Multi-excitation walnut vibration picking device

Abstract

The application discloses a multi-excitation walnut vibration picking device, which comprises an excitation assembly, a clamping assembly, a first auxiliary excitation assembly and a second auxiliary excitation assembly. The eccentric block is rotated to generate an excitation force. When the branches are clamped, the excitation force is transmitted to the branches to drive the fruits on the branches to move. When the inertial force of the fruits is greater than the separation force of the fruit stems, the fruits fall off, and picking is realized. When the eccentric blocks on the shafts are rotated in different ways, the excitation forces generated by the eccentric blocks are different. The excitation forces are mainly divided into one-dimensional linear excitation, two-dimensional circular excitation and space combined excitation. The main application scenarios are two. One is used as a portable picking device, which is mainly applied to outdoor picking, especially suitable for mountainous areas, hilly areas and other areas with limited picking environment. The other is used as an experimental device, which is mainly applied to indoor experiments to study the movement and falling of fruits under various vibrations, and guide the design of picking devices.

Description

Technical Field

[0001] This invention belongs to the field of agricultural machinery and equipment technology, and in particular to a multi-excitation walnut vibration harvesting device. Background Technology

[0002] Walnuts, one of the four major dried fruits, mainly grow in mountain forests and have extremely high nutritional and economic value. However, walnut harvesting has always been plagued by problems such as low efficiency and significant damage, especially in non-standardized planting areas. Due to the limitations of mountainous terrain and limited working space, large machinery is difficult to operate, and current harvesting methods mainly rely on manual labor and simple harvesting tools, resulting in low efficiency and significant damage. Furthermore, existing harvesting equipment, whether large or small, is designed primarily based on experience, lacking a theoretical foundation. Related harvesting parameters are unreasonable, and research on the movement and shedding patterns of the fruit is insufficient, leading to problems such as low efficiency and significant damage during harvesting.

[0003] A search revealed a Chinese patent publication number: CN218042575U, which describes a walnut harvesting machine. The machine includes a diesel-powered agricultural vehicle body with a central mounting rod fixedly installed at the rear center. A fixed frame is fixedly installed at the end of the central mounting rod. A first stabilizing column is fixedly installed on one side of the outer wall of the movable frame, and a second stabilizing column is fixedly installed on the other side of the outer wall of the movable frame. The second stabilizing column passes through a hole on the other side of the fixed frame. A second return spring is installed between the other side of the inner wall of the fixed frame and the other side of the outer wall of the movable frame. A protective pad is fixedly installed at the end of the second stabilizing column.

[0004] A search revealed a Chinese patent publication number: CN219087848U, which describes a walnut harvesting device. The device includes a telescopic link and a power supply unit. A collection cover is welded to one end of the telescopic link, and a vibration motor is securely installed on the bottom inner side of the collection cover. A harvesting rod is welded to the outer shell of the vibration motor, and a positioning fork is welded to one end of the harvesting rod. A threaded nozzle is welded to the outer surface of the collection cover, and a collection bag is provided on one side of the threaded nozzle. A threaded ring is fixedly installed at the port of the collection bag, and the outer surface of the threaded ring is threadedly connected to the threaded nozzle through an external thread.

[0005] The cited patent documents also suffer from the same problem, mainly focusing on manual harvesting and simple harvesting tools, resulting in low harvesting efficiency and significant damage. Secondly, the existing harvesting equipment, whether large or small, is designed primarily based on experience, lacking a theoretical foundation, with unreasonable harvesting parameters and insufficient research on the movement and shedding patterns of fruits, leading to problems such as low efficiency and significant damage during harvesting. Summary of the Invention

[0006] The purpose of this invention is to provide a multi-excitation walnut vibration harvesting device to solve the problems mentioned in the background art.

[0007] To achieve the above objectives, the present invention provides the following technical solution: a multi-excitation walnut vibration harvesting device, comprising:

[0008] The excitation assembly includes a first housing and a second housing connected to each other, a third housing and a fourth housing located at their tail ends and also connected to each other, a first eccentric block group and a second eccentric block group respectively rotatably mounted in the first housing and the second housing, and a third eccentric block group rotatably mounted in the third housing and the fourth housing.

[0009] The clamping assembly is located at the head end of the excitation assembly and includes a first cylinder and a second cylinder respectively hinged to the opposite outer walls of the first housing and the second housing, and a first gripper and a second gripper respectively installed on the free ends of the piston rods of the first cylinder and the second cylinder for clamping the walnut tree branch.

[0010] The first auxiliary excitation component is disposed between the first eccentric block group and the second eccentric block group so that the collision between the two eccentric blocks during their eccentric rotation generates auxiliary excitation vibration.

[0011] The second auxiliary excitation component is symmetrically arranged at both ends of the third eccentric block group and vibrates by swinging laterally in eccentric rotation following the third eccentric block group.

[0012] The scene components are detachable and replaceable, including drive components, support components, and retractable parts that are connected to the excitation components.

[0013] In a preferred embodiment of this scheme, the first eccentric block group, the second eccentric block group, and the third eccentric block group each include two symmetrically arranged moving eccentric blocks and two symmetrically arranged fixed eccentric blocks between the two moving eccentric blocks.

