Self-adaptive stable platform for silage agricultural machinery

Abstract

The utility model belongs to the technical field of stabilized platforms, and particularly relates to a self-adaptive stabilized platform for a silage agricultural machine, which comprises a girder, a cross beam, a cross beam and a cross beam, the two outer cylinders are vertically connected to the girder; the two inner columns are respectively sleeved in the outer cylinder and can slide relative to the outer cylinder; the bottom clamp is connected to the bottom of the inner column; the platform is arranged on the bottom clamp and used for bearing equipment; the connecting piece is used for connecting the inner column and the bottom clamp; the sensing system is used for detecting the gradient and the acceleration of the platform; and the control system is used for controlling the posture of the platform according to the detection result of the sensing system, the platform adopts an inner column and outer cylinder sliding structure and is matched with a multi-shaft rotating connecting piece, and the flexibility and adaptability of the system are greatly improved. By means of the design, the platform can quickly and accurately cope with various complex terrain changes, and horizontal stability of equipment fixed to the stable platform is kept.

Description

Technical Field

[0001] This utility model belongs to the field of stabilization platform technology, and in particular relates to an adaptive stabilization platform for silage agricultural machinery. Background Technology

[0002] Silage is an important feed source in animal husbandry, and its production process includes harvesting and fermentation. When harvesting silage such as corn, the ground in the field is soft and uneven, and traditional agricultural machinery is prone to tilting and slipping during operation, often failing to achieve optimal efficiency. This is especially true during precision operations such as cutting, where the uneven terrain severely affects the accuracy of the work.

[0003] Currently, there are some balancing devices on the market for agricultural machinery, mainly using mechanical or hydraulic structures to adjust the level of the equipment. These devices perform reasonably well on flat terrain, but they are inadequate in complex and changing environments. Mechanical balancing devices have a slow response speed and cannot cope with rapidly changing terrain in a timely manner; while hydraulic devices, although they respond faster, have complex systems, high maintenance costs, and their performance is easily affected in low-temperature environments.

[0004] Furthermore, most existing balancing devices can only be adjusted in one or a limited number of directions, failing to fully address the multidimensional changes in terrain. Especially when the terrain changes significantly, agricultural machinery will exhibit noticeable tilting and swaying, affecting the quality and efficiency of operations.

[0005] Meanwhile, most existing balancing devices are four-degree-of-freedom stabilizing platforms based on the Stewart platform, and these devices are mainly lift-type. However, in compact agricultural machinery, there is rarely enough space to install such devices.

[0006] A common problem with existing technologies is the lack of intelligent and data-driven management. Most balancing devices operate based on simple mechanical or hydraulic principles, unable to collect and analyze operational data, or make predictive adjustments based on terrain features. This severely limits the adaptability and operational accuracy of agricultural machinery in complex terrain.

[0007] In view of the above problems, there is an urgent need to develop a new type of adaptive stabilization platform that can provide comprehensive and rapid-response stabilization support for agricultural machinery in complex field terrain, while also possessing intelligent and modular features to meet the needs of modern precision agriculture. Utility Model Content

[0008] This invention aims to solve the problems of poor adaptability to complex terrain, slow response speed, and low level of intelligence of existing agricultural machinery stabilization platforms, and provides an efficient, precise, and intelligent adaptive stabilization platform solution for agricultural machinery that is suitable for undulating terrain.

[0009] This utility model embodiment adopts the following technical solution: an adaptive stabilization platform for agricultural machinery, comprising:

[0010] The main beam is used to connect to agricultural machinery;

[0011] Two outer cylinders are vertically connected to the main beam;

[0012] Two inner columns are respectively fitted inside the outer cylinder and can slide relative to the outer cylinder;

[0013] A bottom clamp is attached to the bottom of the inner column;

[0014] The platform, mounted on the base clamp, is used to support agricultural equipment;

[0015] Connector, used to connect the inner column and the base clamp;

[0016] A sensing system is used to detect the tilt and acceleration of the platform;

[0017] A control system is used to control the attitude of the platform based on the detection results of the sensing system.

[0018] Preferably, the sensing system includes an inertial measurement unit and an accelerometer.

[0019] Preferably, the system further includes an actuator electrically connected to the control system for adjusting the attitude of the platform according to instructions from the control system.

