Shaking and vibrating picking machine and picking method for large lateral branches of dwarf and densely-planted walnuts

Abstract

The invention discloses a large lateral branch shaking picking machine and method for dwarf and densely-planted walnuts, and belongs to the technical field of picking equipment. A dwarf densely-planted walnut large lateral branch shaking and vibrating picking machine comprises a moving trolley, a supporting table is arranged above the moving trolley, a shaking and vibrating mechanism is arranged above the supporting table, the shaking and vibrating mechanism comprises a plurality of sliding rods, the sliding rods are arranged on a mounting base in a sliding mode, and a vibration reduction structure is arranged between the mounting base and the supporting table. A vibration structure for driving the sliding rod to vibrate at different amplitudes is arranged on the mounting seat, and a binding belt for binding walnut trees is arranged on the sliding rod. By the adoption of the dwarf and close-planting walnut large lateral branch shaking picking machine and the picking method, the problems that an existing walnut picking machine is low in picking efficiency, and walnut trees are prone to being damaged can be solved; the net picking rate of the walnut trees is 95% or above; the device has the advantages of convenience in operation and high safety.

Description

Technical Field

[0001] The invention relates to the technical field of picking equipment, and in particular to a large side branch shaking picking machine and a picking method for dwarfed densely planted walnuts. Background Art

[0002] Walnut picking machines are agricultural machinery designed to improve walnut picking efficiency. This type of machine usually includes a telescopic arm that can reach the height of the tree canopy, a picking head, and a fruit collection system. It can automatically or semi-automatically complete the walnut picking work, reduce manpower requirements and speed up the operation. However, this type of picking machine is targeted and can only pick a few walnuts at a time, so the picking efficiency is relatively low. In addition, there are blind spots in the field of vision, resulting in incomplete picking.

[0003] Existing patent CN201811358654.6 discloses a walnut picking vehicle, including a collecting barrel, a frame, a knocking head, a telescopic rod, an inner core, a rack seat, a ratchet spring, a rectangular protrusion, a ratchet rack, an axle seat, a transmission gear, a nut gear, a screw, a connecting rod, a clamping arm, a connecting pin, a clamping disk, a clamping roller, a movable frame bar, a track plate, a semicircular protrusion, a cylindrical column, a driving pulley, a fixed seat, a first synchronous belt, a bevel gear set, a transmission motor, a movable wheel, a movable bearing, a wheel axle, a second synchronous belt, a storage box, a transmission box, a fixed bracket and an ear seat. A storage box is provided on one side of the inner part of the frame, and a collecting barrel is installed on the top of the storage box by welding, and a transmission box is provided on one side of the outer part of the storage box. The walnut picking vehicle is simple to operate and easy to use. Walnuts are picked by mechanical knocking, and the walnuts dropped after knocking are collected, thereby avoiding manual picking and greatly improving the picking efficiency. Although the above patent improves the efficiency of walnut picking, the mechanical beating method is likely to cause damage to the walnut branches and the walnut trees. In addition, for dwarf densely planted walnuts, mechanical beating can only pick walnuts in a certain range, and the vehicle needs to be moved continuously to achieve the picking of walnuts in different areas, and the picking efficiency is still not high. Summary of the invention

[0004] The purpose of the present invention is to provide a large side branch shaking picker and a picking method for dwarfed densely planted walnuts, so as to solve the problem that the existing walnut pickers have low picking efficiency and are easy to damage the walnut trees.

[0005] To achieve the above-mentioned purpose, the present invention provides a shaking picker for large side branches of dwarfed and densely planted walnuts, including a mobile cart, a support platform is arranged above the mobile cart, a shaking mechanism is arranged above the support platform, the shaking mechanism includes a plurality of sliding bars, the sliding bars are slidably arranged on a mounting seat, a vibration reduction structure is arranged between the mounting seat and the support platform, a vibration structure for driving the sliding bars to vibrate with different amplitudes is arranged on the mounting seat, and a strap for binding the walnut tree is arranged on the sliding bars.

