A cloud platform and aerial work vehicle

Abstract

This utility model provides a gimbal operation platform and aerial work vehicle, relating to the field of gimbal equipment technology. It includes: a scissor lift mechanism comprising four linkage mechanisms, two drive rods, two scissor supports, two lead screw mechanisms, and a dual-axis servo motor. The two drive rods are arranged opposite each other, with each drive rod's ends rotatably connected to two linkage mechanisms. The two scissor supports are positioned between the two drive rods and are arranged opposite each other. The lower end of each scissor support is rotatably connected to the end of the two drive rods on the same side. The two lead screw mechanisms are respectively connected to the two drive rods, and the dual-axis servo motor is connected to the two lead screw mechanisms to drive the two drive rods to move closer or further apart, thereby raising and lowering the two scissor supports. A top platform is also provided, mounted on the upper end of the two scissor supports. The advantages of this utility model are: it enables precise operation at different heights and angles, adapts to the needs of narrow spaces or multi-angle operations, and expands the operating range.

Description

Technical Field

[0001] This utility model relates to the field of gimbal equipment technology, and in particular to a gimbal operation platform and aerial work vehicle. Background Technology

[0002] Work platforms are crucial equipment in numerous industries, including construction, equipment installation and maintenance, film and television shooting, and fruit harvesting. However, traditional work platforms have revealed many shortcomings in practical applications, especially in fruit harvesting scenarios, where their weaknesses are even more pronounced. Traditional work platforms mainly fall into two categories.

[0003] 1. Fixed scaffolding work platform

[0004] In the construction industry, such platforms are quite common, mainly constructed from steel pipes and fasteners. The construction process requires a significant investment of manpower and time, and once completed, the height is fixed, making it difficult to quickly adjust to different working heights, resulting in extremely poor flexibility. In fruit harvesting scenarios, orchard trees vary in height, and fruits are distributed at different heights. Using fixed scaffolding platforms requires fruit farmers to frequently rebuild or dismantle the scaffolding according to the tree height. This is not only cumbersome but also extremely inconvenient in complex orchard terrain, severely impacting harvesting efficiency and significantly increasing the time and labor costs of fruit harvesting. For example, in large apple orchards, as the trees grow, the fruit height varies at different stages, and fixed scaffolding platforms cannot quickly adapt to these height changes, slowing down the harvesting process.

[0005] 2. Simple lifting work platform

[0006] These platforms typically consist of a simple hydraulic or electric lifting device and a work surface. While they address the height adjustment issue to some extent, they lack flexibility in horizontal adjustment. During fruit harvesting, fruit tree branches grow in various directions, and the fruits are scattered and irregularly distributed. Simple lifting platforms cannot easily and flexibly move horizontally to the precise location of the fruits, making it difficult for fruit growers to easily harvest fruits from all directions. For example, in vineyards, the trellis structure is complex, and the fruits are distributed at different angles and horizontal positions. Simple lifting platforms cannot quickly move horizontally, resulting in low harvesting efficiency and the possibility of missing some fruits due to difficulty in reaching them, thus affecting fruit yield.

[0007] Furthermore, pan-tilt units (PTZs) are commonly used in surveillance cameras, but their design is primarily to meet the multi-angle shooting needs of cameras. Their load-bearing capacity is extremely limited, making them unsuitable for supporting fruit growers and harvesting tools such as harvesting clamps. Moreover, the structure and function of PTZs are singular, lacking integration with lifting capabilities, and thus unable to meet the complex needs of harvesting fruit at different heights and angles. In orchards, the ability to lift and lower to high fruit positions while flexibly adjusting the angle to align with the fruit is crucial; PTZs are clearly unsuitable for this practical operational scenario. For example, in pomelo harvesting, where pomelo trees are tall and the fruit is distributed at varying heights and angles, PTZs cannot provide effective operational support for pomelo harvesting. Utility Model Content

[0008] In view of this, in order to solve the above-mentioned problems of traditional operating platforms, the embodiments of this utility model provide a gimbal operating platform and an aerial operating vehicle.

