Parallel picking robot with generalized movable platform end effector

Abstract

The invention discloses a parallel picking robot with a generalized movable platform end effector. The parallel picking robot comprises a fixed platform, the effector, a first branch chain, a second branch chain, a third branch chain and a fourth branch chain. The first branch chain, the second branch chain, the third branch chain and the fourth branch chain are all rotatably connected with the fixed platform; the actuator comprises a shell, a first input rod, a second input rod, a clamping assembly and a cutting assembly, a sliding groove is formed in the top of the shell, the first branch chain and the second branch chain are both rotationally connected with the first input rod, the clamping assembly comprises a first clamping jaw and a second clamping jaw, and the first input rod drives the first clamping jaw and the second clamping jaw to slide in the sliding groove. The cutting assembly comprises a knife rest frame and a blade, the knife rest frame is rotationally connected with the shell, the blade is fixedly connected with the knife rest frame, and the output end of the second input rod drives the knife rest frame to rotate, so that cutting of the blade is facilitated, and the picking efficiency and precision are improved.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, and in particular to a parallel harvesting robot with a generalized moving platform end effector. Background Technology

[0002] With the continuous advancement of agricultural modernization, the demand for automation and intelligentization in fruit and vegetable harvesting is becoming increasingly prominent. Traditional manual harvesting methods are not only labor-intensive and inefficient, but also increasingly unable to meet the demands of large-scale agricultural production due to the continuous rise in labor costs, undoubtedly placing a heavy economic burden on agricultural production. Therefore, developing efficient and precise harvesting robots has become one of the key tasks in achieving agricultural modernization.

[0003] Currently, various types of harvesting robots exist on the market, alleviating the pressure of manual harvesting to some extent. Some robots employ a design combining a robotic arm and an end effector, using visual sensors to collect images and algorithms to identify and harvest target crops. However, existing harvesting robots that integrate gripping and shearing functions often have their drive motors installed near the end effector. This increases the inertia of the end effector, reducing not only the response speed and control accuracy but also increasing the load on the robotic arm, affecting the overall structural stability and lifespan. Moreover, in existing technologies, the gripping and shearing functions of harvesting robots are often independent, requiring two or more sets of drive mechanisms for separate control. This not only results in a bulky end effector structure and slow response speed but also reduces harvesting accuracy due to coordination errors among multiple mechanisms. Even in designs that attempt to integrate the two functions, functional decoupling is often impossible. This coupling greatly increases the difficulty of control, limiting the robot's adaptability to complex fruit and vegetable shapes and growth postures, further increasing the complexity of control and making it difficult to achieve precise and efficient harvesting operations.

[0004] Therefore, there is an urgent need to design a parallel harvesting robot with a generalized motion platform end effector to solve the problems mentioned above. Summary of the Invention

[0005] The purpose of this invention is to provide a parallel harvesting robot with a generalized motion platform end effector. By optimizing the end effector and the branch structure, the clamping and shearing functions are integrated and decoupled, while reducing end inertia and improving harvesting efficiency and accuracy.

[0006] To achieve the above objectives, the present invention provides a parallel harvesting robot with a generalized motion platform end effector, the specific technical solution of which is as follows: A parallel harvesting robot with a generalized moving platform end effector includes: a fixed platform, an actuator, a first branch, a second branch, a third branch, and a fourth branch; One end of the first branch, one end of the second branch, one end of the third branch, and one end of the fourth branch are all rotatably connected to the fixed platform; The actuator includes a housing, a first input rod, a second input rod, a clamping assembly, and a cutting assembly. A groove is formed on the top of the housing. The output ends of the first and second branches are rotatably connected to the movable end of the first input rod. The clamping assembly includes a first and a second gripper. The output end of the first input rod drives the first and second grippers to slide in the groove. The output ends of the third and fourth branches are rotatably connected to the movable end of the second input rod. The cutting assembly includes a blade holder frame and a blade. The blade holder frame is rotatably connected to the housing, and the blade is fixedly connected to the blade holder frame. The output end of the second input rod drives the blade holder frame to rotate, facilitating blade cutting.

