End-effector

Abstract

Title: End-effector Abstract End-effector for separating a crop part from a crop, the end-effector comprising at least one gripping element defining a passage for receiving a part of the crop part to be separated; at least one cutting element for separating the crop part from the crop, wherein the cutting element is rotatable arranged. [Fig. 1]

Description

P 135746NL00 Title: End-effector The invention relates to an end-effector for the separation from a crop part from a crop, the crop part being a stalk, a ower, a fruit, a leaf, a twig or a branch. The end-effector typically is mounted to a robot arm, such that the robot arm can move the end-effector to a determined location to separate the crop part. The robot arm may thereto be mounted on a vehicle that is provided with a vision system for determining the location and / or the robot arm may itselfbe provided with a vision system for determining the location. In particular for crops growingmany leaves that need to be cut regularly to increase the growth ofthe fruit, robotic removal ofthese leaves is being looked at. For example, a tomato plant requires removal oftwo or three leaves each week. When removing these leaves, it is desirable for the leaves to be removed as close as possible to the stem. This means that the stalk ofthe leafis cut as close as possible to its attachment to the stem. To navigate the end-effector through the plant to the desired location, it is advantageous that the end-effector is rather compact, e.g. to limit damage to other parts ofthe crop. Also, when cutting the leaf, a force exerted on the plant or the stem is to remain limited. Publication W02009 / 128711A1 describes a device for the separation from a crop ofa crop part, comprising an arm provided with gripping means for the part ofthe crop, and cutting means for the crop part. The gripping means are two rotatable elements disposed opposite each other andbetween which a nip is delimited for the uptake ofthe crop part to be removed. The cutting means are arranged such that the cutting point ofthe crop part lies in the extension of this nip. The cutting means are a cutting blade that is beingmoved along the arm in order to cut the crop part from the crop. During cutting, small particles and saps, which are often sticky, may escape from the crop andmay fall or drip into the cutting blade area. These particles and saps are found to collect on the device, andmay restrict the movability ofthe cutting blade over time ifnot regularly cleaned. Publication W02022 / 250541A1 describes a device for the separation of a crop from a crop part, the device having two elongate rotors positioned opposite each other with parallel rotation axes, defining a passage opening for uptaking the crop part to be separated. The rotors are provided with a screw prole along the length thereof. The rotors are coupled to a drive for rotating the rotors at a rst longitudinal end thereof and with a capturing opening in the direction parallel to the rotation axes at a second end thereof.. The screw prole comprises a capturing zone profile and a cutting zone profile portion in which the capturing zone profile portion is adjacent to the capturing opening and the cutting zone prole portion is between the capturing zone prole portion and the first longitudinal end. The cutting means are arrange stationary adjacent to the cutting zone profile portion. With the rotation ofthe rotors, the crop part is being pulled towards the stationary cutting means. However, the effectiveness ofthe cutting appeared rather poor, resulting in damage to the crop and / or to the crop part. Therefor, there is a need for an improved device in which at least one ofthe above mentioned problems is obviated. More particularly, there is a need for an end-effector for separating a crop part from a crop that is both effective and robust. Thereto, the invention provides for an end-effector for separating a crop part from a crop, the end-effector comprising at least one gripping element defining a passage for receiving the crop part to be separated and at least one cutting element for separating the crop part from the crop wherein the cutting element is rotatable mounted to the end-effector and wherein a rotation axis ofthe cutting element is at a distance from the passage and extending along a longitudinal direction ofthe passage. By providing at least one gripping element defining a passage for receiving the crop part to be separated, the crop part to be separated can be held stationary for the separation action to come. The gripping element itselfmay provide for holding the crop part and / or an additional holding element may be provided. The passage may have a longitudinal direction in which a part ofthe crop part can be received. For example, the passage may be a longitudinally extending groove in which a stem ofa leafcan be received. Alternatively, the passage may also be an openingbetween two counterrotating rotors in which a part ofthe crop part can be received. The longitudinal direction ofsuch passage may be defined as the direction transverse to the respective central axes ofthe counterrotating rotors. The part ofthe crop part received in the passagemay extend in the longitudinal direction ofthe passage. By rotatable mounting the cutting element around a rotation axis that is at a distance from and extending along the longitudinal direction of the passage, the cutting element can rotate in a plane transverse to the longitudinal direction ofthe passage, thereby cutting any part ofthe crop part that is being received in the passage. The rotation axis ofthe cutting element may thus be parallel to the passage, thereby avoiding or at least minimizing that small particles and / or saps may contact a movement mechanism ofthe cutting element and thus clogging the movement