Manipulator with control module arrangement for a harvesting machine

Abstract

The invention provides a manipulator with a control module arrangement for a harvesting machine, which is advantageous according to the invention. The manipulator comprises a base frame, an articulated arm arrangement with three articulated arms and four joint connections, each with an electrically driven rotary joint, as well as a control module arrangement and an end effector for harvesting fruit. Within the articulated arm assembly, the articulated arms are serially connected to each other via joint connections at their respective ends, thus providing a serial kinematic chain connection between the base frame and the end effector. The electromechanical drive of a rotary joint is provided by a geared motor, which simultaneously constitutes the driven rotary joint itself, including its bearings. The geared motors and / or the end effector are controlled by the control module assembly. According to the invention, the control module arrangement is advantageously incorporated into the articulated arm arrangement, in particular into an articulated arm cover of a multi-part articulated arm. The articulated arm has several housing parts, wherein at least one housing part provides the support structure and another housing part provides the articulated arm cover.

Description

Technical area

[0001] The present invention relates to an electric motor-driven manipulator with several articulated arms and a control module arrangement for a harvesting machine. State of the art

[0002] For the automated harvesting of fruit, harvesting machines are known that feature an electric motor-driven manipulator with multiple articulated arms. These manipulators are mounted on the 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 supports an end effector. In the articulated arm arrangement, the articulated arms are connected to one another by means of swivel joints. The individual swivel joints are driven by electric motors.

[0003] From the patent specification DE 34 42 244 C2 a harvesting machine for fruit is known 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.

[0004] From patent specification US 9,339,933 B2, a manipulator with an articulated arm arrangement is known. Starting from a base frame, it has several articulated arms, an end effector, and several drive sources. Individual joints are designed as fork joints with a fork head and a fork head counterpart. For this purpose, for example, the second articulated arm has a fork head on one side and a fork head counterpart on the other. A drive source is housed within the hollow second articulated arm in the area of ​​the fork head counterpart and is operatively connected to the rotary joint in the area of ​​the fork head of the second articulated arm via a belt drive and a reduction gear.

[0005] A multi-part articulated arm with an articulated structure is known from published patent application US 2018 / 186017 A1. The articulated arm has, on the one hand, a fork head for a first pivot joint and a second pivot joint, with the pivot axes of the joints aligned perpendicular to each other. The articulated arm is composed of two shells. A servomotor is arranged within the cavity formed by the shells, which serves to drive the second pivot joint.

[0006] From publication US 2022 / 339802 A1, a vertical articulated-arm robot is known, which comprises a base, a carousel, and an articulated-arm assembly with several articulated arms. The individual articulated arms are connected to each other by means of electric motor-driven joints. A central articulated arm in the articulated-arm assembly is connected to the adjacent articulated arms on both sides by means of a rotary joint, with a bearing eyelet formed on this articulated arm at both ends and an associated bearing eyelet formed on each of the adjacent articulated arms. The drive of the associated rotary joint is housed within the bearing eyelet of the respective adjacent articulated arm and is further connected to the bearing eyelet of the central rotary joint. The respective rotary joint is formed by means of the respective drive.The middle articulated arm is composed of several articulated arm sections, with a first articulated arm section connected to the respective drive of the two pivot joints, and a second articulated arm section opposite the first articulated arm designed as a wiring unit. The two articulated arm sections are connected to each other via an additional web.

[0007] From published patent application US 2018 / 207795 A1, a robot system with a manipulator is known, which is formed from several articulated arms. The articulated arms are connected to one another via pivot joints and each have a housing for accommodating mechanical, mechatronic, and / or electronic components. The housings of the articulated arms are designed such that the torques and forces introduced into the articulated arm can be transmitted to the adjacent articulated arm. For this purpose, the housing is constructed from at least two interconnected, complementary housing parts, wherein the separating surface of the housing parts runs 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.

[0008] Published patent application CN 114869469 A discloses a manipulator with six degrees of freedom, which comprises an articulated arm assembly. The joints between the articulated arms, designed as simple rotary joints, are driven by electric motors. The control modules of the electric motors are mounted directly on the articulated arms forming the supporting structure.

