Multi-point supporting orchard operation platform and hydraulic leveling method

Abstract

The invention provides a multi-point supporting orchard operation platform and a hydraulic leveling method. The multi-point supporting orchard operation platform comprises a vehicle body girder, an operation platform body, a displacement maintaining device, a leveling executing device, a fixed supporting device and an inclination angle detecting device. The leveling execution device comprises two driving oil cylinders and two driven oil cylinders which form a square arrangement structure, the driving oil cylinders and the driven oil cylinders are arranged diagonally, and a hydraulic loop is of a series connection structure, so that a driving oil cylinder push rod and a driven oil cylinder push rod are identical in expansion amount and opposite in direction; the working platform drives the driven oil cylinder to conduct inclination angle control by controlling the driving oil cylinder, leveling displacement compensation is conducted through the displacement maintaining device, and horizontal adjustment movement in the transverse direction and the longitudinal direction is achieved. The whole structure is uniform in bearing capacity, high in supporting capacity, simple in control method, high in response speed and capable of effectively counteracting interference caused by ground fluctuation, keeping the operation platform stable in the horizontal state and improving the operation efficiency and safety of orchard mechanization.

Description

Technical Field

[0001] The invention relates to the technical field of agricultural machinery, and in particular to a multi-point supported orchard operating platform and a hydraulic leveling method. Background Art

[0002] The forestry and fruit planting area in Xinjiang is very large, but due to various reasons such as economic conditions, machinery supply, and work factors, the current comprehensive mechanization level of Xinjiang's forestry and fruit industry is only 45.49%, and there is a lack of machinery required for some links with high labor intensity and high labor volume; in the development of forestry and fruit mechanization in Xinjiang, the weakest links are still pruning and harvesting, with a pruning mechanization level of 26.05% and a picking mechanization level of 1.81%; the orchards in Aksu region of Xinjiang have special sandy terrain and uneven ground, and operations such as picking and pruning in orchards are at a certain height from the ground, which is quite difficult; currently, fruit picking and pruning are still mainly done by manual labor and auxiliary tools, with low operating efficiency and high risk.

[0003] In view of the above situation, the purpose of the present invention is to provide a multi-point supported orchard work platform and a hydraulic leveling method, which can automatically adjust the inclination angle of the work platform to maintain horizontal stability during the operation process, have strong supporting capacity and uniform bearing capacity, and the platform can be made wider to accommodate more mechanical equipment and operators. It is suitable for the mechanized operation mode during the orchard movement process, and improves the efficiency of orchard pruning and picking operations; it is beneficial to offset the interference of terrain undulations during mobile operations, and improve the accuracy of orchard mechanical operations and the safety of operators. Summary of the invention

[0004] To achieve the above object, the present invention adopts the following technical solutions: A multi-point supported orchard operating platform and a hydraulic leveling method, comprising a vehicle body beam, an operating platform, a displacement holding device, a leveling execution device, a fixed supporting device and an inclination detection device.

[0005] Four hinges are installed under the working platform: hinge A, hinge B, hinge C and hinge D, forming a square layout structure; an intermediate hinge E is installed under the working platform: it is located at the intersection of the two diagonals of the square, and the working platform takes the intermediate hinge E as the leveling movement center; an inclination detection device is installed above the working platform as the leveling coordinate origin, the diagonal where hinge A and hinge C are located is used as the X-axis direction of the inclination detection device, and the diagonal where hinge B and hinge D are located is used as the Y-axis direction of the inclination detection device.

[0006] The displacement holding device includes: a lateral displacement pallet, a lateral linear guide, a lateral displacement slider, a longitudinal displacement pallet, a longitudinal linear guide, a longitudinal displacement slider, a cylinder retainer, an annular clamp, and a cylinder limit plate; the leveling actuator is composed of 4 hydraulic cylinders of the same size, and the leveling device is composed of 4 hydraulic cylinders of the same specification, and has the same square layout structure as the 4 hinges of the working platform, including: X-axis active cylinder, X-axis passive cylinder, X-axis active cylinder push rod, X-axis passive cylinder push rod, Y-axis active cylinder, Y-axis passive cylinder, Y-axis active cylinder push rod, and Y-axis passive cylinder push rod.