[0014] In this preferred embodiment, the two moving eccentric blocks and the two fixed eccentric blocks are arranged in a cross-distribution manner, and the magnitude of the excitation is generated by adjusting the included angle between the two.

[0015] In a preferred embodiment of this scheme, both the first and second housings are rotatably mounted with a first shaft and a second shaft for the first eccentric block group and the second eccentric block group to be respectively supported and installed.

[0016] The third and fourth housings are rotatably mounted with a third shaft for supporting the third eccentric block assembly;

[0017] A first motor and a second motor are respectively installed on the top of the first and second boxes, and a third motor is installed at the tail end of the fourth box;

[0018] The output shaft of the first motor is connected to the first shaft;

[0019] The output shaft of the second motor is connected to the second shaft;

[0020] The output shaft of the third motor is connected to the third shaft.

[0021] In a preferred embodiment of this scheme, the first auxiliary excitation component includes a horizontally oriented U-shaped slide block fixedly installed on the inner walls opposite to the first and second housings, a T-shaped slider slidably installed inside the U-shaped slide block, a positioning mounting box fixedly installed on the outer wall of the T-shaped slider, an auxiliary excitation spring fixedly installed in the positioning mounting box, and an auxiliary excitation collision counterweight fixedly installed at the free end of the auxiliary excitation spring.

[0022] In a preferred embodiment of this scheme, the auxiliary excitation collision counterweight has a semi-circular shape, and the curved outer wall of the auxiliary excitation collision counterweight faces the first eccentric block group and the second eccentric block group.

[0023] In a preferred embodiment of this solution, the inner wall of the U-shaped slide block is provided with a sliding groove for the sliding installation of the T-shaped slider component, and a positioning upright component is longitudinally connected inside the T-shaped slider component;

[0024] Both ends of the positioning upright extending from the T-shaped slider are fitted with thrust springs, and the positioning upright is fixedly installed in the slide groove.

[0025] In a preferred embodiment of this scheme, the second auxiliary excitation component includes a support link fixedly connected to both ends of the third shaft, a connecting ring fixedly installed at the free end of the support link, an elastic rope knotted in the connecting ring, and an auxiliary excitation ball-throwing component fixedly connected to the free end of the elastic rope.

[0026] In a preferred embodiment of this scheme, vibration transmission boxes are fixedly connected to the outer walls of the opposite sides of the first and second boxes, and vibration transmission springs are fixedly connected to each vibration transmission box.

[0027] Each of the vibration transmission springs is fixedly connected to a vibration transmission arc-shaped clamp at the end away from the vibration transmission box, and the two vibration transmission arc-shaped clamps are elastically abutting against the outer walls of the first cylinder and the second cylinder, respectively.

[0028] In a preferred embodiment of this solution, the telescopic component includes a detachable primary telescopic rod installed at the tail end of the excitation assembly, a secondary telescopic rod connected to the tail end of the primary telescopic rod, a tertiary telescopic rod coaxially installed at the tail end of the secondary telescopic rod, and a handle.

[0029] Compared with the prior art, the technical effects and advantages of the present invention are as follows:

[0030] This multi-excitation walnut vibratory harvesting device features flexible connections for easy assembly, disassembly, and replacement of all components. The excitation and clamping components are the core of the device, sharing a common drive assembly. It operates in two modes: first, as a portable harvesting device for outdoor use with telescopic rods. Its portability makes it highly effective in areas with limited land, and parameters such as excitation force and frequency are adjustable. Second, it serves as an indoor vibratory harvesting experimental platform, employing chain hoisting to minimize human intervention. The device offers various excitation types, including one-dimensional linear, two-dimensional circular, and three-dimensional spatial combinations. The eccentric blocks are divided into fixed and moving types for easy adjustment of the excitation force. This allows for the study of fruit movement and drop characteristics under vibration, summarizing patterns and experiences to guide the design of subsequent harvesting equipment.

[0031] When the first and second eccentric block groups circumferentially rotate and collide with the auxiliary excitation collision counterweight, the auxiliary excitation collision counterweight, under the action of the auxiliary excitation spring, can swing left and right, thereby increasing the vibration generated by the excitation of the first and second eccentric block groups and helping to pick and drop walnuts from the walnut tree branches. At the same time, when the auxiliary excitation collision counterweight swings left and right, under the action of the T-shaped slider and the sliding groove, the force of the left and right swing can drive the auxiliary excitation spring and the auxiliary excitation collision counterweight to move longitudinally. Meanwhile, the two thrust springs can apply the elastic thrust and reaction thrust of the T-shaped slider, which is more conducive to the longitudinal movement of the auxiliary excitation spring and the auxiliary excitation collision counterweight. In addition, the positioning rod can limit the T-shaped slider to prevent it from falling off the sliding groove and improve its installation stability. Attached Figure Description

[0032] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of the portable harvesting equipment according to Embodiment 1 of the present invention;

[0034] Figure 2 This is a schematic diagram of the vibration excitation assembly of the present invention;

[0035] Figure 3 This is a schematic diagram of the clamping component of the present invention;

[0036] Figure 4 This is a schematic diagram of the connection structure between the vibration transmission spring and the vibration transmission arc-shaped plate of the present invention.

