Cultivation platform capable of adapting to complex terrains

Abstract

The invention discloses a cultivation platform capable of adapting to complex terrains, and relates to the field of cultivation equipment, the platform comprises a work platform and a steering support mechanism, an inertial sensor unit is installed at the gravity center of the work platform, and TOF distance measuring sensors are arranged at four corners; the steering support mechanism comprises a rotating drum, an upper seat body, a lower seat body, a swing arm and three telescopic cylinders, and can realize up-down swing and left-right swing of the wheel set; through monitoring of the sensor, the first telescopic cylinder automatically adjusts when the gradient exceeds 5 degrees; under the large-resistance working condition, the jacking amount of a third telescopic cylinder is adjusted according to tillage resistance data; the second telescopic cylinder is hinged through a folding arm structure, and an elastic damping module is arranged at a middle hinge point. The farming platform is flexible in steering, adjustable in height and capable of adapting to complex terrains, and farming efficiency and quality are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of farming equipment, and more specifically, to a farming platform capable of adapting to complex terrain. Background Art

[0002] The steering mechanism of the tillage platform is crucial to improving the mobility and flexibility of the tillage platform in different working environments. In complex-shaped farmlands or mountainous and hilly areas, the steerable tillage platform can easily operate along the boundaries of plots, irregular areas and inclined slopes, and adapt to different planting patterns and transfer operations. At the same time, the tillage platform needs to load different tillage functional components, such as plowing, harvesting, spraying, etc. Different tillage functions make the tillage platform bear different operating loads. The design of the steering mechanism needs to be reliable, durable and stable, able to work stably under different load conditions, and adapt to the height adjustment of different tillage functions. Based on this, it is urgent to design a tillage platform that can adapt to a variety of complex terrains. Summary of the invention

[0003] In view of the above problems, the object of the present invention is to provide a farming platform which has flexible steering, adjustable height and can adapt to complex terrain.

[0004] In order to achieve these objectives of the present invention, the present invention provides a farming platform capable of adapting to complex terrain, comprising: The working platform is used to install various farming components. An inertial sensor unit is installed at the center of gravity of the working platform to monitor the pitch angle, roll angle and acceleration. TOF ranging sensors are arranged at the four corners of the platform to scan the ground undulations in real time. The steering support mechanism is installed at both ends of the working platform and is used to drive the wheel set to swing up and down and left and right. The steering support mechanism includes: Rotating drum; Rotating the upper seat body and the lower seat body arranged at the upper and lower ends of the rotating drum; A swing arm connected to the lower seat of the drum can swing up and down, and a wheel set is arranged at the end of the swing arm; A first telescopic cylinder, one end of which is connected to the upper seat body, and the other end is connected to the swing arm, and is used to drive the swing arm to swing up and down around the lower seat body to adjust the height of the wheel set from the ground; when it is detected that the terrain slope is greater than 5°, the compensation adjustment of the first telescopic cylinder is triggered, wherein the adjustment amount ΔH of the telescopic cylinder is calculated according to the formula ΔH =ΔH = Kp·θ + Kd.(dθ / dt) + Ki·∫θdt, θ is the platform inclination angle, and Kp, Kd, ​​and Ki are empirical coefficients; The second telescopic cylinder has one end hinged to the end plate and the other end hinged to the lower seat body, and is used to drive the lower seat body and the swing arm to swing left and right around the axis of the drum to realize the steering of the wheel set; The third telescopic cylinder is vertically arranged inside the rotating drum. When the third telescopic cylinder is extended, it can support the ground to lift the wheel set off the ground.

