Two-channel long-distance walnut shaking and vibrating harvester and harvesting method

Abstract

The invention discloses a double-channel long-distance walnut shaking and vibrating harvester and a harvesting method, and belongs to the technical field of forestry harvesting equipment. The harvester comprises a walking mechanism, a power mechanism, a control assembly, a double-channel shaking and vibrating mechanism and a power transmission assembly, the walking mechanism comprises a crawler chassis, and a stationed land shovel and a hydraulic cylinder are arranged on the crawler chassis; the double-channel shaking and vibrating mechanism comprises a crankshaft frame, a crankshaft and two groups of sliding rod assemblies which are arranged in parallel, the crankshaft is arranged on the crankshaft frame, and a crankshaft belt pulley is arranged at the end part of the crankshaft; the crankshaft is provided with a first crank neck and a second crank neck which are staggered in phase and connected with a first sliding rod and a second sliding rod which are arranged in parallel. The invention effectively solves the problem that the existing light equipment cannot be pulled and transferred far when crops under the protection forest need to be operated in a long distance, simultaneously improves the comprehensive operation efficiency exponentially through a one-machine multi-tree mode, and has the advantages of stable operation, strong adaptability, high harvesting net rate and the like.

Description

Technical Field

[0001] This invention relates to the field of fruit harvesting equipment technology, specifically to a dual-channel long-distance walnut shaking harvester and harvesting method. Background Technology

[0002] China is a major global walnut-producing country, especially in mountainous and hilly areas like Yunnan, where the walnut industry has become a pillar of the local economy. With the upgrading of the forestry and fruit industry, the understory economy model is becoming increasingly popular. However, this planting model brings new challenges to mechanized harvesting: traditional vehicle-mounted or proximity-type vibratory harvesters must travel to the base of the tree trunk to operate, inevitably crushing and damaging high-value-added cash crops under the trees, creating the contradictory situation of "harvesting walnuts but destroying medicinal herbs."

[0003] To address this agronomic challenge, the "roadside parking, long-distance rope traction" model has become the ideal operating mode. This involves the machine stopping on the work road and relying solely on a long rope extending into the forest for vibration, thus achieving a harvesting method where the machine doesn't enter the ground and the crops are protected. However, in practical applications, existing rope-type harvesting equipment typically employs a single-channel, serial operation mode. Each operation requires a complete cycle of "stopping - attaching the rope - tensioning - vibration - unloading the rope," especially in long-distance operations, significantly increasing the time spent manually carrying the rope through the forest. This inefficient "one-to-one" operating mode results in long machine downtime and low harvesting area per unit time, making overall operational efficiency a bottleneck restricting its widespread adoption in large-scale, densely planted forests. Summary of the Invention

[0004] To address the problems mentioned above, the technical solution adopted by this invention is as follows: This invention provides a dual-channel long-distance walnut shaking harvester, including a walking mechanism, a power mechanism mounted on the walking mechanism, a control assembly, a dual-channel shaking mechanism, and a power transmission component. The control assembly is used to control the power mechanism. The walking mechanism includes a tracked chassis, on which a ground shovel and a hydraulic cylinder are mounted. The ground shovel is located at the front end of the tracked chassis and connected to the hydraulic cylinder. The dual-channel rocking mechanism includes a crankshaft frame, a crankshaft, and two sets of parallel sliding rod assemblies mounted on the tracked chassis. The crankshaft is mounted on the crankshaft frame, and a crankshaft pulley connected to the power mechanism is provided at the end of the crankshaft. The crankshaft has a first crank neck and a second crank neck with phases offset, and is connected to a first sliding rod and a second sliding rod arranged in parallel. The ends of the first sliding rod and the second sliding rod are respectively provided with rope connectors connected to the power transmission assembly.

[0005] Furthermore, the power transmission assembly includes a first main traction rope, a second main traction rope, and multiple auxiliary traction ropes. One end of the first main traction rope and the second main traction rope are respectively connected to the rope connectors at the ends of the first slide rod and the second slide rod, and the other end is respectively provided with a force-sharing node, with multiple auxiliary traction ropes provided on each force-sharing node.

[0006] Furthermore, a shock-absorbing block is provided between the crankshaft frame and the tracked chassis, and the shock-absorbing block is made of materials including polyurethane or other materials with high-frequency damping properties.

