AGRICULTURAL ROBOT-COMBINE HARVESTER Russian patent published in 2020 - IPC A01D46/30 

FIELD: agriculture; machine building.

SUBSTANCE: robot-combine harvester includes transport platform with free wheeled propellers driven from engine, production sections with manipulators for separation of products from plantations, sorting device, bin for collected products, product transportation system to sorting device, hardware-software complex for landing scanning, navigation and positioning devices. Combine harvester is equipped with detachable lift of plant leaves in plantations. Manipulators for separation of products from landings are made as three-link, the first of links is connected to the root part of the manipulator design and to the second link by single-axis hinges with provision of local and partially regional movements of the manipulator. Third link is made in the form of a catch for fixation of the product and is connected to the second link by means of a rotary hinge so that the gripper is oriented relative to the product. Butt-end part is fixed on the carriage moving from the drive along guides located along the transport platform along the combine movement direction and providing global and regional movements of the manipulator. Fixing products of gripping structure elements are equipped with shell of pseudo elastic material. Software of the control device is equipped with a program for determining the speed of approach of working elements of a robot-machine to products in plantations.

EFFECT: invention provides for non-damaging interaction of the device with plant elements in plantations and fruit-and-vegetable products.

1 cl, 9 dwg