CN106612671A - Intelligent multifunctional hillside orchard operation platform - Google Patents
Intelligent multifunctional hillside orchard operation platform Download PDFInfo
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- CN106612671A CN106612671A CN201611051599.7A CN201611051599A CN106612671A CN 106612671 A CN106612671 A CN 106612671A CN 201611051599 A CN201611051599 A CN 201611051599A CN 106612671 A CN106612671 A CN 106612671A
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- job platform
- leveling
- platform
- horizontal wall
- workbench
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/20—Platforms with lifting and lowering devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Forklifts And Lifting Vehicles (AREA)
Abstract
The invention relates to an intelligent multifunctional hillside orchard operation platform. The intelligent multifunctional hillside orchard operation platform comprises a travelling mechanism, a drive device, a supporting mechanism, a lifting mechanism, a cross slope leveling mechanism, a longitudinal slope leveling mechanism, a workbench and an automatic control system, wherein the lifting mechanism comprises a hoist cylinder, a setsquare, a lower supporting seat and a junction plate; the leveling mechanisms comprise a longitudinal slope leveling cylinder and a cross slope leveling cylinder; the supporting mechanism comprises a supporting angle seat, a vertical arm and a cross arm; a control box comprises a control system and a control valve set. According to the intelligent multifunctional hillside orchard operation platform, through the adoption of a wireless transmission mode, a detection signal and a control signal can be transmitted between a sensor and an upper computer, and thus control over obstacles in the operation platform and active and safe early warning of slope work can be achieved; meanwhile, the intelligent multifunctional hillside orchard operation platform can adapt to a special work environment of hilly and mountainous regions.
Description
(1) technical field
The present invention relates to a kind of intelligent multi-function hillside orchard job platform, more particularly to a kind of for hilly and mountainous land fruit
The management platform of garden picking fruit, beta pruning, auxiliary bagging and fruits transport.
(2) background technology
With the adjustment of continuing to optimize of China's agricultural structure, industry of planting forest or fruit tress has become an important way of farmer richness
Footpath.Woods fruit planting industry develops the market demand for greatly improving Machinery for orchard rapidly.But hills mountain is distributed in industry of planting forest or fruit tress more
Area, geographical environment is complicated, and security and stability is poor in equipment operation process, it has also become serious restriction Tendency of Agricultural Machinery in China level is complete
The bottleneck that face is improved.Therefore develop be suitable for hilly and mountainous land intelligent multi-function orchard management machinery it is particularly important.
The elevating mechanism species that can be used in hilly and mountainous land orchard operation at present is little.At the beginning of 21 century, developed country from
Family to public lawn all realizes do mechanization operation, and to higher development.With regard to orchard management operation such as flower thinning, harvesting etc.
For, the mainly U.S. of earliest production management platform, Australian and Japan.External orchard picking mechanism it is overall without
Platform erection structure, it is relatively flat and without the orchard for substantially rising and falling that this also causes this mechanism's range of application to be confined to landform.In
The development of state's industry of planting forest or fruit tress production mechanization is later.While Introduced From Abroad machinery, orchard extirpator, fruit are have developed successively
Garden wind send atomizing sprayer etc., promotes the development of Machinery for orchard.Orchard worker plucks operation still to climb tree or by Simple ladder hand
Based on work is plucked, do mechanization operation is substantially at blank.Therefore, research and develop a kind of orchard management for being capable of multifunctional management to put down
Development of the platform to China's industry of planting forest or fruit tress and national economy has extremely important realistic meaning.
(3) content of the invention
In order to solve the above problems, the present invention provides a kind of intelligent multi-function hillside orchard job platform, and platform is adopted
The mode transmission information being wirelessly transferred, possesses horizontal wall inscription leveling and longitudinal gradient levelling function, to hilly and mountainous land topographic features strong adaptability.
The present invention can save manpower, improve power utilization rate, be capable of achieving continuous, high-efficient homework.
