control method. Background Technology

[0002] This section provides only background information relevant to this disclosure and is not necessarily prior art.

[0003] Walnuts, as one of the four major dried fruits, have extremely high nutritional and economic value. After ripening, walnuts need to be harvested and dried to meet consumer demand.

[0004] In the process of walnut harvesting, large equipment is usually used in orchards with standardized planting in plains areas. However, in mountainous areas and other non-standard planting areas, large equipment cannot be used, and walnuts can only be harvested manually, which reduces the efficiency of walnut harvesting. Summary of the Invention

[0005] The purpose of this invention is to at least solve the problem of low walnut harvesting efficiency in non-standard planting areas. This purpose is achieved through the following technical solution:

[0006] This invention proposes a walnut harvesting device, which includes:

[0007] A harvesting assembly, comprising a harvesting head and a collecting component, wherein the harvesting head is used to separate walnuts from the walnut tree, and the collecting component is used at least to collect the separated walnuts;

[0008] A drive assembly is detachably connected to the picking head and the collecting component, and the drive assembly is at least used to drive the picking head to perform a picking action.

[0009] A retractable component, wherein the drive assembly is connected to the free end of the retractable component;

[0010] A handheld assembly, the handheld assembly including a handle and a grip, the handle being fixed to a fixed end of the telescopic member, and the grip being adjustablely disposed on the telescopic member and located between the fixed end and the fixed end;

[0011] A control device is provided for obtaining a first distance between the picking head and the walnut tree; when the first distance reaches a first distance threshold, the control device sends a start command to the first motor of the drive assembly to start the first motor at a set speed.

[0012] According to the walnut harvesting device of the present invention, when harvesting walnuts, the harvester holds the device on a handheld component, allowing it to be carried to the harvesting position. By adjusting the length of the telescopic component, the harvesting component reaches the walnut, and a drive component drives the harvesting component to perform the walnut-harvesting action, thereby separating the walnut from the walnut tree and achieving harvesting. The walnut harvesting device of the present invention can be carried by harvesters, effectively adapting to walnut harvesting in non-standard planting areas, thus improving the efficiency of walnut harvesting in these areas. Furthermore, by setting a control device, when the harvesting head approaches the walnut tree within a certain range, a start command for the drive component can be generated in response to a distance threshold, thereby enabling the walnut harvesting device to automatically start when it approaches the walnut tree, further improving the efficiency of walnut harvesting and increasing the level of automation.

[0013] In addition, the walnut harvesting device according to the present invention may also have the following additional technical features:

[0014] In some embodiments of the present invention, the control device is further configured to:

[0015] Obtain the second distance between the picking head and the walnut;

[0016] When the second distance is less than the second distance threshold, the control device sends a first start command to the control motor of the telescopic member, so that the telescopic member shortens under the first start command;

[0017] When the second distance is greater than the second distance threshold, the control device sends a second start command to the control motor of the retractable member, so that the retractable member extends under the second start command.

[0018] In some embodiments of the present invention, the first distance threshold is 10-100cm.

[0019] In some embodiments of the present invention, the second distance threshold is 1-5cm.

[0020] In some embodiments of the present invention, the harvesting head includes:

[0021] A retaining head, which is connected to the driving component and is used to retain the retaining head on the branch of the walnut tree; the driving component can drive the retaining head to reciprocate.

[0022] The robotic arm has an open state and a clamping state, and the drive assembly is connected to the robotic arm and can drive the robotic arm to rotate.

[0023] In some embodiments of the present invention, the driving component includes:

[0024] A housing, the housing being detachably connected to the free end;

[0025] A first drive mechanism is disposed inside the housing, and a first power output end of the first drive mechanism extends to the outside of the housing. The first power output end can be connected to the manipulator for transmission to drive the manipulator to rotate.

[0026] The second drive mechanism is disposed inside the housing, and the second power output end of the second drive mechanism extends to the outside of the housing. The second power output end can be connected to the clamping head to drive the clamping head to reciprocate.

[0027] In some embodiments of the present invention, the first driving mechanism includes:

[0028] A first motor, which is fixedly connected to the housing;

[0029] A first drive shaft, one end of which is connected to the shaft of the first motor, and the other end of which extends to the outside of the housing and forms the first power output end.

[0030] In some embodiments of the present invention, the second driving mechanism includes:

[0031] A second motor, which is fixed to the housing;

[0032] A transmission plate, wherein a first connecting portion and a second connecting portion are provided at intervals on the transmission plate, and the rotating shaft of the second motor is connected to the first connecting portion for driving the transmission plate to rotate;

[0033] A connecting rod, one end of which is hinged to the second connecting part via a first hinge shaft;

[0034] The second drive shaft has one end hinged to the other end of the connecting rod via a second hinge shaft, and the other end of the second drive shaft extends to the outside of the housing and forms the second power output end. The rotation axis of the transmission plate, the axis of the first hinge shaft, and the axis of the second hinge shaft are arranged parallel and spaced apart.

[0035] In some embodiments of the present invention, the second drive mechanism further includes a reduction gearbox, the reduction gearbox being fixedly connected to the housing, the reduction gearbox including a power input end and a power output end, the power input end being connected to the rotating shaft of the second motor, and the power output end being fixedly connected to the first connecting part;

[0036] And / or the robotic arm includes:

[0037] The base is fixedly connected to the first power output end;

[0038] A drive motor, which is fixed on the base;

[0039] A lead screw, which is rotatably mounted on the base and connected to the output shaft of the drive motor;

[0040] Movable seat, which is threadedly connected to the lead screw;

[0041] The first gripper is hinged to the base and also hinged to the movable seat;

[0042] The second gripper is hinged to the base and the movable seat. The second gripper is disposed opposite to the first gripper. The lead screw can drive the first grippers closer to or further away from each other through the movable seat.

[0043] In some embodiments of the present invention, the free end is provided with a connecting plate, the connecting plate being connected to the housing by fasteners, and the drive assembly further includes a buffer member, the buffer member being sandwiched between the connecting plate and the housing.

[0044] In some embodiments of the present invention, the collecting member can be drive-connected to the driving assembly to drive the collecting member to reciprocate.

[0045] And / or the collecting component includes a support ring and a collecting bag, the support ring being disposed at the opening of the collecting bag and capable of being driven to the drive assembly.

