A multi-degree-of-freedom walnut harvesting device

Abstract

A multi-degree-of-freedom walnut harvesting device comprises: a chassis with a notch provided at the front end; a multi-degree-of-freedom clamping mechanism comprising a fixed frame, a translation adjustment frame, a clamping component and a clamping drive mechanism, wherein the fixed frame is installed in the notch and moves in a vertical direction to change the height, and the translation adjustment frame is installed on the fixed frame; the clamping drive mechanism is installed on the translation adjustment frame and connected to the clamping component; the translation adjustment frame drives the clamping component to move horizontally relative to the fixed frame to change the clamping position; a conveying and filtering mechanism, which is arranged on the chassis corresponding to the multi-degree-of-freedom clamping mechanism and is connected to the walking mechanism of the chassis; is used for separating walnuts and impurities and conveying the separated walnuts to a collection box; and a collecting mechanism, which is arranged at the front end of the chassis corresponding to the multi-degree-of-freedom clamping mechanism and is located above the multi-degree-of-freedom clamping mechanism, is used for collecting fallen walnuts and conveying them to the conveying and filtering mechanism.

Description

Technical Field

[0001] The invention relates to a nut harvesting technology, in particular to a multi-degree-of-freedom walnut harvesting device. Background Art

[0002] Walnuts, also known as walnuts and Qiangtao, are members of the Juglandaceae family. Along with almonds, cashews, and hazelnuts, they are considered one of the world's four famous dried fruits. Walnut kernels are rich in nutrients, containing 15-20 grams of protein per 100 grams, a high amount of fat, and 10 grams of carbohydrates. They also contain essential trace elements and minerals such as calcium, phosphorus, and iron, as well as vitamins such as carotene and riboflavin. Walnuts are beneficial to the human body and are a popular nut food. However, existing walnut harvesting techniques cannot adjust the clamping distance based on the outer diameter of the walnut tree, which affects the effectiveness of shaking the tree to remove the walnuts. Furthermore, excessive clamping force can easily damage the tree. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a multi-degree-of-freedom walnut harvesting device in view of the above-mentioned defects of the prior art.

[0004] In order to achieve the above object, the present invention provides a multi-degree-of-freedom walnut harvesting device, which includes:

[0005] chassis, with a notch at the front end;

[0006] The multi-degree-of-freedom clamping mechanism includes a fixed frame, a translation adjustment frame, a clamping component, and a clamping drive mechanism. The fixed frame is installed in the slot and moves vertically to change the height. The translation adjustment frame is installed on the fixed frame. The clamping drive mechanism is installed on the translation adjustment frame and connected to the clamping component. The translation adjustment frame drives the clamping component to move horizontally relative to the fixed frame to change the clamping position. The clamping component is used to clamp the walnut tree.

[0007] A conveying and filtering mechanism is provided on the chassis corresponding to the multi-degree-of-freedom clamping mechanism and is connected to the running mechanism of the chassis; it is used to separate the walnuts and impurities and convey the separated walnuts to a collection box; and

[0008] The collecting mechanism is arranged at the front end of the chassis corresponding to the multi-degree-of-freedom clamping mechanism and is located above the multi-degree-of-freedom clamping mechanism, and is used to collect the fallen walnuts and transport them to the transporting and filtering mechanism.

[0009] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the clamping drive mechanism includes a first electric push rod, a drive motor and a vibration frame, the two ends of the first electric push rod are respectively connected to the fixed frame and the translation adjustment frame; the vibration frame is movably connected in the translation adjustment frame, and the inner wall of the vibration frame is symmetrically and equidistantly connected with tooth protrusions; the drive motor is installed on the top of the translation adjustment frame, and the output shaft of the drive motor is connected to a half gear corresponding to the tooth protrusion, and the half gear is engaged with the tooth protrusion.

[0010] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the clamping component includes a clamping arm, a second electric push rod and a movable clamping plate, the two ends of the second electric push rod are respectively connected to the clamping arm and the movable clamping plate, the movable clamping plate is connected to one side arm of the clamping arm through a movable rod, and a rubber pad is provided on one side of the movable clamping plate relative to the other side arm of the clamping arm, and a limiting member is provided between the rubber pad and the movable clamping plate.

[0011] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the limiting member includes a limiting rod, a vertical plate and a tensioning spring, the vertical plate is installed at one end of the limiting rod, the limiting rod passes through the clamping arm and is connected to the rubber pad, the tensioning spring abuts between the vertical plate and the clamping arm, a control switch is provided on the inner side of the clamping arm corresponding to the rubber pad, a touch plate is provided on the limiting rod corresponding to the control switch, and the control switch is respectively connected to the first electric push rod and the second electric push rod.

[0012] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the conveying and filtering mechanism includes:

[0013] A conveying component, comprising a conveying plate and a conveying belt, wherein the conveying plate is mounted on the inner wall of the notch, and the conveying belt is disposed on the top end of the conveying plate and connected to the traveling mechanism of the chassis through a transmission member; and

[0014] The filtering component includes a rotating motor, a conveying auger, a vertical cylinder, a screen and a slag discharge piece. The rotating motor is installed on the top of the collecting box and is connected to the conveying auger; the collecting box is installed on the chassis, the bottom end of the vertical cylinder passes through the top of the chassis and is located in the collecting box, the conveying auger is arranged in the vertical cylinder and the outer edge of the conveying auger is in contact with the inner wall of the vertical cylinder; the chassis is provided with a recovery chamber corresponding to the vertical cylinder, the end of the conveyor belt is connected to the recovery chamber, the screen is arranged in the recovery chamber corresponding to the conveyor belt, and the slag discharge piece is arranged below the screen.

