A self-adaptive leveling lifting work platform

Abstract

The present invention discloses an adaptive leveling lifting work platform, comprising a frame and a work platform, a power walking mechanism is installed at the lower part of the frame, and the frame also comprises a platform inclination detection device, the platform inclination detection device is connected to a posture leveling control system, a posture leveling mechanism is arranged at the upper part of the frame, the work platform is arranged on the posture leveling mechanism in a liftable manner, and the posture leveling control system is connected to control the posture leveling mechanism. The automatic leveling of the work platform of the present invention enables the present invention to automatically level according to the change of terrain slope, thereby improving the safety and stability of the operation.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to an adaptive leveling lifting platform for use in hilly and mountainous areas. Background Technology

[0002] In my country, hilly and mountainous areas account for a large proportion of fruit tree planting areas. Mobile lifting platforms are frequently used for field management and harvesting. Due to the diverse terrain, undulating ground, and slopes in hilly and mountainous regions, lifting platforms need leveling capabilities to improve machine safety. Currently, most lifting platforms rely on manual operation for leveling, which is inaccurate based on visual observation. Furthermore, improper leveling can lead to platform tipping over, endangering life and property. Therefore, there is an urgent need to develop a lifting platform that can automatically level itself according to changes in terrain slope to improve operational safety and stability. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an adaptive leveling lifting platform that can automatically level itself according to changes in terrain slope.

[0004] To solve the above-mentioned technical problems, the technical solution of the present invention is: an adaptive leveling lifting work platform, including a frame and a work platform, wherein a power walking mechanism is installed at the lower part of the frame, and the frame also includes a platform tilt angle detection device, the platform tilt angle detection device is connected to an attitude leveling control system, an attitude leveling mechanism is provided at the upper part of the frame, the work platform is vertically mounted on the attitude leveling mechanism, and the attitude leveling control system is connected to control the attitude leveling mechanism.

[0005] As a preferred technical solution, the attitude leveling mechanism includes a longitudinal leveling mechanism, which includes a longitudinal leveling frame disposed on the upper side of the frame. A front crossbeam is disposed at the front end of the longitudinal leveling frame, and a rear crossbeam is disposed at the rear end of the longitudinal leveling frame. Safety locking devices are respectively disposed between the frame and the front and rear crossbeams. Longitudinal leveling lifting devices are respectively disposed between the frame and the front and rear crossbeams. The attitude leveling control system is connected to control the longitudinal leveling lifting devices.

[0006] As a preferred technical solution, the safety locking device includes U-shaped grooves with upward-facing openings at the front and rear ends of the frame. The front crossbeam is placed in the U-shaped groove at the front end of the frame, and the rear crossbeam is placed in the U-shaped groove at the rear end of the frame. A front locking pin is slidably disposed on the upper part of the U-shaped groove at the front end of the frame. A front swing arm and a front linkage swing arm are rotatably disposed at the front end of the frame. One end of the front swing arm is hinged to the front locking pin, and one end of the front linkage swing arm abuts against the bottom of the front crossbeam. A rear locking pin is slidably disposed on the upper part of the U-shaped groove at the rear end of the frame. A rear swing arm and a rear linkage swing arm are rotatably disposed at the rear end of the frame. One end of the rear swing arm is hinged to the rear locking pin, and one end of the rear linkage swing arm abuts against the bottom of the rear crossbeam. The other end of the front swing arm is connected to the other end of the rear linkage swing arm via a pull wire, and the other end of the rear swing arm is connected to the other end of the front linkage swing arm via a pull wire. Elastic devices are respectively disposed between the front swing arm and the rear swing arm and the frame.

[0007] As a preferred technical solution, each of the U-shaped grooves is provided with a guide sleeve, and the front locking pin and the rear locking pin are slidably disposed on the U-shaped groove through the guide sleeve.

[0008] As a preferred technical solution, clamps are rotatably fitted on the front and rear crossbeams respectively, and each of the longitudinal leveling and lifting devices is arranged between the corresponding clamps and the frame.

[0009] As a preferred technical solution, the attitude leveling mechanism further includes a lateral leveling mechanism. A lateral leveling frame is provided on the longitudinal leveling frame. The two ends of the lateral leveling frame are respectively hinged to the longitudinal leveling frame through lateral leveling support shafts. A lateral leveling lifting device is provided between the two sides of the lateral leveling frame and the longitudinal leveling frame. The attitude leveling control system is connected to control the lateral leveling lifting device.