[0005] Preferably, a three-axis force sensor is installed on the tillage component to collect the tillage resistance Fx, Fy, and Fz in real time; a steering resistance torque model τ = μ・(Fx⋅Lx + Fz⋅Lz) is established, where μ is the soil friction coefficient, Lx is the horizontal distance from the tillage component to the steering axis, and Lz is the vertical distance from the tillage component to the steering axis; when τ>the set threshold of 200Nm, the third telescopic cylinder is automatically controlled to coordinate the lifting, and the adjustment amount ΔH3 = lifting coefficient⋅(τ – 200Nm) is adjusted to reduce the ground pressure of the wheel group and the steering friction torque.

[0006] Preferably, the second telescopic cylinder is hinged to the lower seat body through a folding arm structure, so as to increase the swingable range of the lower seat body and expand the steering adjustment angle of the wheel set.

[0007] Preferably, the folding arm structure includes a first segment and a second segment, which are hinged through an intermediate hinge point; the lower seat body is provided with two spaced-apart hinge ears, which are respectively hinged to the ends of the first segment and the second segment; the piston rod end of the second telescopic cylinder is hinged to a short arm, and the free end of the short arm is hinged to the intermediate hinge point to form a connecting rod transmission structure.

[0008] Preferably, an elastic damping module is provided at the middle hinge point of the folding arm structure, comprising an axial disc spring group and a radial polyurethane buffer ring, wherein: The preload force of the disc spring group is set to 1.2-1.5 times the maximum thrust of the folding arm structure to absorb the axial impact when the telescopic cylinder moves; The hardness of the buffer ring is 60~85 Shore A.

[0009] Preferably, the folding arm angle sensor and hydraulic pressure sensor are collected in real time through the embedded controller; when it is detected that the folding arm deployment angle is greater than 130°, the hydraulic pump flow of the second telescopic cylinder is automatically reduced to 70% of the set value, and the preload force of the disc spring group is triggered to be released in stages.

[0010] Preferably, a plurality of vertically arranged adjustment holes are provided on the end plate, and the steering support mechanism is connected to the adjustment holes by bolts, and the overall installation height adjustment of the steering support mechanism is achieved by selecting adjustment holes of different heights for fixing.

[0011] Preferably, a supporting foot is provided at the piston rod end of the third telescopic cylinder.

[0012] Preferably, the crossbeam is configured as a closed hydraulic oil chamber, which contains hydraulic oil; the hydraulic pump is installed on the end plate of the working platform or the outside of the rotating cylinder of the steering support mechanism, and the hydraulic pump is connected to the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder through the oil circuit, respectively, for driving each telescopic cylinder to move.

[0013] The present invention has at least the following beneficial effects: 1. The farming platform of the present invention can realize height adjustment and precise steering of the working platform, and can adapt to complex terrain and different tillage depth requirements. Whether it is normal farming, field transfer, or complex terrain operations such as slopes and heavy silt, it can be easily handled through the coordinated control of the three-stage telescopic cylinder.

[0014] 2. The present invention uses an inertial sensor to monitor the platform posture with high precision, and a TOF ranging sensor to scan the terrain. When the slope exceeds 5°, the first telescopic cylinder quickly responds to adjust the height of the wheel set to adapt to complex terrain and reduce shaking.

[0015] 3. When the farming platform of the present invention encounters a large resistance condition, it can automatically adjust the lifting amount of the third telescopic cylinder according to the real-time farming resistance data, effectively reducing the ground pressure of the wheel group and the steering friction torque, making the platform smoother and more flexible during the steering process, reducing equipment wear and improving the efficiency and quality of farming operations.

[0016] 4. The present invention significantly improves the stability and reliability of the folding arm structure during movement; the dual-degree-of-freedom elastic damping module effectively absorbs axial and radial impacts and vibrations, reducing the wear and damage of the folding arm structure; at the same time, the automatic control strategy based on sensor data can timely adjust the hydraulic pump flow and the disc spring group preload according to the actual deployment angle of the folding arm, further ensuring the safe operation of the folding arm structure, reducing steering deviation, and improving the working performance and service life of the entire farming platform.

