CN106171086A - Hilly and mountainous land automatic leveling orchard synthetic job platform - Google Patents

Abstract

The present invention relates to a kind of hilly and mountainous land automatic leveling orchard synthetic job platform, including supporting mechanism, elevating mechanism, levelling gear, work platforms, control system and control program；Work platforms can stably be given rise to any operating position of predetermined work scope by the present invention；The adjustable height of work platforms is to realize the flexible of hoist cylinder by the keying of control hoist cylinder control valve to regulate；Levelling gear is the two-stage leveling pattern utilizing control program to preset, single-chip microcomputer passes through angle of inclination and the stroke of displacement transducer detection leveling cyclinder of angular transducer monitoring platform, judge to enter which rank of leveling pattern, then realize the control to leveling ram control valve, realize the leveling of work platforms eventually through leveling cyclinder.The orchard operation platform that the present invention is a kind of stable working, safe and reliable, leveling quality is good, leveling response is fast, is suitable for the special operation environment of hilly and mountainous land.

Description

Hilly and mountainous land automatic leveling orchard synthetic job platform

(1) technical field

The present invention relates to a kind of hilly and mountainous land automatic leveling orchard synthetic job platform, particularly to one for mountain, hills Orchard, ground picking fruit, transport, the lowering or hoisting gear of beta pruning.

(2) background technology

Fruits output and the cultivated area of China all rank first in the world, but orchard is distributed in Hills, orchard mostly Physical features is multiformity, and orchard operation machinery degree is low.The cargo handling operations such as pruning fruit trees, flower thinning shedding, picking fruit mainly depend on Fulfiling assignment by ladder, stool, potential safety hazard is big, and working performance is low, and what therefore orchard operation was mechanical needs day by day to increase.Orchard Job platform plays key player in orchard operation machinery, again to hauling operation, lifting from pruning fruit tree to picking fruit Platform all plays irreplaceable effect.In the face of the orchard planting pattern in hillside fields with a varied topography, many, existing lift work platform It is difficult to meet job requirements, therefore, designs the automatic leveling orchard hoistable platform of a kind of Hills operation for improving machinery Change the level of production, improve working performance significant.

(3) summary of the invention

In order to solve the problems referred to above, the present invention provides a kind of hilly and mountainous land automatic leveling orchard synthetic job platform, platform Possesses automatic flat-adjustable function, to hilly and mountainous land topographic features strong adaptability.The present invention can save manpower, improve power utilization Rate, can realize continuous, high-efficient homework.

A kind of hilly and mountainous land automatic leveling orchard synthetic job platform, including supporting mechanism, elevating mechanism, levelling gear, Work platforms, control system, control software and alarm module；

Described supporting mechanism includes supporting angled seat, vertical arm and transverse arm；Vertical arm is welded above described support angled seat；Transverse arm It is hinged on vertical arm top；

Described elevating mechanism is hoist cylinder；Hinged hoist cylinder rodless cavity earrings in the vertical arm of lower section on the left of transverse arm, Hoist cylinder rod chamber earrings is hinged on lower surface on the right side of transverse arm；The hinged work platforms in transverse arm right side；Can by hoist cylinder To regulate bench height；

Described levelling gear is leveling cyclinder；Below transverse arm in vertical arm below hoist cylinder rodless cavity earrings hinged place Hinged leveling cyclinder rodless cavity earrings, leveling cyclinder rod chamber earrings is hinged on work platforms；Vertical arm, transverse arm, workbench and Leveling cyclinder composition parallelogram sturcutre；

