Hilly and mountain working platform leveling device and method

Abstract

The invention discloses a leveling device and method for a hilly and mountainous region operation platform. The leveling device comprises a leveling mechanism and a base. The leveling mechanism comprises a leveling bracket, a leveling connecting rod, a screw rod and a leveling assembly; the leveling connecting rod is arranged below the leveling bracket and connected with the leveling bracket, and the leveling assembly is movably connected with the two ends of the leveling connecting rod in the length direction. The lead screw is in transmission connection with the leveling assembly and used for driving the leveling assembly so as to control the leveling connecting rod to be parallel to the horizontal plane. The base is connected with the leveling assembly; the base is hinged to the two ends of the leveling bracket. A connecting rod structure is used for replacing a traditional oil cylinder mechanism, the occupied space of the device is reduced, machining and maintenance are convenient, the device is particularly suitable for leveling of small carrying machines in areas with large terrain changes, meanwhile, a connecting rod mechanism is adopted for transmission leveling, the connecting rod transmission process is simple, and the response speed is superior to that of oil cylinder transmission; and the operation efficiency of the device is improved.

Description

Technical Field

[0001] The invention relates to the field of leveling, and in particular to a device and method for leveling a hilly mountainous work platform. Background Art

[0002] High-quality orchards are mostly distributed in hilly and mountainous areas. During the growth process of fruit trees, pruning, spraying, bagging and harvesting are mostly completed at high positions using simple escalators, which are not only difficult to move, labor-intensive, and inefficient, but also pose safety hazards. Hilly and mountainous areas have complex terrain, steep slopes, and uneven ground. Ordinary orchard operating platforms that do not have a leveling function are prone to instability and tipping when used on steep slopes in the mountains.

[0003] The existing orchard work platforms with leveling function in China can basically ensure the horizontal state of the work platform by moderately adjusting the front and back and left and right, but there are also technical deficiencies. Most of the existing leveling components are constructed by using multiple hydraulic cylinders and connecting rods. The connecting rods of the leveling components are hinged with the work platform at four points. The leveling structure is complex, heavy, large, slow to respond, and the leveling effect is not good. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a leveling device and method for a hilly and mountainous work platform, so as to solve the problem that the leveling of the work platform is slow in response and occupies a large space.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: A leveling device for a hilly and mountainous working platform, comprising a leveling mechanism and a base; The leveling mechanism comprises a leveling bracket, a leveling connecting rod, a screw rod and a leveling assembly; the leveling connecting rod is arranged below the leveling bracket and connected to the leveling bracket, and the leveling assembly is movably connected to both ends of the leveling connecting rod in the length direction respectively; the screw rod is transmission-connected to the leveling assembly and is used to drive the leveling assembly to control the leveling connecting rod to remain parallel to the horizontal plane; The base is connected to the leveling assembly; the base is hinged to both ends of the leveling bracket.

[0006] In order to solve the above technical problems, another technical solution adopted by the present invention is: A method for leveling a hilly and mountainous working platform, applied to a hilly and mountainous working platform leveling device, comprises the following steps: Detecting the inclination angle of the working platform based on the current position of the working platform, and adjusting it to a preset level according to the inclination angle; When it is detected that the work platform has completed the lifting action, the inclination angle of the work platform is detected again, and adjusted to a preset level according to the inclination angle.