[0046] In some embodiments of the present invention, the handheld component includes a handle, and the walnut picking device further includes a control component electrically connected to the drive component, with at least a portion of the control component disposed on the handle.

[0047] In some embodiments of the present invention, the holding head is provided with a plurality of card slots of different sizes, the card slots being used to engage with the branches of the walnut tree.

[0048] The present invention also proposes a control method based on the walnut harvesting device described above, the method comprising:

[0049] Obtain the first distance between the picking head and the walnut tree;

[0050] When the first distance reaches a first distance threshold, a start command is generated to cause the first motor to start at a set speed in response to the start command.

[0051] In some embodiments of the present invention, the method further includes:

[0052] Obtain the second distance between the picking head and the walnut;

[0053] When the second distance is less than the second distance threshold, the control device sends a first start command to the control motor of the telescopic member, so that the telescopic member shortens under the first start command;

[0054] When the second distance is greater than the second distance threshold, the control device sends a second start command to the control motor of the retractable member, so that the retractable member extends under the second start command. Attached Figure Description

[0055] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0056] Figure 1 A schematic diagram of the structure of a first embodiment of a walnut harvesting device according to an embodiment of the present invention is shown;

[0057] Figure 2 for Figure 1 A schematic diagram of the walnut harvesting device from another perspective;

[0058] Figure 3 A schematic diagram of a second embodiment of the walnut harvesting device according to an embodiment of the present invention is shown.

[0059] Figure 4 A schematic diagram of a third embodiment of the walnut harvesting device according to an embodiment of the present invention is shown;

[0060] Figure 5 for Figure 1 The diagram shows the structure of the clamping head;

[0061] Figure 6 for Figure 4 The diagram shows the structure of the robotic arm.

[0062] Figure 7 for Figure 4 A schematic diagram of the structure of the collection component shown;

[0063] Figure 8 for Figure 7 A structural schematic diagram of the collection component from another perspective;

[0064] Figure 9 for Figure 8 A cross-sectional view of the AA of the collection shown;

[0065] Figure 10 for Figure 9 An enlarged schematic diagram of part B of the structure shown;

[0066] Figure 11 for Figure 1 The diagram shows the structure of the drive component (with the housing in the open state);

[0067] Figure 12 for Figure 11 The diagram shows a partial structural schematic of the structure shown.

[0068] The attached figures are labeled as follows:

[0069] 100 is a walnut harvesting device;

[0070] 10 is the harvesting component;

[0071] 11 is the card holder head;

[0072] 111 is the card holder, 1111 is the card slot, 1112 is the connecting plate, and 112 is the protective sleeve;

[0073] 12 are collection items;

[0074] 121 is the support ring, 1211 is the connecting plate, 1212 is the support part, 1213 is the ring part, 1214 is the suspension part, 1215 is the first contact part, 1216 is the second contact part, 122 is the collection bag, and 123 is the camera.

[0075] 13 is a robotic arm;

[0076] 131 is the base, 132 is the drive motor, 133 is the second coupling, 134 is the lead screw, 135 is the movable seat, 136 is the first gripper, 137 is the second gripper, 138 is the hinge assembly, 1381 is the first hinge plate, 1382 is the second hinge plate, 1383 is the third hinge plate, and 1384 is the fourth hinge plate.

[0077] 20 is the driving component;

[0078] 21 is the shell, 211 is the top plate, 212 is the shell body, 213 is the side plate, 214 is the first installation space, 215 is the second installation space, and 216 is the third installation space;

[0079] 22 is the first drive mechanism, 221 is the first motor, 222 is the first mounting base, 223 is the first coupling, 224 is the first transmission shaft, and 225 is the first fixed base;

[0080] 23 is the second drive mechanism, 231 is the second transmission shaft, 2311 is the installation space, 232 is the sliding bearing, 233 is the connecting rod, 234 is the transmission plate, 235 is the second mounting base, 236 is the second motor, and 237 is the gearbox.

[0081] 24 is a buffer component;

[0082] 30 is a retractable component;

[0083] 31 is the free end, 32 is the fixed end, 33 is the reinforcing rib, and 34 is the connecting plate;

[0084] 40 is a handheld component;

[0085] 41 is the handle, and 42 is the grip;

[0086] 50 represents the control components;

[0087] 51 is the controller, and 52 is the button module;

[0088] 60 is a power supply component;

[0089] 70 is for lighting components. Detailed Implementation

[0090] Exemplary embodiments of the present invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0091] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also mean including the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a specific order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0092] Although terms such as first, second, third, etc., may be used in this document to describe multiple elements, components, regions, layers, and / or segments, these elements, components, regions, layers, and / or segments should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or segment from another. Unless the context clearly indicates otherwise, terms such as "first," "second," and other numerical terms used herein do not imply order or sequence. Therefore, the first element, component, region, layer, or segment discussed below may be referred to as the second element, component, region, layer, or segment without departing from the teachings of the exemplary embodiments.

[0093] For ease of description, spatial relative terms may be used in the text to describe the relationship of one element or feature relative to another element or feature, as shown in the figure. These relative terms include, for example, "inside," "outside," "middle," "outer," "below," "below," "above," "over," etc. Such spatial relative terms are intended to include different orientations of the device in use or operation, other than those depicted in the figure. For example, if the device in the figure is flipped, an element described as "below other elements or features" or "below other elements or features" would subsequently be oriented as "above other elements or features" or "above other elements or features." Therefore, the example term "below" can include both upper and lower orientations. The device may be otherwise oriented (rotated 90 degrees or in other directions), and the spatial relative descriptors used in the text will be interpreted accordingly.

[0094] like Figures 1 to 12 As shown, according to an embodiment of the present invention, a walnut harvesting device 100 is provided. The walnut harvesting device 100 includes a harvesting component 10, a driving component 20, a telescopic component 30, and a handheld component 40. The harvesting component 10 includes a harvesting head and a collecting component 12. The harvesting head is used to separate walnuts from the walnut tree, and the collecting component 12 is used at least to collect the separated walnuts. The driving component 20 is detachably connected to both the harvesting head and the collecting component 12, and is used at least to drive the harvesting head to perform the harvesting action. The driving component 20 is connected to the free end 31 of the telescopic component 30. The handheld component 40 includes a handle 41 and a grip 42. The handle 41 is fixed to the fixed end 32 of the telescopic component 30, and the grip 42 is adjustablely disposed on the telescopic component 30 and located between the fixed end 32 and the fixed end 31.

