Harvesting robot end actuator for the combined gripping and cutting of a harvested crop

Abstract

The disclosure relates to an end actuator device (1) for a harvesting robot (10) designed for harvesting crops (20), in particular asparagus, comprising a gear unit (2) for translating a linear movement of a piston element (2a) into a rotational movement; comprising a first and a second arm element (3a, 3b) arranged on the gear unit (2), wherein at least one of the arm elements (3a, 3b) is designed to be rotated about its longitudinal axis (L) by the rotational movement; and comprising a combination unit (4) for the combined gripping and cutting of the crop, which is arranged on the arm elements (3a, 3b), in order to improve known harvesting robots, in particular to increase a working speed while minimizing maintenance and control requirements. The disclosure further relates to a harvesting method with a vertical method of a combination unit (4) for the combined gripping and cutting of the crops (20).

Description

Scope of the invention

[0001] The disclosure relates to an end actuator device for a harvesting robot trained to harvest crops, in particular asparagus. background

[0002] Harvesting robots, which harvest crops such as asparagus or broccoli semi- or fully automatically, are already being tested and are proving their worth on the market. These harvesting robots can be self-propelled or attached to a standard harvesting vehicle such as a tractor. A final actuator for gripping and / or cutting the crop is typically controlled by an image of the crop, enabling it to grasp and / or cut the crop at predetermined points.

[0003] For example, WO 2022 / 064199 A1 discloses a harvesting machine for harvesting a crop, comprising a frame and a cutting unit, wherein the frame is operable to be positioned above the crop and is configured to movably support the cutting unit, the frame comprising a plurality of actuators to move the cutting unit along three mutually perpendicular axes relative to the frame in order to enable the cutting unit to move in such a way as to approach a single crop from any direction relative to the single crop in order to cut it.

[0004] NL 2 035 275 A describes a harvesting device, in particular for harvesting asparagus, and a method for harvesting plants. The harvesting device has a frame, gripping means for grasping the plants, wherein the gripping devices comprise two gripping parts that can be moved away from and towards each other and are pivotably connected to the frame, and separating devices for separating the harvest from the roots, wherein the separating devices are attached to the frame below the gripping devices. The gripping parts consist of two clamping doors that are curved in the width direction and pivotably connected to the frame. The clamping doors are rotatable between a gripping position in which the two clamping doors are displaced relative to each other with pivotable free edges, and a release position in which these free edges are separated from each other.

[0005] DE 20 2023 002 810 U1 discloses a harvesting tool for harvesting crops, in particular asparagus, and for attaching to a harvesting device, in particular a harvesting vehicle, comprising a gripping and holding device, wherein the gripping and holding device has a first holding element and a second holding element for gripping and holding the crop, and a first cutting element for cutting the crop, wherein the first cutting element is arranged on the first holding element or on the second holding element.

[0006] The technical challenge therefore lies in improving known harvesting robots, particularly in increasing the working speed while minimizing maintenance and control requirements and thus protecting the harvested crop. overview

[0007] This problem is solved by the subject matter of the independent claims. Advantageous embodiments result from the dependent claims, the description, and the figures.

[0008] One aspect concerns a final actuator device for a harvesting robot designed for harvesting crops, particularly asparagus. The final actuator device comprises at least a gear unit, a first and a second arm element, and a combination unit. The final actuator device may also include a connection unit for attaching it to a carrier unit, for example, with a mechanical and / or pneumatic and / or electrical and / or hydraulic interface.

