A harvesting platform for hilly orchards

Abstract

The present invention discloses a harvesting platform for a hilly orchard, comprising a crawler chassis assembly, a leveling mechanism, a lifting mechanism, a work platform, and a control console. The leveling mechanism is fixed above the crawler chassis assembly, the work platform is connected to the leveling mechanism through the lifting mechanism, and the control console is arranged on the front side of the work platform; the leveling mechanism comprises a front and rear leveling frame, a left and right leveling frame, and a front loading mechanism and a rear loading mechanism are arranged on the front and rear sides of the leveling mechanism, respectively. The harvesting platform for a hilly orchard provided by the present invention has a crawler chassis capable of controlling multi-directional walking, a leveling mechanism capable of arbitrarily adjusting along the X-axis direction and the Y-axis direction, a lifting mechanism providing height adjustment, a work platform and a loading mechanism for facilitating the harvesting of fruits, greatly reducing the labor intensity and improving the picking efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a harvesting platform for a hilly orchard. Background Art

[0002] my country is the world's largest producer and consumer of fruit. In 2018, the national fruit planting area was about 11.875 million hectares, of which citrus and apple planting areas accounted for 30% of the total fruit planting area. Fruit harvesting operations are mainly completed manually, with high labor intensity and long time. With the transformation of modern orchards and the popularization of agricultural mechanization, the application of semi-automatic self-propelled hydraulic lifting and picking platforms has greatly reduced labor intensity and improved picking efficiency. However, my country has a vast territory, and a large part of fruit planting is located in hilly and mountainous areas. Due to the complex topography and uneven terrain of orchards, orchard operating machinery without leveling function is difficult to use in hilly and mountainous areas. The use of machinery on steep slopes is prone to instability and overturning, posing a great safety hazard to personnel. CN107810715A discloses an omnidirectional posture adjustment mechanism for a harvesting platform for a hilly orchard, which can realize the leveling function of the harvesting platform. However, the oil cylinder of the lateral adjustment mechanism is connected to the main frame, and the space in the middle of the frame cannot be effectively utilized. The engine can only be placed on the outside of the platform. Even if it is placed on the inside of the platform, the initial height of the platform will be increased, which is inconvenient to use. Summary of the invention

[0003] Purpose of the invention: The purpose of the present invention is to provide a hilly orchard harvesting platform to address the deficiencies of the prior art, which greatly reduces labor intensity, improves picking efficiency, and ensures the safety of personnel.

[0004] Technical solution: The hilly and mountainous orchard harvesting platform of the present invention includes a crawler chassis assembly, a leveling mechanism, a lifting mechanism, an operating platform, and a control console. The leveling mechanism is fixed above the crawler chassis assembly, and the operating platform is connected to the leveling mechanism through the lifting mechanism. The control console is arranged on the front side of the operating platform; the crawler chassis assembly includes a chassis frame, an engine, a first plunger pump, a second plunger pump, a first hydraulic motor, a second hydraulic motor, and crawler wheels symmetrically arranged on both sides of the chassis frame, the engine is arranged in the middle of the chassis frame, the flywheel shaft of the engine is directly connected to the first plunger pump and the second plunger pump, the first plunger pump and the second plunger pump are respectively connected to the first hydraulic motor and the second hydraulic motor, and the first hydraulic motor and the second hydraulic motor respectively drive the crawler wheels on both sides to walk; the leveling mechanism includes front and rear leveling frames and left and right leveling frames, and the left and right sides of the front and rear leveling frames are respectively hingedly connected to the middle of the chassis frame through the X-axis kingpin , front and rear leveling cylinders are provided at corresponding positions of the X-axis kingpins on both sides, and the front and rear leveling cylinders move synchronously to drive the front and rear leveling frames to move around the hinge point, and cylinder brackets and spring buffer brackets are respectively provided on the front and rear sides of the left and right leveling frames, and the cylinder brackets and spring buffer brackets are respectively hingedly connected to the front and rear ends of the front and rear leveling frames through the Y-axis kingpin. The cylinder brackets are provided with left and right leveling cylinders on both sides of the hinge point, and the left and right leveling cylinders move asynchronously to drive the left and right leveling frames to move around the hinge point; the front and rear sides of the leveling mechanism are respectively provided with a front loading mechanism and a rear loading mechanism, and the front loading mechanism and the rear loading mechanism both include a loading bracket, a lifting base, a lifting cylinder, a slideway, and a limiting wheel. The loading bracket is fixedly connected to the left and right leveling frames, and the lifting base is hingedly connected to the loading support through the lifting cylinder, the slideway is installed on the lifting base, and the limiting wheel is arranged at the outermost side of the slideway, and the lifting cylinder drives the lifting base to move up and down so that the slideway is aligned with the edge of the working platform.