[0015] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the slag discharge part includes a filter screen and a slag discharge hole, a counterweight ring is clamped on the inner wall of the screen corresponding to the outer position of the vertical cylinder, a connecting ring is provided on the outer side of the conveying auger corresponding to the bottom of the vertical cylinder, a top plate is equidistantly clamped on the outer side of the connecting ring corresponding to the vertical cylinder, a top ring is connected to the top of the top plate at a position corresponding to the outer side of the vertical cylinder, an arc block is equidistantly clamped between the top ring and the counterweight ring, the slag discharge hole is provided at the bottom end of the recovery chamber corresponding to the bottom of the vertical cylinder, and the filter screen is clamped on the inner wall of the slag discharge hole.

[0016] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the screen is installed at an angle, the inner wall of the counterweight ring is slidingly connected to the outer side of the vertical cylinder, the arc block at the bottom end of the counterweight ring and the arc block at the top end of the top ring are staggered, and the mesh of the screen is larger than the mesh of the filter.

[0017] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the walking mechanism includes rollers symmetrically arranged on both sides of the chassis, and the two rollers on the same side are sleeved with crawlers; the transmission part includes a transmission roller and a rotating rod, the transmission roller is arranged corresponding to the roller and engages with the roller, the rotating rod is connected to the transmission roller, and the rotating rod and the conveyor belt are connected by a belt.

[0018] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein the collecting mechanism is installed on the top of the chassis through an N-shaped frame, and slides along the extension plate installed on the chassis through the N-shaped frame, the collecting mechanism includes symmetrically arranged collecting components, the collecting components include a semi-arc tray, a turntable, a double-headed screw, an arc rod and a mounting bar, the semi-arc tray is connected to the N-shaped frame through a sliding rod; the double-headed screw is installed on the N-shaped frame, the turntable is installed at one end of the double-headed screw, and the other end of the double-headed screw is connected to the semi-arc tray to push the semi-arc tray to move in the N-shaped frame to clamp the walnut tree; the arc rod is installed on the top of the semi-arc tray, the mounting bars are evenly arranged on the arc rod, and an outer blocking cloth is laid between the mounting bars to form an arc-shaped shielding on the outside of the semi-arc tray.

[0019] The above-mentioned multi-degree-of-freedom walnut harvesting device, wherein, leak-proof plates are provided at both ends of the semi-arc tray inwardly along the radial direction, shielding cloths are provided correspondingly between the leak-proof plates, and magnetic plates are provided at both ends of the semi-arc tray and the ends of the connection between the leak-proof plates and the semi-arc tray, respectively, and the corresponding magnetic plates are adsorbed on each other.

[0020] The technical effects of the present invention are:

[0021] The present invention has a scientific and rational structure, is safe and convenient to use, and uses a multi-degree-of-freedom clamping mechanism to conveniently clamp the walnut tree, thereby facilitating its vibration. A collection mechanism then collects fallen walnuts, preventing them from scattering beneath the tree and affecting recycling efficiency. Finally, a conveying and filtering mechanism conveys and filters the walnuts, reducing impurities in the walnuts. This effectively solves the existing problems of the clamping distance not being adjustable according to the tree's outer diameter and the clamping force being excessive, thereby avoiding the impact of shaking the tree, causing fruit drop, and potentially damaging the tree.

[0022] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments, but this does not limit the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 A schematic structural diagram of an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the installation of a multi-degree-of-freedom clamping mechanism according to an embodiment of the present invention;

[0025] Figure 3 This is a schematic structural diagram of a multi-degree-of-freedom clamping mechanism according to an embodiment of the present invention;

[0026] Figure 4 This is a schematic structural diagram of a clamping component according to an embodiment of the present invention;

[0027] Figure 5A This is a schematic structural diagram of a conveying and filtering mechanism according to an embodiment of the present invention;

[0028] Figure 5B for Figure 5A An enlarged view of part I;

[0029] Figure 6 This is a schematic diagram of the installation of a transmission member according to an embodiment of the present invention;

[0030] Figure 7A This is a schematic structural diagram of a collection mechanism according to an embodiment of the present invention;

[0031] Figure 7B for Figure 7A Enlarged view of the H part.

[0032] Among them, the reference numerals

[0033] 1 Chassis

[0034] 2 rollers

[0035] 3 tracks

[0036] 4 slots

[0037] 5-degree-of-freedom clamping mechanism

[0038] 501 fixed plate

[0039] 502 adjustment rod

[0040] 503 fixed bracket

[0041] 504 first electric linear actuator

[0042] 505 translation adjustment frame

[0043] 506 vibration frame

[0044] 507 tooth protrusion

[0045] 508 drive motor

[0046] 509 half gear

[0047] 510 clamping arm

[0048] 511 chute

[0049] 512 second electric push rod

[0050] 513 dynamic splint

[0051] 514 movable rod

[0052] 515 groove

[0053] 516 rubber pad

[0054] 517 limit rod

[0055] 518 vertical board

[0056] 519 tension spring

[0057] 520 control switch

[0058] 521 touch panel

[0059] 6Conveying and filtering mechanism

[0060] 601 conveyor plate

[0061] 602 conveyor belt

[0062] 603 rotating rod

[0063] 604 transmission roller

[0064] 605 belt

[0065] 606 Recovery Chamber

[0066] 607 Collection Box

[0067] 608 rotating motor

[0068] 609 vertical tube

[0069] 610 conveying auger

[0070] 611 screen

[0071] 612 connecting ring

[0072] 613 top plate

[0073] 614 top ring

[0074] 615 counterweight ring

[0075] 616 arc block

[0076] 617 slag discharge hole

[0077] 618 filter

[0078] 619 slag discharge channel

[0079] 7 Collection agencies

[0080] 701 extension board

[0081] 702N frame

[0082] 703 Slider

[0083] 704 semi-arc tray

[0084] 705 bump

[0085] 706 double-headed screw

[0086] 707 turntable

[0087] 708 fixed block

[0088] 709 curved rod

[0089] 710 mounting strip

[0090] 711 outer fender

[0091] 712 semicircular groove

[0092] 713 screen cloth

[0093] 714 leak-proof plate

[0094] 715 magnetic plate DETAILED DESCRIPTION

[0095] The structural principle and working principle of the present invention are described in detail below with reference to the accompanying drawings:

[0096] See also Figure 1 , Figure 1The diagram is a schematic diagram of the structure of an embodiment of the present invention. The multi-degree-of-freedom walnut harvesting device of the present invention comprises: a chassis 1 with a notch 4 at the front end, rollers 2 symmetrically connected to both ends of the chassis 1, and tracks 3 sleeved on the outer sides of the two rollers 2 on the same side; a multi-degree-of-freedom clamping mechanism 5, comprising a fixed frame 503, a translation adjustment frame 505, a clamping component and a clamping drive mechanism, wherein the fixed frame 503 is installed in the notch 4 and moves in the vertical direction to change the height, and the translation adjustment frame 505 is installed on the fixed frame 503; the clamping drive mechanism is installed on the translation adjustment frame 505 and connected to the clamping component; The translation adjustment frame 505 drives the clamping component to move horizontally relative to the fixed frame 503 to change the clamping position, and the clamping component is used to clamp the walnut tree; the conveying and filtering mechanism 6 is arranged on the chassis 1 corresponding to the multi-degree-of-freedom clamping mechanism 5 and is connected to the walking mechanism of the chassis 1; it is used to separate walnuts and impurities and transport the separated walnuts to the collection box 607; and the collecting mechanism 7 is arranged at the front end of the chassis 1 corresponding to the multi-degree-of-freedom clamping mechanism 5 and is located above the multi-degree-of-freedom clamping mechanism 5, and is used to collect fallen walnuts and transport them to the conveying and filtering mechanism 6.

[0097] See also Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the installation of a multi-degree-of-freedom clamping mechanism 5 according to an embodiment of the present invention. Figure 3 The figure is a schematic structural diagram of a multi-degree-of-freedom clamping mechanism 5 according to an embodiment of the present invention. In this embodiment, the clamping drive mechanism comprises a first electric push rod 504, a drive motor 508, and a vibration frame 506. The first electric push rod 504 is connected at both ends to the fixed frame 503 and the translation adjustment frame 505, respectively. The vibration frame 506 is movably connected within the translation adjustment frame 505, with teeth 507 symmetrically secured to the inner wall of the vibration frame 506. The drive motor 508 is mounted on top of the translation adjustment frame 505, and a half gear 509 is secured to the output shaft of the drive motor 508 at a position corresponding to the tooth 507, which meshes with the tooth 507.

[0098] See also Figure 4 , Figure 4The figure is a schematic diagram of the structure of a clamping component according to one embodiment of the present invention. The clamping component of this embodiment includes a clamping arm 510, a second electric push rod 512, and a movable clamping plate 513. The second electric push rod 512 is connected to the clamping arm 510 and the movable clamping plate 513 at both ends, respectively. The movable clamping plate 513 is connected to one side of the clamping arm 510 via a movable rod 514. A rubber pad 516 is provided on one side of the movable clamping plate 513 facing the other side of the clamping arm 510, with a limiter provided between the rubber pad 516 and the movable clamping plate 513. In which, the limiting member includes a limiting rod 517, a vertical plate 518 and a tensioning spring 519, the vertical plate 518 is installed at one end of the limiting rod 517, the limiting rod 517 passes through the clamping arm 510 and is connected to the rubber pad 516, the tensioning spring 519 abuts between the vertical plate and the clamping arm 510, and a control switch 520 is provided on the inner side of the clamping arm 510 corresponding to the rubber pad 516, and a touch plate 521 is provided on the limiting rod 517 corresponding to the control switch 520, and the control switch 520 is respectively connected to the first electric push rod 504 and the second electric push rod 512.

[0099] The top position of the inner wall of the notch 4 of this embodiment is symmetrically clamped with a fixing plate 501, and the inner wall of the fixing plate 501 is symmetrically connected to the adjusting rod 502 through a thread, and the bottom end of the adjusting rod 502 is rotatably connected to the fixing frame 503. The inner wall of the fixing frame 503 is fixedly connected to the first electric push rod 504 by bolts, and the other end of the first electric push rod 504 is fixedly connected to the translation adjustment frame 505 at a position corresponding to the inner part of the fixing frame 503 by bolts. The translation adjustment frame 505 is movably connected to the vibration frame 506, and the inner wall of the vibration frame 506 is symmetrically clamped with tooth protrusions 507 at equal distances. The top of the translation adjustment frame 505 is fixedly connected to the driving frame 506 by bolts. The driving motor 508 is driven, and the output shaft of the driving motor 508 is connected to the internal position of the vibration frame 506 with a half gear 509. One end of the vibration frame 506 is fixedly connected to the clamping arm 510 by bolts. A slide groove 511 is provided at one end of the clamping arm 510. The slide groove 511 is fixedly connected to the second electric push rod 512 by bolts. The other end of the second electric push rod 512 is fixedly connected to the dynamic clamping plate 513 by bolts, and one end of the dynamic clamping plate 513 is symmetrically connected to the movable rod 514. In order to facilitate the vibration of the clamping arm 510, the vibration frame 506 is engaged with the half gear 509 through the tooth protrusion 507, and both ends of the fixed frame 503 are connected to the notch. 4 inner wall is slidably connected, the translation adjustment frame 505 is provided with a rectangular groove, one end of the clamping arm 510 passes through the rectangular groove and is fixedly connected to one end of the vibration frame 506, one end of the movable rod 514 passes through one end of the clamping arm 510, the inner wall of the clamping arm 510 and the adjacent end of the movable clamping plate 513 are both provided with a groove 515, the inner wall of the groove 515 is clamped with a rubber pad 516, and the top and bottom positions of one end of the rubber pad 516 are clamped with a limit rod 517, one end of the two limit rods 517 is fixedly connected with a vertical plate 518, and the outer position of the corresponding limit rod 517 between the vertical plate 518 and the clamping arm 510 is clamped with a tension spring 519. A control switch 520 is fixedly connected to the inside of 515 by bolts, and a touch plate 521 is fixedly sleeved on the outside of the two limit rods 517 at a position corresponding to one side of the control switch 520. In order to clamp the walnut tree, the first electric push rod 504, the drive motor 508, the second electric push rod 512 and the control switch 520 are all powered by an external power supply. The input ends of the first electric push rod 504 and the second electric push rod 512 are both connected to the signal output end of the control switch 520 inside the clamping arm 510, and the signal output end of the control switch 520 inside the movable clamping plate 513 is connected to the input end of the second electric push rod 512.