Described control system includes Single Chip Microcomputer (SCM) system, displacement transducer, angular transducer and control valve；Single Chip Microcomputer (SCM) system It is arranged in control box with control valve, controls box and be arranged on the front end of workbench；Described angular transducer is arranged on work and puts down On platform；Displacement transducer is installed on leveling cyclinder；Described Single Chip Microcomputer (SCM) system uses STM32 single-chip microcomputer；Single Chip Microcomputer (SCM) system is divided Do not connect with displacement transducer, degree degree sensor and control valve；Described control valve is by hoist cylinder control valve and leveling cyclinder Control valve forms；Hoist cylinder control valve and leveling cyclinder control valve are equipped with three working positions, and upper control oil cylinder extends, in Position controls oil cylinder locking, and the next oil cylinder that controls shortens；Hoist cylinder control valve and leveling cyclinder control valve by oil pipe respectively with Oil pump, hoist cylinder are connected with leveling cyclinder.Described angular transducer is arranged on work platforms, is used for detecting work platforms Angle of inclination；Described displacement transducer is arranged on leveling cyclinder, for detecting the elongation of leveling cyclinder.

In described Single Chip Microcomputer (SCM) system, storage has control software；Described control software is according to prior art program, in controlling Holding and include grading operation and hillside fields operation two ways: during grading operation, levelling gear utilizes transverse arm and leveling cyclinder composition Parallelogram sturcutre keeps horizontal operation in lifting process, when hillside fields operation, is provided with two-stage leveling pattern, works as operation horizontal When platform angle of inclination is more than 2 ° and less than 20 °, control system obtains leveling cyclinder stroke by displacement transducer and controls leveling Oil cylinder realizes job platform one-level coarse balance, makes job platform angle of inclination be less than 2 °, when operation platform inclination angle is less than When 2 °, utilize angle detection module to realize two grades of accurate levelings of job platform, make job platform angle of inclination within 0.5 °, reach Purpose to job platform leveling.Job platform upward slope leveling process is divided into two stages, is first first leveling of going up a slope, operation horizontal Platform enters the leveling stage after going up a slope, and from geometrical relationship in Fig. 2, leveling cyclinder BE needs to be elongated to BE' and fulfils assignment platform Leveling.BE' calculating formula is:

${\mathrm{BE}}^{\′2}={\mathrm{BC}}^2+{\mathrm{CD}}^2+{\mathrm{DE}}^{\′2}-2BD\×{\mathrm{DE}}^{\′}\×COS(\frac{\mathrm{\π}}{2}-\arctan (\frac{BC}{CD})+{\mathrm{\θ}}_1)$

When job platform carries out lift work on the slope, leveling cyclinder needs to adjust in real time elongation, by several in Fig. 3 What relation understands, and leveling cyclinder is elongated to BE by BE " fulfil assignment platform real-time leveling.

BE " calculating formula is:

${\mathrm{BE}}^{\′\′2}={\mathrm{BD}}^{\′2}+D^{\′}{E}^{\′\′2}-2{\mathrm{BD}}^{\′}\×D^{\′}{E}^{\′\′}\×COS(\frac{\mathrm{\π}}{2}+\mathrm{\θ}-\mathrm{\β}-\arcsin (\frac{BC\×\sin (\frac{\mathrm{\π}}{2}+\mathrm{\β})}{{\mathrm{BD}}^{\′}}\left)\right)$

Same job platform descending leveling process is divided into two stages, is first the leveling of descending elder generation, after job platform descending Entering the leveling stage, from geometrical relationship in Fig. 4, leveling cyclinder BE needs to be elongated to BE₁Fulfil assignment platform erection.

BE₁Calculating formula is:

${{\mathrm{BE}}_1}^2={{\mathrm{CE}}_1}^2+{\mathrm{CB}}^2-2{\mathrm{CE}}_1\×CB\×cos(\frac{\mathrm{\π}}{2}-arcsin(\frac{{\mathrm{DE}}_1\×sin(\frac{\mathrm{\π}}{2}-{\mathrm{\θ}}_2)}{{\mathrm{CE}}_1}\left)\right)$

After the leveling of descending elder generation terminates, when job platform carries out lift work on the slope, leveling cyclinder enters rising-falling tone In the flat stage, from geometrical relationship in Fig. 5, leveling cyclinder is elongated to BE by BE₂Fulfil assignment platform real-time leveling.