[0037] Figure 5 This is a schematic diagram of the structure of the driving component of the present invention;

[0038] Figure 6 This is a schematic diagram of the telescopic rod of the present invention;

[0039] Figure 7 This is a schematic diagram of the vibration test bench according to Embodiment 2 of the present invention;

[0040] Figure 8 This is a schematic diagram of the eccentric block assembly of the present invention;

[0041] Figure 9 This is a schematic diagram of the structure of the support component of the present invention;

[0042] Figure 10 This is a schematic diagram of the structure of the first auxiliary excitation component of the present invention;

[0043] Figure 11 This is a schematic diagram of the split-state structure of the first auxiliary excitation component of the present invention;

[0044] Figure 12 This is a schematic diagram of the second auxiliary excitation component of the present invention.

[0045] Explanation of reference numerals in the attached figures:

[0046] In the picture:

[0047] 100. Vibration excitation assembly; 101. Large motor base; 102. First housing; 103. Second housing; 104. First eccentric block assembly; 1041. Moving eccentric block; 1042. Fixed eccentric block; 105. First shaft; 106. First sealing plate; 107. Second shaft; 108. Second eccentric block assembly; 109. Third shaft;

[0048] 110. Third eccentric block assembly; 111. Third housing; 112. Fourth housing; 113. Small motor base; 114. Third motor; 115. Coupling; 116. Diamond bearing housing assembly; 117. Locking screw retaining ring; 118. Second sealing plate; 119. First lifting ring;

[0049] 120. Second motor;

[0050] 121. First motor;

[0051] 122. First auxiliary excitation component; 12201. U-shaped slide block; 12202. Slide groove component; 12203. Thrust spring; 12204. Positioning mounting box; 12205. Auxiliary excitation spring component; 12206. Auxiliary excitation collision counterweight block; 12207. Rubber noise reduction and protective pad; 12208. T-shaped slider component; 12209. Positioning upright component;

[0052] 123. Second auxiliary excitation component; 12301. Supporting link; 12302. Connecting ring; 12303. Elastic rope; 12304. Auxiliary excitation ball throwing component.

[0053] 200. Clamping assembly; 201. Cylinder fixing plate; 202. Tailstock; 203. First cylinder; 204. Y-type connector; 205. First gripper; 206. Gripper fixing plate; 207. Second gripper; 208. Second cylinder; 209. Side plate; 211. Vibration transmission spring; 212. Vibration transmission box; 213. Vibration transmission arc-shaped clamping plate;

[0054] 300. Drive assembly; 301. Component mounting plate; 302. Air pump; 303. Power supply; 304. Microcontroller control box; 305. Switch and button assembly; 3051. Switch 1; 3052. Switch 2; 3053. Switch 3; 3054. Switch 4; 3055. Switch 5;

[0055] 400. Support assembly; 401. Support frame; 402. Clamping seat; 403. Second lifting ring; 404. Chain;

[0056] 500. Telescopic component; 501. Primary telescopic rod; 502. Secondary telescopic rod; 503. Handle; 504. Tertiary telescopic rod; 505. Clamping seat; 506. Grip. Detailed Implementation

[0057] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0058] Unless otherwise defined, the directions mentioned herein, such as up, down, left, right, front, back, inside, and outside, are based on the directions shown in the figures of this invention, and are explained here together.

[0059] This embodiment discloses, as follows: Figures 1 to 12The multi-excitation walnut vibration harvesting device shown includes an excitation component 100, a clamping component 200, a driving component 300, a support component 400, a telescopic component 500, a first auxiliary excitation component 122, and a second auxiliary excitation component 123.

[0060] in;

[0061] In this embodiment, the excitation assembly 100 includes a first housing 102 and a second housing 103 connected to each other, a third housing 111 and a fourth housing 112 located at their tail ends and also connected to each other, a first eccentric block group 104 and a second eccentric block group 108 respectively rotatably installed in the first housing 102 and the second housing 103, and a third eccentric block group 110 rotatably installed in the third housing 111 and the fourth housing 112. The first housing 102 is connected to the large motor base 101 by bolts, nuts and washers, and the second housing 103 is connected to the large motor base 101 and the first housing 102 by bolts, nuts and washers. It also has a lifting hole to facilitate connection with the first lifting ring 119.

[0062] The first eccentric block group 104 includes four eccentric blocks, which are pressed and connected to the first shaft 105 by screws, flat washers, and spring washers. One end is fixed by a shaft shoulder in the axial direction, and the other end is locked by a retaining screw retaining ring 117 to prevent axial loosening. In the eccentric block group, the two middle blocks are fixed eccentric blocks 1042, and the two sides are moving eccentric blocks 1041. The magnitude of the excitation is adjusted by changing the included angle between the moving eccentric blocks 1041 and the fixed eccentric blocks 1042. The installation method of the other two groups, the second eccentric block group 108 and the third eccentric block group 110, is the same.

[0063] One end of the first shaft 105 is secured to the bearing surface of the diamond-shaped bearing housing assembly 116, and the other end is connected to the first motor 121 via a coupling 115. The second shaft 107 and the third shaft 109 of the other two shafts are installed in the same manner.