[0007] The beneficial effects of the present invention are: providing a leveling device and method for a hilly mountain work platform, setting a leveling component and a leveling link movably connected, and using a screw to control the leveling component. In the process of the screw controlling the movement of the leveling component, the leveling link is gradually parallel to the horizontal plane, so that the leveling bracket connected to the leveling link is in an ideal state, which is used to adapt to slopes with different inclination angles in hilly areas; at the same time, the connecting rod structure is used to replace the traditional cylinder mechanism, so that the space occupied by the device is reduced, and it is easy to process and maintain. It is particularly suitable for leveling small handling machinery in areas with large terrain changes. At the same time, the connecting rod mechanism is used for leveling. Since the connecting rod transmission process is simple, the response speed is also better than that of the cylinder transmission, which improves the operation efficiency of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 FIG. 1 is an assembly schematic diagram of a leveling device for a hilly and mountainous working platform according to an embodiment of the present invention; FIG. 1 is a schematic diagram of a leveling device for a hilly and mountainous working platform according to an embodiment of the present invention; Figure 2 is a schematic diagram of the assembly of the leveling mechanism in an embodiment of the present invention; Figure 3 Assembly diagram of a hilly mountain work platform leveling device embodiment of the present invention b; Figure 4 for Figure 3 A partial enlarged view in FIG. Figure 5 FIG. a is a schematic diagram of the principle of the leveling structure in an embodiment of the present invention; Figure 6 FIG. b is a schematic diagram of the principle of the leveling structure in an embodiment of the present invention; Figure 7 is a schematic diagram of the architecture of a control unit in an embodiment of the present invention; Figure 8 It is a specific flow chart of a method for leveling a hilly mountainous work platform in an embodiment of the present invention; Description of labels: 1. Leveling mechanism; 11. Leveling bracket; 12. Leveling connecting rod; 121. Slide groove; 13. Screw rod; 14. Leveling assembly; 141. Slide rail; 142. First scissors-type member; 1421. Support arm; 1422. First transmission part; 1423. First hinged part; 1424. Second hinged part; 2. Base; 3. Lifting mechanism; 31. Working platform; 32. Lifting assembly; 321. Second transmission part; 322. Second scissors-type member; 3221. Power arm; 3222. Auxiliary arm; 3223. Extension arm; 3224. Leveling motor; 4. Crawler walking mechanism. DETAILED DESCRIPTION

[0009] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in conjunction with the implementation modes and the accompanying drawings.

[0010] It should be noted that the conventional working platform usually adopts a four-point leveling mechanism 1, and each point adopts a cylinder to drive a connecting rod. In this structure, when the cylinder is leveled, since the cylinder is rigidly connected to the base 2, the hinge point between the cylinder and the bottom of the platform bracket needs to be displaced to achieve leveling. The reason is that: in the same radial plane, both ends of the two cylinders are hinged, and a trapezoidal arrangement needs to be formed between the two cylinders and the base 2 and the support platform. A rectangular arrangement cannot be adopted, otherwise it will be unstable. When a rectangular arrangement is adopted, the bottom of the cylinder in the same radial plane needs to be rigidly fixed on the base 2. At this time, if the other ends of the two cylinders are hinged to the support platform, the entire four-bar structure is over-constrained, and the degree of freedom is 0, that is, pure hinge cannot achieve leveling. At the same time, the four cylinders of the four-point leveling mechanism 1 have poor correlation and synchronous control is difficult. In order to solve this problem, the present invention proposes: Please refer to Figure 1 as well as Figure 2 , a leveling device for a hilly and mountainous working platform, comprising a leveling mechanism 1 and a base 2; The leveling mechanism 1 includes a leveling bracket 11, a leveling connecting rod 12, a screw rod 13 and a leveling assembly 14; the leveling connecting rod 12 is arranged below the leveling bracket 11 and connected to the leveling bracket 11, and the leveling assembly 14 is movably connected to both ends of the leveling connecting rod 12 in the length direction; the screw rod 13 is transmission-connected to the leveling assembly 14 and is used to drive the leveling assembly 14 to control the angle formed by the leveling connecting rod 12 and the horizontal plane; The base 2 is connected to the leveling assembly 14 ; the base 2 is hinged to both ends of the leveling bracket 11 .

[0011] It is understandable that due to the large changes in terrain in a hilly environment, the plane where the base is located is often in an inclined state (that is, there is an angle with the horizontal plane). In order to maintain balance, the leveling screw rod is acted on by the above-mentioned leveling assembly so that the leveling screw rod remains parallel to the horizontal plane and is not affected by the terrain. The details are as follows: By setting a leveling component 14 and a leveling link 12 in active connection, and using a screw rod 13 to drive and control the leveling component 14, during the process of the screw rod 13 controlling the movement of the leveling component 14, the leveling link 12 is gradually parallel to the horizontal plane, so that the leveling bracket 11 connected to the leveling link 12 is in an ideal state, which is used to adapt to slopes with different inclination angles in hilly areas; at the same time, the connecting rod structure is used to replace the traditional cylinder mechanism, so as to reduce the space occupied by the device and facilitate processing and maintenance. It is particularly suitable for leveling small handling machinery in areas with large terrain changes. At the same time, the connecting rod mechanism is used for leveling. Since the connecting rod transmission process is simple and the response speed is better than that of the cylinder transmission, the operation efficiency of the device is improved.

