End-effector with rotary actuator for harvesting crops
AssigneeAutomated Harvesting Solutions, LLC
InventorsAnthony Wisdom, Ian Mintz, Jan Zijlstra
Life of this patent
Estimating the term…
Abstract
An end effector for harvesting edible crowns of broccoli plants. The end effector may include a body, fingers pivotably coupled to the body, and a rotary actuator disposed in the body. The rotary actuator operably couples to the fingers via one or more linkages and is configured to transition the fingers between an open position and a closed position. In the closed position, an edible crown is retained within the end effector, while in the open position, the edible crown is released from the end effector. A cutting mechanism of the end effector severs the edible crown from a stalk of the broccoli plant. A robotic arm may position the end effector relative to the edible crown for harvesting.
Claims20
A machine for harvesting edible crowns of broccoli plants, the machine comprising:
- a robotic arm;
- an end effector operably coupled to the robotic arm, the end effector including:
- fingers,
- a rotary actuator configured to transition the fingers between an open position and a closed position, the rotary actuator being located at a position between the fingers, and
- a cutting mechanism disposed on at least one finger of the fingers;
- one or more processors;
- and
- one or more computer-readable media storing instructions that, when executed, cause the one or more processors to perform operations comprising:
- receiving an indication associated with an edible crown ready for harvesting;
- moving, via the robotic arm, the end effector to a position associated with harvesting the edible crown;
- actuating the rotary actuator to transition the fingers to the closed position to retain the edible crown in the end effector;
- actuating the cutting mechanism to separate the edible crown from a broccoli plant;
- and
- moving, via the robotic arm, the end effector to a collection location, wherein at the collection location the rotary actuator is configured to actuate the fingers to the open position to release the edible crown.
A method comprising:
- determining an edible crown to harvest;
- moving an end effector to a first position associated with harvesting the edible crown, the end effector having a first finger and a second finger that are configured to transition between an open position and a closed position via a rotary actuator, the rotary actuator being coupled to the first finger and the second finger;
- actuating a cutting mechanism of the end effector to cut the edible crown from a stalk, wherein the cutting mechanism is disposed on at least one of the first finger or the second finger;
- and
- moving the end effector to a second position associated with transferring the edible crown.
An end effector comprising:
- a body;
- fingers pivotably coupled to the body, individual fingers of the fingers being pivotably coupled to the body at a location between a respective first end of the fingers and a respective second end of the fingers;
- a rotary actuator disposed in the body and operably coupled to the fingers via one or more respective linkages, wherein the rotary actuator is configured to transition the fingers between an open position and a closed position;
- and
- a cutting mechanism disposed on at least one finger of the fingers, wherein the cutting mechanism is configured to sever an edible crown from a stalk.
Dependencies are inferred from the claim text.