[0005] Furthermore, the lifting mechanism includes an outer bracket, an inner bracket, and a lifting cylinder. The outer bracket is hinged to the inner bracket to form a scissors fork structure; the bottom support of the lifting cylinder is hinged to the crossbeam of the outer bracket, and the top support is hinged to the crossbeam of the inner bracket. The bottom end of the outer bracket is hinged to the left and right leveling frames, and the top end is slidably connected to the bottom groove of the working platform. The bottom end of the inner bracket is slidably connected to the top groove of the left and right leveling frames, and the top end is hinged to the working platform.

[0006] Furthermore, the working platform includes a bottom platform, surrounding guardrails, and double slide rails. The surrounding guardrails include long guardrails on both sides, short guardrails at the front and rear, and extended guardrails connected to the ends of the long guardrails and extending in the direction of the short guardrails. The bottom platform includes a main platform connected to the short guardrails and a first extended platform and a second extended platform connected to the long guardrails on both sides of the main platform. The short guardrails are provided with inlet and outlet blocking rods that can slide vertically along them, and the double slide rails are arranged on the bottom platform; U-shaped grooves are provided at both ends of the main platform, and two C-shaped steels are arranged back to back at intervals in the middle, and the two sides of the U-shaped groove are provided with Two pairs of guide wheels are centrally symmetrical; C-shaped steels are provided at the positions of the first extension platform and the second extension platform corresponding to the U-shaped groove of the main platform, and two parallel square tubes are provided at the positions corresponding to the back-to-back C-shaped steels of the main platform; the first extension platform and the second extension platform are respectively connected to the first extension cylinder and the second extension cylinder, and the C-shaped steels of the first extension platform and the second extension platform are inserted into the U-shaped groove of the main platform after being back-to-back against each other and slide along the guide wheels on one side under the drive of the first extension cylinder and the second extension cylinder, and the square tubes of the first extension platform and the second extension platform slide along the back-to-back C-shaped steels of the main platform.

[0007] Furthermore, the working platform is also provided with an anti-collision head mechanism, which is a rectangular frame and is upside down around the bottom of the working platform. Travel switches corresponding to the anti-collision head mechanism are respectively provided at the front and rear of the bottom of the working platform.

[0008] Furthermore, the control console includes an operation panel, a controller, and a dual-axis handle. The operation panel and the dual-axis handle are connected to the controller via a CAN bus. The controller is provided with 4 current analog outputs, which are respectively connected to the forward interface and reverse interface of the first plunger pump and the forward interface and reverse interface of the second plunger pump.

[0009] Furthermore, a sensor is provided at the bottom of the working platform, which is used to collect the X-axis inclination angle and Y-axis inclination angle of the working platform relative to the horizontal plane and transmit them to the controller. The controller generates front and rear PID signals and left and right PID signals according to the X-axis inclination angle and the Y-axis inclination angle respectively. The front and rear PID signals control the movement of the front and rear leveling cylinders through the front and rear proportional valves to achieve the adjustment of the front and rear directions of the working platform. The left and right PID signals control the movement of the left and right leveling cylinders through the left and right proportional valves to achieve the adjustment of the left and right directions of the working platform.

[0010] Furthermore, the engine is connected to the gear pump, the gear pump is connected to the switch valve and the front and rear proportional valves, and the left and right proportional valves, the switch valve is connected to the five-valve, and the five-valve is respectively connected to the lifting cylinder, the front lifting cylinder, the rear lifting cylinder, the first extension cylinder, and the second extension cylinder; the key module is used to input the cylinder control signal, and the cylinder control signal is processed by the controller to generate a drive signal to control the on and off of the switch valve and the five-valve to realize the action of the corresponding cylinder.

