A clamping and vibrating walnut harvesting device

Abstract

This utility model relates to a clamping and vibrating walnut harvesting device, belonging to the field of agricultural harvesting technology. The utility model includes a telescopic rod assembly, a clamping device, a pressure sensor, an electric eccentric vibrator, a camera, a display screen, and a motor. The clamping device is connected to the top of the telescopic rod assembly; the pressure sensor is placed inside the clamping plate within the clamping device; the electric eccentric vibrator is bolted to one side of the clamping device; the camera is bolted to the other side of the clamping device opposite the electric eccentric vibrator; the display screen is fixed to the outside of the storage cavity below the telescopic rod assembly; the motor is fixed to the inside of the storage cavity below the telescopic rod assembly, and the motor's output shaft is connected to the spiral rod of the telescopic rod assembly. This utility model achieves harvesting of walnut branches at different heights by electrically controlling the extension and retraction of the telescopic rod, significantly reducing manual labor intensity and improving the overall efficiency of walnut harvesting.

Description

Technical Field

[0001] This utility model relates to a clamping and vibrating walnut harvesting device, belonging to the field of agricultural harvesting technology. Background Technology

[0002] Walnuts, an important woody oilseed crop in my country, are widely cultivated in mountainous provinces such as Yunnan, Xinjiang, and Shaanxi, and have become a significant source of income for farmers in many regions. Currently, manual walnut harvesting mainly employs two methods: tree climbing and long-pole tapping. Tree climbing requires manual ascent of tall walnut trees, posing a serious risk of fall and resulting in low efficiency. Long-pole tapping, using 4-8 meter bamboo or wooden poles to strike branches and shake the fruit down, reduces the risk of working at height, but easily damages buds, affecting next year's yield. In addition, some tools achieve harvesting by vibrating walnut branches, but these also have drawbacks, such as the inability to accurately control the clamping force, the inability to adjust the vibration frequency, and the inability to accurately clamp the target branch due to obstructed vision. Summary of the Invention

[0003] The technical problem to be solved by this utility model is: This utility model provides a clamping and vibrating walnut picking device for convenient walnut picking, which can control the clamping force and vibration frequency, and is also equipped with a camera to provide a clear view.

[0004] The technical solution of this utility model is: a clamping and vibrating walnut picking device, including a clamping device, a telescopic rod assembly 10, a pressure sensor 1, an electric eccentric vibrator 7, a camera 8, a display screen 11, and a motor 13.

[0005] The clamping device is used to clamp walnut branches;

[0006] The telescopic rod assembly 10 is used to extend and retract the telescopic rod by means of threaded engagement of various components within the telescopic rod and by threaded drive.

[0007] The pressure sensor 1 is used to ensure appropriate clamping force to avoid damaging the walnut tree branches;

[0008] The electric eccentric vibrator 7 is used to shake the walnuts off the branches by vibration, and the vibration frequency of the vibrator can be changed in real time.

[0009] The camera 8 is used to observe the position of the clamping device in real time, and to assist the clamping device in clamping the target tree branch.

[0010] The display screen 11 is used to display the images captured by the camera, and the camera 8 and the display screen 11 are connected via Bluetooth for signal transmission;

[0011] The motor 13 is used to drive the telescopic rod assembly 10 to extend each component of the telescopic rod upward.

[0012] Furthermore, the clamping device is connected to the top of the telescopic rod assembly 10;

[0013] The pressure sensor 1 is placed inside the clamping plate 2 in the clamping device;

[0014] The electric eccentric vibrator 7 is fixed to one side of the clamping device by bolt connection;

[0015] The camera 8 is fixed to the clamping device on the other side of the electric eccentric vibrator 7 by bolts;

[0016] The display screen 11 is fixed to the outside of the storage cavity 10-7 below the telescopic rod assembly 10;

[0017] The motor 13 is fixed inside the storage cavity 10-7 below the telescopic rod assembly 10, and the output shaft of the motor 13 is connected to the screw rod 10-6 of the telescopic rod assembly 10.