[0007] Furthermore, the actuator also includes a gear assembly comprising a first gear and a second gear, wherein the first gear is fixedly connected to the output end of the second input rod, and the second gear is fixedly connected to the tool holder frame, wherein the first gear meshes with the second gear.

[0008] Furthermore, the tool holder frame includes a front frame and a rear frame, the gear assembly includes a front gear and a rear gear, the front frame is fixedly connected to the second gear, the side of the front frame away from the second gear is fixedly connected to the front gear, the rear frame is fixedly connected to the rear gear, and the front gear and the rear gear mesh to drive the front frame and the rear frame to rotate in the specified direction.

[0009] Furthermore, the clamping assembly also includes four side rods, which are rotatably connected to form a rhombus structure, and the first gripper and the second gripper are fixedly disposed at the apex of the diagonal of the rhombus structure.

[0010] Furthermore, the first branch includes a first parallel assembly, a first connecting rod, and a second connecting rod. The first parallel assembly includes four first side connecting rods. The lower ends of the four first side connecting rods are connected to the fixed platform via a revolute joint, and the upper ends of the four first side connecting rods are connected to a first top connecting rod via a revolute joint. The lower end of the first connecting rod is connected to the end of the first top connecting rod away from the first side connecting rod via a revolute joint, and the upper end of the first connecting rod is connected to the lower end of the second connecting rod via a revolute joint. The upper end of the second connecting rod is connected to the movable end of the first input rod via a revolute joint.

[0011] Furthermore, the second branch includes a second parallel assembly, a third link, and a fourth link. The second parallel assembly includes four second side connecting rods. The lower ends of the four second side connecting rods are connected to the fixed platform via a revolute joint, and the upper ends of the four second side connecting rods are connected to the second top connecting rod via a revolute joint. The lower end of the third link is connected to the end of the second top connecting rod away from the second side connecting rod via a revolute joint, and the upper end of the third link is connected to the lower end of the fourth link via a revolute joint. The upper end of the fourth link is connected to the movable end of the first input rod via a revolute joint.

[0012] Furthermore, the third branch includes a third parallel assembly, a fifth connecting rod, a sixth connecting rod, and a connecting rod. The third parallel assembly includes four third side connecting rods. The lower ends of the four third side connecting rods are connected to the connecting rod via a revolute joint. The connecting rod is connected to the fixed platform via a revolute joint. The upper ends of the four third side connecting rods are connected to the third top connecting rod via a revolute joint. The lower end of the fifth connecting rod is connected to the end of the third top connecting rod away from the third side connecting rod via a revolute joint. The upper end of the fifth connecting rod is connected to the lower end of the sixth connecting rod via a revolute joint. The upper end of the sixth connecting rod is connected to the movable end of the second input rod via a revolute joint.

[0013] Furthermore, the fourth branch includes a fourth parallel assembly, a seventh link, and an eighth link. The fourth parallel assembly includes four fourth side connecting rods. The lower ends of the four fourth side connecting rods are connected to the fixed platform via a revolute joint, and the upper ends of the four fourth side connecting rods are connected to a fourth top connecting rod via a revolute joint. The lower end of the seventh link is connected to the end of the fourth top connecting rod away from the fourth side connecting rod via a revolute joint, and the upper end of the seventh link is connected to the lower end of the eighth link via a revolute joint. The upper end of the eighth link is connected to the movable end of the second input rod via a revolute joint.

[0014] Furthermore, the parallel harvesting robot with a generalized motion platform end effector also includes a vision sensor and a motor. The vision sensor is electrically connected to the motor, and the motor is used to drive the first branch, the second branch, the third branch, and the fourth branch to move the first input rod and the second input rod.