[0006] Preferably, the vibration structure includes a crankshaft, both ends of which are rotatably arranged on a mounting seat via bearing seats, a pulley arranged at one end of the crankshaft is transmission-connected to a pulley fixedly arranged on an output shaft of a motor via a transmission belt, the motor is arranged on the mounting seat, a plurality of cranks are arranged on the crankshaft, the cranks correspond to sliding rods one-to-one, and the cranks drive the sliding rods to slide back and forth horizontally on the mounting seat via a connecting assembly.

[0007] Preferably, the connecting assembly includes a connecting plate, a first fixed ring is provided at one end of the connecting plate, a first connecting seat is provided on the first fixed ring, the first connecting seat is connected to the first semicircular movable ring by bolts, and the annular rotating sleeve assembled by the first fixed ring and the first movable ring is arranged on the outside of the crank; a second fixed ring is provided at the other end of the connecting plate, a second connecting seat is provided on the second fixed ring, the second connecting seat is connected to the second semicircular movable ring by bolts, and the annular rotating sleeve assembled by the second fixed ring and the second movable ring is arranged on one end of the sliding rod.

[0008] Preferably, the crank comprises a first crank, a second crank, a third crank and a fourth crank which are sequentially arranged on the crankshaft, and the first crank, the second crank, the third crank and the fourth crank respectively provide geometrically stepped amplitudes for the sliding rod.

[0009] Preferably, the eccentricities of the first crank, the second crank, the third crank and the fourth crank are 20 mm-100 mm; the eccentricity of the first crank: the eccentricity of the second crank: the eccentricity of the third crank: the eccentricity of the fourth crank = 4:2:1:3.

[0010] Preferably, the fixed seat is a frame structure, the bottom of the fixed seat is fixedly connected to the support platform through a connecting column, and a fixing plate is provided on one side of the fixed seat; a first mounting platform connected to the sliding rod is provided at one end above the mounting seat, and a second mounting platform for mounting the crankshaft is provided at the other end above the mounting seat, and a vibration damping structure is provided between the fixed plate and the first mounting platform.

[0011] Preferably, the vibration reduction structure is a wire rope shock absorber, the upper connecting plate of the wire rope shock absorber is fixedly connected to the mounting seat or the first mounting platform, and the lower connecting plate of the wire rope shock absorber is fixedly connected to the fixing seat or the fixing plate.

[0012] Preferably, a connecting ring is provided at one end of the sliding rod, the connecting ring is connected to the traction rope through a rope hook, the traction rope is connected to the binding strap through the rope hook, the binding strap is fixedly sleeved on the walnut tree, a connecting ear is provided at the other end of the sliding rod, the connecting ear is hinged to the vibration structure, a bearing seat supporting the sliding rod is provided on the mounting seat, the sliding rod is slidably connected to the mounting seat through the bearing seat, a tension sensor is provided between the sliding rod and the connecting ring, and the tension sensor is electrically connected to an electric control box provided on the mobile trolley.

[0013] Preferably, the mobile vehicle is a tracked vehicle, an engine for providing power to the mobile vehicle is arranged on the support platform, a torque sensor for measuring the wheel axle torque is arranged on the wheel axle of the mobile vehicle, the torque sensor is electrically connected to the electric control box, a display screen is arranged on the wireless remote control, and both the display screen and the wireless remote control are electrically connected to the electric control box.

[0014] The picking method based on the above-mentioned dwarf densely planted walnut large side branch shaking picking machine includes the following steps:

[0015] S1. According to the size of the walnut tree, select cranks with different amplitudes, hook the rope hook at one end of the traction rope on the connecting ring, and hook the other end of the traction rope on the binding belt through the rope hook, and the binding belt is set on the walnut tree;

[0016] S2. The mobile trolley is driven by the engine to move. The trolley tightens the traction rope and the straps. The pre-tightening force of the straps is detected by the tension sensor or torque sensor. When the pre-tightening force of the straps reaches the set value, the mobile trolley stops moving. The pre-tightening force of the straps is 500N-1500N.