[0020] Preferably, the actuator is at least one of a hydraulic actuator, a pneumatic actuator, or an electric actuator.

[0021] Preferably, the control system includes a microcontroller for executing a stabilization algorithm to calculate the attitude adjustments required by the platform.

[0022] Preferably, the stabilization algorithm is a PID control algorithm.

[0023] Preferably, the system also includes a GPS module, which is electrically connected to the control system and is used to provide geographic location information.

[0024] Preferably, the connector includes a hinge structure that allows multi-axis rotation.

[0025] Preferably, it also includes a data recording module, which is electrically connected to the control system and is used to record the motion data and attitude data of the platform.

[0026] Preferably, the platform has an adjustable size to accommodate agricultural equipment of different sizes.

[0027] The above-mentioned technical solutions adopted in the embodiments of this utility model can achieve the following beneficial effects:

[0028] This invention achieves several technological improvements through innovative structural design and an advanced control system. Firstly, the platform adopts an inner column and outer cylinder sliding structure, coupled with multi-axis rotating connectors, greatly improving the system's flexibility and adaptability. This design enables the platform to quickly and accurately respond to various complex terrain changes, maintaining the equipment's horizontal stability.

[0029] Secondly, this invention integrates a high-precision sensing system and intelligent control algorithms. By monitoring the platform's tilt and acceleration in real time, combined with a PID control algorithm, the system can respond within milliseconds, ensuring the equipment always maintains optimal operating conditions. This not only improves operational accuracy but also significantly reduces equipment wear and energy consumption.

[0030] Furthermore, the modular design concept of this invention greatly enhances the system's versatility and scalability. This flexibility enables agricultural practitioners to utilize existing equipment more efficiently and reduces equipment investment costs.

[0031] Furthermore, the integrated GPS module and data recording system of this invention provide strong technical support for precision agriculture. Through real-time positioning and data analysis, agricultural practitioners can accurately control terrain conditions, optimize resource allocation, and improve production efficiency.

[0032] In summary, this invention not only solves the stability problem of traditional agricultural machinery in complex terrain, but also provides a comprehensive technological platform for modern agriculture through its intelligent and modular design. Its application will significantly improve agricultural production efficiency in complex terrain areas, promote the development of precision agriculture, and ultimately facilitate the overall upgrading and optimization of agricultural production methods. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0034] Figure 2 This is a flowchart illustrating the main workflow of the stable platform of this utility model.

[0035] Figure 3 This is a flowchart of the GPS-assisted predictive adjustment process of this utility model;

[0036] Figure 4 This is a flowchart of the data recording and system optimization process of this utility model;

[0037] Figure 5 This is a flowchart illustrating the mechanical structure of the stabilization platform of this utility model. Detailed Implementation

[0038] The technical solutions provided by the various embodiments of this utility model are described in detail below with reference to the accompanying drawings.

[0039] Reference Figures 1 to 5 As shown, the purpose of this utility model is to provide an adaptive stabilizing platform for silage agricultural machinery, which can maintain a level position on uneven terrain, thereby improving the accuracy and efficiency of agricultural operations.

[0040] To achieve the above objectives, the present invention provides the following technical solution:

[0041] An adaptive stabilization platform for silage agricultural machinery includes a main beam 1, two inner columns 2, two outer cylinders 3, a bottom clamp 4, a platform 5, connecting parts 6, a sensing system 7, and a control system 8.

[0042] The main beam 1 is used to connect to agricultural machinery and is usually made of high-strength steel to withstand various stresses during the movement of the machinery. The length of the main beam 1 can be adjusted according to the size of the agricultural machinery. In practical applications, the main beam 1 can be firmly connected to the main body of the agricultural machinery by means of bolts or welding, or a part of the main body of the agricultural machinery can be used directly as the main beam 1.

[0043] Two outer cylinders 3 are vertically connected to the main beam 1; the inner columns 2 are typically made of lightweight, high-strength materials such as aluminum alloy or carbon fiber to reduce overall weight. The height of the inner columns 2 can be determined according to the working height of the agricultural machinery and the degree of terrain undulation. A shock-absorbing device is installed at the connection between the inner columns 2 and the main beam 1 to effectively reduce vibrations transmitted to the platform during machinery movement. The outer cylinders 3 are vertically fixed to both sides of the main beam by welding or bolts. The inner columns 2 are nested inside the outer cylinders 3 and slide up and down via linear bearings or sealed slide rails. A dustproof sealing ring is installed at the bottom of the outer cylinders 3 to prevent impurities from entering.