[0012] Please refer to Figure 1 , 2, 5 and 6, in some embodiments, the leveling assembly 14 includes a slide rail 141 and two first scissor members 142 symmetrically arranged; The first scissor member 142 includes two support arms 1421 and a first transmission part 1422. The two support arms 1421 are hinged via a first hinge part 1423. The first hinge parts 1423 of the two scissor members are movably connected to the two ends of the leveling link 12 in the length direction respectively. The two support arms 1421 are each provided with a second hinge portion 1424 at one end away from the first hinge portion 1423; the second hinge portions 1424 of the two support arms 1421 away from each other in the two first scissors-fork members 142 are fixedly connected to the base 2, and the second hinge portions 1424 of the two support arms 1421 close to each other in the two first scissors-fork members 142 are fixedly connected to the first transmission portion 1422, and the two first transmission portions 1422 are respectively transmission-connected to the two ends of the screw rod 13 in the length direction, and the first transmission portion 1422 is slidably connected to the slide rail 141; the slide rail 141 is fixedly connected to the base 2.

[0013] From the above description, it can be known that the symmetrically arranged first scissor fork member 142 is movably connected to the two ends of the leveling connecting rod 12 respectively, and at the same time, one of the two support arms 1421 of the first scissor fork member 142 is hinged to the base 2, and the other is connected to the first transmission part 1422 arranged on the slide rail 141, and the first transmission part 1422 is transmission-connected to the screw rod 13; under the drive of the screw rod 13, the first transmission part 1422 will slide in the slide rail 141, thereby involving the support arm 1421 connected to the first transmission part 1422. The support arm 1421 swings, and the height of the first hinged portion 1423 connecting the first scissor member 142 and the leveling link 12 changes during the swinging process of the support arm 1421. Since the first scissor member 142 is movably connected to both ends of the length direction of the leveling link 12, that is, both ends of the leveling link 12 swing in the height direction according to the above principle, thereby adjusting the angle between the leveling link 12 and the horizontal plane, and finally making the leveling link 12 parallel to the horizontal plane, so that the leveling bracket 11 is kept in an ideal position; In addition, when the screw rod 13 is driven, it is respectively connected to the transmission parts of the two first scissor parts 142, that is, when one screw rod 13 rotates, it controls the two first transmission parts 1422 to operate in coordination, so that the swinging process of the two scissor parts produces a chain effect, rather than adjusting based on the two cylinder parameters separately, which reduces the control difficulty and makes the device more stable during the leveling process. Preferably, the first transmission part 1422 is a transmission nut, the nut specifications match the specifications of the screw rod 13, and the shape of the slide rail 141 matches the shape of the traditional nut.

[0014] Specifically, a slide groove 121 is provided at one end of the leveling link 12 in the length direction, and at least one of the first hinged parts 1423 is slidably connected to the slide groove 121. That is, a slide groove 121 is provided on the leveling link 12, and at least one of the first hinged parts 1423 is provided in the slide groove 121, so that during the above transmission process, over-constraint phenomenon is avoided, and the operation stability of the device is improved; preferably, another first hinged part 1423 is hinged to the other end of the leveling link 12.

[0015] Please refer to Figure 3 and Figure 4 In some embodiments, the device further includes a lifting mechanism 3; the lifting mechanism 3 includes a working platform 31 and a lifting component 32, the lifting component 32 is disposed above the leveling bracket 11 and is movably connected to the leveling bracket 11, the lifting component 32 is movably connected to the working platform 31, and the lifting component 32 is used to control the working platform 31 to be lifted and lowered in the vertical direction.

[0016] From the above description, it can be seen that the device is provided with a lifting mechanism 3, which is located above the leveling bracket 11. While satisfying the leveling function, a lifting function is provided to enable the working platform to reach the required height, thereby enhancing the versatility of the device.