[0009] The gear unit is designed to translate the linear motion of a piston element into a rotational motion. The piston element can be part of the end actuator device or part of the support unit. The first and second arm elements are arranged on the gear unit. At least one of the arm elements is designed to rotate about its longitudinal axis during the rotational motion. The longitudinal axis can be defined by the main extension direction of the respective arm element. The length of the arm element(s) measured along the longitudinal axis can, for example, be at least 5 cm, in particular at least 10 cm, and / or at most 50 cm, in particular at most 30 cm. Alternatively or additionally, the length can be at least twice, in particular at least three times, or at least four times the width and / or depth of the arm element(s) measured perpendicular to its length.The arm elements thus serve to transmit the rotational movement from the gearbox unit to the combination unit. As explained in more detail below, they can also hold the combination unit to the gearbox unit, so that without the arms, the combination unit is not connected to the gearbox unit. The combination unit is arranged on the arm elements and designed for the combined gripping and cutting of the harvested crop. Combined gripping and cutting can preferably be understood as gripping and cutting with mechanically coupled gripping and cutting elements of the combination unit. Accordingly, in combined gripping and cutting, the cutting is carried out automatically along with the gripping, i.e., without any further control command or additional actuator, and / or vice versa. Preferably, the gripping and cutting overlap at least partially in time.Alternatively, combined gripping and cutting can be understood as gripping followed by cutting, for example, cutting that occurs after gripping is complete. The cutting can also be performed by a cutting subunit of the combined unit that can be controlled separately from a gripping subunit.

[0010] The described design offers the advantage of a slim, lightweight construction with minimal mass moving during harvesting. The (mechanical, automatic) combination of gripping and cutting eliminates the need for additional components such as actuators, thus simplifying the design and control. The rotation of the arm elements around their longitudinal axis also contributes to the combined gripping and cutting process by allowing the gearbox and combination unit to be spatially separated. This significantly reduces the space required for the end actuator in the immediate vicinity of the crop, enabling the end actuator to move between shoots (such as green asparagus) without damaging the crop or potentially unripe crop.Accordingly, the proposed end actuator device allows for an increased working speed while minimizing damage to the harvested crop, thanks to its low-maintenance and low-control design.

[0011] In one embodiment, the piston element is a pneumatic piston element, and in particular, the pneumatic piston element is part of the transmission unit. Specifically, the piston element can be moved (preferably only, i.e., as the only defined positions) from a first end position to a second end position. The first end position can correspond to an open combination unit, and the second end position to a closed combination unit. In particular, when the piston element is moved from the first to the second end position, the combination unit closes (potentially with gripping and cutting the crop), and when the piston element is moved from the second to the first end position, the combination unit opens (potentially with releasing the cut crop).This is based on the understanding that just two defined positions of the combined unit are sufficient to control the required gripping and cutting process. This significantly simplifies the control system and greatly reduces the weight of the end actuator, further contributing to the aforementioned advantages.

[0012] In a further embodiment, the gear unit comprises a guide slide designed to be linearly displaced along the longitudinal axis of the respective arm element(s) by the linear movement of the piston element. The guide slide engages in a guide track of the respective arm element(s) to effect the rotational movement of the arm element(s). In particular, the guide tracks can be arranged in the upper end region of the respective arm element(s). The upper (and also the lower, mentioned later) end region can, for example, comprise a maximum of 50%, particularly a maximum of 33%, and most preferably a maximum of 25% of the longitudinal length.This has the advantage of achieving a particularly low-maintenance, easy conversion from linear to rotary motion, and, if the first and second arm elements are rotated, the guide carriage allows for a symmetrical force distribution and / or force redirection with respect to the axes of rotation. This reduces the mechanical stress and thus further contributes to the advantages already mentioned.

[0013] The guide carriage can be configured with a first bearing ball that engages in a first guide track (the guide track of the first arm element), and / or a second bearing ball that engages in a second guide track (the guide track of the second arm element), and / or a third bearing ball that engages in a guide contour of a housing of the gearbox unit. By coupling it to the piston element, the alignment of the guide carriage at the positions along its (linear) path can be unambiguously defined, and thus the rotation(s) of the arm element(s) can be precisely controlled. The shape of the guide tracks of the arm elements can also be used to define, for example, a non-linear rotational movement, a rotational movement with varying rotational speed.The design of the guide rails allows for different speeds to be set for the combination unit during gripping and cutting. For example, gripping can be performed at a lower speed (and therefore more gently), while cutting can be performed at a higher speed (and thus with a cleaner cut). This can be achieved purely mechanically, and therefore also by a simple pneumatic control that can only switch between two end positions for the piston element.

