Camellia seed foreign matter identifying and cleaning device

Abstract

The utility model discloses a camellia seed foreign matter identifying and cleaning device which comprises a rack, a transmission mechanism, a parallel robot, a depth camera, a mechanical clamp and a controller. The conveying mechanism is arranged on the rack in the horizontal direction. The parallel robot is arranged on the rack in the height direction and located above the conveying mechanism. The depth camera is fixedly hung above the transmission mechanism; the mechanical clamp comprises a clamping jaw assembly and a suction assembly and is arranged at the end, facing the conveying mechanism, of the parallel robot. The controller is in communication connection with the transmission mechanism, the parallel robot, the depth camera and the mechanical clamp. The device can realize deep identification, image processing, positioning and quantification of the camellia seeds and the foreign matters and separation of the camellia seeds and the foreign matters, is reasonable and simple in structure, easy to produce and manufacture and low in cost, can effectively solve the problem that traditional camellia seed sorting is not thorough enough, and improves economic benefits.

Description

Technical Field

[0001] The utility model relates to the technical field of agricultural product processing machinery, in particular to a foreign body identification and cleaning device for oil-tea camellia seeds. Background Art

[0002] Identification and cleaning of foreign matter in tea seeds helps to improve the overall utilization rate of tea seeds and the benefits of tea seed oil production, and increase the profits of tea seed production and processing companies. At present, the separation efficiency of foreign matter in tea seed processing is low, and there are always many foreign matter in tea seeds. These foreign matter that is not completely separated from the tea seeds will not only affect the productivity of tea seed oil production, but also affect the economic benefits of tea seed planting companies. After identifying and separating foreign matter in tea seeds, the efficiency of tea seed oil production will be greatly improved, increasing the value of tea seeds.

[0003] However, the traditional manual sorting process is labor-intensive and inefficient, and the existing camellia seed processing machinery, such as a raw material cleaning device for the camellia oil production process disclosed in Chinese Patent Publication No. CN110802025A, uses a simple air blowing and dust blowing method for cleaning, which cannot meet the processing requirements of camellia seed foreign matter sorting. Utility Model Content

[0004] Purpose of the utility model: The purpose of the utility model is to provide a camellia seed foreign matter identification and cleaning device designed according to the characteristics of camellia seeds and foreign matter, which meets the needs of deep identification and sorting processing of camellia seed foreign matter.

[0005] Technical solution: The utility model of the camellia seed foreign body identification and cleaning device includes a frame, a transmission mechanism, a parallel robot, a depth camera, a mechanical clamp and a controller; the transmission mechanism is arranged on the frame in the horizontal direction; the parallel robot is arranged on the frame in the height direction and is located above the transmission mechanism; the depth camera is fixedly suspended above the transmission mechanism; the mechanical clamp includes a clamping claw assembly and a suction assembly, and the mechanical clamp is arranged at one end of the parallel robot facing the transmission mechanism; the controller is communicatively connected with the transmission mechanism, the parallel robot, the depth camera and the mechanical clamp respectively.

[0006] Furthermore, the transmission mechanism includes a conveyor belt, a guide plate, a motor, a driving roller, a reversing roller and an emergency brake button; the guide plate is arranged on both sides of the conveyor belt along the length direction of the conveyor belt, and the driving roller and the reversing roller are arranged at both ends of the conveyor belt along the width direction of the conveyor belt; the motor is arranged at one end of the guide plate facing the driving roller.

[0007] Furthermore, it also includes a right-angle plate, which has a first plate and a second plate that are perpendicular to each other, and the first plate is fixedly connected to the guide plate so that the second plate is located above the conveyor belt and parallel to the conveyor belt; the depth camera is fixedly connected to the second plate.

[0008] Furthermore, the parallel robot includes a static platform, a dynamic platform, three active arms and three driven arms, the three active arms are slidingly connected to the three driven arms respectively, the three active arms are rotationally connected to the static platform respectively, and the three driven arms are rotationally connected to the dynamic platform respectively.

[0009] Furthermore, the mechanical clamp also includes a rotator and two support frames, the rotator is rotatably connected to the moving platform, the two support frames are arranged at both ends of the rotator, each support frame is provided with a clamping jaw assembly, and each clamping jaw assembly includes two clamping jaws.