[0017] Specifically, the lifting assembly 32 includes a second transmission part 321 and two second scissor parts 322 that are symmetrically arranged. The second scissor parts 322 are provided with a power arm 3221 and an auxiliary arm 3222. The power arm 3221 and the auxiliary arm 3222 are hinged to each other. One end of the power arm 3221 and the auxiliary arm 3222 in the length direction is hinged to the leveling bracket 11, and the other end of the power arm 3221 and the auxiliary arm 3222 in the length direction is movably connected to the working platform 31. The second transmission part 321 is in transmission connection with the power arm 3221 and is used to control the power arm 3221 to swing around the hinge point with the leveling bracket 11 . An angle is formed between the swing plane of the power arm 3221 and the length direction of the leveling link 12 .

[0018] As can be seen from the above description, the second scissor member 322 is set to form the lifting assembly 32. The principle is to control the lifting by hingedly connecting the power arm 3221 and the auxiliary arm 3222 in the second scissor member 322, wherein the second transmission part 321 controls the power arm 3221 to swing around the hinge point with the leveling bracket 11, and drives the auxiliary arm 3222 to unfold during the swinging process of the power arm 3221, thereby lifting the working platform 31 to achieve lifting. At the same time, an angle is set between the swing plane of the power arm 3221 and the length direction of the leveling link 12 to avoid the swing plane being parallel to the leveling link 12. If the two are parallel, the adjustment directions of the two will overlap, resulting in the working platform being able to be leveled only in a certain plane and unable to achieve stability in space, that is, it can only be leveled in the plane where a certain axis is located (for example, the X axis), and cannot be adjusted in the plane where the Y axis is located.

[0019] Preferably, the second transmission part 321 includes a transmission arm and a driving motor, and the two ends of the transmission arm in the length direction are respectively connected to the power arm 3221, and the driving motor is used to control the transmission arm to adjust the position in the height direction. That is, through the setting of the transmission arm, the two second scissor parts 322 are interlocked and controlled to enhance the stability of the device during the lifting process.

[0020] Specifically, an extension arm 3223 and a leveling motor 3224 are provided at one end of the power arm 3221 close to the work platform 31. The extension arm 3223 is movably connected to the work platform 31, and the leveling motor 3224 is used to control the extension length of the extension arm 3223. After reaching the required height under the drive of the second transmission member, it may tilt in another direction due to the scissor structure or terrain. In order to solve this problem, the power arm 3221 is provided with an extension arm 3223 and a leveling motor 3224 at one end close to the work platform 31. The extension arm 3223 is controlled by the leveling motor 3224 to solve the tilt problem in a certain direction.

[0021] Preferably, the swing plane of the power arm 3221 is perpendicular to the length direction of the leveling link 12. The benefit of such a setting is that: since the swing planes of the leveling link 12 and the power arm 3221 are perpendicular, the working platform 31 can be leveled in two vertical planes in the spatial rectangular coordinate system. For example, the leveling link 12 drives the leveling bracket 11 to level in the left and right (relative) directions, and the extension arm 3223 and the leveling motor 3224 on the power arm 3221 drive the working platform 31 to level in the front and back (relative) directions, thereby adapting to different terrains and completing adjustments at any angle.

[0022] Preferably, the device further comprises an angle sensor, and the angle sensor is used to detect the inclination angle of the working platform 31 relative to the X-axis and the Y-axis of the horizontal plane.

[0023] As can be seen from the above description, the inclination angle of the two axes is detected by the angle sensor, and then the first scissor member 142 and the second scissor member 322 are used to perform leveling according to the inclination angle of the two axes, providing a reference for leveling, thereby realizing the automation of the leveling of the above device. Specifically, there are two angle sensors, which are respectively installed in the middle position of the leveling bracket 11 under the working platform 31, that is, located in the center of the device to detect the inclination angle, thereby improving the detection efficiency and accuracy.

[0024] In some embodiments, the device further comprises a crawler walking mechanism 4, which is connected to the base 2 and is used to control the movement of the device. Specifically, the crawler walking mechanism 4 comprises a travel motor, a drive wheel, a crawler, and a lithium battery pack; the stability and climbing ability of the crawler-type walking lifting device in hilly areas are utilized to enhance the versatility of the device.

