Manipulator with articulated arm for a harvesting machine

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).

Description

[0001] Manipulator with articulated arm for a harvester

[0002] The present invention relates to an electric motor-driven manipulator with several articulated arms for a harvesting machine.

[0003] 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 machine 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 connected to one another by means of swivel joints. The individual swivel joints are driven by electric motors. These swivel joints are designed, for example, as fork joints. The articulated arms themselves are composed of several housing parts.From patent specification DE 3442 244 C2, a fruit harvesting machine is known, comprising a base frame with drive wheels, a rotating console arranged on the base frame with a lifting device, an articulated arm assembly, and a robot hand. The lifting device moves the connected articulated arm assembly up and down. The articulated arm assembly 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 is pivotable and rotatable about an axis extending in the longitudinal direction of the arm part.From the patent specification DE 10 2019 210 071 B4, a robot arm with a base frame, a carousel rotatable about a base axis, and an articulated arm arrangement is known. 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 oriented perpendicular to the base axis. The second axis of rotation is oriented parallel to the first axis of rotation. The third axis of rotation is perpendicular to the second axis of rotation and oriented along the longitudinal axis of the second articulated arm and the longitudinal axis of the third articulated arm. The fourth axis of rotation is oriented perpendicular to the third axis of rotation.From the publication DE 11 2019 007 745 T5, a vertical articulated-arm robot is known which comprises a base, a carousel, and an articulated arm arrangement 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 arrangement 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 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. US Pat. No. 9,339,933 B2 discloses a manipulator with an articulated arm arrangement. Starting from a base frame, the manipulator has several articulated arms, an end effector, and several drive sources. 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 which is connected to the base frame for rotation about a first vertically oriented axis of rotation to form a carousel, a second articulated arm which is connected to the first articulated arm for rotation about a second axis of rotation, a third articulated arm which is connected to the second articulated arm for rotation about a third axis of rotation, and a fourth articulated arm which is connected to the third articulated arm for rotation 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. 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 a fork head and fork head counterpart.For this purpose, for example, the second articulated arm has, on the one hand, a fork head and, on the other hand, a fork head counterpart. A drive source is accommodated within the hollow second articulated arm in the region of the fork head counterpart and is operatively connected to the rotary joint in the region 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 published patent application US 2018 / 186017 A1. The articulated arm has, on the one hand, a fork head for a first rotary joint and a second rotary joint, wherein the rotation axes of the joints are aligned perpendicular to each other. The articulated arm is composed of two shells. A servomotor, which serves to drive the second rotary joint, is arranged within the hollow space formed by the shells.

[0004] 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. From the published application.

[0005] 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 rotatably connecting 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, and the reduction gear and the brake are arranged in a joint section of the second arm. Published application US 2018 / 207795 A1 discloses a robot system with a manipulator formed from multiple articulated arms. The articulated arms are connected to one another via rotary joints and each has 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. From the published patent application CN 114869469 A, a manipulator with six degrees of freedom is known, which comprises an articulated arm arrangement. The joints between the articulated arms, designed as simple rotary joints, are driven by electric motors. The control modules of the electric motors are arranged directly on the articulated arms forming the support structure. b From the patent application US 10,906,194 B2, a robot joint with a drive motor and reduction gear is known.The robot joint is designed for the driven rotation of an arm relative to a pivot base and comprises 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. In one embodiment, the housing of the drive motor is connected to the pivot base via the intermediate element and the output shaft of the reduction gear. The gear housing is then connected to the arm for rotating the arm relative to the pivot base. US Pat. No. 11,433,532 B2 discloses a robot joint structure with an actuator, 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 housed within the first hollow arm and a reduction gear through which a motor shaft of the motor is connected to the second arm. A braking mechanism is also provided, which is also housed in the first arm.

[0006] The object of the invention is to provide an improved manipulator with an articulated arm for a harvesting machine.

[0007] The problem is solved by a manipulator with an articulated arm for a harvesting machine according to the features of the patent claims. Advantageous further developments emerge from the subclaims and the exemplary embodiments.