[0095] When harvesting walnuts using the harvesting device, the harvester holds the device on the handheld component 40, which carries the device to the harvesting position. By adjusting the length of the telescopic component 30, the harvesting component 10 reaches the walnut, and the drive component 20 drives the harvesting component 10 to perform the walnut harvesting action, thereby separating the walnut from the walnut tree and thus harvesting the walnut.

[0096] The walnut harvesting device 100 of this invention can be carried by harvesters, thus effectively adapting to walnut harvesting in non-standard planting areas and improving the efficiency of walnut harvesting in non-standard planting areas.

[0097] It is important to understand that when the picking head and the collecting component 12 are connected to the drive assembly 20 at the same time, the picking head picks the walnuts, and the picked walnuts are separated from the walnut tree. The separated walnuts are collected by the collecting component 12, thereby reducing the number of walnuts scattered on the ground, reducing the need for pickers to collect the walnuts a second time, and further improving the efficiency of walnut picking.

[0098] In addition, when there is no need to harvest the walnuts, the retractable part 30 can be retracted and the harvesting component 10 can be separated from the drive component 20, thereby reducing the overall size of the walnut harvesting device 100 and making it more convenient for harvesters to carry.

[0099] Furthermore, the walnut harvesting device provided by this invention also includes a control device, which is used to obtain a first distance between the harvesting head and the walnut tree; when the first distance reaches a first distance threshold, the control device sends a start command to the first motor of the drive assembly, so that the first motor starts at a set speed. The first distance threshold can be any suitable value between 10-100cm. By setting the control device, when the harvesting head approaches the walnut tree within a certain range, a start command for the drive assembly can be generated in response to the distance threshold, thereby enabling the walnut harvesting device to automatically start when it approaches the walnut tree, further improving the efficiency of walnut harvesting and increasing the level of automation.

[0100] To achieve automatic control of the telescopic movement of the retractable component, the control device is also used for:

[0101] Obtain the second distance between the picking head and the walnut;

[0102] When the second distance is less than the second distance threshold, the control device sends a first start command to the control motor of the telescopic member, so that the telescopic member shortens under the first start command;

[0103] When the second distance is greater than the second distance threshold, the control device sends a second start command to the control motor of the retractable member, so that the retractable member extends under the second start command.

[0104] The aforementioned second distance threshold can be any value between 1 and 5 cm.

[0105] In addition, such as Figures 1 to 4 As shown, the handheld component 40 also includes a handle 42, which is installed between the free end 31 and the fixed end 32 of the telescopic component 30, such that the handle 42 and the handle 41 are spaced apart. By setting the handle 42, the contact points between the harvester and the walnut harvesting device 100 are increased, improving the convenience of using the walnut harvesting device 100 and reducing the force required to use the walnut harvesting device 100 during harvesting, thus improving the comfort of the harvester. At the same time, by setting the handle 42 as an adjustable structure (for example, the handle 42 is set on the clamp, the clamp is fixed to the telescopic component 30, and the position of the handle 42 is adjusted by adjusting the position of the clamp on the telescopic component 30), the harvester can adjust the position of the handle 42 according to specific needs, thereby meeting the harvester's usage needs.

[0106] It should be noted that the walnut harvesting device 100 of this invention is applicable not only to non-standard planting areas (mountainous areas, etc.) but also to large-scale planting areas (plains, etc.). Furthermore, during the harvesting process, the walnut harvesting device 100 of this invention can not only harvest walnuts but is also suitable for harvesting apples, mangoes, loquats, plums, pears, and other fruits, further improving the versatility of the walnut harvesting device 100.

[0107] In addition, the telescopic component 30 is a telescopic rod. The telescopic rod has a simple structure and low manufacturing cost, which can reduce the overall manufacturing cost of the walnut harvesting device 100.

[0108] In some embodiments of the present invention, such as Figures 1 to 4 As shown, the harvesting head includes a clamping head 11 and a robotic arm 13. The clamping head 11 is connected to the drive assembly 20 and is used to clamp onto the branches of the walnut tree. The drive assembly can drive the clamping head 11 to reciprocate. The robotic arm 13 has an open state and a clamping state. The drive assembly 20 is connected to the robotic arm 13 and can drive the robotic arm 13 to rotate.

[0109] Specifically, the harvesting head includes two structures: a clamping head 11 and a robotic arm 13. When harvesting walnuts, harvesters can choose between the two structures according to their specific harvesting needs, enabling the walnut harvesting device 100 to be used in more scenarios and further improving its versatility.

[0110] For example, such as Figure 1 and Figure 2 As shown, when the walnuts need to be picked using the clamping head 11, the clamping head 11 is connected to the drive component 20, the length of the telescopic component 30 is adjusted, and the handheld component 40 is held so that the clamping head 11 reaches the position to be picked. The position of the clamping head 11 is adjusted so that the clamping head 11 is clamped on the branch of the walnut tree. The drive component 20 is activated, and under the drive of the drive component 20, the clamping head 11 reciprocates in the telescopic direction of the telescopic component 30. The reciprocating clamping head 11 causes the branch of the walnut tree to shake and vibrate, thereby separating the walnuts on the branch from the branch, so as to achieve the picking of walnuts.

[0111] It's important to understand that using the clamping head 11 to drive the branches of the walnut tree to shake and vibrate is suitable for large-scale walnut harvesting. The shaking and vibration of the branches causes a large number of walnuts to fall, thus enabling rapid harvesting. Furthermore, to reduce the need for harvesters to pick up fallen walnuts, a receiving device can be installed below the walnut tree. The receiving area of ​​this device is larger than the projection of the tree canopy onto the ground; fallen walnuts fall into the receiving device for collection.