[0018] Furthermore, the clamping device includes a propulsion cylinder 9, a clamping plate 2, a propulsion plate 3, a clamping plate bracket 4, and a clamping bracket 5;

[0019] The push rod 6 of the propulsion cylinder 9 is connected to the push plate 3 above. The push plate 3 has protruding structures on both sides. The protruding structures form a sliding groove connection with the groove on the inner side of the clamping bracket 4. The clamping bracket 4 is connected to the clamping plate 2 above. The clamping plate 2 has a rubber pad on its inner side. The clamping bracket 4 has two transverse protruding structures on both sides. The clamping bracket 5 has two transverse groove structures on both sides. The protruding structures of the clamping bracket 4 and the groove structures of the clamping bracket 5 cooperate with each other to form a sliding groove connection. The lower end of the clamping bracket 4 is supported by the internal frame of the clamping bracket 5. The clamping plate 2 is fixed to the upper end of the clamping bracket 4 by bolts. The clamping bracket 4 and the clamping bracket 5 are connected by a sliding groove. The clamping bracket 4 and the clamping plate 2 are fixed as one piece. Through the sliding groove connection between the clamping bracket 4 and the clamping bracket 5, the clamping plate 2 can slide laterally in the inner space of the upper end of the clamping bracket 5.

[0020] Furthermore, the telescopic rod assembly 10 includes a storage cavity 10-7, a spiral rod 10-6, a central telescopic rod housing 10-5, and a central spiral rod 10-4;

[0021] The motor 13 inside the storage cavity 10-7 is fixedly connected to the spiral rod 10-6. One end of the spiral rod 10-6 is connected to the inside of the storage cavity 10-7, and the two can rotate relative to each other. The threaded part of the other end of the spiral rod 10-6 forms a spiral rotation connection with the thread on the inner side of the bottom of the middle telescopic rod housing 10-5. The middle spiral rod 10-4 and the spiral rod 10-6 rotate synchronously inside the middle telescopic rod housing 10-5 and the storage cavity 10-7; the middle spiral rod 10-4 will rotate relative to the middle telescopic rod housing 10-5.

[0022] The outer part of the central telescopic rod housing 10-5 is provided with four circumferentially arranged vertical protrusions, and the inner part of the storage cavity 10-7 is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer part of the central telescopic rod housing 10-5 cooperate with the four corresponding grooves on the inner part of the storage cavity 10-7.

[0023] The inner part of the central spiral rod 10-4 has four circumferentially arranged vertical protrusions, and the outer part of the spiral rod 10-6 has four circumferentially arranged vertical grooves. The four protrusions on the inner part of the central spiral rod 10-4 cooperate with the four corresponding grooves on the outer part of the spiral rod 10-6.

[0024] Furthermore, the telescopic rod assembly 10 also includes an upper telescopic rod housing 10-3, an upper helical rod 10-2, and a top telescopic rod housing 10-1.

[0025] The inner thread at the bottom of the upper telescopic rod housing 10-3 and the outer thread at the middle spiral rod 10-4 form a helical rotation connection, and the upper spiral rod 10-2 will rotate relative to the upper telescopic rod housing 10-3; the outer thread of the upper spiral rod 10-2 and the inner thread at the bottom of the top telescopic rod housing 10-1 form a helical rotation connection.

[0026] The outer side of the upper telescopic rod housing 10-3 is provided with four circumferentially arranged vertical protrusions, and the inner side of the middle telescopic rod housing 10-5 is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer side of the upper telescopic rod housing 10-3 cooperate with the four corresponding grooves on the inner side of the middle telescopic rod housing 10-5.

[0027] The inner part of the upper spiral rod 10-2 is provided with four circumferentially arranged vertical protrusions, and the outer part of the middle spiral rod 10-4 is provided with four circumferentially arranged vertical grooves. The four protrusions on the inner part of the upper spiral rod 10-2 cooperate with the four corresponding grooves on the outer part of the middle spiral rod 10-4.

[0028] The outer side of the top telescopic rod housing 10-1 is provided with four circumferentially arranged vertical protrusions, and the inner side of the upper telescopic rod housing 10-3 is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer side of the top telescopic rod housing 10-1 cooperate with the four corresponding grooves on the inner side of the upper telescopic rod housing 10-3.

