應用於植生牆之盆栽移植爪與採收爪的設計與研製

本研究的目的在開發用於盆栽更換的盆栽移植爪與用於收穫的採收爪，協助植生牆的維護作業與採收作業自動化。植生牆由於佔地面積少卻能提供環境美化、淨化空氣並且容易管理，常見於國內工地外籬，以植生牆種植可食作物亦逐漸受到重視，使綠牆兼具糧食供應的角色。然而植生牆的維護作業與採收作業仍然由人工實施，為達到以機械自動化，本研究與德國柏林工業大學合作，由柏林工大設計製作大型移動載具與修剪工具，而本研究則試製作物更換與作物收穫之工具。研究架設植生牆的模擬試驗設備並以Farmbot平台模擬採收機器人的機械手臂。選用作物為長辣椒、九層塔、薰衣草與青蔥。爪具以Solidworks軟體設計出各兩個版本、四種爪具，再製作出原型機實際測試。盆栽移植爪PP-V1為平行四連桿型式；盆栽移植爪PP-V2為舉升型式；採收爪HV-V1為促動機構結合夾剪一體式的果實採收爪，以切割動能、切割力及夾持力為主要設計指標；採收爪HV-V2改進前一版本的張開幅度與耐久。結果顯示盆栽移植爪PP-V1設計不可行，PP-V2則運作良好，夾持成功率98.3%，負重極限4.5 kg。採收爪原型機經實測：HV-V1割斷率約66.16%，夾持成功率約91.5%，耐久15.3次；HV-V2耐久361.6次。

關鍵字

植生牆；採收機器人；夾剪一體；終端效應器；促動機構

並列摘要

To automatic maintenance and harvest works for living wall, pot placing gripper and harvesting gripper are developed in this study. Living wall provide several benefits including beautify environment and purify air, not only with less usage of urban area, but also easy management. Therefore, living wall have been widely installed around construction sites in domestic. Furthermore, growing edible plants on living walls to provide food become more important than before. However, maintenance and harvest still rely on labor. An autonomous system is required. This study cooperates with Technical University of Berlin (TUB), Germany. TUB will develop mobile platform and pruning tool, while our goal in this study is to develop the pot transporting tool and general-purpose harvesting tool for living wall in construction sites. A small living wall is set up as test environment and Farmbot platform provide the necessary robotic arm. Chili, scallion, lavender and basil as target plants. Four prototypes were developed, two versions of pot placing gripper and two versions of harvesting gripper, by using computer-aided software Solidworks. There are: pot placing gripper PP-V1 with parallel-four bar linkage type, pot placing gripper PP-V2 with clamp-lift type, harvesting gripper HV-V1 combined snap-action mechanism with integrated clamp-cutting gripper, and harvesting gripper HV-V2 based on former version, to improve its prolonging durability and minimizing edge size. The results show that pot placing gripper PP-V1 can’t work normally, but PP-V2 can work stably with the success rate of clamp 98.3% and the loading capacity up to 4.5 kg. Harvesting gripper HV-V1 after prototype test has the success rate of cut 66.1%, the success rate of clamp 91.5% and the durability of 15.3 times, while harvesting gripper HV-V2 can have a higher durability up to 361.6 times.