[0112] For example, such as Figure 4 As shown, when the robotic arm 13 is needed for harvesting, the robotic arm 13 is connected to the drive component 20, the length of the telescopic component 30 is adjusted, and the hand-held component 40 is held so that the robotic arm 13 reaches the position to be harvested. The drive component 20 is then activated, and the drive component 20 drives the robotic arm 13 to rotate, thereby adjusting the position of the robotic arm 13 so that the robotic arm 13 corresponds to the position of the walnut to be harvested. The robotic arm 13 switches from the open state to the clamping state, so that the walnut is clamped by the robotic arm 13. The walnut can be separated from the walnut tree by driving the robotic arm 13 to achieve the harvesting of the walnut.

[0113] It is important to understand that when the robotic arm 13 is in the clamping state, it clamps the walnut to separate it from the walnut tree. When the robotic arm 13 is in the open state, it releases the clamped walnut. Using the robotic arm 13 to clamp the walnut to separate it from the walnut tree is suitable for precise walnut harvesting processes (e.g., harvesting walnuts that haven't fallen after the tree has shaken), thereby increasing the harvesting rate and reducing the amount of walnuts left behind. Furthermore, when the robotic arm 13 is in use, the collection component 12 can also be mounted on the drive assembly 20, positioned below the robotic arm 13. After the robotic arm 13 separates the walnut, switching it to the open state allows the separated walnut to fall into the collection component 12, freeing the robotic arm 13 from the clamping action and allowing it to quickly move on to the next walnut harvest, further improving harvesting efficiency.

[0114] In some embodiments of the present invention, such as Figures 1 to 4 ,as well as Figure 11 and Figure 12 As shown, the drive assembly 20 includes a housing 21, a first drive mechanism 22, and a second drive mechanism 23. The housing is detachably connected to the free end 31. The first drive mechanism 22 is disposed inside the housing 21, and its first power output end extends to the outside of the housing 21. The first power output end can be connected to the robot arm 13 to drive the robot arm 13 to rotate. The second drive mechanism 23 is disposed inside the housing 21, and its second power output end extends to the outside of the housing 21. The second power output end can be connected to the clamping head 11 to drive the clamping head 11 to reciprocate.

[0115] Specifically, the housing 21 is connected to the free end 31 of the telescopic member 30. The first drive mechanism 22 and the second drive mechanism 23 are respectively disposed inside the housing 21. The first power output end of the first drive mechanism 22 extends to the outside of the housing 21, and the second power output end of the second drive mechanism 23 also extends to the outside of the housing 21. The power output direction of the first power output end is along its circumference, and the power output direction of the second power output end is along its axial direction.

[0116] When the robotic arm 13 is used, the robotic arm 13 is driven to rotate by the first power output end in order to adjust the direction of the robotic arm 13. The position of the robotic arm 13 is adjusted by adjusting the direction of the telescopic part 30, so that the robotic arm 13 can accurately reach the outside of the walnut to be picked, thereby improving the accuracy of the robotic arm 13 in picking walnuts.

[0117] When the clamping head 11 is used, the clamping head 11 and the second power output end are used to drive the clamping head 11 to reciprocate in the extension direction of the telescopic member 30, so that the clamping head performs a shaking and vibration operation on the branches of the walnut tree, thereby enabling the rapid separation of the walnut from the walnut tree.

[0118] It should be noted that the first power output end and the second power output end are located on the same side of the housing 21 so that different components of the harvesting head can be connected to the first power output end and the second power output end during use, so as to perform the harvesting action of walnuts through the cooperation between different components, so as to ensure the effective harvesting of walnuts and the quality of harvesting.

[0119] like Figure 1 , Figure 3 as well as Figure 4 As shown, an illumination element 70 is provided on the housing 21, and the illumination element 70, the first power output terminal, and the second power output terminal are located on the same side of the housing 21. When the ambient light conditions for harvesting are poor, the illumination element 70 is activated, causing it to emit light towards the harvesting assembly 10, thereby providing supplemental lighting to the harvesting location. This ensures sufficient light at the harvesting location, allowing harvesters to accurately observe the walnuts, thus improving the accuracy of walnut harvesting and further increasing harvesting efficiency.

[0120] In addition, the surface of the housing 21 with the lighting element 70 is a concave arc surface. There are multiple lighting elements 70, and all the lighting elements 70 are distributed on the concave arc surface. By using the simultaneous activation of multiple lighting elements 70 and the structure of the concave arc surface, a "shadowless lamp" structure is formed, which reduces the influence of foreign objects such as leaves on observation, further improves the accuracy of walnut harvesting, and effectively ensures the efficiency of walnut harvesting.

[0121] In addition, the lighting component 70 is an LED light. LED lights are small in size, which can improve the convenience of layout and installation. LED lights have high luminous intensity, which can effectively provide sufficient light. LED lights have low energy consumption, which can effectively reduce the operating cost of the walnut harvesting device 100.

[0122] In some embodiments of the present invention, the housing 21 is connected to the free end 31 of the telescopic member 30 via a rotating shaft. One of the housing 21 and the free end 31 of the telescopic member 30 is fixedly connected to the rotating shaft, while the other of the housing 21 and the free end 31 of the telescopic member 30 is rotatably connected to the rotating shaft. The rotating shaft is driven by a driving component (e.g., an electric motor). Driven by the driving component, the housing 21 can rotate relative to the free end 31 of the telescopic member 30, thereby adjusting the angle of the housing 21 relative to the free end 31. This, in turn, adjusts the angle of the harvesting component 10 relative to the free end 31, giving the harvesting component 10 more degrees of freedom and enabling it to reach the harvesting position of the walnuts more effectively, thus improving the accuracy of walnut harvesting.

[0123] In embodiments of the present invention, such as Figure 11 and Figure 12 As shown, the housing 21 includes a main body 212, a top plate 211, and a side plate 213. The main body 212 has a first mounting space 214, a second mounting space 215, and a third mounting space 216. These spaces are stacked sequentially. A first drive mechanism 22 is located within the first mounting space 214, with its first power output end protruding through the side wall of the housing 21. A portion of the structure of a second drive mechanism 23 is located within the second mounting space 215, and another portion is located within the third mounting space 216. The second power output end of the second drive mechanism 23 protrudes through the side wall of the housing 21. The main body 212 has a top opening and a side opening. The top plate 211 is detachably mounted on the main body 212 (using screws or snap-fit ​​connections, etc.) and closes the top opening. The side plate 213 is detachably mounted on the main body 212 (using screws or snap-fit ​​connections, etc.) and closes the side opening. By setting the top plate 211 and the side plate 213, when it is necessary to repair the first drive mechanism 22 or the second drive mechanism 23, the top plate 211 or the side plate 213 can be removed to expose the first drive mechanism 22 or the second drive mechanism 23, thereby improving the convenience of repairing the drive assembly 20.