[0029] This utility model features a storage cavity at the bottom of the telescopic rod assembly, where each telescopic rod component can be stored. An electric eccentric vibrator and a camera are respectively mounted and fixed on both sides of the clamping device. The electric eccentric vibrator's main function is to shake all the walnuts off the branches through vibration, and its vibration frequency can be changed in real time to ensure that the vibration frequency does not damage the branches. The camera can monitor the position of the clamping device in real time to help ensure that the clamping plate firmly grips the target branch. The camera's image can be clearly displayed on a screen mounted on the outside of the storage cavity. The various components inside the telescopic rod are mainly connected by threads, and the extension and retraction of the telescopic rod are achieved through thread drive. A handle is also provided on the outside of the storage cavity assembly at the bottom of the telescopic rod for portable carrying. During operation, the telescopic rod assembly is driven by a motor to extend each component upwards, bringing the clamping device to the walnut picking height. At the same time, the display screen can be monitored in real time to ensure accurate clamping position. After the clamping device reaches the walnut picking height, the propulsion cylinder of the clamping device moves to close the clamping plate, which clamps the walnut branch. The clamping plate is equipped with a pressure sensor to ensure appropriate clamping force to avoid damaging the walnut branch. The electric eccentric vibrator moves to shake the branch and make the walnut fall.

[0030] The beneficial effects of this utility model are:

[0031] 1. Compared with traditional manual walnut picking, this utility model can significantly reduce the intensity of manual labor and improve the overall efficiency of walnut picking.

[0032] 2. This utility model effectively solves the problem of damage to tree branches during walnut harvesting, improves harvesting efficiency and quality, and has good practicality. Through the cooperation of a telescopic rod, clamping device, and camera, the walnut tree branches can be accurately clamped; the vibration of the electric eccentric vibrator allows the walnuts to fall smoothly, and a collection bag can be set under the tree for easy collection.

[0033] 3. This utility model enables the harvesting of walnut branches at different heights by electrically controlling the extension and retraction of the telescopic rod; the clamping device can freely adjust the clamping force setting through a pressure sensor, which can better protect the walnut branches; the vibration frequency of the electric eccentric vibrator is adjustable and can be adjusted according to the walnut variety and maturity, improving the flexibility and adaptability of harvesting. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model;

[0035] Figure 2 This is a schematic diagram of the clamping device.

[0036] Figure 3 This is a schematic diagram of the front structure of the clamping device;

[0037] Figure 4 This is a sectional view of the telescopic pole assembly;

[0038] Figure 5 This is a magnified view of a portion of the interior of the telescopic pole assembly;

[0039] Figure 6 This is a schematic diagram of the outer surface of the screw rod;

[0040] Figure 7 This is a schematic diagram of the inner and outer surfaces of the central helical rod;

[0041] Figure 8 This is a schematic diagram of the inner and outer surfaces of the central telescopic rod housing.

[0042] The labels in the diagram are as follows: 1-Pressure sensor, 2-Clamping plate, 3-Propeller plate, 4-Clamping plate bracket, 5-Clamping bracket, 6-Propeller rod, 7-Electric eccentric vibrator, 8-Camera, 9-Propeller cylinder, 10-Telescopic rod assembly, 10-1-Top telescopic rod housing, 10-2-Upper helical rod, 10-3-Upper telescopic rod housing, 10-4-Middle helical rod, 10-5-Middle telescopic rod housing, 10-6-Helical rod, 10-7-Storage cavity, 11-Display screen, 12-Handle, 13-Motor. Detailed Implementation

[0043] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0044] Example 1: As Figures 1-8 As shown, a clamping and vibrating walnut harvesting device includes a clamping device, a telescopic rod assembly 10, a pressure sensor 1, an electric eccentric vibrator 7, a camera 8, a display screen 11, and a motor 13.

[0045] The clamping device is used to clamp walnut branches;

[0046] The telescopic rod assembly 10 is used to extend and retract the telescopic rod by means of threaded engagement of various components within the telescopic rod and by threaded drive.

[0047] The pressure sensor 1 is used to ensure appropriate clamping force to avoid damaging the walnut tree branches;

[0048] The electric eccentric vibrator 7 is used to shake the walnuts off the branches by vibration, and the vibration frequency of the vibrator can be changed in real time.

[0049] The camera 8 is used to observe the position of the clamping device in real time, and to assist the clamping device in clamping the target tree branch.

[0050] The display screen 11 is used to display the images captured by the camera, and the camera 8 and the display screen 11 are connected via Bluetooth for signal transmission;

[0051] The motor 13 is used to drive the telescopic rod assembly 10 to extend each component of the telescopic rod upward.

