Walnut harvesting energy storage shaking device

Abstract

The invention relates to the technical field of mechanical picking, and discloses a walnut harvesting energy storage shaking device which comprises a fixed supporting mechanism, a shaking unit, a split type power unit, an energy storage shaking mechanism and a hanging rope mechanism, and the split type power unit, the energy storage shaking mechanism and the hanging rope mechanism are arranged on the fixed supporting mechanism. The rope hanging mechanism drives the shaking and vibrating unit to be hung on a high branch, and the shaking and vibrating unit is connected with the energy storage shaking and vibrating mechanism. The split type power unit drives the energy storage shaking and vibrating mechanism to move and drives the shaking and vibrating unit to shake and vibrate high branches of the walnut tree so that fruits can fall off. The walnut harvester is suitable for complex mountain terrains and can be quickly assembled and disassembled, and the walnut harvesting efficiency is greatly improved.

Description

Technical Field

[0001] The invention relates to the technical field of mechanical picking, and more specifically, to a walnut harvesting energy storage shaking device. Background Art

[0002] China is a major walnut planting and production country in the world, especially Yunnan Province, which ranks first in the country in terms of walnut planting area and production. Yunnan walnut planting is mainly based on Yunnan bubble walnuts. Walnut trees are planted on mountain slopes. The trees are often tall and unpruned, which makes walnut harvesting face many challenges. At present, walnut tree planting can be roughly divided into two categories: dwarf dense walnut orchards and traditionally cultivated walnut trees. Compared with dwarf dense walnut orchards that can use large harvesting equipment, traditionally cultivated walnut trees in Yunnan mountains are difficult to enter due to their complex planting environment and tall trees. Picking can only rely on lightweight handheld equipment or manual tree climbing.

[0003] Due to the complex planting environment and tall trees of walnut trees in the mountains of Yunnan, existing harvesting technology faces many challenges. First of all, the walnut trees in the mountains of Yunnan are not pruned and the trees are tall, so the existing lightweight harvesting equipment cannot completely cover the tall trees. It is often necessary to climb the trees for picking, which poses a very high safety risk. At the same time, the existing harvesting method mainly relies on manual climbing, which is not only inefficient but also highly dangerous. Especially in mountainous environments, harvesting operations are very difficult. With the reduction of labor, fewer and fewer people are willing to engage in this high-intensity, high-risk harvesting task.

[0004] In addition, due to the complex mountain environment, large mechanical equipment is difficult to enter, and lightweight equipment cannot effectively cope with complex terrain in terms of power and structural design. Rope hanging operations usually require manual climbing, which further increases the operational risks. The existing lightweight equipment lacks energy during the shaking process and is difficult to effectively shake the thick branches of tall trees, resulting in low harvesting efficiency and requiring more manpower and time. Summary of the invention

[0005] The purpose of the present invention is to provide a walnut harvesting energy storage shaking device to address the technical problems existing in the prior art. The device is suitable for complex mountain terrains and can be quickly assembled and disassembled, thereby greatly improving the walnut harvesting efficiency.

[0006] In order to solve the above problems, the technical solution adopted by the present invention is:

[0007] The invention provides a walnut harvesting energy storage shaking device, comprising a fixed support mechanism, a shaking unit, and a split power unit, an energy storage shaking mechanism and a hanging rope mechanism arranged on the fixed support mechanism;

[0008] The hanging rope mechanism drives the shaking unit to be hung on a high branch, and the shaking unit is connected to the energy storage shaking mechanism; the split power unit drives the energy storage shaking mechanism to move, and drives the shaking unit to shake the high branches of the walnut tree to make the fruits fall off.

[0009] Furthermore, the fixed support mechanism includes a fixed drill bit, a drill bit slide rail, a frame body, and a support assembly. The side of the frame body is provided with a drill bit slide rail, and the fixed drill bit is arranged longitudinally and slidingly cooperates with the drill bit slide rail; the bottom end of the frame body is provided with a support assembly for supporting.

[0010] Furthermore, the split power mechanism includes a power unit, a transmission connection plate and a frame slide rail. The power unit is provided with a power connection plate and a power unit slide rail. The power connection plate and the transmission connection plate are in transmission cooperation, and the frame slide rail and the power unit slide rail are in sliding cooperation.