[0011] Beneficial effect: Compared with the prior art, the advantages of the present invention are: the hilly and mountainous orchard harvesting platform provided by the present invention has a crawler chassis that can control multi-directional walking, a leveling mechanism that can be arbitrarily adjusted along the X-axis direction and the Y-axis direction, and a height-adjustable lifting mechanism, which is convenient for the work platform and loading mechanism for harvesting fruits, greatly reducing the labor intensity, improving the picking efficiency, and ensuring the safety of personnel. The angle of the work platform is collected by the angle sensor, and the controller automatically controls the leveling mechanism. When the harvesting platform is located on the ramp, the upper platform can be relatively horizontal, ensuring the personal safety of the personnel on the platform. At the same time, the harvesting platform can also realize the platform rising / falling, front and rear loading rising / falling and other functions. The crawler chassis is controlled to move forward by a dual-axis handle, which is convenient for the operator to move forward, backward, and turn at various angles with one hand, and the operation is safe and reliable.

[0012] The slideways of the front and rear loading mechanisms and the double slide rails on the working platform form a fruit box moving channel. When the vehicle travels between the rows of fruit trees, it is convenient for the fruit boxes to enter the working platform from the front loading mechanism. After the operation is completed, they are unloaded from the rear loading mechanism to the ground. When the slideway of the front loading mechanism descends to the ground, there is a certain inclination with the ground. After the empty fruit box is loaded, the empty fruit box is restricted from sliding out of the slideway by the limit wheel. When the slideway of the front loading mechanism rises to dock with the double slide rails on the working platform, the slideway of the front loading mechanism tilts in the opposite direction to the ground, and the empty fruit box slowly slides to the slide rail on the working platform under gravity. After the operation is completed, the full fruit box is pushed onto the slideway of the rear loading mechanism. When the slideway of the rear loading mechanism descends to contact the ground, the limit wheel restriction is automatically released, and the full fruit box slowly falls to the ground under gravity.

[0013] Through the ingenious layout, the platform of the present invention is only 1.2 meters above the ground, and the operating range of the platform can be freely adjusted within the height of 1.2-2.7 meters to meet the picking needs of different fruit platforms. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0015] Figure 2 It is a schematic diagram of the forward tilting structure of the crawler chassis assembly and the leveling mechanism in the present invention;

[0016] Figure 3 It is a schematic diagram of the rearward tilting structure of the crawler chassis assembly and the leveling mechanism in the present invention;

[0017] Figure 4 It is a structural schematic diagram of the leveling mechanism in the present invention;

[0018] Figure 5 It is a schematic diagram of the state of the front and back adjustment of the present invention;

[0019] Figure 6It is a schematic diagram of the state of left-right adjustment of the present invention;

[0020] Figure 7 It is a structural schematic diagram of the main platform in the present invention;

[0021] Figure 8 It is a structural schematic diagram of the expansion platform in the present invention;

[0022] Fig. 9 This is a schematic diagram of the expanded platform after it is retracted;

[0023] Fig.10 This is a schematic diagram of the expanded platform status.

[0024] In the figure: 1. crawler chassis assembly, 2. leveling mechanism, 3. lifting mechanism, 4. working platform, 5. control console, 6. X-axis kingpin, 7. Y-axis kingpin, 11. chassis frame, 12. leveling bracket base, 21. front and rear leveling frame, 22. left and right leveling frame, 23. cylinder bracket, 24. spring buffer bracket, 41. U-shaped groove, 42. back-to-back C-shaped steel, 43. short guardrail, 44. inlet and outlet stopper, 45. extended guardrail, 46. long guardrail, 47. C-shaped steel, 48. square tube. DETAILED DESCRIPTION

[0025] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0026] Example 1: Figures 1 to 10 The hilly orchard harvesting platform shown includes a crawler chassis assembly 1, a leveling mechanism 2, a lifting mechanism 3, a work platform 4, and a control console 5;

[0027] The crawler chassis assembly 1 includes a chassis frame 11, an engine, a first plunger pump, a second plunger pump, a first hydraulic motor, a second hydraulic motor, and crawler wheels on both sides; the first plunger pump and the second plunger pump are arranged along the axis direction of the engine flywheel, the first plunger pump is connected to the first hydraulic motor, the second plunger pump is connected to the second hydraulic motor, and the first hydraulic motor and the second hydraulic motor respectively drive the crawler wheels on both sides to move;