[0008] 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 joints, 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 provided by a geared motor, which simultaneously represents the driven rotary joint itself with its bearing. A geared motor comprises a motor and a reduction gear. The articulated arms are connected in series to one another via the articulated joints 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 joint at its opposite ends.Due to the advantageously designed articulated joints and the advantageous arrangement of the driven rotary joints with the geared motors, the manipulator is improved in terms of its dynamics and is particularly suitable for harvesting pressure-sensitive fruit. Within the articulated arm arrangement, the articulated arms are connected in series via the articulated joints at their respective ends, so that the articulated arm arrangement provides 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 means of a geared motor, which simultaneously represents the driven rotary joint itself with its bearings. The geared motors and / or the end effector are controlled by means of the control module arrangement.

[0009] Driven swivel joints are swivel joints that are rotated by a drive. Drive torque is transmitted via the driven swivel joints. A driven swivel joint is provided by a geared motor. A non-driven swivel joint, on the other hand, fulfills a support function without transmitting drive torque. A non-driven swivel joint can be provided by a rolling bearing or a plain bearing.

[0010] A first gear motor, acting as the 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, acting as the second driven pivot joint between the first articulated arm and a second articulated arm, a third gear motor, acting as the third driven pivot joint between the second articulated arm and a third articulated arm, and a fourth gear motor, acting as the fourth driven pivot joint between the third articulated arm and the end effector, are housed in and supported by the articulated arm assembly.

[0011] By means of the first gear motor, a first articulated arm of the articulated arm arrangement is connected to the base frame of the manipulator so as to be rotatable about a first axis of rotation. Between the base frame and the first articulated arm, a first driven rotary joint with the first gear motor is formed in a first articulated connection in the form of a simple carousel. 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 side of the mounting area is connected to the first drive shaft. The first drive shaft is aligned with the first axis of rotation.For this purpose, the first geared motor housing has a mounting flange with a mounting surface oriented perpendicular to the first rotational axis, via which the first geared motor is connected to the base frame. Furthermore, the first drive shaft has a mounting flange with a mounting surface oriented perpendicular to the first rotational axis, via which the first geared motor is connected to the first articulated arm. The mounting area and the first articulated arm are designed such that the first articulated arm can be rotated circumferentially via the first driven rotary joint by means of the first geared motor.

[0012] By means of the second gear motor, a second articulated arm of the articulated arm arrangement is connected to the first articulated arm so as to be rotatable 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, wherein the second axis of rotation is aligned parallel to the first axis of rotation. The second articulated connection is designed as a fork-shaped articulated connection, wherein in addition to the second driven rotary joint, a separate second non-driven rotary joint is arranged at a distance along the second axis of rotation. The second articulated connection therefore has two second rotary joints, in particular the second driven rotary joint and the second non-driven rotary joint. For this purpose, the first articulated arm is designed in the form of a fork head at its end opposite the first articulated connection in the region of the second articulated connection.Furthermore, 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 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 geared motor housing has a mounting flange with a mounting surface oriented perpendicular to the second rotational axis, via which the second geared motor is connected to the first articulated arm. Furthermore, the second drive shaft has a mounting flange with a mounting surface oriented perpendicular to the second rotational axis, via which the second geared motor is connected to the second articulated arm. The second non-driven pivot joint of the second articulated connection is provided by a simple plain or roller bearing.

[0013] By means of the third gear motor, a third articulated arm of the articulated arm arrangement is connected to the second articulated arm for rotation 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.

[0014] For this purpose, the second articulated arm is designed in the form of a fork head at its end opposite the second joint in the area of ​​the third joint. Furthermore, the third articulated arm is also designed in the form of a fork head in the area of ​​the third joint. 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 inwardly opposite the fork head of the second articulated arm in the third joint.In a manner particularly advantageous according to the invention, the third gear motor is accommodated in the region of the third articulated connection in the second articulated arm outside, i.e. not between the third driven rotary joint and the third non-driven rotary joint, wherein 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. For this purpose, the third gear motor housing has a mounting flange with a mounting surface oriented perpendicular to the third axis of rotation, via which the third gear motor is connected to the second articulated arm. Furthermore, the third drive shaft has a mounting flange with a mounting surface oriented perpendicular to the third axis of rotation, via which the third gear motor is connected to the third articulated arm.The third non-driven swivel joint of the third joint connection is provided by a simple plain or rolling bearing.

