JP2021088009A - Robot hand and agricultural robot - Google Patents

Abstract

To simplify a structure of opening and closing a gripping claw.SOLUTION: A robot hand includes a gripping claw capable of gripping a crop, a claw mounting member that is a claw mounting member openably and closably mounted with the gripping claw and is liftable, an interlocking member interlocked with opening and closing operations of the gripping claw, and an engagement part engageable with the interlocking member. The gripping claw is opened along a surface of the crop from a closed state by reaction force from the crop by dropping the claw mounting member and pressing the gripping claw against the crop, the engagement member is displaceable between an engagement release state that is liftable, is separated downward from the interlocking member and permits opening/closing the gripping claw, and a state that is displaceable with an engagement state engaged with the interlocking member from the bottom, and moves the gripping claw to the closed state by rising in the engagement state and pulling up the interlocking member.SELECTED DRAWING: Figure 16

Description

The present invention relates to robot hands and agricultural robots.

Conventionally, the robot hand disclosed in Patent Document 1 is known.
The robot hand disclosed in Patent Document 1 has a gripping claw that can grip an object. The grip claws are connected to the cylinder body, and a gear system that is a mechanism for opening and closing the grip claws is built in the cylinder body.

Japanese Patent No. 5092128

In the robot hand disclosed in Patent Document 1, since the opening and closing of the gripping claw is controlled by the gear system, the structure of opening and closing the gripping claw is complicated.
In view of the above problems, an object of the present invention is to simplify the structure for opening and closing the gripping claws.

The robot hand according to one aspect of the present invention has a gripping claw capable of gripping a crop, a claw mounting member to which the gripping claw can be opened and closed, and a claw mounting member that can be raised and lowered, and an operation of opening and closing the gripping claw. An interlocking member and an engaging member that can be engaged with and disengaged from the interlocking member are provided, and the gripping claw is obtained from the crop by lowering the claw mounting member and pressing the gripping claw against the crop. A disengaged state in which the engaging member opens along the surface of the crop from a closed state by a reaction force, and the engaging member can be raised and lowered, and is separated downward from the interlocking member to allow opening and closing of the gripping claw. The gripping claws are moved to the closed state by being displaceable to the engaged state in which the interlocking member is engaged from below, and by ascending in the engaged state and pulling up the interlocking member.

Further, a support body that supports the claw mounting member so as to swing up and down around the pivot axis and a drive unit provided on the support body are provided, and the drive unit is powered by the power unit and the power unit. It has a drive mechanism for forcibly opening and closing the gripping claw by swinging the claw mounting member up and down around the pivot axis.
Further, the power unit is composed of a motor, and the drive mechanism meshes with the first gear rotationally driven by the motor and the claw mounting member to swing up and down around the pivot axis. It has a second gear.

Further, an elevating body that is arranged above the support and can be raised and lowered, and a telescopic link mechanism that is vertically expandable and expandable and connects the elevating body and the support so as to be relatively movable. The elevating body is lowered with respect to the support by contracting the telescopic link mechanism in a state where the gripping claws are in contact with the crop and the lowering of the support is restricted. The mounting member has a contact portion with which the elevating body comes into contact when the elevating body descends with respect to the support.

Further, the engaging member is provided in the elevating body and is in the disengaged state in a state where the elevating body moves up and down together with the elevating body and the elevating body is in contact with the contact portion.
Further, the claw mounting member has a regulating portion that regulates the movement of the gripping claw in the closing direction when the interlocking member comes into contact with the gripping claw in a closed state.
Further, it is provided with a closing spring that urges the gripping claw in the closing direction.

Further, the agricultural robot according to one aspect of the present invention includes the above-mentioned robot hand.

According to the robot hand described above, the gripping claw opens along the surface of the crop from the closed state by the reaction force of the crop when pressed against the crop, and closes by raising the engaging member and pulling up the interlocking member. This makes it possible to simplify the structure for opening and closing the gripping claws. Further, when the gripping claw is pressed against the crop and opens along the surface of the crop, the ivy and leaves on the surface of the crop can be removed by the gripping claw.

It is a side view of an agricultural robot. It is a top view of an agricultural robot. It is a perspective view of an airframe and a manipulator. It is a side view of the airframe and a manipulator. It is a top view of the traveling device. It is a side view of a traveling device. It is a side sectional view of the mounting part of a manipulator. It is a top view of the arm. It is a perspective view of the mounting part. It is a top view of the rear part of the fuselage. It is a side view of an agricultural robot in a working posture. It is a top view explaining the rotation regulation in a working posture. It is a top view which shows the positioning of a storage posture. It is a block diagram which shows the system configuration. It is a perspective view which shows the watermelon as a crop. It is a perspective view which shows the melon as a crop. It is a perspective view which shows the pumpkin as a crop. It is a rear view which shows the attitude control of a traveling body. It is a figure which shows the map of the position and the growth situation of a crop. It is a top view for demonstrating the harvesting work of a crop. It is a side view of a robot hand. It is a side view of the elevating body. It is a side view of an elevating body, a link mechanism, and an upper body. It is a side view of the mechanism which forcibly opens and closes a gripping claw. It is a side view which shows the relationship between an elevating body and a claw mounting member. It is a side view which shows the relationship between the gripping claw and the engaging part. It is a side view which shows the operation of a robot hand. It is a side view which shows the operation of a robot hand. It is a side view which shows the operation of a robot hand. It is a side view which shows the closing operation of a gripping claw. It is a side view which shows the operation which forcibly opens a gripping claw. It is the whole plan view of the grade discriminating harvesting apparatus. It is a side view of an agricultural robot. It is a side view of an agricultural robot in a working posture. It is a partially enlarged view of a robot hand. It is a block diagram which shows the system configuration. It is a perspective view which shows another example of an agricultural robot. It is a perspective view which shows another example of an agricultural robot. It is a perspective view which shows another example of an agricultural robot. It is a side view of an agricultural robot. It is a top view of an agricultural robot. It is a side view of the airframe and a manipulator. It is a side view of an agricultural robot in a working posture. It is a block diagram which shows the system configuration. It is a side sectional view which shows another example of the mounting part of a manipulator.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings as appropriate.
1 and 2 illustrate an agricultural robot 1 for harvesting crop 2. The agricultural robot 1 is used for harvesting heavy vegetables and fruits, which are relatively heavy crops 2 such as watermelons, melons, and pumpkins. The agricultural robot 1 is an autonomous harvesting robot. That is, the agricultural robot 1 autonomously travels and determines and harvests the crop 2 to be harvested by autonomous determination.

The crop 2 to be harvested is not limited to the above-mentioned crop 2. The agricultural robot 1 may be used for work other than harvesting, for example, spraying pesticides and fertilizers.
In the following description, the direction indicated by the arrow A1 will be referred to as a front direction, the direction indicated by the arrow A2 will be referred to as a rearward direction, and the direction indicated by the arrow A3 will be referred to as a front-rear direction in FIGS. 1 and 2. Therefore, the direction indicated by the arrow B1 in FIG. 2 (front side in FIG. 1) is to the left, and the direction indicated by the arrow B2 in FIG. 2 (back side in FIG. 1) is to the right. Further, the horizontal direction orthogonal to the front-rear direction A3 will be described as the body width direction (direction of arrow B3 in FIG. 2).

As shown in FIG. 1, the agricultural robot 1 has a traveling body 3 that autonomously travels, a manipulator 4 mounted on the traveling body 3, and an imaging device (first imaging device) 5A.
The traveling body 3 has a body 6 and a traveling device 7 that supports the body 6 so as to travel.
As shown in FIGS. 3 and 4, the airframe 6 has a main frame 6A and a prime mover frame 6B. The main frame 6A has a pair of first frames 6Aa arranged at intervals in the body width direction B3, and a pair of second frames 6Abs arranged below each first frame 6Aa at intervals. ing. The first frame 6Aa and the second frame 6Ab are connected by a plurality of vertical frames 6Ac. The vertical frame 6Ac includes the front part between the left first frame 6Aa and the left second frame 6Ab, the front part between the right first frame 6Aa and the right second frame 6Ab, and the left first frame 6Aa. It is provided between the rear part of the left second frame 6Ab and the rear part of the right first frame 6Aa and the right second frame 6Ab.

The left first frame 6Aa and the right first frame 6Aa are connected by a first horizontal frame 6Ad to a fifth horizontal frame 6Ah arranged between the first frame 6Aa. The first horizontal frame 6Ad to the fifth horizontal frame 6Ah are arranged in parallel at intervals in the front-rear direction A3 from the front end to the rear end of the first frame 6Aa.
The front parts of the second frame 6Ab are connected to each other by the sixth horizontal frame 6Aj, and the rear parts of the second frame 6Ab are connected to each other by the seventh horizontal frame 6Ak.

The prime mover frame 6B is arranged below the main frame 6A. The prime mover frame 6B has a front frame 6Ba, a rear frame 6Bb, a plurality of connecting frames 6Bc, and a plurality of mounting frames 6Bd. The upper part of the front frame 6Ba is attached to the front part of the left and right second frames 6Ab. The upper part of the rear frame 6Bb is attached to the front part of the left and right second frames 6Ab. The plurality of connecting frames 6Bc connect the front frame 6Ba and the lower part of the rear frame 6Bb. The plurality of mounting frames 6Bd are fixed to the central portion of the connecting frame 6Bc in the front-rear direction A3.

As shown in FIG. 4, a prime mover (engine) E1 is attached to the attachment frame 6Bd. A hydraulic pump P1 is attached to the prime mover E1. The hydraulic pump P1 is driven by the prime mover E1. Further, the prime mover frame 6B is equipped with a hydraulic oil tank (not shown) for storing the hydraulic oil discharged from the hydraulic pump P1.
As shown in FIG. 2, a plurality of control valves (first control valves CV1 to fourth control valves CV4) for controlling the traveling device 7 are mounted on the main frame 6A (airframe 6).

As shown in FIGS. 1 and 2, the traveling device 7 is composed of a wheel-type (four-wheel type) traveling device 7 having four wheels 8. Specifically, the traveling device 7 includes a first wheel 8La (left front wheel) arranged on the left side of the front part of the airframe 6, a second wheel 8Ra (right front wheel) arranged on the right side of the front part of the airframe 6, and the airframe 6. It includes a third wheel 8Lb (left rear wheel) arranged on the left side of the rear part and a fourth wheel 8Rb (right rear wheel) arranged on the right side of the rear part of the fuselage 6. The traveling device 7 may be composed of a wheel-type traveling device having at least three wheels 8. Further, the traveling device 7 may be a crawler type traveling device.

The traveling device 7 has a wheel support 9 that supports the wheels 8. The number of wheel supports 9 corresponding to the wheels 8 is provided. That is, the traveling device 7 includes a first wheel support 9La that supports the first wheel 8La, a second wheel support 9Ra that supports the second wheel 8Ra, a third wheel support 9Lb that supports the third wheel 8Lb, and a second wheel support 7. It has a fourth wheel support 9Rb that supports four wheels 8Rb.

As shown in FIGS. 5 and 6, the wheel support 9 includes a traveling frame 10, a steering cylinder C1, a first elevating cylinder C2, a second elevating cylinder C3, and a traveling motor M1. ..
The traveling frame 10 has a main support 10A, a swing frame 10B, and a wheel frame 10C. The main support 10A is possibly supported by the machine body 6 around the vertical axis (the axis extending in the vertical direction). Specifically, the main support 10A is rotatably supported by a support bracket 11 fixed to the machine body 6 via a first support shaft 12A having an axial center extending in the vertical direction.

As shown in FIG. 2, the support bracket 11 that pivotally supports the first wheel support 9La is provided on the left side of the front portion of the airframe 6, and the support bracket 11 that pivotally supports the second wheel support 9Ra is the front portion of the airframe 6. The support bracket 11 provided on the right side and pivotally supporting the third wheel support 9Lb is provided on the rear left side of the airframe 6, and the support bracket 11 pivotally supporting the fourth wheel support 9Rb is provided on the rear right side of the airframe 6. ing.

The swing frame 10B is supported by the main support 10A so as to be swingable up and down. Specifically, the upper portion of the swing frame 10B is rotatably supported by the main support body 10A via the second support shaft 12B about a horizontal axis (an axial center extending in the body width direction B3).
The front upper part of the swing frame 10B of the first wheel support 9La and the second wheel support 9Ra is pivotally supported by the main support 10A, and the swing frame 10B of the third wheel support 9Lb and the fourth wheel support 9Rb is The upper rear part is pivotally supported by the main support 10A.

The wheel frame 10C is supported by the swing frame 10B so as to be swingable up and down. Specifically, the wheel frame 10C is rotatably supported by the swing frame 10B via a third support shaft 12C around a horizontal axis.
The rear part of the wheel frame 10C of the first wheel support 9La and the second wheel support 9Ra is pivotally supported by the rear part of the swing frame 10B, and the wheel frame 10C of the third wheel support 9Lb and the fourth wheel support 9Rb is front. The portion is pivotally supported by the front portion of the swing frame 10B.

The steering cylinder C1, the first elevating cylinder C2, and the second elevating cylinder C3 are composed of a hydraulic cylinder.
The steering cylinder C1 is provided between the machine body 6 and the main support body 10A. Specifically, one end of the steering cylinder C1 is pivotally supported by a cylinder bracket 14A fixed to the central portion of the first frame 6Aa in the front-rear direction A3, and the other end of the steering cylinder C1 is fixed to the main support 10A. It is pivotally supported by the cylinder bracket 14B. By expanding and contracting the steering cylinder C1, the traveling frame 10 swings around the first support shaft 12A, and the directions of the wheels 8 (first wheel 8La to fourth wheel 8Rb) can be changed (steered). .. In the traveling device 7 of the present embodiment, each wheel 8 can be steered independently.

One end of the first elevating cylinder C2 is pivotally supported by the swing frame 10B, and the other end is pivotally supported by the first link mechanism 15A. The first link mechanism 15A has a first link 15a and a second link 15b. One end of the first link 15a is pivotally supported by the main support 10A, and one end of the second link 15b is pivotally supported by the swing frame 10B. The other ends of the first link 15a and the second link 15b are pivotally supported by the other ends of the first elevating cylinder C2. By expanding and contracting the first elevating cylinder C2, the swing frame 10B swings up and down around the second support shaft 12B.