mechanism. By providing the rotation axis at a distance from, and parallel to the passage, contamination of a rotation mechanism can be obviated. The cutting elementmay be rotatable mounted around the rotation axis by means of a rotation mechanism. Such rotation mechanism may comprise a shaft connected to the cutting element, with the shaft aligned with the rotation axis and a bearingmounted to the end-effector around the rotation axis. Other rotation mechanism may be envisaged as well, e.g. a ball joint. Also by providing a rotatable cutting element, the separation ofthe crop part can be more effective than using a translation movement as in the prior art. So, a robust and reliable end-effector for the separation of a crop part from a crop can be provided. Advantageously, the at least one cutting element is arranged adjacent the at least one gripping element. As such, the cutting ofthe crop part can be done as close as possible, seen in the longitudinal direction of the passage, to the position where the crop part is being heldby the gripping element. Preferably, the cutting element is arranged at a stem side or main side ofthe end-effector, being the side ofthe end-effector that is facing a stem ofthe crop, typically a stem ofthe crop from which the crop parts to be separated grow. An opposite side ofthe end-effectormay be a free side, or the side facing away from the stem. By providing the cutting element at the stem side ofthe end-effector, separation ofthe crop parts can be done close to the stem, which is beneficial to foster the growth ofthe crop. The cutting elementmay be adjustable between a rest position in which it is free from the passage and an activated position in which in which a cutting edge ofthe cutting element has passed the passage. During movement ofthe cutting element from the rest position to the activated position, the cutting element, at least a cutting edge thereof, passes the passage, and thus, may cut any crop part received in that passage. In rest position, the cutting element may be stored upright when seen in the direction ofthe rotation axis. In activated position, at least a cutting edge of the cutting element has passed the passage to cut any crop part that is received in the passage. Typically, a rotational movement over about 90 degrees may be involved between the rest position and the activated position, such that the cutting elementmay block the passage in the active position.A larger rotation angle may be possible as well, such that the cutting element may fully have passed the passage in activated position.A smaller angle may be envisaged as well, depending on the rest position of the cutting element. Advantageously, the cutting element is biased towards the activated position. In rest position, the cutting element is then held in position against the biasing force, when released, the biasing force then moves the cutting element towards the activated position. When a crop part is received in the passage, it is being cut by the cutting edge ofthe cutting element passing the passage. By providing a biasing mechanism for biasing the cutting element towards the activated position, the cutting elementmay be released with sufcient force to make sure that the crop part will be cut, and to provide for an effective and reliable separation ofthe crop part from the crop. Such a biasingmechanism may be a spring, or a capacitor etc. The gripping elementmay be a single element dening a passage for receiving a crop part. The single gripping element may then e.g. be U- shaped or Vshaped and as such defining the passage between the legs of said U- or Vshaped gripping element. The crop part to be separated, such as a stalk of a leave, can be received in the passage. Advantageously, the crop part is being held in position in the passage to provide for an effective separation when the cutting element, or at least the cutting edge thereof, passes the passage during its rotational movement. The crop part may be held in the passage by the gripping element itself, e.g. due to the material used for the gripping element. Alternatively and / or additionally, a holding element may be provided that closes the passage once the crop part is received in it. Alternatively, the end-effectormay comprise two gripping elements that are congured to hold the crop part in the passage. In case the gripping elements may hold the crop part in the passage once it is received in the passage, a separate holding elementmay be obviated. For example, such gripping elements may be provided as two rotatable arranged ngers that are adjustable with respect to each other between an open position, forming a beak to receive the crop part, and a closed position for holding the crop part. In another example, the two gripping elements may be provided as rotatable elements disposed alongside each other. By providing two rotatable elements disposed alongside each other, the rotation axes ofthe two rotatable elements extend merely in the same, or in approximately the same direction. It may be that the rotation axes ofboth rotatable elements are parallel to each other. The passage delimitedby the two rotatable elements may then be oriented in a direction transverse to the rotation axes. The rotatable elements may be elements such as described in WO2009 / 128711 or in W02022 / 250541 and an extensive description thereof can be found in these documents and will not be repeated. The end-effectormay comprise a sensor for detecting the presence of a crop part in the passage ofthe at least one gripping element. Such sensormay be mounted to the end-effector andmay for example be a visual sensor and / or a tactile sensor and / or a force sensor. Alternatively and / or additionally, such sensormay be provided on a robot arm or on a robot system to which the end-effector is