ROBOT-LOADER OF NETS WITH VEGETABLES Russian patent published in 2021 - IPC B66C23/44 

FIELD: agricultural engineering.

SUBSTANCE: invention relates to agricultural engineering, in particular to robotics. The robot-loader of nets with vegetables contains a control unit, a manipulator base made in the form of a rectangular farm, vision sensors, a two-degree grip made in the form of two independent series-connected links, while the links are interconnected by means of rotary cylindrical hinges with a kinematic pair fifth class, self-propelled chassis. The space-parallelogram mechanism is made in the form of four one-dimensional struts, each of which has a mount with a manipulator base and a self-propelled chassis frame by means of rotary cylindrical joints with a fifth-class kinematic pair, an additional vision sensor is rigidly mounted on the front of the self-propelled chassis frame, the control unit is mounted on self-propelled chassis. The loader additionally contains two linear drives, which are attached at one end to the frame of the self-propelled chassis, and at the other end to the arm of the pantograph mechanism. The loader arm consists of three linear drives, a boom and two pantographs. Two linear drives of the manipulator are attached at one end to the rectangular base by means of spherical hinges with a kinematic pair of the third class, the other end to the lever of the pantograph mechanism by means of rotary cylindrical hinges with a kinematic pair of the fifth class, the pantographs, in turn, are attached to the upper part of the boom of the manipulator by means of rotational cylindrical hinges with kinematic pair of the fifth grade, the arm of the manipulator is attached to the rectangular base using an oval bracket by means of rotary cylindrical hinges with a kinematic pair of the fifth class, a third linear drive is attached to the lower part of the boom of the manipulator by means of spherical hinges with a kinematic pair of the fifth class.

EFFECT: expanding the functionality of the manipulator and the spatial-parallelogram mechanism of the robot loader through the use of pantographs.

1 cl, 2 dwg