One end of the second elevating cylinder C3 is pivotally supported by the front portion of the swing frame 10B, and the other end is pivotally supported by the second link mechanism 15B. The second link mechanism 15B has a first link 15c and a second link 15d. One end of the first link 15c is pivotally supported by the swing frame 10B, and one end of the second link 15d is pivotally supported by the wheel frame 10C. The other ends of the first link 15c and the second link 15d are pivotally supported by the other ends of the second elevating cylinder C3. By expanding and contracting the second elevating cylinder C3, the wheel frame 10C swings up and down around the third support shaft 12C.

The wheels 8 can be moved up and down in parallel by combining the vertical swing of the swing frame 10B by the first lift cylinder C2 and the vertical swing of the wheel frame 10C by the second lift cylinder C3.
The traveling motor M1 is formed by a hydraulic motor. The traveling motor M1 is provided corresponding to each wheel 8. That is, the traveling device 7 drives the traveling motor M1 for driving the first wheel 8La, the traveling motor M1 for driving the second wheel 8Ra, the traveling motor M1 for driving the third wheel 8Lb, and the fourth wheel 8Rb. It has a traveling motor M1. The traveling motor M1 is arranged inside the wheel 8 in the body width direction B3 and is attached to the wheel frame 10C. The traveling motor M1 is driven by the hydraulic oil discharged from the hydraulic pump P1 and is capable of forward and reverse rotation. By reversing the traveling motor M1 in the forward and reverse directions, the rotation of the wheels 8 can be switched between the forward rotation direction and the reverse rotation direction.

The second wheel support 9Ra, the third wheel support 9Lb, and the fourth wheel support 9Rb have the same components as the components constituting the wheel support 9La. The second wheel support 9Ra is symmetrically configured with the wheel support 9La. The third wheel support 9Lb has a form in which the second wheel support 9Ra is rotated by 180 ° around the center axis in the vertical direction passing through the center of the machine body 6. The fourth wheel support 9Rb has a form in which the wheel support 9La is rotated by 180 ° around the center axis.

The hydraulic actuator mounted on the first wheel support 9La is controlled by the first control valve CV1. The hydraulic actuator mounted on the second wheel support 9Ra is controlled by the second control valve CV2. The hydraulic actuator mounted on the third wheel support 9Lb is controlled by the third control valve CV3. The hydraulic actuator mounted on the fourth wheel support 9Rb is controlled by the fourth control valve CV4.

Therefore, the first wheel 8La to the fourth wheel 8Rb can be steered independently. Further, the first wheel 8La to the fourth wheel 8Rb can be raised and lowered independently.
In the traveling device 7, the traveling body 3 can be steered by steering the first wheel 8La to the fourth wheel 8Rb. The traveling body 3 can be advanced by rotating the first wheel 8La to the fourth wheel 8Rb in the normal direction, and the traveling body 3 can be moved backward by reversing the rotation. The traveling body 3 can be raised and lowered by raising and lowering the first wheel 8La to the fourth wheel 8Rb. By raising and lowering the first wheel 8La and the second wheel 8Ra with respect to the third wheel 8Lb and the fourth wheel 8Rb, or by raising and lowering the third wheel 8Lb and the fourth wheel 8Rb with respect to the first wheel 8La and the second wheel 8Ra. The body 6 can be tilted forward or backward by moving up and down. By raising and lowering the first wheel 8La and the third wheel 8Lb with respect to the second wheel 8Ra and the fourth wheel 8Rb, or by raising and lowering the second wheel 8Ra and the fourth wheel 8Rb with respect to the first wheel 8La and the third wheel 8Lb. By moving up and down, the machine body 6 can be inclined so that one side of the body width direction B3 is higher than the other side.

The manipulator 4 is a device capable of harvesting at least crop 2 in the present embodiment. As shown in FIGS. 3 and 4, the manipulator 4 is provided on the mounting body 16 detachably attached to the traveling body 3 (machine body 6), the arm 17 attached to the mounting body 16, and the arm 17. It is equipped with a robot hand 18 capable of gripping a crop (object) 2.
As shown in FIG. 1, the mounting body 16 is provided at the rear portion of the traveling body 3 in the present embodiment. The mounting body 16 may be provided at the front portion of the traveling body 3. That is, it suffices that the traveling body 3 is provided so as to be biased to one side from the central portion in the front-rear direction A3. Further, in the present embodiment, since the agricultural robot 1 advances the traveling body 3 forward to perform the harvesting work, the mounting body 16 is biased to the opposite direction of the traveling direction, which is the direction opposite to the traveling direction. It is provided.

As shown in FIG. 7, the mounting body 16 is rotated by a mounting portion 19 that is detachably mounted on the traveling body 3 and a rotating shaft 20 that is rotatably supported by the mounting portion 19 around the vertical axis. It has a rotation motor M2 that rotationally drives the shaft 20, and a rotation frame 21 that rotates integrally with the rotation shaft 20.
As shown in FIGS. 7 and 9, the mounting portion 19 is formed of a housing in which the main body portion 19A opens downward. A first plate member 19B is fixed to the front portion and a second plate member 19C is fixed to the rear portion of the lower portion of the main body portion 19A. The first plate member 19B extends downward from the rear end of the first wall 19a fixed to the lower front surface of the mounting portion 19, the second wall 19b extending rearward from the lower end of the first wall 19a, and the rear end of the second wall 19b. It has a third wall 19c and a fourth wall 19d extending rearward from the lower end of the third wall 19c. The second plate member 19C has a first wall 19e fixed to the lower part of the rear surface of the mounting portion 19, a second wall 19f extending forward from the lower end of the first wall 19e, and a second wall 19f extending downward from the front end of the second wall 19f. It has a third wall 19g and a fourth wall 19h extending forward from the lower end of the third wall 19g. The fourth wall 19d and the fourth wall 19h are connected by a plurality of connecting members 19D.

As shown in FIG. 7, the engaging portion 19E is composed of the third wall 19c, 19g, the fourth wall 19d, 19h, and the plurality of connecting members 19D. That is, the mounting portion 19 has an engaging portion 19E that projects downward toward the lower side. The engaging portion 19E can be inserted between the fourth horizontal frame 6Ag (first mounting frame) and the fifth horizontal frame 6Ah (second mounting frame).

As shown in FIGS. 7 and 10, a pair of mounting plates 22A arranged side by side in the body width direction B3 are fixed to the lower surface of the fourth horizontal frame 6Ag so as to project rearward. Further, on the lower surface of the fifth horizontal frame 6Ah, a pair of mounting plates 22B arranged side by side in the body width direction B3 are fixed in a forward protruding shape. The mounting plate 22A and the mounting plate 22B are connected by a connecting plate 23. Plate members 6D are fixed to the left and right portions of the machine body 6 on the upper surface side of the machine body 6, respectively. Between the left and right plate members 6D and between the 4th horizontal frame 6Ag and the 5th horizontal frame 6Ah is an insertion portion 6E (see FIG. 10) into which the engaging portion 19E is inserted.

As shown in FIG. 7, by inserting the engaging portion 19E between the fourth horizontal frame 6Ag and the fifth horizontal frame 6Ah, the machine body 6 (running body 3) can hold the mounting portion 19. Specifically, the second wall 19b is placed on the upper surface of the fourth horizontal frame 6Ag, and the third wall 19c abuts on the rear surface of the fourth horizontal frame 6Ag. The fourth wall 19d is mounted on the mounting plate 22A. Further, the second wall 19f is placed on the upper surface of the fifth horizontal frame 6Ah, and the third wall 19g abuts on the front surface of the fifth horizontal frame 6Ah. The fourth wall 19h is mounted on the mounting plate 22B. As a result, the machine body 6 holds the mounting portion 19. In other words, the mounting portion 19 can be easily held. It is also easy to put on and take off.

In the present embodiment, the connecting member 19D is formed of an angle member, and a nut member (not shown) is fixed to the upper portion. By screwing a bolt that penetrates the connecting plate 23, the mounting plates 22A, 22B, and the connecting member 19D from below into the nut member, the engaging portion 19E (mounting portion 19) is detachably fixed by the bolt. Can be done.
As described above, the mounting body 16 is removable from the traveling body 3 (machine body 6).

By removing the mounting portion 19 (mounting body 16) from the machine body 6, the manipulator 4 can be removed and replaced with a manipulator of a type different from that of the manipulator 4 of the present embodiment.
As shown in FIG. 7, a shaft support 24 for supporting the rotating shaft 20 is erected on the mounting portion 19. The shaft support 24 has a hollow base portion 24A fixed to the upper surface of the mounting portion 19 and a support cylinder 24B protruding upward from the base portion 24A.

As shown in FIG. 7, the rotating shaft 20 has an axial center (rotating axial center J1) extending in the vertical direction, and is inserted into the support cylinder 24B and the rotating shaft center J1 is inserted into the support cylinder 24B. It is rotatably supported around it.
The rotary motor M2 is composed of, for example, an electric motor capable of forward and reverse rotation. The rotary motor M2 is operated by electric power supplied from a battery (not shown) mounted on the traveling body 3. The rotary motor M2 may be composed of a hydraulic motor operated by a hydraulic pump P1 mounted on the traveling body 3.

As shown in FIG. 7, the rotary motor M2 is housed inside the mounting portion 19 and mounted on the upper wall 19k of the mounting portion 19. The rotary motor M2 has an output shaft Ma protruding upward from the mounting portion 19. The output shaft Ma of the rotary motor M2 is integrally rotatably connected to the lower portion of the rotary shaft 20. Therefore, the rotary shaft 20 is driven by the rotary power output from the rotary motor M2 so as to be capable of forward and reverse rotation around the rotary shaft center J1.

As shown in FIG. 7, the rotating frame 21 is rotatably supported around the rotation axis J1 by the shaft support body 24. Therefore, the rotating frame 21 is rotatably attached to the mounting portion 19 around the rotation axis J1. In other words, the rotating frame 21 is rotatably supported by the machine body 6 (running body 3) around the vertical axis. Specifically, the rotating frame 21 has a frame main body 25, an arm bracket 26, and a cylinder bracket 27. The frame body 25 has a rotating portion 25A. The rotating portion 25A surrounds the support cylinder 24B and is rotatably supported around the rotation shaft center J1 by the support cylinder 24B via the bearing 28A and the bearing 28B. Further, the rotating portion 25A has a connecting portion 25Aa connected to the upper portion of the rotating shaft 20 by a spline coupling or the like, and rotates integrally with the rotating shaft 20. That is, the rotation frame 21 can be rotated around the rotation axis J1 by the rotation motor M2. By rotating the rotating frame 21, the robot hand 18 can be moved (changed in position) in the circumferential direction around the rotation axis J1.

As shown in FIG. 3, the frame main body 25 has a pair of frame members 25B that sandwich the rotating portion 25A in a direction orthogonal to the rotation axis J1. Each frame member 25B is fixed to the rotating portion 25A. As shown in FIG. 7, the upper portion of each frame member 25B projects upward from the rotating portion 25A. An arm bracket 26 is fixed so as to project upward between the upper parts of the pair of frame members 25B. The cylinder bracket 27 is attached to the front portion of the arm bracket 26 and the rotating portion 25A. The cylinder bracket 27 has a cylinder mounting portion 27a at the lower portion.

As shown in FIGS. 3 and 4, the arm 17 is supported by a rotating frame 21 (arm bracket 26) so as to be vertically swingable, and can be bent and extended in the middle portion in the longitudinal direction. The arm 17 has a main arm 29 and a sub arm 30.
The main arm 29 is pivotally supported by the rotating frame 21 so as to be vertically swingable, and can be bent and stretched. Specifically, the main arm 29 includes a first arm portion 31 swingably supported by the rotating frame 21 and a second arm portion 32 swingably supported by the first arm portion 31. It is possible to bend and stretch by swinging the second arm portion 32 with respect to the first arm portion 31.

The base side 31a of the first arm portion 31 is pivotally supported by the arm bracket 26. As shown in FIGS. 3 and 8, the first arm portion 31 has a first arm frame 31L and a second arm frame 31R. The first arm frame 31L and the second arm frame 31R are arranged side by side in the body width direction B3 and are connected to each other by a connecting pipe 31A or the like. The upper part of the arm bracket 26 is inserted between the base side 31a of the first arm frame 31L and the second arm frame 31R, and via an arm pivot 33A (referred to as the first arm pivot) having an axial center extending in the body width direction B3. The base side 31a of the first arm frame 31L and the second arm frame 31R is rotatably supported by the arm bracket 26 around the axis of the first arm pivot 33A.

The first arm frame 31L and the second arm frame 31R are formed of hollow members. The length of the first arm portion 31 is formed to be shorter than the length of the traveling body 3 (machine body 6) in the front-rear direction A3.
As shown in FIG. 4, the first arm portion 31 has a cylinder mounting portion 31b on the base portion side 31a and closer to the tip end side 31c than the first arm pivot 33A. A first arm cylinder (first hydraulic cylinder) C4 is provided over the cylinder mounting portion 31b and the cylinder mounting portion 27a of the cylinder bracket 27. The first arm cylinder C4 expands and contracts by being driven by hydraulic oil discharged from a hydraulic pump P1 provided on the traveling body 3. By expanding and contracting the first arm cylinder C4, the first arm portion 31 swings up and down. The robot hand 18 can be raised and lowered by swinging the first arm portion 31 (arm 17) up and down. The first arm cylinder C4 is provided with a first stroke sensor S1 that detects the stroke of the first arm cylinder C4.

As shown in FIG. 4, a pivot member 31B is fixed to the tip end side 31c of the first arm portion 31. Specifically, the pivot member 31B has a base portion 31Ba inserted between the first arm frame 31L and the second arm frame 31R and fixed to the first arm frame 31L and the second arm frame 31R. A cylinder stay 34 is attached to the lower surface side of the base portion 31Ba of the pivot member 31B. The distal end side 31Bb of the pivot member 31B projects forward from the first arm frame 31L and the second arm frame 31R.