[0007] Furthermore, the power mechanism includes an engine, a power controller, a fuel tank, a starter battery, and a fan; The engine has a clutch mounted on its pulley, and an electric push rod mounted on the clutch. The pulley is connected to the crankshaft pulley for transmission. One side of the engine has an oil tank and a starter battery, and a cooling fan. The oil tank is located behind the starter battery. The other side of the engine has a power controller, a data panel, and a main power switch.

[0008] Furthermore, a hydraulic oil cooling fan and a cooling fan are respectively provided on one side and the rear end of the engine, with the hydraulic oil cooling fan located above the starting battery; the oil tank is located behind the starting battery and corresponds to the position of the engine.

[0009] Furthermore, the first crank neck and the second crank neck are respectively connected to the first slide rod and the second slide rod via a connecting rod assembly, and the first slide rod and the second slide rod are respectively provided with slide rod bearing seats.

[0010] Furthermore, the eccentricity of the first crank neck is set to 50mm, and the eccentricity of the second crank neck is set to 30mm.

[0011] Furthermore, a lubricating oil tank is provided on one side of the crankshaft bracket, and a lubricating oil pipe is provided on the lubricating oil tank. The lubricating oil pipe acts on the kinematic pair of the dual-channel rocking mechanism.

[0012] This invention also provides a dual-channel long-distance walnut shaking harvesting method, the specific steps of which include the following: Step S1: The walking mechanism drives the harvester to move as a whole through the tracked chassis and stops it on the working road in the target forest area; Step S2: Deploy the power transmission assembly, guide the first main traction rope and the second main traction rope to the tree groups on both sides of the road or on the same side, and fix multiple auxiliary traction ropes to the trunks of multiple target fruit trees respectively; Step S3: Activate the hydraulic cylinder to control the shovel to cut into the soil until the predetermined depth is reached and the soil is fixed. Step S4: Slightly move the mobile tracked chassis away from the fruit tree until all the main and auxiliary traction ropes are taut, so that the connected fruit tree trunks are pre-tensioned. Step S5: The power mechanism drives the crankshaft to rotate, and outputs excitation force through the dual channels of the first slide rod and the second slide rod, which simultaneously drives multiple fruit trees to shake and remove fruit via the power transmission component; Step S6: After maintaining the vibration for a preset time of 10s to 30s, the power mechanism stops and cuts off the shaking force; Step S7: Move the harvester forward slightly to loosen the main traction rope and the auxiliary traction rope, and untie the auxiliary traction rope on the fruit tree to complete a multi-tree cluster harvesting operation.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention breaks through the limitations of traditional single-shaft output and constructs a dual-channel parallel output system. This system utilizes two crank journals with different phases on the crankshaft, which not only balances the engine load but also possesses a powerful instantaneous power output capability.

[0014] 2. Addressing the agronomical need for "roadside parking and long-distance towing" in intercropping under forest cover, this invention utilizes a hydraulic ground shovel that also functions as a working hoe, transforming the machine's passive pressure friction into active, stable anchoring of the chassis. This design cleverly resolves the contradiction of requiring large counterweights for heavy-duty operations, allowing even a lightweight tracked chassis to withstand significant horizontal pulling forces. It ensures stability and prevents erratic movement during long-distance operations (10-25m working distance), overcoming the energy attenuation problem caused by elastic deformation of long ropes; while maintaining the lightweight chassis's excellent hill-climbing and obstacle-crossing performance, avoiding the compaction and damage to forest soil caused by heavy chassis.

[0015] 3. This invention changes the traditional "single machine-single rope-single tree" serial operation mode. Relying on dual-channel high-power output, it upgrades the traditional rope structure to a multi-branch traction structure. This method achieves a multi-tree harvesting operation mode in a single operation without increasing machine complexity, significantly improving the efficiency of shaking and vibration operations and greatly reducing the proportion of time spent on auxiliary operations such as movement and rope laying. It is especially suitable for efficient operations in dwarf dense forests.

[0016] 4. This invention uses polyurethane shock absorbers to replace traditional rigid connections, effectively absorbing the complex impacts brought about by dual-channel heavy-load operation and protecting the frame and chassis; in conjunction with an electronically controlled clutch, it achieves flexible engagement and disengagement of power, avoiding frequent engine start-stop during operation intervals, significantly reducing fuel consumption, reducing wear on engine and transmission components, and extending the service life of the entire machine. Attached Figure Description

[0017] To more clearly illustrate the solutions in this invention, a brief introduction to the accompanying drawings used in the description of the embodiments will be provided below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without any creative effort. Wherein: Figure 1 This is an overall structural diagram of the dual-channel long-distance walnut shaking harvester of the present invention.