BE₂Calculating formula is:

${{\mathrm{BE}}_2}^2={{\mathrm{CE}}_2}^2+{\mathrm{BC}}^2-2\×{\mathrm{CE}}_2\×BC\×cos(\frac{\mathrm{\π}}{2}+{\mathrm{\β}}_1-arcsin(\frac{sin(\frac{\mathrm{\π}}{2}-\mathrm{\θ}-{\mathrm{\β}}_1)\×D_1{E}_2}{{\mathrm{CE}}_2}\left)\right)$

Described alarm control module includes alarm and warning lamp；Alarm and warning lamp are respectively with Single Chip Microcomputer (SCM) system even Connect；Single Chip Microcomputer (SCM) system requires to set job platform maximum tilt angle as 20 ° according to job platform working environment, inclines beyond maximum During rake angle, job platform stops operation and Realtime Alerts.

Beneficial effects of the present invention:

1, the working environment of hilly and mountainous land it is suitable for.The hoistable platform that focuses on of the present invention is provided with automatic leveling oil Cylinder, can be level with real-time ensuring work platforms all the time.

2, bench height can be regulated as required.Workbench working depth is the flexible drive transverse arm by hoist cylinder Rotation thus what lifting work platform realized.

3, any operating position within working range can be the most stably parked in.The opening and closing of control valve can change Hydraulic circuit, utilizes the middle position principle of control valve to realize locking, it is ensured that leveling cyclinder and hoist cylinder when static not by outer load Impact, make any operating position that workbench is stably parked in working range.

4, two grades of accurate levelings of job platform are by constantly detection inclination deviation e (k) and deviation variation rate e_cK (), utilizes Fuzzy controller on-line tuning PID (proportion-integration-differentiation, PID) is controlled Parameter processed, can according to working environment in real time from Row sum-equal matrix pid control parameter with satisfied different e (k) and e_cK the operation of () is wanted Ask, make job platform reach the Con trolling index requirement of " surely ", " accurate ", " soon ", it is achieved two grades of accurate levelings of job platform.

(4) accompanying drawing explanation

Fig. 1 is schematic diagram of the present invention；

Fig. 2 is automatic leveling job platform upward slope leveling schematic diagram 1 of the present invention；

Fig. 3 is automatic leveling job platform upward slope leveling schematic diagram 2 of the present invention；

Fig. 4 is automatic leveling job platform descending leveling schematic diagram 1 of the present invention；

Fig. 5 is automatic leveling job platform descending leveling schematic diagram 1 of the present invention；

In Fig. 1: 1. support angled seat, 2. vertical arm, 3. transverse arm, 4. control box, 5. work platforms, 6. leveling cyclinder, 7. lifting Oil cylinder.

In Fig. 2: θ is ramp angle, θ₁Being work platforms upward slope leveling angle equal to θ, A is tractor hitch point, and B is for adjusting Flat oil cylinder mount point, C is transverse arm and vertical arm mount point, and D is workbench and transverse arm mount point, and E is that leveling cyclinder is pacified with workbench Decorateeing, E' is the workbench after leveling and leveling cyclinder mount point.

In Fig. 3: θ is ramp angle, β be upward slope leveling transverse arm lifting after with lifting leading angle, A is tractor hitch point, B For leveling cyclinder mount point, C is transverse arm and vertical arm mount point, and D is workbench and transverse arm mount point, D' for lifting aftertable with Transverse arm mount point, E is leveling cyclinder and workbench mount point, E " for lifting aftertable and leveling cyclinder mount point.

In Fig. 4: θ is ramp angle, θ₂Being work platforms descending leveling angle equal to θ, A is assumed to be tractor hitch point, B For leveling cyclinder mount point, C is transverse arm and vertical arm mount point, and D is workbench and transverse arm mount point, and E is leveling cyclinder and work Platform mount point, E₁For the workbench after leveling and leveling cyclinder mount point.