[0014] In one embodiment, both arm elements are designed to rotate around their respective longitudinal axes during the rotational movement. This makes it particularly easy to position the combination unit around the crop so that the crop is positioned in a central area between the respective gripping and / or cutting elements during gripping and cutting. This is especially true when the rotational movement includes two opposing (sub-)rotations, meaning that the arm elements rotate in opposite directions during the linear movement of the piston element in one direction (and thus preferably simultaneously). For example, the combination unit can be positioned around the crop, such as an asparagus spear typically 1-2 cm in diameter, with tolerances of + / - 3 mm. This simple design achieves particularly gentle gripping and precise cutting, which can be repeated at high speed.

[0015] Accordingly, in a further embodiment, it is provided that the rotational movement comprises two opposing rotations, each of which particularly affects one of the arm elements.

[0016] In one embodiment, the combination unit comprises a first and a second combination element, each arranged on one of the arms. The first combination element includes a first gripping element and a first cutting element (particularly arranged on the first gripping element), and the second combination element includes a second gripping element and a second cutting element (particularly arranged on the second gripping element). The first and / or second gripping and cutting elements can be arranged in a fixed relative position to each other (particularly adjacent to each other) as parts of the first and / or second combination element, respectively. During gripping or cutting, the relative position of the first and / or second gripping and cutting elements to each other does not change. However, if necessary, particularly during repair, maintenance, and / or adjustment, the relative position can be adjusted, for example, with the aid of tools.The integrated design of the gripping and cutting elements simplifies and accelerates the harvesting process, further contributing to the advantages already mentioned.

[0017] In particular, the first and second cutting elements are designed for a shear cut. This allows the respective blades to slide along and / or past each other, at least partially, during the cutting process. The shear cut is especially suitable for fast and / or clean cutting and is particularly advantageously implemented in the described design.

[0018] The cutting elements can each be arranged on one end face of the associated gripping element (and thus be part of the end face), with the end face oriented away from the gearbox along the longitudinal axis of the arm elements. This (first) end face, in contrast to an opposing (second) end face oriented towards the gearbox, can also be referred to as the ground-level end face if the crop is to be harvested at ground level. This allows for particularly close-to-ground cutting, generally cutting close to the source of the crop. Furthermore, the cutting elements can be inspected, maintained, and / or replaced particularly quickly and easily.Furthermore, the associated gripping element can be positioned particularly close to, and especially directly adjacent to (without any additional elements between the gripping element and the cutting element), the respective cutting element. This allows, for example, the asparagus spear to be gripped in its thickest and therefore most stable area. Harvesting speed can thus be further increased without damaging the crop.

[0019] The first end face can be positioned further away from the gearbox unit than the respective ends of the arm elements on the combination element side and / or a connecting element of the two arm elements located at the combination element-side ends of the arm elements. Thus, the first end face can be the outer surface of the end actuator device furthest from the gearbox unit in the longitudinal direction. Preferably, the first end face is also formed by the two cutting elements. This minimizes the size of the end face, which means that the combination unit can cut the crop particularly close to the ground, even on uneven or sloping ground, such as that found in an asparagus ridge, or that a particularly favorable path for the combination unit to the crop can be chosen without touching the ground.In particular, a lifting unit with integrated rotary actuators, as illustrated in more detail below, allows for particularly precise adaptation to the ground's characteristics, specifically unevenness and / or slope. This achieves a high degree of flexibility without requiring an additional (tilting) axis, thus reducing the overall system complexity when using the described end actuator device while maintaining full functionality.

[0020] In a further embodiment, the combined unit is arranged in a lower end region of the arm elements, with the lower end region being spaced longitudinally from the gear unit. The lower end region can be separated from the upper end region by a central section of the arm elements. The central section can, for example, comprise at least 50%, at least 60%, or at least 70% of the length of the arm elements. The central section can also include a midpoint (in the vertical direction) of the respective arm element. This results in a particularly agile and narrow design, which further enhances the advantages described.

