WO2024255962A2 - Manipulateur à bras articulé pour une machine de récolte - Google Patents

Manipulateur à bras articulé pour une machine de récolte Download PDF

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Publication number
WO2024255962A2
WO2024255962A2 PCT/DE2024/100515 DE2024100515W WO2024255962A2 WO 2024255962 A2 WO2024255962 A2 WO 2024255962A2 DE 2024100515 W DE2024100515 W DE 2024100515W WO 2024255962 A2 WO2024255962 A2 WO 2024255962A2
Authority
WO
WIPO (PCT)
Prior art keywords
articulated arm
axis
rotation
joint
rotary joint
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/DE2024/100515
Other languages
German (de)
English (en)
Other versions
WO2024255962A3 (fr
Inventor
Ronny Weber
Sebastian Unger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IAV GmbH Ingenieurgesellschaft Auto und Verkehr
Original Assignee
IAV GmbH Ingenieurgesellschaft Auto und Verkehr
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102023115331.5A external-priority patent/DE102023115331A1/de
Priority claimed from DE102023115328.5A external-priority patent/DE102023115328B3/de
Priority claimed from DE102023115330.7A external-priority patent/DE102023115330B4/de
Priority claimed from DE102023115329.3A external-priority patent/DE102023115329A1/de
Application filed by IAV GmbH Ingenieurgesellschaft Auto und Verkehr filed Critical IAV GmbH Ingenieurgesellschaft Auto und Verkehr
Publication of WO2024255962A2 publication Critical patent/WO2024255962A2/fr
Publication of WO2024255962A3 publication Critical patent/WO2024255962A3/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
    • A01D46/30—Robotic devices for individually picking crops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B25J17/02—Wrist joints
    • B25J17/0258—Two-dimensional joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/02—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Program-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • B25J9/042—Cylindrical coordinate type comprising an articulated arm

Definitions

  • the present invention relates to an electric motor-driven manipulator with several articulated arms for a harvesting machine.
  • Harvesting machines are known for the automated harvesting of fruit which have an electric motor-driven manipulator with several articulated arms. These manipulators are arranged on driving units of the harvesting machines and are designed to accommodate a gripping and harvesting tool. The fruit is harvested and deposited using the manipulator.
  • Typical manipulators for harvesting fruit have an articulated arm arrangement starting from a base frame and a carousel, which then carries an end effector. In the articulated arm arrangement, the articulated arms are mounted on one another using swivel joints. The individual swivel joints are driven by electric motors. These swivel joints are designed as fork joints, for example.
  • the articulated arms themselves are made up of several housing parts.
  • Patent specification DE 3442 244 C2 discloses a harvesting machine for fruit which has a base frame with drive wheels, a rotating console arranged on the base frame with a lifting device, an articulated arm arrangement and a robot hand.
  • the connected articulated arm arrangement is moved up and down using the lifting device.
  • the articulated arm arrangement comprises a first arm part connected to the lifting device so that it can be moved up and down in the vertical direction, a second arm part connected to the first arm part so that it can be moved up and down in the vertical direction, and a third arm part connected to the second arm part so that it can be moved up and down in the vertical direction.
  • the third arm part carries a forked support frame that can be pivoted and rotated about an axis that extends in the longitudinal direction of the arm part.
  • a robot arm with a base frame, a carousel that can be rotated about a base axis and an articulated arm arrangement is known from the patent specification DE 10 2019 210 071 B4.
  • the articulated arm arrangement comprises a first articulated arm pivotably connected to the carousel about a first axis of rotation, a second articulated arm pivotably connected to the first articulated arm about a second axis of rotation, a third articulated arm pivotably connected to the second articulated arm about a third axis of rotation, and a fourth articulated arm pivotably connected to the third articulated arm about a fourth axis of rotation.
  • the first axis of rotation is aligned perpendicularly to the base axis.
  • the second axis of rotation is aligned parallel to the first axis of rotation.
  • the third axis of rotation is aligned perpendicularly to the second axis of rotation and along the longitudinal axis of the second articulated arm and the longitudinal axis of the third articulated arm.
  • the fourth axis of rotation is aligned perpendicularly to the third axis of rotation.
  • a vertical articulated arm robot is known from the publication DE 11 2019 007 745 T5, which has a base, a carousel and an articulated arm arrangement with several articulated arms. The individual articulated arms are connected to one another by means of electric motor-driven joints.
  • a middle articulated arm in the articulated arm arrangement is connected on both sides by means of a
  • the pivot joint is connected to the adjacent articulated arms, with a bearing eye being formed on both ends of this articulated arm and an associated bearing eye being formed on each of the adjacent articulated arms.
  • the drive of the associated pivot joint is accommodated within the bearing eye of the adjacent articulated arm and is further connected to the bearing eye of the middle pivot joint.
  • the respective pivot joint is formed by means of the respective drive.
  • the middle articulated arm is composed of several articulated arm parts, with a first articulated arm part being connected to the respective drive of the two pivot joints and a second articulated arm part opposite the first articulated arm being designed as a wiring unit.
  • the two articulated arm parts are connected to one another via an additional web.
  • a manipulator with an articulated arm arrangement is known from the patent specification US 9,339,933 B2, which has several articulated arms, an end effector and several drive sources starting from a base frame.
  • the robot is designed as a vertical articulated robot in which the base frame, the articulated arms and the end effector are connected in sequence.
  • the articulated arm arrangement has a first articulated arm connected to the base frame so as to rotate about a first vertically aligned axis of rotation to form a carousel, a second articulated arm connected to the first articulated arm so as to rotate about a second axis of rotation, a third articulated arm connected to the second articulated arm so as to rotate about a third axis of rotation, and a fourth articulated arm connected to the third articulated arm so as to rotate about a fourth axis of rotation.