[0044] Two inner columns 2 are respectively fitted inside the outer cylinder 3 and can slide relative to the outer cylinder 3. The outer cylinder 3 is usually made of wear-resistant materials, such as polymer or ceramic-coated steel. A sliding bearing is provided between the outer cylinder 3 and the inner columns 2 to ensure smooth sliding even under high load and frequent use. The inner diameter of the outer cylinder 3 is approximately 0.5 mm to 1 mm larger than the outer diameter of the inner columns 2. This gap ensures smooth sliding without causing excessive wobbling.

[0045] The base clamp 4 is connected to the bottom of the inner column 2 to support the platform 5. The base clamp 4 is typically made of aluminum alloy, providing sufficient strength and a relatively light weight. The base clamp 4 is connected to the outer cylinder 3 via an adjustable connection, such as a threaded connection, to facilitate adjusting the platform height according to different agricultural equipment. The base clamp 4 is connected to the bottom end of the inner column 2 via a hinge structure; the hinge axis allows the platform to tilt ±45° in the horizontal plane to adapt to terrain changes.

[0046] Platform 5 is mounted on base clamp 4 and is used to support silage agricultural equipment. Platform 5 is typically made of corrosion-resistant and moisture-proof composite materials with a non-slip coating. The dimensions of platform 5 are adjustable, generally between 0.8 meters and 1.5 meters in width and 1 meter and 2 meters in length, and can be adjusted according to the needs of different agricultural equipment. Platform 5 has multiple fixing points for securely mounting various agricultural equipment.

[0047] Connector 6 connects the inner column 2 and the base clamp 4. Connector 6 includes a hinged structure that allows multi-axis rotation and is typically made of high-strength alloy steel. The hinged structure allows limited rotation in the pitch, roll, and yaw directions, with rotation angles generally within ±45 degrees. This range is sufficient to handle most terrain variations without affecting the overall structural stability. The hinge bearings of the hinged structure are made of self-lubricating copper-based material and are equipped with preload adjusting nuts to prevent loosening.

[0048] The sensing system 7 is used to detect the tilt and acceleration of the platform 5. The sensing system 7 includes an inertial measurement unit (IMU) and an accelerometer. The accelerometer typically has a range of ±16g and a resolution of up to 0.01g. These parameters ensure the system's rapid response to terrain changes and agricultural machinery movements.

[0049] The control system 8 controls the attitude of the platform 5 based on the detection results of the sensing system 7. The control system 8 includes a microcontroller that executes a stabilization algorithm to calculate the required attitude adjustments for the platform 5. The microcontroller typically employs a high-level processor to ensure real-time processing of sensor data and execution of complex control algorithms.

[0050] This utility model also includes an actuator 9, which is electrically connected to the control system 8 and is used to adjust the attitude of the platform 5 according to the instructions of the control system 8. The actuator 9 can be at least one of a hydraulic actuator, a pneumatic actuator, or an electric actuator. In practical applications, an electric linear actuator is usually selected because it has the characteristics of fast response speed and high control accuracy. The thrust of an electric actuator is generally between 500N and 2000N, and the stroke is between 100mm and 300mm. These parameters are sufficient to cope with most terrain changes. The actuator 9 should be installed between the outer cylinder and the inner column, for example: "The actuator 9 is set between the outer cylinder 3 and the inner column 2, and drives the sliding of the inner column 2 through telescopic movement."

[0051] Control system 8 employs a PID control algorithm to stabilize platform 5. The mathematical expression of the PID control algorithm is as follows:

[0052] ,

[0053] in, To control the output, For error signals, This is the proportionality coefficient. The integral coefficient is... Here, represents the differential coefficient. In this invention, This represents the difference between the actual tilt angle of platform 5 and the target horizontal angle. By adjusting... , and The value of can achieve an optimal balance between system stability, response speed, and overshoot. Generally speaking, The value ranges from 1 to 10. The value ranges from 0.1 to 1. The value ranges from 0.01 to 0.1. The specific values ​​of these parameters need to be fine-tuned based on the actual characteristics of the system and the working environment.