[0007] The X-axis active oil cylinder and the X-axis passive oil cylinder of the leveling device are arranged diagonally, and jointly undertake the leveling movement in the X-axis direction; the Y-axis active oil cylinder and the Y-axis passive oil cylinder of the leveling device are arranged diagonally, and jointly undertake the leveling movement in the Y-axis direction; The rod chamber of the X-axis active oil cylinder is connected with the rod chamber of the X-axis passive oil cylinder through an oil pipe to form a series hydraulic circuit. When the push rod of the X-axis active oil cylinder is extended or shortened, the push rod of the X-axis passive oil cylinder is driven to shorten or extend synchronously, and the extension and contraction amounts of the two oil cylinder push rods are the same, and the extension and contraction directions are opposite; the rod chamber of the Y-axis active oil cylinder is connected with the rod chamber of the Y-axis passive oil cylinder through an oil pipe to form a series hydraulic circuit. When the push rod of the Y-axis active oil cylinder is extended or shortened, the push rod of the Y-axis passive oil cylinder is driven to shorten or extend synchronously, and the extension and contraction amounts of the two oil cylinder push rods are the same, and the extension and contraction directions are opposite.

[0008] The bottoms of the four hydraulic cylinders are respectively connected to four displacement holding devices; when the X-axis is leveled alone, the X-axis active cylinder and the X-axis passive cylinder realize synchronous displacement perpendicular to the plane of the vehicle body beam through the displacement holding device, and the displacement amount is the same and the direction is opposite; when the Y-axis is leveled alone, the Y-axis active cylinder and the Y-axis passive cylinder realize synchronous displacement perpendicular to the plane of the vehicle body beam through the displacement holding device, and the displacement amount is the same and the direction is opposite; when the X-axis and the Y-axis are leveled at the same time, the four hydraulic cylinders simultaneously perform leveling displacement perpendicular to the plane of the vehicle body beam; The working platform drives the X-axis passive cylinder and the Y-axis passive cylinder to control the inclination angle through the X-axis active cylinder and the Y-axis active cylinder, and performs leveling displacement compensation through the displacement holding device to realize the lateral and longitudinal horizontal adjustment movement of the working platform with the middle hinge E as the leveling center.

[0009] The displacement holding device is installed above the vehicle body beam, and the bottom is fixedly connected to the vehicle body beam through a transverse displacement support plate. Two rows of transverse linear guides are installed above the transverse displacement support plate. Four transverse displacement sliders are grouped in twos and are respectively installed above the two rows of transverse linear guides to achieve transverse movement along the guide rails; the tops of the four transverse displacement sliders are fixedly connected to the longitudinal displacement support plate, and the two rows of longitudinal linear guides are installed above the longitudinal displacement support plate. Four longitudinal displacement sliders are grouped in twos and are installed above the two rows of longitudinal linear guides to achieve longitudinal movement along the guide rails; the transverse linear guides are arranged vertically with the longitudinal linear guides, and limiters are installed to prevent the displacement sliders from falling off; the two cylinder retainers are installed above the longitudinal displacement sliders and are arranged longitudinally symmetrically, the hydraulic cylinder is located in the middle of the two cylinder retainers, the two cylinder limit plates are closely attached to the hydraulic cylinders and connected to the bottoms of the two cylinder retainers, and the two annular clamps are closely attached to the hydraulic cylinders and connected to the tops of the two cylinder retainers; the hydraulic cylinder is always perpendicular to the displacement holding device, and the transverse and longitudinal movements in the plane of the vehicle body beam are achieved through the transverse displacement sliders and the longitudinal displacement sliders.