[0010] Furthermore, the suction assembly includes a suction cup, an air extraction pipe and an air pump, the suction cup is arranged at the end of the clamp, the air pump is fixedly connected to the support frame, and the air extraction pipe connects the air pump and the suction cup.

[0011] Furthermore, the depth camera is located upstream of the parallel robot along the moving direction of the transmission mechanism.

[0012] Beneficial effects: Compared with the prior art, the utility model has the following significant advantages: (1) The utility model can quickly identify the shape, position, etc. of tea seeds and foreign objects according to the images of tea seeds and foreign objects, separate tea seeds and foreign objects, and realize accurate identification and processing of foreign objects in tea seeds; (2) The mechanical clamp of the utility model not only includes a clamping claw assembly that can grab large foreign objects such as stones and wood mixed in tea seeds, but also includes a suction assembly that can suck out small foreign objects such as dry and broken leaves and small soil blocks mixed in tea seeds, thereby overcoming the problem that traditional tea seed sorting is not thorough enough, greatly improving the oil production rate of tea seeds, and improving economic benefits; (3) The utility model has a reasonable and simple structure and low production cost, and can be widely used in the identification and cleaning of tea seed analogs. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 A schematic diagram of a foreign body identification and cleaning device for oil-tea camellia seeds;

[0014] Figure 2 It is a schematic diagram of the belt transmission mechanism in the utility model;

[0015] Figure 3 It is a schematic diagram of the parallel robot in the utility model;

[0016] Figure 4 It is a schematic diagram of the mechanical clamp mechanism in the utility model.

[0017] Figure numerals: frame 1, transmission mechanism 2, conveyor belt 21, guide plate 22, motor 23, driving roller 24, reversing roller 25, emergency brake button 26, parallel robot 3, static platform 31, moving platform 32, active arm 33, driven arm 34, depth camera 4, mechanical clamp 5, jaw assembly 51, jaw 511, suction assembly 52, suction cup 521, exhaust pipe 522, air pump 523, rotator 53, support frame 54, controller 6, right-angle plate 7, first plate 71, second plate 72. DETAILED DESCRIPTION

[0018] The technical solution of the utility model is further described below in conjunction with the accompanying drawings.

[0019] like Figure 1-4 As shown, an embodiment of the present application provides a foreign body identification and cleaning device for camellia seeds, comprising: a frame 1; a transmission mechanism 2, the transmission mechanism 2 is arranged on the frame 1 in a horizontal direction, and is used to transport the camellia seeds to be cleaned; a parallel robot 3, the parallel robot 3 is arranged on the frame 1 in a height direction, and is located above the transmission mechanism 2; a depth camera 4, the depth camera 4 is fixedly suspended above the transmission mechanism 2, and is used to identify foreign bodies in the camellia seeds transported on the transmission mechanism 2; a mechanical clamp 5, the mechanical clamp 5 includes a clamping claw assembly 51 and a suction assembly 52; the mechanical clamp 5 is arranged at one end of the parallel robot 3 facing the transmission mechanism 2, so that the mechanical clamp 5 can grasp or absorb foreign bodies on the transmission mechanism 2 through the movement of the parallel robot 3; a controller 6, the controller 6 is respectively connected to the transmission mechanism 2, the parallel robot 3, the depth camera 4 and the mechanical clamp 5 for communication.

[0020] In the present application, the oil tea seeds (mixed with foreign matter) to be cleaned are continuously placed at the starting end of the transmission mechanism 2 manually or mechanically, the controller 6 controls the operation of the transmission mechanism 2 on the frame 1, and the oil tea seeds are sequentially sent to the bottom of the depth camera 4, the depth camera 4 takes images of the oil tea seeds and foreign matter and transmits them to the controller 6, the controller 6 recognizes the shape and position information of the foreign matter according to the image, and the controller 6 controls the parallel robot 3 to drive the mechanical clamp 5 downward to use the clamp to grab the foreign matter or use the suction component 52 to absorb the foreign matter according to the recognized information, and the foreign matter is placed in the foreign matter box next to the frame 1, and the cleaned oil tea seeds continue to be transported to the end of the transmission mechanism 2 by the transmission mechanism 2 and collected in the collection bin. The oil tea seed foreign matter identification and cleaning device can quickly identify the shape, position, etc. of the oil tea seeds and foreign matter according to the images of the oil tea seeds and foreign matter, separate the oil tea seeds and foreign matter, and can realize accurate identification and processing of foreign matter in the oil tea seeds.