connected. Alternatively and / or additionally, a vision system mounted to the robot system, such as a vehicle on which the robot arm is mounted, may also provide information on whether the crop part is in the passage or not. For example, the vision system may detect which crop part needs to be separatedfrom the crop. Then, a control unitmay determine, based on the information from the vision system the position to which the end-effector needs to be moved. It may also determine the direction and / or the distance the end-effector has to travel to grip the crop part. Once the robot arm has moved the end-effector to the predetermined position, and the predetermined position has been reached, it may then be concluded, using a sensor or not, that the crop part is received in the passage. When is determined, or concluded, that a crop part is in the passage, the biasingmechanism may be released and the cutting element rotates towards the activated position. During rotation, the cutting edge of the cutting element passes the passage and separates the crop part from the crop. The crop part is, after separation, still held by the at least one gripping element, andmay then be brought to a container to be disposed. The control unit ofthe robot system may control the biasing mechanism to release the locking thereof, although a manual release is also possible. After the cutting element is activated, it needs to be brought back to its rest position. This may be done by an electro motor mounted to the end-effector. Alternatively and / or additionally, a manual manipulation ofthe cutting element to return it to the rest position is also possible. Advantageously, the end-effector comprises a frame element to which the at least one gripping element can be arranged. The frame element can be a support element to which the gripping element can be mounted. The frame elementmay also be provided with a mounting element that is arranged for mounting to a robot arm and / or for providing the necessary connections with the robot arm when the end-effector is mounted to the robot arm. The frame element may also be embodied as a housing at least partially encompassing the gripping elements and / or in which the gripping elements are partially arranged. By arranging the at least one gripping element at least partially in the housing, the at least one gripping element can be shieldedfrom the environment, in particular from other parts ofthe crop, during movement towards the crop part to be separated. This also obviates and / or prevents damage to the crop. Further, the end-effectormay comprise a shieldmounted to the housing, providing an operating space for the cutting element. As such, the cutting element is shieldedfrom the environment and damage to other parts ofthe crop, not being received in the passage ofthe at least one gripping element, can be obviated. Preferably, the cutting element is a cutting blade having a cutting edge rotating in a plane transverse to the rotation axis of the cutting element. The shieldmay then provide for a relatively planar operating space. Alternatively and / or additionally, the cutting elements may be legs of a scissor, which legs are also rotatable around a rotation axis approximately parallel to the longitudinal direction ofthe passage. Such scissormay be shielded from the environment by a shield in which it can operate. In particular, since the at least one cutting element advantageously is arranged at a stem-side ofthe end-effector, the shieldmay protect the stem from damage by the end-effector and / or the cutting element. The invention further relates to a robot system having a robot arm and the end-effector mounted to it. Advantageously, such robot system comprises a vehicle movable in a controlled agriculture environment, such as a greenhouse, and on which the robot arm is mounted. Thus, the separation ofcrop parts from their crop may be done in an automated or semi-automated manner. The robot system may further comprise the vision system for detecting which crop part is to be separated from its crop, e.g. to foster growth.A control unitmay be provided on the robot system to control the robot arm and / or to control the end-effector and in particular, the activation ofthe at least one cutting element thereof. The invention further relates to a method for automated or semi- automated separating a part of a crop from the crop. Further advantageous embodiments are provided in the sub- claims. These and other aspects will be further elucidated with reference to the drawing comprising gures ofexemplary embodiments. Corresponding elements are designated with the same or corresponding reference signs. In the drawing shows: Figure 1 shows a robot system according to the invention; Figure 2 an embodiment ofan end-effector according to the invention; Figures 8a and 3b a front view and a rear view respectively of another embodiment ofan end-effector according to the invention with the cutting element in rest position; Figures 4a and 4b a front view and a rear view respectively of another embodiment ofan end-effector according to the invention with the cutting element in activated position. It is to be noted that the figures are given by way ofexemplary examples and are not limiting to the disclosure. Figure 1 shows a general arrangement of a possible use ofan end- effector 1 according to the invention. The end-effector 1 is mounted to a robot arm 100, which is mounted to a vehicle 200. The vehicle 200 can be an automated or semi-automated, or even a manually operated vehicle, that is congured to move around in controlled agriculture environments such as a greenhouse. The vehicle 200 may be provided with a vision system 2 10, not shown in detail.A eld ofview 2 1 1 ofthe vision system 2 10 is indicated in Fig. 1. In such a controlled agriculture environment, crops 300 