[0010] The leveling actuator is installed between the vehicle body frame and the working platform. The X-axis active cylinder push rod is connected to the working platform through hinge A, and the X-axis passive cylinder push rod is connected to the working platform through hinge C; the Y-axis active cylinder push rod is connected to the working platform through hinge B, and the Y-axis passive cylinder push rod is connected to the working platform through hinge D.

[0011] The fixed support device is installed above the middle position of the vehicle body beam; two beam clamps are installed at the bottom, which are fixedly connected to the vehicle body beam respectively, and two H-shaped support tubes are fixed above the two beam clamps respectively and tilted inwardly, and the tops of the two H-shaped support tubes are connected to the H-shaped fixing plate, and the middle support column is installed above the H-shaped fixing plate, and the top of the middle support column is connected to the working platform through the middle hinge E.

[0012] Preferably, the four hydraulic cylinders and the fixed support device are connected to the working platform via hinges, and the rotational movement of the working platform around the Z-axis direction is limited by fixing the lower fork of the hinge; the five upper forks of the hinge are installed on the same plane at the bottom of the working platform, and when the working platform is leveled, the middle hinge is always at the leveling center point, and when only two hinges on a diagonal line are leveled, the two hinges on the other diagonal line only change direction without changing their spatial position.

[0013] Preferably, the longitudinal linear guide is located on the lower layer and arranged in two parallel rows, each row is equipped with two longitudinal displacement sliders, and the transverse linear guide is located on the upper layer and arranged in two parallel rows, each row is equipped with two transverse displacement sliders, and the transverse linear guide is perpendicular to the longitudinal linear guide to realize the transverse and longitudinal movement of the hydraulic cylinder.

[0014] Preferably, the active cylinder and the passive cylinder have the same size and are connected in parallel to form a series hydraulic circuit. The rod chamber of the X-axis active cylinder is connected to the rod chamber of the X-axis passive cylinder through an oil pipe, and the rod chamber of the Y-axis active cylinder is connected to the rod chamber of the Y-axis passive cylinder through an oil pipe. When the working platform is leveled, the extension and retraction amounts of the active cylinder push rod and the passive cylinder push rod are the same but in opposite directions.

[0015] Preferably, the four hydraulic cylinders form a square arrangement structure, the X-axis active cylinder and the X-axis passive cylinder are diagonally arranged, and the Y-axis active cylinder and the Y-axis passive cylinder are diagonally arranged; the inclination sensor is located at the intersection of the two diagonals of the square, the X-axis of the inclination sensor coincides with the diagonal where the X-axis active cylinder is located, and the Y-axis of the inclination sensor coincides with the diagonal where the Y-axis active cylinder is located, and when the working platform is leveled, the X-axis leveling and the Y-axis leveling can be carried out simultaneously. Compared with the prior art, the present invention has the following beneficial effects: 1. Compared with a three-point support platform, the working platform of the present invention has five evenly distributed support points, which can more effectively disperse the weight and pressure, thereby providing better balance and stability, solving the problem of uneven force on the three-point supported working platform, and increasing the carrying capacity of the working platform; compared with a four-point supported platform, the working platform of the present invention is controlled by a hydraulic cylinder series circuit, which can effectively solve the redundant constraint problem of the four-point supported leveling mechanism and the complex control algorithm of the four-point support, and avoid excessive deformation of the constraints of the working platform.

[0016] 2. The present invention adopts 4 hydraulic cylinders to form a square arrangement structure, in which the active cylinder and the passive cylinder are arranged diagonally, and the hydraulic circuit is a series structure; under the action of the displacement holding device, the hydraulic cylinder always moves perpendicular to the plane of the vehicle body beam; when the working platform is leveled, the active cylinder push rod and the passive cylinder push rod on the same diagonal line have the same extension and contraction amount and opposite direction; only two active cylinders need to be controlled to drive two passive cylinders, which simplifies the control scheme of the multi-cylinder hydraulic circuit; two directions are controlled respectively by two active cylinders, and the leveling control method is simple and the response speed is fast.