[0017] Other advantages, objectives and features of the present invention will be embodied in part through the following description, and in part will be understood by those skilled in the art through study and practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the structure of the farming platform of the present invention; Figure 2 It is a structural schematic diagram of the rotating drum of the present invention; Figure 3 It is a schematic diagram of the structure of the swing arm and the wheel set of the present invention; Figure 4 It is a structural schematic diagram of the folding arm structure and the lower seat body of the present invention; Figure 5 It is a structural schematic diagram of the crossbeam, beam frame and end plate of the present invention; Figure 6 It is a schematic structural diagram of the disc spring assembly of the present invention in cooperation with the buffer ring and the middle hinge point.

[0019] Among them, the working platform 10; the beam 101; the crossbeam 102; the end plate 103; the wheel group 20; the steering mechanism 30; the rotating drum 301; the upper seat body 401; the lower seat body 402; the first hinge ear 403; the second hinge ear 404; the upper connecting plate 405; the lower connecting plate 406; the swing arm 50; the articulated arm 501; the connecting seat 502; the positioning pin hole 503; the first telescopic cylinder 60; the hydraulic pump 70; the second telescopic cylinder 80; the folding arm structure 801; the first section 802; the second section 803; the middle hinge point 804; the short arm 805; the pin 806; the flange 807; the disc spring group 808; the bolt 809; the buffer ring 810; the third telescopic cylinder 90. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below with reference to examples so that those skilled in the art can implement the invention with reference to the description.

[0021] It should be understood that the terms such as “having”, “including” and “comprising” used herein do not exclude the existence or addition of one or more other elements or combinations thereof.

[0022] As shown in FIGS. 1 to 5 , this embodiment provides a farming platform adapted to complex terrains. The crossbeam 102 of the working platform 10 is a steel pipe, and a beam frame 101 is welded to the lower part thereof. The beam frame 101 has mounting holes reserved thereon for fixing farming components (such as a seeder, a loosening shovel, etc.). The ends of the crossbeam 102 and the beam frame 101 are fixedly connected to the end plate 103 by bolts.

[0023] In the steering support mechanism 30, the rotating drum 301 is a hollow cylinder, and its upper and lower ends are respectively connected to the upper seat body 401 and the lower seat body 402 through thrust bearings, so that the upper seat body 401 and the lower seat body 402 can rotate around the axis of the rotating drum 301. The swing arm 50 is an L-shaped structure, one end of which is hinged to the lower seat body 402 through a pin, and the other end is equipped with a wheel set 20. The rotating drum 301 located on the same side of the working platform is reinforced by an upper connecting plate 405 and a lower connecting plate 406.

[0024] The first telescopic cylinder 60 is a hydraulic cylinder, the cylinder end of which is hinged to the upper seat body 401, and the piston rod end is hinged to the middle of the swing arm 50. The pitch angle of the swing arm 50 is controlled by telescoping, thereby adjusting the height of the working platform 10 from the ground.

[0025] The second telescopic cylinder 80 is also a hydraulic cylinder, whose cylinder end is hinged to the end plate 103, and the piston rod end is hinged to the side wall of the lower seat body 402. When the second telescopic cylinder 80 is extended and retracted, it pushes the lower seat body 402 to drive the swing arm 50 and the wheel set 20 to swing horizontally around the axis of the rotating drum 301 to achieve steering adjustment.

[0026] The third telescopic cylinder 90 is a hydraulic push rod, which is vertically fixed at the bottom of the inner cavity of the rotating drum 301. When its piston rod is extended downward, it can support the ground and lift the wheel set 20 off the ground. At this time, it is more labor-saving to drive the steering through the second telescopic cylinder 80. During operation, the third telescopic cylinder 90 is retracted, and the wheel set 20 falls to the ground to bear the weight of the platform. Preferably, a detachable support foot is set at the piston rod end of the third telescopic cylinder 90 to increase the contact area with the ground.

