TW202146185A - Robot for automatically harvesting crops - Google Patents
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Abstract
Description
本發明涉及農業機械相關領域，特別是指一種自動採集機器人。The invention relates to the related field of agricultural machinery, in particular to an automatic collection robot.
目前採集水果、果實、農作物大多以人力進行，不僅耗費體力，且有些果樹是生長在崎嶇的路面上，大幅增加採收水果的困難性。At present, most of the harvesting of fruits, fruits and crops is carried out manually, which not only consumes physical strength, but also some fruit trees grow on rough roads, which greatly increases the difficulty of harvesting fruits.
隨著科技進步，開始有機械協助農民進行採收，最早期的果實採摘機器人主要以機械搖動果樹或者透過氣動方式搖動果樹，但是這類型的機器人缺失在於：果實掉落地上會造成果實損傷，且收穫量相當低。With the advancement of science and technology, machinery began to assist farmers in harvesting. The earliest fruit picking robots mainly shook fruit trees mechanically or pneumatically. However, the lack of this type of robot is that fruit falling on the ground will cause fruit damage, and The yield is quite low.
隨著物聯網的科技發展下，許多廠商相繼投入自動採集機器人以協助農民進行農作物採收，特別是完成果樹果實進行無人化採收。但是目前的結構仍有下列問題：With the technological development of the Internet of Things, many manufacturers have successively invested in automatic collection robots to assist farmers in harvesting crops, especially the unmanned harvesting of fruit trees. However, the current structure still has the following problems:
1.機械手臂結構過於複雜：許多採集機器人仍以實驗室所使用的六肘節之機械手，雖然能讓機械手臂能產生多種自由度，但是過於複雜的運動形式不僅造成控制的複雜度提高，再者，過多的機構也讓整體結構重量過重，對於複雜的地形環境，變得控制較不容易。1. The structure of the mechanical arm is too complex: Many acquisition robots still use the six-toggle manipulator used in the laboratory. Although the mechanical arm can generate multiple degrees of freedom, the overly complex motion form not only increases the complexity of control, Furthermore, too many mechanisms make the overall structure too heavy, and it becomes difficult to control the complex terrain environment.
2.收集裝置不合理：在採收機器人採收果實將果實收納在收集裝置，但是如中國專利CN 110614622 A之一種智能果實採摘機器人，該收集裝置是設置果框支撐在大臂，惟，在長期使用下容易造成大臂變形，且果框的設計容易讓果實擠壓，且懸吊的果實更會造成機器人重心不穩而翻倒。2. The collection device is unreasonable: the harvesting robot picks the fruit and stores the fruit in the collection device, but such as an intelligent fruit picking robot of Chinese patent CN 110614622 A, the collection device is set with a fruit frame supported on the big arm, but in the Long-term use is likely to cause deformation of the arm, and the design of the fruit frame is easy to squeeze the fruit, and the suspended fruit will cause the robot's center of gravity to become unstable and overturn.
3.靈活性不足：目前的採集機器人通常使用履帶這類型的傳輸裝置當作移動的手段，但是果樹有高有低，依照目前的設計，若果樹高度低於機械手臂時，必須改裝機械手臂，否則無法進行採收果實工作，換言之即是靈活性較差。3. Insufficient flexibility: The current collection robot usually uses a crawler-type transmission device as a means of movement, but the fruit trees are high and low. According to the current design, if the height of the fruit tree is lower than the mechanical arm, the mechanical arm must be modified. Otherwise, fruit harvesting will not be possible, in other words less flexibility.
從上述的說明可以理解，習用結構仍有改善空間。As can be understood from the above description, there is still room for improvement in the conventional structure.
本發明的主要目的即是改善習用結構的缺失，重新設計一種自動採集機器人，其具有高自動化功能，且靈活性高可因應各種複雜的地形。The main purpose of the present invention is to improve the lack of conventional structures, and to redesign an automatic collection robot, which has high automation function and high flexibility and can respond to various complex terrains.
本發明的次要目的即在於收集果實的裝置設計合理化，防止果實彼此碰傷。The secondary purpose of the present invention is to rationalize the design of the device for collecting fruits to prevent the fruits from bruising each other.
本發明的又一目的在於自動採集機器人的轉向是在每一個輪子上的桿件上設有轉向總成，據此，能縮小轉向機構的體積，讓使用上更便利。Another object of the present invention is that the steering of the automatic collection robot is provided with a steering assembly on the rod on each wheel, accordingly, the volume of the steering mechanism can be reduced and the use is more convenient.
