Design And Test Of Hydraulic Walnut Picking Protoype Machine

Nowadays, for the walnut harvest, the country is still predominantly picked by hands. This way of picking not only affect the trees growing in the coming year, but also labour-intensive, low efficiency, and there is even potential safety hazard. With the increasing of walnut planting area of shaanxi province and the the shortage of rural labor, the problem of walnut picking has become increasingly prominent. To solve the above problem, through the support of Education Department of Shaanxi Provincial Government(project number 14JF003), and combined with the theory of the walnut picking mechanism, designing and manufacturing a kind of hydraulic walnut picking prototype machine, and improves the design of the prototype. The research of this thesis is shown in the following aspects:Firstly, by establish the dynamics model of the tree and the picking system the dynamic characteristics of the tree when its in the picking process are analyzed and solved. The main factors for walnut trees picking are researched. Analysis shows that:walnut trees exhibit a steady-state response in the process of the picking vibration. It shows that the response of the displacement, velocity and acceleration changes in a certain cycle. The key facters for the response are summarized, they include the quality of system, elastic modulus of the tree, damping coefficient and frequency.Secondly, according to the conclusions, and combine the agricultural machinery, mechanical design and relevant knowledge, the whole machine is initially identified. Each part of the machine is designed, calculated and modeled. The prototype is manufactured after assemble the parts and draw the engineering drawings.Thirdly, by using the prototype to do the field picking test, the work performancean, effect and the important indicators of the prototype are evaluated. Experiments show that:for the harvest of the traditional walnut trees which have the larger size, using the hydraulic method would be more effect than the portable picking machine, and its also fastened more stably. By the dynamic test experiment, the dynamic of the tree vibration process is researched, and the effect of frequency and fastened height for the tree vibration are summarized.Finally, the prototype is improved for its shortcomings, such as the spatial orientation of the shaker and the walking mechanism of the whole machine. The mechanism is simulated in the mechanism module of Creo after its modeled and assembled. Its verify that whether the work result of the mechanical arm can achieve the expected requirements. Analysis shows that:the fastened height range is about 500mm to 1300mm. According to the track from the mechanism simulation, the feasibility of the new mechanism is proved.In this paper, by the theoretical research on the mechanical picking of walnut and the manufacture and test of the prototype machine, the feasibility of the method of hydraulic walnut picking on the tree trunk with larger canopy was verified. It has a certain practical meaning for the mechanical picking of walnut.