For example harvest of the fruit or harvest of the robot conversion machine null fruit which has at least the arm of one for

摘要

(57) Abstract For example harvest of the fruit or to robot for sorting the various objects being the machine which is converted, sphere coordinate (two vertical rotation seaters and huai which operate jointly and directing in the object which it captures, the translation low/row of that capture device) to have the type manipulator, as a result, translational axis A3 of the capture head of this capture device 20, always, to make 2 these axes A1 of revolution and A2 cross at the central point I, furthermore this manipulator to have the artificial optical system 24 in order to discover the object which is captured, optical middle of the target of this system justTo be categorized to the aforementioned central point I, as for the aforementioned manipulator, in order for it to be possible, to cross mutually, to possess the manipulation arm I of the symmetrical pantograph type which is formed with arm 1A and the front arm 1B which are arranged on two parallel aspects, aforementioned arm 1 to be restrained by the expedient 21 which, establishes axial revolution around axis A4 furthermore as for this arm, the value for the revolution and the aforementioned front arm of front arm 1B of the value -2a for the aforementioned arm +a, becoming revolution of the capture device 20 which is installed in the far end of front arm 1B, appear, as the result,It paralleled to the axis A3 which corresponds to the optical axis of optical system 24, the robot conversion machine which has the mechanical expedient which establishes the motion that simple translation of far end 20of a the aforementioned capture device for fixed point is pulled up.