WO2024255962A3 - Manipulator with articulated arm for a harvesting machine - Google Patents

Manipulator with articulated arm for a harvesting machine Download PDF

Info

Publication number
WO2024255962A3
WO2024255962A3 PCT/DE2024/100515 DE2024100515W WO2024255962A3 WO 2024255962 A3 WO2024255962 A3 WO 2024255962A3 DE 2024100515 W DE2024100515 W DE 2024100515W WO 2024255962 A3 WO2024255962 A3 WO 2024255962A3
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
articulated
articulated arm
end effector
harvesting machine
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.)
Ceased
Application number
PCT/DE2024/100515
Other languages
German (de)
French (fr)
Other versions
WO2024255962A2 (en
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 DE102023115328.5A external-priority patent/DE102023115328B3/en
Priority claimed from DE102023115330.7A external-priority patent/DE102023115330B4/en
Priority claimed from DE102023115329.3A external-priority patent/DE102023115329A1/en
Priority claimed from DE102023115331.5A external-priority patent/DE102023115331A1/en
Application filed by IAV GmbH Ingenieurgesellschaft Auto und Verkehr filed Critical IAV GmbH Ingenieurgesellschaft Auto und Verkehr
Publication of WO2024255962A2 publication Critical patent/WO2024255962A2/en
Publication of WO2024255962A3 publication Critical patent/WO2024255962A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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

Landscapes

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

Abstract

The invention relates to a manipulator (31) which is advantageous according to the invention, said manipulator having articulation for a harvesting machine. The manipulator (31) comprises a main frame (32), an articulated arm arrangement (21) with three articulated arms (33, 34, 35) and four articulated connections each with an electromotively driven rotary articulation (36a, 37a, 38a, 310a), a control module arrangement (13) and an end effector (39) for harvesting fruits. Within the articulated arm arrangement, the articulated arms (33, 34, 35) are serially connected to one another at their respective ends via the articulated connections such that by means of the articulated arm arrangement, a connection can be provided between the main frame (32) and the end effector (39) in the form of a serial-kinematics chain. A rotary articulation (36a, 37a, 38a, 310a) is electromotively driven by means of a transmission motor (36, 37, 38, 310) which also constitutes the driven rotary articulation (36a, 37a, 38 a, 310a) itself together with its support. The transmission motors (36, 37, 38, 310) and/or the end effector (39) are/is controlled by means of the control module arrangement (13).
PCT/DE2024/100515 2023-06-13 2024-06-11 Manipulator with articulated arm for a harvesting machine Ceased WO2024255962A2 (en)

Applications Claiming Priority (8)

Application Number Priority Date Filing Date Title
DE102023115328.5A DE102023115328B3 (en) 2023-06-13 2023-06-13 Articulated arm with stiffening geometry for a harvester manipulator
DE102023115330.7A DE102023115330B4 (en) 2023-06-13 2023-06-13 Articulated arm with fork joint for a manipulator of a harvesting machine
DE102023115328.5 2023-06-13
DE102023115331.5 2023-06-13
DE102023115329.3A DE102023115329A1 (en) 2023-06-13 2023-06-13 manipulator for a harvester
DE102023115329.3 2023-06-13
DE102023115330.7 2023-06-13
DE102023115331.5A DE102023115331A1 (en) 2023-06-13 2023-06-13 Manipulator with control module arrangement for a harvesting machine

Publications (2)

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

Family

ID=91853682

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2024/100515 Ceased WO2024255962A2 (en) 2023-06-13 2024-06-11 Manipulator with articulated arm for a harvesting machine

Country Status (1)

Country Link
WO (1) WO2024255962A2 (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05168332A (en) * 1991-12-18 1993-07-02 Iseki & Co Ltd Fruit harvesting robot
EP1015192B1 (en) * 1997-05-30 2003-03-26 Pellenc (Société Anonyme) Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects
WO2006013593A1 (en) * 2004-08-06 2006-02-09 Valente Pali Precompressi Srl Automated fruit and vegetables picker
US20210045290A1 (en) * 2018-03-28 2021-02-18 Honda Motor Co., Ltd. Fruit and vegetable harvesting device

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60196111A (en) 1984-03-19 1985-10-04 株式会社クボタ Robotic hand for fruit harvesting
JP6155780B2 (en) 2013-04-10 2017-07-05 セイコーエプソン株式会社 Robot, robot controller and robot system
DE202015009607U1 (en) 2015-08-14 2018-07-30 Franka Emika Gmbh Robot system and housing part for such a robot system
CN106737823A (en) 2016-12-30 2017-05-31 深圳市优必选科技有限公司 Joint structures and robots
JP6708684B2 (en) 2018-03-20 2020-06-10 ファナック株式会社 Structure of joint part of robot equipped with drive motor and speed reducer
DE102019210071B4 (en) 2019-07-09 2022-02-24 Kuka Deutschland Gmbh robotic arm
WO2021059405A1 (en) 2019-09-25 2021-04-01 ヤマハ発動機株式会社 Vertically articulated robot
DE112019007743T5 (en) 2019-09-25 2022-08-04 Yamaha Hatsudoki Kabushiki Kaisha Vertical articulated robot, single-axis robot and motor unit
JP7469035B2 (en) 2019-12-12 2024-04-16 ファナック株式会社 Robot joint structure
CN114869469A (en) 2022-04-02 2022-08-09 北京科迈玄机医疗科技有限公司 Six-freedom-degree mechanical arm for transurethral endoscopic surgery

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05168332A (en) * 1991-12-18 1993-07-02 Iseki & Co Ltd Fruit harvesting robot
EP1015192B1 (en) * 1997-05-30 2003-03-26 Pellenc (Société Anonyme) Robotized machine equipped with arm with symmetrical pantograph, for example for fruit picking or sorting diverse objects
WO2006013593A1 (en) * 2004-08-06 2006-02-09 Valente Pali Precompressi Srl Automated fruit and vegetables picker
US20210045290A1 (en) * 2018-03-28 2021-02-18 Honda Motor Co., Ltd. Fruit and vegetable harvesting device

Also Published As

Publication number Publication date
WO2024255962A2 (en) 2024-12-19

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