[0028] The leveling mechanism includes a front and rear leveling frame 21 and a left and right leveling frame 22. The left and right sides of the front and rear leveling frame 21 are respectively hingedly connected to the middle part of the chassis frame 11 through the X-axis kingpin 6 and the leveling bracket base 12. Front and rear leveling cylinders are arranged at the corresponding positions of the X-axis kingpins 6 on both sides. The front and rear leveling cylinders synchronously move to drive the front and rear leveling frames 21 to move around the hinge point. The front and rear sides of the left and right leveling frames 22 are respectively provided with cylinder brackets and spring buffer brackets. The cylinder brackets and spring buffer brackets are respectively hingedly connected to the front and rear ends of the front and rear leveling frames through the Y-axis kingpin 7. The cylinder brackets are provided with left and right leveling cylinders on both sides of the hinge point. The left and right leveling cylinders asynchronously move to drive the left and right leveling frames to move around the hinge point. The front and rear leveling frames 21 and the chassis frame 11 are driven by front and rear leveling cylinders. There are two front and rear leveling cylinders, which are located on the same side of the X-axis hinge point and move synchronously. The left and right leveling frames 22 and the front and rear leveling frames 21 are driven by left and right leveling cylinders. There are two left and right leveling cylinders, which are located on both sides of the Y-axis hinge point and are symmetrically distributed, and the left and right leveling cylinders move asynchronously.

[0029] The lifting mechanism 3 is formed by hinged outer bracket and inner bracket to form a scissor fork structure, the bottom support of the lifting cylinder is hinged to the cross beam of the outer bracket, and the top support is hinged to the cross beam of the inner bracket. The bottom end of the outer bracket is hinged to the left and right leveling frames, and the top end is slidably connected to the groove at the bottom of the working platform. The bottom end of the inner bracket is slidably connected to the groove of the left and right leveling frames, and the top end is hinged to the working platform.

[0030] The front and rear loading mechanisms of the leveling mechanism 2 are respectively connected to the front and rear loading mechanisms. Both the front loading mechanism and the rear loading mechanism include a loading bracket, a lifting base, a lifting cylinder, a slideway, and a limiting wheel. The loading bracket is fixedly connected to the left and right leveling frames. The lifting base is hingedly connected to the loading support through the lifting cylinder. The slideway is installed on the lifting base. The lifting cylinder drives the lifting base to move up and down so that the slideway is aligned with the edge of the working platform. The limiting wheel is located at the outermost side of the slideway. When it is suspended in the air, it is used to limit the fruit box. When the limiting wheel contacts the ground, it will automatically open and be level with the slideway. The fruit box slides to the ground along the slideway by its own gravity. The slideways of the front and rear loading mechanisms and the double slide rails on the working platform form a fruit box moving channel. When the vehicle travels between the fruit tree rows, it is convenient for the fruit box to enter the working platform from the front loading mechanism. After the operation is completed, it is unloaded to the ground from the rear loading mechanism. When the front loading mechanism slide descends to the ground, there is a certain inclination angle with the ground. After the empty fruit box is loaded, the limit wheel is used to limit the empty fruit box from sliding out of the slide. When the front loading mechanism slide rises to dock with the double slide rails on the working platform, the front loading mechanism slide is tilted in the opposite direction to the ground, and the empty fruit box slowly slides to the slide rails on the working platform due to gravity. After the operation is completed, the full fruit box is pushed onto the rear loading mechanism slide. When the rear loading mechanism slide descends to contact the ground, the limit wheel restriction is automatically released, and the full fruit box slowly falls to the ground due to gravity.