As shown in FIGS. 3 and 8, the length of the second arm portion 32 is formed to be longer than the length of the first arm portion 31. The base side 32a of the second arm portion 32 is pivotally supported by the tip end side 31Bb of the pivot member 31B. The second arm portion 32 has a third arm frame 32L and a fourth arm frame 32R. The third arm frame 32L and the fourth arm frame 32R are arranged side by side in the body width direction B3 and are connected to each other by a plurality of connecting plates 35. The third arm frame 32L and the fourth arm frame 32R are formed of hollow members. The tip end side 31Bb of the pivot member 31B is inserted between the base side 32a of the third arm frame 32L and the fourth arm frame 32R. The third arm frame 32L and the fourth arm frame 32R (second arm portion 32) are pivotally supported by the pivot member 31B by an arm pivot (referred to as the second arm pivot) 33B having an axis extending in the body width direction B3. ing.

A cylinder mounting portion 32c is provided on the base side 32a of the second arm portion 32 and closer to the tip end side 32b than the second arm pivot 33B. A second arm cylinder (second hydraulic cylinder) C5 is provided over the cylinder mounting portion 32c and the cylinder stay 34. The second arm cylinder C5 expands and contracts by being driven by hydraulic oil discharged from the hydraulic pump P1 provided on the traveling body 3. By expanding and contracting the second arm cylinder C5, the second arm portion 32 swings with respect to the first arm portion 31, and the main arm 29 (arm 17) bends and stretches (bends and stretches). In the present embodiment, the main arm 29 is linear in the most extended state, but may be slightly bent in the most extended state.

Further, by expanding and contracting the second arm cylinder C5, the robot hand 18 can be moved in the perspective direction with respect to the traveling body 3. Specifically, the robot hand 18 can be moved in a direction away from the traveling body 3 by extending the second arm cylinder C5, and the robot hand 18 can be moved closer to the traveling body 3 by contracting the second arm cylinder C5. Can be moved to.

As shown in FIG. 4, the second arm cylinder C5 is provided with a second stroke sensor S2 that detects the stroke of the second arm cylinder C5.
As shown in FIGS. 4 and 8, in the present embodiment, the plurality of connecting plates 35 are orthogonal to the longitudinal direction of the second arm portion 32 and the directions in which the third arm frame 32L and the fourth arm frame 32R face each other. A set of two connecting plates 35, which are arranged so as to face each other in the direction orthogonal to the above, are provided in four sets at intervals in the longitudinal direction of the second arm portion 32.

In the present embodiment, the first arm portion 31 and the second arm portion 32 are formed with high rigidity by connecting two hollow members. Further, the first arm frame 31L and the second arm frame 31R constituting the first arm portion 31 and the third arm frame 32L and the fourth arm frame 32R constituting the second arm portion 32 are composed of hollow members. As a result, it is possible to arrange a flood control member such as a hydraulic hose or a harness inside the first arm frame 31L to the fourth arm frame 32R. As a result, it is possible to prevent damage to the hydraulic hose and the harness. Further, the tip end side of the piston rod of the first arm cylinder C4 is inserted and connected between the first arm frame 31L and the second arm frame 31R, and between the third arm frame 32L and the fourth arm frame 32R. By inserting and connecting the tip end side of the piston rod of the second arm cylinder C5 to the cylinder, a compact configuration can be obtained.

The sub arm 30 is provided on the second arm portion 32 so as to be projectable and retractable. Therefore, the length of the arm 17 can be expanded and contracted by projecting and retracting the sub-arm 30. As shown in FIGS. 4 and 8, the sub-arm 30 is formed linearly by a square pipe. The sub-arm 30 is supported so as to be movable in the longitudinal direction between the tip end side (front portion) of the third arm frame 32L and the fourth arm frame 32R. Further, the sub-arm 30 is arranged between the connecting plates 35 facing each other and can be fixed to the connecting plate 35 by a fixing tool such as a bolt. A protrusion 30a that comes into contact with the third arm frame 32L is provided on one side surface of the sub arm 30, and a protrusion 30a that comes into contact with the fourth arm frame 32R is provided on the other side surface. The protrusion 30a can suppress the rattling of the sub arm 30.

The sub-arm 30 is immersed between the third arm frame 32L and the fourth arm frame 32R at the most retracted position (last retracted position). The sub arm 30 may slightly protrude from the second arm portion 32 at the rearmost retracted position.
As shown in FIG. 4, a joint flange 30A is fixed to the tip end side of the sub arm 30. A mounting flange 36 is attached to the joining flange 30A by bolts or the like, and a suspension plate 37 is fixed to the mounting flange 36. The robot hand 18 is pivotally supported on the suspension plate 37 and suspended (see FIG. 1). That is, the robot hand 18 is swingably attached to the tip end side of the sub arm 30. A third stroke sensor S3 that measures (detects) the amount of protrusion of the sub arm 30 from the second arm portion 32 is provided on the tip end side of the second arm portion 32.

The sub-arm 30 is used, for example, at two positions, a position most protruding from the second arm portion 32 (the most protruding position) and a position most retracted with respect to the second arm portion 32. The sub-arm 30 may adjust the amount of protrusion stepwise between the most protruding position and the last retracted position, and can be fixed at an arbitrary position between the most projected position and the last retracted position. You may. Further, the sub-arm 30 may be projected and retracted by a hydraulic cylinder.

The arm 17 has a working posture W1 (see FIG. 11) facing one side (reverse traveling direction) of the front-rear direction A3 and a storage posture W2 (FIG. 11) facing the other side (traveling direction side) of the front-rear direction A3 and bending. The posture can be changed to (see 1). In the present embodiment, the working posture W1 is a posture facing the rear side of the traveling body 3 as shown in FIG. Specifically, the working posture W1 is a posture facing an arbitrary direction between the rear of the traveling body 3 and the body width direction B3. Further, the storage posture W2 is a posture facing the front of the traveling body 3 as shown in FIG.

The agricultural robot 1 performs work such as harvesting the crop 2 while the arm 17 is in the working posture W1 and within a predetermined range around the rotation axis J1. The robot hand 18 can be moved to an arbitrary position by rotating the rotating frame 21 to the left or right and raising / lowering and bending / extending the arm 17 while the arm 17 is in the working posture W1. That is, the robot hand 18 can be moved above and lowered of the crop 2 to grip the crop 2 by the robot hand 18.

As shown in FIG. 1, in the storage posture W2, the arm 17 is extended in an inclined direction in which the first arm portion 31 shifts upward as the first arm portion 31 moves forward toward the upper side of the traveling body 3, and the second arm portion 32 Is extending in an inclined direction in which the traveling body 3 shifts downward from above the middle portion of the front-rear direction A3 toward the front. The sub arm 30 is positioned at the rearmost retracted position.
In the present embodiment, a rotating frame 21 that rotatably supports the arm 17 is provided at the rear portion of the traveling body 3, and the crop 2 is harvested in a state where the arm 17 is in the working posture W1 facing the rear side. Therefore, the work range can be widened.

Further, in the working posture W1, the tip end side 31c of the first arm portion 31 is located on the rear side of the traveling body 3, whereas in the storage posture W2, the tip end side 31c of the first arm portion 31 is located. The first arm portion 31 is located above the traveling body 3 and is located behind the front end of the traveling body 3 (airframe 6) (in the illustrated example, the tip end side 31c of the first arm portion 31 is located. It is located above the substantially central portion of the traveling body 3 in the front-rear direction). As a result, the agricultural robot 1 can be made compact in the front-rear direction A3 when not in use, such as when moving or storing.

In the agricultural robot 1 of the present embodiment, the arm 17 is configured to swing by a hydraulic cylinder, so that a crop 2 such as a watermelon weighing more than 10 kg can be easily lifted and transported. Further, as the power source (hydraulic source) of the first arm cylinder C4 and the second arm cylinder C5, the hydraulic pump P1 equipped on the traveling body 3 is used (the power source for driving the hydraulic actuator on the traveling body 3 side and the manipulator 4). Since the power source that drives the side hydraulic actuator is not a separate power source), it can be configured compactly.

As shown in FIGS. 12 and 13, a rotation restricting member 38 and a positioning member 39 are provided on the upper surface side of the mounting portion 19. In the present embodiment, the rotation restricting member 38 and the positioning member 39 are each formed by one pin. The rotation restricting member 38 and the positioning member 39 are not limited to pins. The rotation restricting member 38 regulates the rotation of the rotating frame 21 when the arm 17 is in the working posture W1. By restricting the rotation of the rotating frame 21 when the arm 17 is in the working posture W1, the hydraulic hose and harness arranged on the arm 17 are prevented from being wound around the rotating frame 21 or being damaged. Can be done. The positioning member 39 regulates the rotation of the rotating frame 21 to position the arm 17 in the storage posture W2. By restricting the rotation of the rotating frame 21 by the positioning member 39, the rotating frame 21 can be quickly and accurately rotated to the position of the storage posture W2 of the arm 17.

In the present embodiment, as shown in FIG. 12, the rotation restricting member 38 is arranged on the right side (side) of the rotation frame 21. As shown in the upper part of FIG. 12, from the state in which the arm 17 extends rearward from the rotation frame 21 (rearward state W3), the rotation frame 21 is moved 90 in the first rotation direction (counterclockwise direction) indicated by the arrow Y3. When rotated by °, the rotating frame 21 (cylinder bracket) comes into contact with the rotation restricting member 38 as shown in the lower figure of FIG. As a result, the rotation of the rotating frame 21 is restricted.

In the present embodiment, as shown in FIG. 13, the positioning member 39 is arranged on the front side and the right side of the rotating frame 21. As shown in the upper part of FIG. 13, when the rotating frame 21 is rotated 180 ° in the second rotation direction (clockwise) indicated by the arrow Y4 from the position where the arm 17 is in the backward state W3, the rotating frame 21 is rotated. It comes into contact with the positioning member 39.
As described above, in the present embodiment, the rotation range from the state where the rotating frame 21 is in contact with the rotation restricting member 38 to when it rotates clockwise and comes into contact with the positioning member 39 is approximately 270 °. It is set. The rotation range of the rotation frame 21 is not limited to 270 °.

The rotation restricting member 38 is arranged on the left side of the rotation frame 21, and the rotation of the rotation frame 21 when the arm 17 is in the working posture W1 due to the rotation of the rotation frame 21 in the second rotation direction Y4. The movement may be regulated. In this case, the positioning member 39 is arranged on the front side and to the left of the rotating frame 21, and positions the arm 17 in the storage posture W2 by rotating the rotating frame 21 in the first rotation direction Y3. That is, by rotating the rotation motor M2 in the forward and reverse directions, the rotation frame 21 has a second rotation direction which is the opposite direction of the first rotation direction Y3 and the first rotation direction Y3 around the rotation axis J1. It is rotatable with Y4, and the rotation restricting member 38 regulates the rotation of the rotating frame 21 in one of the first rotation direction Y3 and the second rotation direction Y4, and the positioning member 39. Restricts the rotation of the rotation frame 21 in the other direction of the first rotation direction Y3 and the second rotation direction Y4.

As shown in FIG. 1, in the present embodiment, the image pickup apparatus 5A is attached to the rotating frame 21. Specifically, it is attached to the upper part of the arm bracket 26 via a support column 40. The image pickup device 5A may be attached to the traveling body 3 or the like without being limited to this. Further, the image pickup apparatus 5A may be provided at a plurality of locations. That is, the agricultural robot 1 may have a plurality of image pickup devices 5A. The image pickup apparatus 5A can photograph the surroundings of the traveling body 3, and acquires information on the surroundings of the traveling body 3 by photographing.

As the image pickup apparatus 5A, for example, a camera having a distance measuring function such as a stereo camera or a laser camera is adopted. The stereo camera generates parallax data of the captured image (image), and the boundary between the camera (lens) and the object (for example, the object around the agricultural robot 1 such as the crop 2 and the carrier 48 described later and the traveling area). Etc.) It is a camera that can measure (measure) the distance to. A laser camera is a camera system that uses a laser that reaches a long distance as illumination light and measures the distance between the camera and an object by taking a picture with a CCD camera.

Further, the image pickup device 5A may capture the surroundings of the traveling body 3 (front, rear, left and right) with a plurality of cameras, or may capture 360 ° around the traveling body 3 with one camera. It may be composed of an omnidirectional (360 °) camera capable of performing.
A camera capable of sensing the quality of the crop 2 (for example, a multispectral camera, a far-infrared camera, a near-infrared spectroscopic camera, etc.) may be provided on the robot hand 18, the traveling body 3, or the like. As a result, the crop 2 to be harvested can be selected and harvested while sensing the quality of the crop 2.

As shown in FIG. 14A, the agricultural robot 1 has a control device 41. The control device 41 is configured by using, for example, a microcomputer provided with a CPU (Central Processing Unit), an EEPROM (Electrically Erasable Programmable Read-Only Memory), and the like.
An imaging device 5A is connected to the control device 41. The control device 41 can acquire the information (detection information) acquired (detected) by the imaging device 5A. Based on the detection information of the image pickup device 5A, the crop 2 to be harvested, the distance from the crop 2, the boundary between the cultivated area and the passage between the cultivated areas where the crop 2 is cultivated, and the periphery of the agricultural robot 1. The state and the like can be grasped (recognized) by the control device 41.

A traveling device 7 is connected to the control device 41. The control device 41 has a travel control unit 41A. The travel control unit 41A controls the steering cylinder C1, the first elevating cylinder C2, the second elevating cylinder C3, and the traveling motor M1 based on the information (detection information) acquired by the imaging device 5A. That is, the travel control unit 41A controls the travel device 7. The traveling body 3 autonomously travels by the traveling control unit 41A performing speed control, steering control, and the like of the traveling device 7. Further, the traveling control unit 41A controls the raising / lowering, tilting, etc. of the machine body 6.

The rider (LiDAR: Light Detection And Ranging) may be used to autonomously drive the traveling body 3. The rider irradiates millions of times per second with pulsed infrared rays, etc., and measures the time it takes for the rider to bounce back and return, thereby constructing a 3D map around the vehicle 3 Remote sensing using light. It is a technology.
The first stroke sensor S1 is connected to the control device 41. The control device 41 can acquire the detection information of the first stroke sensor S1, and the control device 41 can be made to grasp the swing amount of the first arm portion 31 by the detection information of the first stroke sensor S1. Further, the second stroke sensor S2 is connected to the control device 41. The control device 41 can acquire the detection information of the second stroke sensor S2, and causes the control device 41 to grasp the swing amount of the second arm portion 32 with respect to the first arm portion 31 by the detection information of the second stroke sensor S2. Can be done.