[0009] An embodiment of this utility model provides a gimbal operation platform, comprising:

[0010] A scissor lift mechanism includes four linkage mechanisms, two drive rods, two scissor supports, two lead screw mechanisms, and a dual-axis servo motor. The two drive rods are arranged opposite each other, and each drive rod is rotatably connected to the two linkage mechanisms at both ends. The two scissor supports are arranged between the two drive rods and opposite each other. The lower end of each scissor support is rotatably connected to the end of the same side of the two drive rods. The two lead screw mechanisms are respectively connected to the two drive rods. The dual-axis servo motor is connected to the two lead screw mechanisms to drive the two drive rods to move closer or further apart, thereby driving the two scissor supports to lift.

[0011] And a top platform, which is mounted on the upper end of the two scissor brackets.

[0012] Furthermore, the linkage mechanism includes a support, a first link, and a second link. The support is fixedly installed. One end of the first link is rotatably connected to the support, and the other end is rotatably connected to the lower end of the second link. The upper end of the second link is rotatably connected to the drive rod.

[0013] Furthermore, the length of the second link is greater than the length of the first link.

[0014] Furthermore, the lead screw mechanism includes a lead screw and a lead screw nut sleeved on the lead screw. The two lead screw nuts of the two lead screw mechanisms are respectively installed on the two drive rods. The two lead screws of the two lead screw mechanisms are coaxially arranged. The dual-axis servo motor is arranged between the two lead screws and is respectively connected to the two lead screws.

[0015] Furthermore, the lead screw is located on the line connecting the midpoints of the two drive rods.

[0016] Furthermore, the scissor bracket includes multiple X-shaped brackets that are rotatably connected in sequence. The X-shaped brackets of two scissor brackets are arranged opposite to each other, and the opposite ends of the two X-shaped brackets are connected by a reinforcing rod.

[0017] Furthermore, the top platform includes a top plate, the bottom of which is provided with four connecting ears, which are arranged in pairs opposite each other. Two of the connecting ears are rotatably connected to the upper end of the same side of the two scissor brackets, and the other two connecting ears are provided with sliding grooves. The upper end of the other side of the scissor brackets is slidably connected to the two sliding grooves respectively.

[0018] Furthermore, fasteners are also provided in both of the sliding grooves to secure the upper end of the scissor bracket to the sliding groove.

[0019] Furthermore, it also includes a rotating base, which includes a cage, an external gear ring, an internal gear, and a drive servo motor. The external gear ring is rotatably fixed to the upper part of the cage, and the linkage mechanism is fixed to the external gear ring. The internal gear is disposed inside the external gear ring and meshes with the external gear ring. The drive servo motor is connected to the internal gear.

[0020] In addition, embodiments of this utility model also provide an aerial work vehicle, including the aforementioned gimbal work platform, and further including a vehicle body and a camera, wherein the gimbal work platform is mounted on the vehicle body and the camera is mounted on the top platform.

[0021] The beneficial effects of the technical solution provided by the embodiments of this utility model are as follows:

[0022] 1. This utility model discloses a gimbal operating platform that uses a dual-axis servo motor to drive two lead screw mechanisms to synchronously drive two scissor brackets to fold and unfold, thereby raising and lowering the top platform. The lifting distance of the top platform can be precisely controlled by controlling the rotation angle and speed of the dual-axis servo motor, achieving smooth and precise control of the lifting process, improving positioning accuracy and reducing positioning errors. Furthermore, the rotating seat utilizes the cooperation of an external gear ring and an internal gear for precise transmission. By controlling the rotation of the drive servo motor, the rotation of the top platform can be precisely controlled, enabling precise operation at different heights and angles, adapting to the needs of narrow spaces or multi-angle operations, and expanding the operating range.

[0023] 2. This utility model provides an aerial work vehicle that applies the aforementioned gimbal work platform to fields such as fruit picking, construction, equipment maintenance, and film and television shooting. The vehicle body drives the gimbal work platform to move, allowing the camera to move freely within the work area and acquire images at different heights and angles, providing effective work support. This enables it to adapt to various complex scenarios, meet multifunctional needs, and improve work efficiency. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of a gimbal operation platform according to Embodiment 1 of this utility model;

[0025] Figure 2 This is a schematic diagram of a scissor lift mechanism;

[0026] Figure 3 This is a schematic diagram of the top platform;

[0027] Figure 4 This is a schematic diagram of the rotating base;

[0028] Figure 5 This is a schematic diagram of an aerial work vehicle according to Embodiment 2 of this utility model.