are grown. Here, a crop 300 is indicated, comprising a central stem 801, a number of leaves 802 that are joined to the central stem 801 by a stalk 808. Fruits 804 may be on the stem 303 as well. The crop 301 is guided and / or help upright by a guide 805 that can be connected to a ceiling or to a upper construction. The plant may grow from a bed 806. Here as a crop, a tomato plant is shown with tomatoes as fruits 304. Itmay be understood that, depending on the crop, e.g. depending on its genus or species, the central stem 301 can have any conceivable shape and the same applies to any other parts ofthe crop. To foster growth ofthe plant and / or the fruits, in this example, crop parts can be regularly cut from the crop. In this example, leaves can be regularly cut from the plant. It may be understood that separating ofcrop parts from the crop may be envisaged for various reasons, depending on the crop. For example, for a tomato plant, leaves 802 at a lower side ofthe plant 800 may be cut regularly. The vision system 210 ofthe vehicle 200 may be arranged such that the field ofview 21 1 observes the crop 300 under an angle such that is can see an attachment 307 of a crop part, here a lowest one ofthe leaves 302, to the central stem 301. Separation ofthe crop part from the crop may be effected at a separation location 310. The separation ofthe crop part 302 from the crop 300 may not only comprise the cutting ofthe stalk 303 ofthe crop part 302, here leaf 302, but also the removal ofthe leaf 302 and the stalk 303 thus obtained from the central stem 301. The vision system 210 may observe the attachment 307 ofthe crop part 302 to the crop 300, here to the central stem 301. Depending on the crop, separation ofthe crop part may be effected from a different part ofthe crop, e.g. a side stem. The end-effector 1 is subsequently moved to the separation location 310 to cut the leaf 302 from the central stem 301. When the lowest leaf302 is cut andremoved from the crop 300, the vision system 210 can adapt its viewing angle to observe the next lowest leave that has an unobstructed attachment to the central stem 301. Then, the separation locationmay be determined, and the end-effector 1 may be movedby the robot arm 100 to the separation location to cut and remove the leaf 302 from the crop 300. The end-effector 1 may be moved to the separation location such that it is being visible in the eld ofview 2 1 1 ofthe vision system 2 10, and the separation operationmay be monitored visually. Alternatively and / or additionally, coordinates ofthe separation location may be determined and the end-effector 1 may be directedby the robot arm 100 to the separation location based on the determined coordinates. Possibly, visual detectionmay then aid in controlling the reached position. Figure 2 shows a first embodiment ofan end-effector 1 according to the invention. The end-effector 1 comprises at least one gripping element 2 dening a passage 3 for receiving a part 303 the crop part 302 to be separated. The passage 8 has a longitudinal direction L along which a part ll ofthe crop to be separated extends when received in the passage 3. The end- effector 1 further comprising at least one cutting element 4 for separating the crop part 302 from the crop. The at least one cutting element 4 is rotatable arranged around a rotation axis A. The rotation axisA is arranged at a distanceD from the passage 3 and extends in the same longitudinal direction as the passage 3. As such, the rotation axisA is parallel to the passage 3 or is at least approximately parallel to the passage 3. By positioning the rotation axisA at a distance from the passage3, and in the same direction as the passage 3, contamination ofa rotation mechanism of the rotatable arranged cutting element 4 can be limited and / or obviated. Also, by rotatable arranging the cutting element 4, an effective separation of the crop part can be obtained, reducing or limiting damage to the crop and / or the crop part due to e.g. incomplete separation. Further, the end-effector 1 may comprise a frame element or a support element 5 to which the at least one gripping element 2 and the at least one cutting element 4 can be mounted. The frame element 5 may be provided with a mounting side 5a congured to be mounted to the robot arm. The cutting element 4 is in figure 2 shown in two positions, a rst position I being a rest position, in which the cutting element 4 is free from the passage 3, and a second position II in which the cutting element 4 is rotated around the rotation axisA and in which a cutting edge 41 ofthe cutting element has passed the passage 3. Here, the cutting element 4 is rotated around an angle alpha, approximately 90 degrees, but any other angle can be envisaged. The cutting element 4 is provided with a cutting edge 41 that is sufciently sharp to effectively separate the crop part 302 from the crop at a separation location 310. The cutting element 4 is advantageously positioned adjacent the at least one gripping element 2, preferably at a stem-side 1s ofthe end-effector 1 facing towards the stem or the central stem 801 ofthe crop 800. As such, the cutting element 4 can be positioned as closely as possible to the stem or the central stem 301 ofthe crop 300, because a separation location 310 close to the stem is advantageous for the growth ofthe crop. The at least one gripping element 2 can be embodied as a U-shaped or a Vshaped gripping element dening a passage between respective legs to receive part ofthe crop part to be separated. In gure 2, two gripping elements 2 are shown that pivotable arranged with respect to each other. The gripping elements 2 are here arranged as legs that are rotatable arranged around a pivot shaft 2p extending along a same pivot axis P. The pivot axis P is here parallel to the rotation axisA and to the