[0018] Figure 2 This is a schematic diagram of the power mechanism and transmission system in this invention.

[0019] Figure 3 This is a schematic diagram of the dual-channel rocking mechanism in this invention.

[0020] Figure 4 This is a partial structural schematic diagram of the dual-channel rocking mechanism in this invention.

[0021] Figure 5 This is a schematic diagram illustrating the principle of multi-tree cluster collaborative harvesting operation with dual-channel output and rope connection in this invention.

[0022] Among them: 10 Walking mechanism, 1-Crawler chassis, 11-Ground shovel, 12-Hydraulic cylinder, 13-Control assembly; 2-Power mechanism, 21-Engine, 22-Power controller, 221-Clutch, 222-Engine pulley, 223-Electric push rod, 23-Cooling fan, 24-Hydraulic oil tank, 25-Diesel tank, 26-Starting battery, 27-Hydraulic oil cooling fan, 28-Data panel, 29-Main power switch; 3-Motor Force transmission assembly, 31-first main traction rope, 32-second main traction rope, 33-auxiliary traction rope; 4-dual-channel rocking mechanism, 41-crankshaft bracket, 411-shock absorber block, 412-lubricating oil tank, 413-lubricating oil pipe, 42-crankshaft, 421-first crank neck, 422-second crank neck, 43-first slide rod, 44-second slide rod, 45-rope connector, 46-slide rod bearing seat, 47-crankshaft seat, 48-crankshaft pulley. Detailed Implementation

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. For example, terms such as “length,” “width,” “upper,” “lower,” “left,” “right,” “front,” “rear,” “vertical,” “horizontal,” “top,” “bottom,” “inner,” and “outer” indicate orientations or positions based on the orientations or positions shown in the accompanying drawings and are for ease of description only, and should not be construed as limiting the technical solution.

[0024] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this invention are intended to cover non-exclusive inclusion; the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish different objects, not to describe a particular order. In the specification, claims, and accompanying drawings of this invention, when an element is referred to as "fixed to," "mounted to," "disposed of," or "connected to" another element, it may be directly or indirectly located on that other element. For example, when an element is referred to as "connected to" another element, it may be directly or indirectly connected to that other element.

[0025] Furthermore, the reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments.

[0026] It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0027] See Figure 1 As shown, this invention provides a dual-channel long-distance walnut shaking harvester, including a walking mechanism 10, a power mechanism 2, a control assembly 13, a dual-channel shaking mechanism 4, and a power transmission component 3. The walking mechanism 10 serves as the heavy-duty load-bearing and moving mechanism of the entire machine, and the power mechanism 2, control assembly 13, and dual-channel shaking mechanism 4 are all mounted on the walking mechanism 10. Through a reasonable layout, the overall structure of the harvester can improve its compactness and heavy-duty stability, adapting to the complex working environment under the forest canopy.

[0028] The traveling mechanism 10 includes a tracked chassis 1, on which a ground shovel 11 and a hydraulic cylinder 12 are mounted. The ground shovel 11 is located at the front end of the tracked chassis 1, and the ground shovel 11 and the hydraulic cylinder 12 are connected.

[0029] Specifically, the tracked chassis 1 allows for easy mobility of the harvester, facilitating its movement in rugged mountainous terrain. The installation of a ground shovel 11 solves the slippage problem that occurs with traditional lightweight chassis during long-distance, high-load pulling operations to protect understory crops. The ground shovel 11, driven by a hydraulic cylinder 12, can be retracted or lowered. In non-operational movement, the hydraulic cylinder 12 retracts and raises the ground shovel 11; in vibration operation, the hydraulic cylinder 12 extends to forcefully lower the ground shovel 11 and deeply embed it into the soil, acting as a "hydraulic ground shovel." Utilizing the passive earth pressure of the soil, it forms a strong anchor point for the entire machine, effectively counteracting the enormous horizontal reaction force transmitted by the ropes during long-distance vibration operations, ensuring stable vibration without adding extra weight.

[0030] See Figure 2 As shown, the power unit 2 includes an engine 21, a power controller 22, a cooling fan 23, a hydraulic oil tank 24, a diesel tank 25, a starter battery 26, and a hydraulic oil cooling fan 27.

[0031] The engine 21 has a clutch 221 on its pulley 222, and an electric push rod 223 on its clutch 221, which enables flexible control of the power. On one side of the engine 21, there are oil tanks (i.e., hydraulic oil tank 24 and diesel tank 25) and a starting battery 26, and a fan for cooling is provided; on the other side of the engine 21, there is a power controller 22.