[0064] The third housing 111 is connected to the first housing 102 and the second housing 103 by bolts, nuts and washers, and the fourth housing 112 is connected to the third housing 111 by bolts, nuts and washers.

[0065] In this embodiment, the excitation component 100 also includes a large motor base 101, a rhomboid bearing base assembly 116, a first sealing plate 106, a small motor base 113, and a second sealing plate 118;

[0066] In this embodiment, the large motor base 101 has motor mounting holes and lifting holes to facilitate the connection of the first motor 121, the second motor 120, and the first lifting ring 119. There are three sets of diamond bearing seat assemblies 116, two of which are connected to the inner sides of the first housing 102 and the second housing 103 respectively by bolts, nuts, and washers, and the other set is connected to the inner sides of the third housing 111 and the fourth housing 112.

[0067] In this embodiment, there are two first sealing plates 106, which are connected to the brackets of the first housing 102, the second housing 103 and the large motor base 101 respectively by screws to achieve sealing; there are two second sealing plates 118, which are connected to the brackets of the third housing 111, the fourth housing 112 and the small motor base 113 respectively by screws to achieve sealing.

[0068] In this embodiment, the small motor base is connected to the fourth housing 112 by bolts, nuts and washers, and has holes to facilitate the connection of the third motor 114.

[0069] In this embodiment, the first eccentric block group 104, the second eccentric block group 108, and the third eccentric block group 110 each include two symmetrically arranged moving eccentric blocks 1041 and two symmetrically arranged fixed eccentric blocks 1042 between the two moving eccentric blocks 1041. The two moving eccentric blocks 1041 and the two fixed eccentric blocks 1042 are arranged in a cross-distribution manner, and vibration is generated by adjusting the included angle between them. The first housing 102 and the second housing 103 each have rotatably mounted objects for the first eccentric block group 104 and the second eccentric block group 108 to support and install respectively. The first shaft 105 and the second shaft 107, the third housing 111 and the fourth housing 112 are rotatably mounted with a third shaft 109 for supporting the third eccentric block assembly 110. The first motor 121 and the second motor 120 are respectively mounted on the top of the first housing 102 and the second housing 103. The third motor 114 is mounted at the tail end of the fourth housing 112. The output shaft of the first motor 121 is connected to the first shaft 105, the output shaft of the second motor 120 is connected to the second shaft 107, and the output shaft of the third motor 114 is connected to the third shaft 109.

[0070] In this embodiment, the clamping assembly 200 is located at the head end of the excitation assembly 100. It includes a first cylinder 203 and a second cylinder 208 respectively hinged to the opposite outer walls of the first housing 102 and the second housing 103, and a first gripper 205 and a second gripper 207 respectively mounted on the free ends of the piston rods of the first cylinder 203 and the second cylinder 208 for clamping walnut tree branches. The first cylinder 203 is a standard component, with a tailstock 202 at its bottom and a Y-type connector 204 at its piston rod. The tailstock 202 is connected to the cylinder fixing plate 201 via bolts, nuts, and washers. The Y-type connector 204 is connected to the end of the first gripper 205 via a locking screw.

[0071] In this embodiment, the first gripper 205 is connected to the Y-type connector 204 of the first cylinder 203 and the gripper fixing plate 206 respectively through a locking screw, so that the gripper can rotate around the axial surface of the locking screw. The second gripper 207 is connected to the Y-type connector 204 of the second cylinder 208 and the gripper fixing plate 206 respectively through a locking screw, so that the gripper can rotate around the axial surface of the locking screw.

[0072] In this embodiment, the second cylinder 208 is a standard part with a tailstock 202 at the bottom of its cylinder body, and a Y-type connector 204 at the piston rod. The tailstock 202 is connected to the cylinder fixing plate 201 by bolts, nuts, and washers. The Y-type connector is connected to the end of the second gripper 207 by a locking screw.

[0073] In this embodiment, the clamping assembly 200 also has a cylinder fixing plate 201 and a gripper fixing plate 206. The cylinder fixing plate 201 is connected to the first box 102 and the third box 111 by bolts, nuts and washers. The gripper fixing plate 206 includes two sets. A V-shaped groove is provided in the middle of the plate to facilitate the positioning of the tree branch during clamping. It is connected to the first box 102 and the second box 103 by bolts, nuts and washers.

[0074] In this embodiment, the drive assembly 300 includes a component fixing plate 301, an air pump 302, a power supply 303, a microcontroller control box 304, and a switch button assembly 305. The component fixing plate 301 is connected to the support frame 401 by bolts, nuts, and washers, and is used to install related components. The air pump 302 is a standard part, responsible for supplying air to the first cylinder 203 and the second cylinder 208, and is connected to the component fixing plate 301 by bolts, nuts, and washers. The power supply 303 is a lithium battery, which is lightweight and small in size, and is connected to the component fixing plate 301 by bolts, nuts, and washers.