[0029] In the diagram: 100, Gimbal operating platform; 200, Vehicle body; 300, Camera; 400, Collection box; 500, Robotic arm; 1, Scissor lift mechanism; 2, Top platform; 3, Rotating seat; 4, Linkage mechanism; 5, Support; 6, First link; 7, Second link; 8, Drive rod; 9, Lead screw mechanism; 10, Dual-axis servo motor; 11, X-shaped bracket; 12, Reinforcing rod; 13, Top plate; 14, Connecting lug; 15, Drive servo motor; 16, Slide groove; 17, Sliding shaft; 18, External gear ring; 19, Internal gear; 20, Upper annular frame; 21, Rotating plate; 22, Lower annular frame; 23, Base plate. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this utility model clearer, the embodiments of this utility model will be further described below with reference to the accompanying drawings. The following description presents a preferred embodiment of several possible embodiments of this utility model, intended to provide a basic understanding of the utility model, but not intended to identify the key or decisive elements of the utility model or to limit the scope of protection sought.

[0031] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values.

[0032] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0033] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures. Also, it should be understood that, for ease of description, the dimensions of the various parts shown in the figures are not drawn to actual scale.

[0034] In the description of this utility model, it should be noted that the circuits, electronic components and modules involved in this utility model are all existing technologies, which can be fully implemented by those skilled in the art, and need not be elaborated upon.

[0035] It should be further noted that, unless otherwise explicitly specified and limited, the terms "installation" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0036] Example 1

[0037] Please refer to Figure 1 The present invention provides a gimbal operation platform 100, which mainly includes a scissor lifting mechanism 1 and a top platform 2.

[0038] like Figure 2 As shown, the scissor lifting mechanism 1 includes four linkage mechanisms 4, two drive rods 8, two scissor supports, two lead screw mechanisms 9, and a dual-axis servo motor 10.

[0039] Specifically, the linkage mechanism 4 is arranged in a rectangular shape, and the two drive rods 8 are positioned opposite each other.

[0040] Each of the drive rods 8 is rotatably connected to two of the linkage mechanisms 4 at both ends. As in this embodiment,

[0041] The linkage mechanism 4 includes a support 5, a first link 6, and a second link 7. The support 5 is fixedly installed and all four supports 5 are at the same height. The support 5 is a U-shaped hinged seat with its opening facing upwards. The first link 6 is positioned approximately horizontally, while the second link 7 is positioned at an angle. One end of the first link 6 is inserted into the support 5 and hinged to it, allowing the first link 6 to rotate around the support 5. The other end of the first link 6 is rotatably connected to the lower end of the second link 7, and the upper end of the second link 7 is rotatably connected to the drive rod 8. Here, both ends of the second link 7 are rotatably connected via a shaft hinge.

[0042] In some embodiments, the length of the second link 7 is greater than the length of the first link 6, so that the second link 7 has a larger range of motion, thereby increasing the distance that the two drive rods 8 can move relative to each other.

[0043] The two scissor brackets are positioned between and opposite to the two drive rods 8, typically arranged symmetrically. Each scissor bracket specifically includes multiple X-shaped brackets 11 rotatably connected in sequence. The intersection points of the X-shaped brackets 11 are provided with hinge shafts, allowing the X-shaped brackets 11 to be unfolded and folded. The X-shaped brackets 11 of the two scissor brackets are arranged one-to-one opposite each other, and their opposite ends are connected by reinforcing rods 12. This creates a telescopic structure that can be stably unfolded and folded.

[0044] Each of the scissor brackets is rotatably connected to the ends of the two drive rods 8 on the same side. That is, the two ends of the lower end of the lowest X-shaped bracket 11 are hinged to the two ends of the drive rod 8, so that the relative movement of the two drive rods 8 can drive each X-shaped bracket 11 to unfold and fold.

[0045] The two lead screw mechanisms 9 are respectively connected to the two drive rods 8, and the dual-axis servo motor 10 is connected to the two lead screw mechanisms 9. Specifically, each lead screw mechanism 9 includes a lead screw and a lead screw nut sleeved on the lead screw. The two lead screw nuts of the two lead screw mechanisms 9 are respectively installed on the two drive rods 8. Here, the lead screw nuts are embedded in the drive rods 8, and the lead screw passes through the lead screw nut and the drive rod 8. The two lead screws of the two lead screw mechanisms 9 are coaxially arranged, and the dual-axis servo motor 10 is disposed between the two lead screws and is respectively connected to the two lead screws.

