Remote-controlled electric climbing fruit picking vehicle

Abstract

This invention relates to the field of aerial work platform technology and discloses a remote-controlled electric aerial work platform for harvesting, comprising a vehicle body, a climbing arm, and a climbing frame. The lower part of the climbing frame is equipped with a dynamic counterweight system and a tilt sensor. The dynamic counterweight system includes a counterweight block and a counterweight adjustment mechanism. The counterweight adjustment mechanism adjusts the position of the counterweight block according to the tilt state of the support plate. The counterweight adjustment mechanism includes a horizontal guide rail and a drive motor. The counterweight block is mounted on the horizontal guide rail and has a degree of freedom to move along the horizontal guide rail. The lower part of the climbing frame is provided with an extension extending horizontally, and the dynamic counterweight system is mounted on the extension. This invention solves the problem in the prior art where, when aerial work platforms operate on slopes or uneven terrain, the platform supporting the worker is prone to shaking or tilting, affecting operational safety.

Description

Technical Field

[0001] This invention relates to the field of aerial work platform technology, specifically a remote-controlled electric aerial work platform for picking fruits and vegetables. Background Technology

[0002] Currently, agricultural harvesting vehicles, as a modern agricultural equipment, are widely used in the harvesting of cash crops such as orchards and tea gardens. These machines are typically equipped with lifting platforms and mobile chassis, significantly improving harvesting efficiency, reducing manual labor intensity, and minimizing the risk of falls from heights. Some advanced models also utilize electric drive and remote control operation, further enhancing operational flexibility and safety, becoming a crucial support for large-scale agricultural production.

[0003] However, existing agricultural harvesting vehicles still have significant shortcomings in terms of stability. Traditional lifting platforms mostly use hydraulic or mechanical locking structures, which can easily cause the footboard supporting the workers to sway or tilt when operating on slopes or uneven terrain, affecting operational safety. Some designs with counterweights result in excessive weight, making the entire machine bulky, increasing energy consumption, and hindering its movement in the field. In addition, the balancing systems of existing equipment often have slow response times and cannot effectively cope with dynamic load changes during harvesting, limiting their applicability in complex environments. Summary of the Invention

[0004] (I) Technical problem to be solved: In view of the shortcomings of the prior art, the present invention provides a remote-controlled electric aerial harvesting vehicle with the advantage of adaptive adjustment of the manned platform to ensure that it remains level. This solves the problem in the prior art that when the aerial harvesting vehicle is operating on slopes or uneven terrain, the footboard carrying the workers is prone to shaking or tilting, which affects the safety of operation.

[0005] (II) Technical Solution: To achieve the above-mentioned purpose of having an adaptive adjustable manned platform to ensure its horizontal position, the present invention provides the following technical solution: A remote-controlled electric climbing and picking vehicle, comprising a vehicle body, a climbing arm, and a climbing frame. The climbing arm connects the climbing frame to the vehicle body and has vertical lifting freedom. A support plate is fixedly connected to the bottom of the climbing frame, and a guardrail is provided around the support plate. A dynamic counterweight system and an tilt sensor are provided at the lower part of the climbing frame. The dynamic counterweight system includes a counterweight block and a counterweight adjustment mechanism. The mass of the counterweight block is not less than 20% of the maximum design load capacity above the support plate. The counterweight adjustment mechanism adjusts the position of the counterweight block according to the tilt state of the support plate.

[0006] The counterweight adjustment mechanism includes a horizontal guide rail and a drive motor. The counterweight block is mounted on the horizontal guide rail and has the freedom to move along the horizontal guide rail. The lower part of the climbing frame is provided with an extension extending in the horizontal direction. The dynamic counterweight system is set on the extension. The counterweight block is detachably connected to the extension via a connecting bracket. The horizontal guide rail is fixedly connected to the surface of the extension. The drive motor drives the counterweight block to move along the horizontal guide rail through a telescopic mechanism. The drive motor is signal-connected to the tilt sensor.

[0007] Preferably, the telescopic mechanism is a hydraulic cylinder.