[0021] In some embodiments, the transmission mechanism 2 includes a conveyor belt 21, a guide plate 22, a motor 23, a driving roller 24, a reversing roller 25 and an emergency brake button 26; the guide plate 22 is arranged on both sides of the conveyor belt 21 along the length direction of the conveyor belt 21, and the driving roller 24 and the reversing roller 25 are arranged at both ends of the conveyor belt 21 along the width direction of the conveyor belt 21; the motor 23 is arranged at one end of the guide plate 22 facing the driving roller 24.

[0022] Specifically, when the tea seeds to be cleaned are placed on the conveyor belt 21, the controller 6 controls the motor 23 to work, and the rotation of the motor 23 is transmitted to the active roller 24 through a coupling or other connection methods, and the driving force of the motor 23 causes the active roller 24 to start rotating; the active roller 24 is the power source for the movement of the conveyor belt 21, and its surface is in contact with the inner side of the conveyor belt 21, and the conveyor belt 21 is driven by friction; the reversing roller 25 is located at the other end of the conveyor belt 21, and its function is to support the conveyor belt 21 and change the movement direction of the conveyor belt 21; when the conveyor belt 21 passes through the reversing roller 25, its running direction changes, and the cleaned The tea seeds fall into a collecting bin (not shown) placed just below the reversing roller 25; the guide plates 22 are arranged on both sides of the conveyor belt 21 along the length direction of the conveyor belt 21. Their main function is to maintain the stability and correct direction of the tea seeds during transportation, and to prevent the tea seeds from slipping off the conveyor belt 21 or deviating from the predetermined route; the transmission mechanism 2 is usually equipped with an emergency brake button 26. In an emergency or when the conveyor belt 21 needs to be stopped immediately, the operator can press the emergency brake button 26, which will immediately cut off the power supply of the motor 23 or apply the brake, so that the conveyor belt 21 stops moving quickly to prevent accidents.

[0023] In some embodiments, the device also includes a right-angle plate 7, which has a first plate 71 and a second plate 72 that are perpendicular to each other. The first plate 71 is fixedly connected to the guide plate 22 so that the second plate 72 is located above the conveyor belt 21 and parallel to the conveyor belt 21; the depth camera 4 is fixedly connected to the second plate 72.

[0024] Specifically, the first plate 71 of the right-angle plate 7 is fixedly connected to the guide plate 22 to form a stable L-shaped structure, which provides a solid support for the second plate 72, so that the second plate 72 can be stably located above the conveyor belt 21 and remain parallel to the conveyor belt 21. This configuration provides an ideal installation position for the depth camera 4, ensuring that the depth camera 4 can accurately scan the tea seeds to be processed passing on the conveyor belt 21. The position and angle of the camera are crucial to obtaining accurate image data, and the use of the right-angle plate 7 greatly simplifies the installation and adjustment process of the camera.

[0025] In some embodiments, the parallel robot 3 includes a static platform 31, a dynamic platform 32, three active arms 33 and three driven arms 34. The three active arms 33 are slidingly connected to the three driven arms 34 respectively, the three active arms 33 are rotationally connected to the static platform 31 respectively, and the three driven arms 34 are rotationally connected to the dynamic platform 32 respectively.

[0026] Specifically, the three active arms 33 are rotatably connected to the static platform 31 through joints (usually rotary joints) at one end, and these joints allow the active arms 33 to rotate relative to the static platform 31. The rotation of each active arm 33 is controlled by a motor 23 or other type of driver to achieve precise motion control; the sliding connection between the active arm 33 and the driven arm 34 usually adopts a slide rail or slider mechanism, so that the driven arm 34 can move along the length direction of the active arm 33; the other end of the driven arm 34 is connected to the moving platform 32 through a joint, similar to the connection between the active arm 33 and the static platform 31, and these joints also allow the driven arm 34 to rotate relative to the moving platform 32. This design allows the moving platform 32 to perform complex movements in three-dimensional space.

