ROBOT-LOADER OF NETS WITH VEGETABLES

FIELD: agricultural engineering.SUBSTANCE: invention relates to agricultural engineering, in particular to robotics, and in particular to loaders. The loader robot contains a control unit, a manipulator base made in the form of a rectangular truss, vision sensors, a two-degree grip made in the form of two independent series-connected links, a 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 telescopic drives, which are attached at one end to the self-propelled chassis frame, and at the other end to the lower part of the rack of the space-parallelogram mechanism. The loader manipulator consists of two linear telescopic drives and a moving platform. One of the linear telescopic drives of the manipulator is attached at one end to a triangular protrusion in a rectangular base by means of rotary cylindrical hinges with a kinematic pair of the fifth class, the other end to a movable platform by means of rotary cylindrical hinges with a kinematic pair of the fifth class, the second linear telescopic drive is attached at one end to the movable platform by means of rotary cylindrical hinges with a kinematic pair of the fifth class, the other end to the triangular platform by means of rotary cylindrical hinges with a kinematic pair of the fifth class, the triangular platform, in turn, is attached to the rectangular base by means of rotary cylindrical 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 linear telescopic drives and a movable platform.1 cl, 2 dwg Изобретение относится к сельскохозяйственному машиностроению, в частности к робототехнике, а именно к погрузчикам. Робот-погрузчик содержит блок управления, основание манипулятора, выполненное в виде прямоугольной фермы, датчики технического зрения, двухстепенной захват, выполненный в виде двух независимых последовательно соединенных между собой звеньев, самоходного шасси. Пространственно-параллелограммный механизм выполнен в виде четырех одноразмерных стоек, каждая из которы