可達到上述目的的結構，包含有：一車架總成、一前輪組總成、一後輪組總成、二機器手總成；The structure that can achieve the above purpose includes: a frame assembly, a front wheel assembly, a rear wheel assembly, and a robot hand assembly;
前述的車架總成提供該前輪組總成、該後輪組總成以及二該採收機械手總成組裝，該車架總成包含有一車框、一置物籃，該置物架組裝在該車框下方其用於收集採收後的農作物，兩組平行對稱設置的車台組設置在該車框上端，二該車台組分別設有一軌道，前述的兩組機械手總成係安裝在二該車台組，二該車台組相連的鄰接邊則設有多個軸接部，該些軸接部個別提供該前輪組總成與該後輪組總成連接，該置物籃下端設有一蝸輪驅動模組；The aforementioned frame assembly provides the assembly of the front wheel assembly, the rear wheel assembly and the two harvesting manipulator assemblies. The frame assembly includes a frame and a storage basket, and the storage rack is assembled on the The lower part of the car frame is used to collect the harvested crops. Two sets of parallel and symmetrical sets of car platforms are arranged on the upper end of the car frame. The two sets of car platforms are respectively provided with a track. A carriage set, two adjacent sides of the carriage set are provided with a plurality of axle joints, the axle joints individually provide the front wheel assembly to be connected with the rear wheel assembly, and a worm gear drive mold is arranged at the lower end of the storage basket Group;
前述的前輪組總成包含有二組以對稱設置的前輪、二組以對稱設置的前輪下活動桿、二組以對稱設置的前輪轉向齒輪組、二組以對稱設置的前輪上活動桿以及一用於連接二該前輪上活動桿的前輪連接桿所構成；前述的前輪與一驅動器連接後與該前輪下活動桿結合；二該前輪轉向齒輪組用於帶動該前輪下活動桿轉向活動，各該前輪轉向齒輪組包含有一齒輪座、一馬達、一齒輪及一驅動軸，前述的齒輪座提供該馬達、該齒輪與該驅動軸安裝其內部，利用該馬達帶動該齒輪，該驅動軸與該齒輪連接，又該前輪下活動桿與該驅動軸連接，藉由該前輪轉向驅動組對該前輪達到轉向目的，前述的前輪上活動桿係分別與該軸接部及該前輪轉向齒輪組連接，並在該前輪上活動桿的適當位置處設置該前輪連接桿；The aforementioned front wheel assembly includes two sets of symmetrically arranged front wheels, two sets of symmetrically arranged lower movable rods of the front wheels, two sets of symmetrically arranged front wheel steering gear sets, two sets of symmetrically arranged front wheel upper movable rods and a The front wheel connecting rod is used to connect the upper movable rod of the front wheel; the aforesaid front wheel is connected with a driver and then combined with the lower movable rod of the front wheel; the steering gear set of the front wheel is used to drive the lower movable rod of the front wheel to turn and move, each The front wheel steering gear set includes a gear base, a motor, a gear and a drive shaft. The aforementioned gear base provides the motor, the gear and the drive shaft to be installed inside, and the motor is used to drive the gear, and the drive shaft is connected to the drive shaft. The gear is connected, and the lower movable rod of the front wheel is connected with the drive shaft, and the front wheel can be turned by the front wheel steering drive group to achieve the purpose of steering the front wheel. and set the front wheel connecting rod at the appropriate position of the movable rod on the front wheel;
前述的後輪組總成組裝在該前輪組總成的相對一側，包含有二組以對稱設置的後輪、二組以對稱設置的後輪下活動桿、二組以對稱設置的後輪轉向齒輪組、二組以對稱設置的後輪上活動桿以及一用於連接二該後輪上活動桿的後輪連接桿所構成；前述的後輪與一驅動器連接後與該後輪下活動桿結合；二該後輪轉向齒輪組用於帶動該後輪下活動桿轉向活動，各該後輪轉向齒輪組包含有一齒輪座、一馬達、一齒輪及一驅動軸，前述的齒輪座提供該馬達、該齒輪與該驅動軸安裝其內部，利用該馬達帶動該齒輪，該驅動軸與該齒輪連接，又該後輪下活動桿與該驅動軸連接，藉由該後輪轉向驅動組對該後輪達到轉向目的，前述的後輪上活動桿係分別與該軸接部及該前輪轉向齒輪組連接，並在該後輪上活動桿的適當位置處設置該後輪連接桿；The aforementioned rear wheel assembly is assembled on the opposite side of the front wheel assembly, and includes two sets of symmetrically arranged rear wheels, two sets of symmetrically arranged rear wheel lower movable rods, and two sets of symmetrically arranged rear wheels. The gear group and the second group are composed of a symmetrically arranged upper movable rod on the rear wheel and a rear wheel connecting rod for connecting the upper movable rods of the two rear wheels; the aforementioned rear wheel is connected with a driver and is movable downward with the rear wheel rod combination; two the rear wheel steering gear set is used to drive the lower movable rod of the rear wheel