[0027] An implementation process of the present invention is as follows: During normal farming operations, the third telescopic cylinder 90 is retracted, and the wheel set 20 is placed on the ground to bear the weight of the platform. According to the terrain and farming requirements, the first telescopic cylinder 60 is operated to adjust the height of the working platform 10 from the ground so that the farming components are in the best working position. The second telescopic cylinder 80 is operated to adjust the rotation direction of the wheel set 20 to be perpendicular to the length direction of the working platform 10, so that the working platform 10 can cross the cultivated land for efficient farming operations.

[0028] During the field transfer operation, when it is necessary to cross the field ridge or transfer on the road, the third telescopic cylinder 90 is operated to extend so that the supporting foot touches the ground and the wheel set 20 is off the ground. Then the second telescopic cylinder 80 is operated to adjust the rotation direction of the wheel set 20 to be parallel to the length direction of the working platform 10, and the turning operation is easily completed. After the third telescopic cylinder 90 is retracted, the working platform 10 can move smoothly along the field ridge or road.

[0029] When working on complex terrain, in areas with large steering resistance such as a lot of silt or thick soil, the third telescopic cylinder 90 is also operated to lift the wheel set 20 off the ground, and the second telescopic cylinder 80 is used to drive the steering. Since the ground friction is reduced, the steering is more labor-saving and efficient. When working on multi-obstacle terrain such as rice fields and terraces, the second telescopic cylinder 80 drives the folding arm structure 801 to increase the steering angle of the wheel set 20 to 90°, meeting the needs of switching the wheel set 20 from the horizontal tillage state to the longitudinal movement state when turning sharply in the field and transferring, and easily coping with complex terrain.

[0030] In one embodiment, in order to make the first telescopic cylinder automatically adjust and further adapt to different inclined ground slopes and other terrains, an inertial sensor unit is installed at the center of gravity of the work platform to monitor the pitch angle, roll angle and acceleration; TOF ranging sensors are arranged at the four corners of the platform with a range of 0.1-5m to scan the ground undulations in real time; strain gauge pressure transmitters are set at the inlet and outlet of the hydraulic cylinder with a range of 0 - 30MPa; The first telescopic cylinder is adjusted according to the following formula ΔH = Kp·θ + Kd.(dθ / dt) + Ki·∫θdt; ΔH is the adjustment amount of the telescopic cylinder, θ is the platform inclination angle, and the empirical coefficients are Kp=0.8, Kd=0.15, and Ki=0.05; When it is detected that the terrain slope is greater than 5°, that is, the platform angle change rate |dθ / dt|>5° / second, the compensation adjustment of the first telescopic cylinder is triggered, and the response time of the compensation adjustment is less than 200ms.

[0031] In this embodiment, during the farming operation, the inertial sensor unit on the working platform monitors the pitch angle, roll angle and acceleration of the platform in real time, the TOF ranging sensor scans the ground undulation in real time, and the strain gauge pressure transmitter monitors the pressure of the hydraulic cylinder inlet and outlet. When it is detected that the terrain slope meets the trigger condition (terrain slope>5°, that is, |dθ / dt|>5°), the control system will calculate the adjustment amount ΔH of the first telescopic cylinder according to the platform inclination angle θ according to the formula ΔH = Kp・θ + Kd.(dθ / dt) + Ki・∫θdt, and control the first telescopic cylinder to make compensatory adjustments within a time of <200ms to ensure the stability of the platform. At the same time, the steering of the wheel set can be achieved by controlling the second telescopic cylinder, and when necessary, the third telescopic cylinder can be controlled to extend to support the ground to lift the wheel set off the ground.

[0032] In another embodiment, a three-axis force sensor is installed on a tillage component (such as a tillage shovel) to collect tillage resistance Fx, Fy, and Fz in real time; Fx represents lateral tillage resistance, Fy represents longitudinal tillage resistance, and Fz represents vertical tillage resistance.