[0027] When the depth camera 4 transmits the collected image information of the tea seeds to be processed to the controller 6, the controller 6 controls the parallel robot 3 to work according to the position of the foreign matter in the image information: the driver motor (such as the motor 23) of each active arm 33 starts working, pushing the active arm 33 to rotate around the joint on the static platform 31. Due to the sliding connection between the active arm 33 and the driven arm 34, the driven arm 34 is forced to slide along the active arm 33 and rotate around the joint on the moving platform 32. This coordinated movement causes the moving platform 32 to move in space according to a predetermined path and posture, so as to accurately drive the mechanical fixture 5 to the location of the foreign matter and drive the mechanical fixture 5 to the top of the foreign matter box next to the frame 1 after the mechanical fixture 5 obtains the foreign matter.

[0028] In some embodiments, the mechanical clamp 5 also includes a rotator 53 and two support frames 54. The rotator 53 is rotatably connected to the moving platform 32. The two support frames 54 are arranged at both ends of the rotator 53. A clamping jaw assembly 51 is arranged on each support frame 54. Each clamping jaw assembly 51 includes two clamping jaws 511.

[0029] Specifically, when the mechanical clamp 5 is driven by the parallel robot 3 to the location of the foreign object and the foreign object is identified as a large particle foreign object based on the image information, the controller 6 controls the rotator 53 to rotate to adjust the angle of the clamp 511, and the two clamps 511 cooperate to accurately clamp the large particle foreign object; when the mechanical clamp 5 is driven by the parallel robot 3 to the top of the foreign object box next to the frame 1, the controller 6 controls the clamp 511 to release and put the large particle foreign object into the foreign object box.

[0030] In some embodiments, the suction assembly 52 includes a suction cup 521, an exhaust pipe 522 and an air pump 523, the suction cup 521 is arranged at the end of the clamp 511, the air pump 523 is fixedly connected to the support frame 54, and the exhaust pipe 522 connects the air pump 523 and the suction cup 521.

[0031] Specifically, the mechanical clamp 5 also includes a suction component 52. When the mechanical clamp 5 is driven by the parallel robot 3 to the location of the foreign matter and the foreign matter is identified as a small particle foreign matter based on the image information, the controller 6 controls the air pump 523 to work, and the air pump 523 works to make the suction cup 521 have suction to absorb the small particle foreign matter; when the mechanical clamp 5 is driven by the parallel robot 3 to the top of the foreign matter box next to the rack 1, the controller 6 controls the air pump 523 to stop working, the suction cup 521 loses suction, and the small particle foreign matter is dropped into the foreign matter box.

[0032] In some embodiments, the depth camera 4 is located upstream of the parallel robot 3 along the moving direction of the transmission mechanism 2 .

[0033] Specifically, the depth camera 4 sends the collected image information to the controller 6, and the controller 6 controls the movement of the parallel robot 3 according to the image information, thereby driving the mechanical clamp 5 to clamp or absorb foreign objects. The depth camera 4 is located above the parallel robot 3 along the movement direction of the transmission mechanism 2 to facilitate the operation of the controller 6.

[0034] Camellia seed foreign body identification and cleaning device working process:

[0035] The camellia seeds and foreign objects are transported by a belt transmission mechanism. The camellia seeds and foreign objects are placed on the conveyor belt 21. The controller controls the motor 23 to rotate. The motor 23 drives the active roller 24 to rotate to drive the conveyor belt 21 for transportation. When the conveyor belt starts to transport to the depth camera 4, the depth camera 4 separates the images of the camellia seeds and foreign objects according to the image recognition and processing technology and returns them to the controller to realize the overall image acquisition.

[0036] When the conveyor belt 21 in the belt transmission mechanism transports the tea seeds and foreign objects to the working range of the parallel robot 3, the parallel robot 3 processes the foreign objects according to the instructions of the controller.

[0037] Under the action of the controller, the three active arms 33 of the parallel robot control the slave arms 34 to drive the moving platform 32 to move above the foreign matter to be processed.

[0038] After the parallel robot 3 moves the moving platform 32 to the top of the foreign object, the rotator 53 rotates and adjusts the angle so that the mechanical clamp 5 can process the foreign object; the mechanical clamp 5 performs different technical processing on different foreign objects according to the image information recognized and returned by the depth camera 4; for example, the suction cup assembly 52 is used to process foreign objects such as leaf pieces or paper: the clamping element of the mechanical clamp 5 is closed to provide a larger adsorption area for the suction assembly 52, and the exhaust pipe 522 is evacuated to form an air pressure difference, which is absorbed from the top of the foreign object and adsorbed to the end of the suction cup 521, and the parallel robot moves to transfer the foreign object from the conveyor belt 21.