[0046] The dual-axis servo motor 10 can drive the two lead screws to rotate synchronously, thereby moving the lead screw nuts to move the drive rods 8. This causes the two drive rods 8 to move closer or further apart, thus enabling the two scissor brackets to unfold for raising and fold for lowering. It should be noted that when arranging the two lead screw mechanisms 9, the directions of movement of the two lead screw nuts must be opposite at the same time.

[0047] In some embodiments, the lead screw is located on the line connecting the midpoints of the two drive rods 8, which allows for more precise and smoother driving of the two drive rods 8.

[0048] like Figure 3As shown, the top platform 2 is mounted on the upper end of the two scissor brackets. The top platform 2 is used to install cameras, robotic arms, or other functional devices according to the needs of different scenarios. In this embodiment, the top platform 2 includes a top plate 13, and the bottom of the top plate 13 is provided with four connecting ears 14. The four connecting ears 14 are arranged in pairs facing each other. Two of the connecting ears 14 are rotatably connected to the upper end of the two scissor brackets on the same side. The other two connecting ears 14 are provided with sliding grooves 16, and the upper end of the other side of the scissor brackets is slidably connected to the two sliding grooves 16 respectively. By adjusting the position of the upper end of the scissor brackets within the sliding grooves 16, the load-bearing requirements of different functional devices can be met.

[0049] The top plate 13 is made of high-strength transparent acrylic sheet, which has the advantages of being lightweight, durable and flat. As a load-bearing surface, the acrylic sheet can meet the placement requirements of different types of operating equipment and has good aesthetics and easy cleaning performance.

[0050] In some embodiments, fasteners for securing the upper end of the scissor bracket to the slide groove 16 are also provided in the two slide grooves 16. Specifically, the slide groove 16 is a horizontally arranged elongated oval groove. One end of the uppermost X-shaped bracket 11 of the scissor bracket is provided with a sliding shaft 17. The sliding shaft 17 is inserted into the slide groove 16 and can slide. The fasteners are selected from bolts or buckles to lock and fix the sliding shaft 17 in the slide groove 16.

[0051] In addition, such as Figure 4 As shown, the gimbal operating platform 100 of this utility model also includes a rotating base 3. The rotating base 3 includes a retainer, an external gear ring 18, an internal gear 19, and a drive servo motor 15. The external gear ring 18 is rotatably fixed to the upper part of the retainer. The linkage mechanism 4 is fixed to the external gear ring 18. The internal gear 19 is disposed inside the external gear ring 18 and meshes with the external gear ring 18. The drive servo motor 15 is fixedly disposed inside the retainer. The drive servo motor 15 is generally selected as a single-axis servo motor. The output shaft of the drive servo motor 15 is arranged upward and connected to the internal gear 19.

[0052] Specifically, the retainer includes a base plate 23 and a lower annular frame 22 disposed on the base plate 23. The outer gear ring 18 is disposed on the rotating plate 21. The lower part of the rotating plate 21 is provided with an upper annular frame 20. The upper annular frame 20 and the lower annular frame 22 are rotatably connected. Here, the upper annular frame 20 and the lower annular frame 22 are rotatably connected by a bearing. The four linkage mechanisms 4 are arranged at intervals around the outer gear ring 18. The support 5 of each linkage mechanism 4 is fixed on the rotating plate 21.

[0053] The drive servo motor 15 drives the internal gear 19 to rotate. The internal gear 19 meshes with the external gear ring 18. The external gear ring 18 drives each of the linkage mechanisms 4 to rotate, thereby driving the drive rod 8 connected to each of the linkage mechanisms 4 to rotate, causing the two scissor brackets to rotate, thereby driving the top platform 2 and the functional device it carries to rotate, and adjusting the working angle of the functional device.

[0054] Example 2

[0055] The gimbal operation platform 100 provided in Embodiment 1 of this utility model can be widely used in fields such as fruit picking, construction, equipment maintenance, and film and television shooting. For example, Embodiment 2 of this utility model applies the gimbal operation platform 100 in Embodiment 1 to pomelo picking, providing an aerial work vehicle.

[0056] For details, please refer to Figure 5 Embodiment 2 of this utility model provides an aerial work vehicle, including the gimbal work platform 100 of Embodiment 1, and also including a vehicle body 200 and a camera 300. The gimbal work platform 100 is mounted on the vehicle body 200. The vehicle body 200 is generally a tracked vehicle body 200, which can travel in rugged orchards. The camera 300 is mounted on the top platform 2. In this embodiment, in order to harvest pomelos, the vehicle body 200 is also equipped with a collection box 400, and a robotic arm 500 for gripping and harvesting pomelos is mounted on the top platform 2. The camera 300 is mounted on the robotic arm 500.