[0032] Specifically, the power unit 2 adopts an integrated structure. Engine 21 is preferably a high-torque diesel engine to provide overall power, offering instantaneous power support for the dual-channel high-load output. A hydraulic oil cooling fan 27 and a cooling fan 23 are respectively located on one side and rear of engine 21, reliably cooling engine 21 and the fuel tank. For ease of installation and layout, the hydraulic oil cooling fan 27 is positioned above the starting battery 26. The fuel tank is located behind the starting battery 26 and corresponds to the position of engine 21; the hydraulic oil tank 24 is positioned above the diesel tank 25. For convenient data observation and start / stop operations, a data panel 28 and a main power switch 29 are also located on the same side of engine 21 and power controller 22, respectively.

[0033] In this embodiment, the control assembly 13 adopts a remote wireless control method, which facilitates the control assembly 13 in controlling the power mechanism 2 to work. When the wireless system is turned on, the operator can remotely control the electric push rod 223 of the clutch 221 through the matching remote control, push the clutch 221 to engage, thereby driving the tracked chassis 1 to move. It can also control the dual-channel rocking mechanism 4 to realize power output and cut-off, without the need to frequently shut down the engine 21. The structure is simple and easy to control.

[0034] See Figure 3 and Figure 4 As shown, the dual-channel rocking mechanism 4 includes a crankshaft bracket 41, a crankshaft 42, a first slide rod 43, a second slide rod 44, a rope connector 45, and a crankshaft seat 47.

[0035] The crankshaft bracket 41 is mounted on the tracked chassis 1, and a shock absorber 411 is provided between the crankshaft bracket 41 and the tracked chassis 1 to absorb the high-frequency composite impact generated during dual-channel parallel operation. The shock absorber 411 is made of materials including polyurethane or other materials with high-frequency damping properties. The high-frequency damping properties of polyurethane material can protect the structure of the tracked chassis 1.

[0036] The crankshaft 42 is horizontally mounted within the crankshaft bracket 41 via a crankshaft seat 47. A crankshaft pulley 48 is located at the end of the crankshaft 42, and the crankshaft pulley 48 is connected to the pulley 222 for transmission. The crankshaft 42 has a first crank neck 421 and a second crank neck 422, which are staggered in phase angle. The first crank neck 421 is connected to drive the second slide rod 44, and the second crank neck 422 is connected to drive the first slide rod 43, forming two independent power output channels. By setting up dual channels, the harvester can simultaneously attach two sets of rope systems, which can significantly improve work efficiency. The ends of the first slide rod 43 and the second slide rod 44 are both equipped with rope connectors 45, which facilitates the connection of the rope connectors 45 to the power transmission assembly 3.

[0037] Furthermore, the first crank neck 421 and the second crank neck 422 are respectively connected to the first slide rod 43 and the second slide rod 44 via a connecting rod assembly. The connecting rod assembly includes a connecting rod and a slider mounted on the connecting rod. The first crank neck 421 and the second crank neck 422 are respectively connected to the corresponding connecting rods, and the first slide rod 43 and the second slide rod 44 are respectively connected to the corresponding sliders. The first slide rod 43 and the second slide rod 44 are also respectively provided with slide rod bearing seats 46. The slide rod bearing seats 46 can ensure that the first slide rod 43 and the second slide rod 44 remain stable during reciprocating motion, avoid wobbling during movement, and also reduce vibration transmission to the entire machine structure, thereby improving the overall operating quality.

[0038] Specifically, to accommodate different working distances: the first crank neck 421 drives the first slide rod 43 via a connecting rod assembly, with an eccentricity set at 50mm, forming a large-amplitude channel. This channel is suitable for long-distance operations of 25m to 50m, using the large stroke to compensate for the energy loss due to the elastic deformation of long-distance ropes. The second crank neck 422 drives the second slide rod 44 via a connecting rod assembly, with an eccentricity set at 30mm, forming a small-amplitude channel. This channel is suitable for short-distance operations or large-diameter fruit trees, preventing excessive amplitude from damaging the root system.

[0039] Furthermore, in order to ensure the life of the mechanism, a lubricating oil tank 412 is provided on one side of the crankshaft bracket 41, and oil is continuously supplied to each moving pair of the dual-channel rocking mechanism through the lubricating oil pipe 413 to ensure its reliable operation.

[0040] See Figure 5 As shown, this invention changes the traditional single-tree operation mode, adopting a multi-branch traction structure for clustered collaborative harvesting. The power transmission component 3 includes a first main traction rope 31, a second main traction rope 32, and multiple auxiliary traction ropes 33.