[0017] 3. The present invention can adjust the inclination angle of the working platform in real time according to the terrain conditions of the orchard; the working platform has the advantages of strong carrying capacity, stable supporting force, and large working platform range; it can carry multiple orchard working robots, can resist the interference of terrain undulations, achieve horizontal and stable operation during the moving process, improve the accuracy of the working robots, and improve the operating efficiency of modern orchards. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solution of the present invention, the present invention will be further described below in conjunction with the accompanying drawings.

[0019] Figure 1 The present invention is a schematic diagram of the overall structure of a multi-point supported orchard operating platform and a hydraulic leveling method.

[0020] Figure 2 The present invention is a schematic diagram of a series hydraulic circuit of a multi-point supported orchard operating platform and a hydraulic leveling method.

[0021] Figure 3 The present invention is a schematic diagram of a square arrangement structure of a multi-point supported orchard work platform and a hydraulic leveling method.

[0022] Figure 4 The present invention is a schematic diagram of the structure of a displacement maintaining device of a multi-point supported orchard operating platform and a hydraulic leveling method.

[0023] Figure 5 It is a schematic diagram of X-axis diagonal leveling of a multi-point supported orchard operating platform and a hydraulic leveling method of the present invention.

[0024] Figure 6 The present invention provides a multi-point supported orchard work platform and a hydraulic leveling method for the leveling side view in the X-axis direction.

[0025] Description of reference numerals and corresponding parts: 1-body beam; 2-working platform; 210-hinge A; 211-hinge B; 212-hinge C; 213-hinge D; 214-intermediate hinge E; 3-displacement holding device; 310-lateral displacement support plate; 311-lateral linear guide rail; 312-lateral displacement slider; 320-longitudinal displacement support plate; 321-longitudinal linear guide rail; 322-longitudinal displacement slider; 330-cylinder retainer; 331-annular clamp; 332-cylinder limit plate; 333-limit Device; 4-leveling actuator; 410-X-axis active cylinder; 411-X-axis passive cylinder; 412-X-axis active cylinder push rod; 413-X-axis passive cylinder push rod; 420-Y-axis active cylinder; 421-Y-axis passive cylinder; 422-Y-axis active cylinder push rod; 423-Y-axis passive cylinder push rod; 5-fixed support device; 510-beam chuck; 511-H-type support tube; 512-H-type fixed plate; 513-middle support column; 6-inclination detection device. DETAILED DESCRIPTION