[0017] S3. Set the vibration frequency to 1.5 Hz-9.5 Hz. The motor drives the crankshaft to rotate through the transmission wheel and the transmission belt. The crankshaft drives the crank to rotate. The crank drives the slide bar to slide back and forth through the connecting plate. The slide bar drives the walnut tree to vibrate through the traction rope and the binding belt to pick the walnuts.

[0018] The advantages and positive effects of the large side branch shaking picking machine and picking method of dwarf densely planted walnuts of the present invention are:

[0019] 1. The present invention provides wire rope shock absorbers between the fixing seat and the mounting seat, and between the side of the fixing seat close to the binding strap and the mounting seat, which have good shock absorption effect, reduce the influence of the sliding bar vibration on the support platform, protect the engine and the controller, and reduce the influence on the bolt connection on the mobile trolley, thereby improving the stability and reliability of the overall structure of the mobile trolley.

[0020] 2. The first crank, the second crank, the third crank and the fourth crank of the present invention respectively provide geometrically stepped amplitudes for the slide bar, so that different amplitudes can be selected according to different tree sizes, thereby improving the walnut picking rate and reducing damage to the walnut trees.

[0021] 3. The present invention can simultaneously pick walnuts from four walnut trees through four sliding rods, thereby improving the picking efficiency.

[0022] 4. The present invention adjusts the mobile trolley and the vibration frequency through a wireless remote controller, so that the operator is away from the mechanical operation area, which improves safety; one person can complete the tree hanging and operate the mobile trolley to move, can grasp the information in time, and saves labor.

[0023] 5. The present invention adopts a crawler chassis, the travel speed of the crawler chassis is adjustable, the minimum travel speed is slow and the operation is simple. The tension of the strap can be subtly adjusted to the optimal exciting force, and the tension of the strap is highly adjustable.

[0024] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Schematic diagram of the three-dimensional structure of an embodiment of the present invention Figure 1 ;

[0026] Figure 2 Schematic diagram of the three-dimensional structure of an embodiment of the present invention Figure 2 ;

[0027] Figure 3 A schematic diagram of the three-dimensional structure of a shaking mechanism according to an embodiment of the present invention;

[0028] Figure 4 A schematic diagram of the structure of a fixing base according to an embodiment of the present invention;

[0029] Figure 5 A schematic diagram of the mounting base structure of an embodiment of the present invention;

[0030] Figure 6 It is a schematic structural diagram of a wire rope shock absorber according to an embodiment of the present invention;

[0031] Figure 7 A schematic diagram of the three-dimensional structure of a crankshaft according to an embodiment of the present invention;

[0032] Figure 8 It is a schematic diagram of the front view structure of a crankshaft according to an embodiment of the present invention;

[0033] Fig. 9 A schematic diagram of the structure of a connecting plate according to an embodiment of the present invention;

[0034] Fig.10 A schematic diagram of a sliding bar structure according to an embodiment of the present invention;

[0035] Fig.11 A schematic diagram of a structure of a use state of an embodiment of the present invention;

[0036] Fig.12 This is a usage status diagram of an embodiment of the present invention.

[0037] Reference numerals

[0038] 1. Support platform; 2. Mobile trolley; 3. Engine; 4. Fixed seat; 5. Mounting seat; 6. Crankshaft; 7. Connecting plate; 8. Slide rod; 9. Motor; 10. Wire rope shock absorber; 11. Electric control box; 12. Bearing seat; 13. Connecting column; 14. Connecting ring; 15. Fixed plate; 16. First mounting platform; 17. Second mounting platform; 18. Upper connecting plate; 19. Lower connecting plate; 20. First crank; 21. Second crank; 22. Third crank; 23. Fourth crank; 24. First fixing ring; 25. Second fixing ring; 26. First connecting seat; 27. Second connecting seat; 28. Connecting ear; 29. ​​Towing rope; 30. Rope hook; 31. Binding strap; 32. Walnut tree; 33. Wireless remote control. DETAILED DESCRIPTION

[0039] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0040] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0041] Example

