A self-adapting pitch and roll adjustment rotary loading platform and control method

Abstract

The application relates to a rotary loading platform with self-adaptive pitch and roll adjustment and a control method, which comprises a support support, one support support is provided with a rotary support disc and an oscillation driving element, the oscillation driving element drives the rotary support disc to oscillate with the universal bearing as the center; a lifting assembly, when the ramp body approaches the middle of the rotary support disc, the ramp body drives the lifting seat to approach the middle of the rotary support disc and gradually lift; a bearing platform, the support wheel body is loaded on the rotary support disc, the rotary driving element is used for driving the angle of the bearing platform, the rotary support disc is used for driving the oscillation of the lifting assembly so as to change the relative position of the lifting assembly and the bearing platform, and the lifting seat generates the same or different lifting amount according to the relative position of the lifting seat and the bearing platform and forms bearing and limiting to the support wheel body.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of loading platforms, in particular to a rotating loading platform with self-adaptive pitch and roll adjustment and a control method. BACKGROUND

[0002] With the rapid development of the logistics industry, the transportation volume of goods is increasing, and the requirement for loading and unloading efficiency is also increasing. The traditional loading and unloading method has been unable to meet the needs of modern logistics, so the loading is realized through a loading system. The loading system is a system for automatically loading goods, which is widely used in multiple industries to improve loading efficiency, reduce labor costs, improve safety, and realize the automation and intelligence of logistics operations.

[0003] The existing rotating loading platform usually only has a single rotating or lifting function. During loading, when the left and right heights of the bearing platform are inconsistent, the loading ground is uneven, or the posture of the loaded object is deviated, the bearing platform is prone to uneven stress, local impact is large, and even the support wheel body is separated from the support position, which affects the loading stability and safety.

[0004] In view of the problems existing in the prior art, the present application provides a rotating loading platform with self-adaptive pitch and roll adjustment and a control method, which can effectively solve at least one problem existing in the prior art. SUMMARY

[0005] In view of the problems existing in the prior art, the present application provides a rotating loading platform with self-adaptive pitch and roll adjustment and a control method, which can effectively solve at least one problem existing in the prior art.

[0006] The technical scheme of the present application is as follows:

[0007] A rotating loading platform with self-adaptive pitch and roll adjustment, comprising:

[0008] Two support brackets are arranged in front and back, one of which is provided with a rotary drive member through a universal bearing, and the other is provided with a rotary support disc and a swing drive member, the swing drive member drives the rotary support disc to swing with the universal bearing as the center;

[0009] Two lifting assemblies are arranged at the left and right ends of the rotary support disc, respectively, the lifting assembly comprises a slope main body, a lifting seat, and a drive cylinder, the drive cylinder is used to drive the slope main body, the lifting seat is slidingly arranged on the slope surface of the slope main body, the lifting seat is provided with a right-angle notch for supporting and supporting, when the slope main body approaches the middle of the rotary support disc, the slope main body drives the lifting seat to approach the middle of the rotary support disc and gradually lifts;

[0010] A carrying platform is provided, one end of which is connected to the rotary drive component. A support wheel is provided at the bottom of the other end of the carrying platform. The support wheel is mounted on the rotary support disk. The rotary drive component is used to drive the angle of the carrying platform. The rotary support disk is used to drive the lifting component to swing, thereby changing the relative position of the lifting component and the carrying platform. The lifting seat generates the same or different lifting amount according to its relative position with the carrying platform and supports and limits the support wheel.

[0011] Furthermore, the support bracket is provided with limit strips corresponding to the outer and inner rings of the rotary support disk, and the limit strips restrict the swing path of the rotary support disk to swing around the universal bearing as the center;

[0012] The swing drive includes a telescopic cylinder. The outer shell of the telescopic cylinder is fixedly disposed on one side of the support bracket corresponding to the rotary support plate. The telescopic end of the telescopic cylinder is hinged to the rotary support plate.