The swing amount of the first arm portion 31 and the second arm portion 32 may be directly detected by the potentiometer, and the potentiometer value of the potentiometer may be transmitted to the control device 41.
As shown in FIG. 14A, a rotary motor M2, a first cylinder control valve 42, and a second cylinder control valve 43 are connected to the control device 41. The control device 41 has a frame control unit 41B that controls the rotation of the rotation frame 21 by controlling the rotation motor M2. The frame control unit 41B controls the rotation of the rotation frame 21 with the position of the rotation frame 21 regulated by the rotation regulation member 38 as a reference (turning origin). That is, the frame control unit 41B calculates the rotation position of the rotation frame 21 with reference to the rotation origin, and controls the rotation of the rotation frame 21. Therefore, before starting the harvesting operation (initial stage), the rotating frame 21 is once rotated to the rotation restricting member 38, and the control device 41 is made to grasp the initial position of the rotating frame 21.

The first cylinder control valve 42 and the second cylinder control valve 43 are composed of, for example, a pilot type solenoid valve. The first cylinder control valve 42 controls the first arm cylinder C4, and the second cylinder control valve 43 controls the second arm cylinder C5. The control device 41 has an arm control unit 41C that controls the swing of the first arm unit 31 and the second arm unit 32 by controlling the first cylinder control valve 42 and the second cylinder control valve 43.

The arm control unit 41C excites or degausses the first solenoid 42a and the second solenoid 42b of the first cylinder control valve 42 to move the first cylinder control valve 42 from the neutral position 42c to the first position 42d or the second position 42e. Switch to. When the position is switched to the first position 42d, the first arm cylinder C4 is extended, whereby the first arm portion 31 (arm 17) swings upward. When the position is switched to the second position 42e, the first arm cylinder C4 contracts, whereby the first arm portion 31 (arm 17) swings downward. Further, the arm control unit 41C excites or degausses the first solenoid 43a and the second solenoid 43b of the second cylinder control valve 43 to move the second cylinder control valve 43 from the neutral position 43c to the first position 43d or the second position 43d. Switch to position 43e. When the position is switched to the first position 43d, the second arm cylinder C5 is extended, whereby the second arm portion 32 swings upward. When the position is switched to the second position 43e, the second arm cylinder C5 contracts, whereby the second arm portion 32 swings downward.

As described above, the control device 41 can control the rotation of the rotating frame 21 by the rotating motor M2 by the frame control unit 41B, and the arm control unit 41C expands and contracts the first arm cylinder C4 to control the rotation of the first arm unit. It is possible to control the swing of 31 and the swing of the second arm portion 32 by the second arm cylinder C5. As a result, the control device 41 can move the robot hand 18 to an arbitrary (desired) position. Specifically, the movement of the robot hand 18 in the circumferential direction around the rotation axis J1 by the rotation of the rotation frame 21, the raising and lowering of the robot hand 18 by the vertical swing of the first arm portion 31, and the second arm portion. The robot hand 18 can be moved to a target position by moving the robot hand 18 with respect to the traveling body 3 in the perspective direction by swinging the 32. Further, the control device 41 operates the manipulator 4 so as to move the robot hand 18 to the crop 2 to be harvested based on the detection information of the image pickup device 5A.

As shown in FIG. 14A, the travel control unit 41A, the frame control unit 41B, and the arm control unit 41C perform a travel control for autonomously traveling the traveling body 3 and a harvesting operation on the manipulator 4 based on the information acquired by the imaging device 5A. It constitutes a control unit 41D that controls the operation to be performed.
As shown in FIG. 14A, the third stroke sensor S3 is connected to the control device 41. The control device 41 can acquire the detection information of the third stroke sensor S3, and the control device 41 can grasp the protrusion amount of the sub arm 30 by the detection information of the third stroke sensor S3.

By the way, even if the rotation position of the rotation frame 21 and the swing amount of the first arm portion 31 and the second arm portion 32 are the same, there are cases where the sub arm 30 is not projected and cases where the sub arm 30 is projected. The positions of the robot hands 18 are different. Therefore, the control device 41 controls the position of the robot hand 18 in consideration of the amount of protrusion of the sub arm 30.
As shown in FIG. 14A, a pressure sensor 45 is provided in the hydraulic control circuit 44 of the first arm cylinder C4 and the second arm cylinder C5. The pressure sensor 45 includes a first connecting oil passage 44a connecting the first cylinder control valve 42 and an oil chamber on the rod side (the side where the piston rod protrudes) of the first arm cylinder C4, the first cylinder control valve 42, and the first cylinder control valve 42. 1 Second connection oil passage 44b for connecting the oil chamber on the bottom side (head side) of the arm cylinder C4, the third connection for connecting the second cylinder control valve 43 and the oil chamber on the rod side of the second arm cylinder C5. It is provided in the oil passage 44c, the fourth connecting oil passage 44d connecting the second cylinder control valve 43 and the oil chamber on the bottom side of the second arm cylinder C5. The load acting on the arm 17 (first arm cylinder C4 and second arm cylinder C5) can be detected by the detection information of the pressure sensor 45.

As shown in FIG. 14A, each pressure sensor 45 is connected to the control device 41. The control device 41 can acquire the detection information of each pressure sensor 45. The control device 41 can control the force that controls the output of the hydraulic pump P1 according to the load (weight of the crop 2) acting on the arm 17.
The pressure sensor 45 does not have to be provided in both the first connecting oil passage 44a and the second connecting oil passage 44b, and may be provided in either one. Further, the pressure sensor 45 does not have to be provided in both the third connecting oil passage 44c and the fourth connecting oil passage 44d, and may be provided in only one of them.

As shown in FIG. 14A, the control device 41 has a determination unit 41E. The determination unit 41E determines the optimum harvest time of the crop 2 from the characteristics specialized for the type of the crop 2 based on the information acquired by the image pickup apparatus 5A.
When the crop 2 is watermelon, the determination unit 41E determines the optimum harvest time from the color of the tendril 2a, the striped pattern 2b on the surface, and the state of the leaves 2c, as shown in FIG. 14B. Specifically, when the tendril 2a turns dark brown (withered) up to the base, it is the optimum harvest time. In addition, the clearer the striped pattern 2b (the clearer the black color of the striped pattern), the better the harvest time. Moreover, when the state of the leaf 2c becomes yellow or dark brown and withers, it is the optimum harvest time.

When the crop 2 is a melon, the determination unit 41E determines the optimum harvest time from the state of the leaves 2d and the state of the calyx 2e, as shown in FIG. 14C. Specifically, when the state of the leaf 2d turns yellow or dark brown and withers, it is the optimum harvest time. Further, it is the optimum harvest time when a brown ring (delamination) 2 g is formed at the base of the calyx 2e and an extension portion 2j of the mesh extending toward the vine 2h is formed at the calyx 2e portion.

When the crop 2 is a pumpkin, the determination unit 41E determines the optimum harvest time from the state of the fruit stem portion 2k and the state of the leaves 2m as shown in FIG. 14D. Specifically, when the fruit stalk 2k turns brown (commonly known as corking), it is the optimum harvest time. In addition, when the state of the leaves 2 m turns yellow or dark brown and withers, it is the optimum harvest time.
As shown in FIG. 14A, the control device 41 has a balance control unit 41F. The balance control unit 41F controls the positions of the first wheel 8La to the fourth wheel 8Rb in order to balance the machine body 6, the arm 17, and the robot hand 18 (manipulator 4). Specifically, the balance control unit 41F controls the posture of the machine body 6 by raising and lowering the first wheel 8La to the fourth wheel 8Rb in order to balance the arm 17 and the robot hand 18. More specifically, as shown in FIG. 14E, when the crop 2 is harvested while the arm 17 is rotated to one side of the body width direction B3, for example, to the left side, the second one on the right side of the traveling body 3. The wheel 8Ra and the fourth wheel 8Rb are raised. Then, the aircraft 6 tilts so that the right side is lowered. As a result, the traveling body 3 and the manipulator 4 can be balanced. When the crop 2 is harvested with the arm 17 rotated to the right, the first wheel 8La and the third wheel 8Ra on the left side of the traveling body 3 are raised.

Further, when the arm 17 is extended in the inclination direction to move to the left as it goes backward, the second wheel 8Ra is raised higher than the fourth wheel 8Rb and the third wheel 8Lb is lowered. As a result, the right side of the machine body 6 is lowered and the body body 6 is tilted backward, so that the traveling body 3 and the manipulator 4 can be well balanced. When the arm 17 is extended in an inclined direction that shifts to the right as it goes backward, the first wheel 8La is raised higher than the third wheel 8Lb and the fourth wheel 8Rb is lowered.

Further, the load from the manipulator 4 acting on the traveling body 3 differs depending on the amount of extension of the arm 17 and whether or not the robot hand 18 is gripping the crop 2. Since the load of the arm 17, the robot hand 18, etc. can be grasped by the control device 41 from the detection information of the pressure sensor 45, the first wheel 8La to the fourth wheel 8La to the fourth wheel 8La to the fourth according to the load from the manipulator 4 acting on the traveling body 3. It is also possible to control the amount of elevation of the wheel 8Rb.

Further, the balance control unit 41F may add a control for changing (steering) the directions of the first wheel 8La to the fourth wheel 8Rb to the control for balancing the machine body 6, the arm 17, and the robot hand 18.
Further, by adjusting the tread of the wheels, the body 6 may be configured to balance the arm 17 and the robot hand 18.

As shown in FIG. 14A, the control device 41 has a map creation unit 41G. Before harvesting the crop 2, the map creation unit 41G autonomously travels the agricultural robot 1 in the passage 47 (see FIG. 15), and the crop 2 is based on the information (photographed information) acquired by the imaging device 5A. A map 60 (see FIG. 14E) of individual positions and growing conditions of the above is automatically generated. Specifically, as shown in FIG. 14F, the map creation unit 41G maps the positions of crops 2 (No1, No2, No3 ... Non) in the field 59 based on the information taken by the image pickup apparatus 5A. Record at 60. In addition, the growing status of crop 2 is recorded on the map 60. As for the growing situation, for example, the size of crop 2 can be considered. The size is recorded, for example, from S1 to S5. S1 indicates the smallest size. S5 indicates the largest size. The map 60 may record whether or not the harvest time is appropriate.

By grasping the position and growing situation of the crop 2 in advance and generating the map 60, it can be utilized for the subsequent work, and the next work can be performed pinpointly and with the shortest efficiency. Subsequent work includes, for example, fertilization work, watering work, weeding work and harvesting work.
Next, a case where the crop 2 is harvested will be described with reference to FIG. FIG. 15 shows a field in which watermelon as crop 2 is cultivated.

As shown in FIG. 15, in the field, there is a passage 47 between the cultivated area 46A in which the crop 2 is cultivated and the cultivated area 46B adjacent to the cultivated area 46A, and the crop 2 is on the side of the passage 47 in the cultivation process. It is brought up by the people. The traveling body 3 travels on the passage 47. Behind the traveling body 3, for example, a follow-up type self-propelled carrier 48 that follows the traveling body 3 and travels is arranged. When the crop 2 is grown closer to the aisle 47 side, the arm 17 is used in a state where the sub arm 30 does not protrude.

When harvesting the crop 2 with the agricultural robot 1 of the present embodiment, the traveling body 3 advances in the forward direction, and the manipulator 4 is in the working posture W1 (for example, the arm 17 is extended diagonally backward). The position of the robot hand 18 is controlled to harvest the crop 2. Further, based on the information acquired by the image pickup apparatus 5A, the determination unit 41E harvests the crop 2 determined to be the optimum harvest time based on the characteristics specialized for the type of the crop 2. The harvested crop 2 is loaded onto the transport vehicle 48 by controlling the position of the robot hand 18. The ivy extending from the crop 2 is cut by, for example, a cutting device (not shown) at the time of harvesting work (for example, immediately before gripping the crop 2 with the robot hand 18 or when gripping the crop 2). The cutting device is installed on the tip end side of the robot hand 18 or the arm 17.

When the crop 2 is located far from the passage 47, the arm 17 is used in a state where the sub arm 30 is projected and extended. By expanding or contracting the arm 17 by projecting or retracting the sub-arm 30, it is possible to obtain an arm dimension (arm length) according to the position and working mode of the crop 2.
After harvesting the crop 2, a rake (rake) can be attached to the tip end side of the arm 17 instead of the robot hand 18, and the ivy and leaves can be attracted (scraped) after the harvest. In this case, the arm 17 can attract ivy and leaves located far from the passage 47 by using the sub-arm 30 in a protruding state.

In the above description, the case of working while moving forward has been described, but the work can also be performed while moving backward.
The agricultural robot 1 of the present embodiment can undergo various design changes. For example, the arm 17 may not be provided with the sub arm 30. That is, the arm 17 can also be composed of the first arm portion 31 and the second arm portion 32. Further, the transport vehicle 48 in which the harvested crops 2 are housed may not be a follow-up type self-propelled transport vehicle, but may be a tow-type transport vehicle towed by the traveling body 3. That is, it may be a carrier 48 that moves behind the traveling body 3 as the traveling body 3 travels. Further, the machine body 6 may be equipped with a storage container for storing the harvested crop 2.

Next, the configuration of the robot hand 18 will be described in detail.
In the following description, the outer direction is a direction away from the center line L1 (see FIG. 16) extending in the vertical direction passing through the center of the robot hand 18 in a direction orthogonal to the center line L1 (arrow L2 direction in FIG. 16). To say. Further, the inside means a direction opposite to the outside and approaching the center line L1 (direction of arrow L3 in FIG. 16).

As shown in FIG. 16, the robot hand 18 has an elevating body 62 that can be raised and lowered. The elevating body 62 is formed of a plate material and has a connecting piece 63 at the upper part. The connecting piece 63 is pivotally connected to a suspension plate 37 provided on the tip end side of the arm 17 via a pivot axis 66 so as to be rotatable around a horizontal axis (horizontal axis). Therefore, the elevating body 62 is connected to the arm 17 and can be moved up and down by swinging the arm 17 up and down.