[0015] Furthermore, the parallel harvesting robot with a generalized motion platform end effector also includes a controller, which includes an input end and an output end. The input end is electrically connected to the vision sensor, and the output end is electrically connected to the motor.

[0016] The parallel harvesting robot with a generalized moving platform end effector of the present invention has the following advantages: 1. Reduce end effector inertia: The motors are all installed near the fixed platform and control the actuator through the first, second, third and fourth branches, which greatly reduces the inertia of the end effector, improves the action response speed and control accuracy, and at the same time reduces the load on the branches and extends the service life of the equipment. 2. Functional integration and decoupling: The actuator integrates clamping and shearing functions, and achieves functional decoupling through the first input rod (controlling clamping) and the second input rod (controlling shearing), simplifying the control logic and reducing coordination errors; 3. Compact and efficient structure: It adopts four sets of parallel components and linkage structure, the connection between the branch chain and the actuator is simple, the overall structure is compact, and it can adapt to complex fruit and vegetable growing environments; 4. Precise and reliable control: Combining vision sensors and controllers, it can achieve precise positioning and harvesting of target fruits and vegetables. With the gripping component with diamond structure transmission and the cutting component with gear transmission, it ensures stable operation and improves the harvesting success rate. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the parallel harvesting robot structure with a generalized motion platform end effector according to the present invention; Figure 2 This is one of the partial structural schematic diagrams of the actuator of the parallel harvesting robot with a generalized moving platform end effector according to the present invention; Figure 3 This is a second partial structural schematic diagram of the actuator of the parallel harvesting robot with a generalized motion platform end effector according to the present invention; Figure 4 This is a partial structural diagram of the first and fourth branches of the parallel harvesting robot with a generalized moving platform end effector according to the present invention; Figure 5 This is a partial structural diagram of the second and third branches of the parallel harvesting robot with a generalized motion platform end effector according to the present invention.

[0018] Explanation of markings in the diagram: 1. Fixed platform; 2. Actuator; 21. Housing; 211. Slide groove; 22. First input rod; 23. Second input rod; 24. Clamping assembly; 241. First gripper; 242. Second gripper; 243. Side rod; 25. Cutting assembly; 251. Tool holder frame; 2511. Front frame; 2512. Rear frame; 252. Blade; 26. Gear assembly; 261. First gear; 262. Second gear; 263. Front gear; 264. Rear gear; 3. First branch chain; 31. First parallel assembly; 311. First side connecting rod; 312. First top connecting rod; 32. Link 1; 33. Link 2; 4. Second branch chain; 41. Second parallel assembly; 411. Second side connecting rod; 412. Second top connecting rod; 42. Link 3; 43. Link 4; 5. Third branch chain; 51. Third parallel assembly; 511. Third side connecting rod; 512. Third top connecting rod; 52. Link 5; 53. Link 6; 54. Connecting rod; 6. Fourth branch chain; 61. Fourth parallel assembly; 611. Fourth side connecting rod; 612. Fourth top connecting rod; 62. Link 7; 63. Link 8. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] Those skilled in the art will understand that although some embodiments herein include certain features included in other embodiments but not others, combinations of features from different embodiments are intended to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments can be used in any combination.

[0021] The following reference Figures 1 to 5 This invention describes a parallel harvesting robot with a generalized motion platform end effector.