[0013] Furthermore, the inclined surface of the slope body is configured as a hollow structure, and the slope body is provided with slide rails on the front and rear inner sides of the inclined surface. The slope body is provided with a through hole corresponding to the upstream section of the hollow structure. A transmission chain is laid on the slide rail. One end of the transmission chain passes downward through the through hole and is fixedly connected to one side of the rotary support plate corresponding to the upstream section of the slope body. The other end of the transmission chain is fixedly connected to one side of the rotary support plate corresponding to the downstream section of the slope body. The transmission chain is provided with the lifting seat.

[0014] Furthermore, the ramp body is provided with a limiting wheel in its downstream section, and the limiting wheel restricts the portion of the transmission chain corresponding to the downstream section of the ramp body to be laid flat on the surface of the slewing support disc.

[0015] Furthermore, the rotary support plate is provided with a limiting groove corresponding to the moving path of the ramp body, and a limiting block is provided on the bottom surface of the ramp body. The limiting block is inserted into the limiting groove to restrict the moving path of the ramp body.

[0016] Furthermore, the transmission chain is a roller sprocket.

[0017] Furthermore, the rotary support plate is provided with a plurality of locking holes on one side of the moving path of the ramp body, and the ramp body is provided with locking components. After the ramp body moves into place, the locking components are inserted into the locking holes to lock the ramp body.

[0018] Furthermore, the lifting seat includes mutually perpendicular supporting edges and limiting edges, wherein the supporting edges are used to support the lower part of the supporting wheel body, and the limiting edges are used to limit the lateral displacement of the supporting wheel body.

[0019] Furthermore, the support platform is equipped with a height sensor, and the drive cylinder is equipped with a pressure sensor, a stroke sensor, or a displacement sensor.

[0020] Furthermore, a control method for an adaptive pitch and roll adjustment rotating loading platform is provided, based on the aforementioned adaptive pitch and roll adjustment rotating loading platform, comprising the following steps:

[0021] S1. Control the rotary drive component to drive the bearing platform to rotate around the universal bearing to the target loading angle;

[0022] S2. Obtain the height difference between the left and right ends of the bearing platform, and control the swing drive to drive the rotary support plate to swing around the universal bearing as the center according to the height difference between the left and right ends, thereby adjusting the relative position of the lifting component and the bearing platform.

[0023] S3. Control the lifting components located at the left and right ends of the rotary support plate to move the lifting seat along the slope of the main body of the ramp towards the center of the rotary support plate and gradually lift it.

[0024] S4. Detect at least one of the stroke signal, displacement signal or working pressure signal of the drive cylinder, and stop after the drive cylinder drives the ramp body to the position, so as to support and limit the support wheel at the bottom of the bearing platform through the right angle notch on the lifting seat, thereby realizing the adaptive pitch and tilt adjustment of the bearing platform.

[0025] Therefore, the present invention provides the following effects and / or advantages:

[0026] This application utilizes a rotating support disc that can rotate to align its centerline with or deviate from the centerline of the support platform. When the ramp body approaches the support wheel, it drives the lifting seat to move diagonally upwards towards the centerline of the rotating support disc. This allows for different lifting heights based on the path lengths of the two lifting components to the nearest support wheel. Furthermore, after reaching the corresponding lifting height, the right-angle notch structure of the lifting seat can clamp or limit its movement against both sides of the support wheel, preventing the support platform from swaying left and right and achieving different height differences on the left and right sides. Ultimately, this enables adaptive adjustment of pitch and tilt.

[0027] The lifting component of this application uses the ramp body to drive the lifting seat to approach the middle of the rotary support plate and gradually lift it, thereby achieving different lifting heights at different relative positions. After the lifting reaches the corresponding height, it can form a limiting and clamping effect to prevent the carrier plate from swaying left and right.

[0028] This application provides that the inclined surface of the slope body is set as a hollow structure, and through the laying of the transmission chain and the fixed positions at both ends of the transmission chain, the slope body can drive the lifting seats to move obliquely upwards towards the center line of the rotary support plate when it is pushed inwards, thereby providing the corresponding structural foundation for the lifting height and approach distance of the two lifting seats after the rotary support plate rotates.