[0011] Furthermore, the energy storage shaking mechanism includes a semi-tooth transmission wheel, a shaking rack, an angle adjustment slide rail, an energy storage spring, and a rope connector. The angle adjustment slide rail is arranged on one side of the semi-tooth transmission wheel; the shaking rack is arranged on the angle adjustment slide rail and slidingly cooperates with the angle adjustment slide rail; the tooth transmission wheel and the shaking rack are respectively partially provided with mutually meshing serrations, the shaking rack is provided with an energy storage spring for realizing shaking, and a rope connector is provided at the end of the shaking rack.

[0012] Furthermore, the outer circumference of the gear transmission wheel is provided with first saw teeth along the circumferential part, and the outer circumferential surface of the remaining part is a smooth surface; the vibration rack is provided with second saw teeth along the length direction part, which mesh with the first saw teeth for transmission.

[0013] Furthermore, the energy storage spring and the second sawtooth are arranged in sequence along the axial direction of the rocking rack, the energy storage spring is sleeved on the outer periphery of the rocking rack and is located between the end of the rocking rack and the side surface corresponding to the angle adjustment slide rail; the rope connecting head is arranged on the end of the rocking rack away from the second sawtooth.

[0014] Furthermore, the end of the angle-adjusting slide rail slides on the shaking rack to achieve deflection movement, and the deflection angle of the angle-adjusting slide rail is 30° to 90°.

[0015] Furthermore, a buffer spring is provided between the rocking rack and the fixed support mechanism.

[0016] Furthermore, the hanging rope mechanism includes a base, a protective shell, a signal receiver, a drone, and a rope buckle; a protective shell is movably provided on the base, and the drone is set on the base and located inside the protective shell; a rope buckle is provided on the drone, and the rope buckle is connected to the shaking unit; a signal receiver is also provided on the protective shell for receiving control signals.

[0017] Furthermore, the shaking unit includes a rope connector, a traction rope, and a shaking bag. The rope connector is provided with a traction rope, and the rope connector is connected to the rope component; the traction rope is connected to one end of the shaking bag; and the other end of the shaking bag is connected to the energy storage shaking mechanism.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention adopts independent modular design of each part including the power unit, the energy storage shaking mechanism, the fixed support mechanism, the hanging rope mechanism and the shaking unit, which is convenient for transportation, assembly and disassembly in mountainous environments, enhances the portability and flexibility of the device, solves the problem that only light and low-power equipment can be used for picking in the mountains, and can achieve strong and stable shaking operation, which is suitable for tall trees and thick branches, and improves the harvesting efficiency of small harvesting machines for walnut fruits.

[0020] 2. The present invention sets a fixed drill bit and a drill bit slide rail through a fixed support mechanism to ensure that the equipment remains stable during operation, avoid equipment displacement or vibration force dispersion due to uneven terrain, and ensure the stability and efficiency of the operation process.

[0021] 3. The present invention adopts a semi-toothed transmission wheel and a shaking rack for partial meshing transmission through an energy storage shaking mechanism, and accumulates energy through compression of an energy storage spring. When the energy storage spring is reset, the energy is released to drive the high branch shaking operation. The structure is simple, the function is reliable, and the walnut harvesting efficiency can be improved.

[0022] 4. The present invention solves the dangerous operation problem of traditional manual tree climbing through a rope hanging mechanism and a shaking unit, and utilizes a drone for high-altitude rope hanging, thereby improving safety and accuracy, and is particularly suitable for harvesting tall walnut trees in complex mountain environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the scheme of the present invention, the following is a brief introduction to the drawings required for the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0024] Figure 1 The present invention is a structural diagram of the walnut harvesting energy storage shaking device.

[0025] Figure 2 It is a structural diagram of the fixed support mechanism in the present invention.

[0026] Figure 3 It is a structural diagram of the split power mechanism in the present invention.

[0027] Figure 4It is a structural diagram of the energy storage shaking mechanism in the present invention.

[0028] Figure 5 It is a schematic diagram of the principle of the energy storage shaking mechanism in the present invention.

[0029] Figure 6 It is a structural diagram of the hanging rope mechanism in the present invention.

[0030] Figure 7 It is a partial structural diagram of the hanging rope mechanism in the present invention.