[0022] like Figures 1 to 3 As shown, a parallel harvesting robot with a generalized moving platform end effector includes: a fixed platform 1, an actuator 2, a first branch 3, a second branch 4, a third branch 5, and a fourth branch 6; One end of the first branch 3, one end of the second branch 4, one end of the third branch 5, and one end of the fourth branch 6 are all rotatably connected to the fixed platform 1; The actuator 2 includes a housing 21, a first input rod 22, a second input rod 23, a clamping assembly 24, and a cutting assembly 25. The top of the housing 21 has a sliding groove 211. The output ends of the first branch 3 and the second branch 4 are rotatably connected to the movable end of the first input rod 22. The clamping assembly 24 includes a first gripper 241 and a second gripper 242. The output end of the first input rod 22 drives the first gripper 241 and the second gripper 242 to slide in the sliding groove 211. The output ends of the third branch 5 and the fourth branch 6 are rotatably connected to the movable end of the second input rod 23. The cutting assembly 25 includes a blade holder frame 251 and a blade 252. The blade holder frame 251 is rotatably connected to the housing 21, and the blade 252 is fixedly connected to the blade holder frame 251. The output end of the second input rod 23 drives the blade holder frame 251 to rotate so that the blade 252 can cut.

[0023] Specifically, one end of the first branch 3, the second branch 4, the third branch 5, and the fourth branch 6 are rotatably connected to the fixed platform 1, and the other end is connected to the actuator 2. The movement of the branches drives the actuator 2 to realize spatial position adjustment and clamping and cutting actions. The top of the outer shell 21 is provided with a sliding groove 211 to guide the movement of the clamping assembly 24. The output ends of the first branch 3 and the second branch 4 drive the clamping assembly 24 to move. The first gripper 241 and the second gripper 242 can slide along the sliding groove 211 of the outer shell 21 under the drive of the first input rod 22 to realize the clamping of fruits and vegetables. The output ends of the third branch 5 and the fourth branch 6 drive the cutting assembly 25 to move. The blade 252 is fixed on the blade holder frame 251, and the cutting action is realized by the rotation of the blade holder frame 251.

[0024] Further, if Figures 1 to 3 As shown, the actuator 2 further includes a gear assembly 26, which includes a first gear 261 and a second gear 262. The first gear 261 is fixedly connected to the output end of the second input rod 23, and the second gear 262 is fixedly connected to the tool holder frame 251, wherein the first gear 261 meshes with the second gear 262.

[0025] Specifically, the gear assembly 26 is used to transmit the motion of the second input rod 23 to the cutting assembly 25. The first gear 261 meshes with the second gear 262, driving the tool holder frame 251 to rotate through gear transmission.

[0026] The diameter and number of teeth of the first gear 261 are greater than those of the second gear 262.

[0027] Further, if Figures 1 to 3As shown, the tool holder frame 251 includes a front frame 2511 and a rear frame 2512, and the gear assembly 26 includes a front gear 263 and a rear gear 264. The front frame 2511 is fixedly connected to the second gear 262, and the side of the front frame 2511 away from the second gear 262 is fixedly connected to the front gear 263. The rear frame 2512 is fixedly connected to the rear gear 264. The front gear 263 and the rear gear 264 mesh to drive the front frame 2511 and the rear frame 2512 to rotate in the specified direction.

[0028] Specifically, the front gear 263 meshes with the rear gear 264, which can drive the front frame 2511 and the rear frame 2512 to rotate in opposite directions, thereby realizing the opening and closing shearing of the blade 252.

[0029] Among them, the front gear 263, the rear gear 264, and the second gear 262 have the same diameter and number of teeth.

[0030] Further, if Figures 1 to 3 As shown, the clamping assembly 24 also includes four side rods 243, which are rotatably connected to form a rhombus structure. The first gripper 241 and the second gripper 242 are fixedly disposed at the apex of the diagonal of the rhombus structure.

[0031] Specifically, the four side rods 243 are connected end to end by a rotating sub to form a rhombus structure. The first gripper 241 and the second gripper 242 are respectively fixed at the top corners of the diagonal of the rhombus structure. When the length of the diagonal of the rhombus structure changes, the gripper can move closer or further away from the sliding groove 211 of the outer shell 21 to achieve clamping or releasing.