A kind of intelligent multi-function hillside orchard job platform, including walking mechanism, driving means, support mechanism, lifting
Mechanism, horizontal wall inscription levelling gear, longitudinal gradient levelling gear, workbench, controlling organization and automatic control system；
Described walking mechanism is realized using prior art, mainly including driving wheel, thrust wheel, directive wheel, crawler belt and bottom
Frame；
Described elevating mechanism, levelling gear and support mechanism are two sets, two sets of elevating mechanisms, levelling gear and load-bearing
Mechanism is symmetricly set on the underframe rear both sides of the walking mechanism；
Described elevating mechanism includes hoist cylinder, lower support base and connecting plate；
Described levelling gear includes longitudinal gradient leveling cyclinder and horizontal wall inscription leveling cyclinder；
Described support mechanism includes load-bearing angled seat, vertical beam and crossbeam；Described vertical beam is vertically mounted in load-bearing angled seat；
Hoist cylinder cylinder barrel is hinged in the load-bearing angled seat of vertical beam side；Described crossbeam front end is hinged on vertical beam upper end；Hoist cylinder
Piston rod is hinged on crossbeam rear end bottom；Crossbeam rear inside is hinged horizontal wall inscription leveling cyclinder cylinder barrel；Crossbeam upper rear end is hinged down
Support base；Horizontal wall inscription leveling cyclinder piston rod is hinged on lower support base；It is right that main workbench both sides are hinged on respectively by connecting plate
On the lower support base answered；The main workbench of connecting plate upper articulation；Support base left side central portion under connecting plate lower hinge；Longitudinal gradient leveling
Cylinder piston rod is hinged on lower support base upper rear end；Longitudinal gradient leveling cyclinder cylinder barrel is hinged on connecting plate；
Underframe both sides are provided with left and right two symmetrical elevating mechanisms, support mechanism and levelling gears, make workbench more steady
It is fixed firm.
Described workbench includes main workbench and side workbench；Described side workbench is symmetrically arranged at main workbench
Arranged on left and right sides；Main workbench lower surface is provided with slideway, and side workbench bottom is provided with pulley, and pulley is mounted in slideway；Side workbench
Can horizontally slip along slideway, to adjust the working width of workbench；Be articulated and connected plate in the middle part of main workbench lower end；
Described controlling organization includes control system and control valve group, installed in main workbench upper end；
Described driving means can be realized using prior art, mainly including engine, gearbox and drive shaft；
Described control system includes upper computer control system, wireless transmitting system and lower computer control system；
Described control valve group connects respectively with SCM system and hoist cylinder, horizontal wall inscription leveling cyclinder, longitudinal gradient leveling cyclinder
Connect；
Described control valve group controls valve, horizontal wall inscription leveling cyclinder control valve and longitudinal gradient leveling cyclinder control valve by hoist cylinder
Composition, hoist cylinder control valve, horizontal wall inscription leveling cyclinder control valve and longitudinal gradient leveling cyclinder control valve respectively with hoist cylinder, horizontal wall inscription
Leveling cyclinder, the connection of longitudinal gradient leveling cyclinder；Each ram control valve is equipped with upper, middle position and the next three working positions, control
The operation of whole platform is upper for control cylinder elongation, and middle position is the next for control cylinder shortening for control cylinder locking.
The upper computer control system is industrial computer or computer, and upper computer control system is by wireless transmitting system and bottom
Machine center processor module enters row information exchange, and upper computer control system shows in real time the three-dimensional perspective of job platform, before machine
The distance of square barrier, by lower computer control system job platform leveling is controlled, and realizes the motion of control orchard operation platform
Attitude；
Described wireless transmitting system includes sending module and receiver module；The center processor of sending module and slave computer
Module connects, and receiver module is connected with upper computer control system；
Described lower computer control system includes information acquisition module, center processor module, performing module；Described information
Acquisition module include ultrasonic sensor, pressure sensor and acceleration transducer, ultrasonic sensor, pressure sensor and add
Velocity sensor is connected respectively with center processor module；Described ultrasonic sensor is installed on job platform front, is used for
The distance between detection barrier and job platform；Described pressure sensor is arranged on job platform tire, for detecting
Locomotive wheel pressure value；Described acceleration transducer is arranged on job platform downside, for the three dimensional angular of Collecting operation platform
Degree；The center processor module selects STM32 single-chip microcomputers, and STM32 single-chip microcomputers are by wireless transmitting system and PC control
System connects；Distance, job platform of the job platform of center processor module processing information acquisition module collection to barrier
Tire pressure and job platform angle information, and angle information is included in upper computer control system by wireless transport module
On；The performing module includes relay and the LED alarm lamp being connected respectively with center processor module, relay and operation horizontal
The magnetic valve connection of platform, center processor module control relay break-make further realizes the switch of magnetic valve；When job platform is met
During to obstacle, ultrasonic sensor detects the distance with barrier, after center processor module collection range information, by control
Hydraulic motor travel motor of the switch and then control of manufacturing platform magnetic valve on job platform, before realizing job platform
Enter turning backward, so as to effective avoiding obstacles；When job platform is in domatic operation, acceleration transducer detection operation platform
Angle of inclination, center processor module according to collection angle information, by control job platform magnetic valve opening and closing further
Leveling cyclinder of the control on job platform, keeps the horizontal operation of job platform；When job platform ramp angle is more than work
Industry platform safety angle, LED alarm lamp is bright, reminds staff to stop operation, and realizes active forewarning control；Pressure sensor reality
When detection operation platform tire pressure, when job platform tire pressure value be less than normal tire pressure when, staff is reminded in time, with
Exempt from the contingencies such as overturning.