[0052] Furthermore, the clamping device is connected to the top of the telescopic rod assembly 10;

[0053] The pressure sensor 1 is placed inside the clamping plate 2 in the clamping device;

[0054] The electric eccentric vibrator 7 is fixed to one side of the clamping device by bolt connection;

[0055] The camera 8 is fixed to the clamping device on the other side of the electric eccentric vibrator 7 by bolts;

[0056] The display screen 11 is fixed to the outside of the storage cavity 10-7 below the telescopic rod assembly 10;

[0057] The motor 13 is fixed inside the storage cavity 10-7 below the telescopic rod assembly 10, and the output shaft of the motor 13 is connected to the screw rod 10-6 of the telescopic rod assembly 10.

[0058] Furthermore, the clamping device includes a propulsion cylinder 9, a clamping plate 2, a propulsion plate 3, a clamping plate bracket 4, and a clamping bracket 5;

[0059] The push rod 6 of the propulsion cylinder 9 is connected to the push plate 3 above. The push plate 3 has protruding structures on both sides. The protruding structures form a sliding groove connection with the groove on the inner side of the clamping bracket 4. The clamping bracket 4 is connected to the clamping plate 2 above. The clamping plate 2 has a rubber pad on its inner side. The clamping bracket 4 has two transverse protruding structures on both sides. The clamping bracket 5 has two transverse groove structures on both sides. The protruding structures of the clamping bracket 4 and the groove structures of the clamping bracket 5 cooperate with each other to form a sliding groove connection. The lower end of the clamping bracket 4 is supported by the internal frame of the clamping bracket 5. The clamping plate 2 is fixed to the upper end of the clamping bracket 4 by bolts. The clamping bracket 4 and the clamping bracket 5 are connected by a sliding groove. The clamping bracket 4 and the clamping plate 2 are fixed as one piece. Through the sliding groove connection between the clamping bracket 4 and the clamping bracket 5, the clamping plate 2 can slide laterally in the inner space of the upper end of the clamping bracket 5.

[0060] Furthermore, the telescopic rod assembly 10 includes a storage cavity 10-7, a spiral rod 10-6, a central telescopic rod housing 10-5, and a central spiral rod 10-4;

[0061] The motor 13 inside the storage cavity 10-7 is fixedly connected to the spiral rod 10-6. One end of the spiral rod 10-6 is connected to the inside of the storage cavity 10-7, and the two can rotate relative to each other. The threaded part of the other end of the spiral rod 10-6 forms a spiral rotation connection with the thread on the inner side of the bottom of the middle telescopic rod housing 10-5. The middle spiral rod 10-4 and the spiral rod 10-6 rotate synchronously inside the middle telescopic rod housing 10-5 and the storage cavity 10-7; the middle spiral rod 10-4 will rotate relative to the middle telescopic rod housing 10-5.

[0062] The outer part of the central telescopic rod housing 10-5 is provided with four circumferentially arranged vertical protrusions, and the inner part of the storage cavity 10-7 is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer part of the central telescopic rod housing 10-5 cooperate with the four corresponding grooves on the inner part of the storage cavity 10-7.

[0063] The inner part of the central spiral rod 10-4 has four circumferentially arranged vertical protrusions, and the outer part of the spiral rod 10-6 has four circumferentially arranged vertical grooves. The four protrusions on the inner part of the central spiral rod 10-4 cooperate with the four corresponding grooves on the outer part of the spiral rod 10-6.

[0064] Furthermore, the telescopic rod assembly 10 also includes an upper telescopic rod housing 10-3, an upper helical rod 10-2, and a top telescopic rod housing 10-1.

[0065] The inner thread at the bottom of the upper telescopic rod housing 10-3 and the outer thread of the middle spiral rod 10-4 form a helical rotational connection, and the upper spiral rod 10-2 will rotate relative to the upper telescopic rod housing 10-3; the outer thread of the upper spiral rod 10-2 and the inner thread at the bottom of the top telescopic rod housing 10-1 form a helical rotational connection; the upper spiral rod 10-2, the middle spiral rod 10-4, and the spiral rod 10-6 rotate synchronously inside the upper telescopic rod housing 10-3, the middle telescopic rod housing 10-5, and the storage cavity 10-7; the upper spiral rod 10-2 will rotate relative to the upper telescopic rod housing 10-3; there is only vertical relative movement between the storage cavity 10-7, the middle telescopic rod housing 10-5, the upper telescopic rod housing 10-3, and the top telescopic rod housing 10-1;

[0066] The outer side of the upper telescopic rod housing 10-3 is provided with four circumferentially arranged vertical protrusions, and the inner side of the middle telescopic rod housing 10-5 is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer side of the upper telescopic rod housing 10-3 cooperate with the four corresponding grooves on the inner side of the middle telescopic rod housing 10-5.