[0032] Further, if Figures 1 to 5 As shown, the first branch 3 includes a first parallel component 31, a first connecting rod 32, and a second connecting rod 33. The first parallel component 31 includes four first side connecting rods 311. The lower ends of the four first side connecting rods 311 are connected to the fixed platform 1 through a rotating joint. The upper ends of the four first side connecting rods 311 are connected to the first top connecting rod 312 through a rotating joint. The lower end of the first connecting rod 32 is connected to the end of the first top connecting rod 312 away from the first side connecting rod 311 through a rotating joint. The upper end of the first connecting rod 32 is connected to the lower end of the second connecting rod 33 through a rotating joint. The upper end of the second connecting rod 33 is connected to the movable end of the first input rod 22 through a rotating joint.

[0033] Further, if Figures 1 to 5As shown, the second branch 4 includes a second parallel component 41, a third connecting rod 42, and a fourth connecting rod 43. The second parallel component 41 includes four second side connecting rods 411. The lower ends of the four second side connecting rods 411 are connected to the fixed platform 1 via a rotating joint, and the upper ends of the four second side connecting rods 411 are connected to the second top connecting rod 412 via a rotating joint. The lower end of the third connecting rod 42 is connected to the end of the second top connecting rod 412 away from the second side connecting rod 411 via a rotating joint, and the upper end of the third connecting rod 42 is connected to the lower end of the fourth connecting rod 43 via a rotating joint. The upper end of the fourth connecting rod 43 is connected to the movable end of the first input rod 22 via a rotating joint.

[0034] Further, if Figures 1 to 5 As shown, the third branch 5 includes a third parallel component 51, a fifth connecting rod 52, a sixth connecting rod 53, and a connecting rod 54. The third parallel component 51 includes four third side connecting rods 511. The lower ends of the four third side connecting rods 511 are connected to the connecting rod 54 via a rotating joint. The connecting rod 54 is connected to the fixed platform 1 via a rotating joint. The upper ends of the four third side connecting rods 511 are connected to the third top connecting rod 512 via a rotating joint. The lower end of the fifth connecting rod 52 is connected to the end of the third top connecting rod 512 away from the third side connecting rod 511 via a rotating joint. The upper end of the fifth connecting rod 52 is connected to the lower end of the sixth connecting rod 53 via a rotating joint. The upper end of the sixth connecting rod 53 is connected to the movable end of the second input rod 23 via a rotating joint.

[0035] Further, if Figures 1 to 5 As shown, the fourth branch 6 includes a fourth parallel component 61, a seventh link 62, and an eighth link 63. The fourth parallel component 61 includes four fourth side connecting rods 611. The lower ends of the four fourth side connecting rods 611 are connected to the fixed platform 1 via a rotating joint, and the upper ends of the four fourth side connecting rods 611 are connected to the fourth top connecting rod 612 via a rotating joint. The lower end of the seventh link 62 is connected to the end of the fourth top connecting rod 612 away from the fourth side connecting rods 611 via a rotating joint, and the upper end of the seventh link 62 is connected to the lower end of the eighth link 63 via a rotating joint. The upper end of the eighth link 63 is connected to the movable end of the second input rod 23 via a rotating joint.

[0036] Specifically, the first branch 3 and the fourth branch 6 are structurally symmetrical, and the rotation directions of the first parallel component 31 and the fourth parallel component 61 are parallel, the rotation directions of the first parallel component 31 and the second parallel component 41 are perpendicular, and the rotation directions of the second parallel component 41 and the third parallel component 51 are consistent.

[0037] Furthermore, the parallel harvesting robot with a generalized motion platform end effector also includes a vision sensor and a motor. The vision sensor is electrically connected to the motor, and the motor is used to drive the first branch 3, the second branch 4, the third branch 5, and the fourth branch 6 to move the first input rod 22 and the second input rod 23.