Be stored with leveling control software in described center processor module；The leveling control software is according to prior art
Programming, leveling control content includes the operation of job platform horizontal wall inscription and longitudinal gradient operation two ways；
When job platform is in horizontal wall inscription operation, job platform enters the upward slope leveling stage, from geometrical relationship in Fig. 4,
Horizontal wall inscription leveling cyclinder length AB needs to be elongated to AB' and fulfils assignment platform erection.
AB' calculating formulas are：
AB'2=OA2+OC2+B'C2-2B'C(OC×sinφ+OA×cosφ)
Same job platform enters the descending leveling stage, and from geometrical relationship in Fig. 5, horizontal wall inscription leveling cyclinder length AB is needed
It is elongated to AB " fulfil assignment platform erection.
AB " calculating formulas are：
AB”2=OA2+OC2+B”C2-2B”C(OC×sinφ+OA×cosφ)
When job platform is in longitudinal gradient operation, job platform enters the leveling stage, from geometrical relationship in Fig. 6, longitudinal gradient
Leveling cyclinder length DE needs to be elongated to DE' and fulfils assignment platform erection.
DE' calculating formulas are：
The distance between each point is long measure in above-mentioned formula；θ is job platform angle of inclination, and unit is degree, Φ
For workbench upward slope leveling angle, understand that Φ is equal to θ by geometric relationship in figure, A is horizontal wall inscription leveling cyclinder on crossbeam
Mount point, B is horizontal wall inscription leveling cyclinder and job platform mount point, and C is job platform and crossbeam mount point, and O is crossbeam right-hand member
Point, B' is horizontal wall inscription leveling cyclinder and job platform mount point after leveling；B " is that horizontal wall inscription leveling cyclinder is pacified with job platform after leveling
Decorate；β be workbench upward slope leveling angle, by Tu Zhong geometry mechanism relation know β be equal to θ, D be longitudinal gradient leveling cyclinder with lower
The mount point of support seat；E is the mount point of longitudinal gradient leveling cyclinder and job platform, and F is job platform and the mount point of connecting plate, G
For the mount point of connecting plate and lower support base, E' is the mount point of longitudinal gradient leveling cyclinder and job platform after leveling.
The present invention is suitable for the operating environment of hilly and mountainous land.Present invention focuses on using wireless transmission method letter will be detected
Number and control signal mutually transmitted between sensor and host computer, realize that job platform meets barrier and domatic operation is actively pacified
Full early warning control.
The hoistable platform of the present invention is designed with automatic leveling oil cylinder, including longitudinal gradient leveling cyclinder and horizontal wall inscription leveling cyclinder, can
All the time it is level with real-time ensuring workbench.
The achievable one man operation of the present invention can complete forward-reverse, and lift work is realized beta pruning, auxiliary bagging and adopted
Pluck and the multinomial orchard management task such as fruits transport.
The present invention can as needed adjustment work platform height.Workbench working depth is the flexible drive by hoist cylinder
What the rotation of crossbeam was realized so as to lifting working bench.
The present invention can adjustment work platform as needed width.Workbench includes main workbench and two side workbench, can
To ensure that two operating personnels work simultaneously, according to the elongation of the requirement real-time adjustment both sides platform of operating environment.
The present invention can stably be parked in as needed any operating position within working range.The opening and closing of control valve group can
To change hydraulic circuit, locking is realized using the middle position principle of valve, it is ensured that hydraulic cylinder is not affected by outer load when static, makes work
Make any operating position that platform is stably parked in working range.
It is of the invention compared with existing orchard platform, also have the characteristics that：
With dynamical system, walking mechanism being capable of complete independently operation, it is not necessary to which outside provides power；The present invention is newly-increased
Longitudinal gradient levelling gear, enables job platform comprehensive without dead angle leveling, it is ensured that operating personnel is in all the time horizontal job state；
Newly-increased side workbench, operation amplitude, working area is increased, and can simultaneously allow two staff's work, improves operation effect
Rate；
Newly-increased wireless transport module, upper computer control system exchanges information more efficient and convenient, it is to avoid wiring is lengthy and jumbled；
Newly-increased avoidance pattern, can actively avoid preceding object thing distance；Newly-increased active forewarning control model, active preventive management platform
Overturn, so as to avoid an accident.