As shown in FIG. 17, the main body 62A of the elevating body 62 has an upper wall 67 and a plurality of extending walls 68 extending downward from the upper wall 67. A connecting piece 63 is fixed to the central portion of the upper surface of the upper wall 67. The extending wall 68 extends from the four ends of the upper wall 67. Therefore, in this embodiment, four extending walls 68 are provided. Each extending wall 68 has an upper first portion 68a, an intermediate second portion 68b, and a lower third portion 68c.

The first portion 68a extends substantially vertically downward from the upper wall 67. The upper portion of the first portion 68a is formed wider than the lower portion. The lower portion of the first portion 68a is formed so as to deviate from the center in the width direction of the upper portion to one side. The second site 68b extends downward from the lower part of the first site 68a. Further, the second portion 68b extends in an inclined direction in which the second portion 68b shifts outward as it goes downward. An L-shaped notch 69 having an upper edge 69a and a side edge 69b is formed in the lower portion of the second portion 68b. The third portion 68c extends outward from the lower end of the second portion 68b.

As shown in FIG. 17, each extending wall 68 is formed with a groove 70 that is continuous from the lower part of the second portion 68b to the third portion 68c. A pair of stays 71 arranged to face each other with the groove 70 interposed therebetween are fixed on the upper surface of the third portion 68c. The pair of stays 71 are provided with engaging members 72 so as to extend from one stay 71 to the other stay 71. In this embodiment, the engaging member 72 is formed by a pin. The engaging member 72 is provided so as to cross above the portion of the groove 70 formed in the third portion 68c.

As shown in FIG. 16, the robot hand 18 has a support 73 arranged below the elevating body 62. In other words, the elevating body 62 is arranged above the support 73.
As shown in FIG. 19, the support 73 has an upper body 74 and a lower body 75.
As shown in FIG. 18, the upper body 74 includes a base wall 74a, a plurality of upper connecting pieces 74b extending upward from the base wall 74a, and a plurality of lower connecting pieces extending downward from the base wall 74a. It has a 74c and a bearing portion 74d provided at the center of the base wall 74a. In the present embodiment, four upper connecting pieces 74b are provided, and each upper connecting piece 74b is arranged at a position corresponding to each extending wall 68. The lower connecting piece 74c is provided between the upper connecting pieces 74b, respectively. Therefore, in this embodiment, four lower connecting pieces 74c are provided. As shown in FIG. 19, the bearing portion 74d is located in the center of the upper body 74 and accommodates the bearing 74e.

As shown in FIG. 19, the lower body 75 is fixed to a plurality of lower connecting pieces 74c.
As shown in FIGS. 16 and 18, the elevating body 62 and the support 73 are connected by a plurality of telescopic link mechanisms 76. The telescopic link mechanism 76 connects the corresponding first portion 68a and the upper connecting piece 74b. Therefore, in this embodiment, four telescopic link mechanisms 76 are provided.

As shown in FIG. 18, each telescopic link mechanism 76 has a first link 76A, a second link 76B, a third link 76C, and a fourth link 76D. One end side (upper end side) of the first link 76A and the second link 76B is pivotally supported by the first portion 68a via a pin 77A. One end side of the third link 76C and the fourth link 76D is pivotally supported by the upper connecting piece 74b via the pin 77B. The other ends of the first link 76A and the third link 76C are pivotally connected by a pin 77C. The other ends of the second link 76B and the fourth link 76D are pivotally connected by a pin 77D.

The telescopic link mechanism 76 extends when the pin 77C and the pin 77D move in the approaching direction, and contracts when the pin 77C and the pin 77D move in the direction away from each other. That is, the telescopic link mechanism 76 can be expanded and contracted in the vertical direction. Therefore, the elevating body 62 and the support 73 are connected by the telescopic link mechanism 76 so as to be relatively movable in the vertical direction (proximity separation possible).

As shown in FIG. 19, the lower body 75 is provided with a plurality of pivotal branches 75a. Four pivotal support portions 75a are provided at equal intervals in the circumferential direction around the vertical axis (center line L1) passing through the center of the support 73. Each pivot 75a is provided with a pivot 78, respectively. A claw attachment member 79 is supported on each pivot portion 75a so as to be vertically swingable around the pivot 78. That is, in the present embodiment, the robot hand 18 has four (plurality) claw attachment members 79.

As shown in FIG. 20, each claw mounting member 79 is provided at a position corresponding to a notch portion 69 of each second portion 68b. Each claw mounting member 79 has a pair of bracket pieces 79a that are pivotally connected to the pivotal support portion 75a via a pivotal shaft 78. Further, the claw mounting member 79 has a regulating portion 79b located below the bracket piece 79a. Further, the claw attachment member 79 has a claw attachment portion 79c that projects outward from the lower portion of the bracket piece 79a. The upper surface of the claw mounting portion 79c is a contact portion 79d with which the upper edge 69a (elevating body 62) of the notch portion 69 abuts.

As shown in FIG. 16, each claw attachment member 79 is attached with a grip claw 81 capable of gripping the crop 2. That is, in the present embodiment, the robot hand 18 has four (plurality) gripping claws 81, and the hand portion 82 of the robot hand 18 is formed by these four gripping claws 81. In other words, the hand portion 82 is configured to have two sets of two gripping claws 81 arranged in a face-to-face manner. Each grip claw 81 has a swing link mechanism 83 and a grip portion 84. The swing link mechanism 83 is composed of a parallel link. Specifically, the swing link mechanism 83 has a first swing link 83A whose upper end side is pivotally supported on the inner side of the claw mounting portion 79c and a second swing link mechanism 83 whose upper end side is pivotally supported on the outer side of the claw mounting portion 79c. It is configured to have a swing link 83B.

The inner side of the upper portion of the grip portion 84 is pivotally supported on the lower end side of the first swing link 83A, and the outer side of the upper portion is pivotally supported on the lower end side of the second swing link 83B. As the swing link mechanism 83 swings, the grip portion 84 moves in parallel. The lower portion of the grip portion 84 extends inward from the lower side of the upper portion of the grip portion 84. The lower end side of the grip portion 84 (grip claw 81) overlaps with the hand portion 82 (grip claw 81) shown in FIG. 16 closed.

The gripping claw 81 (hand portion 82) opens and closes when the swing link mechanism 83 swings. Specifically, the gripping claw 81 (hand portion 82) opens when the swing link mechanism 83 swings outward from the state where the gripping claw 81 is closed (see the two-dot chain line in FIG. 21). Therefore, the oscillating link mechanism 83 oscillates inward to close the gripping claw 81 (hand portion 82).
As shown in FIG. 19, each gripping claw 81 is urged in the closing direction by the closing spring 85. Specifically, the closing spring 85 is formed by a torsion coil spring, and the coil portion 85a is fitted to the outside of the pivot 80 that pivotally supports the upper portion of the first swing link 83A. One end of the closing spring 85 is locked to the locking portion 83a of the first swing link 83A, and the other end 85c is locked to the claw mounting member 79.

As shown in FIG. 21, the gripping claw 81 moves in the opening direction by being pushed up by a force F1 that opposes the urging force of the closing spring 85 (see the alternate long and short dash line in FIG. 21).
As shown in FIGS. 16 and 19, the robot hand 18 has an interlocking member 86 interlocked with the opening / closing operation of the gripping claw 81. The interlocking member 86 has a base portion 86a and a lever 86b extending obliquely upward from the base portion 86a.

As shown in FIG. 19, the end of the base 86a is bolted to the top of the first swing link 83A. The base portion 86a projects inward from the upper part of the first swing link 83A. When the base portion 86a (interlocking member 86) comes into contact with the regulating portion 79b while the gripping claw 81 is closed, the movement of the gripping claw 81 in the closing direction is restricted.
As shown in FIG. 16, the lever 86b is tilted outward from the end of the base 86a, which is opposite to the end fixed to the first swing link 83A, as it goes upward. A groove 70 formed in the third portion 68c is inserted through the groove 70. Since the engaging member 72 is engaged (contacted) with the lever 86b from below with the gripping claw 81 closed, the swing of the gripping claw 81 in the opening direction is restricted. The state in which the engaging member 72 is engaged with the lever 86b from below is the engaging state X1.

As shown in FIG. 21, when the lower end of the gripping claw 81 comes into contact with the crop 2 and the elevating body 62 descends while the downward movement of the claw mounting member 79 and the support 73 is restricted, as shown by the alternate long and short dash line. In addition, the engaging member 72 descends from the engaging state X1 together with the elevating body 62 to enter the disengaging state X2 which is separated downward from the interlocking member 86. The gripping claw 81 is allowed to open and close while the engaging member 72 is in the disengaged state X2.

As shown in FIG. 19, the support 73 is provided with a drive unit 87. The drive unit 87 has a power unit 88 and a drive mechanism 89. The power unit 88 is composed of a forward / reverse reversible motor (for example, an electric motor) and is mounted on the upper body 74. The power unit 88 has an output shaft 88a that projects downward and inserts the bearing unit 74d. The drive mechanism 89 is a mechanism that forcibly opens and closes the gripping claw 81 by swinging the claw mounting member 79 up and down around the pivot 78 by the power of the power unit 88. Specifically, the drive mechanism 89 has a first gear 89A and a plurality of second gears 89B. The first gear 89A is composed of a worm, is arranged between the bearing 74e of the bearing portion 74d and the bearing 90 provided at the lower part of the lower body 75, and is rotatably supported around the vertical axis. The first gear 89A is connected to the output shaft 88a and is rotationally driven by the rotational power of the power unit 88. The second gear 89B is composed of a worm wheel that meshes with the first gear 89A and is attached to each pivot 78. Therefore, a number of second gears 89B are provided corresponding to the claw mounting member 79 and the gripping claw 81. Specifically, four second gears 89B are provided.

When the rotational power from the output shaft 88a is transmitted to each second gear 89B via the first gear 89A and each second gear 89B is rotationally driven, each pivot 78 rotates, and each claw mounting member 79 is pivot 78. It swings up and down around. Therefore, the gripping claw 81 can be forcibly opened and closed by swinging the claw mounting member 79 up and down by the power of the power unit 88. In FIG. 19, in the claw mounting member 79, the lowering position X3 shown by the solid line is the position where the gripping claw 81 (hand portion 82) is closed, and the rising position X4 shown by the alternate long and short dash line opens the gripping claw 81 (hand portion 82). The position.

In the present embodiment, the robot hand 18 has four gripping claws 81, but the robot hand 18 is not limited thereto. For example, the number of gripping claws 81 may be three or five or more. The number of the claw mounting member 79, the interlocking member 86, the engaging member 72, the second gear 89B, and the like is provided corresponding to the number of the gripping claws 81.
Next, the operation of the robot hand 18 when harvesting a crop 2 such as watermelon will be described. The following operation describes a case where the crop 2 is harvested in a state where the ivy (vine) extending from the crop 2 is cut.

As shown in FIG. 16, in a state where the support 73, the claw attachment member 79, and the gripping claw 81 (hand portion 82) are suspended from the elevating body 62 via the telescopic link mechanism 76, the telescopic link mechanism 76 extends. It is in a state of being. Further, the gripping claw 81 is in a closed state by its own weight or the urging force of the closing spring 85, the claw mounting member 79 is in the lowering position X3, and the engaging member 72 is in the engaging state X1.

When the robot hand 18 is moved above the crop 2 and lowered from the state shown in FIG. 16, first, the lower end of the gripping claw 81 comes into contact with the crop 2, and the support 73, the claw mounting member 79, and the gripping claw 81 come into contact with each other. Downward movement is restricted. Further, when the elevating body 62 is lowered, as shown in the left figure of FIG. 22, the telescopic link mechanism 76 contracts, so that the elevating body 62 lowers relative to the support 73 and the like. As shown by the alternate long and short dash line in FIG. 20, the elevating body 62 descends until the upper edge 69a of the notch portion 69 abuts on the abutting portion 79d of the claw mounting member 79. Further, as shown by the alternate long and short dash line in FIG. 21, the engaging member 72 is separated downward from the interlocking member 86 and is in the disengaged state X2, and the gripping claw 81 is in a state where it can be opened. When the upper edge 69a abuts on the abutting portion 79d, the claw attachment member 79 is pushed down by the elevating body 62, and the gripping claw resists the urging force of the closing spring 85 by the reaction force from the crop 2 acting on the gripping claw 81. 81 opens. When the claw attachment member 79 is further pushed down, the gripping claw 81 opens along the surface of the crop 2 as shown in the central figure of FIG. 22. Then, as shown in the right figure of FIG. 22, when the grip portion 84 (lower end of the grip claw 81) reaches the field scene (ground) G1, the lowering of the elevating body 62 stops.

Next, as shown in the left figure of FIG. 23, when the elevating body 62 is raised, the gripping claw 81 is closed and the crop 2 is embraced by the gripping claw 81 as shown in the second figure from the left of FIG. It is squeezed and gripped. Specifically, when the elevating body 62 is raised, as shown in FIG. 25, the engaging member 72 rises from the disengaged state X2 as the elevating body 62 rises, and the engaging member 72 lowers to the interlocking member 86. The interlocking member 86 is pulled up by raising the engaging member 72 while the engaging state X1 is brought into contact with the member. As a result, as shown by the alternate long and short dash line in FIG. 25, the gripping claw 81 moves inward to grip the crop 2.

When the engaging member 72 is in the engaged state X1, the gripping claw 81 is restricted from moving in the opening direction, so that the crop 2 can be lifted by raising the elevating body 62. As a result, as shown in the second figure from the right and the right figure of FIG. 23, the crop 2 can be moved to a desired moving place (follow-up type carrier 48 or the like).
As shown in the right figure of FIG. 23, when the elevating body 62 is lowered while the crop 2 is moved to the moving place and placed on the moving place, the engaging member 72 is engaged from the engaged state X1. The release state X2 is set.

Next, with the robot hand 18 shown on the right side of FIG. 23 placed on the moving place, as shown in FIG. 19, the claw mounting member 79 is shaken upward from the lowering position X3 to the ascending position X4 by the drive unit 87. When it is moved, as shown in the left figure of FIG. 24 and FIG. 26, the gripping claw 81 is forcibly opened and the crop 2 can be released. After releasing the crop 2, as shown in the central figure of FIG. 24, the robot hand 18 is raised with the gripping claw 81 open, and then, as shown in the right figure of FIG. 24, above the crop 2 and the like. The gripping claw 81 is forcibly closed by swinging the claw mounting member 79 downward from the ascending position X4 to the descending position X3. After that, the robot hand 18 is moved to the next harvest target crop 2, and the above operation is repeated, so that the crop 2 can be harvested in sequence.