[0029] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention are realized and obtained through the structures particularly pointed out in the description and the drawings.

[0030] It should be understood that the above summary and the following detailed description of the invention are exemplary and explanatory, and are intended to provide further explanation of the invention as claimed. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of an embodiment of the present invention.

[0032] Figure 2 This is a structural diagram of the platform.

[0033] Figure 3 This is a schematic diagram of one of the support brackets.

[0034] Figure 4 This is a schematic diagram of another support bracket.

[0035] Figure 5 This is a schematic diagram of the lifting component.

[0036] Figure 6 This is a structural diagram of the lifting assembly, which hides part of the transmission chain.

[0037] Figure 7 This is a schematic diagram of the bottom surface of the main body of the slope.

[0038] Explanation of reference numerals in the attached figures:

[0039] Support bracket 1, rotary drive component 11, rotary support plate 12, locking hole 121, swing drive component 13, limit strip 14, lifting assembly 2, ramp body 21, hollow structure 211, slide rail 212, through hole 213, limit block 214, limit wheel 215, lifting seat 22, drive cylinder 23, transmission chain 24, limit groove 26, locking component 27, bearing platform 3, support wheel body 31. Detailed Implementation

[0040] To facilitate understanding by those skilled in the art, the structure of the present invention will now be described in further detail with reference to the accompanying drawings:

[0041] refer to Figures 1-7 An adaptive pitch and roll adjustable rotary loading platform, comprising:

[0042] Support bracket 1, there are two in number, one in front and one behind. One support bracket 1 is equipped with a rotary drive component 11 through a universal bearing (not shown), and the other support bracket 1 is equipped with a rotary support disk 12 and a swing drive component 13. The swing drive component 13 drives the rotary support disk 12 to swing around the universal bearing as the center.

[0043] There are two lifting components 2, which are respectively set at the left and right ends of the rotary support plate 12. The lifting component 2 includes a ramp body 21, a lifting seat 22, and a drive cylinder 23. The drive cylinder 23 is used to drive the ramp body 21. The lifting seat 22 is slidably set on the inclined surface of the ramp body 21. The lifting seat 22 is provided with a right-angle notch for support. When the ramp body 21 moves closer to the middle of the rotary support plate 12, the ramp body 21 drives the lifting seat 22 to move closer to the middle of the rotary support plate 12 and gradually lift it.

[0044] A support platform 3 is provided, one end of which is connected to the rotary drive component 11. A support wheel 31 is provided at the bottom of the other end of the support platform 3. The support wheel is mounted on the rotary support disk 12. The rotary drive component 11 is used to drive the angle of the support platform 3. The rotary support disk 12 is used to drive the lifting component 2 to swing, thereby changing the relative position of the lifting component 2 and the support platform 3. The lifting seat 22 generates the same or different lifting amount according to its relative position with the support platform 3 and supports and limits the support wheel 31.

[0045] In this embodiment, the rotary drive 11 can drive the support platform 3 to swing. Simultaneously, the support wheel 31 at the other end of the support platform 3 is mounted on the rotary support disk 12. Thus, as the rotary drive 11 drives the support platform 3 to swing, the support wheel 31 rolls on the rotary support disk 12, thereby adjusting the angle of the support platform 3 to align it with the angle of the vehicle body. When the support platform 3 does not change its angle and the rotary support disk 12 is centered, the centerline of the support platform 3 is the same as the centerline of the support bracket 1 and the centerline of the rotary support disk 12.

[0046] In this embodiment, the number of support wheels 31 can be 5 sets, which are set at the bottom of the support frame of the bearing platform 3.