to turn to move, each rear wheel steering gear set includes a gear seat, a motor, a gear and a drive shaft, and the aforementioned gear seat provides the The motor, the gear and the drive shaft are installed in the interior, the motor is used to drive the gear, the drive shaft is connected with the gear, and the lower movable rod of the rear wheel is connected with the drive shaft, and the rear wheel steering drive group is used to drive the gear. The rear wheel achieves the purpose of steering, the aforementioned movable rod system on the rear wheel is respectively connected with the axle joint and the steering gear set of the front wheel, and the rear wheel connecting rod is set at an appropriate position of the movable rod on the rear wheel;
前述的蝸輪驅動模組包含有一蝸輪馬達、至少一蝸桿以及二推動桿，前述的蝸輪馬達用於驅動該蝸桿，該推動桿與該蝸桿連接，該推動桿的另一端分別連接在該前輪連接桿與該後輪連接桿，藉由該蝸桿驅動下，讓該前輪組總成與該後輪組總成被該推動桿推動朝兩側展開或者朝該車架總成靠齊；The aforementioned worm gear drive module includes a worm gear motor, at least one worm screw and two push rods. The aforementioned worm gear motor is used to drive the worm screw, the push rod is connected with the worm screw, and the other end of the push rod is respectively connected to the front wheel connecting rod. and the rear wheel connecting rod, driven by the worm, so that the front wheel assembly and the rear wheel assembly are pushed by the push rod to expand toward both sides or align with the frame assembly;
前述的兩組機械手總成是用於農作物剪枝及採收，二該機械手總成係分別安裝在車台組，進一步的二該機械手可沿著該滑軌線性滑動位移；各該機械手總成包含有第一肘部、一第二肘部、一第三肘部、一第四肘部、一剪枝模組及一夾爪模組；The aforementioned two sets of manipulator assemblies are used for crop pruning and harvesting. Second, the manipulator assemblies are respectively installed on the carriages. Further, the manipulators can slide and move linearly along the slide rails; The hand assembly includes a first elbow, a second elbow, a third elbow, a fourth elbow, a pruning module and a clamping jaw module;
前述的第一肘部係設置在該車台組上，該第一肘部上設有一第一方向驅動單元以及一滑軌驅動單元，利用該第一方向驅動單元讓第一肘部產生第一方向轉動，利用該滑軌驅動單元讓第一肘部沿著滑軌方向滑動，該第一肘部的頂部設有一第一連接端；The aforementioned first elbow is arranged on the platform set, and a first direction driving unit and a slide rail driving unit are arranged on the first elbow, and the first direction driving unit is used to make the first elbow generate a first direction Rotate, and use the slide rail driving unit to make the first elbow slide along the direction of the slide rail, and the top of the first elbow is provided with a first connection end;
前述的第二肘部係安裝在第一連接端，該第二肘部設有一第二方向驅動單元，利用該第二方向驅動單元讓該第二肘部以第一連接端為轉動中心產生第二方向轉動，該第二肘部的頂端設有一第二連接端；The aforementioned second elbow is mounted on the first connecting end, the second elbow is provided with a second direction driving unit, and the second direction driving unit is used to make the second elbow take the first connecting end as the center of rotation to generate the second elbow. Rotating in two directions, the top end of the second elbow is provided with a second connecting end;
前述的第三肘部係安裝在第二連接端，該第三肘部設有一第三方向驅動單元，利用該第三方向驅動單元讓該第三肘部以第二連接端為轉動中心產生第三方向轉動，該第三肘部的頂端設有一第三連接端；The aforesaid third elbow is mounted on the second connecting end, the third elbow is provided with a third directional driving unit, and the third directional driving unit is used to make the third elbow take the second connecting end as the center of rotation to generate the third elbow. Rotating in three directions, the top of the third elbow is provided with a third connecting end;
前述的第四肘部安裝在該第三連接端，該第四肘部設有一第四驅動器引導該第四肘部以該第三連接端作為轉動中心產生第四方向轉動；前述的剪枝模組與該夾爪模組設置在該第四肘部頂部；The aforementioned fourth elbow is mounted on the third connecting end, and the fourth elbow is provided with a fourth driver to guide the fourth elbow to rotate in a fourth direction with the third connecting end as the center of rotation; the aforementioned pruning die The group and the clamping jaw module are arranged on the top of the fourth elbow;