[0124] In some embodiments of the present invention, such as Figure 11 and Figure 12 As shown, the first drive mechanism 22 includes a first motor 221 and a first drive shaft 224. The first motor 221 is fixed to the housing 21. One end of the first drive shaft 224 is connected to the rotating shaft of the first motor 221, and the other end of the first drive shaft 224 extends to the outside of the housing 21 and forms a first power output end.

[0125] Specifically, the first motor 221 is installed and fixed inside the housing 21. One end of the first drive shaft 224 is connected to the rotating shaft of the first motor 221. The other end of the first drive shaft 224 passes through the side wall of the housing 21 and extends to the outside of the housing 21. The part of the first drive shaft 224 located outside the housing 21 serves as the first power output end and is used for transmission connection with the robotic arm 13 of the picking head.

[0126] When the robotic arm 13 is used, it is fixedly connected to the first transmission shaft 224. The first motor 221 drives the robotic arm 13 to rotate via the first transmission shaft 224, thereby adjusting the angle of the robotic arm 13 to meet the needs of walnut harvesting. The first drive mechanism 22 has a simple structure and low manufacturing cost. Furthermore, the simple structure of the first drive mechanism 22, when placed inside the housing 21, reduces the internal space occupied by the housing 21, enabling a miniaturized design of the housing 21. This, in turn, reduces the size and weight of the walnut harvesting device 100, improving its portability and ease of use.

[0127] It should be pointed out that, such as Figure 11 and Figure 12 As shown, the first drive mechanism 22 also includes a first mounting base 222, a first coupling 223, and a first fixed base 225. The first mounting base 222 is fixed inside the housing 21 (the fixing method can be welding, bonding, screw connection, riveting, or snap-fit, etc.). The first motor 221 is mounted and fixed on the first mounting base 222. The first mounting base 222 facilitates the installation and fixing of the first motor 221, ensuring the stability of the first motor 221 during operation and reducing vibrations during the movement of the first motor 221. The rotating shaft of the first motor 221 is connected to one end of the first transmission shaft 224 through the first coupling 223. By setting the first coupling, an effective transmission connection between the first transmission shaft 224 and the first motor 221 can be ensured. In addition, the first coupling 223 can deflect radially on the first transmission shaft 224, thereby effectively adapting to manufacturing tolerances and enabling effective component installation. The first fixed seat 225 is fixed inside the housing 21. The first fixed seat 225 is provided with a mounting hole, and a bearing is provided in the mounting hole. The first drive shaft 224 passes through the inner ring of the bearing and extends to the outside of the housing 21. The first drive shaft 224 is fixedly connected to the inner ring of the bearing. By setting the first fixed seat 225 and the bearing, the first drive shaft 224 is effectively supported, so that the effectiveness of the rotation of the first drive shaft 224 is guaranteed. At the same time, by setting the bearing, the smoothness of the rotation of the first drive shaft 224 is effectively guaranteed.

[0128] In some embodiments of the present invention, such as Figure 11 and Figure 12As shown, the second drive mechanism 23 includes a second motor 236, a transmission plate 234, a connecting rod 233, and a second transmission shaft 231. The second motor 236 is fixed to the housing 21. The transmission plate 234 is provided with a first connecting part and a second connecting part at intervals. The rotating shaft of the second motor 236 is connected to the first connecting part to drive the transmission plate 234 to rotate. One end of the connecting rod 233 is hinged to the second connecting part through a first hinge shaft. One end of the second transmission shaft 231 is hinged to the other end of the connecting rod 233 through a second hinge shaft. The other end of the second transmission shaft 231 extends to the outside of the housing 21 and constitutes a second power output end. The rotation axis of the transmission plate 234, the axis of the first hinge shaft, and the axis of the second hinge shaft are arranged parallel and spaced apart.

[0129] Specifically, the second motor 236 is fixedly installed inside the housing 21. The rotating shaft of the second motor 236 is connected to the first connecting part of the transmission plate 234. The second transmission shaft 231 is connected to the second connecting part of the transmission plate 234 through the connecting rod 233. The end of the second transmission shaft 231 facing away from the connecting rod 233 passes through the side wall of the housing 21 and forms a second power output end. Since the rotation axis of the transmission plate 234, the axis of the first hinge shaft, and the axis of the second hinge shaft are arranged parallel and spaced apart, the transmission plate 234, the connecting rod 233, and the second transmission shaft 231 constitute a crank-connecting rod structure. When the second motor 236 is running, the power is transmitted to the second transmission shaft 231 through the transmission plate 234 and the connecting rod 233, causing the second transmission shaft 231 to reciprocate. When the clamp of the picking head is connected to the second transmission shaft 231, it can drive the clamp to reciprocate, thereby shaking the branches of the walnut tree and thus picking the walnuts.

[0130] The second drive mechanism 23 has a simple structure and low manufacturing cost. The simple structure of the second drive mechanism 23 is set inside the housing 21, which can reduce the internal space occupied by the housing 21 and realize the miniaturization design of the housing 21. This can reduce the size and weight of the walnut picking device 100, thereby improving the convenience of carrying and using the walnut picking device 100.

[0131] It should be noted that the transmission plate 234 is a plate-shaped structure. The first connecting part and the second connecting part can be two holes formed on the plate-shaped structure. The rotating shaft of the second motor 236 is hinged to one hole through the first connecting shaft, and the connecting rod 233 is hinged to the other hole through the second connecting shaft, thereby realizing the assembly between the connecting rod 233, the transmission plate 234 and the second motor 236.