[0042] like Figure 1As shown. A dwarf densely planted walnut large side branch shaking picking machine includes a mobile car 2, and the mobile car 2 is a crawler car. The crawler car has excellent obstacle crossing performance and strong adaptability to terrains with large slopes, potholes and muddy ground, which improves the adaptability of the mobile car 2 to various terrains. The crawler chassis has an adjustable driving speed, a slow minimum driving speed and simple operation. The tension of the strap 31 can be subtly adjusted to the optimal exciting force, and the tension of the strap 31 is highly adjustable. The tension of the strap 31 is crucial to the net picking rate. An engine 3 is provided on the support platform 1 to provide power for the mobile car 2, and the engine 3 adopts the existing diesel engine 3. An electric control box 11 is provided on the support platform 1. A wireless remote controller 33 is also provided, and the remote controller and the electric control box 11 are connected by radio using existing technology as needed. Wireless control of the rotation speed of the mobile car 2 and the motor 9 is achieved through the wireless remote controller 33. The distance of the wireless remote control reaches 200m, which meets the need for long-distance remote control of the mobile car 2. The wireless remote controller 33 is provided with a display screen, and the display screen is electrically connected to the electric control box 11 using existing technology as needed. The display screen is used to display the tension on the strap 31, so as to realize the visualization of the tension on the strap 31. The vibration frequency of the slide bar is adjusted by the wireless remote controller 33, which improves the convenience of adjustment. The mobile trolley is controlled by the wireless remote controller 33, and no human driver is required. The operator is away from the mechanical operation area, which improves safety. One person can complete the tree hanging and operate the mobile trolley to move, which can grasp information in time and save labor.

[0043] like Figure 2 , Figure 3 As shown. A support platform 1 is arranged above the mobile trolley 2, and the support platform 1 is fixed on the frame of the mobile trolley 2. A shaking mechanism is arranged above the support platform 1, and the shaking mechanism is used to drive the walnut tree 32 to shake, so as to pick the walnut tree 32. The shaking mechanism is fixedly arranged on the mounting seat 5, and a fixing seat 4 is arranged below the mounting seat 5, and the fixing seat 4 is fixedly arranged on the support platform 1 through a connecting column 13. A vibration reduction structure is arranged between the mounting seat 5 and the fixing seat 4.

[0044] like Figure 4 , Figure 5 The fixing seat 4 is a frame structure, and a fixing plate 15 is fixedly arranged on one side of the fixing seat 4. A first mounting platform 16 is fixedly arranged on one end above the fixing seat 5, and a second mounting platform 17 is arranged on the other end above the fixing seat 5. A vibration reduction structure is arranged between the fixing plate 15 and the first mounting platform 16.

[0045] like Figure 6As shown. The vibration reduction structure is a wire rope shock absorber 10. The upper connecting plate 187 of the wire rope shock absorber 10 is fixedly connected to the mounting seat 5 or the first mounting platform 16 by screws, and the lower connecting plate 197 of the wire rope shock absorber 10 is fixedly connected to the fixing seat 4 or the fixing plate 15 by screws. The wire rope shock absorber 10 is arranged between the fixing seat 4 and the mounting seat 5, and between the side of the fixing seat 4 close to the strap 31 and the mounting seat 5, which has a good shock reduction effect, reduces the influence of the vibration of the slide bar 8 on the support platform 1, protects the engine 3 and the controller, and reduces the influence on the bolt connection on the mobile trolley 2, thereby improving the stability and reliability of the overall structure of the mobile trolley 2.

[0046] like Figure 3 As shown. The shaking mechanism includes a plurality of sliding rods 8, and the sliding rods 8 are slidably arranged on the first mounting platform 16. A bearing seat 12 is fixedly arranged on the first mounting platform 16, and the bearing seat 12 supports and guides the sliding rod 8 so that the sliding rod 8 slides horizontally on the first mounting platform 16. The two bearing seats 12 are arranged in parallel, and the bearing seats 12 are sliding bearing seats. During operation, the axis of the traction rope 29 is not colinear with the axis of the sliding rod 8, and there is torque during the operation. The setting of the two sliding bearing seats can offset the torque and increase the service life of the bearing. An electric oil supply lubrication system is arranged on the sliding bearing, which is used to lubricate the sliding bearing and extend the service life of the sliding bearing. Both the sliding bearing and the electric oil supply lubrication system are existing structures and will not be repeated here.