[0008] Preferably, the extension is fixedly connected to the climbing frame; the climbing frame and the climbing arm are connected by a universal hinge structure; and the tilt sensor is disposed on the horizontal surface of the support plate.

[0009] Preferably, a pedal is provided above the support plate, and an arc-shaped balance surface is provided at the lower part of the pedal. The arc-shaped balance surface is fixedly connected to the pedal, and the convex direction of the arc-shaped balance surface is downward. The upper surface of the support plate is rolledly connected to the arc-shaped balance surface. The extension is fixedly connected to the pedal. The tilt sensor is provided on the horizontal surface of the pedal.

[0010] Preferably, the curvature diameter R of the arc-shaped balance surface satisfies: R ≥ 1.2 times the width of the pedal.

[0011] Preferably, the contact area between the support plate and the arc-shaped balance surface is provided with a friction-reducing layer.

[0012] Preferably, the drive motor is fixed to the end of the extension via a flange, and the output shaft of the drive motor is connected to the telescopic mechanism via a coupling.

[0013] Preferably, the extension is a box-shaped structure formed by welding, with reinforcing ribs inside; the horizontal guide rail is fixed to the inner bottom surface of the extension by welding or screws.

[0014] Preferably, the connecting bracket has an inverted U-shaped structure, and the opening of the inverted U-shaped structure is used to install a counterweight; the two sides of the connecting bracket are fixedly connected to the side plate of the extension by screws, and the bottom of the connecting bracket is provided with a slider that is compatible with the horizontal guide rail.

[0015] Preferably, the universal hinge structure is provided with a mechanical stop, and the swing amplitude of the climbing frame on the universal hinge structure does not exceed 20°.

[0016] (III) Beneficial Effects: Compared with the prior art, the present invention provides a remote-controlled electric aerial harvesting vehicle, which has the following beneficial effects:

[0017] 1. This remote-controlled electric aerial harvesting vehicle utilizes a universal hinge structure between the climbing arm and the climbing frame, along with an extension with a counterweight adjustment mechanism beneath the climbing frame, to create an intelligent balancing system. When the vehicle operates on slopes, a high-precision tilt sensor mounted on the horizontal surface of the climbing frame monitors the platform's posture in real time. Upon detecting a tilt, it immediately transmits a signal to the drive motor of the counterweight adjustment mechanism, controlling the counterweight to move precisely along the horizontal guide rail. By changing the lever arm length, the overall center of gravity of the climbing frame is adjusted in real time. The ingenuity of this design lies in the fact that even if the vehicle tilts due to uneven ground, the flexible compensation of the universal hinge and the rapid response of the counterweight system ensure that the climbing frame and its working platform remain level and stable with a small error range, providing a safe and stable working environment for operators. It is particularly suitable for efficient operation in orchards with slopes up to 15°.

[0018] 2. This remote-controlled electric aerial harvesting vehicle features a pedal with a downward-protruding arc-shaped balancing surface above the support plate. The first stage of passive leveling is achieved through low-friction rolling contact between the arc-shaped surface and the support plate. Simultaneously, an intelligent counterweight leveling mechanism integrated within the extension fixed to the pedal constitutes the second stage of active leveling. When a high-precision tilt sensor detects a tilt in the pedal, the counterweight adjustment system is controlled in real time to drive the counterweight block to move along the guide rail, dynamically adjusting the pedal's center of gravity position. This ensures that the pedal automatically maintains a horizontal state even when the support plate is tilted, with a small horizontal error range. This significantly improves the stability and operational safety of high-altitude harvesting operations, making it particularly suitable for use in mountainous orchard environments with varying slopes. Attached Figure Description

[0019] Figure 1 This is a front view of the complete structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the connection between the climbing arm and the climbing frame of the present invention;

[0021] Figure 3 This is a schematic diagram of the interior of the extension portion of the present invention;

[0022] Figure 4 This is a schematic diagram of the connecting bracket and counterweight structure of the present invention;

[0023] Figure 5 This is a front view structural diagram of another embodiment of the present invention;

[0024] Figure 6 This is a cross-sectional view of the pedal portion in another embodiment of the present invention.