前述的剪枝模組包含有一剪枝驅動器以及二刀刃單元，藉由該剪枝模組的剪枝驅動器帶動二該刀刃單元展開或併攏，對農作物枝幹進行剪切；The aforementioned pruning module includes a pruning driver and two blade units, and the pruning driver of the pruning module drives the two blade units to expand or close together to cut the branches of crops;
前述的夾爪模組安裝在該剪枝模組下端，該夾爪模組設有數個夾持單元以及一夾爪驅動器，該些夾持單元受到該夾爪驅動器帶動下用於抓握農作物後，再啟動該剪枝模組進行剪枝；The aforementioned clamping jaw module is installed at the lower end of the pruning module, the clamping jaw module is provided with several clamping units and a clamping jaw driver, and these clamping units are driven by the clamping jaw driver to grasp the crops. , and then start the pruning module for pruning;
使用時，透過利用該前輪組總成與該後輪組總成帶動該車架總成與機械手總成位移運動，當有高度落差時利用該蝸輪驅動模組推動該前輪組總成與該後輪組總成產生高度變化，當要進行採收農作物，則利用該夾爪模組抓握農作物後，再由該剪枝模組將農作物剪枝分離於果樹。When in use, the front wheel assembly and the rear wheel assembly are used to drive the frame assembly and the manipulator assembly to move in displacement, and the worm gear drive module is used to push the front wheel assembly and the manipulator when there is a height difference. The height of the rear wheel assembly changes. When the crops are to be harvested, after the crops are grasped by the gripper module, the crops are pruned and separated from the fruit trees by the pruning module.
在本發明的實施例中，更包含有一視覺模組以及一控制器模組，前述的視覺模組紀錄各種類型農作物的外型，以及透過視覺模組計算出車架總成與農作物的距離、機械手總成與農作物之間的距離，並將前述的數據提供給該控制器模組，由該控制器模組分別對所述的前輪組總成與後輪組總成進行位置操控，該蝸輪驅動模組調整該車架總成高度與位置，該機械手總成進行採收農作物的控制。In the embodiment of the present invention, it further includes a vision module and a controller module, the aforementioned vision module records the appearance of various types of crops, and calculates the distance between the frame assembly and the crops through the vision module, The distance between the manipulator assembly and the crops, and the aforementioned data is provided to the controller module, and the controller module respectively controls the position of the front wheel assembly and the rear wheel assembly. The worm gear drive module adjusts the height and position of the frame assembly, and the manipulator assembly controls the harvesting of crops.
在本發明的實施例中，該車架總成的置物籃是一網狀的收納結構。In an embodiment of the present invention, the storage basket of the frame assembly is a net-shaped storage structure.
在本發明的實施例中，該前輪組總成的前輪下活動桿與該驅動軸之間設置有一避震裝置。In the embodiment of the present invention, a shock absorber is arranged between the lower movable rod of the front wheel of the front wheel assembly and the drive shaft.
在本發明的實施例中，該後輪組總成的後輪下活動桿與該驅動軸之間設置有一避震裝置。In the embodiment of the present invention, a shock absorber is arranged between the lower movable rod of the rear wheel of the rear wheel assembly and the drive shaft.
在本發明的實施例中，二該機械手總成設置在該車台組的位置可透過該控制器模組控制相關位置，其中，該控制器模組設有水平儀與加速儀，當在斜坡或者不平的路面時，控制器模組計算出平面的傾斜度後，利用二該機械手總成在車台組的相關位置，恰可調整該車架總成的重心，可避免重心不穩而翻車的情況。In the embodiment of the present invention, the position of the two manipulator assemblies disposed on the vehicle group can be controlled by the controller module, wherein the controller module is provided with a level and an accelerometer. When the road surface is uneven, after the controller module calculates the inclination of the plane, it can adjust the center of gravity of the frame assembly by using the relative position of the robot assembly in the platform group, which can avoid the instability of the center of gravity and the overturning of the car. condition.
在本發明的實施例中，該置物籃更設有一秤重計，利用一控制器模組控制本發明進行農作物採收作業或者進行返航模式。In the embodiment of the present invention, the storage basket is further provided with a weighing scale, and a controller module is used to control the present invention to carry out the crop harvesting operation or the returning mode.