  • the second axis of rotation is perpendicular to the first axis of rotation of the carousel, i.e. horizontally aligned.
  • the third axis of rotation is aligned parallel to the second axis of rotation.
  • the fourth axis of rotation is perpendicular to the third axis of rotation and aligned in the longitudinal direction of the third articulated arm and fourth articulated arm.
  • the joints of the second axis of rotation and the third axis of rotation are designed as fork joints with fork head and fork head counterpart.
  • the second articulated arm has a fork head on the one hand and a fork head counterpart on the other.
  • a drive source is accommodated within the hollow second articulated arm in the area of the fork head counterpart and is operatively connected to the swivel joint in the area of the fork head of the second articulated arm via a belt drive and a reduction gear.
  • a multi-part articulated arm with an articulated structure is known from the published patent application US 2018/186017 A1.
  • the articulated arm has a fork head for a first swivel joint and a second swivel joint, with the axes of rotation of the joints being aligned perpendicular to each other.
  • the articulated arm is composed of two shells.
  • a servo motor is arranged within the cavity formed by the shells, which serves to drive the second swivel joint.
  • a vertical articulated arm robot which has a base, a carousel and an articulated arm arrangement with several articulated arms.
  • the individual articulated arms are connected to one another by means of electric motor-driven joints.
  • a middle articulated arm in the articulated arm arrangement is connected on both sides by means of a
  • the pivot joint is connected to the adjacent articulated arms, with a bearing eye being formed on both ends of this articulated arm and an associated bearing eye being formed on each of the adjacent articulated arms.
  • the drive of the associated pivot joint is accommodated within the bearing eye of the adjacent articulated arm and is further connected to the bearing eye of the middle pivot joint.
  • the respective pivot joint is formed by means of the respective drive.
  • the middle articulated arm is composed of several articulated arm parts, with a first articulated arm part being connected to the respective drive of the two pivot joints and a second articulated arm part opposite the first articulated arm being designed as a wiring unit.
  • the two articulated arm parts are connected to one another via an additional web.
  • US 2022/388152 A1 discloses a vertical articulated arm robot in which a plurality of joint axis sections are provided.
  • a joint axis section for the rotatable connection of a first arm and a second arm comprises a motor with a motor shaft, a reduction gear directly connected to the motor shaft, a brake configured to hold the motor and an oil seal mounted on the motor shaft.
  • the motor is arranged in a joint section of the first arm, the reduction gear and the brake are arranged in a joint section of the second arm.
  • a robot system with a manipulator is known which is formed from several articulated arms.
  • the articulated arms are connected to one another via rotary joints and each have a housing for accommodating mechanical, mechatronic and/or electronic components.
  • the housings of the articulated arms are designed in such a way that the torques and forces introduced into the articulated arm can be transferred to the adjacent articulated arm.
  • the housing is constructed from at least two interconnected, complementary housing parts, with the separating surface of the housing parts running essentially along the axial extent of the articulated arm.
  • the shell-shaped housing parts are connected by means of detachable connecting elements along the separating surface.
  • a manipulator with six degrees of freedom is known from the published patent application CN 114869469 A, which comprises an articulated arm arrangement.
  • the joint connections between the articulated arms, designed as simple rotary joints, are driven by an electric motor.
  • a robot joint with a drive motor and reduction gear is known from the patent application US 10,906,194 B2.
  • the robot joint is intended for the driven rotation of an arm relative to a swivel base and has a drive motor, an intermediate element and a reduction gear.
  • the drive motor has a housing and a drive shaft.
  • the reduction gear in turn has a gear housing, an input shaft and an output shaft.
  • the input shaft of the reduction gear is operatively connected to the drive shaft.
  • the housing of the drive motor is connected via the intermediate element and the Output shaft of the reduction gear is connected to the swivel base.
  • the gear housing is then connected to the arm for rotating the arm relative to the swivel base.
  • a robot joint structure with an actuator is known, by means of which a first arm and a second arm of a manipulator can be rotated relative to one another.
  • the actuator comprises a motor accommodated within the first hollow arm and a reduction gear, via which a motor shaft of the motor is connected to the second arm.
  • a braking mechanism is also provided, which is also accommodated in the first arm.
  • the object of the invention is to provide an improved manipulator with articulated arm for a harvesting machine.
  • the invention provides a manipulator for a harvesting machine that is advantageous according to the invention.
  • the manipulator comprises a base frame, an articulated arm arrangement with three articulated arms and four articulated connections, each with an electric motor-driven rotary joint, as well as a control module arrangement and an end effector for harvesting fruit.
  • the electric motor drive of a rotary joint is carried out by means of a gear motor, which simultaneously represents the driven rotary joint itself with its bearing.
  • a gear motor has a motor and a reduction gear.
  • the articulated arms are connected to one another in series via the articulated connections at their respective ends, so that a connection between the base frame and the end effector is provided as a serial kinematic chain by means of the articulated arm arrangement.
  • Each articulated arm is assigned to an articulated connection at its opposite ends. Due to the articulated connections that are advantageously designed according to the invention and the arrangement of the driven rotary joints with the gear motors that is advantageous according to the invention, the manipulator is improved in terms of its dynamics and is particularly suitable for harvesting pressure-sensitive fruit.
  • the articulated arms are connected to one another in series via the joint connections at their respective ends, so that a connection between the base frame and the end effector is provided as a serial kinematic chain by means of the articulated arm arrangement.
  • the electric motor drive of a rotary joint is carried out by means of a gear motor, which at the same time represents the driven rotary joint itself with its bearing.
  • the gear motors and/or the end effector are controlled by means of the control module arrangement.
  • Driven swivel joints are swivel joints that are rotated by means of a drive.
  • a drive torque is transmitted via the driven swivel joints.