(4) illustrate
Fig. 1 is front view of the present invention；
Fig. 2 is left view of the present invention；
Fig. 3 is axonometric drawing of the present invention.
Fig. 4 is horizontal wall inscription leveling job platform upward slope leveling schematic diagram of the present invention；
Fig. 5 is horizontal wall inscription leveling job platform descending leveling schematic diagram of the present invention；
Fig. 6 is longitudinal gradient leveling job platform leveling schematic diagram of the present invention；
Fig. 1, in 2：1. thrust wheel, 2. driving wheel, 3. underframe, 4. engine, 5. vertical beam, 6. crossbeam, 7. controlling organization, 8.
Horizontal wall inscription leveling cyclinder, 9. descends support base, 10. hoist cylinder, 11. directive wheels, 12. crawler belts, 13. load-bearing angled seats, 14. drive shafts,
15. gearboxes, 16. longitudinal gradient leveling cyclinders, 17. main workbench, 18. side workbench, 19. connecting plates.
In Fig. 4：θ is job platform angle of inclination, and Φ workbench upward slope leveling angles, A is horizontal wall inscription leveling cyclinder in horizontal stroke
Mount point on beam, B is horizontal wall inscription leveling cyclinder and job platform mount point, and C is job platform and crossbeam mount point, and O is crossbeam
Right endpoint, B' is horizontal wall inscription leveling cyclinder and job platform mount point after leveling.
In Fig. 5：θ is job platform angle of inclination, and Φ workbench descending leveling angles, A is horizontal wall inscription leveling cyclinder in horizontal stroke
Mount point on beam, B is horizontal wall inscription leveling cyclinder and job platform mount point, and C is job platform and crossbeam mount point, and O is crossbeam
Right endpoint, B " is horizontal wall inscription leveling cyclinder and job platform mount point after leveling.
In Fig. 6：θ be job platform angle of inclination, β workbench upward slope leveling angles, D be longitudinal gradient leveling cyclinder with lower
The mount point of support seat, E is the mount point of longitudinal gradient leveling cyclinder and job platform, and F is job platform and the mount point of connecting plate, G
For the mount point of connecting plate and lower support base, E' is the mount point of longitudinal gradient leveling cyclinder and job platform after leveling.
(5) specific embodiment
Present invention is mainly used for the lifting of hilly and mountainous land orchard operation personnel, the device of offer of the invention, below
The operation principle of intelligent multi-function hillside orchard job platform of the present invention will be illustrated with reference to Fig. 1, Fig. 2 and Fig. 3.
As shown in Figure 1, Figure 2 and Figure 3, the present invention is made up of following part：
(1) support mechanism：Load-bearing angled seat 13 is triangular cast-iron, and ring is welded to connect thereon for being hinged the cylinder of hoist cylinder 10
Cylinder reserves the installing space of vertical beam 5 simultaneously.The upper end of vertical beam 5 is welded to connect ring, for being hinged crossbeam 6；The left side perforate of crossbeam 6 is used for
Vertical beam 5 is hinged, the lower surface of crossbeam 6 is kept right weld a hangers in the horizontal direction, and hangers is hinged the piston rod of hoist cylinder 10, horizontal
A hangers is welded in the upper surface of beam 6 side that keeps left in the horizontal direction, and hangers is hinged the cylinder barrel of longitudinal gradient leveling cyclinder 16.So as to support
Whole hoistable platform.
(2) horizontal wall inscription levelling gear：Horizontal wall inscription leveling cyclinder 8 with the connection of crossbeam 6 and lower support base 9 by realizing to platform
Horizontal wall inscription leveling.
(3) longitudinal gradient levelling gear：Longitudinal gradient leveling cyclinder 16 is right by realizing with the connection of lower support base 9 and main workbench 17
The longitudinal gradient leveling of platform.
(4) elevating mechanism：Hoist cylinder 10 is connected with load-bearing angled seat 13 and crossbeam 6, and crossbeam 6 is connected to lower support base 9, leads to
Cross connecting plate 19 and realize that lower support base 9 is connected with main workbench 17, finally complete the lifting of workbench 17 and 18.
(5) workbench extension mechanism：Side workbench 18 is realized being connected by the slideway with the lower surface of main workbench 17, needs
When workbench extends, side workbench 18 can slidably reciprocate, and realize the extension of workbench.