透過上述的說明，本發明可提供下列功效：Through the above description, the present invention can provide the following effects:
1.當置物籃的農作物重量到一定值，會停止自動採集機器人進行農作物採收工作，避免農作物彼此擠壓造成農作物損傷。1. When the weight of the crops in the storage basket reaches a certain value, the automatic collection robot will stop the crop harvesting work, so as to avoid crop damage caused by crops squeezing each other.
2.本發明採用由前輪組總成與後輪組總成調整車架總成的高度，相較於習用結構以氣壓缸或者油壓缸調整機械手總成的高度，不僅能維持結構重心位置，更可預防翻車的問題產生。2. In the present invention, the height of the frame assembly is adjusted by the front wheel assembly and the rear wheel assembly. Compared with the conventional structure, the height of the manipulator assembly is adjusted by the pneumatic cylinder or the hydraulic cylinder, which can not only maintain the position of the center of gravity of the structure , it can prevent the problem of rollover.
3.本發明的另一個特點在於先用夾爪模組夾持住農作物後，再以剪枝模組剪切農作物，防止農作物掉落造成損傷的問題。3. Another feature of the present invention is that the crops are first clamped with the clamping jaw module, and then the crops are cut with the pruning module to prevent the crops from falling and causing damage.
請參閱圖1與圖2，本發明自動採集機器人包含有：一車架總成10、一前輪組總成20、一後輪組總成30、二機器手總成40與一蝸輪驅動模組50所構成。Please refer to FIG. 1 and FIG. 2, the automatic collection robot of the present invention includes: a
如圖1至圖3所示，前述的車架總成10提供該前輪組總成20、該後輪組總成30以及二該機械手總成40組裝，該車架10總成包含有一車框11、一置物籃12，該置物架12組裝在該車框11下方其用於收集採收後的農作物，兩組平行對稱設置的車台組13設置在該車框11上端，二該車台組13分別設有一軌道131，前述的兩組機械手總成40係安裝在二該車台組13，二該車台組13相連的鄰接邊則設有多個軸接部14，該些軸接部14個別提供該前輪組總成20與該後輪組總成30連接，該置物籃12下端提供該蝸輪驅動模組50設置，再者，該車架總成10在一預定位置設有一電源裝置(圖未繪出)，前述的電源裝置提供該前輪組總成20、該後輪組總成30、二該機器手總成40與該蝸輪驅動模組50必要的電力。As shown in FIG. 1 to FIG. 3 , the
如圖1、圖2、圖4、圖5所示，前述的前輪組總成20包含有二組以對稱設置的前輪21、二組以對稱設置的前輪下活動桿22、二組以對稱設置的前輪轉向齒輪組23、二組以對稱設置的前輪上活動桿24以及一用於連接二該前輪上活動桿24的前輪連接桿25所構成；前述的前輪21與一驅動器211連接後與該前輪下活動桿22結合；二該前輪轉向齒輪組23用於帶動該前輪下活動桿22轉向活動，各該前輪轉向齒輪組23包含有一齒輪座231、一馬達232、一齒輪233及一驅動軸234，前述的齒輪座231提供該馬達232、該齒輪233與該驅動軸234安裝其內部，利用該馬達232帶動該齒輪233，該驅動軸234與該齒輪233連接，又該前輪下活動桿22與該驅動軸234連接，藉由該前輪轉向驅動組23對該前輪21達到轉向目的，較佳的該前輪下活動桿22與該驅動軸234之間設置有避震裝置(圖未繪出)，由該避震裝置減緩地面不平整造成的彈跳動作，前述的前輪上活動桿24係分別與該軸接部14及該前輪轉向齒輪組23連接，並在該前輪上活動桿24的適當位置處設置該前輪連接桿25。As shown in Figures 1, 2, 4, and 5, the aforementioned
如圖1、圖2、圖6、圖7所示，前述的後輪組總成30組裝在該前輪組總成20的相對一側，包含有二組以對稱設置的後輪31、二組以對稱設置的後輪下活動桿32、二組以對稱設置的後輪轉向齒輪組33、二組以對稱設置的後輪上活動桿34以及一用於連接二該後輪上活動桿34的後輪連接桿35所構成；前述的後輪31與一驅動器311連接後與該後輪下活動桿32結合；二該後輪轉向齒輪組33用於帶動該後輪下活動桿32轉向活動，各該後輪轉向齒輪組33包含有一齒輪座331、一馬達332、一齒輪333及一驅動軸334，前述的齒輪座331提供該馬達332、該齒輪333與該驅動軸334安裝其內部，利用該馬達332帶動該齒輪333，該驅動軸334與該齒輪333連接，又該後輪下活動桿32與該驅動軸334連接，藉由該後輪轉向驅動組33對該後輪31達到轉向目的，前述的後輪上活動桿34係分別與該軸接部14及該前輪轉向齒輪組33連接，並在該後輪上活動桿34的適當位置處設置該後輪連接桿35。As shown in FIGS. 1 , 2 , 6 and 7 , the aforementioned
