ROBOT-LOADER OF GRIDS WITH VEGETABLES Russian patent published in 2020 - IPC B66C23/44 B66F9/65 

FIELD: agriculture; machine building.

SUBSTANCE: invention relates to agricultural machine building, in particular to robotics, namely to loaders used in field works for performance of such operations as loading and laying of grids with vegetables into container of self-propelled chassis. Robot-loader of grids with vegetables comprises control unit, base of manipulator-tripod, on which there is a vision sensor, hinges, actuating links connected to each other by means of five-degrees-of-freedom spherical hinge, made in form of linear drives, each of which is connected to each other with a two-stage grip and a load gripping device consisting of two levers and a linear drive. In addition, the robot-loader comprises a space-parallelogram mechanism, two actuators, sensor of technical view of self-propelled chassis, cylindrical hinges of kinematic pair of the fifth class. Spatial-parallelogram mechanism is made in the form of four single-size posts, each of which is attached to base of manipulator-tripod and with frame of self-propelled chassis by means of rotary cylindrical hinges with kinematic pair of fifth class. Each of the two actuators is fixed by one end to the post of the space-parallelogram mechanism, by the other end, to the frame of the self-propelled chassis by means of rotary cylindrical hinges with kinematic pair of the fifth class. Additional sensor of technical self-propelled chassis view is rigidly installed on front part of frame of self-propelled chassis, control unit is installed on self-propelled chassis.

EFFECT: increased service area.

1 cl, 1 dwg