[0075] In this embodiment, the microcontroller control box 304, which has a built-in microcontroller, serves as the control system of the equipment. It is connected to the component fixing plate 301 via bolts, nuts, and washers. The switch and button assembly 305 is also connected to the component fixing plate 301 via bolts, nuts, and washers. It contains five switches: switch 1 3051 controls the clamping and releasing of the gripper; switch 2 3052 controls the motor speed; switch 3 3053 controls the excitation type as a one-dimensional linear reciprocating type; switch 4 3054 controls the excitation type as a two-dimensional circular type; and switch 5 3055 controls the excitation type as a three-dimensional spatial combination type.

[0076] In this embodiment, the support assembly 400 includes a support frame 401, a clamping seat 402, a second lifting ring 403, and a chain 404. The support frame 401 is constructed using standard aluminum profiles for easy indoor installation. The clamping seat 402 is a standard component used to clamp the end of the branch and is connected to the support frame 401 via bolts, nuts, and washers.

[0077] In this embodiment, the second lifting ring 403 is a standard part, with its own thread to connect with the support frame 401, and is equipped with a nut to prevent loosening. There are four chains 404 in total, with hooks at both ends, which are connected to the first lifting ring 119 and the second lifting ring 403 respectively, so that the vibration device is suspended in the air and avoids being held by hand.

[0078] In this embodiment, the telescopic component 500 includes a detachable primary telescopic rod 501 installed at the tail end of the excitation assembly 100, a secondary telescopic rod 502 connected to the tail end of the primary telescopic rod 501, a tertiary telescopic rod 504 coaxially installed at the tail end of the secondary telescopic rod 502, and a handle 506. The head of the primary telescopic rod 501 is welded with a right-angle sheet metal and is connected to the excitation assembly 100 by bolts, nuts, and washers. The secondary telescopic rod 502 is connected to the primary telescopic rod 501 by a thread. The handle 506 is connected to the tertiary telescopic rod 504 by a thread. The telescopic rod 504 is connected to the secondary telescopic rod 502 by a thread. The handle 506 is provided with five switches that are consistent with the buttons in the drive assembly 300.

[0079] In this embodiment, the telescopic component 500 also has a handle 503 and a clamping seat 505. The handle 503 is a standard component and is connected to the secondary telescopic rod 502 by bolts, nuts, and washers to fix the handle 503. The clamping seat 505 is a standard component, and by adjusting the tightness of the top screw, the clamping seat 505 is pressed and connected to the tertiary telescopic rod 504. The bottom is connected to the microcontroller control box 304 by bolts, nuts, and washers.

[0080] In this embodiment, the first auxiliary excitation component 122 is disposed between the first eccentric block group 104 and the second eccentric block group 108 so that the collision between the two eccentric blocks during their eccentric rotation generates auxiliary excitation vibration.

[0081] In this embodiment, the first auxiliary excitation assembly 122 includes a horizontally oriented U-shaped slide block 12201 fixedly installed on the opposite inner walls of the first housing 102 and the second housing 103, a T-shaped slider 12208 slidably installed inside the U-shaped slide block 12201, a positioning mounting box 12204 fixedly installed on the outer wall of the T-shaped slider 12208, an auxiliary excitation spring 12205 fixedly installed in the positioning mounting box 12204, and an auxiliary excitation spring fixedly installed in the auxiliary excitation spring. The auxiliary excitation collision counterweight 12206 at the free end of component 12205, the inner wall of the U-shaped slide block 12201 is provided with a sliding groove 12202 for sliding installation of the T-shaped slider component 12208, the T-shaped slider component 12208 is longitudinally connected with a positioning rod 12209, the two ends of the positioning rod 12209 extending from the T-shaped slider component 12208 are both fitted with thrust springs 12203, and the positioning rod 12209 is fixedly installed in the sliding groove 12202.

[0082] In this embodiment, when the first eccentric block group 104 and the second eccentric block group 108 circumferentially rotate and collide with the auxiliary excitation collision counterweight 12206, the auxiliary excitation collision counterweight 12206, under the action of the auxiliary excitation spring 12205, can be driven to swing left and right, thereby increasing the vibration generated by the excitation of the first eccentric block group 104 and the second eccentric block group 108, and helping the walnuts on the walnut tree branches to fall off. At the same time, when the auxiliary excitation collision counterweight 12206 swings left and right, under the cooperative sliding action of the T-shaped slider 12208 and the sliding groove 12202, it utilizes... The left-right swaying force drives the auxiliary excitation spring 12205 and the auxiliary excitation collision counterweight 12206 to move longitudinally. At the same time, the two thrust springs 12203 can apply elastic thrust and reaction thrust to the T-shaped slider 12208, which is more conducive to the longitudinal movement of the auxiliary excitation spring 12205 and the auxiliary excitation collision counterweight 12206, thereby satisfying multi-directional auxiliary excitation vibration and further improving the walnut harvesting efficiency. In addition, the positioning upright 12209 can limit the T-shaped slider 12208 to prevent it from falling off the slide groove 12202 and improve its installation stability.