[0009] Published patent application US 2022 / 339802 A1 discloses a vertical articulated-arm robot comprising an articulated arm assembly with multiple articulated arms. The individual articulated arms are connected to each other by means of electric motor-driven joints. A central articulated arm is composed of several articulated arm sections, with a first articulated arm section connected to the respective drive of the two rotary joints, and a second articulated arm section opposite the first articulated arm designed as a wiring unit. The two articulated arm sections are connected to each other via an additional web. Object of the invention

[0010] The object of the invention is to provide an improved manipulator with control module arrangement for a harvesting machine. Solution to the task

[0011] The object is achieved by a manipulator with a control module arrangement for a harvesting machine according to the features of patent claim 1. Advantageous further developments emerge from the subclaims and the exemplary embodiment. Description of the invention

[0012] The invention provides a manipulator with a control module arrangement 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 joints, each with an electric motor-driven rotary joint, as well as a control module arrangement and an end effector for harvesting fruit.

[0013] Within the articulated arm assembly, the articulated arms are serially connected to each other via the joints at their respective ends, providing a connection between the base frame and the end effector as a serial kinematic chain. The electric motor drive of a rotary joint is provided by a gear motor, which simultaneously represents the driven rotary joint itself with its bearings. The gear motors and / or the end effector are controlled by the control module assembly.

[0014] According to the invention, 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 constitute 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 rapid maintenance of the control module arrangement, thereby significantly reducing downtimes due to maintenance and repair work. The control module arrangement comprises at least one control unit designed to control at least one geared motor and / or the end effector.According to the invention, the control unit advantageously has a cooling structure that 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 assembly and the support structure of the articulated arm.

[0015] A first gear motor as the first driven rotary joint between the base frame and a first articulated arm is connected to the base frame and is not supported by the articulated arm arrangement.

[0016] A second gear motor as a second driven rotary joint between the first articulated arm and a second articulated arm, a third gear motor as a third driven rotary joint between the second articulated arm and a third articulated arm, and a fourth gear motor as a fourth driven rotary joint between the third articulated arm and the end effector are received in and supported by the articulated arm assembly.

[0017] A first axis of rotation of the first driven pivot joint, a second axis of rotation of the second driven pivot joint, and a third axis of rotation of the third driven pivot joint are aligned parallel to each other. A fourth axis of rotation of the fourth driven pivot joint lies in a reference plane that is aligned perpendicular to the third axis of rotation.

[0018] In addition to the second driven pivot joint, a separate second non-driven pivot joint is arranged spaced along the second axis of rotation to form a fork-shaped joint. The second gear motor is housed in the first articulated arm between the second driven pivot joint and the second non-driven pivot joint.

[0019] In addition to the third driven pivot joint, a separate third non-driven pivot joint is arranged spaced along the third axis of rotation to form a fork-shaped joint. The third gear motor is not housed in the second articulated arm between the third driven pivot joint and the third non-driven pivot joint.

[0020] The first driven pivot joint, the second driven pivot joint and the third driven pivot joint are arranged on the one hand in relation to the reference plane and the second non-driven pivot joint and the third non-driven pivot joint are arranged on the other hand in relation to the reference plane.

[0021] According to the invention, a housing of the second articulated arm is advantageously constructed from several housing parts that are detachably connected to one another. The housing has two housing parts that are designed in the form of legs and primarily fulfill a supporting function. These two housing parts represent the supporting structure of the articulated arm, with the first housing part and the second housing part being detachably connected to one another in a non-destructive manner by means of a support strut. Particularly advantageously according to the invention, the support strut has a tubular cross-section and serves as a conduit for a control line between the control module arrangement and the third gear motor.

[0022] 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.

[0023] Furthermore, the housing of the second articulated arm has at least one housing part designed as an articulated arm cover, which primarily fulfills a covering function. In particular, the second housing part of the second articulated arm has an articulated arm cover that supports the control module assembly. Positioning the control module assembly on the articulated arm cover of the second articulated arm ensures particularly good accessibility in the event of maintenance or repair. Example

[0024] An advantageous embodiment of the manipulator according to the invention for a harvesting machine is shown here as an example. The accompanying figure shows: Fig. 1 a schematic representation of the manipulator 1 for a harvesting machine.