[0010] As a preferred technical solution, the longitudinal leveling and lifting device is a longitudinal leveling cylinder, and the lateral leveling and lifting device is a lateral leveling cylinder.

[0011] As a preferred technical solution, the attitude leveling control system includes a controller, the platform tilt angle detection device is connected to the controller, the controller is connected to a proportional solenoid valve, the proportional solenoid valve is connected to the longitudinal leveling cylinder and the lateral leveling cylinder, and the controller is connected to a vehicle management system.

[0012] As a preferred technical solution, the work platform is mounted on the attitude leveling mechanism in a height-adjustable manner via a lifting mechanism. The work platform is equipped with a driving control system, which connects and controls the power walking mechanism and the lifting mechanism.

[0013] An adaptive leveling lifting work platform employing the aforementioned technical solution includes a frame and a work platform. The frame has a power-driven walking mechanism installed at its lower part and also includes a platform tilt detection device connected to a posture leveling control system. A posture leveling mechanism is located at the upper part of the frame, and the work platform is height-adjustable on this mechanism. The posture leveling control system controls the posture leveling mechanism. This invention collects the tilt signal of the work platform through the platform tilt detection device and transmits it to the posture leveling control system in real time. The posture leveling control system first determines whether the tilt value is within a preset leveling range. If it is within the range, it outputs a control signal according to a programmed control strategy, controlling the posture leveling mechanism to adjust the tilt value of the work platform to the allowable range, thus achieving automatic leveling of the work platform. This invention can automatically level according to changes in terrain slope, improving operational safety and stability. Attached Figure Description

[0014] The following figures are intended only to illustrate and explain the present invention and do not limit the scope of the invention. Wherein:

[0015] Figure 1 This is a schematic diagram of the structure of the present invention;

[0016] Figure 2 This is a structural diagram of the longitudinal leveling mechanism of the present invention;

[0017] Figure 3 This is a front view of the longitudinal leveling of the ground on a downhill slope according to the present invention;

[0018] Figure 4 This is a front view of the longitudinal leveling of the invention on an uphill slope.

[0019] Figure 5 This is a schematic diagram of the lateral leveling of an inclined ground according to the present invention;

[0020] Figure 6 This is a schematic diagram of the attitude leveling control system of the present invention.

[0021] In the diagram: 1-Walking system; 2-Power system; 3-Frame; 4-Horizontal leveling cylinder; 5-Longitudinal leveling frame; 6-Horizontal leveling frame; 7-Lifting mechanism; 8-Working platform; 9-Driving control system; 10-Attitude leveling control system; 11-Horizontal leveling support shaft; 12-U-groove; 13-Front linkage swing arm; 131-Rear linkage swing arm; 14-Front locking pin; 141-Rear locking pin; 15-Front swing arm; 151-Rear swing arm; 16-Wire cable; 17-Spring; 18-Longitudinal leveling cylinder; 19-Front crossbeam; 191-Rear crossbeam. Detailed Implementation

[0022] Exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that, in the drawings, the same reference numerals are assigned to components that are substantially the same in structure and function, and redundant descriptions of substantially the same components are omitted to make the description more concise.

[0023] like Figure 1 As shown, an adaptive leveling lifting work platform includes a frame 3 and a work platform 8. The frame 3 is equipped with a power walking mechanism at its lower part and also includes a platform tilt angle detection device. The platform tilt angle detection device is connected to an attitude leveling control system 10. An attitude leveling mechanism is provided on the upper part of the frame 3. The work platform 8 is height-adjustable on the attitude leveling mechanism. The work platform 8 can be height-adjustable on the attitude leveling mechanism via a lifting mechanism 7. The lifting mechanism 7 can be a scissor lift mechanism 7 driven by a hydraulic cylinder, etc. The attitude leveling control system 10 is connected to control the attitude leveling mechanism. The power-driven walking mechanism includes a walking system 1 and a power system 2. The walking system 1 includes wheels, a steering system, a braking system, etc., and the power system 2 includes an engine or motor, a transmission system, etc. The power system 2 can also be a hydraulic motor driven by a hydraulic system. The working platform 8 is equipped with a driving control system 9, which connects and controls the walking system 1, the power system 2, and the lifting mechanism 7. The walking system 1, the power system 2, the lifting mechanism 7, and the driving control system 9 are all common knowledge known to those skilled in the art and will not be described here.