[0031] Figure 8 It is a schematic diagram of the overall principle of the energy storage shaking device in the present invention.

[0032] Among them, 1-split power mechanism; 11-power unit; 12-power connecting plate; 13-transmission connecting plate; 14-power unit slide rail; 15-rack slide rail; 2-energy storage shaking mechanism; 21-semi-tooth transmission wheel; 22-shaking rack; 23-angle adjustment slide rail; 24-energy storage spring; 25-rope connector; 26-buffer spring; 3-fixed support mechanism; 31-fixed drill bit; 32-drill bit slide rail; 33-handrail; 34-rack body; 35-support column; 36-support wheel; 4-hanging rope mechanism; 41-base; 42-protective shell, 43-signal receiver; 44-drone; 45-rope buckle; 5-shaking unit; 51-rope buckle connector; 52-traction rope; 53-shaking cloth bag. DETAILED DESCRIPTION

[0033] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field of the present invention; the terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. For example, the directions or positions indicated by the terms "length", "width", "up", "down", "left", "right", "front", "back", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the directions or positions shown in the drawings, which are only for the convenience of description and should not be understood as limitations on the present technical solution.

[0034] The terms "including" and "having" and any variations thereof in the specification and claims of the present invention and the above-mentioned drawings are intended to cover non-exclusive inclusions; the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects rather than to describe a specific order. In the specification and claims of the present invention and the above-mentioned drawings, when an element is referred to as being "fixed to" or "mounted on" or "disposed on" or "connected to" another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it may be directly or indirectly connected to the other element.

[0035] In addition, the reference to "embodiment" herein means that a particular feature, structure or characteristic described in conjunction with the embodiment may be included in at least one embodiment of the present invention. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments.

[0036] It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0037] See also Figure 1 As shown, the present invention also provides a walnut harvesting energy storage shaking device, including a split power unit 1, an energy storage shaking mechanism 2, a fixed support mechanism 3 and a hanging rope mechanism 4, and a shaking unit 5, and the split power unit 1, the energy storage shaking mechanism 2 and the hanging rope mechanism 4 are respectively provided on the fixed support mechanism 3.

[0038] The hanging rope mechanism 4 drives the shaking unit 5 to be hung on a high branch, and the shaking unit 5 is connected to the energy storage shaking mechanism 2; the split power unit 1 drives the energy storage shaking mechanism 2 to move, driving the shaking unit 5 to shake the high branches of the walnut tree, causing the fruits to fall off.

[0039] Specifically, the shaking device as a whole adopts a modular design, that is, the split power unit 1, the energy storage shaking mechanism 2, the fixed support mechanism 3 and the hanging rope mechanism 4 are independent mechanisms respectively, which are suitable for complex mountain terrain and can be quickly assembled and disassembled, greatly improving the walnut harvesting efficiency.

[0040] As attached Figure 2 As shown, the fixed support mechanism 3 includes a fixed drill bit 31, a drill bit slide rail 32, a frame body 34, and a support assembly (35, 36). The drill bit slide rail 32 is provided on the side of the frame body 34. The fixed drill bit 31 is arranged in the longitudinal direction and slides with the drill bit slide rail 32 to play the role of a fixing device when performing shaking work. A support assembly is provided at the bottom end of the frame body 34 to support the frame body 34 and facilitate the movement and positioning of the device as a whole.

[0041] In some embodiments, the support assembly includes a support column 35 and a support wheel 36, which are respectively arranged on opposite sides of the bottom end of the frame body 34. The support wheel 36 drives the entire device to move, and after the device moves to a suitable position, the support column 35 supports the entire device to prevent the device from moving due to uneven terrain during operation, thereby affecting the reliability of the device.

[0042] Specifically, based on the forward direction of the device, the support wheel 36 is located at the front end of the frame body 34, and the support column 35 is located at the rear end of the frame body 34. The diameter of the support wheel 36 is greater than the height of the support column 35, so that the frame body 34 tilts from the front end to the rear end. The fixed drill bit 31 and the drill bit slide rail 32 are both located at the rear end of the frame body 34 to avoid interference with the support wheel 34, and the axial direction of the fixed drill bit 31 is perpendicular to the forward direction. It can be understood that the support column 35 and the support wheel 36 are respectively arranged in two groups symmetrically, and the number and installation position of the two can also be adjusted according to actual needs.