[0021] The distance between the combination unit and the gearbox unit can be determined by the length of the central section of the arm elements located between the upper and lower end regions. In particular, the combination unit is connected to the gearbox unit only via the arm elements. This further reduces complexity, weight, and size, contributing to the advantages described. Alternatively, the combination unit can be connected to the gearbox unit by a cover, i.e., a housing component that covers the rotating arm elements during operation. The arm elements and / or the cover can thus be load-bearing components; if both the arm elements and the cover are load-bearing components, particularly high mechanical stability can be achieved. The cover not only provides crush protection for operators but also mechanically protects the arm elements from external influences.

[0022] In one embodiment, the arm elements are mechanically coupled to each other at their lower end, specifically only at their lower end and only at their upper end. This can be achieved, for example, by a connecting element between the two arm elements located at the ends of the combined element. The connecting element does not rotate; therefore, the arm element(s) rotate relative to the connecting element during rotation. This has the advantage that the stability of the arrangement of the arm elements relative to each other can be ensured with a few simple (small and lightweight) components, which in turn contributes to the agility of the combined element in the sense of the aforementioned advantages.

[0023] Another aspect concerns a harvesting robot with one or more end actuator devices according to one of the described embodiments. In particular, the harvesting robot can be equipped with one or more lifting units for preferably linearly raising and lowering the respective associated end actuator in a vertical direction along the longitudinal axis of the associated arm elements. The lifting units can also each have a rotary actuator, by means of which the end actuator device associated with the respective lifting unit can be rotated about a rotational axis running along the vertical direction. This allows the crop to be harvested with minimal damage to surrounding plants, and especially on uneven ground, very close to the ground, thus minimizing waste. A carrier unit can also enable the translational movement of the associated end actuator device(s) simultaneously with the raising / lowering action.If the harvesting robot has multiple end actuators, these can be controlled individually and independently. Control can be achieved (particularly based on visual data) either via a central control unit that manages the multiple end actuators and their associated lifting or carrying units, or via individual control units, each managing one end actuator and its associated lifting or carrying unit.

[0024] The harvesting robot is preferably designed for connection to a tractor and can then be equipped with a compressor powered by the power take-off (PTO) for generating compressed air and / or a generator for producing electricity. Alternatively, the harvesting robot, which can also be designed as a trailer for the tractor, can be supplied with electricity and / or pressure directly via the connection. Accordingly, the connection can include a hydraulic connection, a pneumatic connection, and / or an electrical connection. Additionally, the connection can also be designed for mechanically coupling the harvesting robot to a three-point linkage and / or a drawbar of the tractor.

[0025] Another aspect concerns a method for gripping and cutting a crop, particularly asparagus. This method involves extending a combination unit for gripping and cutting the crop in a vertical direction perpendicular to the ground (moving away from a carrier unit). The combined gripping and cutting of the crop then occurs by activating the combination unit. Subsequently, the combination unit retracts (or moves back) in the opposite direction (towards the carrier unit). Simultaneously, or alternatively without temporal overlap, the carrier unit moves horizontally along the ground. A further step in the process is the placement of the crop by reactivating the combination unit.

[0026] Advantages and advantageous embodiments of the latter aspects correspond to the advantages and advantageous embodiments described for the former aspect and vice versa.

[0027] The described features and combinations of features, including those in the general introduction, as well as the features and combinations of features disclosed in the figure description or the figures themselves, can be used not only alone or in the described combination, but also with other features or without some of the disclosed features, without departing from the scope of the invention. Consequently, embodiments that are not explicitly shown and described in the figures, but which can be generated by separately combining the individual features disclosed in the figures, are also part of the invention. Therefore, embodiments and combinations of features that do not include all the features of an originally formulated independent claim are also to be considered disclosed.Furthermore, embodiments and combinations of features that differ from the combinations of features or go beyond those described in the dependencies of the claims are to be considered disclosed.