[0025] In the diagram: 1. Vehicle body; 2. Climbing arm; 3. Climbing frame; 4. Support plate; 5. Guardrail; 6. Counterweight; 61. Connecting bracket; 62. Slider; 7. Counterweight adjustment mechanism; 71. Horizontal guide rail; 72. Drive motor; 721. Output shaft; 722. Coupling; 8. Tilt sensor; 9. Extension; 91. Reinforcing rib; 10. Universal hinge structure; 101. Mechanical stop; 11. Pedal; 111. Arc-shaped balance surface; 112. Friction-reducing layer. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figures 1-4 This invention relates to a remote-controlled electric aerial harvesting vehicle for agricultural harvesting. In existing technologies, the terrain can vary depending on the planting conditions of fruit trees; some terraced fields can even have slopes of around 25°. This can cause instability or even falls for workers operating at heights due to their non-horizontal standing position. Therefore, this invention's remote-controlled electric aerial harvesting vehicle, in addition to the conventional body 1, climbing arm 2, and climbing frame 3, also incorporates a dynamic counterweight system and an tilt sensor 8. The climbing arm 2 connects the climbing frame 3 to the body 1 and has vertical lifting freedom. The vertical lifting and restoring of the climbing frame 3 is achieved by adjusting the angle of the climbing frame 3. A support plate 4 is fixedly connected to the bottom of the climbing frame 3, and a guardrail 5 is set around the support plate 4 to further protect the safety of the staff. A dynamic counterweight system and an tilt sensor 8 are set at the lower part of the climbing frame 3. The dynamic counterweight system includes a counterweight block 6 and a counterweight adjustment mechanism 7. The mass of the counterweight block 6 is not less than 20% of the maximum design load capacity above the support plate 4. The counterweight adjustment mechanism 7 can adjust the position of the counterweight block 6 according to the tilt state of the support plate 4, thereby changing the center of gravity of the equipment and keeping the equipment level.

[0028] The counterweight adjustment mechanism 7 includes a horizontal guide rail 71 and a drive motor 72. The counterweight 6 is mounted on the horizontal guide rail 71 and has the freedom to move along the guide rail. The lower part of the climbing frame 3 is provided with an extension 9 extending horizontally. In this embodiment, the extension direction of the extension 9 is towards the side of the vehicle body 1 to avoid the overall center of gravity of the climbing vehicle shifting. The dynamic counterweight system is set on the extension 9. The counterweight 6 is detachably connected to the extension 9 through the connecting bracket 61, which facilitates flexible replacement of the weight of the counterweight 6 to adapt to various emergencies. The guide rail is fixedly connected to the inner lower surface of the extension 9. The drive motor 72 drives the counterweight 6 to move along the guide rail through a telescopic mechanism to change the center of gravity position. In this embodiment, the telescopic mechanism is a hydraulic cylinder. The drive motor 72 is connected to the tilt sensor 8. The tilt sensor 8 can transmit the detected data to the drive motor 72 through Bluetooth or Wi-Fi to control the change of the overall center of gravity of the equipment in real time and keep the equipment level.

[0029] Please see Figures 1-2 In this embodiment, the extension 9 is fixedly connected to the climbing frame 3; the climbing frame 3 and the climbing arm 2 are connected by a universal hinge structure 10; the tilt sensor 8 is installed on the horizontal surface of the support plate 4; the universal hinge structure 10 is provided with a mechanical stop 101, and the swing amplitude of the climbing frame 3 on the universal hinge structure 10 does not exceed 20°, thereby ensuring the safety of the equipment; when the vehicle is working on a slope, the high-precision tilt sensor 8 installed on the horizontal surface of the climbing frame 3 will monitor the platform posture in real time. Once tilt is detected, the signal is immediately transmitted to the drive motor 72 of the counterweight adjustment mechanism 7 to control the counterweight block 6 to move precisely along the horizontal guide rail 71, and adjust the overall center of gravity of the climbing frame 3 in real time by changing the lever arm length. The ingenuity of this design lies in the fact that even if the vehicle body 1 tilts as a whole due to uneven ground, the climbing frame 3 and its working platform can still maintain horizontal stability with a small error range thanks to the flexible compensation of the universal hinge and the rapid response of the counterweight system. This provides a safe and stable working environment for the operators and is particularly suitable for efficient operation in orchard environments with a slope of less than 15°. The feature of this embodiment is that it has a simple structure and can change the overall horizontal tilt angle of the climbing frame 3.