(6) control system：The angle of inclination of main work flat 17 is measured by angular transducer first, then by single-chip microcomputer
The programme-control solenoid directional control valve of setting, by solenoid directional control valve control horizontal wall inscription leveling cyclinder 8 and the working position of longitudinal gradient leveling cyclinder 16,
Finally realize the leveling of workbench.Manual leveling and self-leveling conversion can also be realized by controlling organization 7.
Concrete connected mode is as follows：
Described support mechanism includes load-bearing angled seat 13, vertical beam 5 and crossbeam 6；Described elevating mechanism includes hoist cylinder
10th, lower support base 9 and connecting plate 19；Described horizontal wall inscription levelling gear includes left and right horizontal wall inscription leveling cyclinder 8；Described longitudinal gradient leveling
Mechanism includes longitudinal gradient leveling cyclinder 16；Described workbench includes main workbench 17, side workbench 18 and controlling organization 7；Institute
The automatic control system stated includes upper computer control system, wireless transmitting system and lower computer control system；Walking mechanism is adopted
Prior art is realized, mainly including driving wheel 2, thrust wheel 1, directive wheel 11, crawler belt 12 and underframe 3；Described driving wheel 2 and drive
Moving axis 14 connects, and driving wheel 2 drives crawler belt 12 to move forward and backward；Described thrust wheel 1 is connected with underframe 3, for supporting whole work
The weight of industry platform；Described directive wheel 11 is connected with underframe 3, controls the direction of motion of job platform；12 points of described crawler belt
It is not connected with thrust wheel 1, directive wheel 11, driving wheel 2；Described underframe 3 is welded by direction pipe, respectively with drive shaft 14, speed change
Case 15, engine 4 connect；Described engine 4 is connected transmission power with the belt of gearbox 15；Described gearbox 15 and driving
Axle 14 is connected by gear, drives job platform motion；Described load-bearing angled seat 13 is triangular in shape, is connected with base, welds thereon
Connection ring is connect for being hinged the cylinder barrel of hoist cylinder 10 while reserving the installing space of vertical beam 5；The described upper end of vertical beam 5 is welded to connect
Ring, for being hinged crossbeam 6；The described left side perforate of crossbeam 6 is used to be hinged vertical beam 5, and the lower surface of crossbeam 6 is kept right in the horizontal direction
One hangers of welding, hangers is hinged the piston rod of hoist cylinder 10, and an extension is welded in the upper surface of crossbeam 6 side that keeps left in the horizontal direction
Ear, hangers is hinged the cylinder barrel of longitudinal gradient leveling cyclinder 16；Described lower support base 9 is formed with square tubes soldering, before and after lower support base 9
The two ends You Liangge holes of two square tubes, for installing the cylinder barrel of longitudinal gradient leveling cyclinder 16, in the centre of Qian Hou square tube boss are provided with,
Be articulated and connected plate 19, in the central aperture of two square tubes in left and right of lower support base 9, is connected with crossbeam 6；Described connecting plate 19 is
Triangular cast-iron, is provided with down thereon five holes, and lower end Liang Ge holes are hinged the piston cylinder of longitudinal gradient leveling cyclinder 16, the hole hinge of upper end three
Connect main workbench 17；Weld two in the described square tubes soldering of main workbench 17, the lower end center line left and right sides of main workbench 17
Rectangle cast iron, is uniformly distributed thereon three holes, and be articulated and connected plate 19, and the lower surface left and right sides of main workbench 17 is welded with two cunnings
Road, horizontally slips for two side workbench 18 along slideway, and controlling organization 7 is installed in the upper end of main workbench 17；Put down in described left side
Platform and dextral platform are symmetrical structures, and the support square tubes soldering of side workbench 18, base cylinder iron, in cast iron both sides groove is provided with
Small wheels are installed, enable small wheels to slide in the slideway of main workbench 17；
The invention provides preferred embodiment, below with apple-picking as embodiment, but without limiting the scope of the present invention：
Case study on implementation：
Angular transducer described in the present embodiment uses the full temperature compensation superhigh precision simulation output type angles of AVT2800T
Degree sensor, described single-chip microcomputer uses STM32 SCM systems；Described sending module and receiver module is selected
WLK01L39 wireless transport modules, using 433M communications bands；Described control valve group uses solenoid directional control valve 34BO-