[0100] The multi-degree-of-freedom clamping mechanism 5 uses the adjusting rod 502 to push the fixed frame 503 to slide inside the slot 4, changing the vertical position of the fixed frame 503, and starting the first electric push rod 504 to push the translation adjustment frame 505 to slide along the inside of the fixed frame 503, forcing the rubber pad 516 at one end of the clamping arm 510 to fit the walnut tree, compressing the rubber pad 516 to deform, forcing the limit rod 517 to fit with the touch plate 521 and the control switch 520, cutting off the power supply to the first electric push rod 504, stopping the movement of the translation adjustment frame 505, and at the same time starting the second electric push rod 512 to push the movable clamping plate 513 to slide along the slide groove 511, changing the distance between the movable clamping plate 513 and one end of the clamping arm 510, and clamping the walnut tree.

[0101] See also Figure 5A 、 5B , Figure 5A This is a structural diagram of a conveying and filtering mechanism 6 according to an embodiment of the present invention. Figure 5B for Figure 5A In this embodiment, the conveying and filtering mechanism 6 includes: a conveying component, including a conveying plate 601 and a conveying belt 602, wherein the conveying plate 601 is installed on the inner wall of the notch 4, and the conveying belt 602 is arranged on the top of the conveying plate 601 and is connected to the walking mechanism of the chassis 1 through a transmission member; and a filtering component, including a rotating motor 608, a conveying auger 610, a vertical cylinder 609, a screen 611 and a slag discharge member, wherein the rotating motor 608 is installed on the top of the collecting box 607 and is connected to the conveying auger 610; the collecting box 60 7 is installed on the chassis 1, the bottom end of the vertical cylinder 609 passes through the top of the chassis 1 and is located in the collecting box 607, the conveying auger 610 is arranged in the vertical cylinder 609 and the outer edge of the conveying auger 610 is in contact with the inner wall of the vertical cylinder 609; the chassis 1 is provided with a recovery chamber 606 corresponding to the vertical cylinder 609, the end of the conveyor belt 602 is connected to the recovery chamber 606, the screen 611 is provided in the recovery chamber 606 corresponding to the conveyor belt 602, and the slag discharge piece is provided below the screen 611.

[0102] Among them, the slag discharge part includes a filter screen 618 and a slag discharge hole 617, the inner wall of the screen screen 611 is clamped with a counterweight ring 615 at a position corresponding to the outer side of the vertical cylinder 609, and a connecting ring 612 is provided on the outer side of the conveying auger 610 corresponding to the bottom of the vertical cylinder 609, and a top plate 613 is equidistantly clamped on the outer side of the connecting ring 612 corresponding to the vertical cylinder 609, and a top ring 614 is connected to the top of the top plate 613 at a position corresponding to the outer side of the vertical cylinder 609, and an arc block 616 is equidistantly clamped between the top ring 614 and the counterweight ring 615, and the slag discharge hole 617 is provided at the bottom end of the recovery chamber 606 corresponding to the bottom of the vertical cylinder 609, and the filter screen 618 is clamped on the inner wall of the slag discharge hole 617. The screen 611 of this embodiment is installed at an angle, the inner wall of the counterweight ring 615 is slidingly connected to the outer side of the vertical cylinder 609, the arc block 616 at the bottom end of the counterweight ring 615 and the arc block 616 at the top end of the top ring 614 are staggered, and the mesh of the screen 611 is larger than the mesh of the filter 618.

[0103] See also Figure 6 , Figure 6 This is a schematic diagram of the transmission component installation according to one embodiment of the present invention. The running mechanism includes rollers 2 symmetrically arranged on either side of the chassis 1, with tracks 3 sleeved onto the two rollers 2 on the same side. The transmission component includes a drive roller 604 and a rotating rod 603. The drive rollers 604 are positioned corresponding to and mesh with the rollers 2, and the rotating rod 603 is connected to the drive roller 604. The rotating rod 603 is connected to the conveyor belt 602 via a belt 605. A conveying and filtering mechanism 6 is provided within the chassis 1. The rotation of the rollers 2 and tracks 3 drives the drive rollers 604 and rotating rod 603, which in turn, through the transmission of the belt 605, drives the conveyor belt 602 to rotate, facilitating the delivery of walnuts scooped up by the conveyor belt 602 into a recovery chamber 606. The walnuts are then filtered through a screen 611 to separate the walnuts from impurities. A rotary motor 608 then drives a conveying auger 610 to rotate, transporting the walnuts from the recovery chamber 606 through a vertical cylinder 609 to a collection box 607.