passage 3. Here, the legs 2 with the pivot shaft 2p are merely extending in an upright fashion to provide for a receiving opening 6 and the passage 3 in which the part ofthe crop part to be separated can be received. Once the part ofthe crop part to be separated is received in the passage 3, the legs 2 can rotate towards each other to reduce the receiving opening 6 and the grip the part of the crop part to be separatedbetween the legs. As such, the part ofthe crop part to be separated can be firmly heldby the gripping elements 2 during separation, thus improving an effectiveness ofthe cutting element. An electromotor, not shown, may be mounted to the frame element 5 to power the rotation ofthe gripping elements. Alternatively and / or additionally, the rotation movement may be powered by power delivered by the robot arm. The cutting element 4may be biased towards the second position II in which at least the cutting edge 41 has passed the passage 3. Such biasing force may be provided by a spring or a capacitor. In the first position I, the cutting element 4may be held in rest position against the biasing force, e.g. by a locking mechanism. When the end-effector 1 has reached the separation location 310, the locking mechanism may be operated to release the biasingmechanism to move the cutting element towards the second activated position II. Figure 3a gives a front view ofa second embodiment ofthe end- effector 1 according to the invention, and figure 3b gives a rear view ofthe end-effector 1 offigure 3a. The end-effector 1 offigures 3a and 3b comprises a frame element 5 that has a mounting side 5a that is congured to engage with a robot arm. At a side ofthe end-effector opposite the mounting side 5a, two gripping elements 2 are arranged. Between the gripping elements 2, a passage 3 is defined in which a part ofthe crop part to be separated can be received. The gripping elements 2 are here rotatable elements that are positioned alongside each other. The rotatable elements 2 are here two elongated, parallel to one another rollers 2 extending from the frame element 5 and dening the passage 3 between them. The rollers 2 are rotatable about a rotation axis B1 and B2 respectively. The rollers 2 advantageously rotate in counter directions with respect to each other. The two gripping elements 2, here the rollers, are congured to hold a part ofthe crop part to be separated in the passage. The rollers 2 are provided with a gripping surface 7, embodied as a screw-profile. At an outer end ofthe rollers 2, a receiving opening 6 may be provided in which the part ofthe crop part to be separated can be received. Then, the end-effector 1 may further move towards said part ofthe crop until it may be gripped by the screw proles 7 ofthe rollers 2. Advantageously, the two opposite rollers 2 are provided with opposite oriented screw profiles and the rollers 2 rotate in opposite directions, such that, when the said part ofthe crop engages with the screw profiles 7, it is being pulled towards the passage 3 where it can be more rmly gripped and held until the separation takes place. Once the said part ofthe crop part is held in the passage 3, the cutting element 4 can be released to rotate from the rest position I, as shown in fig. 3a and 3b to the activated position. The cutting element 4 is here provided as a bladed cutting element, comprising a cutting edge 41. The cutting edge 41 separates the said part of the crop part held in the passage from the crop during the rotation l4 movement ofthe cutting element 4. The cutting element 4 is rotatable mounted around the rotation axis A, that is positioned parallel to the passage 3. The rotation axisA extends in the same direction as the longitudinal directionL ofthe passage 3, and is positioned at a distanceD from the passage 3. The rotation axisA is oriented transverse to the rotation axes B1 andB2 ofthe rollers 2. The passage 3 extends transverse with respect to the rotation axes B1, B2 ofthe rotatable elements 2. The cutting element 4 preferably rotates about 90 degrees, or more e.g. about 120 degrees, to enable that the cutting edge 41 has passed the passage 3 to be able to separate the crop part from the crop. In rest position, the cutting element 4 is oriented in the same direction as the rotation axes B1, B2 ofthe rotatable elements 2. The cutting element 4may be arranged parallel to the rotatable elements 2. For example, the cutting element 4may be arranged in a plane parallel to a plane comprising the rotation axes B1 and B2. In rest position, the cutting edge 41 ofthe cutting element 4may be oriented in the same direction as the rotatable elements 2 extend. After activation, the cutting element 4may rotate around the rotation axisA over an angle such that the cutting edge 41 has passed the passage 3 to separate a crop part held in the passage 3 from the crop. The cutting element 4may rotate in a plane approximately parallel to the rotatable elements 2.A shield 8 may be provided to the frame element 5 to shield the cutting element 4 from interference from e.g. other parts ofthe crop. Also, the shield 8 may protect the crop from damage or contact by the cutting element 4, for example during movement ofthe end-effector to the separation location ofthe identied crop part. Advantageously, the cutting element 4 is biased towards the activated position, that is shown in fig. 4a and fig. 4b. To bias the cutting element 4 to the activated position, a biasing mechanism 10 may be provided. The biasingmechanism 10 is here positioned at a side ofthe end- effector opposite the cutting element 4, but can be arranged at the same side ofthe cutting element 4 as well. The biasing mechanism 10 comprises a disc 1 1 mounted to a rotation shaft 12 ofthe cutting element 4. The rotation shaft 12 rotates around the rotation axis A. The disc 11 is provided