[0028] In the context of this disclosure, "transverse / along" can be understood as "at least substantially perpendicular / parallel," i.e., "perpendicular / parallel" or "essentially perpendicular / parallel," meaning perpendicular / parallel except for a specified deviation. The specified deviation may, for example, be at most 15°, preferably at most 5°, and most preferably at most 3°. Similarly, in the context of this disclosure, "oriented oppositely" can be understood as "at least substantially oppositely oriented," i.e., "oriented at least substantially antiparallel." The limitation "essentially" may also refer to a specified maximum permissible deviation, for example, at most 15%, preferably at most 5%, and most preferably at most 3%. Detailed description

[0029] Exemplary embodiments are described in more detail below with reference to schematic drawings. These show Fig. 1 An exemplary embodiment of an end actuator device in an isometric view; Fig. 2 the end actuator device of Fig. 1 in a side view; Fig. 3 the end actuator device of Fig. 1 in a sectional view; Fig. 4 parts of the end actuator device of Fig. 1 in open and closed configuration; Fig. 5 Details of a gear unit of the end actuator device of Fig. 1; and Fig. 6 An exemplary embodiment of a harvesting robot attached to a harvesting vehicle with an end actuator device.

[0030] In the figures, identical or functionally equivalent features are provided with the same reference symbols.

[0031] Fig. Figure 1 shows an exemplary embodiment of an end actuator device in an isometric view. The end actuator device 1 is used for harvesting a crop 20 ( Fig. 6), here exemplified by asparagus, developed.

[0032] The end actuator device 1 has a gear unit 2 for translating a linear movement of a piston element 2a ( Fig. 3) into a rotational movement, as well as a first and a second arm element 3a, 3b ( Fig. 4), each of which is arranged on the gear unit 2, and a combination unit 4 designed for the combined gripping and cutting of the harvested crop, which is arranged on the arm elements 3a, 3b. At least one of the arm elements 3a, 3b is designed to be rotated by the rotational movement about its longitudinal axis L; in this case, both arm elements 3a, 3b. The longitudinal axis L runs along the y-axis. In the example shown in this figure, the two arm elements 3a, 3b are protected from environmental influences by a cover 3d, which reinforces the mechanical coupling of the combination unit 4 to the gear unit 2; however, the cover 3d can also be omitted to save weight. In particular, the cover 3d does not have to establish a mechanical coupling between the gear unit 2 and the combination unit 4; it can alternatively be held loosely on the arm elements 3a, 3b, e.g., attached to them.

[0033] The gearbox unit 2 is based on Fig. 3 explained in more detail, but has a housing 2c, and in this case also a fastening element 2e for attaching the end actuator device 1 to a carrier unit and / or lifting unit, as well as a pneumatic drive 2d for driving the piston element 2a.

[0034] In the example shown, the combination unit 4 has a first and a second combination element 4a, 4b, each arranged on one of the arm elements 3a, 3b and movable via the corresponding arm element 3a, 3b (here in the xz-plane). The first combination element 4a comprises a first gripping element 4a* and a first cutting element 4a#, and the second combination element 4b comprises a second gripping element 4b* and a second cutting element 4b#. For particularly gentle gripping and cutting, the two gripping elements 4a*, 4b* each have padding 4a*', 4b*'. The cutting elements 4a#, 4b# are designed for shearing and are each arranged on an end face 4a*S, 4b*S of the associated gripping element 4a*, 4b*. The end faces 4a*S, 4b*S are oriented away from the gear unit 2 along the longitudinal axis L of the arm elements 3a, 3b.