[0025] The advantageous embodiment of the manipulator 1 according to the invention with control module arrangement 13 for a harvesting machine, shown in Fig.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 driven rotary joint 10a so as to be rotatable about a fourth axis of rotation 10b.

[0026] The first rotation axis 6b, the second rotation axis 7b, and the third rotation axis 8b are aligned parallel to each other. The fourth rotation axis 10b lies within a reference plane 11, which is perpendicular to the third rotation axis 8b. The first driven pivot joint 6a, the second driven pivot joint 7a, and the third driven pivot joint 8a are arranged on one side of the reference plane 11.

[0027] The second articulated arm 4 has an articulated arm cover 12, on which a control module assembly 13 is arranged. The control module assembly 13 comprises at least one control unit 13a. The control unit has a cooling structure 13b, which is operatively connected to the environment 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 side of the reference plane 11.

[0028] Parallel to the second driven pivot joint 7a, 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. For this purpose, 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 side of the reference plane 11.

[0029] The second articulated arm 4 is constructed from a first housing part 4a, which is connected to the second driven pivot joint 7a and the third driven pivot joint 8a, and a second housing part 4a, which is connected to the second non-driven pivot joint 7c and the third non-driven pivot joint 8c. The first housing part 4a and the second housing part 4b are non-destructively detachably connected to one another by means of a support strut 4c. The articulated arm cover 12 is connected to the second housing part 4b. List of reference symbols used 1 manipulator 2 base frame 3 first articulated arm 4 second articulated arm 4a first housing part 4b second housing part 5 third articulated arm 6a first driven swivel joint 6b first axis of rotation 7a second driven swivel joint 7b second axis of rotation 7c second non-driven swivel joint 8a third driven swivel joint 8b third axis of rotation 8c third non-driven swivel joint 9 End effector 10a fourth driven swivel joint 10b fourth axis of rotation 11 Reference plane 12 Articulated arm cover 12a Cooling opening 13 Control module arrangement 13a Control unit 13b Cooling structure QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 34 42 244 C2

[0003] US 9,339,933 B2

[0004] US 2018 / 186017 A1

[0005] US 2022 / 339802 A1 [0006, 0009] US 2018 / 207795 A1

[0007] CN 114869469 A

[0008]

Claims

[1] Manipulator (1) with control module arrangement (13) for a harvesting machine comprising 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), the second articulated arm (4) is connected to the first articulated arm (3) by means of a second driven rotary joint (7a), 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 driven rotary joint (10a) so as to be rotatable about a fourth axis of rotation (10b), wherein the fourth axis of rotation (10b) lies within a reference plane (11) which is oriented perpendicular to the third axis of rotation (8b), and the first driven rotary joint (6a), the second driven rotary joint (7a) and the third driven rotary joint (8a) are arranged on the one hand on a reference plane (11) and the control module arrangement (13) is arranged on an articulated arm cover (12) on the other hand on the reference plane (11). [2] Manipulator (1) with control module arrangement (13) for a harvesting machine according to claim 1, characterized by that the second articulated arm (4) has the articulated arm cover (12) on which a control module arrangement (13) is arranged. [3] Manipulator (1) with control module arrangement (13) for a harvesting machine according to claim 1, characterized bythat the control module arrangement (13) comprises at least one control unit (13a) which has a cooling structure (13b) which is operatively connected to the environment of the manipulator (1) via at least one cooling opening (12a) in the articulated arm cover (12). [4] Manipulator (1) with control module arrangement (13) for a harvesting machine according to one of the preceding claims, characterized by in that 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), wherein the first housing part (4a) and the second housing part (4b) are non-destructively releasably connected to one another by means of a support strut (4c) and the articulated arm cover (12) is connected to the second housing part (4b). [5] Manipulator (1) with control module arrangement (13) for a harvesting machine according to one of the preceding claims, characterized by that a spaced-apart, separate second non-driven pivot joint (7c) is arranged parallel to the second driven pivot joint (7a) along a second pivot axis (7b), and further a spaced-apart, separate third non-driven pivot joint (8c) is arranged parallel to the third driven pivot joint (8a) along a third pivot axis (8b). [6] Manipulator (1) with control module arrangement (13) for a harvesting machine according to claim 5, characterized by that the second housing part (4a) is connected to the second non-driven rotary joint (7c) and the third non-driven rotary joint (8c).

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