[0047] The mounting seat 5 is provided with a vibration structure that drives the slide bar 8 to vibrate with different amplitudes. The vibration structure includes a crankshaft 6, and both ends of the crankshaft 6 are arranged on the mounting seat 5 through a bearing seat 12. The bearing seat 12 is fixed on the second mounting platform 17, and both ends of the crankshaft 6 are rotatably connected to the bearing seat 12. A pulley is fixedly arranged at one end of the crankshaft 6, and a pulley is fixedly arranged on the output shaft of the motor 9, and the pulleys are connected by a transmission belt. The motor 9 is fixedly arranged on the mounting seat 5. The motor 9 drives the crankshaft 6 to rotate through the pulley and the transmission belt. A plurality of cranks are arranged on the crankshaft 6, and the cranks correspond to the slide bars 8 one by one, and each crank drives a slide bar 8 to slide. The crank drives the slide bar 8 to slide back and forth horizontally on the second mounting platform 17 through a connecting assembly.

[0048] like Fig. 9As shown. The connecting assembly includes a connecting plate 7, and a first fixed ring 24 is fixedly provided at one end of the connecting plate 7. A first connecting seat 26 is fixedly provided on the first fixing ring 24, and the first connecting seat 26 is connected to the semicircular first movable ring through bolts. The first fixing ring 24 and the first movable ring are assembled in an annular rotating sleeve arranged on the outside of the crank to realize the rotation connection between the connecting plate 7 and the crank. The crank is connected to the first fixing ring 24 and the first movable ring through sliding bearings and bushings. A second fixing ring 25 is fixedly provided at the other end of the first connecting plate 7, and a second connecting seat 27 is fixedly provided on the second fixing ring 25, and the second connecting seat 27 is connected to the semicircular second movable ring through bolts. The second fixing ring 25 and the second movable ring are assembled in an annular rotating sleeve arranged on one end of the sliding rod 8 to realize the rotation connection between the connecting rod and the sliding rod 8. The connecting ear 28 of the sliding rod 8 is connected to the second fixing ring 25 and the second movable ring through sliding bearings and bushings. An electric oil supply lubrication system is arranged on the sliding bearing to lubricate the sliding bearing and extend the service life of the sliding bearing. The sliding bearing and the electric oil supply lubrication system are both existing structures and will not be described in detail here.

[0049] like Figure 7 , Figure 8 As shown. The crank includes a first crank 20, a second crank 21, a third crank 22 and a fourth crank 23 which are sequentially arranged on the crankshaft 6. The first crank 20, the second crank 21, the third crank 22 and the fourth crank 23 respectively provide geometric step amplitudes for the slide bar 8. The eccentricity of the first crank 20: the eccentricity of the second crank 21: the eccentricity of the third crank 22: the eccentricity of the fourth crank 23 = 4:2:1:3.

[0050] The eccentricity of the first crank 20, the second crank 21, the third crank 22, and the fourth crank 23 is 20mm-100mm. In this embodiment, the eccentricity of the first crank 20 is 80mm, the eccentricity of the second crank 21 is 40mm, the eccentricity of the third crank 22 is 20mm, and the eccentricity of the fourth crank 23 is 60mm. The first crank 20, the second crank 21, the third crank 22, and the fourth crank 23 provide different amplitudes for the slide bar 8, so that different amplitudes are selected according to different tree sizes, thereby improving the walnut picking rate and reducing damage to the walnut tree 32. Four slide bars 8 can be used to pick four walnut trees 32 at the same time, thereby improving the picking efficiency.