[0035] As from Fig. 2. The end faces 4a*S, 4b*S are shown, in this case arranged further away from the gear unit 2 in the y-direction than the respective combination element-side ends 3a*K' ( Fig. 3) the arm elements 3a, 3b and / or a connecting element 3c of the two arm elements 3a, 3b arranged at the ends of the arm elements 3a, 3b on the combination element side. The combination unit 4 is thus arranged in a lower end region 3a*K, 3b*K of the arm elements 3a, 3b. The lower end region 3a*K, 3b*K is spaced along the longitudinal axis L from the gear unit 2 and is diametrically opposite an upper end region 3a*G, 3b*G. The upper end regions 3a*G, 3b*G and the lower end regions 3a*K, 3b*K are separated by a respective central region 3a*M, 3b*M, over which the cover 3d extends. This means that a non-zero distance between combination unit 4 and gear unit 2 is defined by the length of the middle section 3a*M, 3b*M of the arm elements 3a, 3b located between the upper and lower end regions 3a*G, 3b*G, 3a*K, 3b*K.

[0036] The arm elements 3a, 3b of the example shown are mechanically coupled to each other at their lower end regions 3a*K, 3b*K, in this case by the connecting element 3c. The arm elements 3a, 3b are coupled to each other only at their lower end regions 3a*G, 3b*G and only at their upper end regions 3a*K, 3b*K, but not in the middle region 3a*M, 3b*M. The connecting element 3c allows the rotation of the arm elements 3a, 3b, but ensures a predetermined distance between the arm elements 3a, 3b by preventing them from being pushed apart and / or bent.

[0037] Fig. Figure 3 shows the end actuator device of Fig. Figure 1 in a sectional view. The piston element 2a is a pneumatic piston element 2a, which is actuated by the drive 2d, and is part of the gear unit 2. The piston element 2a can thus be pneumatically moved linearly between a first end position, as exemplified in Figure 1. Fig. 4A, and a second end position, exemplified in Fig. 4B, can be moved back and forth. Intermediate positions between the two end positions cannot be precisely defined, i.e., exactly reproducibly set, using a pneumatic control system that is advantageous in other aspects such as weight, control complexity, and safety. However, this is not necessary with the described setup.

[0038] To translate the linear motion of the piston element 2a into the rotational motion of the arm elements 3a, 3b, the gear unit 3 has a guide slide 2b. The guide slide 2b is designed to be linearly displaced along the longitudinal axis L of the respective arm elements 3a, 3b by the linear motion of the piston element 2a, and to engage in a respective guide track 3a*i, 3b*i of the respective arm elements 3a, 3b to effect the rotational motion. The guide tracks 3a*i, 3b*i are located in the respective upper end regions 3a*G, 3b*G of the associated arm elements 3a, 3b.

[0039] The guide slide 2b has at least two, here three, bearing balls 2b*a, 2b*b, 2b*c, of which the first bearing ball 2b*a engages in the first guide track 3a*i of the first arm element 3a, the second bearing ball 2b*b engages in the second guide track 3b*i of the second arm element 3b, and the third bearing ball 2b*c engages in a guide contour 2c*i of a housing 2c of the gear unit 2. The first guide track 3a*i of the first arm element 3a and the second guide track 3b*i of the second arm element 3b, and thus both arm elements 3a, 3b, are designed by the shape of the guide tracks 3a*i, 3b*i to convert the linear movement of the piston element 2a into a rotational movement of the arm elements 3a, 3b about their respective longitudinal axes L. In the example shown, this rotational movement of the arm elements 3a, 3b comprises opposing rotations R1, R2 ( Fig. 5) of the two arm elements 3a, 3b.

[0040] As in Fig. As shown in 4A, for example, a linear translational motion T ( Fig. 5) the movement of the piston element 2a to the upper end position (located in the positive y-direction) is translated into a rotational movement of the two arm elements 3a, 3b with an opening of the gripping unit 4. Accordingly, as in Fig. Figure 4B shows that a linear translational movement of the piston element 2a to the lower end position (located in the negative y-direction) is translated into a rotational movement of the two arm elements 3a, 3b with a closing, i.e., gripping and cutting, of the gripping unit 4. Preferably, the guide cams 3a*i, 3b*i are configured as shown in Fig. Figure 5 shows that the elements are mirror-symmetrical to each other, resulting in a symmetrical and synchronous movement of the combined elements 4a, 4b relative to each other.