[0067] The inner part of the upper spiral rod 10-2 is provided with four circumferentially arranged vertical protrusions, and the outer part of the middle spiral rod 10-4 is provided with four circumferentially arranged vertical grooves. The four protrusions on the inner part of the upper spiral rod 10-2 cooperate with the four corresponding grooves on the outer part of the middle spiral rod 10-4.

[0068] The outer side of the top telescopic rod housing 10-1 is provided with four circumferentially arranged vertical protrusions, and the inner side of the upper telescopic rod housing 10-3 is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer side of the top telescopic rod housing 10-1 cooperate with the four corresponding grooves on the inner side of the upper telescopic rod housing 10-3.

[0069] The working process of this utility model includes:

[0070] Driven by the motor 13, the spiral rod 10-6 rotates inside the receiving cavity 10-7, thereby driving the middle telescopic rod housing 10-5, the middle spiral rod 10-4, the upper telescopic rod housing 10-3, the upper spiral rod 10-2, and the top telescopic rod housing 10-1 to move in sequence, thus extending the telescopic rod assembly 10 to the height of the walnut branch. At the same time, the display screen 11 displays the observation image of the camera 8 in real time. The propulsion cylinder 9 in the clamping device moves, causing the clamping plate 2 to tighten the branch. Simultaneously, the clamping force changes in real time according to the feedback from the pressure sensor 1. The electric eccentric vibrator 7 starts to operate, causing the branch to sway, thereby achieving the purpose of walnut harvesting.

[0071] Specifically, a clamping and vibrating walnut harvesting device includes a clamping device, a telescopic rod assembly 10, a pressure sensor 1, an electric eccentric vibrator 7, a camera 8, a display screen 11, and a motor 13.

[0072] The telescopic rod assembly 10 consists of several parts. When the equipment is in operation, the worker holds handle 12, and motor 13 starts operating, driving the screw rod 10-6 to rotate. The screw rod 10-6, through its helical engagement, causes the middle telescopic rod housing 10-5 to move upwards. Simultaneously, because the screw rod 10-6 and the middle screw rod 10-4 have grooved and protruding structures for limiting movement, the screw rod 10-6 and the middle screw rod 10-4 rotate synchronously. The rotation of the middle screw rod 10-4, in turn, through its helical engagement, causes the upper telescopic rod housing 10-3 to move upwards. Again, because the middle screw rod 10-4 and the upper screw rod 10-2 have grooved and protruding structures for limiting movement, the middle screw rod 10-4 and the upper screw rod 10-3 rotate synchronously. -2 also rotates synchronously. In summary, the three spiral rods 10-6, 10-4, and 10-2 rotate synchronously. The upper spiral rod 10-2, in turn, uses a spiral engagement to move the top telescopic rod housing 10-1 upwards. Furthermore, the storage cavity 10-7, the middle telescopic rod housing 10-5, the upper telescopic rod housing 10-3, and the top telescopic rod housing 10-1 also have groove and protrusion structures for limiting their movement. Since the storage cavity is fixed, the storage cavity 10-7, the middle telescopic rod housing 10-5, the upper telescopic rod housing 10-3, and the top telescopic rod housing 10-1 do not rotate relative to each other; they only move up and down relative to each other, thus achieving the limiting purpose.

[0073] The display screen 11 will display the images captured by the camera 8 in real time, which will help to accurately locate the position of the target walnut tree branch.

[0074] In the clamping device, the electric eccentric vibrator 7 and the camera 8 are both connected and fixed to the outside of the push cylinder 9. When the telescopic rod reaches the target length, the push cylinder 9 starts to operate. When the push rod 6 is above, the clamping plate 2 is in the open state; when the push rod 6 is below, the clamping plate 2 is in the closed state. At this time, the push rod 6 moves from top to bottom, driving the push plate 3 to move downward as well. The push plate 3 and the clamping plate bracket 4 are connected by a sliding groove, and the clamping plate bracket 4 and the clamping plate 2 are fixedly connected by bolts. The downward movement of the push plate 3 drives the clamping plate bracket 4 and the clamping plate 2 to move from both sides to the middle, thereby gradually closing the clamping plate 2 to clamp the walnut branch. After the clamping plate 2 contacts the walnut branch, the pressure sensor 1 is activated and feedback is sent to the push cylinder 9. The push cylinder 9 controls the push rod 6 reasonably according to the feedback to achieve a suitable clamping force on the walnut branch and avoid damage to the walnut branch.