[0043] When the device needs to move forward, the rear end of the frame body 34 can be lifted to lift the support column 35 off the ground, and the support wheel 36 at the front end of the frame body 34 can drive the device as a whole to move. Move to the appropriate position, put down the rear end of the frame body 34, and adjust the fixed drill bit 31 so that it slides up and down along the drill bit slide rail 32 and drills into the ground. The fixed drill bit 31 can drill into the ground up to 50cm. By drilling into the ground, the device is ensured to remain stable during the shaking operation, avoiding equipment shaking and vibration force dispersion caused by uneven terrain, thereby ensuring that the vibration force is effectively transmitted to the tree branches. At the same time, it also solves the problem of self-vibration caused by insufficient self-weight of small equipment. Small equipment usually vibrates itself rather than the target when shaking, which reduces the energy transfer efficiency. The present embodiment ensures that the vibration force is effectively transmitted to the target tree branches through sufficient self-weight and fixed drill bit 31.

[0044] In one embodiment, a handrail 33 is also provided on the frame body 34, so that when the device as a whole needs to be moved a short distance, the device can be dragged and moved by the handrail 33. Specifically, the handrail 33 is provided on the side of the rear end of the frame body 34 and on the outer periphery of the drill slide rail 32, so as to facilitate lifting the rear end of the frame body 34 and pushing the frame body 34 to move.

[0045] In one embodiment, the frame body 34 is made of lightweight aluminum material, which has the advantage of being light in weight and convenient for mountain transportation.

[0046] It can be understood that the fixed drill bit 31 is connected to a power source, and the fixed drill bit 31 can translate along the drill bit slide rail 32 under the action of the power source. In order to reduce the overall weight of the device, the fixed drill bit 31 is also connected to the split power mechanism 1.

[0047] As attached Figure 3 As shown, the split power mechanism 1 includes a power unit 11, a transmission connection plate 13 and a frame slide rail 15 which are respectively arranged on the fixed support mechanism 3, and a power connection plate 12 and a power unit slide rail 14 are arranged on the power unit 11.

[0048] The power unit 11 can use a 5.5kw diesel engine to provide power for the entire device. The power unit 11 is connected through the power connection plate 12 and the transmission connection plate 13, and can transmit power to the frame body 34 of the fixed support mechanism 3, and then to the energy storage shaking mechanism 2, so as to achieve efficient power transmission. A power unit slide rail 14 is also provided on the power unit 11, and the frame slide rail 15 is connected to the frame body 34 of the fixed support mechanism 3. The power unit 11 is quickly connected to the frame slide rail 15 through the power unit slide rail 14, ensuring that the split power mechanism 1 can be firmly connected and quickly assembled, and the power unit slide rail 14 can cooperate with the frame slide rail 15 to achieve fine adjustment of the split power mechanism 1 on the frame body 34.

[0049] Specifically, the transmission connection plate 13 and the drill slide rail 32 are located on opposite sides of the frame body 34, and the power unit 11 is connected and matched with the transmission connection plate 13, which can save installation space and transmit power from the front end to the rear end of the device, thereby ensuring the reliability of the overall operation of the device.

[0050] As attached Figure 4 As shown, the energy storage shaking mechanism 2 includes a half-tooth transmission wheel 21, a shaking rack 22, an angle adjustment slide rail 23, an energy storage spring 24, and a rope connector 25;

[0051] The semi-toothed transmission wheel 21 is arranged on the frame body 34, and power transmission is realized between the semi-toothed transmission wheel 21 and the transmission connection plate 13 through a connecting piece (not shown in the figure). The angle adjustment slide rail 23 is arranged on the frame body 34 and is located on one side of the semi-toothed transmission wheel 21. The shaking rack 22 is arranged on the angle adjustment slide rail 23, and the shaking rack 22 is slidably matched with the angle adjustment slide rail 23. The semi-toothed transmission wheel 21 and the shaking rack 22 are respectively partially provided with mutually meshing serrations, and the two cooperate to store energy and release to drive the shaking action. The shaking rack 22 is also provided with an energy storage spring 24 for realizing shaking, and the end of the shaking rack 22 is provided with a rope connector 25, and the rope connector 25 is used to connect with the hanging rope mechanism 4 for transmitting shaking energy.