[0104] The inner wall of the slot 4 of this embodiment is fixedly connected to a conveying plate 601 by bolts, and the top of the conveying plate 601 is rotatably connected to a conveyor belt 602, and the two ends of the chassis 1 are rotatably connected to the position on one side of the roller 2, and the outer side of the rotating rod 603 is fixedly sleeved with a transmission roller 604 at a position on the side of the roller 2, and the outer side of the rotating rod 603 and the outer side of the conveyor belt 602 shaft are both sleeved with belts 605; a recovery chamber 606 is opened inside the chassis 1, and a collection box 607 is fixedly connected to the top position of the recovery chamber 606 at the top of the chassis 1 by bolts, and a rotating motor 608 is fixedly connected to the top of the collection box 607 by bolts, and a vertical cylinder 609 is fixedly connected to the internal position of the collection box 607 at the top of the chassis 1, and a conveying auger 610 is clamped at the internal position of the vertical cylinder 609 corresponding to the output shaft of the rotating motor 608. In order to facilitate the transportation of walnuts, an anti-slip strip is pasted on the outside of the conveyor belt 602, and a cover plate is rotatably connected to one end of the collection box 607. The bottom end of the vertical cylinder 609 passes through the top of the chassis 1, and an inclined surface is provided on the inner wall of the recovery chamber 606. The rotating motor 608 is powered by an internal power supply, and the outer side of the conveying auger 610 is in contact with the inner wall of the vertical cylinder 609; a screen 611 is slidably connected to the top position of the inner wall of the recovery chamber 606, and a counterweight ring 615 is clamped at the position of the inner wall of the screen 611 corresponding to the outer side of the vertical cylinder 609. A connecting ring 612 is fixedly connected to the outer side of the conveying auger 610 corresponding to the bottom position of the vertical cylinder 609, and a top plate 613 is equidistantly clamped on the outer side of the connecting ring 612 corresponding to the outer side of the vertical cylinder 609. A top ring 614 is fixedly connected to the top of the plate 613 at a position corresponding to the outer side of the vertical cylinder 609, and arc blocks 616 are equidistantly clamped at the top of the top ring 614 and the bottom of the counterweight ring 615. A slag discharge hole 617 is provided at the bottom of the chassis 1 at a position corresponding to the bottom of the vertical cylinder 609, and a filter screen 618 is clamped on the inner wall of the slag discharge hole 617. A slag discharge channel 619 is provided inside the chassis 1 at a position corresponding to one side of the screen 611. In order to facilitate filtering out fallen leaves, the screen 611 is installed at an angle, and the inner wall of the counterweight ring 615 is slidably connected to the outer side of the vertical cylinder 609. The arc block 616 at the bottom end of the counterweight ring 615 and the arc block 616 at the top of the top ring 614 are staggered. The mesh of the screen 611 is larger than the mesh of the filter screen 618.

[0105] See also Figure 7A 、 7B , Figure 7A This is a schematic structural diagram of a collecting mechanism 7 according to an embodiment of the present invention. Figure 7B for Figure 7AThe collecting mechanism 7 of this embodiment is mounted on the top of the chassis 1 via an N-shaped frame 702 and slides along an extension plate 701 mounted on the chassis 1 via the N-shaped frame 702. The collecting mechanism 7 includes symmetrically arranged collecting components, which include a semi-arc tray 704, a turntable 707, a double-headed screw 706, an arc rod 709, and a mounting bar 710. The semi-arc tray 704 is connected to the N-shaped frame 702 via a sliding rod 703; the double-headed screw 706 is mounted on the N-shaped frame 70 2, the turntable 707 is mounted on one end of the double-headed screw 706, and the other end of the double-headed screw 706 is connected to the semi-arc tray 704 to push the semi-arc tray 704 to move within the N-shaped frame 702 to clamp the walnut tree; the arc rod 709 is mounted on the top of the semi-arc tray 704, and the mounting bars 710 are evenly arranged on the arc rods 709. An outer blocking cloth 711 is laid between the mounting bars 710 to form an arc-shaped shielding on the outside of the semi-arc tray 704. Among them, the semi-arc tray 704 is provided with a leak-proof plate 714 corresponding to the shielding cloth 713, and the leak-proof plate 714 and the ends of the semi-arc tray 704 are respectively provided with magnetic plates 715, and two adjacent magnetic plates 715 are attracted to each other.

[0106] The collecting mechanism 7 is set at the top middle part of the chassis 1, and the N-shaped frame 702 is pulled to slide along the extension plate 701, so that the semi-arc tray 704 is parallel to the walnut tree, and then the turntable 707 and the double-headed screw 706 are rotated to push the protrusion 705 and the semi-arc tray 704 to move inside the N-shaped frame 702, changing the distance between the two semi-arc trays 704 to clamp the walnut tree. At the same time, through the cooperation of the arc rod 709, the mounting bar 710 slides with the outer blocking cloth 711, forming an arc-shaped shielding on the outside of the semi-arc tray 704, making it convenient for the walnuts to fall into the interior of the semi-arc tray 704 along the blocking cloth 713.

[0107] In this embodiment, the top of the chassis 1 is fixedly connected to the positions on both sides of the slot 4 by bolts, the top of the extension plate 701 is slidably connected to the N-shaped frame 702, the inner wall of the N-shaped frame 702 is symmetrically and slidably connected to the sliding rod 703, one end of the sliding rod 703 is fixedly connected to the semi-arc tray 704 by bolts at the position corresponding to the inner side of the N-shaped frame 702, one end of the semi-arc tray 704 is fixedly connected to the protrusion 705, the inner wall of the N-shaped frame 702 is rotatably connected to a double-headed screw 706 at a position corresponding to one side of the protrusion 705, and the outer side of the double-headed screw 706 is fixedly connected to a turntable 707. In order to adjust the distance between the two semi-arc trays 704, the threads at both ends of the outer side of the double-headed screw 706 rotate in opposite directions, one end of the double-headed screw 706 passes through the protrusion 705, and the outer side of the double-headed screw 706 is connected to the inner wall of the protrusion 705 by a thread; the top of the semi-arc tray 704 is symmetrically fixedly connected with a fixing block 708, one end of the two fixing blocks 708 is clamped with an arc rod 709 at the top position of the semi-arc tray 704, and the outer side of the arc rod 709 is equidistantly movably connected with a mounting strip 710, and one end of the mounting strip 710 is fixedly connected to the outer retaining cloth 711 by a bolt. A semicircular groove 712 is provided on the inner wall, and an elastic shielding cloth 713 is fixedly connected to the top of the semi-arc tray 704 corresponding to the top of the semi-arc groove 712 by bolts. A leak-proof plate 714 is rotatably connected to the positions on both sides of the shielding cloth 713 at one end of the semi-arc tray 704, and a magnetic plate 715 is fixedly connected to one end of the leak-proof plate 714 and one end of the semi-arc tray 704. In order to collect the shaken walnuts, a semi-arc groove is provided on the outside of the semi-arc tray 704, and one end of the mounting bar 710 is slidably connected to the inside of the semi-arc groove. The elastic shielding cloth 713 is arc-shaped, and two adjacent magnetic plates 715 are adsorbed on each other.