[0075] The clamping device allows for free adjustment of the clamping force via a pressure sensor. The specific operating principle includes:

[0076] Sensor integration structure: Pressure sensor 1 is arrayed inside the contact surface of clamping plate 2, located in the subsurface layer of the clamping surface; the pressure sensing thin film is made of PEDOT:PSS conductive polymer flexible electronic material, which can conform to the curvature of the clamping surface to realize large-area pressure distribution detection; 4×4 sensing units are arranged to form an array, which can detect pressure distribution non-uniformity and avoid local overpressure.

[0077] 2) Mechanical structure support: The clamping surface is made of elastic material, which allows the pressure to be evenly transmitted to the sensor and protects the sensor from direct mechanical impact; the clamping force is effectively transmitted to the sensitive area of ​​the sensor through a precisely designed elastomer; the sensor is wrapped with materials such as silicone or polyurethane to prevent oil and dust from entering, and to provide electrical isolation.

[0078] 3) Closed-loop control principle: Pressure sensor 1 → Signal conditioning circuit → Microcontroller → Propulsion cylinder 9 → Clamping plate 2 → Pressure sensor 1 (closed loop); The signal conditioning circuit detects the signal from pressure sensor 1, processes it, and wirelessly transmits it to the microcontroller. When the detected pressure exceeds the preset threshold, the microcontroller immediately reduces the drive signal; when the pressure is insufficient, it increases the drive signal of cylinder 9. A PID control algorithm is used to dynamically adjust the clamping speed and force according to the pressure change rate. The microcontroller and cylinder 9 can be connected by wire or wireless means. The signal conditioning circuit and microcontroller can be designed on the outer shell 10-5 of the middle telescopic rod. The line connecting the signal conditioning circuit on pressure sensor 1 can be connected through the inside of clamping plate 2.

[0079] 4) Implementation scheme: The pressure sensor monitors the pressure on the clamping surface; the air pressure is adjusted by the proportional valve to achieve continuous control of the clamping force; and the pressure-flow composite control is adopted to improve the system response speed.

[0080] The clamping part of the clamping plate 2 is arc-shaped, which makes it easier for the device to clamp the branch and prevent it from falling off. After the clamping plate 2 clamps the walnut branch, the electric eccentric vibrator 7 starts to operate, generating vibration force that is transmitted to the walnut branch, causing the walnut branch to sway, so as to achieve the purpose of walnut harvesting. The vibration frequency of the electric eccentric vibrator is adjustable and can be adjusted according to the walnut variety and maturity.

[0081] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A clamping vibrating walnut picking device, characterized by: Includes a clamping device, a telescopic rod assembly (10), a pressure sensor (1), an electric eccentric vibrator (7), a camera (8), a display screen (11), and a motor (13); The clamping device is used to clamp walnut branches; The telescopic rod assembly (10) is used to extend and shorten the telescopic rod by means of the threaded engagement of the various components within the telescopic rod; The pressure sensor (1) is used to ensure appropriate clamping force so as not to damage the walnut tree branches; The electric eccentric vibrator (7) is used to shake the walnuts off the branches by vibration, and the vibration frequency of the vibrator can be changed in real time. The camera (8) is used to observe the position of the clamping device in real time and assist the clamping device in clamping the target tree branch; The display screen (11) is used to display the images captured by the camera. The camera (8) and the display screen (11) are connected via Bluetooth for signal transmission. The motor (13) is used to drive the telescopic rod assembly (10) to extend each component of the telescopic rod upward.

2. The clamping and vibrating walnut harvesting device according to claim 1, characterized in that: The clamping device is connected to the top of the telescopic rod assembly (10); The pressure sensor (1) is placed inside the clamping plate (2) in the clamping device; The electric eccentric vibrator (7) is fixed to one side of the clamping device by bolt connection; The camera (8) is fixed to the clamping device on the other side of the electric eccentric vibrator (7) by bolt connection; The display screen (11) is fixed to the outside of the storage cavity (10-7) below the telescopic rod assembly (10); The motor (13) is fixed inside the storage cavity (10-7) below the telescopic rod assembly (10), and the output shaft of the motor (13) is connected to the screw rod (10-6) of the telescopic rod assembly (10).