[0041] Fig. Figure 4C shows the arrangement of the cutting elements 4a#, 4b# and the end faces 4a*S, 4b*S. The cutting elements 4a#, 4b# are shown here with straight cutting edges, but can also have, for example, concave and / or serrated cutting edges. Alternatively, the cutting edge (whether serrated or not) can also be designed as a triangular cutting edge.

[0042] Fig. Figure 6 shows an exemplary embodiment of a harvesting robot attached to a harvesting vehicle with an end actuator device. The harvesting vehicle 20 is, in this example, a tractor. It has a largely standardized connection with a shaft and brackets to which the harvesting robot 10 is attached with a holding device 13 of the harvesting robot.

[0043] The end actuator 1 is attached to a lifting unit 11 of the harvesting robot 10, which is designed for linearly raising and lowering the end actuator 1 in a vertical direction along the longitudinal axis L (here the y-axis) of the associated arm elements 3a, 3b. Additionally, the lifting unit 11 has a rotary actuator by means of which the end actuator 1 can be rotated about a rotation axis extending along the longitudinal axis L in order to optimally position the end actuator 1. Overall, the desired four degrees of freedom for the movement of the end actuator 1 are achieved in a robust and easily controllable manner.The lifting unit 11 is attached to one of the (in the case of several lifting units 11: respective) carrier unit 12, by means of which the lifting unit 11 and thus the end actuator device 1 can be moved in at least one horizontal direction, here in a horizontal plane (here: xz-plane).

[0044] In the example shown, the carrier unit 12 has two carrier arm elements 12a, 12b, each with one degree of rotational freedom, allowing the lifting unit 11 to be quickly moved in the horizontal plane by means of simple control. The illustrated embodiment, in which each of the carrier arm elements 12a, 12b has only a single axis of rotation except in its suspension on the common carrier 12c (which is stationary relative to the harvesting vehicle 20) and in the lifting unit 11, and in which the axes of rotation of both carrier arm elements 12a, 12b run parallel to each other, enables a particularly fast and precise movement of the lifting unit 11 and thus of the end actuator device 1. Therefore, after the combined gripping and cutting of the harvested crop 20, the combination unit 4 can be moved vertically (in the y-direction) away from the ground surface particularly quickly and (at least partially simultaneously) horizontally (in the xz-plane) towards a conveying device 14 and deposited there.The conveying device 14 can then transport the harvested crop 20 to or into a collecting device 15.

[0045] The harvesting robot 10 can also have several end actuator devices 1 arranged on corresponding carrier units 12 via respective lifting units 11. These can then be arranged, for example, side by side transversely to a direction of travel in order to harvest crops 20 growing in parallel rows effectively and efficiently, or in series with each other in order to increase the harvesting speed.