[0051] like Fig.10As shown. A connecting ring 14 is fixedly provided at one end of the slide bar 8, and the connecting ring is connected to the traction rope 29 through a rope hook 30, and the traction rope 29 is connected to the binding belt 31 through the rope hook 30, and the binding belt 31 is fixedly sleeved on the walnut tree 32. A connecting ear 28 is fixedly provided at the other end of the slide bar 8, and the connecting ear 28 is rotatably connected to the second fixed ring 25. A tension sensor is fixedly provided between the slide bar 8 and the connecting ring 14, and the tension sensor is electrically connected to the electric control box 11 provided on the mobile trolley 2. The tension sensor is used to measure the tension on the binding belt 31. A torque sensor can also be provided on the wheel axle of the mobile trolley 2, and the torque sensor is electrically connected to the electric control box 11, and the preload force on the pull rope is measured by the torque sensor.

[0052] The picking method based on the above-mentioned dwarf densely planted walnut large side branch shaking picking machine includes the following steps:

[0053] S1. According to the size of the walnut tree 32, select cranks with different amplitudes, hook the rope hook 30 at one end of the traction rope 29 on the connecting ring 14, and hook the other end of the traction rope 29 on the binding belt 31 through the rope hook 30, and the binding belt 31 is set on the walnut tree 32. Fig.11 , Fig.12 shown.

[0054] S2. The mobile trolley 2 is driven to move by the engine 3. The mobile trolley 2 tightens the traction rope 29 and the strap 31. The pre-tightening force of the strap 31 is detected by the tension sensor or the torque sensor. When the pre-tightening force of the strap 31 reaches the set value, the mobile trolley 2 stops moving. The pre-tightening force of the strap 31 is 500N-1500N, and different pre-tightening forces are set according to different tree sizes. The pre-tightening force of the strap 31 can reach 8000N. The wireless remote control 33 is used to operate the equipment. The operator can stay away from the machine to avoid the traction rope 29 or the strap 31 breaking or the branch breaking and causing harm to the operator.

[0055] S3, setting the vibration frequency, the vibration frequency is 1.5Hz-9.5Hz, and the vibration frequency is set according to the size of the tree. The motor 9 drives the crankshaft 6 to rotate through the transmission wheel and the transmission belt, the crankshaft 6 drives the crank to rotate, the crank drives the slide bar 8 to slide back and forth through the connecting plate 7, and the slide bar 8 drives the walnut tree 32 to vibrate through the traction rope 29 and the binding belt 31 to pick the walnuts.

[0056] Therefore, the use of the dwarfed densely planted walnut large side branch shaking picker and picking method described in the present invention can solve the problem of low picking efficiency and easy damage to the walnut tree 32 caused by the existing walnut picker; the picking rate of the walnut tree 32 is above 95%, and it has the advantages of easy operation and high safety.

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A shaking picking machine for large side branches of dwarfed densely planted walnuts, characterized by: It includes a mobile trolley, a support platform is arranged above the mobile trolley, a shaking mechanism is arranged above the support platform, the shaking mechanism includes a plurality of sliding rods, the sliding rods are slidably arranged on a mounting seat, a vibration reduction structure is arranged between the mounting seat and the support platform, a vibration structure for driving the sliding rods to vibrate with different amplitudes is arranged on the mounting seat, and a strap for binding the walnut tree is arranged on the sliding rod.

2. A shaking picking machine for large side branches of dwarfed densely planted walnuts according to claim 1, characterized in that: The vibration structure includes a crankshaft, both ends of which are rotatably arranged on a mounting seat through bearing seats, a pulley arranged at one end of the crankshaft is transmission-connected to a pulley fixedly arranged on an output shaft of a motor through a transmission belt, the motor is arranged on the mounting seat, a plurality of cranks are arranged on the crankshaft, the cranks correspond to sliding rods one by one, and the cranks drive the sliding rods to slide back and forth horizontally on the mounting seat through a connecting assembly.