[0038] The motors include a first motor, a second motor, a third motor, a fourth motor, and a fifth motor. The first motor is fixedly connected to the fixed platform 1 and is used to drive the first side connecting rod 311 to move. The second motor is fixedly connected to the fixed platform 1 and is used to drive the second side connecting rod 411 to move. The third motor is fixedly connected to the connecting rod 54 and is used to drive the third side connecting rod 511 to move. The fourth motor is fixedly connected to the fixed platform 1 and is used to drive the second input rod 23 to rotate. The fifth motor is fixedly connected to the fixed platform 1 and is used to drive the fourth side connecting rod 611 to move.

[0039] Furthermore, the parallel harvesting robot with a generalized motion platform end effector also includes a controller, which includes an input end and an output end. The input end is electrically connected to the vision sensor, and the output end is electrically connected to the motor.

[0040] Specifically, the vision sensor is used to identify the position and shape of the target fruits and vegetables, and it is electrically connected to the input end of the controller; the motor is used to drive the first branch 3, the second branch 4, the third branch 5 and the fourth branch 6 to move, which is achieved by controlling the rotation of each of the first side connecting rods 311, the second side connecting rod 411, the third side connecting rod 511 and the fourth side connecting rod 611 respectively through the motor, and the motor is electrically connected to the output end of the controller; the controller controls the motor to move according to the signal of the vision sensor, thereby driving the first input rod 22 and the second input rod 23 to move, so as to realize the positioning, clamping and cutting of the actuator 2.

[0041] Example 1 During the harvesting process, a vision sensor identifies the target fruits and vegetables. The controller drives the motor, and through the coordinated movement of four branches, adjusts the spatial position of the actuator 2 so that the clamping assembly 24 is aligned with the target. The controller controls the second, third, fourth, and fifth motors to be fixed. The movement of the first motor drives the first input rod 22 to move relative to the second input rod 23. The movement of the first input rod 22 drives the rhomboid structure to deform, thereby driving the first gripper 241 and the second gripper 242 to move closer along the slide groove 211 to clamp the target fruits and vegetables. The controller controls the fourth motor to drive the second input rod 23 to rotate. The second input rod 23 drives the first gear 261 to rotate, which in turn drives the front frame 2511 and the rear frame 2512 to rotate through the gear assembly 26. The blade 252 closes to cut the fruit and vegetable stems. After cutting, the controller controls the first motor and the fifth motor to keep their movements synchronized so that the clamping assembly 24 maintains the clamping state. Through the four branches, the actuator 2 is moved to the collection area, the first gripper 241 and the second gripper 242 are released, the harvesting is completed, and the actuator 2 resets for the next harvest.

[0042] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. A parallel harvesting robot with a generalized motion platform end effector, characterized in that, include: The platform consists of an actuator, a first branch, a second branch, a third branch, and a fourth branch. One end of the first branch, one end of the second branch, one end of the third branch, and one end of the fourth branch are all rotatably connected to the fixed platform; The actuator includes a housing, a first input rod, a second input rod, a clamping assembly, and a cutting assembly. A groove is formed on the top of the housing. The output ends of the first and second branches are rotatably connected to the movable end of the first input rod. The clamping assembly includes a first and a second gripper. The output end of the first input rod drives the first and second grippers to slide in the groove. The output ends of the third and fourth branches are rotatably connected to the movable end of the second input rod. The cutting assembly includes a blade holder frame and a blade. The blade holder frame is rotatably connected to the housing, and the blade is fixedly connected to the blade holder frame. The output end of the second input rod drives the blade holder frame to rotate, facilitating blade cutting.

2. The parallel harvesting robot with a generalized motion platform end effector according to claim 1, characterized in that, The actuator further includes a gear assembly comprising a first gear and a second gear, wherein the first gear is fixedly connected to the output end of the second input rod, and the second gear is fixedly connected to the tool holder frame, wherein the first gear meshes with the second gear.