  • a driven swivel joint is provided by a gear motor.
  • a non-driven swivel joint fulfills a Support function without transmitting any drive torque.
  • a non-driven swivel joint can be provided by a rolling bearing or a plain bearing.
  • a first gear motor as a first driven pivot joint between the base frame and a first articulated arm is connected to the base frame and is not supported by the articulated arm assembly.
  • a second gear motor as a second driven pivot joint between the first articulated arm and a second articulated arm, a third gear motor as a third driven pivot joint between the second articulated arm and a third articulated arm, and a fourth gear motor as a fourth driven pivot joint between the third articulated arm and the end effector are received in and supported by the articulated arm assembly.
  • a first articulated arm of the articulated arm arrangement is connected to the base frame of the manipulator so that it can rotate about a first axis of rotation.
  • a first driven rotary joint with the first gear motor in the form of a simple carousel is formed in a first articulated connection.
  • the first articulated connection therefore has only one rotary joint, in particular the first driven rotary joint.
  • the base frame has a mounting area with a recess, to which the first gear motor, in particular a first gear motor housing of the first gear motor, is fastened on the one hand, a first drive shaft of the first gear motor is guided through the recess and the first articulated arm arranged on the other hand of the mounting area is connected to the first drive shaft.
  • the first drive shaft is aligned with the first axis of rotation.
  • the first gear motor housing has a mounting flange with a mounting surface aligned perpendicular to the first axis of rotation, via which the first gear motor is connected to the base frame.
  • the first drive shaft has a mounting flange with a mounting surface aligned perpendicular to the first axis of rotation, via which the first gear motor is connected to the first articulated arm.
  • the mounting area and the first articulated arm are designed in such a way that the first articulated arm can be rotated in a rotating manner via the first driven rotary joint by means of the first gear motor.
  • a second articulated arm of the articulated arm arrangement is connected to the first articulated arm so that it can rotate about a second axis of rotation.
  • a second driven rotary joint with the second gear motor is formed between the first articulated arm and the second articulated arm in a second articulated connection, with the second axis of rotation aligned parallel to the first axis of rotation.
  • the second articulated connection is designed as a fork-shaped articulated connection, with a separate second non-driven rotary joint arranged at a distance along the second axis of rotation in addition to the second driven rotary joint.
  • the second articulated connection therefore has two second rotary joints, in particular the second driven rotary joint and the second non-driven rotary joint.
  • the first articulated arm is designed in the form of a fork head at its end opposite the first articulated connection in the area of the second articulated connection.
  • the second articulated arm is also designed in the form of a fork head in the area of the second articulated connection.
  • the fork head of the first articulated arm is narrower than the fork head of the second articulated arm, so that the fork head of the first articulated arm is positioned on the inside opposite the fork head of the second articulated arm in the second articulated connection.
  • the second gear motor is accommodated in the area of the second articulated connection in the first articulated arm between the second driven rotary joint and the second non-driven rotary joint, with a second gear motor housing of the second gear motor being connected to the first articulated arm and a second drive shaft of the second gear motor being connected to the second articulated arm.
  • the second drive shaft is aligned with the second axis of rotation.
  • the second gear motor housing has a mounting flange with a mounting surface aligned perpendicular to the second axis of rotation, via which the second gear motor is connected to the first articulated arm.
  • the second drive shaft has a mounting flange with a mounting surface aligned perpendicular to the second axis of rotation, via which the second gear motor is connected to the second articulated arm.
  • the second non-driven rotary joint of the second articulated connection is provided by a simple sliding or rolling bearing.
  • a third articulated arm of the articulated arm arrangement is connected to the second articulated arm so that it can rotate about a third axis of rotation.
  • a third driven rotary joint with the third gear motor is formed between the second articulated arm and the third articulated arm in a third articulated connection, with the third axis of rotation aligned parallel to the second axis of rotation.
  • the third articulated connection is designed as a fork-shaped articulated connection, with a separate third non-driven rotary joint arranged at a distance along the third axis of rotation in addition to the third driven rotary joint.
  • the third articulated connection therefore has two third rotary joints, in particular the third driven rotary joint and the third non-driven rotary joint.
  • the second articulated arm is designed in the form of a fork head at its end opposite the second articulated connection in the area of the third articulated connection.
  • the third articulated arm is also designed in the form of a fork head in the area of the third articulated connection.
  • the fork head of the third articulated arm is narrower than the fork head of the second articulated arm, so that the fork head of the third articulated arm is positioned inside opposite the fork head of the second articulated arm in the third articulated connection.
  • the third gear motor is outside in the area of the third articulated connection in the second articulated arm, i.e. not between the third driven rotary joint and the third non-driven rotary joint.
  • a third gear motor housing of the third gear motor is connected to the second articulated arm and a third drive shaft of the third gear motor is connected to the third articulated arm.
  • the third drive shaft is aligned with the third axis of rotation.
  • the third gear motor housing has a mounting flange with a mounting surface aligned perpendicular to the third axis of rotation, via which the third gear motor is connected to the second articulated arm.
  • the third drive shaft has a mounting flange with a mounting surface aligned perpendicular to the third axis of rotation, via which the third gear motor is connected to the third articulated arm.
  • the third non-driven rotary joint of the third articulated connection is provided by a simple sliding or rolling bearing.
  • the end effector of the manipulator is connected to the third articulated arm so that it can rotate about a fourth axis of rotation.
  • a fourth driven rotary joint with the fourth gear motor is formed in a fourth articulated connection, wherein the fourth axis of rotation lies in a reference plane which is aligned perpendicular to the third axis of rotation.
  • the fourth axis of rotation is aligned perpendicular to the third axis of rotation.
  • the fourth articulated connection is designed as a simple rotary joint and therefore only has a fourth rotary joint, in particular the fourth driven rotary joint.