[0047] When the bearing platform 3 swings at a certain angle and the center line of the bearing platform 3 and the rotary support plate 12 are the same, when the ramp body 21 moves closer to the middle of the rotary support plate 12, the ramp body 21 drives the lifting seat 22 to move closer to the middle of the rotary support plate 12 and gradually lift it. At this time, when the lifting component 2 on the rotary support plate 12 is activated, the lifting seat 22 moves closer to the middle of the rotary support plate 12 and gradually lifts it, thereby enabling the support wheels 31 on the left and right sides of the bearing platform 3 to be lifted synchronously.

[0048] If the slewing support disk 12 rotates, causing its centerline to differ from the centerline of the support platform 3, then the path lengths of the two lifting components 2 to their nearest support wheel 31 will no longer be the same. Since the lifting seat 22 is provided with a right-angle notch for support, when the ramp body 21 approaches the support wheel 31, it drives the lifting seat 22 to move diagonally upwards towards the centerline of the slewing support disk 12. Thus, different lifting heights are achieved according to the path lengths of the two lifting components 2 to their nearest support wheel 31. At the same time, after reaching the corresponding lifting height, the right-angle notch structure of the lifting seat 22 can clamp or limit the support wheel 31 on both sides, preventing the support platform 3 from swinging left and right and achieving different height differences on the left and right, ultimately achieving adaptive adjustment of pitch and tilt.

[0049] Furthermore, the support bracket 1 is provided with limit strips 14 on the outer and inner rings of the rotary support disk 12, respectively. The limit strips 14 restrict the swing path of the rotary support disk 12 to swing around the universal bearing as the center.

[0050] The swing drive component 13 includes a telescopic cylinder. The outer shell of the telescopic cylinder is fixedly disposed on one side of the support bracket 1 corresponding to the rotary support plate 12. The telescopic end of the telescopic cylinder is hinged to the rotary support plate 12.

[0051] In this embodiment, the swing path of the rotary support disk 12 is limited by the limiting strip 14, and the connection relationship is achieved through the hinged connection of the extension and retraction end of the drive cylinder. This allows the rotary support disk 12 to swing back and forth between the limiting strips 14 via the linear motion of the drive cylinder, thus adjusting the position of the rotary support disk 12. During the back-and-forth swinging of the rotary support disk 12 between the limiting strips 14, the rotary support disk 12 and the extension and retraction end of the drive cylinder achieve a certain angle self-adjustment through the hinge point.

[0052] Furthermore, the inclined surface of the slope body 21 is configured as a hollow structure 211. The slope body 21 has slide rails 212 on the front and rear inner sides of the inclined surface. The slope body 21 has a through hole 213 corresponding to the upstream section of the hollow structure. The slide rail 212 is covered with a transmission chain 24. One end of the transmission chain 24 passes downward through the through hole 213 and is fixedly connected to the side of the rotary support plate 12 corresponding to the upstream section of the slope body 21. The other end of the transmission chain 24 is fixedly connected to the side of the rotary support plate 12 corresponding to the downstream section of the slope body 21. The transmission chain 24 is provided with the lifting seat 22.

[0053] In this embodiment, the transmission chain 24 is in a taut state, meaning it cannot be stretched. The transmission chain 24 forms a fixed, zigzag path. When the ramp body 21 approaches the center of the rotary support plate 12, the lifting seat 22 is located on the inclined side of the ramp body 21. The lifting seat 22 climbs upwards along the ramp body 21, thus raising its height. Simultaneously, the lifting seat 22 is driven to move to the right by the ramp body 21. With these two movements superimposed, the transmission chain 24 drives the lifting seat 22 to move obliquely upwards, bringing it closer to and lifting the support wheel 31. That is, by driving the ramp body 21 to move, the geometric relationship between the transmission chain 24 and the ramp body 21 is indirectly changed. Thus, by utilizing the chain length constraint, the lifting seat 22 generates synchronous horizontal displacement and vertical lifting along the inclined surface. Simultaneously, the inclined surface of the ramp body 21 is designed with a hollowed-out structure 211, which allows for clearance on the movement path of the lifting seat 22, enabling it to slide.