3. The parallel harvesting robot with a generalized motion platform end effector according to claim 2, characterized in that, The tool holder frame includes a front frame and a rear frame, and the gear assembly includes a front gear and a rear gear. The front frame is fixedly connected to the second gear, and the side of the front frame away from the second gear is fixedly connected to the front gear. The rear frame is fixedly connected to the rear gear, and the front gear and the rear gear mesh to drive the front frame and the rear frame to rotate in the specified direction.

4. The parallel harvesting robot with a generalized motion platform end effector according to claim 1, characterized in that, The clamping assembly also includes four side rods, which are rotatably connected to form a rhombus structure. The first gripper and the second gripper are fixedly disposed at the apex of the diagonal of the rhombus structure.

5. The parallel harvesting robot with a generalized motion platform end effector according to claim 1, characterized in that, The first branch includes a first parallel assembly, a first connecting rod, and a second connecting rod. The first parallel assembly includes four first side connecting rods. The lower ends of the four first side connecting rods are connected to the fixed platform via a revolute joint, and the upper ends of the four first side connecting rods are connected to a first top connecting rod via a revolute joint. The lower end of the first connecting rod is connected to the end of the first top connecting rod away from the first side connecting rod via a revolute joint, and the upper end of the first connecting rod is connected to the lower end of the second connecting rod via a revolute joint. The upper end of the second connecting rod is connected to the movable end of the first input rod via a revolute joint.

6. The parallel harvesting robot with a generalized motion platform end effector according to claim 5, characterized in that, The second branch includes a second parallel assembly, a third link, and a fourth link. The second parallel assembly includes four second side connecting rods. The lower ends of the four second side connecting rods are connected to the fixed platform via a revolute joint, and the upper ends of the four second side connecting rods are connected to a second top connecting rod via a revolute joint. The lower end of the third link is connected to the end of the second top connecting rod away from the second side connecting rod via a revolute joint, and the upper end of the third link is connected to the lower end of the fourth link via a revolute joint. The upper end of the fourth link is connected to the movable end of the first input rod via a revolute joint.

7. The parallel harvesting robot with a generalized motion platform end effector according to claim 6, characterized in that, The third branch includes a third parallel assembly, a fifth connecting rod, a sixth connecting rod, and a connecting rod. The third parallel assembly includes four third side connecting rods. The lower ends of the four third side connecting rods are connected to the connecting rod via a revolute joint. The connecting rod is connected to the fixed platform via a revolute joint. The upper ends of the four third side connecting rods are connected to a third top connecting rod via a revolute joint. The lower end of the fifth connecting rod is connected to the end of the third top connecting rod away from the third side connecting rod via a revolute joint. The upper end of the fifth connecting rod is connected to the lower end of the sixth connecting rod via a revolute joint. The upper end of the sixth connecting rod is connected to the movable end of the second input rod via a revolute joint.

8. The parallel harvesting robot with a generalized motion platform end effector according to claim 7, characterized in that, The fourth branch includes a fourth parallel assembly, a seventh link, and an eighth link. The fourth parallel assembly includes four fourth side connecting rods. The lower ends of the four fourth side connecting rods are connected to the fixed platform via a revolute joint, and the upper ends of the four fourth side connecting rods are connected to a fourth top connecting rod via a revolute joint. The lower end of the seventh link is connected to the end of the fourth top connecting rod away from the fourth side connecting rod via a revolute joint, and the upper end of the seventh link is connected to the lower end of the eighth link via a revolute joint. The upper end of the eighth link is connected to the movable end of the second input rod via a revolute joint.

9. The parallel harvesting robot with a generalized motion platform end effector according to claim 1, characterized in that, It also includes a vision sensor and a motor, the vision sensor being electrically connected to the motor, and the motor being used to drive the first branch, the second branch, the third branch, and the fourth branch to move the first input rod and the second input rod.

10. The parallel harvesting robot with a generalized motion platform end effector according to claim 9, characterized in that, It also includes a controller, which has an input terminal and an output terminal. The input terminal is electrically connected to the vision sensor, and the output terminal is electrically connected to the motor.

Images