如圖3、圖8所示，前述的蝸輪驅動模組50包含有一蝸輪馬達51、兩組蝸桿52，該推動桿53與該蝸桿52連接，該推動桿53的另一端分別連接在該前輪連接桿25與該後輪連接桿35，藉由該蝸桿52驅動下，讓該前輪組總成20與該後輪組總成30被該推動桿53推動朝兩側展開或者朝該車架總成靠齊。As shown in Figures 3 and 8, the aforementioned worm
如圖1至圖2、圖9至圖15所示，前述的兩組機械手總成40是用於農作物剪枝及採收，二該機械手總成40係分別安裝在車台組13，二該機械手總成40可沿著滑軌131線性滑動；各該機械手總成40包含有第一肘部41、一第二肘部42、一第三肘部43、一第四肘部44、一剪枝模組45及一夾爪模組46。As shown in Figures 1 to 2 and Figures 9 to 15, the aforementioned two sets of
如圖9至圖10所示，前述的第一肘部41係設置在該車台組13上，該第一肘部41上設有一第一方向驅動單元411以及一滑軌驅動單元412，利用該第一方向驅動單元411讓第一肘部41產生第一方向A轉動，利用該滑軌驅動單元412讓第一肘部41沿著滑軌方向B滑動，該第一肘部41的頂部設有一第一連接端413。As shown in FIG. 9 to FIG. 10 , the aforementioned
如圖11所示，前述的第二肘部42係安裝在第一連接端413，該第二肘部42設有一第二方向驅動單元421，利用該第二方向驅動單元421讓該第二肘部42以第一連接端413為轉動中心產生第二方向C轉動，該第二肘部42的頂端設有一第二連接端422。As shown in FIG. 11 , the aforementioned
如圖12所示，前述的第三肘部43係安裝在第二連接端422，該第三肘部43設有一第三方向驅動單元431，利用該第三方向驅動單元431讓該第三肘部43以第二連接端422為轉動中心產生第三方向D轉動，該第三肘部43的頂端設有一第三連接端432。As shown in FIG. 12 , the aforementioned
如圖13所示，前述的第四肘部44安裝在該第三連接端432，該第四肘部44設有一第四驅動器441引導該第四肘部44以該第三連接端432作為轉動中心產生第四方向E轉動；前述的剪枝模組45與該夾爪模組46設置在該第四肘部44頂部。As shown in FIG. 13 , the aforementioned
如圖9、圖14所示，前述的剪枝模組45包含有一剪枝驅動器451以及二刀刃單元452，藉由該剪枝模組45的剪枝驅動器451帶動二該刀刃單元452展開或併攏，對農作物枝幹進行剪切。As shown in FIGS. 9 and 14 , the
如圖9、圖14所示，前述的夾爪模組46安裝在該剪枝模組45下端，該夾爪模組46設有數個夾持單元461以及一夾爪驅動器462，該些夾持單元461受到該夾爪驅動器462帶動下用於抓握農作物後，再啟動該剪枝模組45進行剪枝，將農作物分離於果樹。As shown in FIG. 9 and FIG. 14 , the aforementioned
如圖15所示，在本發明的實施例中，為了達到自動控制的目的，在該機械手總成40的第四肘部44上設有一視覺模組60，該車架總成10上設有一控制器模組70，前述的視覺模組60紀錄各種類型農作物的外型，以及透過視覺模組60計算出車架總成10與農作物的距離、機械手總成40與農作物之間的距離，並將前述的數據提供給該控制器模組70，由該控制器模組70分別對所述的前輪組總成20與後輪組總成30進行位置操控，該蝸輪驅動模組50調整該車架總成10高度與位置，該機械手總成40進行採收農作物的控制。As shown in FIG. 15 , in the embodiment of the present invention, in order to achieve the purpose of automatic control, a
如圖1至圖3所示，在本發明的實施例中，該車架總成10的置物籃12是一網狀的收納結構，較佳的，在該車框11設有一秤重計(圖未繪出)，前述的秤重計與控制器模組70連線，當置物籃12內的農作物重量到達預定數值，利用該控制器模組70控制本發明進行農作物採收作業或者進行返航模式，如此一來可避免農作物過度擠壓而造成農作物損壞、損傷的情況。As shown in FIG. 1 to FIG. 3 , in the embodiment of the present invention, the
在本發明的實施例中，二該機械手總成40設置在該車台組13的位置可透過該控制器模組70控制相關位置，其中，該控制器模組70設有水平儀與加速儀，當在斜坡或者不平的路面時，控制器模組70計算出平面的傾斜度後，利用二該機械手總成40在車台組13的相關位置，恰可調整該車架總成10的重心，可避免重心不穩而翻車的情況。In the embodiment of the present invention, two positions of the
在本發明的實施例中，為了達到自動控制的目的，該控制器模組70更包含有一無線傳輸單元(圖未繪出)，使用者可利用如智慧型裝置(如手機、如平板電腦、如遙控器)下達採集指令，當無線傳輸單元接收到前述的訊號後，即可進行農作物採收相關作業，配合前面提到的視覺模組60、控制器模組70的自動採收功能，讓本發明自動採集農作物。In the embodiment of the present invention, in order to achieve the purpose of automatic control, the
透過上述的說明，本發明的使用方式如下：Through the above description, the usage mode of the present invention is as follows:
1.使用時，透過該控制器模組70下達命令，讓該前輪組總成20與該後輪組總成30帶動該車架總成10與機械手總成位移40運動，當有高度落差時利用該蝸輪驅動模組50推動該前輪組總成20與該後輪組總成30產生高度變化。1. When in use, issue commands through the
2.當要進行採收農作物，則利用該夾爪模組46抓握農作物後，再由該剪枝模組45將農作物剪枝分離於果樹。2. When harvesting crops, use the