  • the fourth gear motor is accommodated in the area of the third articulated connection in the third articulated arm between the third driven rotary joint and the third non-driven rotary joint, wherein a fourth gear motor housing of the fourth gear motor is connected to the third articulated arm and a fourth drive shaft of the fourth gear motor is connected to the end effector.
  • the fourth gear motor housing has a mounting flange with a mounting surface aligned perpendicular to the fourth axis of rotation, via which the fourth gear motor is connected to the third articulated arm.
  • the fourth drive shaft has a mounting flange with a mounting surface aligned perpendicular to the fourth axis of rotation, via which the fourth gear motor is connected to the end effector.
  • the fourth articulated arm can be made short, which means that the distance between the end effector and the third articulated joint is small. This has a positive effect on the dynamics of the manipulator, especially the end effector.
  • the design of the second articulated joint and the third articulated joint as fork-shaped articulated joints also has a positive effect on the dynamics of the manipulator.
  • the first driven rotary joint, the second driven rotary joint and the third driven rotary joint are arranged on the one hand in the reference plane and the second non-driven rotary joint and the third non-driven rotary joint are arranged on the other hand in the reference plane, wherein the reference plane is arranged perpendicular to the first axis of rotation, perpendicular to the second axis of rotation and perpendicular to the third axis of rotation and is aligned with the fourth axis of rotation.
  • first axis of rotation of the first driven rotary joint, the second axis of rotation of the second driven rotary joint and the third axis of rotation of the third driven rotary joint are aligned parallel to one another.
  • the fourth axis of rotation of the fourth driven rotary joint lies in a reference plane which is aligned perpendicular to the third axis of rotation.
  • the distance of the mounting surface of the first drive shaft from the reference plane is particularly advantageously greater than the distance of the mounting surface of the third drive shaft from the reference plane.
  • the distance between the mounting surfaces of the first drive shaft and the third drive shaft is smaller than the distance between the mounting surface of the third drive shaft and the reference surface.
  • the distance of the respective mounting surface of the first drive shaft, the second drive shaft or the third drive shaft from the reference plane is particularly advantageously greater than the greatest distance between the mounting surfaces of the first drive shaft, the second drive shaft and the third drive shaft.
  • the control module arrangement is advantageously accommodated in the articulated arm arrangement, in particular in an articulated arm cover of a multi-part articulated arm.
  • the articulated arm has several housing parts, with at least one housing part providing the support structure and one housing part providing the articulated arm cover.
  • the articulated arm cover does not represent an element of a support structure and can therefore be assembled and disassembled without affecting the load-bearing capacity of the articulated arm arrangement. This ensures simple and quick maintenance of the control module arrangement, which significantly reduces downtimes due to maintenance and repair work.
  • the control module arrangement comprises at least one control unit which is designed to control at least one gear motor and/or the end effector.
  • the control unit advantageously has a cooling structure which is operatively connected to the surroundings of the manipulator via at least one cooling opening in the articulated arm cover.
  • the material of the articulated arm cover has a lower thermal conductivity than the material of the support structure of the articulated arm. This reduces heat conduction from the cooling structure via the articulated arm cover to the support structure of the articulated arm. There is no direct heat-transferring operative connection between the control module arrangement and the support structure of the articulated arm.
  • a housing of the second articulated arm is advantageously constructed from several housing parts which are detachably connected to one another.
  • the housing has two housing parts which are designed in the form of legs and mainly fulfil a supporting function. These two housing parts represent the supporting structure of the articulated arm, wherein the first housing part and the second housing part are connected to one another in a non-destructively detachable manner by means of a support strut.
  • the support strut has a tubular cross-section and serves as a line guide for a control line between the control module arrangement and the third gear motor.
  • a first housing part is designed to accommodate the second driven rotary joint and the third driven rotary joint.
  • a second housing part is designed to accommodate the second non-driven rotary joint and the third non-driven rotary joint and is therefore functionally arranged parallel to the first housing part.
  • the housing of the second articulated arm has at least one housing part designed as an articulated arm cover, which mainly fulfills a covering function.
  • the second housing part of the second articulated arm has an articulated arm cover, which carries the control module arrangement.
  • the invention provides an articulated arm with a fork joint for a manipulator of a harvesting machine that is advantageous according to the invention.
  • the articulated arm is designed at its first end to accommodate a first articulated connection with a first axis of rotation and at its second end opposite the first end to accommodate a second articulated connection with a second axis of rotation.
  • the first axis of rotation and the second axis of rotation are aligned parallel or skewed to one another.
  • the first articulated connection and the second articulated connection are designed as fork joints, each of which comprises two separate pivot joints spaced apart from one another with a common axis of rotation.
  • the articulated arm is designed at its first end in the form of a fork head with two legs spaced apart along the first axis of rotation for receiving first swivel joints and also at its second end in the form of a fork head with two legs spaced apart along the second axis of rotation for receiving second swivel joints.
  • a separate swivel joint can be mounted on each leg.
  • the articulated arm with fork joint for a manipulator of a harvesting machine which is advantageous according to the invention is designed to accommodate the articulated connections in such a way that the first articulated connection can comprise a first driven rotary joint and a first non-driven rotary joint spaced apart along the first axis of rotation, and the second articulated connection can comprise a second driven rotary joint and a second non-driven rotary joint spaced apart along the second axis of rotation.
  • a leg is provided with a first mounting flange for receiving the first driven swivel joint and a further leg with a first bearing seat for receiving the first non-driven swivel joint. Furthermore, at the second end of the articulated arm, a leg is provided with a second mounting flange for receiving the second driven swivel joint and a further leg with a second bearing seat to accommodate the second non-driven swivel joint.
  • the bearing seats are designed as cylindrical outer surfaces.