[0054] Meanwhile, in this embodiment, the fixed point of the downstream section of the transmission chain 24 corresponding to the ramp body 21 is set on the rotary support disk 12, and a part of the transmission chain 24 is below the support wheel 31. During lifting, when the ramp body 21 is close to the middle of the rotary support disk 12, the downstream section of the transmission chain 24 corresponding to the ramp body 21 can be driven to gradually rise. This facilitates the lifting of the support wheel 31 together with the upward sliding action of the transmission chain 24 when the ramp body 21 is inserted below the support wheel 31. In addition, before the lifting seat 22 supports the support wheel 31, the support wheel 31 can be gradually lifted first through the cooperation of the transmission chain 24 and the ramp body 21, and then the support wheel 31 can fall into the lifting seat 22.

[0055] Furthermore, the ramp body 21 is provided with a limiting wheel 215 in its downstream section. The limiting wheel 215 restricts the transmission chain 24 to be laid flat on the surface of the rotary support plate 12 before the downstream section of the ramp body 21.

[0056] By setting the limiting wheel 215, the position of the transmission chain 24 corresponding to the downstream section of the ramp body 21 can be limited downward, ensuring the geometric shape of the transmission chain 24 on the ramp body 21, so that the part of the transmission chain 24 before the downstream section of the ramp body 21 is laid flat on the surface of the rotary support plate 12, preventing the transmission chain 24 from floating up and interfering with the lifting action.

[0057] Furthermore, the rotary support plate 12 is provided with a limiting groove 26 corresponding to the moving path of the ramp body 21, and a limiting block 214 is provided on the bottom surface of the ramp body 21. The limiting block 214 is inserted into the limiting groove 26 to restrict the moving path of the ramp body 21.

[0058] Furthermore, the transmission chain 24 is a roller sprocket.

[0059] Furthermore, the rotary support plate 12 is provided with a plurality of locking holes 121 on one side of the moving path of the ramp body 21, and the ramp body 21 is provided with locking member 27. After the ramp body 21 moves into place, the locking member 27 is inserted into the locking hole 121 to lock the ramp body 21.

[0060] This structure restricts the position of the ramp body 21, preventing it from moving, thereby limiting the winding structure of the transmission chain 24 on the ramp body 21, and consequently limiting the height and lateral position of the lifting seat 22. This is because after the drive cylinder 23 drives the lifting seat 22 to receive and limit the support wheel 31, the pressure of the bearing platform 3 on the lifting seat 22 is applied to the drive cylinder 23 through the ramp body 21. At this time, the drive cylinder 23 needs to continuously exert force to keep the support wheel 31 at the corresponding height. Through the cooperation of the locking member 27 and the locking hole 121, the ramp body 21 can be locked, and the drive cylinder 23 can be released.

[0061] Furthermore, the lifting seat 22 includes mutually perpendicular supporting edges and limiting edges. The supporting edges are used to support the lower part of the supporting wheel 31, and the limiting edges are used to limit the lateral displacement of the supporting wheel 31.

[0062] In this embodiment, the lifting seat 22 can be a right-angled triangle structure with the supporting side being the bottom surface of the lifting seat 22 and the limiting side being the inner surface of the lifting seat 22. Thus, after the lifting support wheel 31 is in place, the limiting side can form a clamping structure to limit the support wheel 31 on both sides.

[0063] Furthermore, the support platform 3 is equipped with a height sensor, and the drive cylinder is equipped with a pressure sensor, a stroke sensor, or a displacement sensor.

[0064] In this embodiment, the height sensor can be a laser sensor or an ultrasonic sensor to identify the lifting height of the support platform 3, and the pressure sensor, stroke sensor or displacement sensor is used to identify whether the drive cylinder has completed its stroke.