[0031] The working platform 4 includes surrounding guardrails, double slide rails, a first extension platform, a second extension platform and an anti-collision head mechanism. The surrounding guardrails include long guardrails on both sides, short guardrails at the front and rear, and extension guardrails connected to the ends of the long guardrails and extending in the direction of the short guardrails. The bottom platform includes a main platform connected to the short guardrails and a first extension platform and a second extension platform connected to the long guardrails on both sides of the main platform. The double slide rails are arranged on the bottom surface of the bottom platform. The short guardrails are provided with an inlet and outlet blocking rod that can slide vertically along them. The blocking rod is usually located in the middle position to protect the safety of personnel. When the fruit box needs to enter and exit the platform, the blocking rod is lifted to the highest position to form an inlet and outlet passage. The anti-collision head mechanism is a rectangular frame, which is hung upside down at the bottom of the working platform by 4 bolts. There is a travel switch on the front and rear sides of the anti-collision head mechanism. When the platform is lowered, personnel touch the anti-collision head mechanism, and the displacement triggers the travel switch, causing the lifting mechanism to stop in an emergency to ensure the safety of personnel. U-shaped grooves 41 are provided at both ends of the main platform, and two C-shaped steels 42 are arranged back to back at intervals in the middle. Two pairs of guide wheels are provided on both sides of the U-shaped groove 41 in a centrally symmetrical manner; C-shaped steels 47 are provided at the positions of the first extension platform and the second extension platform corresponding to the U-shaped groove 41 of the main platform, and two parallel square tubes 48 are provided at the positions of the back-to-back C-shaped steels 42 of the main platform; the first extension platform and the second extension platform are respectively connected to the first extension cylinder and the second extension cylinder, and the C-shaped steels 47 of the first extension platform and the second extension platform are inserted into the U-shaped groove 41 of the main platform after being back-to-back against each other, and slide along the guide wheels on one side respectively under the drive of the first extension cylinder and the second extension cylinder, and the square tubes 48 of the first extension platform and the second extension platform slide along the back-to-back C-shaped steels 42 of the main platform.

[0032] A sensor is provided at the bottom of the working platform 4. The sensor is used to collect the X-axis tilt angle and Y-axis tilt angle of the working platform relative to the horizontal plane and transmit them to the controller. The controller generates front and rear PID signals and left and right PID signals according to the X-axis tilt angle and the Y-axis tilt angle respectively. The front and rear PID signals control the movement of the front and rear leveling cylinders through the front and rear proportional valves to achieve the adjustment of the front and rear directions of the working platform. The left and right PID signals control the movement of the left and right leveling cylinders through the left and right proportional valves to achieve the adjustment of the left and right directions of the working platform.

[0033] The engine is connected to the gear pump, the gear pump is connected to the switch valve and the front and rear proportional valves, the left and right proportional valves, the switch valve is connected to the five-way valve, the five-way valve is connected to the lifting cylinder, the front and rear lifting cylinders, the first extension cylinder, and the second extension cylinder respectively; the key module is used to input the cylinder control signal, and the cylinder control signal is processed by the controller to generate a drive signal to control the on and off of the switch valve and the five-way valve to realize the action of the corresponding cylinder.