In the above robot hand 18, since the tip of the gripping claw 81 is closed until the robot hand 18 comes into contact with the crop 2, it is possible to prevent ivy and leaves from inadvertently entering the inside of the gripping claw 81. can do.
Further, since the gripping claw 81 of the robot hand 18 opens while being in contact with the surface of the crop 2, it is not necessary to control the robot hand 18 in particular while suppressing inadvertent entry of ivy and leaves inside the gripping claw 81. , Ivy and leaves can be naturally removed by the gripping claw 81.

Further, since the link is configured so that each gripping claw 81 opens outward, the gripping claw 81 is pushed down even if the tip of the gripping claw 81 is deviated from the center of the crop 2 toward any of the gripping claws 81. At that time, the gripping claw 81 on the side opposite to the deviated side can prevent the reverse joint (pushed inward).
Further, when the crop 2 is lifted, when the robot hand 18 is raised, the gripping claw 81 holds the crop 2 by the action of the lever, so that the gripping claw 81 can be closed and the crop 2 can be reliably gripped even if there is no power.

Further, when the crop 2 is released, the power unit 88 (motor) forcibly opens the entire gripping claw 81 from the root, so that the crop 2 is separated without being affected by the link mechanism of the gripping claw 81 or the action of the lever. You can release it at the timing you want.
27 to 34 show an embodiment different from the embodiment shown in FIGS. 1 to 26. FIG. 27 illustrates the grading harvesting apparatus 53. The grade discriminating harvesting device 53 includes the above-mentioned agricultural robot 1 and a transport vehicle 48.

As shown in FIGS. 28 and 29, the robot hand 18 has a base member 18A and a plurality of gripping claws 18B. A connecting piece 63 is provided on the upper surface side of the base member 18A. The connecting piece 63 is pivotally supported by the suspension plate 37. That is, the robot hand 18 is suspended from the arm 17. The plurality of gripping claws 18B are swingably attached to the lower surface side of the base member 18A. The robot hand 18 can grip the crop 2 between the gripping claws 18B and the gripping claws 18B by swinging the plurality of gripping claws 18B (see FIG. 29), and the gripped crop 2 can be gripped. It is possible to release it.

As shown in FIGS. 28 and 29, the agricultural robot 1 includes a quality detection device 49 that acquires quality information of the crop 2 harvested by the manipulator 4. Specifically, the quality detection device 49 acquires quality information necessary for sorting the crop 2 harvested by the manipulator 4. The quality detection device 49 includes an image pickup device (referred to as a second image pickup device) 5B and a detection sensor 50.
The second imaging device 5B is a device that acquires quality information of the crop 2 by photographing. The quality information required for sorting the crop 2 acquired by the second imaging device 5B is the quality information obtained from the appearance of the crop 2, for example, the size, shape, color, and pattern of the crop 2 (in the watermelon). Is a striped pattern), scratches, etc. As the second imaging device 5B, a CCD camera equipped with a CCD (Charge Coupled Devices) image sensor or a CMOS camera equipped with a CMOS (Complementary Metal Oxide Semiconductor) image sensor is adopted. To.

The detection sensor 50 is a sensor that acquires quality information different from the quality information obtained by the second imaging device 5B by sensing. The quality information required for sorting the crop 2 acquired by the detection sensor 50 is, for example, the weight, scent, tapping sound, image, etc. of the crop 2.
As shown in FIGS. 28 and 29, in the present embodiment, the detection sensor 50 includes one or more of the weight sensor 50A, the scent sensor 50B, the tapping sound sensor 50C, and the image sensor 50D.

The weight sensor 50A is a sensor that acquires the weight of the crop 2 as quality information of the crop 2. The weight sensor 50A is provided between the robot hand 18 (base member 18A) and the connecting piece 63. That is, the robot hand 18 is suspended from the arm 17 via the weight sensor 50A, and can detect the weight of the crop 2 gripped by the gripping claw 18B. The weight sensor 50A is composed of, for example, a load cell or an electromagnetically balanced sensor.

The scent sensor 50B is a sensor that acquires the scent of the crop 2 as quality information of the crop 2. The scent sensor 50B is provided on the base member 18A, for example, and acquires the scent of the crop 2 gripped by the gripping claws.
The tapping sound sensor 50C is a sensor that acquires the tapping sound when the crop 2 is hit (the crop 2 is hit) as the quality information of the crop 2. The tapping sound sensor 50C is provided on the robot hand 18 (base member 18A).

As shown in FIG. 30, the tapping sound sensor 50C has a striking mechanism 51 and a recording mechanism 52. The striking mechanism 51 has a striking member 51A capable of advancing and retreating with respect to the crop 2 gripped by the gripping claw 18B, and the striking member 51A is projected to strike the crop 2 to generate a striking sound. The recording mechanism 52 has a microphone (highly directional microphone), and records the tapping sound generated by striking the crop 2 with the striking member 51A.

The image sensor 50D is a sensor that acquires an image of the crop 2 as quality information of the crop 2. The image sensor 50D is provided on, for example, the base member 18A. The image sensor 50D is a sensor including a CCD image sensor, a CMOS image sensor, and the like. It is possible to acquire the maturity of the crop 2 from the image of the crop 2 taken by the image sensor 50D. It is possible to detect the position of the crop 2 and determine defects based on the image captured by the image sensor 50D.

The quality detection device 49 may be only one of the second image pickup device 5B and the detection sensor 50. Further, the detection sensor 50 is not limited to the weight sensor 50A, the scent sensor 50B, the tapping sound sensor 50C, and the image sensor 50D, and acquires quality information different from the quality information acquired by the second imaging device 5B by sensing. Any sensor can be used. As another detection sensor 50, a moisture sensor that detects the moisture of the crop 2 and the like can be considered.

As shown in FIG. 27, the carrier 48 is arranged behind the traveling body 3. The transport vehicle 48 is, for example, a follow-up type self-propelled transport vehicle that follows the traveling body 3 and travels. The carrier 48 has a harvesting container 48A. The harvesting container 48A has a plurality of predetermined positions (first accommodating portions 48a to fourth accommodating portions 48d) assigned to the harvesting container 48A according to the grade. Between adjacent predetermined positions (between the first accommodating portion 48a and the second accommodating portion 48b, between the second accommodating portion 48b and the third accommodating portion 48c, and between the third accommodating portion 48c and the fourth accommodating portion 48d. Between) is partitioned by a partition wall 48e. The harvest container 48A in the example has four predetermined positions, and the agricultural robot 1 can sort the crop 2 into four grades (for example, special grade → excellent → excellent → good). .. The number of predetermined positions for sorting the crop 2 is not limited to the number of the present embodiment.

As shown in FIG. 31, the second image pickup device 5B, the weight sensor 50A, the scent sensor 50B, the tapping sound sensor 50C, and the image sensor 50D are connected to the control device 41. The control device 41 can acquire the quality information of the crop 2 acquired by the second imaging device 5B, the weight of the crop 2 acquired by the weight sensor 50A, and the scent and tapping sound of the crop 2 acquired by the scent sensor 50B. The tapping sound of the crop 2 acquired by the sensor 50C and the maturity of the crop 2 based on the image acquired by the image sensor 50D can be acquired as quality information.

The control device 41 has a grade determination unit 41H. The grade determination unit 41H is based on the quality information acquired by the second imaging device 5B and the quality information acquired by the detection sensor 50 (weight sensor 50A, fragrance sensor 50B, tapping sound sensor 50C, image sensor 50D). To determine the grade of. That is, the grade determination unit 41H determines which of the plurality of grades the crop 2 corresponds to depending on the appearance of the crop 2 such as the size, shape, color, pattern, and scratches of the crop 2 acquired by the second imaging device 5B. To determine. Further, the grade determination unit 41H determines which of the plurality of grades the crop 2 corresponds to based on the weight of the crop 2 acquired by the weight sensor 50A. Further, the grade determination unit 41H determines the maturity of the crop 2 based on the scent of the crop 2 acquired by the scent sensor 50B, and thereby determines which of the plurality of grades the crop 2 corresponds to. .. Further, the grade determination unit 41H determines the maturity of the crop 2 based on the tapping sound of the crop 2 acquired by the tapping sound sensor 50C, and thereby determines which of the plurality of grades the crop 2 corresponds to. Determine. By the way, when the crop 2 is ripe, the hitting sound changes from a high clear sound to a low muddy sound. When this tapping sound is Fourier transformed, the wavelength distribution of a characteristic spectrum is shown as the crop 2 ripens. The grading unit 41H determines the maturity of crop 2 based on this wavelength distribution. Further, the grade determination unit 41H determines which of the plurality of grades the crop 2 corresponds to based on the maturity of the image acquired by the image sensor 50D.

The grade determination unit 41H is the grade determined by the quality information acquired by the second imaging device 5B and the quality acquired by the detection sensor 50 (weight sensor 50A, fragrance sensor 50B, tapping sound sensor 50C, image sensor 50D). The grade of crop 2 is determined by comprehensively considering the grade determined by the information. Thereby, the accuracy of discriminating the grade of crop 2 can be improved.
As shown in FIG. 31, the control device 41 has a grade sorting unit 41K. By operating the manipulator 4, the grade sorting unit 41K places the crop 2 determined by the grade discriminating unit 41H at a predetermined position according to the grade assigned to the harvesting container 48A (first accommodating unit 48a to fourth accommodating unit 48d). Sort into. That is, the first accommodating portion 48a is a predetermined position for accommodating the first grade (special grade) crop 2, the second accommodating portion 48b is the predetermined position for accommodating the second grade (excellent) crop 2, and the third. If the storage unit 48c is a predetermined position for accommodating the third grade (excellent) crop 2, and the fourth storage unit 48d is a predetermined position for accommodating the fourth grade (good) crop 2, the second imaging is performed. When the grade discriminating unit 41H determines that the crop 2 is the first grade based on the quality information acquired by the device 5B and the detection sensor 50, the grade sorting unit 41K is subjected to the robot by the frame control unit 41B and the arm control unit 41C. The position of the hand 18 is controlled, and the crop 2 is accommodated in the first accommodating portion 48a. When the grade determination unit 41H determines that the crop 2 is the second grade, the third grade, or the fourth grade, the crop 2 is similarly accommodated in the corresponding accommodating unit.

Other configurations are substantially the same as those of the embodiments shown in FIGS. 1 to 15. In this embodiment, the robot hand 18 of the form shown in FIG. 16 may be adopted.
32, 33, and 34 show the agricultural robot 1 according to another embodiment.
The agricultural robot 1 shown in FIG. 32 has a plurality of units (4A, 4B) in which the manipulator 4 includes a rotating frame 21, an arm 17, and a robot hand 18. In other words, it has a plurality of arms 17, and each of the plurality of arms 17 has a robot hand 18. Specifically, in the agricultural robot 1 shown in FIG. 32, the manipulator 4 is configured to have two units 4A and 4B, and each of the units 4A and 4B has a rotating frame 21, an arm 17, and an arm 17, respectively. It has a first arm cylinder C4, a second arm cylinder C5, and the like.

In the agricultural robot 1 shown in FIGS. 33 and 34, the manipulator 4 has a rotating frame 21, an arm 17, and a plurality of robot hands 18 provided on the arm 17. That is, one arm 17 has a plurality of robot hands 18.
In the agricultural robot 1 shown in FIG. 33, the manipulator 4 has a branch arm 4C. The branch arm 4C has a base arm portion 4Ca, a first slave arm portion 4Cb, and a second slave arm portion 4Cc. The base arm portion 4Ca is attached to the sub arm 30 when the sub arm 30 is provided, and is attached to the second arm portion 32 when the sub arm 30 is not provided. Further, the base arm portion 4Ca has an intermediate portion in the longitudinal direction attached to the sub arm 30 or the second arm portion 32. The first slave arm portion 4Cb is pivotally supported at one end of the base arm portion 4Ca, and the second slave arm portion 4Cc is pivotally supported at the other end of the base arm portion 4Ca. The first slave arm portion 4Cb is swing-driven with respect to the base arm portion 4Ca by the hydraulic cylinder C6, and the second slave arm portion 4Cc is swing-driven with respect to the base arm portion 4Ca by the hydraulic cylinder C7. The base arm portion 4Ca may be pivotally supported by the sub arm 30 or the second arm portion 32 and may be configured to be swing-driven by a hydraulic cylinder.

In the agricultural robot 1 shown in FIG. 34, the manipulator 4 has a branch arm 4D. The branch arm 4D has a base arm portion 4Da and a slave arm portion 4Db. One end side of the base arm portion 4Da is pivotally supported in the middle portion in the longitudinal direction of the second arm portion 32, and the other end side of the base arm portion 4Db is pivotally supported. The base arm portion 4Da is swing-driven by the hydraulic cylinder C8 with respect to the second arm portion 32, and the slave arm portion 4Db is swing-driven by the hydraulic cylinder C9 with respect to the base arm portion 4Da.

In the agricultural robot 1 shown in FIGS. 32, 33, and 34, the branches (ivy) and leaves of the crop 2 can be removed by one robot hand 18, and the crop 2 can be harvested by the other robot hand 18. You can work. In addition, one robot hand 18 can grip the crop 2, and the other robot hand 18 can perform operations such as cutting stems (ivy). When the agricultural robot 1 is configured as a fertilizer sprayer for spraying fertilizer in a field, one robot hand 18 carries the fertilizer bag to the fertilizer hopper inlet, and the other robot hand 18 opens the fertilizer bag. Fertilizer can be put into the fertilizer hopper. Further, when the agricultural robot 1 is configured as a transplanting machine for planting seedlings, an empty seedling box is carried out from the machine 6 and a seedling box mounting work for mounting a seedling box having seedlings on the machine 6. Can be done at the same time. That is, the agricultural robot 1 can perform agricultural work that could only be done manually until now.