  • a housing of the advantageous articulated arm is constructed from several housing parts which are detachably connected to one another.
  • the housing has two housing parts which are detachably connected to one another by means of a support strut and mainly fulfill a supporting function.
  • a first housing part comprises the leg with the first mounting flange for receiving the first driven rotary joint and the leg with the second mounting flange for receiving the second driven rotary joint and is therefore assigned to the first articulated connection and the second articulated connection.
  • a second housing part comprises the leg with the first bearing seat for receiving the first non-driven rotary joint and the leg with the second bearing seat for receiving the second non-driven rotary joint and is therefore functionally parallel to the first housing part and also assigned to the first articulated connection and the second articulated connection.
  • the first mounting flange has a first mounting surface perpendicular to the first axis of rotation, wherein the first mounting surface is aligned towards the opposite first bearing seat. This makes it possible for a gear motor to be accommodated at the first end of the articulated arm between the legs of the fork joint.
  • the second mounting flange has a second mounting surface perpendicular to the second axis of rotation, with the second mounting surface oriented away from the opposite second bearing seat. This makes it possible for a gear motor to be accommodated at the second end of the articulated arm outside the legs of the fork joint.
  • the first mounting flange has at least one through hole, by means of which the articulated arm can be connected at the first end to a drive shaft of a gear motor.
  • the second mounting flange has at least one through hole, by means of which the articulated arm can be connected to a housing of a gear motor.
  • first mounting surface and the second mounting surface are aligned oppositely with respect to their mounting direction with the respective driven rotary joint, wherein the respective driven rotary joint is positioned on the respective mounting surface.
  • first mounting flange with its first mounting surface and the second mounting flange with its second mounting surface are offset from one another in the direction of the axes of rotation, so that the distance between the first mounting surface and the first bearing seat is greater than the distance between the second mounting surface and the second bearing seat.
  • the design of the joints as fork joints with separate, spaced-apart swivel joints leads to a significant improvement in the rigidity of the joints of the gripper arm. Furthermore, bending loads on the swivel joints, especially the driven swivel joints, can be significantly reduced.
  • the bearings in the respective drives of the driven swivel joints can be dimensioned smaller. This Despite the use of additional roller bearings, this results in an overall reduction in weight.
  • the invention provides an articulated arm with a stiffening geometry for the manipulator that is advantageous according to the invention.
  • the articulated arm is designed at its first end to accommodate a first articulated connection with a first axis of rotation and at its second end opposite the first end to accommodate a second articulated connection with a second axis of rotation, wherein the first axis of rotation and the second axis of rotation are aligned parallel to one another.
  • the articulated arm with stiffening geometry for a manipulator which is advantageous according to the invention is designed to accommodate the articulated connections in such a way that the first articulated connection comprises a first driven rotary joint and a first non-driven rotary joint spaced apart along the first axis of rotation, and the second articulated connection comprises a second driven rotary joint and a second non-driven rotary joint spaced apart along the second axis of rotation.
  • the articulated arm is designed at its first end in the form of a fork head to accommodate the first swivel joints and also at its second end in the form of a fork head to accommodate the second swivel joints.
  • a housing of the advantageous articulated arm is made up of several housing parts which are detachably connected to one another.
  • the housing has two housing parts which are designed in the form of legs and mainly fulfill a supporting function, so that the respective housing part is connected at its first end to the first articulated connection and at its second end to the second articulated connection.
  • These two housing parts represent the supporting structure of the articulated arm.
  • the housing has several housing parts which mainly fulfill a covering function.
  • a first housing part is designed to accommodate the first driven rotary joint and the second driven rotary joint and is therefore assigned to the first articulated connection and the second articulated connection.
  • the first housing part is designed in the form of a leg and therefore extends between the first articulated connection and the second articulated connection.
  • the first housing part has a first mounting flange at the first end of the articulated arm, by means of which a torque-transmitting connection with the first driven rotary joint is provided.
  • the first housing part also has a second mounting flange at the second end of the articulated arm, by means of which a torque-transmitting connection with the second driven rotary joint is provided.
  • the first mounting flange with a first mounting surface perpendicular to the first axis of rotation and the second mounting flange with a second mounting surface perpendicular to the second axis of rotation are aligned oppositely with respect to their mounting direction with the respective driven rotary joint, with the respective driven rotary joint being positioned on the respective mounting surface. Furthermore, the first mounting flange with its first mounting surface and the second mounting flange with its second mounting surface are offset from one another in the direction of the rotation axes.
  • the first housing part has a crank between the first mounting flange and the second mounting flange, by means of which the offset is provided and by means of which the leg-shaped first housing part is also stiffened.
  • a second housing part is designed to accommodate the first non-driven swivel joint and the second non-driven swivel joint and is therefore functionally parallel to the first housing part, also assigned to the first articulated connection and the second articulated connection.
  • the second housing part is also designed in the form of a leg and therefore extends between the first articulated connection and the second articulated connection.
  • the second housing part has a first bearing seat at the first end of the articulated arm, by means of which a connection to the first non-driven swivel joint is provided.
  • the second housing part also has a second bearing seat at the second end of the articulated arm, by means of which a connection to the second non-driven swivel joint is provided.
  • the second housing part has no offset.
  • the second housing part also fulfills a supporting function, which has a positive effect on the rigidity of the articulated arm.
  • a support strut is provided by means of which the first housing part and the second housing part are detachably connected to one another in a non-destructive manner.
  • the support strut is integrally connected to the first housing part or is manufactured monolithically and is therefore permanently connected to it.
  • the support strut is arranged between the first mounting flange and the crank adjacent to the crank and has a tubular cross-section.
  • the support strut also provides a third mounting flange via which the first housing part is connected to the second housing part.