[0034] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A harvesting platform for hilly orchards, characterized by: The crawler chassis assembly comprises a track chassis assembly, a leveling mechanism, a lifting mechanism, a work platform, and a control console. The leveling mechanism is fixed above the track chassis assembly. The work platform is connected to the leveling mechanism through the lifting mechanism. The control console is arranged on the front side of the work platform. The track chassis assembly comprises a chassis frame, an engine, a first plunger pump, a second plunger pump, a first hydraulic motor, a second hydraulic motor, and track wheels symmetrically arranged on both sides of the chassis frame. The engine is arranged in the middle of the chassis frame. The flywheel shaft of the engine is directly connected to the first plunger pump and the second plunger pump. The first plunger pump and the second plunger pump are respectively connected to the first hydraulic motor and the second hydraulic motor. The first hydraulic motor and the second hydraulic motor respectively drive the track wheels on both sides to walk. The leveling mechanism comprises front and rear leveling frames and left and right leveling frames. The left and right sides of the front and rear leveling frames are respectively hingedly connected to the middle of the chassis frame through the X-axis kingpin. The X-axis kingpins on both sides correspond to the positions The device is provided with front and rear leveling cylinders, which synchronously move to drive the front and rear leveling frames to move around the hinge point, and the front and rear sides of the left and right leveling frames are respectively provided with cylinder brackets and spring buffer brackets, and the cylinder brackets and spring buffer brackets are respectively hingedly connected to the front and rear ends of the front and rear leveling frames through the Y-axis kingpin, and the cylinder brackets are respectively provided with left and right leveling cylinders on both sides of the hinge point, and the left and right leveling cylinders asynchronously move to drive the left and right leveling frames to move around the hinge point; the front and rear sides of the leveling mechanism are respectively provided with a front loading mechanism and a rear loading mechanism, and the front loading mechanism and the rear loading mechanism both include a loading bracket, a lifting base, a lifting cylinder, a slideway, and a limiting wheel, the loading bracket is fixedly connected to the left and right leveling frames, the lifting base is hingedly connected to the loading support through the lifting cylinder, the slideway is installed on the lifting base, and the limiting wheel is arranged at the outermost side of the slideway, and the lifting cylinder drives the lifting base to move up and down so that the slideway is aligned with the edge of the working platform; The lifting mechanism comprises an outer bracket, an inner bracket and a lifting cylinder. The outer bracket is hinged with the inner bracket to form a scissor fork structure; the bottom support of the lifting cylinder is hinged with the crossbeam of the outer bracket, and the top support is hinged with the crossbeam of the inner bracket. The bottom end of the outer bracket is hinged with the left and right leveling frames, and the top end is slidably connected with the bottom groove of the working platform. The bottom end of the inner bracket is slidably connected with the top groove of the left and right leveling frames, and the top end is hinged with the working platform. The working platform comprises a bottom platform, surrounding guardrails, and double slide rails. The surrounding guardrails comprise long guardrails on both sides, short guardrails at the front and rear, and extended guardrails connected to the ends of the long guardrails and extending in the direction of the short guardrails. The bottom platform comprises a main platform connected to the short guardrails, and a first extended platform and a second extended platform connected to the long guardrails on both sides of the main platform. The short guardrails are provided with inlet and outlet blocking rods that can slide vertically along them, and the double slide rails are arranged on the bottom platform; U-shaped grooves are provided at both ends of the main platform, and two C-shaped steels arranged back to back are spaced apart in the middle, and the two sides of the U-shaped groove are provided with a centrally arranged C-shaped steel bar. Two pairs of guide wheels are symmetrical around the center of the main platform; C-shaped steels are provided at the positions of the first extension platform and the second extension platform corresponding to the U-shaped groove of the main platform, and two parallel square tubes are provided at the positions corresponding to the back-to-back C-shaped steels of the main platform; the first extension platform and the second extension platform are respectively connected to the first extension cylinder and the second extension cylinder, and the C-shaped steels of the first extension platform and the second extension platform are inserted into the U-shaped groove of the main platform after being back-to-back against each other and slide along the guide wheels on one side under the drive of the first extension cylinder and the second extension cylinder, and the square tubes of the first extension platform and the second extension platform slide along the back-to-back C-shaped steels of the main platform.

2. The hilly orchard harvesting platform according to claim 1, characterized in that: The working platform is also provided with an anti-collision head mechanism, which is a rectangular frame and is hung upside down around the bottom of the working platform. Travel switches corresponding to the anti-collision head mechanism are respectively provided at the front and rear of the bottom of the working platform.

3. The hilly orchard harvesting platform according to claim 1, characterized in that: The control console includes an operation panel, a controller, and a dual-axis handle. The operation panel and the dual-axis handle are connected to the controller via a CAN bus. The controller is provided with 4 current analog outputs, which are respectively connected to the forward interface and reverse interface of the first plunger pump and the forward interface and reverse interface of the second plunger pump.

4. The hilly orchard harvesting platform according to claim 3, characterized in that: A sensor is provided at the bottom of the working platform. The sensor is used to collect the X-axis inclination angle and the Y-axis inclination angle of the working platform relative to the horizontal plane and transmit them to the controller. The controller generates front and rear PID signals and left and right PID signals according to the X-axis inclination angle and the Y-axis inclination angle respectively. The front and rear PID signals control the movement of the front and rear leveling cylinders through the front and rear proportional valves to achieve the adjustment of the front and rear directions of the working platform. The left and right PID signals control the movement of the left and right leveling cylinders through the left and right proportional valves to achieve the adjustment of the left and right directions of the working platform.

5. The hilly orchard harvesting platform according to claim 4, characterized in that: The engine is connected to the gear pump, the gear pump is connected to the switch valve and the front and rear proportional valves, the left and right proportional valves, the switch valve is connected to the five-valve, the five-valve is respectively connected to the lifting cylinder, the front lifting cylinder, the rear lifting cylinder, the first extension cylinder, and the second extension cylinder; the key module is used to input the cylinder control signal, and the cylinder control signal is processed by the controller to generate a drive signal to control the switch valve and the five-valve to realize the action of the corresponding cylinder.

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