[0108] During operation, first, the cooperation of the roller 2 and the crawler 3 is used to facilitate the movement of the chassis 1 to the side of the walnut tree. At the same time, according to the height of the walnut tree, the adjusting rod 502 is rotated in advance to push the fixing frame 503 to slide inside the slot 4, thereby changing the vertical position of the fixing frame 503. Then, the first electric push rod 504 is started to push the translation adjustment frame 505 to slide along the inside of the fixing frame 503, forcing the rubber pad 516 at one end of the clamping arm 510 to fit the walnut tree. As the clamping arm 510 continues to move, the rubber pad 516 is pressed to deform, thereby pushing the limit rod 517, so that the limit rod 517 and the touch plate 521 fit the control switch 520, cutting off the first electric push rod 504. The power supply of the push rod 504 stops the movement of the translation adjustment frame 505, and at the same time starts the second electric push rod 512, so that the second electric push rod 512 pushes the movable clamping plate 513 to slide along the slide groove 511, changes the distance between the movable clamping plate 513 and one end of the clamping arm 510, and clamps the walnut tree. As the movable clamping plate 513 fits the walnut tree, the rubber pad 516 on the movable clamping plate 513 is pressed to deform, and then the touch plate 521 is pushed to fit one end of the control switch 520 through the limit rod 517, cutting off the power supply to the second electric push rod 512, and preventing the movable clamping plate 513 from moving. While ensuring the clamping effect, it prevents excessive squeezing force from causing damage to the walnut tree, thereby improving the adaptability of the device.

[0109] Next, pull the N-shaped frame 702 to slide along the extension plate 701, so that the semi-arc tray 704 is parallel to the walnut tree, and then rotate the turntable 707 to rotate the turntable 707 with the double-headed screw 706, thereby moving the protrusion 705 and the semi-arc tray 704 inside the N-shaped frame 702, changing the distance between the two semi-arc trays 704, and clamping the walnut tree. In addition, during the sliding process, the semi-arc tray 704 is prevented from deflecting by the limit of the slide bar 703. In addition, when the semi-arc tray 704 is fitted, the semicircular groove 712 cooperates to make the shielding cloth 713 wrap the walnut tree, and then the arc The cooperation of rod 709 causes the mounting bar 710 to slide with the outer blocking cloth 711, forming an arc-shaped shield on the outside of the semi-arc tray 704, preventing the walnuts from falling out of the semi-arc tray 704, and facilitating the walnuts to fall into the interior of the semi-arc tray 704 along the blocking cloth 713, thereby improving the convenience of collection; then the drive motor 508 is started, so that the drive motor 508 drives the half gear 509 to rotate, and through the cooperation of the tooth protrusion 507, the half gear 509 brings the vibration frame 506 to move back and forth inside the translation adjustment frame 505, and then the clamping arm 510 is used to shake the walnut tree, making it easier for the walnuts to fall and fall into the interior of the semi-arc tray 704. Then, the turntable 707 is reversed to drive the double-headed screw 706 to rotate and reset, thereby increasing the distance between the two semi-arc trays 704. After the chassis 1 is moved to the open ground, the leak-proof plate 714 is rotated to pour out the walnuts inside the semi-arc tray 704 to prevent the walnuts from being scattered under the walnut tree, making it convenient for subsequent collection and filtering of the walnuts and improving the convenience of harvesting. After the walnuts are poured out, the leak-proof plate 714 is rotated and reset, and the two magnetic plates 715 are used to re-fix the leak-proof plate 714 to one end of the semi-arc tray 704 to ensure the subsequent collection effect.

[0110] During the movement of the chassis 1, the cooperation of the roller 2 and the crawler track 3 drives the transmission roller 604 and the rotating rod 603 to rotate, and at the same time, the cooperation of the belt 605 further transmits the power, driving the conveyor belt 602 on the conveying plate 601 to rotate, so that the walnuts scooped up by the conveyor belt 602 are sent to the inside of the recovery chamber 606, and then the walnuts are filtered through the screen 611, and the leaves are blocked inside the screen 611, while the walnuts pass through the screen 611 and fall into the inside of the recovery chamber 606. Then, the rotating motor 608 is started, so that the rotating motor 608 drives the conveying auger 610 to rotate, and the walnuts inside the recovery chamber 606 are transported to the inside of the collection box 607 through the vertical cylinder 609, so that people can take out the walnuts through the collection box 607, thereby improving the convenience of harvesting.

[0111] Finally, when the conveying auger 610 is lifting the walnuts, it drives the connecting ring 612, the top plate 613 and the top ring 614 to rotate. At the same time, through the cooperation of the arc block 616 and the counterweight ring 615, the screen 611 is vibrated up and down on the outside of the vertical cylinder 609, which improves the filtering effect. Moreover, because the screen 611 is set at an angle, the impurities larger than the walnuts are filtered out and discharged through the slag discharge channel 619, while the impurities with a smaller volume than the walnuts in the recovery chamber 606 are discharged through the cooperation of the filter 618 and the slag discharge hole 617, which ensures the content of impurities in the harvested walnuts and saves people's labor pressure.