[0033] Establish the steering resistance torque model: τ = μ·( Fx ⋅ Lx + F ⋅ Lz ); Among them, μ is the soil friction coefficient, and its value range is 0.3-0.6. Lx is the lateral force arm, i.e. the horizontal distance from the handle of the loosening shovel to the steering axis, which can be taken as 0.5m in the example; LzIt is the vertical lever arm, i.e. the vertical distance from the tip of the loosening shovel to the steering axis, which can be taken as 0.2m in the example; different loosening shovel specifications or different tillage parts can be adjusted and set by themselves.

[0034] During the farming operation, the system will calculate the current steering resistance torque τ based on the real-time collected Fx and Fz values ​​combined with the pre-set μ, Lx and Lz values.

[0035] When the calculated steering resistance torque τ is greater than the set threshold value (e.g. 200Nm), the coordinated lifting operation of the third telescopic cylinder is automatically triggered. The telescopic cylinder adjustment amount ΔH3 of the third telescopic cylinder is calculated according to the formula ΔH3 = Klift⋅(τ - τ threshold), where the lifting coefficient Klift = 0.02 mm / N⋅m, and τ threshold is the set steering resistance torque threshold value (here 200Nm).

[0036] Based on the calculated ΔH3 value, the system accurately controls the third telescopic cylinder to perform the lifting action, thereby reducing the ground pressure of the wheelset by 20% - 40% and the steering friction torque by 35% - 60%, ultimately achieving smooth steering under high resistance conditions.

[0037] When the farming platform of this embodiment encounters high resistance conditions, it can automatically adjust the lifting amount of the third telescopic cylinder according to real-time farming resistance data, effectively reducing the ground pressure of the wheel group and the steering friction torque, making the platform smoother and more flexible during steering, reducing equipment wear and improving the efficiency and quality of farming operations.

[0038] The combination of the adjustment and control methods of the first telescopic cylinder and the third telescopic cylinder improves the passability on complex terrains such as sloping ridges, reduces the fluctuation of the tilth angle of the tillage platform, improves the uniformity of the tillage depth of the tillage components, and avoids the steering jamming and oscillation phenomenon of the tillage platform due to sudden changes in resistance.

[0039] In another embodiment, the second telescopic cylinder 80 is hinged to the lower seat body 402 through a folding arm structure 801; the cylinder end of the second telescopic cylinder 80 is hinged to the working platform 10, and the piston rod end is linked to the folding arm structure 801 through a short arm 805, and the short arm 805 is preferably not more than 15 cm. The first segment 802 and the second segment 803 of the folding arm structure 801 are rigid arms, and the two are movably connected at the middle hinge point 804 through a pin. The lower seat body 402 has two sets of spaced hinge ears on both sides, including a first hinge ear 403 and a second hinge ear 404, which are respectively hinged to the ends of the first segment 802 and the second segment 803 through a pin.

[0040] When the second telescopic cylinder 80 is extended and retracted, the short arm 805 pushes the middle hinge point 804, forcing the first segment 802 and the second segment 803 to fold or unfold around the hinge ear, thereby enlarging the swing stroke of the lower seat body 402. For example, when the second telescopic cylinder 80 is extended, the folding arm structure 801 is unfolded to drive the lower seat body 402 to swing to the left; when it is retracted, the folding arm structure 801 is folded to drive the lower seat body 402 to swing to the right. Compared with the direct-connected articulation of the telescopic cylinder, the folding arm structure 801 increases the steering angle of the wheel set 20, which can reach 90°, significantly enhances the small radius steering capability, and meets the needs of switching the wheel set 20 from the horizontal tillage state to the longitudinal movement state when making sharp turns and transferring in the field.

[0041] In actual operation, when it is necessary to pass through a narrow ridge, the second telescopic cylinder 80 is operated to turn the wheel set 20 to the longitudinal direction, and the third telescopic cylinder 90 is used to lift the platform to quickly complete the transition posture adjustment. This design breaks through the angle limitation of the traditional steering mechanism and is particularly suitable for multi-obstacle terrain such as rice fields and terraces.