In Fig. 5: θ is ramp angle, β₁With lifting leading angle after lifting for descending leveling transverse arm, A is tractor hitch point, B is leveling cyclinder mount point, and C is transverse arm and vertical arm mount point, and D is workbench and transverse arm mount point, D₁For lifting aftertable With transverse arm mount point, E is leveling cyclinder and workbench mount point, E₂For the workbench after leveling and leveling cyclinder mount point.

(5) detailed description of the invention

Present invention is mainly used for the lifting of hilly and mountainous land orchard operation personnel, the device provided according to the present invention, below will The operation principle of hilly and mountainous land automatic leveling orchard of the present invention synthetic job platform is described with reference to Fig. 1.

As it is shown in figure 1, the present invention is formed by with lower part:

(1) supporting mechanism: supporting angled seat 1 is triangular cast-iron, it welds vertical arm 2.Vertical arm 2 upper end is welded to connect ring, For hinged transverse arm 3, vertical arm 2 is welded to connect ring at the 300mm of top, for hinged hoist cylinder rodless cavity earrings, distance It is welded to connect ring, for hinged leveling cyclinder rodless cavity earrings at the 400mm of top；On the left of transverse arm 3, perforate is used for hinged vertical arm 2, Welding one of keeping right at the 400mm in the horizontal direction of transverse arm 3 lower surface connects ring, connects ring hinged hoist cylinder 7 rod chamber earrings, Ring it is welded to connect for hinged work platforms on the right side of transverse arm 3.Thus support whole hoistable platform.

(2) levelling gear: leveling cyclinder 6 by being connected the leveling realized platform with vertical arm 2 and work platforms 5.

(3) elevating mechanism: hoist cylinder 7 is connected with vertical arm 2 and transverse arm 3, it is achieved the lifting of work platforms 5.

(4) control system: realize the control of the leveling to work platforms 5 by controlling box 4.

(5) software is controlled: control system utilizes the control program preset that work platforms 5 is made corresponding leveling strategy.

The invention provides preferred embodiment, below with apple-picking as embodiment, but the scope of the present invention need not be limited:

Embodiment:

Angular transducer described in the present embodiment is MPU6050；Described displacement sensor module uses BOSO Stay wire displacement sensor module；Described Single Chip Microcomputer (SCM) system uses STM32 single-chip microcomputer.The present invention is by supporting mechanism, leveling Mechanism, elevating mechanism, work platforms and control system assemble, during original operating state at work platforms 5 by connecting ring In horizontal level.When work platforms plucks Fructus Mali pumilae on level land, when needing lifting platform 5 according to the requirement of operating personnel, will Hoist cylinder 7 control valve is adjusted to upper, hoist cylinder 7 action, by transverse arm 3, work platforms 5 is risen to operating position, will lifting Control valve is adjusted to middle position, and hoist cylinder is locked, it is achieved the lifting of work platforms 5, reaches the requirement for height of apple-picking, needs fall During low job platform 5, hoist cylinder 7 control valve is adjusted to bottom, hoist cylinder 7 action, by transverse arm 3, work platforms 5 is dropped To operating position, lift controil valve being adjusted to middle position, hoist cylinder is locked, it is achieved the decline of work platforms 5, and Fructus Mali pumilae is plucked on level land It is that the parallel-crank mechanism utilizing transverse arm 3 and hoist cylinder 7 composition realizes leveling, plucks Herba Marsileae Quadrifoliae when job platform enters hillside fields Time really, control system utilizes the leveling method in control program to start working, when entering upward slope and plucking Fructus Mali pumilae, and leveling cyclinder 6 First being elongated to BE' by BE and realize first leveling of going up a slope, when job platform carries out lift work on the slope, leveling cyclinder 6 is by BE' It is elongated to BE " fulfil assignment platform erection, and when entering descending and plucking Fructus Mali pumilae, leveling cyclinder 6 is first elongated to BE by BE₁Under realization The leveling of slope elder generation, when job platform carries out lift work on the slope, leveling cyclinder 6 is by BE₁It is elongated to BE₂Fulfil assignment platform Leveling, the realization of this process is by single-chip microcomputer acquisition angles sensor information and displacement transducer information, and single-chip microcomputer is according to control Software control leveling cyclinder, when angular transducer collect job platform 5 gradient more than 2 ° and less than 20 ° time, enter one-level In the coarse balance stage, coarse balance utilizes displacement transducer detect the linear displacement of leveling cyclinder 6 in real time and then control leveling oil The stroke of cylinder 6, makes job platform 5 angle of inclination less than 2 °, enters two grades of accurate leveling stages, enter the accurate leveling stage, Angle acquisition sensor Real-time Collection angle information, single-chip microcomputer makes corresponding action according to angle information, by controlling leveling The keying of oil cylinder 6 control valve realizes the up and down motion of leveling cyclinder 6 and makes the horizontal operation of job platform holding, completes work platforms 5 Horizontal job requirements.Work completes, and successively leveling cyclinder control valve and hoist cylinder control valve is adjusted to bottom, until each oil Cylinder recovers initialization position, then three control valves are adjusted to middle position, makes oil cylinder maintain the lock status.