[0024] like Figure 1 and Figure 2As shown, the attitude leveling mechanism includes a longitudinal leveling mechanism, which includes a longitudinal leveling frame 5 disposed on the upper side of the frame 3. A front crossbeam 19 is disposed at the front end of the longitudinal leveling frame 5, and a rear crossbeam 191 is disposed at the rear end of the longitudinal leveling frame 5. Safety locking devices are respectively disposed between the frame 3 and the front crossbeam 19 and the rear crossbeam 191. Longitudinal leveling lifting devices are respectively disposed between the frame 3 and the front crossbeam 19 and the rear crossbeam 191. The attitude leveling control system 10 is connected to control the longitudinal leveling lifting devices. The safety locking device includes U-shaped grooves 12 with upward-facing openings at the front and rear ends of the frame 3. The U-shaped grooves 12 can be welded to the frame 3. The front crossbeam 19 is placed in the U-shaped groove 12 at the front end of the frame 3, and the rear crossbeam 191 is placed in the U-shaped groove 12 at the rear end of the frame 3. Thus, the front and rear crossbeams 19 and 191 form a semi-hinged connection with the U-shaped grooves 12 when they are inside. A front locking pin 14 is slidably disposed on the upper part of the U-shaped groove 12 at the front end of the frame 3. A front swing arm 15 and a front linkage arm 13 are rotatably disposed at the front end of the frame 3. Both the front swing arm 15 and the front linkage arm 13 are rotatably mounted on the frame 3 via a rotating shaft. One end of the front swing arm 15 is hinged to the front locking pin 14. One end of the movable swing arm 13 abuts against the bottom of the front crossbeam 19. A rear locking pin 141 is slidably provided on the upper part of the U-shaped groove 12 at the rear end of the frame 3. A rear swing arm 151 and a rear linkage swing arm 131 are rotatably provided at the rear end of the frame 3. The rear swing arm 151 and the rear linkage swing arm 131 are also rotatably mounted on the frame 3 via a rotating shaft. One end of the rear swing arm 151 is hinged to the rear locking pin 141. One end of the rear linkage swing arm 131 abuts against the bottom of the rear crossbeam 191. The other end of the front swing arm 151 is connected to the other end of the rear linkage swing arm 131 via a pull wire 16. The other end of the rear swing arm 151 is connected to the other end of the front linkage swing arm 13 via a pull wire 16. The pull wire 16 is installed on the frame 3 via a conduit. Elastic devices, such as springs 17, are respectively provided between the front swing arm 15 and the rear swing arm 151 and the frame 3 to provide the force required for the front locking pin 14 and the rear locking pin 141 to slide into the U-shaped groove 12. The U-shaped grooves 12 can be provided on both sides of the front and rear ends of the frame 3, and safety locking devices are respectively provided between the two U-shaped grooves 12 on the same side of the frame 3 and the frame 3. Preferably, each U-shaped groove 12 is provided with a guide sleeve, which can be welded to the U-shaped groove 12. The front locking pin 14 and the rear locking pin 141 are slidably disposed on the U-shaped groove 12 through the guide sleeve, improving the stability of the front locking pin 14 and the rear locking pin 141. Furthermore, both the front linkage swing arm 13 and the rear linkage swing arm 131 can be V-shaped arms, with one arm of the front linkage swing arm 13 abutting against the bottom of the front crossbeam 19 and the other arm connected to the rear swing arm 151.Clamps are rotatably fitted onto the front crossbeam 19 and the rear crossbeam 191, respectively. Each of the longitudinal leveling and lifting devices is positioned between the corresponding clamp and the frame 3. When the longitudinal leveling and lifting device is working, the clamp can rotate on the front crossbeam 19 or the rear crossbeam 191. Pin holes can be provided on each U-shaped groove 12, with the front locking pin 14 and the rear locking pin 141 slidably positioned within the pin holes on the corresponding U-shaped groove 12, and the front locking pin 14 and the rear locking pin 141 slidingly penetrating the groove cavity of the corresponding U-shaped groove 12.

[0025] like Figure 1 and Figure 5 As shown, the attitude leveling mechanism also includes a lateral leveling mechanism. The lateral leveling mechanism includes a lateral leveling frame 6 mounted on the longitudinal leveling frame 5. The two ends of the lateral leveling frame 6 are respectively hinged to the longitudinal leveling frame 5 via lateral leveling support shafts 11. Lateral leveling lifting devices are respectively provided between the two sides of the lateral leveling frame 6 and the longitudinal leveling frame 5. The lateral leveling lifting devices can be provided between the front and rear ends of the lateral leveling frame 6 and the longitudinal leveling frame 5. The attitude leveling control system 10 is connected to control the lateral leveling lifting devices.