[0112] The multi-degree-of-freedom clamping mechanism 5 of the present invention pushes the fixed frame 503 to slide inside the slot 4 by rotating the adjusting rod 502, and changes the vertical position of the fixed frame 503 according to the height of the walnut tree. Then, the first electric push rod 504 is started to push the translation adjustment frame 505 to slide along the inside of the fixed frame 503, forcing the rubber pad 516 at one end of the clamping arm 510 to fit the walnut tree, compressing the rubber pad 516 to deform, and pushing the limit rod 517 and the touch plate 521 to fit with the control switch 520, cutting off the power supply to the first electric push rod 504, stopping the movement of the translation adjustment frame 505, and at the same time starting the second electric push rod 512 to push the movable clamping plate 513 to slide along the slide groove 511, changing the distance between the movable clamping plate 513 and one end of the clamping arm 510, and adjusting the height of the walnut tree. The peach tree is clamped, which improves the convenience of clamping; in addition, as the movable clamping plate 513 fits against the walnut tree, the rubber pad 516 on the movable clamping plate 513 is deformed, pushing the limit rod 517 and the touch plate 521 to fit against one end of the control switch 520, cutting off the power supply to the second electric push rod 512, and preventing the movable clamping plate 513 from moving. While ensuring the clamping effect, it prevents excessive squeezing force from causing damage to the walnut tree, thereby improving the adaptability of the device. The half gear 509 is driven to rotate by the driving motor 508, and through the cooperation of the tooth protrusion 507, the half gear 509 is driven to move back and forth inside the translation adjustment frame 505 with the vibration frame 506, thereby shaking the walnut tree through the clamping arm 510, making it convenient for the walnuts to fall, and causing the walnuts to fall into the interior of the semi-arc tray 704.

[0113] The conveying and filtering mechanism 6 of the present invention rotates the roller 2 and the crawler 3, driving the transmission roller 604 and the rotating rod 603 to rotate, and at the same time transmits power through the belt 605 to drive the conveyor belt 602 on the conveying plate 601 to rotate, so that the walnuts scooped by the conveyor belt 602 are conveniently sent to the inside of the recovery chamber 606, and at the same time, the walnuts are filtered through the screen 611, and the leaves are blocked inside the screen 611, while the walnuts pass through the screen 611 and fall into the inside of the recovery chamber 606, and then the conveying auger 610 is driven to rotate by the rotating motor 608, and the walnuts in the recovery chamber 606 are transported to the inside of the collection box 607 through the vertical cylinder 609, which is convenient for people to pass through the collection box 6 07 takes out the walnuts, which improves the convenience of harvesting; in addition, when the conveying auger 610 lifts the walnuts, it drives the connecting ring 612, the top plate 613 and the top ring 614 to rotate, and at the same time, through the cooperation of the arc block 616 and the counterweight ring 615, the screen 611 vibrates up and down on the outside of the vertical cylinder 609, which improves the filtering effect. Moreover, because the screen 611 is tilted, the impurities larger than the walnuts are filtered out and discharged through the slag discharge channel 619, and the impurities with a smaller volume than the walnuts in the recovery chamber 606 are discharged through the cooperation of the filter 618 and the slag discharge hole 617, which ensures the content of impurities in the harvested walnuts and saves people's labor pressure.

[0114] The collecting mechanism 7 of the present invention pulls the N-shaped frame 702 to slide along the extension plate 701, so that the semi-arc tray 704 is parallel to the walnut tree, and then rotates the turntable 707, which rotates with the double-headed screw 706, thereby pushing the protrusion 705 and the semi-arc tray 704 to move inside the N-shaped frame 702, changing the distance between the two semi-arc trays 704, and clamping the walnut tree. In the sliding process, the semi-arc tray 704 is prevented from being offset by the limiting of the slide bar 703. When the semi-arc tray 704 is fitted, the shielding cloth 713 is wrapped around the walnut tree through the cooperation of the semicircular groove 712. At the same time, the cooperation of the arc rod 709 facilitates the pulling of the mounting bar 710 and the outer blocking cloth 711 to slide on the outside of the semi-arc tray 704. An arc-shaped shield is formed to prevent walnuts from falling out of the semi-arc tray 704, making it convenient for the walnuts to fall into the interior of the semi-arc tray 704 along the shielding cloth 713, thereby improving the convenience of collection. In addition, after the reception is completed, the reverse turntable 707 drives the double-headed screw 706 to rotate and reset, thereby increasing the distance between the two semi-arc trays 704, and after the chassis 1 is moved to the open ground, the leak-proof plate 714 is rotated, and the walnuts inside the semi-arc tray 704 are poured out to prevent the walnuts from being scattered under the walnut tree, thereby facilitating the subsequent collection and filtering of the walnuts and improving the convenience of harvesting. After the walnuts are poured out, the leak-proof plate 714 is rotated and reset, and the leak-proof plate 714 is re-fixed to one end of the semi-arc tray 704 through the adsorption effect of the two magnetic plates 715, thereby ensuring the subsequent collection effect.

[0115] The present invention has a scientific and reasonable structure and is safe and convenient to use. The vertical position of the fixing frame 503 can be changed according to the height of the walnut tree, and the clamping distance can be adjusted according to the outer diameter of the walnut tree. It can adapt to the needs of walnut trees of different heights and thicknesses for the harvesting device, thereby improving the walnut harvesting efficiency, avoiding damage to the tree trunks, and reducing labor costs.

[0116] Of course, the present invention may have many other embodiments. Without departing from the spirit and essence of the present invention, those skilled in the art may make various corresponding changes and modifications based on the present invention, but these corresponding changes and modifications should all fall within the scope of protection of the claims attached to the present invention.