[0026] In order to facilitate understanding of the present invention, the present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0027] like Figure 1As shown, the present invention provides a multi-point supported orchard work platform and a hydraulic leveling method, comprising: a vehicle body beam (1), an work platform (2), a displacement holding device (3), a leveling execution device (4), a fixed support device (5) and an inclination detection device (6); initially, the orchard work platform (2) is in a horizontal state, and the X-axis active cylinder push rod (412), the X-axis passive cylinder push rod (413), the Y-axis active cylinder push rod (422) and the Y-axis passive cylinder push rod (423) are all in the middle position of the cylinder push rod stroke; Four hinges are installed below the working platform (2): hinge A (210), hinge B (211), hinge C (212) and hinge D (213), forming a square arrangement structure; an intermediate hinge E (214) is installed below the working platform (2): located at the intersection of two diagonals of the square, the working platform (2) uses the intermediate hinge E (214) as the leveling movement center; The displacement holding device (3) comprises: a lateral displacement support plate (310), a lateral linear guide rail (311), a lateral displacement slider (312), a longitudinal displacement support plate (320), a longitudinal linear guide rail (321), a longitudinal displacement slider (322), a cylinder retainer (330), an annular clamp (331), and a cylinder limit plate (332); The leveling actuator (4) is composed of four hydraulic cylinders of the same specifications and has the same square arrangement structure as the four hinges of the working platform (2), including: an X-axis active cylinder (410), an X-axis passive cylinder (411), an X-axis active cylinder push rod (412), an X-axis passive cylinder push rod (413), a Y-axis active cylinder (420), a Y-axis passive cylinder (421), a Y-axis active cylinder push rod (422), and a Y-axis passive cylinder push rod (423); The X-axis active oil cylinder (410) and the X-axis passive oil cylinder (411) of the leveling device (4) are arranged diagonally, and jointly undertake the leveling movement in the X-axis direction; the Y-axis active oil cylinder (420) and the Y-axis passive oil cylinder (421) of the leveling device (4) are arranged diagonally, and jointly undertake the leveling movement in the Y-axis direction; the middle hinge E (214) is used as the leveling center of the working platform (2); The rod chamber of the X-axis active oil cylinder (410) is connected to the rod chamber of the X-axis passive oil cylinder (411) through an oil pipe to form a series hydraulic circuit. When the push rod (412) of the X-axis active oil cylinder is extended or shortened, it drives the push rod (413) of the X-axis passive oil cylinder to shorten or lengthen synchronously. The two oil cylinder push rods have the same extension amount and opposite extension directions. The rod chamber of the Y-axis active oil cylinder (420) is connected to the rod chamber of the Y-axis passive oil cylinder (421) through an oil pipe to form a series hydraulic circuit. When the push rod (422) of the Y-axis active oil cylinder is extended or shortened, it drives the push rod (423) of the Y-axis passive oil cylinder to shorten or lengthen synchronously. The two oil cylinder push rods have the same extension amount and opposite extension directions. The bottoms of the four hydraulic cylinders are respectively connected to the four displacement holding devices (3); when the X-axis is leveled alone, the X-axis active cylinder (410) and the X-axis passive cylinder (411) realize synchronous displacement perpendicular to the plane of the vehicle body beam (1) through the displacement holding device (4), and the displacement amounts are the same and the directions are opposite; when the Y-axis is leveled alone, the Y-axis active cylinder (420) and the Y-axis passive cylinder (421) realize synchronous displacement perpendicular to the plane of the vehicle body beam (1) through the displacement holding device (4), and the displacement amounts are the same and the directions are opposite; when the X-axis and the Y-axis are leveled simultaneously, the four hydraulic cylinders simultaneously perform leveling displacement perpendicular to the plane of the vehicle body beam (1); The working platform (2) drives the X-axis passive oil cylinder (411) and the Y-axis passive oil cylinder (421) to control the inclination angle through the X-axis active oil cylinder (410) and the Y-axis active oil cylinder (420), and performs leveling displacement compensation through the displacement holding device (3), thereby realizing the lateral and longitudinal horizontal adjustment movement of the working platform (2) with the middle hinge E (214) as the leveling center.

[0028] like Figure 3 As shown, an inclination detection device (6) is installed above the working platform (2) as the origin of the leveling coordinate system; the diagonal line where the hinge A (210) and the hinge C (212) are located is used as the X-axis direction of the inclination detection device (6), and the diagonal line where the hinge B (211) and the hinge D (213) are located is used as the Y-axis direction of the inclination detection device (6).

[0029] like Figure 4As shown, the displacement holding device (3) is installed above the vehicle body beam (1), and the bottom is fixedly connected to the vehicle body beam (1) through a transverse displacement support plate (310); two rows of transverse linear guide rails (311) are installed above the transverse displacement support plate (310); four transverse displacement sliders (312) are grouped in pairs and are respectively installed above the two rows of transverse linear guide rails (311) to achieve transverse movement along the guide rails; the tops of the four transverse displacement sliders (312) are fixedly connected to the longitudinal displacement support plate (320); two rows of longitudinal linear guide rails (321) are installed above the longitudinal displacement support plate (320); four longitudinal displacement sliders (322) are grouped in pairs and are installed above the two rows of longitudinal linear guide rails (321) to achieve longitudinal movement along the guide rails; the transverse linear guide rails (311) and the longitudinal linear guide rails (321) are arranged vertically, and are provided with limiters (333) to prevent the displacement sliders from falling off; The two oil cylinder retaining frames (330) are mounted above the longitudinal displacement slider (322) and are arranged symmetrically in the longitudinal direction. The hydraulic oil cylinder is located between the two oil cylinder retaining frames (330). The two oil cylinder limit plates (333) are closely attached to the hydraulic oil cylinder and connected to the bottom of the two oil cylinder retaining frames (330). The two annular clamps (331) are closely attached to the hydraulic oil cylinder and connected to the top of the two oil cylinder retaining frames (330). The hydraulic oil cylinder is always perpendicular to the displacement holding device (3) and realizes lateral and longitudinal movement in the plane of the vehicle body beam (1) through the lateral displacement slider (312) and the longitudinal displacement slider (322).