[0026] like Figure 1 and Figure 6 As shown, the longitudinal leveling and lifting device is a longitudinal leveling cylinder 18, and the lateral leveling and lifting device is a lateral leveling cylinder 4. The attitude leveling control system 10 includes a controller, the platform tilt angle detection device is connected to the controller, the controller is connected to a proportional solenoid valve, the proportional solenoid valve is connected to the longitudinal leveling cylinder 18 and the lateral leveling cylinder 4, and the controller is connected to an on-board management system. The platform tilt angle detection device can use tilt angle sensors, including longitudinal tilt angle sensors and lateral tilt angle sensors, and can be installed on the work platform 8. The on-board management system allows for user command input such as switching working modes and setting parameters, as well as displaying platform attitude information. The tilt angle sensors collect the tilt angle signals of the work platform 8 and transmit them to the controller in real time. The controller first determines whether each tilt angle value is within the leveling range. If it is within the range, the controller outputs a control signal according to the programmed control strategy, controlling the extension and retraction of the longitudinal leveling cylinder 18 or the lateral leveling cylinder 4 through the proportional solenoid valve to adjust the tilt angle value of the work platform 8 to the allowable range, thereby achieving automatic leveling of the work platform 8.

[0027] like Figure 2 , Figure 3 and Figure 4 As shown, the present invention performs attitude leveling of the work platform 8:

[0028] Without leveling, the longitudinal tilt sensor and the lateral tilt sensor collect the tilt signal of the work platform 8 and transmit it to the controller in real time. The controller determines that each tilt value is not within the leveling range, so the longitudinal leveling cylinder 18 and the lateral leveling cylinder 4 do not extend. At this time, the front crossbeam 19 and the rear crossbeam 191 of the longitudinal leveling frame 5 are in the U-shaped groove 12 of the frame 3, which restricts the freedom of the front linkage swing arm 13 and the rear linkage swing arm 131 to swing upward. Adjust the pull line 16 so that the front locking pin 14 and the rear locking pin 141 are pulled out of the U-shaped groove 12 respectively. The two longitudinal leveling cylinders 18 are respectively hinged to the clamps on the frame 3 and the front crossbeam 19 and the rear crossbeam 191. Using the hydraulic lock function, the frame 3 and the longitudinal leveling frame 5 are in a relatively fixed state.

[0029] During the longitudinal leveling action, when the equipment tilts downwards on the front side of the downhill slope, the longitudinal tilt angle sensor collects the tilt angle signal of the working platform 8 and sends it to the controller in real time. The controller determines that the longitudinal tilt angle value is within the leveling range and controls the longitudinal leveling cylinder 18 on the front side of the frame 3 to extend through the proportional solenoid valve. This causes the longitudinal leveling frame 5 to swing around the rear crossbeam 191. The front crossbeam 19 disengages from the front U-shaped groove 12 of the frame 3, and the freedom of the front linkage swing arm 13 to swing upward is released. Under the action of the spring 17, the rear swing arm 151 drives the rear locking pin 141 to slide and insert into the U-shaped groove 12, blocking the rear crossbeam 191 in the rear U-shaped groove 12 of the frame 3, making it fully hinged, so as to prevent the rear crossbeam 191 from coming out of the U-shaped groove 12 and prevent the working platform 8 from becoming unstable due to the extension of the longitudinal leveling cylinder 18 on the rear side of the frame 3. Conversely, when the equipment tilts downwards from the back, the controller controls the longitudinal leveling cylinder 18 at the rear of the frame 3 to extend through the proportional solenoid valve, causing the longitudinal leveling frame 5 to swing around the front crossbeam 19. The rear crossbeam 191 disengages from the front U-shaped groove 12 of the frame 3, releasing the freedom of the rear linkage swing arm 131 to swing upwards. Under the action of the spring 17, the front swing arm 15 drives the front locking pin 14 to slide into the U-shaped groove 12, blocking the front crossbeam 19 in the front U-shaped groove 12 of the frame 3, making it fully articulated, so as to prevent the front crossbeam 19 from disengaging from the U-shaped groove 12, preventing the work platform 8 from becoming unstable due to the extension of the longitudinal leveling cylinder 18 at the front of the frame 3, thus achieving longitudinal leveling.