[0030] Please see Figures 5-6In another embodiment of the present invention, a pedal 11 is provided above the support plate 4, and an arc-shaped balance surface 111 is provided at the lower part of the pedal 11. The arc-shaped balance surface 111 is fixedly connected to the pedal 11, the protrusion direction of the arc-shaped balance surface 111 is downward, and the arc surface faces the support plate 4. The upper surface of the support plate 4 is in a rolling connection with the arc-shaped balance surface 111. The extension 9 is fixedly connected to the pedal 11. The tilt sensor 8 is provided on the horizontal surface of the pedal 11. The curvature diameter R of the arc-shaped balance surface 111 satisfies: R ≥ 1.2 times the width of the pedal 11. The contact point offset distance is positively correlated with the curvature. This design can ensure sufficient torque, while avoiding jamming between the arc-shaped balance surface 111 and the support plate 4 due to excessive curvature. It also conforms to the natural swaying of the human body during operation, avoiding dizziness caused by excessive amplitude. A friction-reducing layer is provided in the contact area between the support plate 4 and the arc-shaped balance surface 111. The friction-reducing layer is made of a material with a low coefficient of friction, such as stone. In practical use, the graphene coating allows for the addition of lubricants such as lubricating oil to the contact area between the arc-shaped balance surface 111 and the support plate 4 to reduce friction. In this embodiment, the first-level passive leveling is achieved through low-friction rolling contact between the arc-shaped surface and the support plate 4. Simultaneously, the extension 9, which is fixedly connected to the pedal 11, integrates an intelligent counterweight leveling mechanism to form the second-level active leveling. When the high-precision tilt sensor 8 detects that the pedal 11 is tilted, it controls the counterweight adjustment system in real time to drive the counterweight block 6 to move along the guide rail, dynamically adjusting the center of gravity position of the pedal 11. This ensures that the pedal 11 can automatically maintain a horizontal state even when the support plate 4 is tilted, with a small horizontal error range. This significantly improves the stability and operational safety of high-altitude harvesting operations, making it particularly suitable for use in mountainous orchard environments with varying slopes. The advantage of this embodiment is that it maintains the rigid connection between the climbing frame 3 and the climbing arm 2, adjusting and changing only the horizontal tilt angle of the pedal 11, making the structure safer and more stable.

[0031] Please see Figures 3-4 The drive motor 72 is fixed to the end of the extension 9 via a flange. The output shaft 721 of the drive motor 72 is connected to the telescopic mechanism via a coupling 722, transmitting motion to the telescopic mechanism. The extension 9 is a welded box-shaped structure with internal reinforcing ribs 91 to ensure rigidity. The guide rail is fixed to the inner bottom surface of the extension 9 by welding or screws. The connecting bracket 61 is an inverted U-shaped structure, with the U-shaped opening used to install the counterweight 6. The two sides of the connecting bracket 61 are fixedly connected to the side plates of the extension 9 by screws. The bottom of the connecting bracket 61 is provided with a slider 62 that matches the guide rail, thereby enabling sliding on the guide rail.

[0032] In summary, based on existing technology, this invention can adapt to the terrain of different agricultural areas, ensuring the comfort of workers even on slopes and preventing safety accidents. In the first embodiment of this invention, the cooperation of the counterweight 6, the counterweight adjustment structure, and the universal hinge structure 10 enables the entire climbing frame 3 to be leveled and balanced, resulting in a simpler structure. In another embodiment of this invention, an additional pedal 11 and an arc-shaped balance surface 111 are added, and the counterweight 6 and the counterweight adjustment mechanism 7 are adjusted to connect with the pedal 11. Therefore, the pedal 11 can be leveled independently without changing the connection structure between the climbing arm 2 and the climbing frame 3, making the overall equipment more stable. Both embodiments can automatically adjust to a horizontal position when tilted, adapting to different geographical environments during agricultural harvesting.