[0041] One end of the first main traction rope 31 and the second main traction rope 32 are connected to the rope connectors 45 at the ends of the first slide bar 43 and the second slide bar 44 respectively via high-strength metal shackles. The other ends of both are equipped with force-sharing nodes, on which multiple auxiliary traction ropes 33 are provided. These auxiliary traction ropes 33 extend into the forest and branch into multiple nodes. The free ends of the auxiliary traction ropes 33 are used to tie them to the trunks or large lateral branches of multiple target fruit trees.

[0042] Specifically, under tension, a single main traction rope (i.e., the first main traction rope 31 and the second main traction rope 32) and multiple auxiliary traction ropes 33 form a "radial" force structure in space, which simultaneously transmits the excitation force output by the slide bar to multiple fruit trees, achieving efficient operation of "one machine for multiple trees".

[0043] Continue reading Figure 1 and Figure 5 As shown, this invention also provides a dual-channel long-distance walnut shaking harvesting method, applicable to harvesting operations in mountainous forest understory economic crop areas. The specific process includes the following: Step S1: The walking mechanism 10 drives the harvester to move as a whole through the tracked chassis 1 and stops on the forest operation road to avoid entering the forest and crushing the understory crops.

[0044] Step S2: Unfold the power transmission component 3, and lead the first main traction rope 31 and the second main traction rope 32 to the tree groups on both sides of the road or on the same side, respectively, and tie the multiple auxiliary traction ropes 33 to the trunks of multiple target fruit trees within the range.

[0045] Specifically, the path is selected based on the distance between the harvester and the tree grove. If the distance is far, the first main traction rope is connected to the first slide bar 43; if the distance is close, the second main traction rope is connected to the second slide bar 44.

[0046] Step S3: Start the drive hydraulic cylinder 12 to control the shovel 11 to be lowered and cut deep into the ground until the predetermined depth is reached, thus constructing the anti-slip anchor point for the whole machine.

[0047] Step S4: Control the tracked chassis 1 to drive the harvester to move backward slightly until all the main traction ropes and auxiliary traction ropes are taut, so that a pre-tensioning force is formed between multiple fruit trees to restrain each other.

[0048] Step S5: Keep engine 21 running and engage clutch 221 via remote control. The dual-channel shaking mechanism 4 uses two sets of multi-branch rope systems to simultaneously shake and remove fruit from multiple fruit trees.

[0049] Step S6: Maintain the vibration for a preset time, approximately 10 to 30 seconds, based on the vibration of the tree branches. Then, use the remote control to disengage clutch 221 and cut off the shaking force.

[0050] Step S7: Move the harvester forward slightly to loosen the main traction rope and the auxiliary traction rope, and untie the auxiliary traction rope 33 on the fruit tree to complete a multi-tree cluster harvesting operation.

[0051] The present invention, through the harvesting method described above, solves the contradiction of the need for long-distance operation to protect understory crops but the instability of the lightweight chassis by using the forced anchoring of the shovel 11. It also greatly improves the overall efficiency of single-machine operation by using dual-channel and multi-branch ropes, and realizes efficient and stable walnut shaking harvesting operation.

[0052] Meanwhile, the rational layout of the power mechanism 2 and the shock absorbers 422 of the tracked chassis 1 effectively reduce the impact and vibration generated during operation, protecting the structural integrity of the harvester and extending its service life. Furthermore, the remote wireless control method allows operators to precisely control the harvester from a safe distance, further improving the safety and convenience of the operation.

[0053] The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments. Any changes, modifications, substitutions, combinations, or simplifications made without departing from the spirit and principle of the present invention shall be considered equivalent substitutions and shall be included within the protection scope of the present invention.

Claims

1. A dual-channel long-distance walnut shaking harvester, characterized in that: The system includes a walking mechanism (10), a power mechanism (2) mounted on the walking mechanism (10), a control assembly (13), a dual-channel swaying mechanism (4), and a power transmission component (3). The control assembly (13) is used to control the power mechanism (2). The walking mechanism (10) includes a tracked chassis (1), on which a ground shovel (11) and a hydraulic cylinder (12) are mounted. The ground shovel (11) is located at the front end of the tracked chassis (1) and connected to the hydraulic cylinder (12). The dual-channel rocking mechanism (4) includes a crankshaft frame (41), a crankshaft (42), and two sets of parallel sliding rod assemblies mounted on the tracked chassis (1). The crankshaft (42) is mounted on the crankshaft frame (41), and the end of the crankshaft (42) is provided with a crankshaft pulley (48) connected to the power mechanism (2). The crankshaft (42) is provided with a first crank neck (421) and a second crank neck (422) with phases offset, and connected to a first sliding rod (43) and a second sliding rod (44) arranged in parallel. The ends of the first sliding rod (43) and the second sliding rod (44) are respectively provided with rope connectors (45) connected to the power transmission assembly (3).