  • At least one support structure is provided, by means of which the crank and the support strut are connected to one another in a stiffening manner.
  • the support structure has a hollow-shaped shape in terms of its profile between the support strut and the crank and is designed as a cavity arrangement with at least one cavity. This further increases the rigidity of the first housing part and thus of the articulated arm.
  • a further support structure is connected to the support strut and, together with the support strut, forms the third mounting flange.
  • the further support structure is designed as a cavity arrangement with at least one cavity and is manufactured monolithically with the support strut.
  • the support strut with the support structures arranged on both sides leads to a significant improvement in the rigidity of the gripper arm, so that it is suitable for use in a Manipulator of a harvesting machine, which is primarily suitable for particularly sensitive fruits.
  • FIGURE 1 shows a schematic representation of the manipulator 1 for a harvesting machine.
  • the advantageous embodiment of the manipulator 1 according to the invention with control module arrangement 13 for a harvesting machine, shown in FIGURE 1, comprises a base frame 2, an articulated arm arrangement with a first articulated arm 3, a second articulated arm 4 and a third articulated arm 5, wherein the first articulated arm 3 is connected to the base frame 2 by means of a first driven rotary joint 6a so as to be rotatable about a first axis of rotation 6b, the second articulated arm 4 is connected to the first articulated arm 3 by means of a second driven rotary joint 7a so as to be rotatable about a second axis of rotation 7b and the third articulated arm 5 is connected to the second articulated arm 4 by means of a third driven rotary joint 8a so as to be rotatable about a third axis of rotation 8b, and an end effector 9, wherein the end effector 9 is connected to the third articulated arm 5 by means of a fourth
  • the first axis of rotation 6b, the second axis of rotation 7b and the third axis of rotation 8b are aligned parallel to one another.
  • the fourth axis of rotation 10b lies within a reference plane 11 which is aligned perpendicular to the third axis of rotation 8b.
  • the first driven rotary joint 6a, the second driven rotary joint 7a and the third driven rotary joint 8a are arranged on one side of the reference plane 11.
  • the second articulated arm 4 has an articulated arm cover 12 on which a control module arrangement 13 is arranged.
  • the control module arrangement 13 comprises at least one control unit 13a.
  • the control unit has a cooling structure 13b which is operatively connected to the surroundings of the manipulator 1 via at least one cooling opening 12a in the articulated arm cover 12.
  • the articulated arm cover 12 is arranged on the other hand in the reference plane 11.
  • a separate second non-driven pivot joint 7c is arranged along the second pivot axis 7b, and further parallel to the third driven pivot joint 8a, a separate third non-driven pivot joint 8c is arranged along the third pivot axis 8b.
  • the second articulated arm 4 is designed in the form of a fork head at its two opposite ends.
  • the first non-driven pivot joint 7c and the second non-driven pivot joint 8c are arranged on the other hand in the reference plane 11.
  • the second articulated arm 4 is constructed from a first housing part 4a, which is connected to the second driven rotary joint 7a and the third driven rotary joint 8a, and from a second housing part 4a, which is connected to the second non-driven rotary joint 7c and the third non-driven rotary joint 8c, wherein the first Housing part 4a and the second housing part 4b are connected to one another in a non-destructively detachable manner by means of a support strut 4c.
  • the articulated arm cover 12 is connected to the second housing part 4b.
  • FIGURE 2 an exploded view
  • FIGURE 3 a longitudinal section of the articulated arm 21 with a fork joint for a manipulator of a harvesting machine.
  • the advantageous embodiment of the articulated arm 21 according to the invention with a fork joint for a manipulator of a harvesting machine, shown in FIGURE 2 and FIGURE 3, is designed at a first end 21a to receive a first articulated connection designed as a fork joint with a first axis of rotation 22 and at a second end 21b opposite the first end 21a to receive a second articulated connection designed as a fork joint with a second axis of rotation 23.
  • a fork head with two legs spaced apart along the first axis of rotation 22 for receiving first rotary joints 25, 27 is provided, wherein one leg has a first mounting flange 24 with a first mounting surface 24a perpendicular to the first axis of rotation 22 for receiving a first driven rotary joint 25 and another leg has a first bearing seat 26 for receiving a first non-driven rotary joint 27.
  • a fork head with two legs spaced apart along the second axis of rotation 23 for receiving second rotary joints is provided, wherein one leg has a second mounting flange 28 with a second mounting surface 28a perpendicular to the second axis of rotation 3 for receiving the second driven rotary joint 29 and another leg has a second bearing seat 210 for receiving a second non-driven rotary joint 211.
  • the first articulated connection can be represented by the first driven rotary joint 25 and the first non-driven rotary joint 27 with the common first axis of rotation 22 and the second articulated connection by the second driven rotary joint 29 and the second non-driven rotary joint 211 with the common second axis of rotation 23.
  • the first mounting flange 24 has at least one through hole 24b, by means of which the articulated arm 21 can be connected at the first end 21a to a drive shaft 25a of the first driven rotary joint 25.
  • the second mounting flange 28 has at least one through hole 28b, by means of which the articulated arm 21 can be connected to a housing 29a of the second driven rotary joint 29.
  • the first axis of rotation 22 and the second axis of rotation 23 are aligned parallel to each other.
  • the first mounting surface 24a and the second mounting surface 28a are aligned parallel and opposite to each other with regard to their mounting direction with the drive shaft 25a and the housing 29a, with the first mounting surface 24a facing the first bearing seat and the second mounting surface 28a is directed away from the second bearing seat 210.
  • the leg with the first mounting flange 24 and the leg with the second mounting flange 28 are offset from one another in the direction of the rotation axes 22, 23, so that the distance between the first mounting surface 24a and the first bearing seat 26 is greater than the distance between the second mounting surface 28a and the second bearing seat 210.