[0132] In addition, such as Figure 11 and Figure 12As shown, the second drive mechanism 23 also includes a second mounting base 235 and a sliding bearing 232. The second mounting base 235 and the sliding bearing 232 are respectively fixed inside the housing 21 (the fixing method can be welding, bonding, screw connection, riveting, or snap-fit, etc.). The second motor 236 is mounted and fixed on the second mounting base 235. The second mounting base 235 facilitates the installation and fixing of the second motor 236, ensuring the stability of the second motor 236 during operation and reducing vibrations during its movement. The sliding bearing 232 is fixed inside the housing 21. The second drive shaft 231 passes through the sliding bearing 232 and extends to the outside of the housing 21 to form the second power output end. By setting the sliding bearing 232, effective support is provided for the second drive shaft 231, ensuring the effectiveness of its rotation. Simultaneously, the smoothness of the rotation of the second drive shaft 231 is effectively guaranteed by the sliding bearing 232.

[0133] In addition, the second motor 236 can be a geared motor, or a gearbox 237 can be set between the transmission plate 234 and the second motor 236, so that the speed of the second motor 236 meets the transmission requirements of the transmission plate 234.

[0134] In some embodiments of the present invention, a clamping space is provided on the portion of the second drive shaft 231 located outside the housing 21. The clamping space is axially spaced along the second drive shaft 231, and a portion of the collecting member 12 or the clamping head 11 is clamped within the clamping space and connected and fixed by fasteners such as screws. The method of connecting the second drive member to the collecting member 12 or the clamping head 11 using the clamping space and fasteners provides high strength and good stability, thereby reducing the occurrence of the collecting member 12 or the clamping head 11 falling off.

[0135] In some embodiments of the present invention, such as Figure 11 and Figure 12 As shown, the second drive mechanism 23 also includes a reduction gearbox 237, which is fixedly connected to the housing 21. The reduction gearbox 237 includes a power input end and a power output end. The power input end is connected to the shaft of the second motor 236, and the power output end is fixedly connected to the first connecting part. By setting the reduction gearbox 237, the speed of the second motor 236 is reduced, thereby ensuring that the speed of the second motor 236 meets the motion requirements of the crank-connecting rod structure formed by the transmission plate 234, the connecting rod 233, and the second transmission shaft 231, thus ensuring the effective implementation of the walnut harvesting device 100.

[0136] In some embodiments of the present invention, such as Figure 6As shown, the robotic arm 13 includes a base 131, a drive motor 132, a lead screw 134, a movable seat 135, a first gripper 136, and a second gripper 137. The base 131 is fixedly connected to a first power output end. The drive motor 132 is fixed on the base 131. The lead screw 134 is rotatably mounted on the base 131 and connected to the output shaft of the drive motor 132. The movable seat 135 is threadedly connected to the lead screw 134. The first gripper 136 is hinged to the base 131 and hinged to the movable seat 135. The second gripper 137 is hinged to the base 131 and hinged to the movable seat 135. The second gripper 137 and the first gripper 136 are arranged opposite to each other. The lead screw 134 can drive the first gripper 136 to move closer or further away from each other through the movable seat 135.

[0137] Specifically, the base 131 is fixedly connected to the first transmission shaft 224, and the drive motor 132 is mounted on the base 131. The drive motor 132 is connected to the movable seat 135 via a lead screw 134. The movable seat 135 and the base 131 are respectively hinged to the first gripper 136 and the second gripper 137. When the robotic arm 13 is used to harvest walnuts, the first drive mechanism 22 drives the base 131 to rotate. The rotation of the base 131 causes the entire robotic arm 13 to rotate, so that the robotic arm 13 reaches the position of the walnut to be harvested. Then, the drive motor 132 is activated, and the drive motor 132 drives the movable seat 135 to move via the lead screw 134. The movement of the movable seat 135 causes the first gripper 136 and the second gripper 137 to rotate towards each other, thereby clamping the walnut. Then, the first drive mechanism 22 drives the robotic arm 13 to rotate, so that the walnut is separated from the walnut tree. Finally, by driving the motor 132 to rotate in the opposite direction, the first gripper 136 rotates away from the second gripper 137, thereby releasing the walnut and realizing the walnut harvesting action. The robotic arm 13 has a simple structure and low manufacturing cost, thus effectively reducing the overall manufacturing cost of the walnut harvesting device 100.

[0138] It should be noted that the base 131 has a cage-like structure, and there are two seats on opposite sides of the cage-like structure. One of the seats is threadedly connected to the first transmission shaft 224 of the first drive mechanism 22. The drive motor 132 is fixed inside the cage-like structure. One end of the lead screw 134 is connected to the shaft of the drive motor 132 through the second coupling 133. The other end of the lead screw 134 passes through the other seat, and the part of the lead screw 134 that passes through is threadedly connected to the movable seat 135.

[0139] In addition, such as Figure 6As shown, the robotic arm 13 also includes a hinge assembly 138, which specifically includes a first hinge plate 1381, a second hinge plate 1382, a third hinge plate 1383, and a fourth hinge plate 1384. The first hinge plate 1381 and the second hinge plate 1382 have the same specifications, and the third hinge plate 1383 and the fourth hinge plate 1384 have the same specifications. The first gripper 136 is hinged to another seat of the base 131 through the first hinge plate 1381. The second gripper 137 is hinged to another seat of the base 131 through the second hinge plate 1382 and is arranged opposite to the first gripper 136. The first gripper 136 is hinged to the movable seat 135 through the third hinge plate 1383, and the second gripper 137 is hinged to the movable seat 135 through the fourth hinge plate 1384. The robotic arm 13 achieves hinged connection between the first gripper 136 and the second gripper 137 and the base 131 and the movable seat 135 through the linkage 233 assembly, so as to realize the opening action and the clamping action under the drive of the drive assembly 20 and the lead screw 134.

[0140] In some embodiments of the present invention, such as Figures 1 to 4 ,as well as Figure 11 and Figure 12 As shown, the free end 31 is provided with a connecting plate 34, which is connected to the housing 21 by fasteners. The drive assembly 20 also includes a buffer 24, which is sandwiched between the connecting plate 34 and the housing 21. By providing the buffer 24, vibration reduction is achieved between the drive assembly 20 and the telescopic member 30, reducing the amount of vibration transmitted from the drive assembly 20 to the telescopic member 30, and thus reducing the vibration transmitted to the handheld assembly 40, thereby improving the comfort of the harvester using the walnut harvesting device 100.