[0015] By means of the fourth gear motor, the end effector of the manipulator is connected to the third articulated arm for rotation about a fourth axis of rotation. A fourth driven rotary joint with the fourth gear motor is formed between the third articulated arm and the end effector in a fourth articulated connection, wherein the fourth axis of rotation lies in a reference plane oriented perpendicular to the third axis of rotation. Particularly advantageously, the fourth axis of rotation is oriented perpendicular to the third axis of rotation. The fourth articulated connection is designed as a simple rotary joint and therefore has only a fourth rotary joint, in particular the fourth driven rotary joint.The fourth gear motor is accommodated in the region of the third joint connection in the third articulated arm between the third driven rotary joint and the third non-driven rotary joint, with a fourth gear motor housing of the fourth gear motor being connected to the third articulated arm and a fourth drive shaft of the fourth gear motor being connected to the end effector. For this purpose, the fourth gear motor housing has a mounting flange with a mounting surface oriented perpendicular to the fourth axis of rotation, via which the fourth gear motor is connected to the third articulated arm. Furthermore, the fourth drive shaft has a mounting flange with a mounting surface oriented perpendicular to the fourth axis of rotation, via which the fourth gear motor is connected to the end effector.

[0016] By arranging the fourth gear motor near the third pivot joint, the fourth articulated arm can be designed to be short, thus minimizing the distance between the end effector and the third joint. This has a positive effect on the dynamics of the manipulator, especially the end effector. The design of the second joint and the third joint as fork-shaped joints also has a beneficial effect on the dynamics of the manipulator.

[0017] 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, with the reference plane being arranged perpendicular to the first axis of rotation, perpendicular to the second axis of rotation, perpendicular to the third axis of rotation, and aligned with the fourth axis of rotation. This advantageous arrangement of the geared motors has a beneficial effect on the dynamics of the manipulator.

[0018] Accordingly, the first axis of rotation of the first driven pivot joint, the second axis of rotation of the second driven pivot joint, and the third axis of rotation of the third driven pivot joint are aligned parallel to each other. The 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.

[0019] According to the invention, 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. In a particularly advantageous manner, 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. According to the invention, 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 arrangement of all driven rotary joints in relation to one another has a positive effect on the dynamics of the manipulator.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.

[0020] 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.

[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.

[0024] Accordingly, the invention provides an articulated arm with a fork joint for a manipulator of a harvesting machine, which is advantageous according to the invention. The articulated arm is designed at its first end to receive a first articulated connection with a first axis of rotation, and at its second end opposite the first end to receive 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 comprising two separate, spaced-apart pivot joints with a common axis of rotation.

[0025] For this purpose, the articulated arm is designed at its first end in the form of a fork head with two legs spaced along the first axis of rotation for accommodating first pivot joints, and at its second end in the form of a fork head with two legs spaced along the second axis of rotation for accommodating second pivot joints. A separate pivot joint can be mounted on each leg.

[0026] 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.

[0027] For this purpose, at the first end of the articulated arm, one leg is provided with a first mounting flange for receiving the first driven pivot joint, and another leg is provided with a first bearing seat for receiving the first non-driven pivot joint. Furthermore, at the second end of the articulated arm, one leg is provided with a second mounting flange for receiving the second driven pivot joint, and another leg is provided with a second bearing seat for receiving the second non-driven pivot joint. The bearing seats are designed as cylindrical outer surfaces.

[0028] A housing of the advantageous articulated arm is constructed from several housing parts that are detachably connected to one another. The housing has two housing parts that are detachably connected to one another by means of a support strut and primarily 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 thus 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 thus 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, with the first mounting surface oriented toward the opposite first bearing seat. This allows a geared motor to be mounted 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 allows a geared motor to be mounted at the second end of the articulated arm outside the legs of the fork joint.

[0029] 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 geared 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 geared motor.

