中文摘要：

针对当前我国山核桃采摘过程作业难、机械化程度低及存在安全隐患的现状,设计研制了一款适用于复杂地形车辆无法进入的山高、坡陡的多功能高空便携式山核桃采摘设备。为此,阐述了采摘机的总体结构设计方案,给出了采摘伸缩杆、采打机构等关键部件的设计过程,并利用abaqus软件对采摘杆进行有限元模态分析,获得了该系统的前6阶的固有频率及各阶振型图。研究结果表明：系统的1～2阶（54.1～55.2 Hz）模态主要表现为采摘杆整体平动;3～6阶（107.3～184.3Hz）模态表现为采摘杆各部位沿各个方向的振颤及扭转振动,上述系统模态属性,可为系统结构振动特性的描述及整机作业性能的优化提供依据。

英文摘要：

In order to solve the problems of the operational, security and the poor mechanization of the walnut picking work, we developed a multifunctional walnut picking equipment which adapt to the mountain area that the trucks unable to enter. In this paper, we present the design scheme of the prototype for the machine, and give the design parameters for the key parts like telescopic rod and picking mechanism . The finite element modal analysis of the picking rod was de-veloped using the software ABAQUS, the modal figure and first 6 nature frequency of the model was achieved. The re-sults indicated that, the 1-2（54. 1-55. 2Hz） modal frequency mainly performance as overall vibration of the pick rod, 3-6（107. 3-184. 3Hz） modal frequency performance as vibration and torsional vibration of the pick rod parts though dif-ferent directions. The research would help to described the vibration characteristics of the system and could be referred by the similar study in order to improve the working performance.