3. A shaking picking machine for large side branches of dwarfed densely planted walnuts according to claim 2, characterized in that: The connecting assembly includes a connecting plate, a first fixed ring is provided at one end of the connecting plate, a first connecting seat is provided on the first fixed ring, the first connecting seat is connected to the first semicircular movable ring by bolts, and the annular rotating sleeve assembled by the first fixed ring and the first movable ring is arranged on the outside of the crank; a second fixed ring is provided at the other end of the connecting plate, a second connecting seat is provided on the second fixed ring, the second connecting seat is connected to the second semicircular movable ring by bolts, and the annular rotating sleeve assembled by the second fixed ring and the second movable ring is arranged at one end of the sliding rod.

4. The large side branch shaking picker for dwarfed densely planted walnuts according to claim 2, characterized in that: The crank comprises a first crank, a second crank, a third crank and a fourth crank which are sequentially arranged on the crankshaft, and the first crank, the second crank, the third crank and the fourth crank respectively provide geometrically stepped amplitudes for the sliding rod.

5. The large side branch shaking picker for dwarf densely planted walnuts according to claim 4, characterized in that: The eccentricity of the first crank, the second crank, the third crank and the fourth crank is 20mm-100mm; the eccentricity of the first crank: the eccentricity of the second crank: the eccentricity of the third crank: the eccentricity of the fourth crank = 4:2:1:

3.

6. The large side branch shaking picker for dwarfed densely planted walnuts according to claim 2, characterized in that: The fixing seat is a frame structure, the bottom of the fixing seat is fixedly connected to the support platform through a connecting column, and a fixing plate is arranged on one side of the fixing seat; a first mounting platform connected to the sliding rod is arranged at one end above the mounting seat, and a second mounting platform for mounting the crankshaft is arranged at the other end above the mounting seat, and a vibration reduction structure is arranged between the fixing plate and the first mounting platform.

7. The large side branch shaking picker for dwarf densely planted walnuts according to claim 6, characterized in that: The vibration reduction structure is a wire rope shock absorber, the upper connecting plate of the wire rope shock absorber is fixedly connected to the mounting seat or the first mounting platform, and the lower connecting plate of the wire rope shock absorber is fixedly connected to the fixing seat or the fixing plate.

8. The large side branch shaking picker for dwarf densely planted walnuts according to claim 1, characterized in that: A connecting ring is provided at one end of the slide bar, which is connected to the traction rope through a rope hook, the traction rope is connected to the binding belt through the rope hook, the binding belt is fixedly sleeved on the walnut tree, a connecting ear is provided at the other end of the slide bar, the connecting ear is hinged to the vibration structure, a bearing seat supporting the slide bar is provided on the mounting seat, the slide bar is slidably connected to the mounting seat through the bearing seat, a tension sensor is provided between the slide bar and the connecting ring, and the tension sensor is electrically connected to an electric control box provided on the mobile trolley.

9. The large side branch shaking picker for dwarf densely planted walnuts according to claim 1, characterized in that: The mobile trolley is a tracked trolley, an engine for providing power to the mobile trolley is arranged on the support platform, a torque sensor for measuring the torque of the wheel axle is arranged on the wheel axle of the mobile trolley, the torque sensor is electrically connected to the electric control box, a display screen is arranged on the wireless remote control, and both the display screen and the wireless remote control are electrically connected to the electric control box.

10. A picking method for dwarf densely planted walnut large side branches using a shaking picker according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1. According to the size of the walnut tree, select cranks with different amplitudes, hook the rope hook at one end of the traction rope on the connecting ring, and hook the other end of the traction rope on the binding belt through the rope hook, and the binding belt is set on the walnut tree; S2. The mobile trolley is driven by the engine to move. The trolley tightens the traction rope and the straps. The pre-tightening force of the straps is detected by the tension sensor or torque sensor. When the pre-tightening force of the straps reaches the set value, the mobile trolley stops moving. The pre-tightening force of the straps is 500N-1500N. S3. Set the vibration frequency to 1.5 Hz-9.5 Hz. The motor drives the crankshaft to rotate through the transmission wheel and the transmission belt. The crankshaft drives the crank to rotate. The crank drives the slide bar to slide back and forth through the connecting plate. The slide bar drives the walnut tree to vibrate through the traction rope and the binding belt to pick the walnuts.

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