Further, in the agricultural robot 1 shown in FIG. 32, the arm 17 and the robot hand 18 of the other unit 4B are smaller than the arm 17 and the robot hand 18 of one unit 4A. Further, in the agricultural robot 1 shown in FIG. 33, the other robot hand 18 is configured to be smaller than the one robot hand 18. Further, in the agricultural robot 1 shown in FIG. 34, a small branch arm 4D is installed in the middle of the arm 17 in the large arm 17 and the robot hand 18.

In the agricultural robot 1 shown in FIGS. 32, 33, and 34, the large robot hand 18 grips and transports the crop 2 (vegetables), and the small robot hand 18 is used for other auxiliary work and delicate work. By performing the work, it is possible to perform the work quickly and efficiently.
35 to 40 show an embodiment different from the embodiment shown in FIGS. 1 to 34.
As shown in FIG. 35, the prime mover frame 6B is equipped with a battery BT that supplies electric power to the electric equipment mounted on the agricultural robot 1.

As shown in FIGS. 35 and 37, the agricultural robot 1 has a power take-out shaft (first power take-out shaft) 49 that takes out the power of the prime mover E1. The first power take-out shaft 49 projects forward from the transmission case 50 connected to the front portion of the prime mover E1. Further, the power output from the prime mover E1 is transmitted to the first power take-out shaft 49 via the power transmission mechanism housed inside the transmission case 50. The first power take-out shaft 49 is arranged at the center of the machine body 6 in the body width direction B3.

The first power take-out shaft 49 may be provided at the rear portion of the agricultural robot 1, or may be provided at both the front portion and the rear portion of the agricultural robot 1.
As shown in FIGS. 36 and 37, the agricultural robot 1 has a connecting mechanism 51 that connects the working machine 53 (see FIG. 38) so as to be able to move up and down. In the present embodiment, the connecting mechanism 51 is composed of a three-point link mechanism having one top link 51A and two lower links 51B. The connecting mechanism 51 is provided at the front portion of the agricultural robot 1 (traveling body 3). The top link 51A is arranged above the first power take-out shaft 49 and in front of the main frame 6A (airframe 6). Specifically, the top link 51A is arranged in front of the central portion of the front upper portion of the main frame 6A in the body width direction B3. The rear portion of the top link 51A is pivotally supported by a bracket 51a provided on the main frame 6A so as to be rotatable around an axis extending in the body width direction B3. The two lower links 51B are arranged below the top link 51A and the first power take-out shaft 49 and in front of the prime mover frame 6B (airframe 6). Specifically, one lower link 51B is arranged in front of the left portion of the front frame 6Ba, and the other lower link 51B is arranged in front of the right portion of the front frame 6Ba. Each lower link 51B is pivotally supported by a bracket 51b provided at the lower part of the front frame 6Ba so as to be rotatable around an axis extending in the body width direction B3.

The connecting mechanism 51 may have a two-point link mechanism or other structure. That is, the connecting mechanism 51 may be any mechanism that can connect the working machine 53. Further, the connecting mechanism 51 may be provided at the rear portion of the agricultural robot 1, or may be provided at both the front portion and the rear portion of the agricultural robot 1, but the first power take-out shaft 49 is provided. It is provided on the side where it is installed.

As shown in FIGS. 36 and 37, the agricultural robot 1 has an elevating mechanism 52 that raises and lowers the lower link 51B. The elevating mechanism 52 includes a hydraulic device 52A, two lift arms 52B, and two lift rods 52C. The hydraulic device 52A is provided on the upper surface side of the front portion of the main frame 6A (airframe 6). Further, the hydraulic device 52A is arranged at the center of the main frame 6A in the body width direction B3. The hydraulic device 52A is driven by hydraulic oil discharged from the hydraulic pump P1. The lift arm 52B is arranged on the left and right sides of the hydraulic device 52A. The base (rear portion) of each lift arm 52B is rotatably attached to the hydraulic device 52A, and is driven by the hydraulic device 52A so as to be swingable up and down. The lift rods 52C are arranged side by side in the body width direction B3. The left lift rod 52C connects the front part of the left lift arm 52B and the middle part of the left lower link 51B, and the right lift rod 52C connects the front part of the right lift arm 52B and the right lower part. It is connected to the middle part of the link 51B. By swinging the lift arm 52B up and down by the hydraulic device 52A, the lower link 51B is raised and lowered via the lift rod 52C. As a result, the working machine 53 connected to the connecting mechanism 51 is moved up and down.

As shown in FIG. 37, the agricultural robot 1 has an external take-out port 54 for taking out the hydraulic oil (working fluid) supplied from the hydraulic pump P1 as a fluid pressure source capable of supplying the working fluid. ing. One or a plurality of external take-out ports 54 are provided. The external take-out port 54 preferably has a shape used in conventional agricultural machinery. Further, the external take-out port 54 may be a port for taking out the compressed air (working fluid) discharged from the air pump (fluid pressure source) to the outside.

Since the agricultural robot 1 includes a first power take-out shaft 49, a connecting mechanism 51, and an external take-out port 54, a hydraulic or mechanical work machine can be easily retrofitted. If the shapes of the first power take-out shaft 49, the connecting mechanism 51, and the external take-out port 54 are of the conventional type, the conventional work machine can be used as it is. The work machine to be retrofitted is not limited, but a rotary cultivator, a fertilizer sprayer such as a broad caster or a lime sower, and a management work machine for managing furrow grooves can be considered.

As shown in FIG. 37, the agricultural robot 1 has a power supply port 55 for supplying electric power from the battery BT to the outside. By having the power port 55, it is possible to supply electric power to the electric equipment mounted on the work machine 53 mounted on the agricultural robot 1. That is, the electric working machine 53 can be easily retrofitted. In addition, electric power can be supplied from the power port 55 to electrical equipment and the like used around the agricultural robot 1.

As shown in FIG. 37, the agricultural robot 1 includes a communication port that can be used for communication with the outside. By having the communication port 56, the agricultural robot 1 and the working machine 53 attached to the agricultural robot 1 can communicate with each other. As a result, the agricultural robot and the working machine 53 can be coordinated and controlled.
The output shaft Ma of the rotary motor M2 is a power take-out shaft (second power take-out shaft) that takes out the power of a power source different from that of the prime mover E1.

As shown in FIG. 40, the base portion 24A may be configured to be detachably attached to a mounting plate 19m fixed to the upper wall 19k of the mounting portion 19 by fasteners such as bolts and nuts. In other words, the shaft support 24, the rotating shaft 20, and the rotating frame 21 may be detachable while leaving the mounting portion 19 to which the rotating motor M2 is attached to the machine body 6. As a result, when a work device different from the manipulator 4 of the present embodiment is attached to the machine body 6, power can be transmitted (supplied) to the work device from the second power take-out shaft Ma.

As shown in FIG. 35, the robot hand 18 has a base member 18A and a plurality of gripping claws 18B. A connecting piece 63 is provided on the upper surface side of the base member 18A. The connecting piece 63 is pivotally supported by the suspension plate 37. That is, the robot hand 18 is suspended from the arm 17. The plurality of gripping claws 18B are swingably attached to the lower surface side of the base member 18A. The robot hand 18 can grip the crop 2 between the gripping claws 18B and the gripping claws 18B by swinging the plurality of gripping claws 18B (see FIG. 38), and the gripped crop 2 can be gripped. It is possible to release it.

Also in this embodiment, the robot hand 18 of the form shown in FIG. 16 may be adopted. By replacing the robot hand 18 with a robot hand that can grip the fertilizer bag, the manipulator 4 can perform auxiliary work when supplying fertilizer to the fertilizer spreader connected to the connecting mechanism 51.
As shown in FIG. 39, the communication port 56 is connected to the control device 41. A control unit 53A provided in the work machine 53, which is connected to the agricultural robot 1 via the connection mechanism 51, can be connected to the communication port 56 via a connection cable or the like. The control device 41 has an external control unit 41L that controls the control unit 53A. The external control unit 41L performs cooperative control between the agricultural robot 1 and the work machine 53.

Other configurations are substantially the same as those of the embodiments shown in FIGS. 1 to 15.
The agricultural robot 1 is a wheel-type traveling device 7 that supports the body 6 and the body 6 so as to be able to travel, and has a traveling device 7 having at least three wheels 8 and an arm attached to the body 6. A balance that controls the position of each wheel 8 in order to balance the manipulator 4 having the 17 and the robot hand 18 attached to the arm 17 and capable of gripping the object (crop 2), and the airframe 6 and the manipulator 4. It includes a control unit 41F.

According to this configuration, the balance between the airframe 6 and the manipulator 4 can be balanced by controlling the position of each wheel 8 by the balance control unit 41F.
Further, the balance control unit 41F controls the position of each wheel 8 to control the posture of the machine body 6.
According to this configuration, the body 6 can be balanced with the arm 17 and the robot hand 18 by controlling the posture of the body 6.

Further, the traveling device 7 is provided on the first wheel 8La provided on the left side of the front part of the body 6, the second wheel 8Ra provided on the right side of the front part of the body 6, and on the left side of the rear part of the body 6. It has a third wheel 8Lb and a fourth wheel 8Rb provided on the right side of the rear part of the airframe 6, and the first wheel 8La to the fourth wheel 8Rb are supported independently of the airframe 6 so as to be able to move up and down independently. Then, the balance control unit 41F controls the posture of the machine body 6 by moving the first wheel 8La to the fourth wheel 8Rb up and down.

According to this configuration, the posture of the machine body 6 can be controlled by moving the first wheel 8La to the fourth wheel 8Rb up and down.
Further, the manipulator 4 has a mounting body 16 to which the arm 17 can swing up and down, and the mounting body 16 is detachably mounted on the machine body 6.
According to this configuration, the manipulator 4 can be replaced with another type.

Further, a control unit 41D for controlling the manipulator 4 is provided, and the mounting body 16 has a mounting portion 19 that is detachably mounted on the machine body 6 and a rotating shaft that is rotatably supported by the mounting portion 19 around the vertical axis. A rotation motor M2 that rotationally drives the rotation shaft 20 and a rotation frame 21 that rotates integrally with the rotation shaft 20 are provided, and the arm 17 is pivotally swingable up and down on the rotation frame 21. It has a supported first arm portion 31 and a second arm portion 32 swingably supported by the first arm portion 31, and the second arm portion 32 swings with respect to the first arm portion 31. The robot hand 18 is attached to the tip end side of the second arm 17, and the control unit 41D swings the first arm portion 31 and the second arm portion 32 and rotates the rotating frame 21. The position of the robot hand 18 is controlled by controlling and.

According to this configuration, the robot hand 18 can be accurately moved to the position of the crop 2.
In addition, an image pickup device 5A that acquires information on the surroundings of the aircraft 6 by photographing, and a map that automatically generates a map 60 of individual positions and growing conditions of crops based on the information acquired by the image pickup device before harvesting. It has a creation unit 41G.

According to this configuration, by grasping the position and growing situation of the crop 2 in advance and mapping it, it can be utilized for the subsequent work.
Further, it is provided with a determination unit 41E that determines the optimum harvest time of the crop from the characteristics specialized for the type of crop based on the information acquired by the image pickup apparatus 5A.
According to this configuration, it is possible to provide an agricultural robot 1 capable of harvesting a crop 2 while automatically selecting whether or not to harvest the crop 2.

Further, the robot hand 18 has a gripping claw 81 capable of gripping the crop 2, a claw mounting member 79 to which the gripping claw 81 can be opened and closed, and a claw mounting member 79 that can be raised and lowered, and an opening and closing of the gripping claw 81. An interlocking member 86 interlocked with the operation and an engaging member 72 that can be engaged with and disengaged from the interlocking member 86 are provided, and the gripping claw 81 lowers the claw mounting member 79 and presses the gripping claw 81 against the crop 2. The engaging member 72 opens along the surface of the crop 2 from the closed state due to the reaction force from the crop, and the engaging member 72 can be raised and lowered, and is separated downward from the interlocking member 86 to allow the gripping claw 81 to open and close. It is possible to displace between the disengaged state X2 and the engaging state X1 that engages with the interlocking member 86 from below, and by raising in the engaging state X1 and pulling up the interlocking member 86, the gripping claw 81 moves to the closed state. Let me.

According to this configuration, the gripping claw 81 opens along the surface of the crop 2 from the closed state by the reaction force of the crop 2 when pressed against the crop 2, raises the engaging member 72, and pulls up the interlocking member 86. By closing. This makes it possible to simplify the opening / closing structure of the gripping claw 81.
Further, a support 73 that supports the claw mounting member 79 so as to swing up and down around the pivot 78 and a drive unit 87 provided on the support 73 are provided, and the drive unit 87 includes a power unit 88 and a power unit. It has a drive mechanism 89 that forcibly opens and closes the gripping claw 81 by swinging the claw mounting member 79 up and down around the pivot 78 by the power of 88.

According to this configuration, the crop 2 can be separated from the gripping claw 81 at the desired timing.
Further, the power unit 88 is composed of a motor, and the drive mechanism 89 meshes with the first gear 89A and the first gear 89A, which are rotationally driven by the motor, and swings the claw mounting member 79 up and down around the pivot 78. It has a second gear 89B.

According to this configuration, the drive unit 87 can be easily configured.
Further, a telescopic link mechanism that is arranged above the support 73 and can be raised and lowered, and a telescopic link mechanism that is vertically expandable and expandable to connect the elevating body 62 and the support 73 so as to be relatively movable. 76, and the elevating body 62 descends with respect to the support 73 by contracting the telescopic link mechanism 76 in a state where the gripping claw 81 abuts on the crop 2 and the descent of the support 73 is restricted. The claw mounting member 79 has a contact portion 79d that the elevating body 62 comes into contact with when the elevating body 62 descends with respect to the support 73.

According to this configuration, the elevating body 62 can raise and lower the claw mounting member 79 and the gripping claw 81, and the claw mounting member 79 can be pushed down to open the gripping claw 81 along the crop 2.
Further, the engaging member 72 is provided in the elevating body 62 and is in the disengaged state X2 in a state where the elevating body 62 moves up and down together with the elevating body 62 and the elevating body 62 is in contact with the contact portion 79d.