Present invention achieves job platform automatic flat-adjustable function, it is ensured that the safety of operating personnel, improve operating personnel Work efficiency, the raising of orchard operation machinery automatization level is had significance.

The foregoing is only the preferable case study on implementation of the present invention, not in order to limit the present invention, all spirit in the present invention Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (2)

1. a hilly and mountainous land automatic leveling orchard synthetic job platform, it is characterised in that include supporting mechanism, elevating mechanism, tune Flattening mechanism, work platforms, control system, control software and alarm module；

Described supporting mechanism includes supporting angled seat, vertical arm and transverse arm；Vertical arm is welded above described support angled seat；Transverse arm is hinged At vertical arm top；

Described elevating mechanism is hoist cylinder；Hinged hoist cylinder rodless cavity earrings in the vertical arm of lower section, lifting on the left of transverse arm Cylinder rod chamber earrings is hinged on lower surface on the right side of transverse arm；The hinged work platforms in transverse arm right side；Can be adjusted by hoist cylinder Joint bench height；

Described levelling gear is leveling cyclinder；Below transverse arm hinged in vertical arm below hoist cylinder rodless cavity earrings hinged place Leveling cyclinder rodless cavity earrings, leveling cyclinder rod chamber earrings is hinged on work platforms；Vertical arm, transverse arm, workbench and leveling Oil cylinder composition parallelogram sturcutre；

Described control system includes Single Chip Microcomputer (SCM) system, displacement transducer, angular transducer and control valve；Single Chip Microcomputer (SCM) system and control Valve processed is arranged in control box, controls box and is arranged on the front end of workbench；Described angular transducer is arranged on work platforms； Displacement transducer is installed on leveling cyclinder；Single Chip Microcomputer (SCM) system connects with displacement transducer, degree degree sensor and control valve respectively； Described control valve is made up of hoist cylinder control valve and leveling cyclinder control valve；Hoist cylinder control valve and leveling cyclinder control Valve is equipped with three working positions, and upper control oil cylinder extends, and middle position controls oil cylinder locking, and the next oil cylinder that controls shortens；Lifting oil Cylinder control valve is connected with oil pump, hoist cylinder and leveling cyclinder by oil pipe respectively with leveling cyclinder control valve；Described angle Sensor is arranged on work platforms, for detecting the angle of inclination of work platforms；Described displacement transducer is arranged on leveling On oil cylinder, for detecting the elongation of leveling cyclinder；