[0025] Please refer to Figure 7 In some embodiments, the device further comprises a control unit, which is used to at least drive the screw rod 13 to adjust the level of the leveling bracket 11 (left and right leveling unit). Figure 6 The control unit also controls the driving motor to control the outward extension of the extension arm 3223 (front and rear leveling unit), so as to level the device in two planes; at the same time, the control unit also controls the lifting height of the lifting mechanism 3 (lifting mechanism unit).

[0026] Please refer to Figure 8 A method for leveling a hilly and mountainous work platform, applied to a hilly and mountainous work platform leveling device, comprises the following steps: The inclination angle of the working platform 31 is detected based on the current position of the working platform 31, and adjusted to a preset level according to the inclination angle; when it is detected that the working platform 31 completes the lifting action, the inclination angle of the working platform 31 is detected again, and adjusted to a preset level according to the inclination angle.

[0027] From the above description, it can be seen that the leveling of the working platform 31 is performed twice. The first leveling is performed at the working position. When the working platform 31 is raised to the working height, the second level deviation is caused by the scissor structure and mechanical stress deformation, and the leveling is performed again. For details, please refer to Figure 7The angle sensor detects X and Y axis data simultaneously (corresponding to left and right tilt and front and back tilt, respectively). The angle sensor is used to collect the X and Y axis tilt angles of the working platform 31 relative to the horizontal plane, convert them into signals and transmit them to the control unit. The control unit controls the adjustment of the working platform 31 in the front and back or left and right directions to adjust the level of the working platform 31. There are two angle sensors, which are respectively installed at the middle position of the leveling bracket 11 under the working platform 31. Before the lifting operation, the angle sensor at the middle position of the leveling bracket 11 provides X and Y axis tilt angle data for the control unit to control the adjustment of the working platform 31 in the front and back or left and right directions to adjust the level of the working platform 31. When the working platform 31 is lifted to the working height, due to the secondary horizontal deviation caused by the scissor structure and mechanical stress deformation, the angle sensor at the middle position under the working platform 31 provides X and Y axis tilt angle data of the working platform 31 after lifting for the control unit to control the secondary adjustment of the working platform 31 in the front and back or left and right directions to adjust the working platform 31 to continue to maintain the level after lifting.

[0028] In summary, the present invention provides a leveling device and method suitable for hilly and mountainous work platforms. Through the innovative design of the leveling mechanism and the lifting mechanism, the problems of difficult synchronous control, over-constraint, insufficient degrees of freedom and instability existing in the cylinder-driven connecting rod structure of the traditional four-point leveling mechanism are effectively solved, while the operating efficiency, applicability and stability of the device are significantly improved.

[0029] Specifically, the comprehensive beneficial effects of the present invention include: (1) Optimization of leveling effect The leveling rod is movably connected to the leveling assembly, and the movement of the leveling assembly is controlled by the screw drive. During the leveling process, the leveling rod gradually becomes parallel to the horizontal plane, ensuring that the leveling bracket is in an ideal state. Compared with the traditional cylinder leveling mechanism, the leveling process of the connecting rod drive is simpler, the response speed is faster, and the operation efficiency of the device is improved.

[0030] (2) Enhanced stability Through the active connection between the first scissor parts and the leveling link, the screw drives the first transmission part to slide the slide rail, driving the scissor parts to swing, thereby adjusting the inclination angle of the leveling link to avoid over-constraint. At the same time, the screw controls the two scissor parts in linkage to achieve interlocking movement during the leveling process, reduce the difficulty of synchronous control during the adjustment process, and improve the stability of leveling.

[0031] (3) Reduced space requirements The connecting rod structure is used to replace the cylinder mechanism, which simplifies the structural design, reduces the overall size of the device, optimizes space utilization, and facilitates processing and maintenance. It is especially suitable for small handling machinery in complex terrain and limited space.

[0032] (4) Multi-axis leveling capability The power arm is perpendicular to the swinging plane of the leveling link, so that the device can be leveled within two vertical planes of the spatial rectangular coordinate system, thereby adapting to complex terrain changes, completing spatial adjustment at any angle, and meeting the needs of different application scenarios.