[0030] If the first rotation axis and the second rotation axis are aligned parallel to each other, the first mounting surface and the second mounting surface 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 each other in the direction of the rotation axes, 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.

[0031] The design of the joints as fork joints with separate, spaced-apart pivots significantly improves the rigidity of the gripper arm's joints. Furthermore, bending loads on the pivots, especially the driven pivots, can be significantly reduced. The bearings in the respective drives of the driven pivots can be made smaller. This results in an overall reduction in weight despite the use of additional roller bearings. These measures make the gripper arm suitable for use in a manipulator for a harvesting machine, which is primarily used for particularly delicate crops.

[0032] The invention provides an advantageous articulated arm with a stiffening geometry for the manipulator. The articulated arm is configured at its first end to receive a first articulated connection with a first axis of rotation, and at its second end opposite the first end to receive 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 each other.

[0033] 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.

[0034] For this purpose, 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.

[0035] A housing of the advantageous articulated arm is 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, so that the respective housing part is connected at its first end to the first joint connection and at its second end to the second joint connection. These two housing parts represent the supporting structure of the articulated arm. In addition, the housing has several housing parts that primarily fulfill a covering function.

[0036] A first housing part is designed to accommodate the first driven rotary joint and the second driven rotary joint and is thus assigned to the first articulated connection and the second articulated connection. The first housing part is designed in the form of a leg and thus 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 to the first driven rotary joint is provided. The first housing part further has a second mounting flange at the second end of the articulated arm, by means of which a torque-transmitting connection to the second driven rotary joint is provided.

[0037] The first mounting flange, with a first mounting surface perpendicular to the first rotation axis, and the second mounting flange, with a second mounting surface perpendicular to the second rotation axis, 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.

[0038] In an advantageous manner according to the invention, 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.

[0039] A second housing part is designed to accommodate the first non-driven rotary joint and 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 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 rotary joint is provided. The second housing part further has a second bearing seat at the second end of the articulated arm, by means of which a connection to the second non-driven rotary joint is provided. The second housing part has no offset.As a result, the second housing part also fulfills a supporting function, which has a positive effect on the rigidity of the articulated arm.

[0040] In a manner advantageous according to the invention, 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 thus permanently and firmly connected to it. The support strut is arranged between the first mounting flange and the offset, adjacent to the offset, and has a tubular cross-section. The support strut further provides a third mounting flange, via which the first housing part is connected to the second housing part.

[0041] Furthermore, at least one support structure is provided, by means of which the offset and the support strut are connected to each other in a stiffening manner. The support structure has a hollow-shaped profile between the support strut and the offset 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.

[0042] The support strut with the support structures arranged on both sides leads to a significant improvement in the rigidity of the gripper arm, making it suitable for use in a manipulator of a harvesting machine, which is primarily suitable for particularly sensitive fruits.

[0043] An advantageous embodiment of the manipulator according to the invention for a harvesting machine is shown here as an example. The accompanying figure shows:

[0044] FIGURE 1 is a schematic representation of the manipulator 1 for a harvesting machine. The advantageous embodiment of the manipulator 1 according to the invention with a 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 for rotation 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 for rotation 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 for rotation 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 for rotation about a fourth axis of rotation 10b.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] An advantageous embodiment of the articulated arm 21 according to the invention with a fork joint for a manipulator of a harvesting machine is shown here by way of example. The accompanying figures show: FIGURE 2 an exploded view and FIGURE 3 a longitudinal section of the articulated arm 21 with a fork joint for a manipulator of a harvesting machine.

[0050] 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.

[0051] At the first end 21a of the articulated arm 21, a fork head is provided with two legs spaced apart along the first axis of rotation 22 for receiving first rotary joints 25, 27, 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.

[0052] At the second end 21b of the articulated arm 21, a fork head with two legs spaced apart along the second axis of rotation 23 is provided for receiving second rotary joints, 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.

[0053] Accordingly, the first articulated connection can be represented by the first driven pivot joint 25 and the first non-driven pivot joint 27 with the common first axis of rotation 22, and the second articulated connection can be represented by the second driven pivot joint 29 and the second non-driven pivot joint 211 with the common second axis of rotation 23. The first mounting flange 24 has at least one through-bore 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 pivot joint 25. The second mounting flange 28 has at least one through-bore 28b, by means of which the articulated arm 21 can be connected to a housing 29a of the second driven pivot joint 29.