with a protrusion 13 behindwhich a locking mechanism 20 may engage.A spring 14 is at one end connected to the frame element 5 and at another end 14b connected to the disc 1 1. Upon releasing the locking mechanism 20 from the protrusion ofthe disc 1 1, the disc 11 becomes free to rotate around the rotation shaft 12 and the spring 14 pulls the disc 11 and induces the rotation thereof. Since the disc 1 1 is connected to the same rotation shaft 12 to which the cutting element 4 is also connected, the cutting element 4 is being rotated towards the activated position. Also connected to the rotation shaft is a disc 15 at the side ofthe cutting element 4, mainly to shield the cutting element 4 from the environment. The locking mechanism 20 may have various embodiments. In this example, a magnetic element 2 1 is holding a lever 22 engaged. The magnetic element 21 may be powered by power provided by the robot arm ormay have an own power source, e.g. a battery. The lever 22 hooks behind the protrusion 13 ofthe disc 1 1 in locked condition. When the power is interrupted, the engagement between the lever 22 and the magnetic element 21 may be undone and the lever 22 may move away from the protrusion 13 to free the protrusion 13. The lever 22 may rotate, in the view ofg. 3b in clockwise direction, to free the protrusion 13. Alternatively, the lever 22 may be hooked behind the protrusion 13 to lock the protrusion 13, and the element 2 1 may be an electromotor. Then, when the electromotor is powered, either via the robot arm or with an own power source, it may pull the lever 22 away from the protrusion 13 to free the protrusion 13. Resetting the biasingmechanism 10 and the locking mechanism 20 back to the rest position in which the disc 1 1 is locked, may be done manually ormay be done automated. Figure 4a and gure 4b show an embodiment ofthe end-effector 1 having an alternative lockingmechanism 20. The cutting element 4 is here shown in activated position in which it is rotated about 120 deg with respect to the rest position as shown in fig. 3a and 3b. The frame element 5 is at an under side 5a congured to be mounted to a robot arm. Thereto, the frame element 5 may be provided with the relevant mechanical and / or electrical connections. The gripping elements 2 are here too provided as two rotatable elements that are rotatable around rotation axes B1 andB2 respectively. Between the rollers 2, the passage 3 is delimited. To protect the environment from the cutting element 4 and vice versa, the shield 8 is mounted to the frame element 5 providing an operating space for the cutting element 4 in which it can safely rotate. The cutting element 4 is rotatable arranged around the rotation shaft 12 extending along the rotation axisA and shielded by the disc 15. The biasing mechanism 10 comprises here too a spring 14 at one end connected to the frame element 5 and at the other end connected to the disc 1 1. Since the cutting element 4 is in the activated position, the protrusion 13 ofthe disc 1 1 is free from the locking mechanism 20. The locking mechanism 20 here comprises a lever 22 rotatable arranged around a rotation shaft 23 and biased towards the unlocked position by a spring 24. The spring 24 is at one end 24a connected to the frame element 5 and at another end 24b connected to the rotatable lever 22. By operating the rotatable lever 22, the spring 24 pulls the lever away from the protrusion 13 and the protrusion 13 may be set free to allow rotation ofthe disc 1 1 and thus ofthe cutting element 4 around the rotation shaft 12. The lever 22 may be operated manually or automated. For example, an electromotormay be provided to operate the lever 22, and / or a magnetic elementmay be provided that may be permanently powered to pull the lever in the engaged position with the protrusion 13 and releasing it at a power interruption. Alternatively, such magnetic element may be unpoweredwhen the lever is l7 engaged andwhen poweredmay pull the lever away from the protrusion 13, which furthermay assistedby the biasing spring 24. In the above, as a biasing mechanism a spring is used. Itmay be understood that instead ofa spring other elastic elements, such as a capacitormay be used as well. Further, itmay be understood that the end- effectormay operate stand-alone, in that it is only moved to the determined position by the robot arm, ormay be operatedby the robot arm, receiving also power and / or control signals from the robot arm. Detection whether a part ofthe crop part is being grippedby the gripping elements may be done inmany ways, e.g. by a tactile sensor on the gripping elements or by a visual sensor ofthe vision system on the vehicle, or by a control unit determined whether the predefined position is reached. Many ways of detection may be possible. For the purpose ofclarity and a concise description, features are described herein as part ofthe same or separate embodiments, however, it will be appreciated that the scope ofthe claims and disclosure may include embodiments having combinations of all or some ofthe features described. Itmay be understood that the embodiments shown have the same or similar components, apart from where they are described as being different. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word comprising does not exclude the presence ofother features or steps than those listed in a claim. Furthermore, the words a and an shall not be construed as limited to only one, but instead are used to mean at least one, and do not exclude a plurality. The mere fact that certain measures are recited in mutually different claims does not indicate that a combination ofthese measures cannot be used to an advantage. Many variants will be apparent to the person skilled in the art, and are understood to be comprised within the scope dened in the following claims. 18