[0033] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0034] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A remote-controlled electric aerial harvesting vehicle, comprising a vehicle body (1), an aerial arm (2), and an aerial frame (3), wherein the aerial arm (2) connects the aerial frame (3) to the vehicle body (1), and the aerial arm (2) has vertical lifting freedom; a support plate (4) is fixedly connected to the bottom of the aerial frame (3), and a guardrail (5) is provided around the support plate (4), characterized in that: The lower part of the climbing frame (3) is equipped with a dynamic counterweight system and an inclination sensor (8). The dynamic counterweight system includes a counterweight block (6) and a counterweight adjustment mechanism (7). The mass of the counterweight block (6) is not less than 20% of the maximum design load capacity above the support plate (4). The counterweight adjustment mechanism (7) adjusts the position of the counterweight block (6) according to the inclination state of the support plate (4). The counterweight adjustment mechanism (7) includes a horizontal guide rail (71) and a drive motor (72). The counterweight block (6) is mounted on the horizontal guide rail (71) and has the freedom to move along the horizontal guide rail (71). The lower part of the climbing frame (3) is provided with an extension (9) extending in the horizontal direction. The dynamic counterweight system is set on the extension (9). The counterweight block (6) is detachably connected to the extension (9) through a connecting bracket (61). The horizontal guide rail (71) is fixedly connected to the surface of the extension (9). The drive motor (72) drives the counterweight block (6) to move along the horizontal guide rail (71) through a telescopic mechanism. The drive motor (72) is signal-connected to the tilt sensor (8). The extension (9) is fixedly connected to the climbing frame (3), and the climbing frame (3) is connected to the climbing arm (2) through a universal hinge structure (10). The tilt sensor (8) is set on the horizontal surface of the support plate (4). The extension (9) is a box-shaped structure formed by welding, and is provided with reinforcing ribs (91) inside. The connecting bracket (61) has an inverted U-shaped structure, and the opening of the inverted U-shaped structure is used to install the counterweight (6). The two sides of the connecting bracket (61) are fixedly connected to the side plate of the extension (9) by screws. The bottom of the connecting bracket (61) is provided with a slider (62) that is compatible with the horizontal guide rail (71).

2. The remote-controlled electric aerial harvesting vehicle according to claim 1, characterized in that: The telescopic mechanism is a hydraulic cylinder.

3. The remote-controlled electric aerial harvesting vehicle according to claim 1, characterized in that: The universal hinge structure (10) is provided with a mechanical stop (101), and the swing amplitude of the climbing frame (3) on the universal hinge structure (10) does not exceed 20°.

4. The remote-controlled electric aerial harvesting vehicle according to claim 1, characterized in that: A pedal (11) is provided above the support plate (4), and an arc-shaped balance surface (111) is provided at the lower part of the pedal (11). The arc-shaped balance surface (111) is fixedly connected to the pedal (11), and the protrusion direction of the arc-shaped balance surface (111) is downward. The upper surface of the support plate (4) is rolledly connected to the arc-shaped balance surface (111). The extension (9) is fixedly connected to the pedal (11). The tilt sensor (8) is provided on the horizontal surface of the pedal (11).

5. The remote-controlled electric aerial harvesting vehicle according to claim 4, characterized in that: The curvature diameter R of the arc-shaped balance surface (111) satisfies: R ≥ 1.2 times the width of the pedal (11).

6. The remote-controlled electric aerial harvesting vehicle according to claim 5, characterized in that: A friction-reducing layer is provided in the contact area between the support plate (4) and the arc-shaped balance surface (111).

7. The remote-controlled electric aerial harvesting vehicle according to any one of claims 1-6, characterized in that: The drive motor (72) is fixed to the end of the extension (9) by a flange, and the output shaft (721) of the drive motor (72) is connected to the telescopic mechanism by a coupling (722).

8. The remote-controlled electric aerial harvesting vehicle according to any one of claims 1-6, characterized in that: The horizontal guide rail (71) is fixed to the inner bottom surface of the extension (9) by welding or screws.

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