[0054] The first rotational axis 22 and the second rotational axis 23 are aligned parallel to one another. The first mounting surface 24a and the second mounting surface 28a are aligned parallel and opposite to one another with respect to their mounting direction with the drive shaft 25a and the housing 29a, with the first mounting surface 24a facing toward the first bearing seat and the second mounting surface 28a facing away from the second bearing seat 210. Furthermore, 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 rotational 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.

[0055] 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 primarily fulfill a supporting function. A first housing part 212 comprises the support strut 212a, the leg with the first

[0056] Mounting flange 24 and the leg with the second mounting flange 28 and is therefore assigned to the first articulated connection and the second articulated connection. 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.

[0057] An advantageous embodiment of the manipulator according to the invention for a harvesting machine is shown here as an example. The accompanying figures show:

[0058] FIGURE 4 and FIGURE 5 each show a schematic representation of the manipulator 31 for a harvesting machine.

[0059] The advantageous embodiment of the manipulator 31 according to the invention for a harvesting machine, shown in FIGURE 4, 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 third articulated arm 35 by means of a fourth gear motor 310 to form a fourth driven rotary joint 310a, so as to be rotatable about a fourth axis of rotation 310b.

[0060] The first rotation axis 36b, the second rotation axis 37b, and the third rotation axis 38b are aligned parallel to one another. The fourth rotation axis 310b lies within a reference plane 311, which is perpendicular to the third rotation axis 38b. Accordingly, the reference plane 311 is also perpendicular to the first rotation axis 36b and perpendicular to the second rotation axis 37b and is aligned with the fourth rotation axis 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 parallel to the second driven pivot joint 37a along the second pivot axis 37b, and a separate third non-driven pivot joint 38c is arranged parallel to the third driven pivot joint 38a along the third pivot axis 38b.For this purpose, 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 rolling bearing and are arranged on the other side of the reference plane 311.

[0061] 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.

[0062] 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.

[0063] An advantageous embodiment of the articulated arm 41 according to the invention with a stiffening geometry for a manipulator of a harvesting machine is shown here by way of example. The accompanying figures show: FIGURE 6 an exploded view and FIGURE 7 a longitudinal section of the articulated arm 41 with a stiffening geometry for a manipulator of a harvesting machine.

[0064] The advantageous embodiment of the articulated arm 41 according to the invention with a 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 for constituting a supporting structure. The articulated arm 41 is designed at a first end 41a in the form of a fork head for receiving first pivot joints and also at a second end 41b opposite the first end 41a in the form of a fork head for receiving second pivot joints.

[0065] The leg-shaped first housing part 43 has, at the first end 41a of the articulated arm 41, a first mounting flange 43a with a frontal first mounting surface 43aa for receiving a first driven rotary joint in a first articulated connection of the articulated arm 41, and, at the second end 41b of the articulated arm 41, a second mounting flange 43b with a frontal second mounting surface 43bb of the articulated arm 41 for receiving a second driven rotary joint in a second articulated connection of the articulated arm 41. The first mounting surface 43aa and the second mounting surface 43bb are offset parallel to one another and oriented opposite one another. Accordingly, a first axis of rotation 45 of the first articulated connection and a second axis of rotation 46 of the second articulated connection are aligned parallel to one another.The first housing part 43 also has a crank 43c between the first mounting flange 43a and the second mounting flange 43b, by means of which the offset between the first mounting surface 43aa and the second mounting surface 43bb is provided.

[0066] 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 articulated 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 articulated connection of the articulated arm 41. The first bearing seat 44a and the second bearing seat 44b are designed as outwardly directed cylindrical 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.

[0067] The first housing part 43 further comprises 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 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 essentially unchanged over the entire length of the support strut 43d. Furthermore, 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.

[0068] Support strut 43d is arranged. The first support structure 43e is manufactured monolithically with the first housing part 43. Furthermore, a second support structure 43f, designed as a concave 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.