Claims

1. End effector for the separation of a crop part from a crop, where the final effector comprising: - at least one gripping element that defines a passage for the received from a part of the crop section to be separated; - at least one cutting element for separating the crop part from the crop, where the cutting element is mounted on a rotatable basis, and where a rotation axis of the cutting element is located at a distance from the passage and extends along a longitudinal direction of the passage.

2. Final effector according to claim 1, where at least one The cutting element is arranged next to at least one gripping element.

3. Final effector according to claim 1 or 2, where at least one cutting element is adjustable between a resting position in which the passage is clear, and an activated position in which a cutting edge of the cutting element the passage has been passed.

4. Final effector according to claim 3, where at least one The cutting element is pre-tensioned into the activated position.

5. Final effector according to one of the preceding claims, further comprising a sensor for detecting the presence of the Part of the crop in the passageway.

6. Final effector according to one of the preceding claims, comprising two gripping elements configured to grip a part of the crop section in the to hold passage.

7. End-effector according to claim 6, where the grasping elements rotatable elements are those that are placed next to each other. 19 8. Final effector according to one of the preceding claims, further comprising a frame element to which at least one gripping element is attached attached, and on which the cutting element is rotatably mounted.

9. End-effector within the meaning of claim 8, further comprising a shielding which is attached to the frame element, to provide a workspace for the to provide cutting element.

10. Final effector according to one of the preceding claims, whereby the at least one cutting element is provided with a cutting edge. 1 1. Robot system comprising a robot arm and an end effector according to one of the conclusions 1 10, where the robot system is a control unit includes for controlling the final effector.

12. Robot system according to claim 11, comprising a vision system for detecting a crop part to be separated.

13. Working method for the automated or semi-automated separating a crop part from a crop, whereby the method comprising: - mounting a final effector in accordance with one of claims 1 10 to a robotic arm, optionally mounted on a vehicle; - detecting a crop part to be separated; - moving the terminal effector to the part of the crop to be separated; - the grasping of the crop part to be separated by the terminal effector; - cutting the part of the crop to be separated with the cutting element of the end- effector.

Images