[0141] It should be noted that the buffer 24 can be a rubber pad or a silicone pad. By setting the buffer 24 as a rubber pad or a silicone pad, the manufacturing cost of the buffer 24 can be effectively reduced.

[0142] The buffer 24 can also be a spring damping structure, which includes a first plate, multiple springs and a second plate. The multiple springs are disposed between the first plate and the second plate and are respectively connected to the first plate and the second plate. The first plate is fixedly connected to the housing 21 of the drive assembly 20, and the second plate is connected and fixedly connected to the connecting plate 34 of the free end 31 of the telescopic member 30. The spring damping structure has a better stability effect, a longer service life, and can effectively reduce the failure rate, thereby reducing the maintenance cost of the walnut picking device 100.

[0143] In addition, a number of reinforcing ribs 33 are provided between the connecting plate 34 and the free end 31, and the connection positions of the connecting plate 34 and the free end 31 are spaced apart. By providing reinforcing ribs 33, the connection strength between the connecting plate 34 and the free end 31 is increased, the risk of separation between the connecting plate 34 and the free end 31 is reduced, and the failure rate of the walnut picking device 100 is further reduced.

[0144] In some embodiments of the present invention, such as Figure 3 As shown, the collector 12 can be connected to the drive assembly 20 for transmission to drive the collector 12 to reciprocate. Specifically, the collector 12 can also be used independently. When the collector 12 is used independently, it is connected to the drive assembly 20. The collector 12 has an opening. When it is necessary to harvest walnuts, the opening of the collector 12 is placed on the outside of the walnut. The drive assembly 20 drives the collector 12 to reciprocate, thereby using the opening to move the connection between the walnut and the walnut tree, separating the walnut from the walnut tree, and thus realizing the harvesting of walnuts.

[0145] Furthermore, such as Figures 7 to 9 As shown, the collecting component 12 includes a support ring 121 and a collecting bag 122. The support ring 121 is located at the opening of the collecting bag 122 and can be driven to connect with the drive assembly 20. Specifically, the opening of the collecting bag 122 is connected to the support ring 121, and the support ring 121 is driven to connect with the drive assembly 20. When the walnuts are separated from the walnut tree, they fall into the collecting bag 122 through the support ring 121, thus achieving the collection of the walnuts.

[0146] In some embodiments of the present invention, such as Figures 1 to 4 As shown, the handheld component 40 includes a handle 41, which is fixed to the fixed end 32 of the telescopic component 30. The walnut harvesting device 100 also includes a control component 50, which is electrically connected to the drive component 20. At least part of the control component 50 is located on the handle 41. Specifically, the control component 50 includes a controller 51 (such as a microcontroller) and a button module 52. The button module is located on the handle 41, and the controller 51 can be located on the handle 41 or the telescopic component 30. The control component 50 is electrically connected to the controller 51, and the controller 51 is also electrically connected to the drive component 20. In addition, when the robotic arm 13 is used, the drive motor 132 of the robotic arm 13 is also electrically connected to the controller 51. When it is necessary to control the harvesting component 10, the button module 52 is operated, thereby controlling the harvesting component 10 to perform corresponding actions through the controller 51, thus realizing the harvesting of walnuts.

[0147] It should be noted that the button module 52 includes multiple buttons, such as a rotation button, a vibration button, a gripping button, a release button, and a lighting button. Harvesters can operate different buttons to control different harvesting heads, thereby enabling specific operations for walnut harvesting.

[0148] In addition, such as Figures 1 to 4 As shown, the walnut harvesting device 100 also includes a power supply component 60, which is a battery such as a lithium battery. The power supply component 60 is mounted on the handle 41 and electrically connected to the controller 51, thereby providing power to the walnut harvesting device 100. The connection between the power supply component 60 and the handle 41 is detachable, so that the walnut harvesting device 100 can continue to work by replacing the power supply component 60, thus effectively ensuring the efficiency of walnut harvesting.

[0149] In addition, the walnut harvesting device 100 also includes shoulder straps and waist belts. During use, harvesters wear the shoulder straps and waist belts on their respective positions. The shoulder straps and waist belts help reduce the fatigue of continuously holding the walnut harvesting device 100, thus effectively reducing the labor intensity of walnut harvesting.

[0150] In embodiments of the present invention, such as Figures 7 to 10As shown, the support ring 121 includes a ring portion 1213, a support portion 1212, a connecting plate portion 1211, a suspension portion 1214, a first contact portion 1215, and a second contact portion 1216. The first contact portion 1215 and the second contact portion 1216 are electrically connected to the controller 51. The ring portion 1213, the support portion 1212, and the connecting plate portion 1211 are connected in sequence. The collection bag 122 is connected to the ring portion 1213 and the ring portion 1213 opens the collection bag 122. The support portion 1212 is a hollow structure. The suspension portion 1214 is disposed in the hollow structure and is connected to the ring portion 1213. The remaining part of the suspension portion 1214 is spaced apart from the inner wall of the hollow structure. The first contact portion 1215 is provided on the suspension portion 1214. The second contact portion 1216 is provided on the inner wall of the hollow structure and is spaced apart above the first contact portion 1215. When there are no walnuts in the collection bag 122, the first contact part 1215 and the second contact part 1216 are spaced apart. As the number of walnuts collected in the collection bag 122 increases, the ring part 1213 drives the support member to undergo elastic deformation. At the same time, the ring part 1213 drives the suspension part 1214 to move towards the inner wall of the hollow structure, so that the first contact part 1215 and the second contact part 1216 approach each other. When the collection bag 122 is full of walnuts, the first contact part 1215 and the second contact part 1216 come into contact, and the alarm module (buzzer or speaker, etc.) of the controller 51 emits a warning sound to remind the pickers to clean the walnuts in the collection bag 122 in time to avoid the situation where the walnuts in the collection bag 122 fall out and injure the pickers.

[0151] In addition, such as Figure 7 and Figure 9 As shown, a camera 123 is installed on the ring 1213. The camera 123 is electrically connected to the controller 51. The camera 123 is located inside the ring 1213 and monitors the collection of walnuts in the collection bag 122. The pickers can view the collection status of the walnuts through the display screen on the controller 51. When the collection bag 122 is full of walnuts, the pickers can understand the situation through the display screen, so as to effectively clean the walnuts in the collection bag 122 and further prevent the walnuts from falling out of the collection bag 122 and injuring the pickers.