[0042] In another embodiment, as shown in FIG. 4 and FIG. 6 , a double-degree-of-freedom elastic damping module is added at the middle hinge point 804 of the folding arm structure 801, and the module includes an axial disc spring group 808 and a radial polyurethane buffer ring 810, wherein: The preload force of the disc spring group 808 is set to 1.2-1.5 times the maximum thrust of the folding arm structure 801, and is used to absorb the axial impact when the second telescopic cylinder 80 is in motion. The disc spring group 808 is axially symmetrically arranged along the pin 806 of the middle hinge point 804, and is located between the flanges 807 at both ends of the pin 806 and the end faces of the shaft holes of the first segment 802 and the second segment 803 of the folding arm. An anti-rotation key is provided to prevent the spring group from rotating. Each group of springs is composed of 5-8 disc springs stacked together and fixed by preload bolts 809.

[0043] The buffer ring 810 has a hardness of 60~80±5 Shore A, which can provide radial buffering when the folding arm structure 801 moves, reduce vibration and impact in the radial direction, and resist and buffer the radial deviation generated by the hinge hole and the pin 806. The buffer ring 810 is nested in the middle hinge point 804 and is located in the hinge hole gap between the first segment 802 and the second segment 803. The inner diameter of the buffer ring 810 is interference fit with the pin 806 (interference amount 0.1-0.3mm), and the outer diameter is clearance fit with the hinge hole (clearance 0.5-1mm).

[0044] In this embodiment, the embedded controller (ECU) collects data of the folding arm angle sensor and the hydraulic pressure sensor of the second telescopic cylinder 80 in real time; when it is detected that the folding arm deployment angle is greater than 130°, the flow rate of the hydraulic pump 70 of the second telescopic cylinder 80 is automatically reduced to 70% of the set value, and the preload force of the disc spring group 808 is triggered to be released in stages, and the buffering capacity of the disc spring group 808 is gradually adjusted to adapt to the working conditions.

[0045] Traditional hinged structures have linear force limitations. This embodiment uses the design of an elastic damping module. When the folding arm is unfolded, the pin 806 is subjected to axial tension, and the disc spring is further compressed to absorb the impact; when it is contracted, the spring rebounds to release energy, suppressing vibration and solving the steering drift problem caused by nonlinear interference of the folding arm.

[0046] In another embodiment, two rows of vertically extending oblong holes are symmetrically opened on both sides of the end plate 103 as adjustment holes, and each row contains 3-30 holes. A connecting plate is welded to the outside of the rotating cylinder 301 of the steering support mechanism 30, and a through hole corresponding to the adjustment hole is opened on the connecting plate. During installation, the bolts pass through the adjustment hole and the through hole of the connecting plate in turn and are locked by nuts.

[0047] When the overall height of the working platform 10 from the ground needs to be adjusted, the bolts can be loosened, the steering support mechanism 30 can be vertically moved to the target position along the adjustment hole, and then re-tightened. For example, when working in soft fields, the installation height of the steering support mechanism 30 can be lowered to lower the center of gravity of the platform; when replacing large farming components, the installation height can be raised to avoid interference. The adjustment hole is preferably a waist-shaped hole, which is convenient for fine-tuning the height and then positioning.