[0054] This invention also includes a GPS module 10, which is electrically connected to the control system 8 and is used to provide geographic location information. The GPS module 10 typically employs a multi-mode, multi-frequency receiver, supporting multiple satellite navigation systems such as GPS, GLONASS, and BeiDou, achieving positioning accuracy down to the centimeter level. GPS information can not only be used for precise positioning but can also be combined with terrain data to predict upcoming terrain changes, thereby enabling more proactive attitude adjustments.

[0055] In addition, this invention also includes a data recording module 11, which is electrically connected to the control system 8 and is used to record the motion and attitude data of the platform 5. The data recording module 11 typically uses a high-speed solid-state drive. The recorded data includes, but is not limited to, the tilt angle, acceleration, GPS position, and actuator actions of the platform 5. This data can be used for subsequent performance analysis and system optimization.

[0056] The working principle of this invention is as follows: When the agricultural machinery travels on uneven terrain, the sensing system 7 detects the tilt and acceleration of the platform 5 in real time. Based on this data, the control system 8 uses a PID algorithm to calculate the required attitude adjustment. Then, the control system 8 sends a command to the actuator 9, which adjusts the position of the outer cylinder 3 relative to the inner column 2 to change the attitude of the platform 5, thereby maintaining the platform 5 level. The entire process is continuous, and the system can respond to terrain changes at extremely high speeds (typically in the millisecond range).

[0057] The beneficial effects of this utility model include:

[0058] 1. It can keep the equipment level on uneven terrain, improving operational accuracy;

[0059] 2. The suspended design saves space under agricultural equipment;

[0060] 3. It adopts a modular design to adapt to agricultural equipment of different sizes and weights;

[0061] 4. Through GPS integration, precise positioning and intelligent terrain adaptation are achieved;

[0062] 5. The data recording function facilitates subsequent analysis and system optimization;

[0063] 6. Multi-axis stabilization design ensures stability in various complex terrains.

[0064] In summary, the stable platform provided by this utility model offers an innovative solution for agricultural mechanization, and is expected to significantly improve agricultural production efficiency and precision.

[0065] Specifically, when the equipment is operating on a slope, the right side of the platform tends to sink due to gravity. The IMU detects that the platform tilts to the right by 3°. The control system drives the right hydraulic actuator to retract, causing the right inner column to move up 5cm inside the outer cylinder. At the same time, the left actuator extends and pushes down 2cm, ultimately restoring the platform to a horizontal position and ensuring the normal operation of the equipment.

[0066] The specific embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. An adaptive stabilization platform for silage agricultural machinery, characterized in that, include: The main beam is used to connect to agricultural machinery; Two outer cylinders are vertically connected to the main beam; Two inner columns are respectively fitted inside the outer cylinder and can slide relative to the outer cylinder; A bottom clamp is attached to the bottom of the inner column; The platform, mounted on the base clamp, is used to support agricultural equipment; Connector, used to connect the inner column and the base clamp; A sensing system is used to detect the tilt and acceleration of the platform; A control system is used to control the attitude of the platform based on the detection results of the sensing system.

2. The stable platform according to claim 1, characterized in that, The sensing system includes an inertial measurement unit and an accelerometer.

3. The stable platform according to claim 1, characterized in that, It also includes an actuator, which is electrically connected to the control system and is used to adjust the posture of the platform according to the instructions of the control system. The actuator is disposed between the outer cylinder and the inner column and drives the inner column to slide by telescoping.

4. The stable platform according to claim 3, characterized in that, The actuator is at least one of a hydraulic actuator, a pneumatic actuator, or an electric actuator.

5. The stable platform according to claim 1, characterized in that, The control system includes a microcontroller that executes a stabilization algorithm to calculate the attitude adjustments required for the platform.

6. The stable platform according to claim 5, characterized in that, The stabilization algorithm is a PID control algorithm.

7. The stable platform according to claim 1, characterized in that, It also includes a GPS module, which is electrically connected to the control system and is used to provide geographic location information.

8. The stable platform according to claim 1, characterized in that, The connector includes a hinged structure that allows for multi-axis rotation.

9. The stable platform according to claim 1, characterized in that, It also includes a data recording module, which is electrically connected to the control system and is used to record the motion data and attitude data of the platform.

10. The stable platform according to claim 1, characterized in that, The platform has an adjustable size to accommodate devices of different sizes.

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