[0083] In this embodiment, the auxiliary excitation collision counterweight 12206 has a semi-circular shape, and the curved outer wall of the auxiliary excitation collision counterweight 12206 faces the first eccentric block group 104 and the second eccentric block group 108. A rubber noise reduction and protective pad 12207 is adhered to the curved outer wall of each auxiliary excitation collision counterweight 12206. When the fixed eccentric block 1042 and the moving eccentric block 1041 collide with the auxiliary excitation collision counterweight 12206, the rubber noise reduction and protective pad 12207 can reduce the noise generated by the collision.

[0084] In this embodiment, the second auxiliary excitation component 123 is symmetrically arranged at both ends of the third eccentric block group 110 and vibrates by swinging laterally in eccentric rotation following the third eccentric block group 110; the second auxiliary excitation component 123 includes a support rod 12301 fixedly connected to both ends of the third shaft 109, a connecting ring 12302 fixedly installed at the free end of the support rod 12301, an elastic rope 12303 knotted in the connecting ring 12302, and an auxiliary excitation ball-swinging component 12304 fixedly connected to the free end of the elastic rope 12303.

[0085] In this embodiment, when the third shaft 109 is driven to rotate, it can drive the two 12301 to rotate synchronously. Under the action of the elastic rope 12303, it can swing the auxiliary excitation ball-swinging component 12304, thereby increasing the excitation vibration force of the third eccentric block group 110, thus assisting in the harvesting of walnuts. Vibration transmission boxes 212 are fixedly connected to the outer walls of the opposite side of the first box 102 and the second box 103. Vibration transmission spring component 211 is fixedly connected in each vibration transmission box 212. Vibration transmission arc-shaped card plate 213 is fixedly connected to the end of each vibration transmission spring component 211 away from the vibration transmission box 212. The two vibration transmission arc-shaped card plates 213 are elastically abutted against the outer walls of the first cylinder 203 and the second cylinder 208, respectively.

[0086] In this embodiment, two vibration transmission boxes 212 are respectively installed on the side plates 209 of the first housing 102 and the second housing 103, and the first cylinder 203 and the second cylinder 208 are also hinged to the corresponding side plates 209. This allows the vibration force to be transmitted to the first cylinder 203 and the second cylinder 208 through the vibration transmission spring 211 via the side plates 209 when the first eccentric block group 104 and the second eccentric block group 108 are excited to vibrate. This allows the first gripper 205 and the second gripper 207 of the first cylinder 203 and the second cylinder 208 to receive the vibration force, thereby enabling the walnut tree branches to receive the vibration force better, reducing the waste of the excitation vibration force, and improving the efficiency of the harvesting equipment.

[0087] This embodiment includes two usage modes: outdoor use as a portable harvesting device and indoor use as a vibration test platform.

[0088] Example 1:

[0089] Reference Figures 1 to 4 , Figure 6 , Figures 10 to 12The portable harvesting equipment includes: a vibration assembly 100, a clamping assembly 200, a telescopic rod 500, an air pump 302 in the drive assembly 300, a power supply 303, a microcontroller control box 304, and a switch and button assembly 305, wherein the switch and button assembly 305 is connected to the handle 506 by screws. It includes switches 1 (3051), 2 (3052), 3 (3053), 4 (3054), and 5 (3055), a first auxiliary excitation assembly 122, a second auxiliary excitation assembly 123, a vibration transmission spring 211, and a vibration transmission arc-shaped clamping plate 213. All components of the equipment are connected by bolts, nuts, washers, and threads for easy assembly and disassembly.

[0090] Specific implementation method of portable harvesting equipment:

[0091] First, adjust the length of the telescopic rod according to the height of the tree so that the clamping assembly 200 can clamp the branch. Start the air pump 302 and the power supply 303. Press switch 1 3051. The piston rods in the first cylinder 203 and the second cylinder 208 move upward, thereby pushing the first gripper 205 and the second gripper 207 to clamp the branch. After clamping, rotate switch 2 3052 to adjust the motor speed to an appropriate speed. Press and hold switch 3 3053, switch 4 3054, or switch 5 3055 to select the corresponding excitation mode. When switch 3 3053 is pressed, the first motor 121 and the second motor 120 start, driving the first shaft 105 and the second shaft 107 to rotate in opposite directions, thereby driving the first eccentric block group 104 and the second eccentric block group 108 on the shaft to rotate in opposite directions, generating excitation force. At the same time, since the two sets of eccentric blocks move in opposite directions, the excitation force in the horizontal direction cancels out, and there is only force in the vertical direction. Therefore, the excitation mode is a one-dimensional linear reciprocating type.

[0092] When switch 4 3054 is pressed, the first motor 121 and the second motor 120 start, driving the first shaft 105 and the second shaft 107 to rotate in the same direction, thereby driving the first eccentric block group 104 and the second eccentric block group 108 on the shaft to rotate in the same direction, generating excitation force. The excitation form is two-dimensional circular. When switch 5 3055 is pressed, the second motor 120 and the third motor 114 start, driving the second shaft 107 and the third shaft 109 to rotate, thereby driving the second eccentric block group 108 and the third eccentric block group 110 on the shaft to rotate, generating excitation force. At the same time, since the two shafts are perpendicular to each other in space, the generated excitation form is the superposition of various directions in space, that is, three-dimensional spatial combined excitation. Since the first gripper 205 and the second gripper 207 firmly clamp the branch during vibration, the branch and the harvesting equipment are a whole. When the excitation component 100 generates excitation, the branch begins to sway, thereby driving the fruit on the branch to move. When the inertial force generated when the fruit moves is greater than the binding force between the fruit and the fruit stalk, the fruit falls off.