Claims

1. A multi-degree-of-freedom walnut harvesting device, characterized in that: include: chassis, with a notch at the front end; The multi-degree-of-freedom clamping mechanism includes a fixed frame, a translation adjustment frame, a clamping component, and a clamping drive mechanism. The fixed frame is installed in the slot and moves vertically to change the height. The translation adjustment frame is installed on the fixed frame. The clamping drive mechanism is installed on the translation adjustment frame and connected to the clamping component. The translation adjustment frame drives the clamping component to move horizontally relative to the fixed frame to change the clamping position. The clamping component is used to clamp the walnut tree. A conveying and filtering mechanism is provided on the chassis corresponding to the multi-degree-of-freedom clamping mechanism and is connected to the traveling mechanism of the chassis; Used to separate walnuts and impurities and transport the separated walnuts to a collection box; as well as A collecting mechanism, arranged at the front end of the chassis corresponding to the multi-degree-of-freedom clamping mechanism and located above the multi-degree-of-freedom clamping mechanism, for collecting fallen walnuts and conveying them to the conveying and filtering mechanism; The clamping drive mechanism includes a first electric push rod, a drive motor, and a vibration frame, wherein both ends of the first electric push rod are respectively connected to the fixed frame and the translation adjustment frame; the vibration frame is movably connected to the translation adjustment frame, and the inner wall of the vibration frame is symmetrically connected with tooth protrusions at equal intervals; the drive motor is installed on the top of the translation adjustment frame, and the output shaft of the drive motor is connected to a half gear corresponding to the tooth protrusion, and the half gear is engaged with the tooth protrusion; The clamping component includes a clamping arm, a second electric push rod and a movable clamping plate, the two ends of the second electric push rod are respectively connected to the clamping arm and the movable clamping plate, the movable clamping plate is connected to one side arm of the clamping arm through a movable rod, and a rubber pad is provided on one side of the movable clamping plate relative to the other side arm of the clamping arm, and a limit member is provided between the rubber pad and the movable clamping plate; The limiting member includes a limiting rod, a vertical plate and a tensioning spring, wherein the vertical plate is mounted on one end of the limiting rod, the limiting rod passes through the clamping arm and is connected to the rubber pad, the tensioning spring abuts between the vertical plate and the clamping arm, a control switch is provided on the inner side of the clamping arm corresponding to the rubber pad, a touch plate is provided on the limiting rod corresponding to the control switch, and the control switches are respectively connected to the first electric push rod and the second electric push rod; The collecting mechanism is installed on the top of the chassis through an N-shaped frame, and slides along the extension plate installed on the chassis through the N-shaped frame. The collecting mechanism includes symmetrically arranged collecting components, and the collecting components include a semi-arc tray, a turntable, a double-headed screw, an arc rod and a mounting bar. The semi-arc tray is connected to the N-shaped frame through a sliding rod; the double-headed screw is installed on the N-shaped frame, the turntable is installed at one end of the double-headed screw, and the other end of the double-headed screw is connected to the semi-arc tray; the arc rod is installed on the top of the semi-arc tray, and the mounting bars are evenly arranged on the arc rods, and an outer retaining cloth is laid between the mounting bars.

2. The multi-degree-of-freedom walnut harvesting device according to claim 1, characterized in that: The conveying and filtering mechanism comprises: A conveying component, comprising a conveying plate and a conveying belt, wherein the conveying plate is mounted on the inner wall of the notch, and the conveying belt is disposed on the top end of the conveying plate and connected to the traveling mechanism of the chassis through a transmission member; and The filtering component includes a rotating motor, a conveying auger, a vertical cylinder, a screen and a slag discharge piece. The rotating motor is installed on the top of the collecting box and is connected to the conveying auger; the collecting box is installed on the chassis, the bottom end of the vertical cylinder passes through the top of the chassis and is located in the collecting box, the conveying auger is arranged in the vertical cylinder and the outer edge of the conveying auger is in contact with the inner wall of the vertical cylinder; the chassis is provided with a recovery chamber corresponding to the vertical cylinder, the end of the conveyor belt is connected to the recovery chamber, the screen is arranged in the recovery chamber corresponding to the conveyor belt, and the slag discharge piece is arranged below the screen.

3. The multi-degree-of-freedom walnut harvesting device according to claim 2, characterized in that: The slag discharge part includes a filter screen and a slag discharge hole. A counterweight ring is clamped on the inner wall of the screen at a position corresponding to the outer side of the vertical cylinder. A connecting ring is provided on the outer side of the conveying auger corresponding to the bottom of the vertical cylinder. A top plate is equidistantly clamped on the outer side of the connecting ring corresponding to the vertical cylinder. The top of the top plate is connected to a top ring at a position corresponding to the outer side of the vertical cylinder. Arc blocks are equidistantly clamped between the top ring and the counterweight ring. The slag discharge hole is provided at the bottom end of the recovery chamber corresponding to the bottom of the vertical cylinder, and the filter screen is clamped on the inner wall of the slag discharge hole.

4. The multi-degree-of-freedom walnut harvesting device according to claim 3, characterized in that: The screen is installed at an angle, the inner wall of the counterweight ring is slidably connected to the outer side of the vertical cylinder, the arc block at the bottom end of the counterweight ring and the arc block at the top end of the top ring are staggered, and the mesh of the screen is larger than the mesh of the filter.

5. The multi-degree-of-freedom walnut harvesting device according to claim 2, characterized in that: The walking mechanism includes rollers symmetrically arranged on both sides of the chassis, and tracks are sleeved on the two rollers on the same side; the transmission member includes a transmission roller and a rotating rod, the transmission roller is arranged corresponding to the roller and engages with the roller, the rotating rod is connected to the transmission roller, and the rotating rod and the conveyor belt are connected by a belt.

6. The multi-degree-of-freedom walnut harvesting device according to claim 1, characterized in that: Anti-leakage plates are provided at both ends of the semi-arc tray inwardly along the radial direction, and shielding cloths are provided correspondingly between the anti-leakage plates. Magnetic plates are provided at both ends of the semi-arc tray and at the ends where the anti-leakage plates are connected to the semi-arc tray, and the corresponding magnetic plates are adsorbed on each other.

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