[0048] In another embodiment, the swing arm 50 is provided with a connecting seat 502 and an articulated arm 501, wherein the connecting seat 502 is used for articulating with the lower seat body 402, and the articulated arm 501 is used for articulating with the first telescopic cylinder 60. Preferably, the connecting seat 502 and the main body of the swing arm 50 are integrally formed to ensure the stability and integrity of the structure. The connecting seat 502 is designed with a positioning pin hole 503 and an articulated shaft installation position for articulating with the lower seat body 402, so that the swing arm 50 is smoother and more flexible when rotating around the lower seat body 402. At the same time, the swing arm 50 is also provided with an articulated arm 501 adapted to the piston rod end of the first telescopic cylinder 60. The articulated arm 501 is arranged on the upper part of the connecting seat 502 and is hinged to the piston rod end of the first telescopic cylinder 60 through the hole, providing an additional mechanical support point for the entire swing arm 50, so that the first telescopic cylinder 60 can push the swing arm 50 connected to the wheel group 20 to swing up and down, thereby adjusting the support height. Preferably, the articulated arm 501 is welded and fixed to the swing arm 50 and the connecting seat 502 to increase the structural strength and further enhance the stability of the swing arm 50 under complex force conditions.

[0049] Furthermore, a limit block is provided at the hinge of the short arm 805 and the middle hinge point 804 to constrain the maximum expansion angle of the folding arm structure 801 to not exceed 150° to avoid mechanical interference. The hinge ears, folding arm structure 801 and the hinge point of the short arm 805 all use self-lubricating bearings to ensure flexibility in harsh field conditions.

[0050] In another embodiment, the cross beam 102 is welded into a sealed structure by rectangular steel pipes, a hydraulic oil chamber is formed inside the cross beam 102, an oil filling port and an oil level observation window are provided on the top, and the bottom is connected to the hydraulic pump 70 through an oil circuit. The hydraulic pump 70 is preferably fixed on the outside of the end plate 103. The oil circuit includes a hard oil pipe and a hose, wherein the hard oil pipe is embedded in the inner cavity of the cross beam 102, and the hose is arranged along the beam frame 101 and connected to the oil inlet and outlet of each telescopic cylinder respectively.

[0051] During operation, the hydraulic pump 70 pressurizes the hydraulic oil in the crossbeam 102 and delivers it to the first telescopic cylinder 60, the second telescopic cylinder 80 and the third telescopic cylinder 90 to achieve the following coordinated control: The first telescopic cylinder 60 telescopes and adjusts the pitch angle of the swing arm 50 to control the height of the platform from the ground; The second telescopic cylinder 80 telescopically drives the folding arm structure 801 to expand the steering angle of the wheel set 20; The third telescopic cylinder 90 is telescopically supported on the ground, and the auxiliary wheel set 20 is off the ground and turned.

[0052] Preferably, a filter is provided in the hydraulic oil chamber of the crossbeam 102 to purify the hydraulic oil; a hydraulic control valve group is integrated on the end plate 103, and the movement of each telescopic cylinder is remotely controlled by an electric control handle. This design embeds the hydraulic system into the working platform to prevent the external oil pipe from being entangled by field debris, and uses the metal structure of the crossbeam 102 as a radiator to prevent the hydraulic oil from overheating.

[0053] During operation, the hydraulic pump 70 continuously draws oil from the cross beam 102 and circulates it. The hard pipe section of the oil circuit reduces pressure loss, and the hose section adapts to the swing of the steering support mechanism 30. Compared with the independent oil tank solution, the design of this embodiment saves space and reduces maintenance frequency, and is particularly suitable for dusty and humid farmland environments.

[0054] Although the embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and the embodiments. They can be applied to various fields suitable for the present invention. For those familiar with the art, additional modifications can be easily realized.