[0093] When the first eccentric block group 104 and the second eccentric block group 108 rotate circumferentially and collide with the auxiliary excitation collision counterweight 12206, the auxiliary excitation collision counterweight 12206, under the action of the auxiliary excitation spring 12205, can swing left and right, thereby increasing the vibration generated by the excitation of the first eccentric block group 104 and the second eccentric block group 108, and helping the walnuts on the walnut tree branches to fall off. Simultaneously, when the auxiliary excitation collision counterweight 12206 swings left and right, in... Under the combined sliding action of the T-shaped slider 12208 and the sliding groove 12202, the auxiliary excitation spring 12205 and the auxiliary excitation collision counterweight 12206 can be driven to move longitudinally by the left and right swinging force. At the same time, the two thrust springs 12203 can apply the elastic thrust and reaction thrust of the T-shaped slider 12208, which is more conducive to the longitudinal movement of the auxiliary excitation spring 12205 and the auxiliary excitation collision counterweight 12206, thereby satisfying the multi-directional auxiliary excitation vibration and further improving the walnut harvesting efficiency.

[0094] When the first eccentric block group 104 and the second eccentric block group 108 inside are excited to vibrate, the vibration force can be transmitted to the first cylinder 203 and the second cylinder 208 through the side plate 209 via the vibration transmission spring 211. This allows the first gripper 205 and the second gripper 207 of the first cylinder 203 and the second cylinder 208 to receive the vibration force, thus allowing the walnut tree branches to receive the vibration force better. When the switch 3 3053, or switch 4 3054, or switch 5 3055 is released, the corresponding motor stops working. When switch 1 3051 is pressed again, the piston rod in the first cylinder 203 and the second cylinder 208 moves downward, and the first gripper 205 and the second gripper 207 are released. At this time, the equipment can be moved to the next picking point, and the above operation can be repeated for picking.

[0095] Example 2:

[0096] Reference Figures 2 to 5 and Figures 7 to 12 The vibration test bench comprises: an excitation assembly 100, a clamping assembly 200, a driving assembly 300, a support assembly 400, a first auxiliary excitation assembly 122, a second auxiliary excitation assembly 123, a vibration transmission spring 211, and a vibration transmission arc-shaped clamping plate 213. The components are dynamically connected, facilitating disassembly, assembly, and replacement of parts.

[0097] Specific implementation method of vibration test bench:

[0098] The vibration test bench is mainly used to study the movement and fall of fruits on branches under different excitation forms, frequencies, and excitation force magnitudes, to obtain the optimal parameter combination and the movement and fall trajectory of the fruits, thereby guiding the design of subsequent harvesting equipment. The support frame 401 is placed on the indoor ground. The component fixing plate 301 is connected to the support frame 401 by bolts, nuts, and washers. The air pump 302, power supply 303, microcontroller control box 304, and switches 1 3051, 2 3052, 3 3053, 4 3054, and 5 3055 are fixed to the component fixing plate 301 according to the mounting holes, using bolts, nuts, and washers. Clamping seats 402 are installed on the crossbeam of the support frame 401 to clamp the ends of the branches. Four second lifting rings 403 are installed at the top of the support frame 401, connected to the first lifting rings 119 by four chains 404, suspending the vibrator head for more complete vibration and reducing human interference.

[0099] The type of excitation and the working mode of the cylinder are consistent with those described in the specific implementation of the portable harvesting equipment above. The types are divided into one-dimensional linear, two-dimensional circular, and three-dimensional combined spatial types. Pressing switches 3 3053, 4 3054, and 5 3055 selects the corresponding excitation type, and switch 1 3051 controls the working status of the cylinder. This enables the first gripper 205 and the second gripper 207 to clamp and release the branches. Rotating switch 2 3052 changes the motor speed, thereby changing the vibration frequency. Adjusting the angle between the moving eccentric block 1041 and the fixed eccentric block 1042 in each eccentric block group changes the magnitude of the output excitation force. Angle scale lines are painted on the surface of each eccentric block to facilitate the calculation and determination of the specific value of the excitation force. In specific experiments, to allow for multiple trials, multiple electronic fruits with built-in accelerometers were used to replace the fruits on the branches. A high-speed camera captured the fruit's movement trajectory during vibration. When all branches were covered with fruit, different parameters such as frequency, excitation type, excitation magnitude, and clamping position were adjusted to vibrate the branches. The time was calculated, and the number of fallen fruits was counted. Using orthogonal experimental design, multiple trials were conducted to determine the optimal harvesting parameters. The fruit placement was roughly divided into three scenarios: clustered fruits on the same branch at the same location, different locations on the same branch, and different locations on different branches. Using the same harvesting parameters, the fruit movement and the velocity, acceleration, fall time, and fall trajectory during each scenario were analyzed to summarize the corresponding patterns and provide theoretical guidance for the design of subsequent harvesting equipment.