[0030] like Figure 5 As shown, the leveling actuator (4) is installed between the vehicle body beam (1) and the working platform (2); the X-axis active cylinder push rod (412) is connected to the working platform (2) through a hinge A (210), and the X-axis passive cylinder push rod (413) is connected to the working platform (2) through a hinge C (212); the Y-axis active cylinder push rod (422) is connected to the working platform (2) through a hinge B (211), and the Y-axis passive cylinder push rod (423) is connected to the working platform (2) through a hinge D (213); when the working platform (2) is leveled in the X-axis direction, the hinge A (210) and the hinge C (212) are connected on the vehicle body. The projection on the plane of the beam (2) moves simultaneously along the diagonal line toward the middle hinge E (214), driving the cylinder holder (3) at the bottom of the X-axis active cylinder (410) and the X-axis passive cylinder (411) to move on the plane of the vehicle body beam (2) through the lateral displacement slider (312) and the longitudinal displacement slider (322); using the principle that the distances between the two diagonal vertices of a square and the intersection of the two diagonals are equal, under the action of the displacement holding device (3), the hydraulic cylinder is always perpendicular to the plane of the vehicle body beam (2), so that the displacement amounts of the X-axis active cylinder (410) and the X-axis passive cylinder (411) are the same but in opposite directions.

[0031] The fixed support device (5) is installed above the middle position of the vehicle body beam (1); two beam clamps (510) are installed at the bottom and are respectively fixedly connected to the vehicle body beam (1); two H-shaped support tubes (511) are respectively fixed above the two beam clamps (510) and are inclined inwardly; the tops of the two H-shaped support tubes (502) are connected to the H-shaped fixing plate (512); the middle support column (513) is installed above the H-shaped fixing plate (503); and the top of the middle support column (513) is connected to the working platform (2) via a middle hinge E (214).

[0032] like Figure 6 As shown, the multi-point supported orchard operation platform and hydraulic leveling method described in this embodiment include the following steps: When the driving chassis of the working platform (2) is disturbed by the undulating terrain of the orchard, the hinge A (210) of the working platform (2) in the X-axis direction is higher than the horizontal plane position and tilts upward, the inclination detection device (6) located at the coordinate origin of the working platform (2) detects the inclination angle information of the working platform (2) in the X-axis direction. When the inclination angle of the X-axis exceeds the horizontal range of the working platform (2) set by the system, the inclination detection device (6) controls the retraction of the X-axis active oil cylinder push rod (412) to drive the extension of the X-axis passive oil cylinder push rod (413). At this time, the hinge A (210) and the hinge C (212) of the working platform (2) start to rotate around the Y-axis with the middle hinge E (214) as the center, and the working platform (2) is horizontally adjusted along the X-axis direction; When the inclination detection device (6) detects that the inclination angle of the X-axis is within the horizontal range set by the system, the X-axis active cylinder push rod (412) is controlled to stop retracting, the corresponding X-axis passive cylinder push rod (413) stops extending, the X-axis active cylinder (410) and the X-axis passive cylinder (411) stop moving, and the adjustment of the X-axis direction of the working platform (2) is completed, and the working platform (2) is in a horizontal and stable state. Similarly, when the hinge A (210) in the X-axis direction of the working platform (2) is lower than the horizontal plane position and tilts downward, the inclination detection device (6) controls the X-axis active cylinder push rod (412) to extend, driving the X-axis passive cylinder (413) to retract for leveling; By utilizing the principle that the two diagonals of a square are perpendicular to each other, the diagonal where the X-axis active oil cylinder (410) and the X-axis passive oil cylinder (411) are located is the X-axis direction, and the diagonal where the Y-axis active oil cylinder (420) and the Y-axis passive oil cylinder (421) are located is the Y-axis direction. Leveling in the X-axis direction and leveling in the Y-axis direction do not interfere with each other, and the X-axis active oil cylinder (410) and the Y-axis active oil cylinder (420) can simultaneously perform horizontal adjustment of the working platform.