[0052] In one embodiment, the outer circumference of the semi-toothed transmission wheel 21 is provided with first saw teeth 211, and the outer circumference of the remaining part is a smooth surface 212. The rocking rack 22 is provided with second saw teeth 221 along the length direction. The semi-toothed transmission wheel 21 rotates to mesh the first saw teeth 211 and the second saw teeth 221, so that the rocking rack 22 can be translated along its axial direction.

[0053] In one embodiment, the energy storage spring 24 and the second saw tooth 221 are arranged in sequence along the axial direction of the rocking rack 22. The energy storage spring 24 is sleeved on the outer periphery of the rocking rack 22 and is located between the end of the rocking rack 22 and the side surface corresponding to the angle adjustment slide rail 23. The rope connector 25 is arranged on the end of the rocking rack 22 away from the second saw tooth 221.

[0054] In order to facilitate the cooperation between the semi-toothed transmission wheel 21 and the shaking rack 22 and ensure the reliability of the energy storage spring 24, the outer half circle of the semi-toothed transmission wheel 21 is provided with a first sawtooth 211, and the remaining half circle is a smooth surface 212. The middle part of the shaking rack 22 is arranged on the angle adjustment slide rail 23, and the second sawtooth 221 and the energy storage spring 24 are respectively arranged on both sides of the angle adjustment slide rail 23.

[0055] Specifically, the power of the split power unit 1 is transmitted to the energy storage shaking mechanism 2 through the connecting piece on the frame body 34, driving the half-tooth transmission wheel 21 to rotate, and the first sawtooth 211 and the second sawtooth 221 are meshed and transmitted, driving the shaking rack 22 to translate along the axial direction. After the meshing stroke of the first sawtooth 211 and the second sawtooth 221 is completed, since the two ends of the energy storage spring 24 are respectively connected to the shaking rack 22 and the angle adjustment slide rail 23, the energy storage spring 24 is in a compressed state to store energy, such as Figure 5 As shown in (a), the semi-toothed transmission wheel 21 continues to rotate, the energy storage spring 24 releases energy, and the smooth surface 212 of the semi-toothed transmission wheel 21 and the shaking rack 22 slide together. Figure 5 As shown in (b), the shaking operation of the tree branches is realized. The energy storage spring 24 accumulates energy when the half-toothed transmission wheel 21 and the shaking rack 22 are meshed, and quickly releases energy to enhance the shaking force when the half-toothed transmission wheel 21 and the shaking rack 22 are slidably matched.

[0056] In one embodiment, the end of the angle-adjustable slide rail 23 slides on the shaking rack 22 to achieve deflection movement. The adjustment angle range of the angle-adjustable slide rail 23 is between 30° and 90°. The specific value can be 30°, 45°, 60°, 75°, 90° or any value within the range. It can be adjusted according to the different heights and angles of the branches to ensure that the energy of the shaking device can be efficiently transferred to the branches.

[0057] In one embodiment, a buffer spring 26 is provided on the rocking rack 22 to reduce the damage to the energy storage rocking device caused by the hard impact of the energy storage spring 24 when the energy storage spring 24 releases energy. It can be understood that one end of the buffer spring 26 is provided on the rocking rack 22, and the other end of the buffer spring 26 is provided on the frame body 34, which can reliably play a buffering role, thereby ensuring the reliability of the overall operation of the device.

[0058] Specifically, the half-tooth transmission wheel 21 and the shaking rack 22 cooperate with each other to store energy and release it to drive the shaking action. Every time the half-tooth transmission wheel 21 rotates one circle, the shaking rack 22 completes a forward and backward translation and compresses the energy storage spring to complete an energy storage and release cycle. The maximum operating frequency of the energy storage shaking mechanism 2 can reach 10Hz to adapt to the common frequency of tree picking.

[0059] As attached Figure 6 and Figure 7 As shown, the hanging rope mechanism 4 includes a base 41, a protective shell 42, a signal receiver 43, a drone 44, and a rope buckle 45; the shaking unit 5 includes a rope buckle connector 51, a traction rope 52, and a shaking cloth bag 53.