[0065] Furthermore, a control method for an adaptive pitch and roll adjustment rotating loading platform is provided, based on the aforementioned adaptive pitch and roll adjustment rotating loading platform, comprising the following steps:

[0066] S1. Control the rotary drive component to drive the bearing platform to rotate around the universal bearing to the target loading angle;

[0067] S2. Obtain the height difference between the left and right ends of the bearing platform, and control the swing drive to drive the rotary support plate to swing around the universal bearing as the center according to the height difference between the left and right ends, thereby adjusting the relative position of the lifting component and the bearing platform.

[0068] S3. Control the lifting components located at the left and right ends of the rotary support plate to move the lifting seat along the slope of the main body of the ramp towards the center of the rotary support plate and gradually lift it.

[0069] S4. Detect at least one of the stroke signal, displacement signal or working pressure signal of the drive cylinder, and stop after the drive cylinder drives the ramp body to the position, so as to support and limit the support wheel at the bottom of the bearing platform through the right angle notch on the lifting seat, thereby realizing the adaptive pitch and tilt adjustment of the bearing platform.

[0070] In step S2, the effective longitudinal distance from the universal bearing to the center of the multiple support wheels is defined as R, the angle difference between the centerline of the slewing support disk and the centerline of the bearing platform is θ, and the inclination angle of the inclined plane of the ramp body is a. When the height difference of the bearing platform is h, the relationship between the height difference h and the angle difference θ is as follows:

[0071] Under small angle conditions and with an angle difference θ, the lateral offset between the centerline of the slewing support disk and the centerline of the bearing platform is approximately d = Rtanθ.

[0072] The distance difference between the two lifting components and the centerline of the support platform is 2d;

[0073] When the lifting component moves a distance L toward the centerline of the support platform, the lifting height of the lifting component on the lifting seat is H = Lsina;

[0074] It can then be deduced that when the angle difference between the centerline of the slewing support plate and the centerline of the bearing platform is θ, the difference in lifting height between the left and right lifting seats due to radial offset is h=2Rsinatanθ.

[0075] At this point, given the height difference h, the angle difference θ can be calculated. Based on this angle difference, the position of the slewing support plate is controlled, and then the two lifting components are controlled to extend simultaneously and at the same speed, thus achieving different lifting heights. When the limiting edge of the lifting seat abuts against the support wheel, the oil pressure in the corresponding drive cylinder rises instantaneously, indicating that the lifting seat has reached its designated position.

[0076] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0077] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0078] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0079] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

Claims

1. A rotary loading platform with adaptive pitch and tilt adjustment, characterized in that: include: There are two support brackets (1), one in front of the other. One support bracket (1) is equipped with a rotary drive (11) via a universal bearing. The other support bracket (1) is equipped with a rotary support disk (12) and a swing drive (13). The swing drive (13) drives the rotary support disk (12) to swing around the universal bearing. There are two lifting components (2), which are respectively set at the left and right ends of the rotary support plate (12). The lifting component (2) includes a ramp body (21), a lifting seat (22), and a drive cylinder (23). The drive cylinder (23) is used to drive the ramp body (21). The lifting seat (22) is slidably set on the inclined surface of the ramp body (21). The lifting seat (22) is provided with a right-angle notch for supporting. When the ramp body (21) moves closer to the middle of the rotary support plate (12), the ramp body (21) drives the lifting seat (22) to move closer to the middle of the rotary support plate (12) and gradually lifts it. The support platform (3) is connected at one end to the rotary drive (11). The bottom of the other end of the support platform (3) is provided with a support wheel (31). The support wheel (31) is mounted on the rotary support disk (12). The rotary drive (11) is used to drive the angle of the support platform (3). The rotary support disk (12) is used to drive the lifting component (2) to swing, thereby changing the relative position of the lifting component (2) and the support platform (3). The lifting seat (22) generates the same or different lifting amount according to its relative position with the support platform (3) and supports and limits the support wheel (31).