3.該視覺模組60紀錄相當多種的農作物外型，例如：蘋果、柳丁、番茄、橘子、荔枝等相關農作物的外型資料，當符合農作物外型的水果，即可利用該機械手總成40進行採收，大幅減輕農民的工作量。3. The
4.當置物籃12的農作物重量到一定值，會停止自動採集機器人進行農作物採收工作，避免農作物彼此擠壓造成農作物損傷。4. When the weight of the crops in the
5.本發明採用由前輪組總成20與後輪組總成30調整車架總成10的高度，相較於習用結構以氣壓缸或者油壓缸調整機械手總成40的高度，不僅能維持結構重心位置，更可預防翻車的問題產生。5. In the present invention, the height of the
6.本發明的另一個特點在於先用夾爪模組46夾持住農作物後，再以剪枝模組45剪切農作物，防止農作物掉落造成損傷的問題。6. Another feature of the present invention is that the crops are first clamped by the clamping
綜上所述，本發明結構均未曾見於諸書刊或公開使用，誠符合發明專利申請要件，懇請 鈞局明鑑，早日准予專利，至為感禱。To sum up, the structure of the present invention has never been seen in various books or publically used, and it sincerely meets the requirements of the invention patent application.
10:車架總成 11:車框 12:置物籃 13:車台組 131:軌道 14:軸接部 20:前輪組總成 21:前輪 211:驅動器 22:前輪下活動桿 23:前輪轉向齒輪組 231:齒輪座 232:馬達 233:齒輪 234:驅動軸 24:前輪上活動桿 25:前輪連接桿 30:後輪組總成 31:後輪 311:驅動器 32:後輪下活動桿 33:後輪轉向齒輪組 331:齒輪座 332:馬達 333:齒輪 334:驅動軸 34:後輪上活動桿 35:後輪連接桿 40:機器手總成 41:第一肘部 411:第一方向驅動單元 412:滑軌驅動單元 413:第一連接端 42:第二肘部 421:第二方向驅動單元 422:第二連接端 43:第三肘部 431:第三方向驅動單元 432:第三連接端 44:第四肘部 441:第四驅動器 45:剪枝模組 451:剪枝驅動器 452:刀刃單元 46:夾爪模組 461:夾持單元 462:夾爪驅動器 50:蝸輪驅動模組 51:蝸輪馬達 52:蝸桿 53:推動桿 60:視覺模組 70:控制器模組10: Frame assembly 11: car frame 12: storage basket 13: Car set 131: Orbit 14: Shaft joint 20: Front wheel assembly 21: Front Wheel 211: Drive 22: Active lever under the front wheel 23: Front wheel steering gear set 231: Gear seat 232: Motor 233: Gear 234: Drive shaft 24: Active lever on front wheel 25: Front wheel connecting rod 30: Rear wheel assembly 31: rear wheel 311: Drive 32: Rear wheel lower lever 33: Rear wheel steering gear set 331: Gear seat 332: Motor 333: Gear 334: Drive shaft 34: Active lever on rear wheel 35: Rear wheel connecting rod 40: Robot hand assembly 41: First Elbow 411: first direction drive unit 412: Slide rail drive unit 413: The first connection end 42: Second Elbow 421: Second direction drive unit 422: the second connection 43: Third Elbow 431: The third direction drive unit 432: The third connection 44: Fourth Elbow 441: Fourth Drive 45: Pruning module 451: Pruning Drive 452: Blade Unit 46: Gripper Module 461: Clamping unit 462: Gripper driver 50: Worm gear drive module 51: Worm gear motor 52: Worm 53: Push rod 60: Visual Mods 70: Controller module
圖1是本發明的結構立體圖。 圖2是本發明的結構另一視角立體圖。 圖3是本發明的車架總成結構圖。 圖4是本發明的前輪組總成結構分解圖。 圖5是圖4的分解圖。 圖6是本發明的後輪組總成結構分解圖。 圖7是圖6的分解圖。 圖8是本發明的蝸輪驅動模組結構圖。 圖9是本發明機械手總成的結構圖。 圖10是第一肘部的動作圖。 圖11是第二肘部的動作圖。 圖12是第三肘部的動作圖。 圖13是第四肘部的動作圖。 圖14是剪枝模組與夾爪模組的結構圖。 圖15是本發明設有視覺模組與控制器模組的結構方塊圖。