2. The dual-channel long-distance walnut shaking harvester according to claim 1, characterized in that: The power transmission assembly (3) includes a first main traction rope (31), a second main traction rope (32), and multiple auxiliary guide ropes (33). One end of the first main traction rope (31) and the second main traction rope (32) are respectively connected to the rope connectors (45) at the ends of the first slide rod (43) and the second slide rod (44), and the other end of each is provided with a force-sharing node. Each force-sharing node is provided with multiple auxiliary guide ropes (33).

3. The dual-channel long-distance walnut shaking harvester according to claim 1, characterized in that: A damping block (411) is provided between the crankshaft frame (41) and the tracked chassis. The damping block (411) is made of materials including polyurethane or other materials with high-frequency damping properties.

4. The dual-channel long-distance walnut shaking harvester according to claim 1, characterized in that: The power unit (2) includes an engine (21), a power controller (22), a fuel tank, a starter battery (26), and a fan; The engine (21) has a clutch (221) on its engine pulley (222) and an electric push rod (223) on its clutch (221). The pulley is connected to the crankshaft pulley (48) for transmission. The engine (21) has an oil tank and a starter battery (26) on one side and a fan for cooling. The oil tank is located behind the starter battery (26). The engine (21) has a power controller (22), a data panel (28) and a main power switch (29) on the other side.

5. The dual-channel long-distance walnut shaking harvester according to claim 4, characterized in that: The engine (21) is provided with a hydraulic oil cooling fan (27) and a cooling fan (23) on one side and the rear end, respectively. The hydraulic oil cooling fan (27) is located above the starting battery (26). The oil tank is located on the rear side of the starting battery (26) and corresponds to the position of the engine (21).

6. The dual-channel long-distance walnut shaking harvester according to claim 1, characterized in that: The first crank neck (421) and the second crank neck (422) are respectively connected to the first slide rod (43) and the second slide rod (44) through a connecting rod assembly. The first slide rod (43) and the second slide rod (44) are respectively provided with slide rod bearing seats (46).

7. The dual-channel long-distance walnut shaking harvester according to claim 1, characterized in that: The eccentricity of the first crank neck (421) is set to 50 mm, and the eccentricity of the second crank neck (422) is set to 30 mm.

8. The dual-channel long-distance walnut shaking harvester according to claim 1, characterized in that: A lubricating oil tank (412) is provided on one side of the crankshaft bracket (41), and a lubricating oil pipe (413) is provided on the lubricating oil tank (412). The lubricating oil pipe (413) acts on the kinematic pair of the dual-channel rocking mechanism (4).

9. A harvesting method based on the dual-channel long-distance walnut shaking harvester according to any one of claims 1 to 8, characterized in that, The specific steps of this method include the following: Step S1: The walking mechanism (10) drives the harvester to move as a whole through the tracked chassis and stops on the working road in the target forest area; Step S2: Deploy the power transmission assembly (3), guide the first main traction rope (31) and the second main traction rope (32) to the tree groups on both sides of the road or on the same side, and fix multiple auxiliary traction ropes (33) to the trunks of multiple target fruit trees respectively; Step S3: Start the hydraulic cylinder (12) to control the shovel (11) to cut into the soil until the predetermined depth is reached to complete the fixing; Step S4: Maneuver the mobile track chassis to move slightly backward away from the fruit tree until all main traction ropes and auxiliary traction ropes (33) are taut, so that the connected fruit tree trunks generate pre-tension force. Step S5: The power mechanism (2) drives the crankshaft (42) to rotate, and outputs excitation force through the dual channels of the first slide rod (43) and the second slide rod (44), which simultaneously drives multiple fruit trees to shake and remove fruit via the power transmission component (3); Step S6: After the vibration time reaches the preset time of 10s to 30s, the power mechanism (2) stops cutting off the shaking force; Step S7: Move the harvester forward slightly to loosen the main traction rope and the auxiliary guide rope (33), and untie the auxiliary guide rope (33) on the fruit tree to complete a multi-tree cluster harvesting operation.

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