Claims

[1] End actuator device (1) for a harvesting robot (10) designed for harvesting crops (20), in particular asparagus, with - a gear unit (2) for translating a linear motion of a piston element (2a) into a rotational motion; - a first and a second arm element (3a, 3b) which are arranged on the gear unit (2), wherein at least one of the arm elements (3a, 3b) is designed to be rotated by the rotational movement about its longitudinal axis (L); and - a combination unit (4) for the combined gripping and cutting of the harvested crop (20), which is arranged on the arm elements (3a, 3b). characterized by, that the gear unit (2) comprises a guide slide (2b) which is designed to be linearly displaced with the linear movement of the piston element (2a) along the longitudinal axis (L) of the respective arm element(s) (3a, 3b), and which engages in a respective guide cam (3a*i, 3b*i) of the respective arm element(s) (3a, 3b) to effect the rotational movement. [2] End actuator device (1) according to the preceding claim, characterized by , that the piston element (2a) is a pneumatic piston element (2a), in particular the pneumatic piston element (2a) is part of the transmission unit (2). [3] End actuator device (1) according to any one of the preceding claims, characterized by , that the guide cams (3a*i, 3b*i) are arranged in a respective upper end area (3a*G, 3b*G) of the associated arm elements (3a, 3b). [4] End actuator device (1) according to any one of the preceding claims, characterized by, that the guide slide (2b) comprises at least two, in particular three, bearing balls (2b*a, 2b*b, 2b*c), of which the first bearing ball (2b*a) engages in the first guide cam (3a*i) of the first arm element (3a), the second bearing ball (2b*b) engages in the second guide cam (3b*i) of the second arm element (3b), and in particular the third bearing ball (2b*c) engages in a guide contour (2c*i) of a housing (2c) of the gear unit (2). [5] End actuator device (1) according to any one of the preceding claims, characterized by , that both arm elements (3a, 3b) are designed to be rotated by the rotational movement around their respective longitudinal axis (L). [6] End actuator device (1) according to any one of the preceding claims, characterized by , that the rotational movement comprises two opposing rotations (R1, R2), which in particular each affect one of the arm elements (3a, 3b). [7] End actuator device (1) according to any one of the preceding claims, characterized by , that the combination unit (4) has a first and a second combination element (4a, 4b) which are each arranged on one of the arm elements (3a, 3b), wherein the first combination element (4a) comprises a first gripping element (4a*) and a first cutting element (4a#), and the second combination element (4b) comprises a second gripping element (4b*) and a second cutting element (4b#). [8] End actuator device (1) according to the preceding claim, characterized by , that the first and second cutting elements (4a#, 4b#) are designed for a shear cut. [9] End actuator device (1) according to one of the two preceding claims, characterized by, that the cutting elements (4a#, 4b#) are each arranged on an end face (4a*S, 4b*S) of the associated gripping element (4a*, 4b*), wherein the end face (4a*S, 4b*S) is oriented away from the gear unit (2) along the longitudinal axis (L) of the arm elements (3a, 3b). [10] End actuator device (1) according to the preceding claim, characterized by , that the front face (4a*S, 4b*S) is arranged further away from the gear unit (2) than the respective combination element-side ends of the arm elements (3a, 3b) and / or a connecting element (3c) of the two arm elements (3a, 3b) arranged at the combination element-side ends of the arm elements (3a, 3b). [11] End actuator device (1) according to any one of the preceding claims, characterized by , that the combination unit (4) is arranged in a lower end region (3a*K, 3b*K) of the arm elements (3a, 3b), wherein the lower end region (3a*K, 3b*K) is arranged along the longitudinal axis (L) spaced apart from the gear unit (2). [12] End actuator device (1) according to the preceding claim, characterized by , that a non-zero distance between the combination unit (4) and the gear unit (2) is defined by the length of a central area (3a*M, 3b*M) of the arm elements (3a, 3b) located between the upper and lower end regions (3a*G, 3b*G, 3a*K, 3b*K), wherein in particular the combination unit (4) is connected to the gear unit (2) only by the arm elements (3a, 3b). [13] End actuator device (1) according to any one of the preceding claims, characterized by , that the arm elements (3a, 3b) are mechanically coupled to each other in their lower end region (3a*K, 3b*K), in particular only in their lower end region (3a*G, 3b*G) and only in their upper end region (3a*K, 3b*K). [14] Harvesting robot (10) with one or more end actuator devices (1) according to one of the preceding claims, in particular with one or more lifting units (11) for linearly raising and lowering the respective end actuator (1) in a vertical direction along the longitudinal axis (L) of the associated arm elements (3a, 3b) [15] Method for gripping and cutting a crop (20) by means of an end actuator device (1) according to one of the preceding claims, in particular asparagus as the crop (20), comprising the method steps: - Driving the combination unit (4) for the combined gripping and cutting of the harvested crop in a vertical direction perpendicular to the ground surface; - Combined gripping and cutting of the harvested crop (20) by actuating the combination unit (4); and - Reversing the combined unit (4) in the opposite direction to the vertical; and - Driving a carrier unit in at least one horizontal direction running along the Earth's surface; and - Depositing the harvested crop by reactivating the combination unit (4).

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