FIG. 1 is a perspective view of the structure of the present invention. FIG. 2 is a perspective view of the structure of the present invention from another perspective. FIG. 3 is a structural diagram of the frame assembly of the present invention. FIG. 4 is an exploded view of the structure of the front wheel assembly of the present invention. FIG. 5 is an exploded view of FIG. 4 . FIG. 6 is an exploded view of the structure of the rear wheel assembly of the present invention. FIG. 7 is an exploded view of FIG. 6 . FIG. 8 is a structural diagram of the worm gear drive module of the present invention. FIG. 9 is a structural diagram of the manipulator assembly of the present invention. FIG. 10 is an operation diagram of the first elbow. Fig. 11 is an operation diagram of the second elbow. Fig. 12 is an operation diagram of the third elbow. FIG. 13 is an operation diagram of the fourth elbow. FIG. 14 is a structural diagram of the pruning module and the clamping jaw module. FIG. 15 is a block diagram of the structure of the present invention with a vision module and a controller module.
10:車架總成10: Frame assembly
11:車框11: car frame
12:置物籃12: storage basket
13:車台組13: Car set
131:軌道131: Orbit
14:軸接部14: Shaft joint
20:前輪組總成20: Front wheel assembly
21:前輪21: Front Wheel
22:前輪下活動桿22: Active lever under the front wheel
23:前輪轉向齒輪組23: Front wheel steering gear set
24:前輪上活動桿24: Active lever on front wheel
25:前輪連接桿25: Front wheel connecting rod
30:後輪組總成30: Rear wheel assembly
31:後輪31: rear wheel
33:後輪轉向齒輪組33: Rear wheel steering gear set
40:機器手總成40: Robot hand assembly
45:剪枝模組45: Pruning module
46:夾爪模組46: Gripper Module
Claims (9)
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| TW109119981A TW202146185A (en) | 2020-06-12 | 2020-06-12 | Robot for automatically harvesting crops |
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| TW109119981A TW202146185A (en) | 2020-06-12 | 2020-06-12 | Robot for automatically harvesting crops |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586549A (en) * | 2022-01-21 | 2022-06-07 | 中国农业科学院兰州畜牧与兽药研究所 | Crop rapid collecting device and using method thereof |
| CN114600644A (en) * | 2022-04-19 | 2022-06-10 | 江苏农林职业技术学院 | Omnidirectional movement tealeaves on self-adaptation ground picks device |
| TWI802329B (en) * | 2022-03-22 | 2023-05-11 | 台達電子工業股份有限公司 | Mobile robot and stabilization method for the mobile robot |
-
2020
- 2020-06-12 TW TW109119981A patent/TW202146185A/en unknown
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114586549A (en) * | 2022-01-21 | 2022-06-07 | 中国农业科学院兰州畜牧与兽药研究所 | Crop rapid collecting device and using method thereof |
| TWI802329B (en) * | 2022-03-22 | 2023-05-11 | 台達電子工業股份有限公司 | Mobile robot and stabilization method for the mobile robot |
| CN114600644A (en) * | 2022-04-19 | 2022-06-10 | 江苏农林职业技术学院 | Omnidirectional movement tealeaves on self-adaptation ground picks device |
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