[0060] The base 41 is arranged on the frame body 34 of the fixed support mechanism 3, and a protective shell 42 is movably arranged on the base 41. The drone 44 is arranged on the base 41 and is located inside the protective shell 42. The drone 44 is provided with a rope-locking member 45, which is connected to a rope-locking connector 51, and the release of the rope-locking connector 51 is completed through a wireless signal. The rope-locking connector 51 is connected to a traction rope 52, and the traction rope 52 is connected to a shaking bag 53, and the shaking bag 53 is used for final mounting and connection to the rope connector 25.

[0061] Specifically, during the overall movement and transportation of the device, the protective shell 42 is in a closed state to prevent the drone 44 from being bumped by the external environment or accidentally falling, thereby ensuring that the drone 44 is in good condition before use.

[0062] It is understandable that a light weight is provided at the head of the traction rope 52, so that when the drone 44 releases the traction rope 52, the traction rope 52 can be vertically dropped to the ground under the weight of the light weight. The head weight is connected to the rope buckle 45 at the bottom of the drone 44, and can release the traction rope 47 after receiving a wireless signal. Since the tail end of the traction rope 47 is connected to the shaking bag 48, the shaking bag 48 can be mounted on the target branch of the walnut tree after the traction rope 47 falls to the ground, and the shaking bag 48 is connected and matched with the energy storage shaking mechanism 2 to achieve the effect of energy storage shaking of the walnut tree.

[0063] It can be understood that the split power mechanism 1, the energy storage shaking mechanism 2 and the fixed support mechanism 3 are mechanically connected by a quick connection buckle to improve the connection speed and reliability in a mountain environment. The power transmission between the power unit 11 and the energy storage shaking mechanism 2 is achieved by a coupling. The hanging rope mechanism 4 can be adsorbed on the front end of the fixed support mechanism 3 by magnetic attraction, which is convenient for the overall movement and quick disassembly.

[0064] See also Figure 8As shown, the walnut harvesting energy storage shaking device provided by the present invention is actually applied to the process of harvesting walnuts on high branches as follows:

[0065] S1. According to different mountain angles, tree heights, and ground space, the walnut harvesting energy storage and shaking device is reasonably placed, and the split power mechanism 1, energy storage and shaking mechanism 2, fixed support mechanism 3, and drone hanging rope mechanism 4 are installed as a whole, and the angle of the fixed support mechanism 3 is adjusted so that it is facing the branch to be picked.

[0066] S2, after the position of the frame body 34 is stabilized, the split power unit 1 is started to transmit power to the fixed drill bit 31, driving the fixed drill bit 31 to drill into the mountain soil, thereby completing the fixing of the entire device.

[0067] S3. Adjust the angle of the angle-adjusting slide rail 23 in the energy storage shaking mechanism 2 so that the rope connector 25 at the end of the shaking rack 22 faces the branch to be shaken, thereby completing the preparation action of the device.

[0068] S4, transmitting the opening signal to the signal receiver 43, controlling the protective shell 42 to open, the UAV 44 is ready for take-off, and connecting the rope buckle member 45 to the rope buckle connector 51.

[0069] S5. After receiving the take-off command, the UAV 44 flies to the top of the target branch carrying the rope connector 51 and the traction rope 52. During this process, the flight position of the UAV 44 is precisely controlled to ensure that the traction rope 52 can smoothly pass through the target branch.

[0070] S6. After reaching the designated location, the drone 44 is triggered by a wireless signal to release the rope-binding member 45. At this time, the rope-binding connector 46 naturally falls to the ground under the action of gravity. When the rope-binding connector 51 lands, the drone 44 returns to the base 41 and waits for the next take-off instruction.

[0071] S7, after the rope connector 51 is dropped, the tail of the traction rope 52 is connected to the shaking bag 53, and the traction rope 52 is pulled to make the shaking bag 53 pass over the target branch and be successfully mounted.

[0072] S8, the power unit 11 drives the half-tooth transmission wheel 21 to rotate through the power connecting plate 12 and the transmission connecting plate 13 in turn, and the half-tooth transmission wheel 21 and the rocking rack 22 are meshed and transmitted, and the rocking rack 22 translates to compress the energy storage spring 24 to store energy.