[0152] In some embodiments of the present invention, such as Figure 5 As shown, the clamping head 11 has multiple clamping slots 1111 of different sizes, which are used to clamp onto the branches of the walnut tree. By setting different sizes of clamping slots 1111, the clamping head 11 can clamp branches of different diameters, thus improving the versatility of the clamping head 11.

[0153] It should be noted that the clamping head 11 includes a clamping frame 111 and a protective sleeve 112. The clamping groove 1111 is formed on the clamping frame 111, and the protective sleeve 112 is fitted on the outside of the clamping frame 111. The protective sleeve 112 is a flexible structure (rubber or silicone, etc.). By setting the protective sleeve 112, damage to the walnut tree branches is reduced. In addition, the clamping frame 111 also has a connecting plate portion 1112. The connecting plate portion 1112 can be set in the clamping space 2311 of the second drive shaft 231 and connected and fixed to the second drive shaft 231 by fasteners.

[0154] In addition to the walnut harvesting device described above, the present invention also provides a control method. In one specific embodiment, based on the walnut harvesting device described above, the method includes the following steps:

[0155] S110: Obtain the first distance between the picking head and the walnut tree, and the second distance between the picking head and the walnut;

[0156] S120: When the first distance reaches the first distance threshold, a start command is generated so that the first motor starts at a set speed in response to the start command;

[0157] S130: When the second distance is less than the second distance threshold, the control device sends a first start command to the control motor of the telescopic member, so that the telescopic member shortens under the first start command;

[0158] S140: When the second distance is greater than the second distance threshold, the control device sends a second start command to the control motor of the retractable member so that the retractable member extends under the second start command.

[0159] In practical applications, the first and second distances can be acquired using distance sensors or image acquisition devices. The acquisition period can be real-time or at regular intervals, such as once per minute or once every five minutes. When adjusting the extension / retraction of the retractable component using the second distance, for example, if the second distance is 8cm, it indicates that the robotic arm is too far from the walnut to be picked. In this case, the retractable component extends to move closer to the walnut, and the second distance is monitored in real-time during this process. The extension / retraction state of the retractable component is adjusted based on the relationship between the second distance and a second distance threshold. Conversely, if the second distance is 0.5cm, it indicates that the robotic arm is too close to the walnut to be picked. In this case, the retractable component shortens to move away from the walnut, and the second distance is monitored in real-time during this process. The extension / retraction state of the retractable component is adjusted based on the relationship between the second distance and a second distance threshold. The second distance threshold can be any value between 1 and 5cm.

[0160] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A walnut harvesting device, characterized in that, The walnut harvesting device includes: A harvesting assembly, comprising a harvesting head and a collecting component, wherein the harvesting head is used to separate walnuts from the walnut tree, and the collecting component is used at least to collect the separated walnuts; A drive assembly is detachably connected to the picking head and the collecting component, and the drive assembly is at least used to drive the picking head to perform a picking action. A retractable component, wherein the drive assembly is connected to the free end of the retractable component; A handheld assembly, comprising a handle and a grip, the handle being fixed to a fixed end of the telescopic member, and the grip being adjustablely disposed on the telescopic member and located between the fixed end and the free end; A control device is provided for obtaining a first distance between the picking head and the walnut tree; when the first distance reaches a first distance threshold, the control device sends a start command to the first motor of the drive assembly to start the first motor at a set speed. The harvesting head includes: A retaining head, which is connected to the driving component and is used to retain the retaining head on the branch of the walnut tree; the driving component can drive the retaining head to reciprocate. A robotic arm, which has an open state and a clamping state, and a drive assembly is connected to the robotic arm and can drive the robotic arm to rotate; The driving component includes: A housing, the housing being detachably connected to the free end; A first drive mechanism is disposed inside the housing, and a first power output end of the first drive mechanism extends to the outside of the housing. The first power output end can be connected to the manipulator for transmission to drive the manipulator to rotate. The second drive mechanism is disposed inside the housing, and the second power output end of the second drive mechanism extends to the outside of the housing. The second power output end can be connected to the clamping head to drive the clamping head to reciprocate. The first driving mechanism includes: A first motor, which is fixedly connected to the housing; A first drive shaft, one end of which is connected to the shaft of the first motor, and the other end of which extends to the outside of the housing and forms the first power output end; The second drive mechanism includes: A second motor, which is fixed to the housing; A transmission plate, wherein a first connecting portion and a second connecting portion are provided at intervals on the transmission plate, and the rotating shaft of the second motor is connected to the first connecting portion for driving the transmission plate to rotate; A connecting rod, one end of which is hinged to the second connecting part via a first hinge shaft; The second drive shaft has one end hinged to the other end of the connecting rod via a second hinge shaft, and the other end of the second drive shaft extends to the outside of the housing and forms the second power output end. The rotation axis of the transmission plate, the axis of the first hinge shaft, and the axis of the second hinge shaft are arranged parallel and spaced apart.

2. The walnut harvesting device according to claim 1, characterized in that, The control device is also used for: Obtain the second distance between the picking head and the walnut; When the second distance is less than the second distance threshold, the control device sends a first start command to the control motor of the telescopic member, so that the telescopic member shortens under the first start command; When the second distance is greater than the second distance threshold, the control device sends a second start command to the control motor of the retractable member, so that the retractable member extends under the second start command.

3. The walnut harvesting device according to claim 1, characterized in that, The first distance threshold is 10-100cm.

4. The walnut harvesting device according to claim 2, characterized in that, The second distance threshold is 1-5cm.

5. A control method, based on the walnut harvesting device as described in any one of claims 1-4, characterized in that, The method includes the following steps: S110: Obtain the first distance between the picking head and the walnut tree, and the second distance between the picking head and the walnut; S120: When the first distance reaches the first distance threshold, a start command is generated so that the first motor starts at a set speed in response to the start command; S130: When the second distance is less than the second distance threshold, the control device sends a first start command to the control motor of the telescopic member, so that the telescopic member shortens under the first start command; S140: When the second distance is greater than the second distance threshold, the control device sends a second start command to the control motor of the retractable member so that the retractable member extends under the second start command.

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