H10B-T.The present invention by walking mechanism, driving means, supporting mechanism, elevating mechanism, horizontal wall inscription levelling gear, longitudinal gradient levelling gear,
Workbench and automatic control system are assembled by securing member, and each control valve is in middle position during original operating state.Work
Personnel pluck apple when, by side workbench 18 stretch out permission two operator stations on workbench.Job platform works
When, touch-screen shows the three-dimensional perspective of job platform, preceding object thing distance, while allowing to arrange job platform on the touchscreen
Forward-reverse etc., realizes the motion of job platform.Job platform realizes automatic leveling by angular transducer, and main work is measured first
Make the deviation angle laterally and longitudinally of platform 17, then by the corresponding solenoid directional control valve work of Single-chip Controlling, realize workbench
Leveling, now the table top of main workbench 17 is in level, then leveling control valve is adjusted to into middle position, leveling cyclinder locking.With operation horizontal
Platform is in as a example by horizontal wall inscription leveling, when job platform goes up a slope, by known quantity AB=30cm, OA=40cm, OC=20cm, B'C=
20cm, Φ=20 °；According to computing formula AB'2=OA2+OC2+B'C2- 2B'C (OC × sin φ+OA × cos φ) can obtain AB'=
24.96cm；So horizontal wall inscription leveling cyclinder 8 needs to shorten AB-AB'=5.04cm, job platform is in horizontal job state；As
During industry platform descending, by known quantity AB=30cm, OA=40cm, OC=20cm, B " C=20cm, Φ=20 °；It is public according to calculating
Formula AB "2=OA2+OC2+B”C2- 2B " C (OC × sin φ+OA × cos φ) can obtain AB "=24.96cm；So horizontal wall inscription leveling is oily
Cylinder 8 needs to shorten AB-AB "=5.04cm, job platform is in horizontal job state；It is in longitudinal gradient leveling with job platform
Example, when job platform goes up a slope, by known quantity DE=35cm, DG=40cm, DF=50cm, GF=30cm, E'F=20cm, β=
20°；According to computing formulaDE'=42.5cm can be obtained；Institute
Need to extend DE'-DE=7.5cm with longitudinal gradient leveling cyclinder 16, job platform is in horizontal job state；According to operating personnel's
When requirement needs to be lifted main workbench 17, hoist cylinder 10 is controlled into valve and is adjusted to upper, the action of hoist cylinder 10, by crossbeam 6
Main workbench 17 is risen to into operating position, lift controil valve is adjusted to into middle position, the act of main workbench 17 is realized in hoist cylinder locking
Rise, when needing to reduce main workbench 17, hoist cylinder 10 is controlled into valve and is adjusted to bottom, the action of hoist cylinder 10 will by crossbeam 6
Main workbench 17 is down to operating position, and lift controil valve is adjusted to into middle position, hoist cylinder locking, under realizing main workbench 17
Drop, angular transducer is constantly in working condition, the angle of inclination of the main workbench 17 of real-time monitoring, when main workbench during this
17 in obliquity when, the work of corresponding solenoid directional control valve realizes work by horizontal wall inscription leveling cyclinder 8 and longitudinal gradient leveling cyclinder 16
Make the leveling of platform.
Claims (3)
1. a kind of intelligent multi-function hillside orchard management platform, it is characterised in that including walking mechanism, driving means, load-bearing machine
Structure, elevating mechanism, horizontal wall inscription levelling gear, longitudinal gradient levelling gear, workbench, controlling organization and automatic control system；
Described elevating mechanism, levelling gear and support mechanism are two sets, two sets of elevating mechanisms, levelling gear and support mechanisms
It is symmetricly set on the underframe rear both sides of the walking mechanism；
Described elevating mechanism includes hoist cylinder, lower support base and connecting plate；
Described levelling gear includes longitudinal gradient leveling cyclinder and horizontal wall inscription leveling cyclinder；
Described support mechanism includes load-bearing angled seat, vertical beam and crossbeam；Described vertical beam is vertically mounted in load-bearing angled seat；It is described
Hoist cylinder cylinder barrel is hinged in the load-bearing angled seat of vertical beam side；Described crossbeam front end is hinged on vertical beam upper end；Hoist cylinder
Piston rod is hinged on crossbeam rear end bottom；Crossbeam rear inside is hinged horizontal wall inscription leveling cyclinder cylinder barrel；Crossbeam upper rear end is hinged down
Support base；Horizontal wall inscription leveling cyclinder piston rod is hinged on lower support base；It is right that main workbench both sides are hinged on respectively by connecting plate
On the lower support base answered；The main workbench of connecting plate upper articulation；Support base left side central portion under connecting plate lower hinge；Longitudinal gradient leveling