According to this configuration, it is not necessary to separately perform the operation of pushing down the claw mounting member 79 and the operation of separating the engaging member 72 from the interlocking member 86, and the two operations can be performed by the elevating body 62.
Further, the claw mounting member 79 has a regulating portion 79b that regulates the movement of the gripping claw 81 in the closing direction when the interlocking member 86 comes into contact with the gripping claw 81 in the closed state.

According to this configuration, it is possible to prevent the gripping claw 81 from entering the inside.
Further, a closing spring 85 for urging the gripping claw 81 in the closing direction is provided.
According to this configuration, when the gripping claw 81 opens along the surface of the crop 2, the gripping claw 81 can be satisfactorily aligned with the surface of the crop 2.
The robot hand can be used for agricultural robots.

The agricultural robot 1 is a traveling body 3, a rotating frame 21 rotatably supported by the traveling body 3 around the vertical axis, and a bendable and stretchable body rotatably supported by the rotating frame 21. The rotating frame 21 includes an arm 17 and is provided so as to be biased to one side of the front-rear direction A3 in the traveling body 3, and the arm 17 has a working posture W1 facing one side of the front-rear direction A3 and a front-rear direction A3. The posture can be changed to the storage posture W2 which is bent while facing the other side of the.

According to this configuration, the rotating frame 21 that supports the arm 17 is provided so as to be biased to one side of the traveling body 3 in the front-rear direction A3, and the work is performed in the working posture W1 in which the arm 17 faces the one side. Therefore, the work range can be widened. Further, the agricultural robot 1 can be made compact by setting the arm 17 in the storage posture W2 which is bent in the direction opposite to the working posture W1.

Further, a mounting portion 19 to which the rotating frame 21 is rotatably attached is provided, the mounting portion 19 has an engaging portion 19E protruding downward at the lower portion, and the traveling body 3 is provided in parallel. It has one mounting frame (fourth horizontal frame 6Ag) and a second mounting frame (fifth horizontal frame 6Ah), and the engaging portion 19E is inserted between the first mounting frame 6Ag and the second mounting frame 6Ah. The mounting portion 19 can be held by.

According to this configuration, the manipulator 4 having the rotating frame 21, the arm 17, and the mounting portion 19 can be replaced. In addition, the mounting portion 19 can be easily attached and detached.
Further, the control device 41 and the rotation restricting member 38 that regulates the rotation of the rotating frame 21 when the arm 17 is in the working posture W1 are provided, and the control device 41 is the rotation regulated by the rotation restricting member 38. The rotation of the rotating frame 21 is controlled with reference to the position of the moving frame 21.

According to this configuration, the rotation of the rotating frame 21 can be controlled even if there is no detection member for detecting the rotation of the rotating frame 21.
Further, a positioning member 39 for restricting the rotation of the rotation frame 21 and positioning the arm 17 in the storage posture W2 is provided, and the rotation frame 21 has a first rotation direction Y3 and a first rotation direction around the vertical axis. It is rotatable in the second rotation direction Y4, which is the opposite direction of Y3, and the rotation regulation member 38 is one of the first rotation direction Y3 and the second rotation direction Y4 of the rotation frame 21. The rotation in the direction is regulated, and the positioning member 39 regulates the rotation in the other direction of the first rotation direction Y3 and the second rotation direction Y4 of the rotation frame 21.

According to this configuration, the arm 17 can be quickly and surely positioned in the storage posture W2 by the positioning member 39. Further, even if the rotation restricting member 38 and the positioning member 39 for restricting the rotation of the rotating frame 21 are provided, the arm 17 is changed to the working posture W1 and the storage posture W2 by the rotation of the rotating frame 21. be able to.
Further, a robot hand 18 attached to the arm 17 and capable of gripping the crop 2 is provided, and the arm 17 has a first arm portion 31 and a first arm portion that are pivotally supported by a rotating frame 21 so as to swing up and down. The control device 41 has a second arm portion 32 swingably supported by the first arm portion 31 and can be bent and stretched by swinging the second arm portion 32 with respect to the first arm portion 31. The position of the robot hand 18 is controlled by controlling the swinging of the 1st arm portion 31 and the 2nd arm portion 32 and the rotation of the rotating frame 21.

According to this configuration, the robot hand 18 can be accurately moved to the position of the crop 2.
Further, in the working posture W1, the tip end side 31c of the first arm portion 31 is located on one side of the traveling body 3, and in the storage posture W2, the tip end side 31c of the first arm portion 31 is the traveling body 3. It is located above.

According to this configuration, the crop 2 separated from the traveling body 3 can be satisfactorily gripped in the working posture W1, and the agricultural robot 1 can be made compact when the arm 17 is in the storage posture W2.
Further, the arm 17 has a sub-arm 30 provided on the second arm portion 32 so as to be projectable and retractable, and the robot hand 18 is attached to the tip end side of the sub-arm 30.

According to this configuration, the arm size can be taken according to the crop position and working mode.
Further, the control device 41 can acquire the protruding amount of the sub arm 30, and controls the position of the robot hand 18 in consideration of the protruding amount.
According to this configuration, the position of the robot hand 18 can be controlled even with the telescopic arm 17.

Further, a rotation motor M2 that rotates the rotation frame 21, a first hydraulic cylinder (first arm cylinder C4) that swings the arm 17 up and down, and a second hydraulic cylinder (second arm cylinder) that bends and stretches the arm 17. C5) and.
According to this configuration, even a heavy crop 2 can be easily lifted and transported by the hydraulic cylinder.

Further, the agricultural robot 1 includes a traveling body 3 and a manipulator 4 provided on the traveling body 3 and capable of harvesting crops 2. The manipulator 4 rotates in a vertical direction. It has a rotating frame 21 that can rotate around the axis J1 and a bendable arm 17 that is vertically swingably supported by the rotating frame 21, and the rotating frame 21 is in the traveling direction of the traveling body 3. The arm 17 is provided so as to be biased to the opposite direction of travel, which is the direction opposite to the direction of travel, and the arm 17 is harvested within a predetermined rotation range around the rotation axis J1 in a working posture W1 facing the opposite direction of travel. Do the work.

According to this configuration, the manipulator 4 is provided so as to be biased toward the opposite direction of travel, which is the direction opposite to the direction of travel of the traveling body 3, and the arm 17 is provided in a working posture W1 facing the opposite direction of travel, and the manipulator 4 By performing the harvesting work within a predetermined rotation range around the rotation axis J1, the traveling body 3 and the manipulator 4 can be balanced.
Further, it includes a first hydraulic cylinder C4 that swings the arm 17 up and down, and a second hydraulic cylinder C5 that bends and stretches the arm 17.

According to this configuration, heavy vegetables can be easily handled by operating the arm 17 by hydraulic pressure.
Further, the arm 17 has a first arm portion 31 swingably supported by the rotating frame 21 and a second arm portion 32 swingably supported by the first arm portion 31. The second arm portion 32 swings with respect to the first arm portion 31 to allow bending and stretching. The first arm portion 31 is swing-driven by the first hydraulic cylinder C4, and the second arm portion 32 is driven by swinging. It is oscillated by the second hydraulic cylinder C5.

According to this configuration, the manipulator 4 that grips heavy vegetables can be easily moved up and down and bent and stretched by oil pressure.
Further, the quality detection device 49 is provided with a quality detection device 49 for acquiring quality information of the crop 2 harvested by the manipulator 4, and a grade determination unit 41H for discriminating the grade of the crop 2 to be harvested based on the quality information. 49 includes an image pickup device 5B that acquires quality information of the crop 2 harvested by the manipulator 4 by photographing, and a detection sensor 50 that acquires quality information different from the quality information obtained by the image pickup device 5B by sensing, and grades 49. The discrimination unit 41H discriminates the grade of the crop 2 based on the quality information acquired by the image pickup apparatus 5B and the quality information acquired by the detection sensor 50.

According to this configuration, the accuracy of discriminating the grade of crop 2 can be improved.
In addition, the control unit 41 that controls the operation of the manipulator 4 to perform the harvesting operation and the transport vehicle that moves the crop 2 determined by the grade determination unit 41H by operating the manipulator 4 as the traveling body 3 travels. It is provided with a grade sorting unit 41K for sorting into predetermined positions (first accommodating portions 48a to fourth accommodating portions 48d) assigned to the 48 harvesting containers 48A.

According to this configuration, the crop 2 to be harvested can be sorted according to the grade at the time of harvesting. Further, the detection sensor 50 includes a weight sensor 50A for acquiring the weight of the crop 2, a scent sensor 50B for acquiring the scent of the crop 2, and a crop. Any one or more of the tapping sound sensors 50C for acquiring the tapping sound of 2 may be included.
Further, the agricultural robot 1 described above includes a traveling body 3, an imaging device 5 that acquires information around the traveling body 3, and a control device that autonomously travels the traveling body 3 based on the information acquired by the imaging device 5. It includes 41, a prime mover E1 mounted on the traveling body 3, and a first power take-out shaft 49 for taking out the power of the prime mover E1.

According to this configuration, by equipping the first power take-out shaft 49 that takes out the power of the prime mover E1, the work machine 53 that is retrofitted to the autonomously traveling agricultural robot 1 is powered by the first power take-out shaft 49. Can be supplied.
Further, a second power take-out shaft (output shaft Ma) for taking out the power of a power source (rotary motor M2) different from that of the prime mover E1 is provided, and the first power take-out shaft 49 is on one side of the traveling body 3 in the front-rear direction A3. The second power take-out shaft Ma is provided on the other side of the traveling body 3 in the front-rear direction A3.

According to this configuration, the working machine 53 can be attached to one side of the traveling body 3 in the front-rear direction A3, and the working machine 53 can be driven by the first power take-out shaft 49, and the other side of the traveling body 3 in the front-rear direction A3. A work device can be attached to the machine and the work device can be driven by the second power take-out shaft Ma. This makes it possible to provide an agricultural robot 1 capable of performing various tasks.

Further, a rotating frame 21 attached to the traveling body 3 and rotated around the vertical axis by the power of the second power take-out shaft Ma, and a bendable arm 17 supported by the rotating frame 21 so as to swing up and down. The robot hand 18 attached to the arm 17 is provided.
According to this configuration, auxiliary work on the work machine 53 attached to the side equipped with the first power take-out shaft 49 is performed on the manipulator having the rotating frame 21, the arm 17, and the robot hand 18. Can be made.

Further, a connecting mechanism 51 capable of connecting the working machine 53 is provided on the side of the traveling body 3 where the first power take-out shaft 49 is provided.
According to this configuration, the working machine 53 can be easily connected to the agricultural robot 1.
Further, it is provided with a fluid pressure source (hydraulic pump P1) capable of supplying a working fluid, and an external take-out port 54 for taking out the working fluid supplied from the fluid pressure source P1 to the outside.

According to this configuration, the actuator mounted on the working machine 53 mounted on the agricultural robot 1 can be driven by the working fluid from the external take-out port 54.
Further, it is provided with a power supply port 55 for supplying electric power to the outside.
According to this configuration, electric power can be supplied to the electric equipment mounted on the working machine 53 mounted on the agricultural robot 1, and the electric working machine 53 can be easily retrofitted.

In addition, it is provided with a communication port 56 that can be used for communication with the outside.
According to this configuration, the agricultural robot 1 and the working machine 53 attached to the agricultural robot 1 can be communicated with each other, whereby the agricultural robot 1 and the working machine 53 can be coordinated and controlled. ..
Although one embodiment of the present invention has been described above, it should be considered that the embodiments disclosed this time are exemplary in all respects and are not restrictive. The scope of the present invention is shown by the scope of claims rather than the above description, and it is intended to include all modifications within the meaning and scope equivalent to the scope of claims.

2 Crop 62 Elevating body 72 Engagement member 73 Support 76 Telescopic link mechanism 78 Axis 79 Claw mounting member 79b Restriction part 79d Abutment part 81 Grip claw 85 Closed spring 86 Interlocking member 87 Drive part 88 Power part 89 Drive mechanism 89A 1st Gear 89B 2nd gear X2 Disengaged state X1 Engagement state

Claims (8)

Gripping claws that can grip crops and
A claw mounting member that is a claw mounting member to which the gripping claw can be opened and closed, and a claw mounting member that can be raised and lowered.
An interlocking member that interlocks with the opening and closing operation of the gripping claw,
An engaging member that can be engaged and disengaged with the interlocking member,
With
The gripping claw opens along the surface of the crop from a closed state by a reaction force from the crop by lowering the claw mounting member and pressing the gripping claw against the crop.
The engaging member can be raised and lowered with respect to the interlocking member, and is engaged with the interlocking member from below in an disengaged state in which the gripping claw is allowed to open and close by being separated downward from the interlocking member. A robot hand that can be displaced to an engaged state and that moves the gripping claw to the closed state by ascending in the engaged state and pulling up the interlocking member. A support that supports the claw mounting member so that it can swing up and down around the pivot axis,
A drive unit provided on the support and
With
The drive unit has a power unit and a drive mechanism that forcibly opens and closes the gripping claw by swinging the claw mounting member up and down around the pivot axis by the power of the power unit. The robot hand described in. The power unit is composed of a motor.
2. The drive mechanism has a first gear that is rotationally driven by the motor, and a second gear that meshes with the first gear and swings the claw mounting member up and down around the pivot axis. The robot hand described in. An elevating body that is arranged above the support and can be raised and lowered,
A telescopic link mechanism that is configured to expand and contract in the vertical direction and connects the elevating body and the support so as to be relatively movable.
With
The elevating body descends with respect to the support by contracting the telescopic link mechanism in a state where the gripping claws are in contact with the crop and the descent of the support is restricted.
The robot hand according to claim 2 or 3, wherein the claw mounting member has a contact portion with which the elevating body comes into contact with the elevating body when the elevating body descends with respect to the support. The robot according to claim 4, wherein the engaging member is provided on the elevating body, moves up and down together with the elevating body, and is in the disengaged state with the elevating body in contact with the abutting portion. hand. The claw mounting member has any one of claims 1 to 5 having a regulating portion that regulates the movement of the gripping claw in the closing direction when the interlocking member comes into contact with the gripping claw in a closed state. The robot hand described in. The robot hand according to any one of claims 1 to 6, further comprising a closing spring that urges the gripping claw in the closing direction. An agricultural robot comprising the robot hand according to any one of claims 1 to 7.

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