[0100] It should be noted that, in this document, relational terms such as "one" and "two" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, the phrase "comprising an element defined as..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0101] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-excitation walnut vibration harvesting device, characterized in that, include: The excitation assembly (100) includes a first housing (102) and a second housing (103) connected to each other, a third housing (111) and a fourth housing (112) located at their tail ends and also connected to each other, a first eccentric block group (104) and a second eccentric block group (108) respectively rotatably mounted in the first housing (102) and the second housing (103), and a third eccentric block group (110) rotatably mounted in the third housing (111) and the fourth housing (112). The clamping assembly (200) is located at the head end of the excitation assembly (100) and includes a first cylinder (203) and a second cylinder (208) respectively hinged to the opposite outer walls of the first housing (102) and the second housing (103), and a first gripper (205) and a second gripper (207) respectively installed on the free ends of the piston rods of the first cylinder (203) and the second cylinder (208) for clamping walnut tree branches. The first auxiliary excitation component (122) is disposed between the first eccentric block group (104) and the second eccentric block group (108) so that the collision between the two eccentric blocks during their eccentric rotation generates auxiliary excitation vibration; The second auxiliary excitation component (123) is symmetrically arranged at both ends of the third eccentric block group (110) and vibrates by swinging laterally in eccentric rotation following the third eccentric block group (110); The detachable and replaceable scene components include a drive component (300), a support component (400), and a telescopic component (500) connected to the excitation component (100). The first auxiliary excitation component (122) includes a horizontally oriented U-shaped slide block (12201) fixedly installed on the inner walls of the first housing (102) and the second housing (103), a T-shaped slider (12208) slidably installed inside the U-shaped slide block (12201), a positioning mounting box (12204) fixedly installed on the outer wall of the T-shaped slider (12208), an auxiliary excitation spring (12205) fixedly installed in the positioning mounting box (12204), and an auxiliary excitation collision counterweight (12206) fixedly installed on the free end of the auxiliary excitation spring (12205). The auxiliary excitation collision counterweight (12206) has a semi-circular shape, and the curved outer wall of the auxiliary excitation collision counterweight (12206) faces the first eccentric block group (104) and the second eccentric block group (108). The inner wall of the U-shaped slide block (12201) is provided with a sliding groove (12202) for sliding installation of the T-shaped slider (12208), and a positioning upright (12209) is longitudinally connected inside the T-shaped slider (12208). The positioning upright (12209) is provided with thrust springs (12203) at both ends extending from the T-shaped slider (12208), and the positioning upright (12209) is fixedly installed in the slide groove (12202); The second auxiliary excitation component (123) includes a support link (12301) fixedly connected to both ends of the third shaft (109), a connecting ring (12302) fixedly installed at the free end of the support link (12301), an elastic rope (12303) knotted in the connecting ring (12302), and an auxiliary excitation ball-throwing component (12304) fixedly connected to the free end of the elastic rope (12303).

2. The multi-excitation walnut vibration harvesting device according to claim 1, characterized in that: The first eccentric block group (104), the second eccentric block group (108) and the third eccentric block group (110) each include two symmetrically arranged moving eccentric blocks (1041) and two symmetrically arranged fixed eccentric blocks (1042) between the two moving eccentric blocks (1041).

3. The multi-excitation walnut vibration harvesting device according to claim 2, characterized in that: The two moving eccentric blocks (1041) and the two fixed eccentric blocks (1042) are arranged in a cross-distribution manner, and the excitation is generated by adjusting the included angle between the two.

4. The multi-excitation walnut vibration harvesting device according to claim 3, characterized in that: The first housing (102) and the second housing (103) are each rotatably installed with a first shaft (105) and a second shaft (107) respectively for the first eccentric block group (104) and the second eccentric block group (108) to bear the load. The third shaft (109) for supporting the third eccentric block assembly (110) is rotatably mounted in the third housing (111) and the fourth housing (112). A first motor (121) and a second motor (120) are respectively installed on the top of the first housing (102) and the second housing (103), and a third motor (114) is installed at the tail end of the fourth housing (112). The output shaft of the first motor (121) is connected to the first shaft (105); The output shaft of the second motor (120) is connected to the second shaft (107); The output shaft of the third motor (114) is connected to the third shaft (109).

5. The multi-excitation walnut vibration harvesting device according to claim 4, characterized in that: Vibration transmission boxes (212) are fixedly connected to the outer walls of the opposite sides of the first box (102) and the second box (103), and a vibration transmission spring (211) is fixedly connected to each vibration transmission box (212). Each of the vibration transmission springs (211) is fixedly connected to a vibration transmission arc-shaped plate (213) at the end away from the vibration transmission box (212), and the two vibration transmission arc-shaped plates (213) are elastically abutting against the outer walls of the first cylinder (203) and the second cylinder (208) respectively.

6. The multi-excitation walnut vibration harvesting device according to claim 5, characterized in that: The telescopic component (500) includes a primary telescopic rod (501) detachably mounted at the end of the excitation assembly (100), a secondary telescopic rod (502) connected to the end of the primary telescopic rod (501), a tertiary telescopic rod (504) coaxially mounted at the end of the secondary telescopic rod (502), and a handle (506).

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