[0073] S9, after the meshing stroke between the half-tooth transmission wheel 21 and the shaking rack 22 is completed, the half-tooth transmission wheel 21 and the shaking rack 22 slide together, the energy storage spring 24 releases energy to shake, and drives the high branches to shake through the shaking bag 53, completing a shaking picking operation.

[0074] The above harvesting process completes the high-altitude rope hanging task through the precise operation of the drone, avoiding the risks of traditional manual tree climbing and greatly improving the safety and efficiency of the harvesting process.

[0075] The above embodiments are preferred implementation modes of the present invention, but the implementation modes of the present invention are not limited to the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A walnut harvesting energy storage shaking device, characterized in that: It includes a fixed support mechanism, a shaking unit, and a split power unit, an energy storage shaking mechanism and a hanging rope mechanism arranged on the fixed support mechanism; The hanging rope mechanism drives the shaking unit to be hung on a high branch, and the shaking unit is connected to the energy storage shaking mechanism; the split power unit drives the energy storage shaking mechanism to move, and drives the shaking unit to shake the high branches of the walnut tree to make the fruits fall off.

2. The walnut harvesting energy storage shaking device according to claim 1, characterized in that: The fixed support mechanism includes a fixed drill bit, a drill bit slide rail, a frame body, and a support assembly. The side of the frame body is provided with a drill bit slide rail, and the fixed drill bit is arranged along the longitudinal direction and slidably cooperates with the drill bit slide rail; the bottom end of the frame body is provided with a support assembly for supporting.

3. The walnut harvesting energy storage shaking device according to claim 1, characterized in that: The split power mechanism comprises a power unit, a transmission connection plate and a frame slide rail. The power unit is provided with a power connection plate and a power unit slide rail. The power connection plate and the transmission connection plate are in transmission cooperation, and the frame slide rail and the power unit slide rail are in sliding cooperation.

4. The walnut harvesting energy storage shaking device according to claim 1, characterized in that: The energy storage shaking mechanism includes a semi-tooth transmission wheel, a shaking rack, an angle adjustment slide rail, an energy storage spring, and a rope connector; the angle adjustment slide rail is arranged on one side of the semi-tooth transmission wheel; the shaking rack is arranged on the angle adjustment slide rail and slidingly cooperates with the angle adjustment slide rail; the tooth transmission wheel and the shaking rack are respectively partially provided with mutually meshing serrations, the shaking rack is provided with an energy storage spring for realizing shaking, and the end of the shaking rack is provided with a rope connector.

5. The walnut harvesting energy storage shaking device according to claim 4, characterized in that: The outer circumference of the gear transmission wheel is provided with first saw teeth along the circumferential part, and the outer circumferential surface of the remaining part is a smooth surface; the vibration rack is provided with second saw teeth along the length direction part that meshes with the first saw teeth for transmission.

6. The walnut harvesting energy storage shaking device according to claim 5, characterized in that: The energy storage spring and the second sawtooth are arranged in sequence along the axial direction of the rocking rack. The energy storage spring is sleeved on the outer periphery of the rocking rack and is located between the end of the rocking rack and the side surface corresponding to the angle adjustment slide rail; the rope connector is arranged on the end of the rocking rack away from the second sawtooth.

7. The walnut harvesting energy storage shaking device according to claim 4, characterized in that: The end of the angle-adjusting slide rail slides on the shaking rack to realize deflection movement, and the deflection angle of the angle-adjusting slide rail is 30° to 90°.

8. The walnut harvesting energy storage shaking device according to claim 4, characterized in that: A buffer spring is provided between the rocking rack and the fixed support mechanism.

9. The walnut harvesting energy storage shaking device according to claim 1, characterized in that: The rope hanging mechanism includes a base, a protective shell, a signal receiver, a drone, and a rope buckle; the base is movably provided with a protective shell, the drone is set on the base and located inside the protective shell; the drone is provided with a rope buckle, and the rope buckle is connected to the shaking unit; the protective shell is also provided with a signal receiver for receiving control signals.

10. The walnut harvesting energy storage shaking device according to claim 9, characterized in that: The shaking unit includes a rope connection head, a traction rope, and a shaking bag. The rope connection head is provided with a traction rope, and the rope connection head is connected to the rope connection part; the traction rope is connected to one end of the shaking bag; and the other end of the shaking bag is connected to the energy storage shaking mechanism.

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