[0030] In the lateral leveling action, when the equipment is on a lateral tilt, the lateral tilt angle sensor collects the tilt angle signal of the working platform 8 and sends it to the controller in real time. The controller determines that the lateral tilt angle value is within the leveling range and controls the extension and retraction of the lateral leveling cylinder 4 through the proportional solenoid valve, so that the lateral leveling frame 6 swings around the hinge point to achieve lateral posture adjustment.

[0031] As described above, embodiments of the present invention have been specifically described, but the invention is not limited thereto. Those skilled in the art should understand that various modifications, combinations, sub-combinations, or substitutions can be made according to design requirements or other factors, and these are within the scope of the appended claims and their equivalents.

Claims

1. An adaptive leveling lifting work platform, comprising a frame and a work platform, wherein a power walking mechanism is installed at the lower part of the frame, and characterized in that: It also includes a platform inclination detection device, the platform inclination detection device is connected to a posture leveling control system, a posture leveling mechanism is arranged on the upper part of the frame, the working platform is arranged on the posture leveling mechanism in a liftable manner, and the posture leveling control system is connected to control the posture leveling mechanism; The posture leveling mechanism comprises a longitudinal leveling mechanism, the longitudinal leveling mechanism comprises a longitudinal leveling frame arranged on the upper side of the frame, a front crossbeam is arranged at the front end of the longitudinal leveling frame, a rear crossbeam is arranged at the rear end of the longitudinal leveling frame, safety locking devices are arranged between the frame and the front crossbeam and the rear crossbeam respectively, longitudinal leveling lifting devices are arranged between the frame and the front crossbeam and the rear crossbeam respectively, and the posture leveling control system is connected to control the longitudinal leveling lifting devices; The safety locking device comprises a U-shaped groove with a notch upward at the front and rear ends of the frame, the front cross beam is placed in the U-shaped groove at the front end of the frame, and the rear cross beam is placed in the U-shaped groove at the rear end of the frame, and a front locking pin is slidably provided on the upper part of the U-shaped groove at the front end of the frame, and the front end of the frame is rotatably provided with a front swing arm and a front linkage swing arm, one end of the front swing arm is hinged to the front locking pin, one end of the front linkage swing arm abuts against the bottom of the front cross beam, and the other end of the front swing arm is connected to the other end of the rear linkage swing arm through a pull wire 1, and the other end of the rear swing arm is connected to the other end of the front linkage swing arm through a pull wire 2, and elastic devices are respectively provided between the front swing arm and the rear swing arm and the frame; The attitude leveling mechanism also includes a transverse leveling mechanism, which includes a transverse leveling frame arranged on the longitudinal leveling frame, both ends of the transverse leveling frame are respectively hinged to the longitudinal leveling frame through transverse leveling support shafts, and transverse leveling lifting devices are respectively arranged between the two sides of the transverse leveling frame and the longitudinal leveling frame, and the attitude leveling control system is connected to control the transverse leveling lifting device.

2. The self-adaptive leveling lifting work platform according to claim 1, characterized in that: A guide sleeve is respectively arranged on each of the U-shaped grooves, and the front locking pin and the rear locking pin are slidably arranged on the U-shaped groove through the guide sleeve.

3. The self-adaptive leveling lifting work platform according to claim 1, characterized in that: The front cross beam and the rear cross beam are respectively rotatably sleeved with clamps, and each of the longitudinal leveling and lifting devices is arranged between the corresponding clamp and the frame.

4. The self-adaptive leveling lifting work platform according to claim 1, characterized in that: The longitudinal leveling lifting device is a longitudinal leveling oil cylinder, and the transverse leveling lifting device is a transverse leveling oil cylinder.

5. The self-adaptive leveling lifting work platform according to claim 4, characterized in that: The attitude leveling control system includes a controller, the platform inclination detection device is connected to the controller, the controller is connected to a proportional solenoid valve, the proportional solenoid valve is connected to the longitudinal leveling cylinder and the lateral leveling cylinder, and the controller is connected to a vehicle management system.

6. An adaptive leveling lifting work platform as claimed in any one of claims 1 to 5, characterized in that: The working platform is arranged on the posture leveling mechanism so as to be liftable by a lifting mechanism. A driving control system is arranged on the working platform, and the driving control system is connected to control the power traveling mechanism and the lifting mechanism.

Images