  • the articulated arm 21 has two housing parts 212, 213, which are detachably connected to one another by means of a support strut 212a and mainly fulfil a supporting function.
  • a first housing part 212 comprises the support strut 212a, the leg with the first
  • a second housing part 213 comprises the leg with the first bearing seat 26 and the leg with the second bearing seat 210 and is therefore also assigned to the first articulated connection and the second articulated connection parallel to the first housing part 212.
  • FIGURE 4 and FIGURE 5 each show a schematic representation of the manipulator 31 for a harvesting machine.
  • the advantageous embodiment of the manipulator 31 according to the invention for a harvesting machine comprises a base frame 32, an articulated arm arrangement with a first articulated arm 33, a second articulated arm 34 and a third articulated arm 35, wherein the first articulated arm 33 is connected to the base frame 32 by means of a first gear motor 36 to form a first driven rotary joint 36a so as to be rotatable about a first axis of rotation 36b, the second articulated arm 34 is connected to the first articulated arm 33 by means of a second gear motor 37 to form a second driven rotary joint 37a so as to be rotatable about a second axis of rotation 37b, and the third articulated arm 35 is connected to the second articulated arm 34 by means of a third gear motor 38 to form a third driven rotary joint 38a so as to be rotatable about a third axis of rotation 38b, and an end effector 39, wherein the end effector 39 is connected to the base frame 32 by means of a fourth gear
  • the first axis of rotation 36b, the second axis of rotation 37b and the third axis of rotation 38b are aligned parallel to one another.
  • the fourth axis of rotation 310b lies within a reference plane 311 which is aligned perpendicular to the third axis of rotation 38b. Accordingly, the reference plane 311 is also aligned perpendicular to the first axis of rotation 36b and perpendicular to the second axis of rotation 37b and is aligned with the fourth axis of rotation 310b, shown in FIGURE 5.
  • the first driven pivot joint 36a, the second driven pivot joint 37a and the third driven pivot joint 38a are arranged on one side of the reference plane 311.
  • a separate second non-driven pivot joint 37c is arranged along the second axis of rotation 37b, and further parallel to the third driven pivot joint 38a, a separate third non-driven pivot joint 38c is arranged along the third axis of rotation 38b.
  • the second articulated arm 34 is designed in the form of a fork head at its two opposite ends.
  • the first non-driven pivot joint 37c and the second non-driven pivot joint 38c are provided via a roller bearing and are arranged on the other side of the reference plane 311.
  • the second gear motor 37 is housed in the first articulated arm 33 between the second driven pivot joint 37a and the second non-driven pivot joint 37c.
  • the fourth gear motor 310 is housed in the third articulated arm 35 between the third driven pivot joint 38a and the third non-driven pivot joint 38c.
  • the distance of the mounting surface of a first drive shaft 36d of the first gear motor 36 from the reference plane 311 is greater than the distance of the mounting surface of a third drive shaft 38d of the third gear motor 38 from the reference plane 311.
  • FIGURE 6 an exploded view
  • FIGURE 7 a longitudinal section of the articulated arm 41 with stiffening geometry for a manipulator of a harvesting machine.
  • the advantageous embodiment of the articulated arm 41 according to the invention with stiffening geometry for a manipulator of a harvesting machine, shown in FIGURE 6 and FIGURE 7, has a multi-part housing 42 which comprises at least a first housing part 43 and a second housing part 44 to form a support structure.
  • the articulated arm 41 is designed at a first end 41a in the form of a fork head for receiving first rotary joints and also at a second end 41b opposite the first end 41a in the form of a fork head for receiving second rotary joints.
  • the leg-shaped first housing part 43 has a first mounting flange 43a with a front-side first mounting surface 43aa for receiving a first driven rotary joint in a first joint connection of the articulated arm 41 at the first end 41a of the articulated arm 41 and a second mounting flange 43b with a front-side second mounting surface 43bb of the articulated arm 41 for receiving a second driven rotary joint in a second joint connection of the articulated arm 41 at the second end 41b of the articulated arm 41.
  • the first mounting surface 43aa and the second mounting surface 43bb are offset parallel to one another and aligned oppositely.
  • first housing part 43 also has a crank 43c, by means of which the offset between the first mounting surface 43aa and the second mounting surface 43bb is provided.
  • the leg-shaped second housing part 44 which is functionally arranged parallel to the first housing part 43, has a first bearing seat 44a at the first end 41a of the articulated arm 41 for receiving a first non-driven rotary joint in the first joint connection of the articulated arm 41 and a second bearing seat 44b at the second end 41b of the articulated arm 41 for receiving a second non-driven rotary joint in the second joint connection of the articulated arm 41.
  • the first bearing seat 44a and the second bearing seat 44b are designed as outward-facing cylinder surfaces so that rolling bearings can be accommodated.
  • the first bearing seat 44a is aligned with the first axis of rotation 45 and the second bearing seat 44b with the second axis of rotation 46.
  • the first housing part 43 further has a support strut 43d, by means of which the first housing part 43 and the second housing part 44 are detachably connected to one another.
  • the support strut 43d is manufactured monolithically with the first housing part 43 and is connected to the second housing part 44 via a detachable connection.
  • This detachable connection is designed as a screw connection, with a third mounting flange 43dd being formed on the support strut 43d.
  • the support strut 43d is arranged between the first mounting flange 43a and the offset 43c adjacent to the offset 43c of the first housing part 43 and has a tubular cross-section.
  • the tubular cross-section extends mainly unchanged over the entire length of the support strut 3d.
  • At least one first support structure 43e designed as a hollow groove is provided, by means of which the crank 43c and the support strut 43d are connected to one another in a stiffening manner.
  • the first support structure 43e is designed as a cavity arrangement with at least one cavity and is in the area between the crank 43c and the
  • Support strut 43d is arranged.
