Design and Testing of Shaker Harvester for Dwarf and Densely Planted Walnuts
Aiming at the problems of poor adaptability of harvesting machinery and low picking efficiency of domestic dwarfed and densely planted walnut trees,a crawler walking shaker was created.Firstly,by establishing a tree vibration model and conducting kinematic analysis of the mechanism,the key components of the shaker were designed,and the development of the whole machine was realized.Then vibration tests were carried out by the shaker,and the significance relationship between the vibration parameters and the shedding rate was analyzed by using statistical methods to obtain the lower limit of the vibration parameters to meet the requirements of high shedding rate operation.By analyzing the vibration response under different excitation parameters,the correlation law between the excitation parameters and the shedding rate was given.The excitation parameters that significantly affected the shedding rate were quantified through linear regression and feature importance comparison,and finally the range of excitation parameters was visualized.It was found that within a certain range,the frequency affected the shedding rate more significantly than the amplitude and operation length,and it was difficult to increase the frequency to improve the shedding rate when the amplitude was lower than 60 mm.Finally,the lower limit of the vibration parameter corresponding to a shedding rate of 80％was tested to verify the accuracy and reliability of the results.The research result can provide a theoretical basis for the development of shakers and walnut harvesting operation.It also can provide a reliable range of excitation parameters for future walnut harvesting operations,aiming to improve harvesting efficiency and reduce harvesting costs,and can also guide the development of intelligent shakers and field harvesting operations.
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