[0033] (5) Automatic inclination detection and secondary leveling The device is equipped with two angle sensors to monitor the X-axis and Y-axis inclination angles of the work platform relative to the horizontal plane in real time, and uses the control unit to drive the leveling and lifting mechanism to complete automatic leveling. In view of the secondary level deviation caused by the scissor structure and mechanical stress deformation, the secondary leveling function ensures that the work platform always remains horizontal, improving the operation accuracy.

[0034] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A leveling device for a hilly and mountainous working platform, characterized in that: Includes a leveling mechanism and a base; The leveling mechanism comprises a leveling bracket, a leveling connecting rod, a screw rod and a leveling assembly; the leveling connecting rod is arranged below the leveling bracket and connected to the leveling bracket, and the leveling assembly is movably connected to both ends of the leveling connecting rod in the length direction respectively; the screw rod is transmission-connected to the leveling assembly and is used to drive the leveling assembly to control the leveling connecting rod to remain parallel to the horizontal plane; The base is connected to the leveling assembly; the base is hinged to both ends of the leveling bracket.

2. The leveling device for a hilly and mountainous working platform according to claim 1 is characterized in that: The leveling assembly includes a slide rail and two first scissor members symmetrically arranged; The first scissor member comprises two support arms and a first transmission part, the two support arms are hinged via a first hinge part, and the first hinge parts of the two scissor members are movably connected to the two ends of the leveling connecting rod in the length direction respectively; A second hinge part is provided at one end of the two support arms away from the first hinge part; the second hinge parts of the two support arms away from each other in the two first scissors-fork parts are fixedly connected to the base, and the second hinge parts of the two support arms close to each other in the two first scissors-fork parts are fixedly connected to the first transmission part, the two first transmission parts are respectively transmission-connected to the two ends of the screw rod in the length direction, and the first transmission part is slidably connected to the slide rail; the slide rail is fixedly connected to the base.

3. The leveling device for a hilly and mountainous working platform according to claim 2 is characterized in that: A sliding groove is provided at one end of the leveling link in the length direction, and at least one of the first hinged parts is slidably connected to the sliding groove.

4. The leveling device for a hilly and mountainous working platform according to claim 1 is characterized in that: The device also includes a lifting mechanism; the lifting mechanism includes a working platform and a lifting component, the lifting component is arranged above the leveling bracket and is movably connected to the leveling bracket, the lifting component is movably connected to the working platform, and the lifting component is used to control the working platform to be lifted and lowered in the vertical direction.

5. The leveling device for a hilly and mountainous working platform according to claim 4 is characterized by: The lifting assembly includes a second transmission part and two second scissor members symmetrically arranged, the second scissor member is provided with a power arm and an auxiliary arm, the power arm and the auxiliary arm are hinged to each other, one end of the power arm and the auxiliary arm in the length direction are hinged to the leveling bracket, and the other end of the power arm and the auxiliary arm in the length direction are movably connected to the working platform; The second transmission part is in transmission connection with the power arm and is used to control the power arm to swing around the hinge point with the leveling bracket. An angle is formed between the swing plane of the power arm and the length direction of the leveling connecting rod.

6. The leveling device for a hilly and mountainous working platform according to claim 5, characterized in that: An extension arm and a leveling motor are provided at one end of the power arm close to the working platform. The extension arm is movably connected to the working platform, and the leveling motor is used to control the outward extension of the extension arm.

7. The leveling device for a hilly and mountainous working platform according to claim 6, characterized in that: The device also includes an angle sensor, which is used to detect the inclination angle of the working platform relative to the X-axis and the Y-axis of the horizontal plane.

8. The leveling device for a hilly and mountainous working platform according to claim 1, characterized in that: The device also includes a crawler walking mechanism, which is connected to the base and is used to control the movement of the device.

9. A leveling device for a hilly and mountainous work platform according to any one of claims 1 to 8, characterized in that: The device further comprises a control unit, which is used at least to drive the screw rod to adjust the horizontality of the leveling bracket.

10. A method for leveling a work platform in hilly and mountainous areas, characterized in that: A leveling device for a hilly mountainous work platform applied to any one of claims 1 to 9, comprising the steps of: Detecting the inclination angle of the working platform based on the current position of the working platform, and adjusting it to a preset level according to the inclination angle; When it is detected that the work platform has completed the lifting action, the inclination angle of the work platform is detected again, and adjusted to a preset level according to the inclination angle.

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