Cylinder piston rod is hinged on lower support base upper rear end；Longitudinal gradient leveling cyclinder cylinder barrel is hinged on connecting plate；
Described workbench includes main workbench and side workbench；Described side workbench is symmetrically arranged at the left and right of main workbench
Both sides；Main workbench lower surface is provided with slideway, and side workbench bottom is provided with pulley, and pulley is mounted in slideway；Side workbench energy edge
Slideway horizontally slips, to adjust the working width of workbench；Be articulated and connected plate in the middle part of main workbench lower end；
Described controlling organization includes control system and control valve group, installed in main workbench upper end；
Described driving means include engine, gearbox and drive shaft；
Described control system includes upper computer control system, wireless transmitting system and lower computer control system；
Described control valve group is connected respectively with SCM system and hoist cylinder, horizontal wall inscription leveling cyclinder, longitudinal gradient leveling cyclinder；
Described control valve group controls valve, horizontal wall inscription leveling cyclinder control valve and longitudinal gradient leveling cyclinder control valve group by hoist cylinder
Into hoist cylinder control valve, horizontal wall inscription leveling cyclinder control valve and longitudinal gradient leveling cyclinder control valve are adjusted respectively with hoist cylinder, horizontal wall inscription
Flat oil cylinder, the connection of longitudinal gradient leveling cyclinder；Each ram control valve is equipped with upper, middle position and the next three working positions, controls whole
The operation of individual platform is upper for control cylinder elongation, and middle position is the next for control cylinder shortening for control cylinder locking；
The upper computer control system is industrial computer or computer, and upper computer control system is by wireless transmitting system and slave computer
Heart processor module enters row information exchange, and upper computer control system shows in real time the three-dimensional perspective of job platform, machine front barrier
Hinder the distance of thing, job platform leveling is controlled by lower computer control system, realize the athletic posture of control orchard operation platform；
Described wireless transmitting system includes sending module and receiver module；The center processor module of sending module and slave computer
Connection, receiver module is connected with upper computer control system；
Described lower computer control system includes information acquisition module, center processor module, performing module；Described information is gathered
Module includes ultrasonic sensor, pressure sensor and acceleration transducer, ultrasonic sensor, pressure sensor and acceleration
Sensor is connected respectively with center processor module；Described ultrasonic sensor is installed on job platform front, for detecting
The distance between barrier and job platform；Described pressure sensor is arranged on job platform tire, for detecting locomotive
Pressure wheel force value；Described acceleration transducer is arranged on job platform downside, for the three-dimensional perspective of Collecting operation platform；In
Heart processor module is connected by wireless transmitting system with upper computer control system；Center processor module processing information gathers mould
The job platform of block collection and is believed angle to the angle information of the distance, the tire pressure of job platform and job platform of barrier
Breath is displayed in upper computer control system by wireless transport module；The performing module includes distinguishing with center processor module
The relay and LED alarm lamp of connection, relay is connected with the magnetic valve of job platform, center processor module control relay
Break-make further realizes the switch of magnetic valve, to realize the advance of job platform, retreat or steering, with avoiding obstacles；Work as operation
Platform in domatic operation, the angle of inclination of acceleration transducer detection operation platform, center processor module according to collection
Angle information, by controlling the leveling cyclinder of the opening and closing and then control of job platform magnetic valve on job platform, keeps
The horizontal operation of job platform；When job platform ramp angle is more than job platform safety angle, LED alarm lamp is bright, realizes actively pre-
Alert control；Pressure sensor real-time detection job platform tire pressure, when job platform tire pressure value is less than normal tire pressure,
And alarm.
2. a kind of intelligent multi-function hillside orchard job platform as claimed in claim 1, it is characterised in that the center
Reason device module is STM32 single-chip microcomputers.