2. The adaptive pitch and tilt adjustment rotary loading platform according to claim 1, characterized in that: The support bracket (1) is provided with limit strips (14) on the outer and inner rings of the rotary support plate (12), respectively. The limit strips (14) restrict the swing path of the rotary support plate (12) to swing with the universal bearing as the center. The swing drive (13) includes a telescopic cylinder. The outer shell of the telescopic cylinder is fixedly disposed on one side of the support bracket (1) corresponding to the rotary support plate (12). The telescopic end of the telescopic cylinder is hinged to the rotary support plate (12).

3. The adaptive pitch and tilt adjustment rotary loading platform according to claim 1, characterized in that: The inclined surface of the slope body (21) is configured as a hollow structure (211). The slope body (21) is provided with slide rails (212) on the front and rear inner sides of the inclined surface. The slope body (21) is provided with a through hole (213) corresponding to the upstream section of the hollow structure (211). The slide rail (212) is provided with a transmission chain (24). One end of the transmission chain (24) passes downward through the through hole (213) and is fixedly connected to one side of the rotary support plate (12) corresponding to the upstream section of the slope body (21). The other end of the transmission chain (24) is fixedly connected to one side of the rotary support plate (12) corresponding to the downstream section of the slope body (21). The transmission chain (24) is provided with the lifting seat (22).

4. The adaptive pitch and tilt adjustment rotary loading platform according to claim 3, characterized in that: The ramp body (21) has a limiting wheel (215) in its downstream section. The limiting wheel (215) restricts the transmission chain (24) to be laid flat on the surface of the slewing support plate (12) before the downstream section of the ramp body (21).

5. The adaptive pitch and tilt adjustment rotary loading platform according to claim 3, characterized in that: The rotary support plate (12) is provided with a limiting groove (26) corresponding to the moving path of the ramp body (21), and a limiting block (214) is provided on the bottom surface of the ramp body (21). The limiting block (214) is inserted into the limiting groove (26) to restrict the moving path of the ramp body (21).

6. The adaptive pitch and tilt adjustment rotary loading platform according to claim 3, characterized in that: The transmission chain (24) is a roller sprocket.

7. The adaptive pitch and tilt adjustment rotary loading platform according to claim 1, characterized in that: The rotary support plate (12) is provided with a plurality of locking holes (121) on one side of the moving path of the ramp body (21). The ramp body (21) is provided with a locking member (27). After the ramp body (21) moves into place, the locking member (27) is inserted into the locking hole (121) to lock the ramp body (21).

8. The adaptive pitch and tilt adjustment rotary loading platform according to claim 1, characterized in that: The lifting seat (22) includes mutually perpendicular supporting edges and limiting edges. The supporting edges are used to support the lower part of the supporting wheel (31), and the limiting edges are used to limit the lateral displacement of the supporting wheel (31).

9. The adaptive pitch and tilt adjustment rotary loading platform according to claim 1, characterized in that: The carrying platform (3) is equipped with a height sensor, and the drive cylinder (23) is equipped with a pressure sensor, a stroke sensor, or a displacement sensor.

10. A control method for a rotary loading platform with adaptive pitch and roll adjustment, characterized in that: A rotary loading platform with adaptive pitch and roll adjustment according to any one of claims 1-9 includes the following steps: S1. Control the rotary drive (11) to drive the bearing platform (3) to rotate around the universal bearing to the target loading angle; S2. Obtain the height difference between the left and right ends of the bearing platform (3), and control the swing drive (13) to drive the rotary support disk (12) to swing around the universal bearing as the center according to the height difference between the left and right ends, and adjust the relative position between the lifting component (2) and the bearing platform (3). S3. Control the lifting components (2) located at the left and right ends of the rotary support plate (12) to move the lifting seat (22) along the slope of the ramp body (21) towards the center of the rotary support plate (12) and gradually lift it. S4. Detect at least one of the stroke signal, displacement signal or working pressure signal of the drive cylinder (23), and stop after the drive cylinder (23) drives the ramp body (21) to the position, so as to support and limit the support wheel (31) at the bottom of the bearing platform (3) through the right angle notch on the lifting seat (22), thereby realizing the adaptive pitch and tilt adjustment of the bearing platform (3).

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