3. The shaker-type walnut harvesting device of claim 1, wherein: The clamping device includes a propulsion cylinder (9), a clamping plate (2), a propulsion plate (3), a clamping plate bracket (4), and a clamping bracket (5); The propulsion rod (6) of the propulsion cylinder (9) is connected to the propulsion plate (3) above. The propulsion plate (3) has protruding structures on both sides. The protruding structures form a sliding groove connection with the groove on the inner side of the clamping bracket (4). The clamping bracket (4) is connected to the clamping plate (2) above. The clamping plate (2) has a rubber pad on the inner side. The clamping bracket (4) has two transverse protruding structures on both sides. The clamping bracket (5) has two transverse groove structures on both sides. The protruding structures of the clamping bracket (4) and the groove structures of the clamping bracket (5) cooperate with each other to form a sliding groove connection. The lower end of the clamping bracket (4) is supported by the internal frame of the clamping bracket (5). The clamping plate (2) is fixed to the upper end of the clamping bracket (4) by bolt connection. The clamping bracket (4) and the clamping bracket (5) are connected by a sliding groove. The clamping bracket (4) and the clamping plate (2) are fixed as one piece. Through the sliding groove connection between the clamping bracket (4) and the clamping bracket (5), the clamping plate (2) can slide laterally in the inner space of the upper end of the clamping bracket (5).

4. The shaker-type walnut harvesting device of claim 1, wherein: The telescopic rod assembly (10) includes a storage cavity (10-7), a spiral rod (10-6), a middle telescopic rod outer shell (10-5), and a middle spiral rod (10-4). The motor (13) inside the storage cavity (10-7) is fixedly connected to the screw rod (10-6). One end of the screw rod (10-6) is connected to the inside of the storage cavity (10-7), and the two can rotate relative to each other. The threaded part of the other end of the screw rod (10-6) forms a helical rotation connection with the thread on the inner side of the bottom of the middle telescopic rod shell (10-5). The middle screw rod (10-4) and the screw rod (10-6) rotate synchronously inside the middle telescopic rod shell (10-5) and the storage cavity (10-7); the middle screw rod (10-4) will rotate relative to the middle telescopic rod shell (10-5). The outer part of the central telescopic rod shell (10-5) is provided with four circumferentially arranged vertical protrusions, and the inner part of the storage cavity (10-7) is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer part of the central telescopic rod shell (10-5) cooperate with the four corresponding grooves on the inner part of the storage cavity (10-7). The inner part of the central spiral rod (10-4) has four circumferentially arranged vertical protrusions, and the outer part of the spiral rod (10-6) has four circumferentially arranged vertical grooves. The four protrusions on the inner part of the central spiral rod (10-4) cooperate with the four corresponding grooves on the outer part of the spiral rod (10-6).

5. A device for harvesting walnuts by means of clamping and vibration according to claim 4, characterized in that: The telescopic rod assembly (10) also includes an upper telescopic rod housing (10-3), an upper helical rod (10-2), and a top telescopic rod housing (10-1): The inner thread at the bottom of the upper telescopic rod housing (10-3) and the outer thread at the bottom of the middle spiral rod (10-4) form a helical rotation connection, and the upper spiral rod (10-2) will rotate relative to the upper telescopic rod housing (10-3); the outer thread of the upper spiral rod (10-2) and the inner thread at the bottom of the top telescopic rod housing (10-1) form a helical rotation connection. The outer side of the upper telescopic rod housing (10-3) is provided with four circumferentially arranged vertical protrusions, and the inner side of the middle telescopic rod housing (10-5) is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer side of the upper telescopic rod housing (10-3) cooperate with the four corresponding grooves on the inner side of the middle telescopic rod housing (10-5). The inner part of the upper spiral rod (10-2) is provided with four circumferentially arranged vertical protrusions, and the outer part of the middle spiral rod (10-4) is provided with four circumferentially arranged vertical grooves. The four protrusions on the inner part of the upper spiral rod (10-2) cooperate with the four corresponding grooves on the outer part of the middle spiral rod (10-4). The outer side of the top telescopic rod housing (10-1) is provided with four circumferentially arranged vertical protrusions, and the inner side of the upper telescopic rod housing (10-3) is provided with four circumferentially arranged vertical grooves. The four protrusions on the outer side of the top telescopic rod housing (10-1) cooperate with the four corresponding grooves on the inner side of the upper telescopic rod housing (10-3).

Images