[0033] The above description is only the concept and implementation mode of the present invention, not all or the only implementation modes, and does not limit it. For those skilled in the art, several modifications and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention. These will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A multi-point supported orchard operation platform and a hydraulic leveling method, comprising: The vehicle body is composed of a vehicle body beam (1), a working platform (2), a displacement holding device (3), a leveling execution device (4), a fixed support device (5) and an inclination detection device (6); Four hinges are installed below the working platform (2): hinge A (210), hinge B (211), hinge C (212) and hinge D (213), forming a square arrangement structure; an intermediate hinge E (214) is installed below the working platform (2), located at the intersection of two diagonals of the square; The working platform (2) takes the middle hinge E (214) as the center of leveling movement; The displacement holding device (3) comprises: a lateral displacement support plate (310), a lateral linear guide rail (311), a lateral displacement slider (312), a longitudinal displacement support plate (320), a longitudinal linear guide rail (321), a longitudinal displacement slider (322), a cylinder retainer (330), an annular clamp (331), and a cylinder limit plate (332); The leveling actuator (4) is composed of four hydraulic cylinders of the same specifications and has the same square arrangement structure as the four hinges of the working platform (2), including: an X-axis active cylinder (410), an X-axis passive cylinder (411), an X-axis active cylinder push rod (412), an X-axis passive cylinder push rod (413), a Y-axis active cylinder (420), a Y-axis passive cylinder (421), a Y-axis active cylinder push rod (422), and a Y-axis passive cylinder push rod (423); The X-axis active oil cylinder (410) and the X-axis passive oil cylinder (411) of the leveling device (4) are arranged diagonally, and jointly undertake the leveling movement in the X-axis direction; the Y-axis active oil cylinder (420) and the Y-axis passive oil cylinder (421) of the leveling device (4) are arranged diagonally, and jointly undertake the leveling movement in the Y-axis direction; The rod chamber of the X-axis active oil cylinder (410) is connected to the rod chamber of the X-axis passive oil cylinder (411) through an oil pipe to form a series hydraulic circuit. When the push rod (412) of the X-axis active oil cylinder is extended or shortened, it drives the push rod (413) of the X-axis passive oil cylinder to shorten or lengthen synchronously. The two oil cylinder push rods have the same extension amount and opposite extension directions. The rod chamber of the Y-axis active oil cylinder (420) is connected to the rod chamber of the Y-axis passive oil cylinder (421) through an oil pipe to form a series hydraulic circuit. When the push rod (422) of the Y-axis active oil cylinder is extended or shortened, it drives the push rod (423) of the Y-axis passive oil cylinder to shorten or lengthen synchronously. The two oil cylinder push rods have the same extension amount and opposite extension directions. The bottoms of the four hydraulic cylinders are respectively connected to the four displacement holding devices (3); when the X-axis is leveled alone, the X-axis active cylinder (410) and the X-axis passive cylinder (411) realize synchronous displacement perpendicular to the plane of the vehicle body beam (1) through the displacement holding device (4), and the displacement amounts are the same and the directions are opposite; when the Y-axis is leveled alone, the Y-axis active cylinder (420) and the Y-axis passive cylinder (421) realize synchronous displacement perpendicular to the plane of the vehicle body beam (1) through the displacement holding device (4), and the displacement amounts are the same and the directions are opposite; when the X-axis and the Y-axis are leveled simultaneously, the four hydraulic cylinders simultaneously perform leveling displacement perpendicular to the plane of the vehicle body beam (1); The working platform (2) drives the X-axis passive oil cylinder (411) and the Y-axis passive oil cylinder (421) to control the inclination angle through the X-axis active oil cylinder (410) and the Y-axis active oil cylinder (420), and performs leveling displacement compensation through the displacement holding device (3), thereby realizing the lateral and longitudinal horizontal adjustment movement of the working platform (2) with the middle hinge E (214) as the leveling center.

