Design And Dynamic Simulation Of Vibratory Walnut Picker Virtual Prototype

China is one of the centers of origin of walnuts,and the production and planting area of walnuts are the first in the world,and the import and export volume of walnuts are among the top in the world.Picking walnuts is a very important part of the walnut industry,and the human and material resources consumed in the picking process account for 35%to 45%of the entire walnut production process.At present,China still mainly relies on the traditional manual picking method to pick walnuts,which is inefficient and dangerous,which seriously limits the development of walnut industry in China.Therefore,the mechanization of walnut picking is of great importance to improve the picking efficiency,reduce the production cost and improve the economic efficiency.This paper proposes a design of vibratory walnut picker with the mechanized harvesting of walnuts as the research goal,and builds a virtual prototype of the vibratory walnut picker through research design,and verifies the smoothness and picking effect of the vibratory walnut picker through dynamics simulation analysis.The results show that the vibration type walnut picker designed in this paper has high smoothness and good picking effect.The specific research contents are as follows.（1）Analyze and summarize the existing tree mechanics model,establish a suitable mechanical model of the picker-walnut tree vibration system,solve the established model to obtain the vibration differential equations of the vibration system,and obtain the response equations of the amplitude and phase of the tree during the vibration process;Establish a mechanical model of walnut fruit vibration,and obtain the shedding conditions of walnut fruit during the vibration picking operation The mechanical model of walnut tree root system vibration was established,and the influence law of the excitation force on the tree root system was analyzed.The theoretical basis was laid for the design of vibratory picking machine.（2）A field survey of walnut plantations was conducted to study and analyze the tree shape characteristics of walnut trees,measure the dimensions of each branch of walnut trees and walnut fruits,determine the physical characteristics of walnut trees and their fruits,and provide data support for the establishment of the solid model of walnut trees.（3）Based on the measured data,the three-dimensional solid model of the walnut tree was established by combining the growth characteristics of the walnut tree,and the analysis of inherent vibration characteristics and forced vibration characteristics of the walnut tree was carried out,and the influence of the dimensions of each part of the walnut tree on the forced vibration characteristics of the walnut tree was studied,and the tree model suitable for the work of the vibratory picker was obtained,and the best working parameters of the vibratory picker were determined based on the analysis results,which provided data support for the the optimum working parameters of the vibratory picker were determined based on the analysis results,which provided support for the design parameters of the vibratory picker.（4）According to the actual picking operation requirements,the picking mode,driving mode and clamping mode of the picker were reasonably determined,and the overall design scheme of the vibratory picker was proposed.（5）The key parts of the vibratory picker were strength checked and optimized to meet the strength requirements of the picker’s picking operation on the basis of reducing the manufacturing materials of the picker and saving the production cost of the picker.The optimized vibratory picker was simulated by using the dynamics analysis software.The results show that the picker designed in this paper works smoothly and can meet the requirements of picking walnut fruits in batches,and the picking effect is good.In this paper,a vibratory walnut picker is designed according to the growth characteristics of walnut trees,the vibration characteristics of walnut trees and the picker,and the operating environment of the picker.The picker can better complete the batch picking operation of walnut fruit,which greatly improves the efficiency of walnut picking operation and provides certain reference value for future research work and similar agricultural machinery and equipment development.