[0039] The clamping jaw assembly 51 of the mechanical clamp 5 is used to handle the block-shaped foreign matter such as stones: the mechanical clamp 5 moves to the top of the stone, and then clamps the stone through its clamping jaw assembly 51, clamps the foreign matter away from the transmission mechanism 2, and finally moves away from the conveyor belt 21 under the movement of the parallel robot. The mechanical clamp 5 has two clamping jaw assemblies 51, and the two clamping jaw assemblies 51 can work synchronously, which has a high efficiency in handling foreign matter.

[0040] During the transportation of tea seeds and foreign objects by the transmission mechanism 2, the images of the tea seeds and foreign objects are collected by the depth camera 4 installed on the right-angle plate 7, and then the type, position and size of the tea seeds and foreign objects on the conveyor belt 21 are identified through image processing methods and image reconstruction technology.

[0041] The following is combined with Figures 1 to 4 The specific implementation method of this mechanism for identifying and cleaning foreign matter in camellia seeds is described.

[0042] See Figure 1The whole mechanism is divided into a transmission mechanism 2, a parallel robot 3 and a mechanical fixture 5, wherein the parallel robot 3 and the mechanical fixture 5 are located above the transmission mechanism 2, and the mechanical fixture 5 and the parallel robot 3 are connected through a rotator 53. After the oil-tea camellia seeds and foreign objects are put into the conveyor belt 21, ① the controller controls the speed of the motor 23, and the motor 23 controls the rotation of the active roller 24 to drive the conveyor belt 21 to transport the oil-tea camellia seeds and foreign objects. If an emergency occurs, the emergency brake button 26 can be pressed for protection; ② The conveyor belt 21 transports the tea seeds and foreign objects to the visual range of the depth camera 4, and the depth camera 4 performs depth recognition to distinguish the tea seeds from the broken seeds, determines their positions through image processing technology, and guides the movement of the moving platform 32 of the parallel robot 3; ③ The parallel robot 3 moves the active arm 33 and the driven arm 34 through the coupling along the prescribed path, and the driven arm 34 moves the moving platform 32 to the top of the foreign object through the coupling; ④ The controller rotates the rotator 53 according to the specific position of the foreign object, so that the two mechanical clamping components 51 are respectively located above the foreign object, which is convenient for the next step of separating the foreign object; ⑤ The two mechanical clamping components 51 are arranged according to the controller Action is taken according to the feedback of the image. For foreign objects such as leaf pieces, the mechanical clamping component 51 closes its jaws 511 to form an adsorption state, and the exhaust pipe 522 extracts gas to form an air pressure difference, thereby adsorbing the sheet-like foreign objects to the suction cup 521; for foreign objects such as block-shaped stones, the mechanical clamping component 51 opens its jaws 511 to form a clamping state, and the parallel robot 3 moves to clamp the stone; ⑥ After separating the foreign objects, the controller controls the moving platform 32 of the parallel robot 3 to move according to the specified movement path, thereby completely separating the foreign objects from the tea seeds; ⑦ The tea seeds are continuously separated from the foreign objects until the tea seeds are completely separated from the foreign objects, that is, the foreign objects completely leave the conveyor belt 21.

[0043] See Figure 2 After the tea seeds and foreign objects are placed in the conveyor belt 21, the controller controls the speed of the motor 23, and the motor 23 controls the rotation of the active roller 24 to drive the conveyor belt 21 to transport the tea seeds and foreign objects. During the transportation process, the depth camera 4 performs depth recognition and image processing on the tea seeds and foreign objects. If an emergency occurs, the emergency brake button 26 can be pressed for protection.

[0044] See Figure 3 After completing the depth recognition and image processing positioning of the tea seeds and foreign objects, the parallel robot 3 moves the active arm 33 and the driven arm 34 through the specified path through the coupling, and the driven arm 34 moves the moving platform 32 to the top of the foreign objects through the coupling. After the separation of the foreign objects is completed, the foreign objects are removed from the conveyor belt 21 according to the specified path.