2. The multi-point supported orchard operation platform and hydraulic leveling method according to claim 1, characterized in that: An inclination detection device (6) is installed above the working platform (2) as the origin of the leveling coordinate system; the diagonal line where the hinge A (210) and the hinge C (212) are located is used as the X-axis direction of the inclination detection device (6); and the diagonal line where the hinge B (211) and the hinge D (213) are located is used as the Y-axis direction of the inclination detection device (6).

3. The multi-point supported orchard operation platform and hydraulic leveling method according to claim 1, characterized in that: The displacement holding device (3) is installed above the vehicle body beam (1), and the bottom is fixedly connected to the vehicle body beam (1) via a transverse displacement support plate (310); two rows of transverse linear guide rails (311) are installed above the transverse displacement support plate (310); four transverse displacement sliders (312) are grouped in pairs and are respectively installed above the two rows of transverse linear guide rails (311) to achieve transverse movement along the guide rails; the tops of the four transverse displacement sliders (312) are fixedly connected to the longitudinal displacement support plate (320); two rows of longitudinal linear guide rails (321) are installed above the longitudinal displacement support plate (320); four longitudinal displacement sliders (322) are grouped in pairs and are installed above the two rows of longitudinal linear guide rails (321) to achieve longitudinal movement along the guide rails; the transverse linear guide rails (311) and the longitudinal linear guide rails (321) are arranged vertically, and are provided with limiters (333) to prevent the displacement sliders from falling off; The two oil cylinder retaining frames (330) are mounted above the longitudinal displacement slider (322) and are arranged symmetrically in the longitudinal direction. The hydraulic oil cylinder is located between the two oil cylinder retaining frames (330). The two oil cylinder limit plates (333) are closely attached to the hydraulic oil cylinder and connected to the bottom of the two oil cylinder retaining frames (330). The two annular clamps (331) are closely attached to the hydraulic oil cylinder and connected to the top of the two oil cylinder retaining frames (330). The hydraulic oil cylinder is always perpendicular to the displacement holding device (3) and realizes lateral and longitudinal movement in the plane of the vehicle body beam (1) through the lateral displacement slider (312) and the longitudinal displacement slider (322).

4. The multi-point supported orchard operation platform and hydraulic leveling method according to claim 1, characterized in that: The leveling actuator (4) is installed between the vehicle body beam (1) and the working platform (2); the X-axis active cylinder push rod (412) is connected to the working platform (2) via a hinge A (210); the X-axis passive cylinder push rod (413) is connected to the working platform (2) via a hinge C (212); the Y-axis active cylinder push rod (422) is connected to the working platform (2) via a hinge B (211); the Y-axis passive cylinder push rod (423) is connected to the working platform (2) via a hinge D (213).

5. The multi-point supported orchard operation platform and hydraulic leveling method according to claim 1, characterized in that: The fixed support device (5) is installed above the middle position of the vehicle body beam (1); two beam clamps (510) are installed at the bottom and are respectively fixedly connected to the vehicle body beam (1); two H-shaped support tubes (511) are respectively fixed above the two beam clamps (510) and are inclined inwardly; the tops of the two H-shaped support tubes (502) are connected to the H-shaped fixing plate (512); the middle support column (513) is installed above the H-shaped fixing plate (503); and the top of the middle support column (513) is connected to the working platform (2) via a middle hinge E (214).

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