  • the first support structure 43e is manufactured monolithically with the first housing part 43.
  • a second support structure 43f designed as a groove is provided, which is connected to the support strut 43d and together with the support strut 43d forms the third mounting flange 43dd.
  • the second support structure 43f is designed as a cavity arrangement with at least one cavity.
  • the second support structure 43f is manufactured monolithically with the first housing part 43.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un manipulateur avantageux avec articulation pour une machine de récolte. Le manipulateur comprend un châssis de base, un ensemble bras articulés comprenant trois bras articulés et quatre liaisons articulées comportant respectivement une articulation rotative entraînée par un moteur électrique, ainsi qu'un ensemble module de commande et un effecteur terminal pour la récolte des fruits. Dans l'ensemble bras articulé, les bras articulés sont reliés en série les uns aux autres par les liaisons articulées à leurs extrémités respectives, de sorte que l'ensemble bras articulé permettent d'établir une liaison entre le châssis de base et l'effecteur terminal sous la forme d'une chaîne cinématique en série. L'entraînement par moteur électrique d'une articulation rotative est réalisé à l'aide d'un motoréducteur qui constitue en même temps l'articulation de rotation entraînée elle-même avec son palier. La commande des motoréducteurs et/ou de l'effecteur terminal se fait à l'aide de l'ensemble module de commande.
PCT/DE2024/100515 2023-06-13 2024-06-11 Manipulateur à bras articulé pour une machine de récolte Pending WO2024255962A2 (fr)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
DE102023115329.3 2023-06-13
DE102023115328.5 2023-06-13
DE102023115331.5A DE102023115331A1 (de) 2023-06-13 2023-06-13 Manipulator mit Steuermodulanordnung für eine Erntemaschine
DE102023115331.5 2023-06-13
DE102023115328.5A DE102023115328B3 (de) 2023-06-13 2023-06-13 Gelenkarm mit versteifender Geometrie für einen Manipulator einer Erntemaschine
DE102023115330.7A DE102023115330B4 (de) 2023-06-13 2023-06-13 Gelenkarm mit Gabelgelenk für einen Manipulator einer Erntemaschine
DE102023115330.7 2023-06-13
DE102023115329.3A DE102023115329A1 (de) 2023-06-13 2023-06-13 Manipulator für eine Erntemaschine

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Publication Number Publication Date
WO2024255962A2 true WO2024255962A2 (fr) 2024-12-19
WO2024255962A3 WO2024255962A3 (fr) 2025-03-27

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US20180186017A1 (en) 2016-12-30 2018-07-05 Ubtech Robotics Corp Joint structure and robot
US20180207795A1 (en) 2015-08-14 2018-07-26 KBee AG Robotic system and housing part for such robotic system
US10906194B2 (en) 2018-03-20 2021-02-02 Fanuc Corporation Structure of joint of robot including drive motor and reduction gear
DE102019210071B4 (de) 2019-07-09 2022-02-24 Kuka Deutschland Gmbh Roboterarm
DE112019007745T5 (de) 2019-09-25 2022-08-04 Yamaha Hatsudoki Kabushiki Kaisha Vertikal-Knickarmroboter
CN114869469A (zh) 2022-04-02 2022-08-09 北京科迈玄机医疗科技有限公司 一种经尿道内窥镜手术的六自由度机械臂
US11433532B2 (en) 2019-12-12 2022-09-06 Fanuc Corporation Robot joint structure
US20220388152A1 (en) 2019-09-25 2022-12-08 Yamaha Hatsudoki Kabushiki Kaisha Vertical articulated robot, single-axis robot, and motor unit

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JP3277529B2 (ja) * 1991-12-18 2002-04-22 井関農機株式会社 果実収穫ロボット
FR2763786B1 (fr) * 1997-05-30 1999-07-09 Pellenc Sa Machine robotisee pourvue d'au moins un bras a pantographe symetrique, par exemple pour la recolte de fruits ou le tri d'objets divers
WO2006013593A1 (fr) * 2004-08-06 2006-02-09 Valente Pali Precompressi Srl Cueilleur automatique de fruits et de légumes
CN111902040A (zh) * 2018-03-28 2020-11-06 本田技研工业株式会社 果蔬收割装置

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DE3442244C2 (fr) 1984-03-19 1989-04-06 Kubota Ltd., Osaka, Jp
US9339933B2 (en) 2013-04-10 2016-05-17 Seiko Epson Corporation Robot, robot control device, and robot system
US20180207795A1 (en) 2015-08-14 2018-07-26 KBee AG Robotic system and housing part for such robotic system
US20180186017A1 (en) 2016-12-30 2018-07-05 Ubtech Robotics Corp Joint structure and robot
US10906194B2 (en) 2018-03-20 2021-02-02 Fanuc Corporation Structure of joint of robot including drive motor and reduction gear
DE102019210071B4 (de) 2019-07-09 2022-02-24 Kuka Deutschland Gmbh Roboterarm
DE112019007745T5 (de) 2019-09-25 2022-08-04 Yamaha Hatsudoki Kabushiki Kaisha Vertikal-Knickarmroboter
US20220339802A1 (en) 2019-09-25 2022-10-27 Yamaha Hatsudoki Kabushiki Kaisha Vertical articulated robot
US20220388152A1 (en) 2019-09-25 2022-12-08 Yamaha Hatsudoki Kabushiki Kaisha Vertical articulated robot, single-axis robot, and motor unit
US11433532B2 (en) 2019-12-12 2022-09-06 Fanuc Corporation Robot joint structure
CN114869469A (zh) 2022-04-02 2022-08-09 北京科迈玄机医疗科技有限公司 一种经尿道内窥镜手术的六自由度机械臂

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