[0057] This utility model discloses an aerial work vehicle. When harvesting pomelos, the vehicle body 200 moves to the vicinity of the pomelo tree. A dual-axis servo motor 10 drives two scissor-mounted supports to extend, raising the camera 300 to a target height. The servo motor 10 then drives the scissor-mounted supports to rotate, causing the camera 300 to rotate to a target angle. The camera 300 then captures images of the target pomelo, providing image information to a robotic arm 500. The robotic arm 500 then harvests the target pomelo based on this image information. This method can meet the complex needs of harvesting pomelos from different heights and angles.

[0058] In this document, the directional terms such as front, back, top, and bottom are defined based on the position of the components in the accompanying drawings and their relative positions to each other, solely for the purpose of clarity and convenience in expressing the technical solution. It should be understood that these are relative concepts and can vary depending on different methods of use and placement; the use of these directional terms should not limit the scope of protection claimed in this application.

[0059] Where there is no conflict, the embodiments and features described above can be combined with each other. The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gimbal operation platform, characterized in that, include: A scissor lift mechanism includes four linkage mechanisms, two drive rods, two scissor supports, two lead screw mechanisms, and a dual-axis servo motor. The two drive rods are arranged opposite each other, and each drive rod is rotatably connected to the two linkage mechanisms at both ends. The two scissor supports are arranged between the two drive rods and opposite each other. The lower end of each scissor support is rotatably connected to the end of the same side of the two drive rods. The two lead screw mechanisms are respectively connected to the two drive rods. The dual-axis servo motor is connected to the two lead screw mechanisms to drive the two drive rods to move closer or further apart, thereby driving the two scissor supports to lift. And a top platform, which is mounted on the upper end of the two scissor brackets.

2. The gimbal operation platform as described in claim 1, characterized in that: The linkage mechanism includes a support, a first link, and a second link. The support is fixedly installed. One end of the first link is rotatably connected to the support, and the other end is rotatably connected to the lower end of the second link. The upper end of the second link is rotatably connected to the drive rod.

3. The gimbal operation platform as described in claim 2, characterized in that: The length of the second link is greater than the length of the first link.

4. The gimbal operation platform as described in claim 1, characterized in that: The lead screw mechanism includes a lead screw and a lead screw nut sleeved on the lead screw. The two lead screw nuts of the two lead screw mechanisms are respectively installed on the two drive rods. The two lead screws of the two lead screw mechanisms are coaxially arranged. The dual-axis servo motor is arranged between the two lead screws and is respectively connected to the two lead screws.

5. A gimbal operation platform as described in claim 4, characterized in that: The lead screw is located on the line connecting the midpoints of the two drive rods.

6. A gimbal operation platform as described in claim 1, characterized in that: The scissor bracket includes multiple X-shaped brackets that are rotatably connected in sequence. The X-shaped brackets of two scissor brackets are arranged opposite to each other, and the opposite ends of the two X-shaped brackets are connected by a reinforcing rod.

7. A gimbal operation platform as described in claim 1, characterized in that: The top platform includes a top plate, and the bottom of the top plate is provided with four connecting ears. The four connecting ears are arranged in pairs opposite each other. Two of the connecting ears are rotatably connected to the upper end of the same side of the two scissor brackets. The other two connecting ears are provided with sliding grooves, and the upper end of the other side of the scissor brackets is slidably connected to the two sliding grooves respectively.

8. A gimbal operation platform as described in claim 7, characterized in that: The two slides are also provided with fasteners to secure the upper end of the scissor bracket to the slide.

9. A gimbal operation platform as described in claim 1, characterized in that: It also includes a rotating base, which includes a cage, an external gear ring, an internal gear, and a drive servo motor. The external gear ring is rotatably fixed to the upper part of the cage. The four linkage mechanisms are fixed to the external gear ring. The internal gear is disposed inside the external gear ring and meshes with the external gear ring. The drive servo motor is connected to the internal gear.

10. An aerial work vehicle, characterized in that: The device includes a gimbal operating platform as described in any one of claims 1-9, and further includes a vehicle body and a camera, wherein the gimbal operating platform is mounted on the vehicle body and the camera is mounted on the top platform.

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