3. a kind of leveling method of intelligent multi-function hillside orchard job platform as claimed in claim 1, it is characterised in that
The leveling method includes the operation of job platform horizontal wall inscription and longitudinal gradient operation two ways：
When job platform is in horizontal wall inscription operation, job platform enters the upward slope leveling stage, by the elongation of horizontal wall inscription leveling cyclinder length AB
Fulfil assignment platform erection to AB'；
AB' computing formula are：
AB'2=OA2+OC2+B'C2-2B'C(OC×sinφ+OA×cosφ)
Same job platform enters the descending leveling stage, and from geometrical relationship in Fig. 5, horizontal wall inscription leveling cyclinder length AB needs to stretch
Grow to AB " fulfil assignment platform erection；
AB " calculating formulas are：
AB”2=OA2+OC2+B”C2-2B”C(OC×sinφ+OA×cosφ)
When job platform is in longitudinal gradient operation, job platform enters the leveling stage, and longitudinal gradient leveling cyclinder length DE is elongated to into DE'
Fulfil assignment platform erection；
DE' computing formula are：
The distance between each point is long measure in above-mentioned formula；θ is job platform angle of inclination, and unit is degree, and Φ is work
Make platform upward slope leveling angle, and know that Φ is equal to θ, A is mount point of the horizontal wall inscription leveling cyclinder on transverse arm, and B is horizontal wall inscription leveling oil
Cylinder and job platform mount point, C is job platform and transverse arm mount point, and O is transverse arm right endpoint, and B' is horizontal wall inscription leveling oil after leveling
Cylinder and job platform mount point；B " is horizontal wall inscription leveling cyclinder and job platform mount point after leveling；β is workbench upward slope leveling
Angle, and β is equal to θ, D is the mount point of longitudinal gradient leveling cyclinder and lower support base；E is the peace of longitudinal gradient leveling cyclinder and job platform
Decorate, F is the mount point of job platform and connecting plate, G is the mount point of connecting plate and lower support base, and E' is that longitudinal gradient is adjusted after leveling
The mount point of flat oil cylinder and job platform.
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| CN201611051599.7A CN106612671A (en) | 2016-11-24 | 2016-11-24 | Intelligent multifunctional hillside orchard operation platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109417908A (en) * | 2017-09-05 | 2019-03-05 | 东北林业大学 | It is a kind of for harvesting the vehicle-mounted lifting equipment of forest byproduct |
| CN110968104A (en) * | 2019-12-30 | 2020-04-07 | 农业农村部南京农业机械化研究所 | Intelligent leveling control system and method for orchard harvesting platform |
| CN111226552A (en) * | 2020-02-29 | 2020-06-05 | 浙江小精农机制造有限公司 | Vegetable transplanting machine chassis |
| CN111994096A (en) * | 2020-08-06 | 2020-11-27 | 湖南省西瓜甜瓜研究所 | Hillside orchard equipment based on track and laying operation method |
| CN112425314A (en) * | 2020-11-18 | 2021-03-02 | 华东师范大学 | Planting robot for ecological restoration |
| CN112806119A (en) * | 2021-03-12 | 2021-05-18 | 西北农林科技大学 | Vertical lifting device of curve ditching fertilizer distributor |
| CN113277446A (en) * | 2021-05-08 | 2021-08-20 | 太原矿机智能装备制造有限公司 | Automatic leveling system for battery platform of mine ground rail transportation equipment |
| CN113336151A (en) * | 2021-06-29 | 2021-09-03 | 河北中农博远农业装备有限公司 | System and method for leveling platform of working machine |
| CN113711772A (en) * | 2020-05-25 | 2021-11-30 | 西北农林科技大学 | Hillside orchard double-cantilever telescopic picking machine |
| CN113928429A (en) * | 2021-10-08 | 2022-01-14 | 广东省现代农业装备研究所 | Automatic leveling mechanism |
| CN115853322A (en) * | 2022-12-19 | 2023-03-28 | 湖南维纳智能装备有限公司 | Self-walking shelter |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109417908A (en) * | 2017-09-05 | 2019-03-05 | 东北林业大学 | It is a kind of for harvesting the vehicle-mounted lifting equipment of forest byproduct |
| CN110968104A (en) * | 2019-12-30 | 2020-04-07 | 农业农村部南京农业机械化研究所 | Intelligent leveling control system and method for orchard harvesting platform |
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| CN112425314A (en) * | 2020-11-18 | 2021-03-02 | 华东师范大学 | Planting robot for ecological restoration |
| CN112806119A (en) * | 2021-03-12 | 2021-05-18 | 西北农林科技大学 | Vertical lifting device of curve ditching fertilizer distributor |
| CN113277446A (en) * | 2021-05-08 | 2021-08-20 | 太原矿机智能装备制造有限公司 | Automatic leveling system for battery platform of mine ground rail transportation equipment |
| CN113277446B (en) * | 2021-05-08 | 2024-02-06 | 太原矿机电气股份有限公司 | Automatic leveling system for battery platform of mining ground rail transportation equipment |
| CN113336151A (en) * | 2021-06-29 | 2021-09-03 | 河北中农博远农业装备有限公司 | System and method for leveling platform of working machine |
| CN113928429A (en) * | 2021-10-08 | 2022-01-14 | 广东省现代农业装备研究所 | Automatic leveling mechanism |
| CN115853322A (en) * | 2022-12-19 | 2023-03-28 | 湖南维纳智能装备有限公司 | Self-walking shelter |
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