Claims

Patent claims 1. Manipulator (31) for a harvesting machine comprising 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 rotatably connected to the base frame (32) about a first axis of rotation (36b) by means of a first gear motor (36) for constituting a first driven rotary joint (36a), the second articulated arm (34) is rotatably connected to the first articulated arm (33) about a second axis of rotation (37b) by means of a second gear motor (37) for constituting a second driven rotary joint (37a), and the third articulated arm (35) is rotatably connected to the second articulated arm (34) about a third axis of rotation (38b) by means of a third gear motor (38) for constituting a third driven rotary joint (38a), and an end effector (39),wherein the end effector (39) is connected to the third articulated arm (5) by means of a fourth gear motor (310) for forming a fourth driven rotary joint (310a) so as to be rotatable about a fourth axis of rotation (310b), wherein the first axis of rotation (36b), the second axis of rotation (37b) and the third, The rotational axes (38b) are aligned parallel to one another, the fourth rotational axis (310b) lies within a reference plane (311) which is aligned perpendicular to the third rotational axis (38b), and the first driven rotary joint (36a), the second driven rotary joint (37a) and the third driven rotary joint (38a) are arranged on one side of a reference plane (311).

2. Manipulator (31) for a harvesting machine according to claim 1, characterized in that a spaced-apart, separate second non-driven pivot joint (37c) is arranged parallel to the second driven pivot joint (37a) along the second pivot axis (37b), and a spaced-apart, separate third non-driven pivot joint (38c) is arranged further parallel to the third driven pivot joint (38a) along the third pivot axis (38b), wherein the non-driven pivot joints (37c, 38c) are arranged on the other side of the reference plane (311).

3. Articulated arm (21) with a fork joint for a manipulator of a harvesting machine, comprising at a first end (21a) a fork head with two legs spaced apart along a first axis of rotation (22), 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 a further leg has a first bearing seat (26) for receiving a first non-driven rotary joint (27), so that a first articulated connection designed as a fork joint by the first driven rotary joint (25) and the first non-driven rotary joint (27) with the common first axis of rotation (22), and at a second end (21b) a fork head with two legs spaced apart along a second axis of rotation (23), wherein one leg has a second mounting flange (28) with a second mounting surface (28a) perpendicular to the second axis of rotation (23) for receiving the second driven rotary joint (29) and a further leg has a second bearing seat (210) for receiving a second non-driven rotary joint (211), so that a second articulated connection designed as a fork joint can be mounted by the second driven rotary joint (29) and the second non-driven rotary joint (211) with the common second axis of rotation (23).

4. Articulated arm (21) with fork joint for a manipulator of a harvesting machine according to claim 3, characterized in that the first axis of rotation (22) and the second axis of rotation (23) are aligned parallel to each other.

5. Manipulator (1) with a 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).

6. Manipulator (1) with control module arrangement (13) for a harvesting machine according to claim 5, characterized in that the second articulated arm (4) has the articulated arm cover (12) on which a control module arrangement (13) is arranged.

7. Articulated arm (41) with stiffening geometry for a manipulator of a harvesting machine, which at a first end (41a) is in the form of a fork head for receiving first rotary joints and at a second end opposite the first end (41a) End (41b) is designed in the form of a fork head for receiving second rotary joints and has a multi-part housing (42), comprising a first housing part (43), which has a first mounting flange (43a) at the first end (41a) for receiving a first driven rotary joint and a second mounting flange (43b) at the second end (41b) for receiving a second driven rotary joint, an offset (43c) between the first mounting flange (43a) and the second mounting flange (43b), a support strut (43d) with a third mounting flange (43dd) adjacent to the offset (43c) between the first mounting flange (43a) and the offset (43c), a first support structure (43e) connected to the offset (43c) and the support strut (43d), and a second housing part (44),which has a first bearing seat (44a) at the first end (41a) for receiving a first non-driven rotary joint and a second bearing seat (44b) at the second end (41b) for receiving a second non-driven rotary joint.

8. Articulated arm (41) according to claim 7, characterized in that the first support structure (43e) is designed as a hollow groove.

Images