Claims

1. A farming platform that can adapt to complex terrain, characterized in that: include: The working platform is used to install various farming components. An inertial sensor unit is installed at the center of gravity of the working platform to monitor the pitch angle, roll angle and acceleration. TOF ranging sensors are arranged at the four corners of the platform to scan the ground undulations in real time. The steering support mechanism is installed at both ends of the working platform and is used to drive the wheel set to swing up and down and left and right. The steering support mechanism includes: Rotating drum; Rotating the upper seat body and the lower seat body arranged at the upper and lower ends of the rotating drum; A swing arm connected to the lower seat of the drum can swing up and down, and a wheel set is arranged at the end of the swing arm; A first telescopic cylinder, one end of which is connected to the upper seat body, and the other end is connected to the swing arm, and is used to drive the swing arm to swing up and down around the lower seat body to adjust the height of the wheel set from the ground; when it is detected that the terrain slope is greater than 5°, the compensation adjustment of the first telescopic cylinder is triggered, wherein the adjustment amount ΔH of the telescopic cylinder is calculated according to the formula ΔH =ΔH = Kp·θ + Kd.(dθ / dt) + Ki·∫θdt, θ is the platform inclination angle, and Kp, Kd, ​​and Ki are empirical coefficients; The second telescopic cylinder has one end hinged to the end plate and the other end hinged to the lower seat body, and is used to drive the lower seat body and the swing arm to swing left and right around the axis of the drum to realize the steering of the wheel set; The third telescopic cylinder is vertically arranged inside the rotating drum. When the third telescopic cylinder is extended, it can support the ground to lift the wheel set off the ground.

2. The farming platform as claimed in claim 1, characterized in that: A three-axis force sensor is installed on the tillage component to collect the tillage resistance Fx, Fy, and Fz in real time. A steering resistance torque model τ = μ・(Fx⋅Lx + Fz⋅Lz) is established, where μ is the soil friction coefficient, Lx is the horizontal distance from the tillage component to the steering axis, and Lz is the vertical distance from the tillage component to the steering axis. When τ>the set threshold, the third telescopic cylinder is automatically controlled to coordinate the lifting, and the adjustment amount ΔH3 = lifting coefficient⋅(τ – set threshold) is used to reduce the ground pressure of the wheel group and the steering friction torque.

3. The farming platform according to claim 1, characterized in that: The second telescopic cylinder is hinged to the lower seat body through a folding arm structure, so as to increase the swingable range of the lower seat body and expand the steering adjustment angle of the wheel set.

4. The farming platform according to claim 3, characterized in that: The folding arm structure includes a first segment and a second segment, which are hinged through an intermediate hinge point; the lower seat body is provided with two spaced-apart hinge ears, which are respectively hinged to the ends of the first segment and the second segment; the piston rod end of the second telescopic cylinder is hinged to a short arm, and the free end of the short arm is hinged to the intermediate hinge point to form a connecting rod transmission structure.

5. The farming platform according to claim 4, characterized in that: An elastic damping module is arranged at the middle hinge point of the folding arm structure, comprising an axial disc spring group and a radial polyurethane buffer ring, wherein: The preload force of the disc spring group is set to 1.2-1.5 times the maximum thrust of the folding arm structure to absorb the axial impact when the telescopic cylinder moves; The hardness of the buffer ring is 60~85 Shore A.

6. The farming platform according to claim 5, characterized in that: The folding arm angle sensor and hydraulic pressure sensor are collected in real time through the embedded controller; when the folding arm deployment angle is detected to be greater than 130°, the hydraulic pump flow of the second telescopic cylinder is automatically reduced to 70% of the set value, and the preload of the disc spring group is triggered to be released in stages.

7. The farming platform according to claim 1, characterized in that: The end plate is provided with a plurality of vertically arranged adjustment holes, the steering support mechanism is connected to the adjustment holes by bolts, and the overall installation height adjustment of the steering support mechanism is achieved by selecting adjustment holes of different heights for fixing.

8. The farming platform according to claim 1, characterized in that: A supporting foot is arranged at the piston rod end of the third telescopic cylinder.

9. The farming platform according to claim 1, characterized in that: The crossbeam is configured as a closed hydraulic oil chamber, which contains hydraulic oil; the hydraulic pump is installed on the end plate of the working platform or the outside of the rotating cylinder of the steering support mechanism, and the hydraulic pump is connected to the first telescopic cylinder, the second telescopic cylinder and the third telescopic cylinder through the oil circuit, so as to drive each telescopic cylinder to move.

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