End Effector Elastic Contact-Move Members for Robotic Crop Harvesting
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Solution Overview
Problem
Robotic harvesting systems face challenges in efficiently grabbing delicate crops like strawberries and grapes due to the need for high precision in moving multi-joint robot arms, which reduces the rate of harvesting and increases physical burden on producers.
Innovation Solution
An end effector with a target-object-positioning mechanism that includes contact-move members and an elastic member to increase the interval between distal end portions, allowing for robust grabbing and processing without precise movement of the work machine, enabling efficient grabbing and processing of crops even in changing environmental conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the multi-joint robot arm moves with high precision to grab the target object, then the grabbing rate increases, but the harvesting speed decreases
Solution Approach 1:
The end effector is divided into multiple contact-move members (first, second, third, and fourth members) that can independently move and contact the target object. This segmentation allows the system to grab crops more reliably through multiple contact points while reducing the precision requirements for the overall robot arm movement, thereby maintaining harvesting speed.
Solution Approach 2:
The contact-move members are designed to be movable relative to each other, with each member capable of independent motion in the front-rear direction. This dynamic configuration enables the end effector to adapt to the position of the target object, increasing the grabbing rate without requiring high precision from the robot arm's positioning.
2Measurement precision
If the contact-move members are positioned close to each other for precise grabbing, then the grabbing precision improves, but the robustness in changing environmental conditions decreases
Solution Approach 1:
The contact-move members are arranged not only in the front-rear direction but also in the left-right direction, creating a two-dimensional contact pattern. This spatial arrangement increases the interval between distal end portions, providing multiple contact points that enhance robustness when the target object position varies due to environmental factors like wind and rain.
Solution Approach 2:
The system changes the spatial parameters of the contact-move members by increasing the interval between their distal end portions. This parameter change allows the end effector to maintain effective contact with the target object even when environmental conditions cause position variations, thereby improving adaptability.
3Adaptability or versatility
If the interval between distal end portions of contact-move members is increased for robust grabbing, then the adaptability to environmental changes improves, but the device complexity increases
Solution Approach 1:
Multiple contact-move members are merged into a single integrated end effector structure that moves as one unit with the robot arm, while individual members can move independently in the front-rear direction. This merging approach achieves the robustness of increased interval without proportionally increasing overall device complexity.
Solution Approach 2:
The contact-move members serve multiple functions: they can independently contact the target object, move in the front-rear direction to adjust positioning, and work collectively to grab crops. This multi-functionality reduces the need for additional specialized components, thereby limiting the increase in device complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The end effector design enhances the rate of grabbing and processing of crops by reducing the need for precise movement of the work machine, increasing robustness and efficiency in harvesting delicate crops.
Implementation Method 1
an elastic member that applies a force to the first contact-move member and the second contact-move member to thereby cause a front end portion of the first contact-move member and a front end portion of the second contact-move member to move away from each other
Data Source
AI summary
An end effector includes: a target-object-positioning mechanism provided at a body member and including a first contact-move member, a second contact-move member and an opening-closing member that make contact with a part of a target object and position a portion of the target object at a processing position; and a processing mechanism provided at the body member and processing the portion of the target object positioned at the processing position. The first contact-move member and the second contact-move member intersect each other inside the opening-closing member. Portions forward of the intersection portion in the first and second contact-move members make contact with the opening-closing member by an elastic restoring force of an elastic member. The opening-closing member, when moved from a rear position to a front position, applies a forward force to the first and second contact-move members so that they are moved in a direction approaching each other.