农机化研究2026，Vol.48Issue(9)：1-10,10.DOI:10.13427/j.issn.1003-188X.2026.09.001
丘陵山地四轴自调平作业平台设计与试验
Design and Test of Four-Axis Self-Leveling Operation Platform for Hilly and Mountainous Areas
摘要
Abstract
To solve the problems of poor stability of operations and difficulties in achieving horizontal operations in com-plex environments such as large slope changes during transportation,picking and orchard information collection in hilly and mountainous orchards,an automatic leveling system for operations in hilly and mountainous orchards was designed.This system integrates a control system,a leveling structure and a walking structure.Firstly,a self-leveling four-point support leveling system was designed.The single leg combined with the double sleeve protection structure effectively counterbalanced the lateral impact force on the push rod,ensuring the accuracy of leveling and the torsional resistance performance of the electric push rod.Secondly,by applying the spiral theory,the motion model of the platform mecha-nism was established and its motion principle was analyzed through the forward and reverse solutions of kinematics.A complete machine control system with the single-chip microcomputer as the core was designed,integrating the electrical control system mainly based on the DC linear push rod motor and the fixed-point stationary leveling strategy,to achieve the automatic adjustment of the 18° up and down angle changes of the pitch and roll of the working platform,to enhance stability and safety in the complex terrain of hilly and mountainous areas.The prototype trial production and tests were carried out.The indoor static tests showed that the system could be adjusted to the target range of-0.5°to 0.5°from dif-ferent initial pitch angles and roll angles.The average leveling speed in the pitch direction was 1.89 °/s and the average leveling speed in the roll direction was 1.97 °/s.The dynamic test results showed that the maximum dynamic error dur-ing actual operation was-3°to 3°.The overall results met the expected design goals,proving that this platform met the usage requirements of hilly and mountainous orchards and could provide a stable and reliable equipment loading platform for the operations of hilly and mountainous orchards.关键词
丘陵山地/自调平平台/控制/整机试验Key words
hilly and mountainous areas/self-leveling platform/control/whole machine test分类
农业科技引用本文复制引用
黄伟东,杨松有,娄欢欢,李光林..丘陵山地四轴自调平作业平台设计与试验[J].农机化研究,2026,48(9):1-10,10.基金项目
国家农业关键核心技术重大攻关项目子课题(NK2022160104) （NK2022160104）