In described Single Chip Microcomputer (SCM) system, storage has control software；Described control software, according to prior art program, controls content bag Including grading operation and hillside fields operation two ways: during grading operation, levelling gear utilizes transverse arm parallel with what leveling cyclinder formed Quadrilateral structure keeps horizontal operation in lifting process, when hillside fields operation, is provided with two-stage leveling pattern, when job platform inclines When rake angle is more than 2 ° and less than 20 °, control system obtains leveling cyclinder stroke by displacement transducer and controls leveling cyclinder Realize job platform one-level coarse balance, make job platform angle of inclination be less than 2 °, when operation platform inclination angle is less than 2 °, Utilize angle detection module to realize two grades of accurate levelings of job platform, make job platform angle of inclination within 0.5 °, reach to make The purpose of industry platform erection；Job platform upward slope leveling process is divided into two stages, is first first leveling of going up a slope, on job platform Entering the leveling stage behind slope, leveling cyclinder BE needs to be elongated to BE' and fulfils assignment platform erection；BE' calculating formula is:

${\mathrm{BE}}^{\′2}={\mathrm{BC}}^2+{\mathrm{CD}}^2+{\mathrm{DE}}^{\′2}-2BD\×{\mathrm{DE}}^{\′}\×COS(\frac{\mathrm{\π}}{2}-\arctan (\frac{BC}{CD})+{\mathrm{\θ}}_1)$

When job platform carries out lift work on the slope, leveling cyclinder needs to adjust in real time elongation, and leveling cyclinder is by BE It is elongated to BE " fulfil assignment platform real-time leveling；

BE " calculating formula is:

${\mathrm{BE}}^{\′\′2}={\mathrm{BD}}^{\′2}+D^{\′}{E}^{\′\′2}-2{\mathrm{BD}}^{\′}\×D^{\′}{E}^{\′\′}\×COS\left(\frac{\mathrm{\π}}{2}+\mathrm{\θ}-\mathrm{\β}-\arcsin \left(\frac{BC\×\sin \left(\frac{\mathrm{\π}}{2}+\mathrm{\β}\right)}{{\mathrm{BD}}^{\′}}\right)\right)$

Same job platform descending leveling process is divided into two stages, is first the leveling of descending elder generation, enters after job platform descending In the leveling stage, leveling cyclinder BE needs to be elongated to BE₁Fulfil assignment platform erection；

BE₁Calculating formula is:

${{\mathrm{BE}}_1}^2={{\mathrm{CE}}_1}^2+{\mathrm{CB}}^2-2{\mathrm{CE}}_1\×CB\×cos(\frac{\mathrm{\π}}{2}-\arcsin (\frac{{\mathrm{DE}}_1\×sin(\frac{\mathrm{\π}}{2}-{\mathrm{\θ}}_2)}{{\mathrm{CE}}_1}\left)\right)$

After the leveling of descending elder generation terminates, when job platform carries out lift work on the slope, leveling cyclinder enters lifting leveling rank Section, leveling cyclinder is elongated to BE by BE₂Fulfil assignment platform real-time leveling；

BE₂Calculating formula is:

${{\mathrm{BE}}_2}^2={{\mathrm{CE}}_2}^2+{\mathrm{BC}}^2-2\×{\mathrm{CE}}_2\×BC\×cos(\frac{\mathrm{\π}}{2}+{\mathrm{\β}}_1-\arcsin (\frac{sin(\frac{\mathrm{\π}}{2}-\mathrm{\θ}-{\mathrm{\β}}_1)\×D_1{E}_2}{{\mathrm{CE}}_2}\left)\right)$

Described alarm control module includes alarm and warning lamp；Alarm and warning lamp are connected with Single Chip Microcomputer (SCM) system respectively；Single Sheet machine system requires to set job platform maximum tilt angle as 20 °, beyond allowable angle of inclination according to job platform working environment When spending, job platform stops operation and Realtime Alerts.

2. a kind of hilly and mountainous land automatic leveling orchard as claimed in claim 1 synthetic job platform, it is characterised in that described Single Chip Microcomputer (SCM) system uses STM32 single-chip microcomputer.