[0045] See Figure 4After the parallel robot 3 moves the moving platform 32 to the top of the foreign object, the two mechanical clamps 5 act according to the feedback of the controller on the image. For foreign objects such as leaf pieces, the mechanical clamping component 51 closes its jaws 511 to form an adsorption state, and the exhaust pipe 522 extracts gas to form an air pressure difference, thereby adsorbing the sheet-like foreign objects to the suction cup 521; for foreign objects such as block-shaped stones, the mechanical clamping component 51 opens its jaws 511 to form a clamping state, and the mechanical arm moves to clamp the stone.

[0046] The contents not described in detail in this embodiment belong to the prior art known to professional and technical personnel in the field; the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it; although the utility model is described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation method of the utility model can still be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solution of the utility model, they should all be included in the scope of the technical solution requested for protection in the utility model.

Claims

1. A foreign body identification and cleaning device for oil-tea camellia seeds, characterized in that: The invention comprises a frame (1), a transmission mechanism (2), a parallel robot (3), a depth camera (4), a mechanical clamp (5) and a controller (6); the transmission mechanism (2) is arranged on the frame (1) in the horizontal direction; the parallel robot (3) is arranged on the frame (1) in the height direction and is located above the transmission mechanism (2); the depth camera (4) is fixedly suspended above the transmission mechanism (2); the mechanical clamp (5) comprises a clamping claw assembly (51) and a suction assembly (52), and the mechanical clamp (5) is arranged at one end of the parallel robot (3) facing the transmission mechanism (2); and the controller (6) is respectively connected to the transmission mechanism (2), the parallel robot (3), the depth camera (4) and the mechanical clamp (5) in communication.

2. The foreign body identification and cleaning device for oil-tea camellia seeds according to claim 1, characterized in that: The transmission mechanism (2) comprises a conveyor belt (21), a guide plate (22), a motor (23), a driving roller (24), a reversing roller (25) and an emergency brake button (26); the guide plate (22) is arranged on both sides of the conveyor belt (21) along the length direction of the conveyor belt (21); the driving roller (24) and the reversing roller (25) are arranged at both ends of the conveyor belt (21) along the width direction of the conveyor belt (21); and the motor (23) is arranged at one end of the guide plate (22) facing the driving roller (24).

3. The foreign body identification and cleaning device for oil-tea camellia seeds according to claim 2, characterized in that: It also includes a right-angle plate (7), wherein the right-angle plate (7) has a first plate (71) and a second plate (72) that are perpendicular to each other, wherein the first plate (71) is fixedly connected to the guide plate (22) so that the second plate (72) is located above the conveyor belt (21) and parallel to the conveyor belt (21); and the depth camera (4) is fixedly connected to the second plate (72).

4. The foreign body identification and cleaning device for oil-tea camellia seeds according to claim 1, characterized in that: The parallel robot (3) comprises a static platform (31), a dynamic platform (32), three active arms (33) and three driven arms (34); the three active arms (33) are respectively slidably connected to the three driven arms (34); the three active arms (33) are respectively rotationally connected to the static platform (31); and the three driven arms (34) are respectively rotationally connected to the dynamic platform (32).

5. The foreign body identification and cleaning device for oil-tea camellia seeds according to claim 4, characterized in that: The mechanical clamp (5) also includes a rotator (53) and two support frames (54), wherein the rotator (53) is rotatably connected to the moving platform (32), and the two support frames (54) are arranged at both ends of the rotator (53), and a clamping jaw assembly (51) is arranged on each support frame (54), and each clamping jaw assembly (51) includes two clamping jaws (511).

6. The foreign body identification and cleaning device for oil-tea camellia seeds according to claim 5, characterized in that: The suction component comprises a suction cup (521), an air extraction pipe (522) and an air pump (523); the suction cup (521) is arranged at the end of the clamping jaw (511); the air pump (523) is fixedly connected to the support frame (54); and the air extraction pipe (522) connects the air pump (523) and the suction cup (521).

7. The foreign body identification and cleaning device for oil-tea camellia seeds according to claim 6, characterized in that: The depth camera (4) is located along the moving direction of the transmission mechanism (2) and upstream of the parallel robot (3).

Images