Harvesting End Effector Bypass Cut Mechanism

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Solution Overview

Problem

Existing robotic harvesting systems often damage crops when removing them from their environment due to the grabbing and twisting motion used by the end effector.

Innovation Solution

An end effector with a cutting mechanism and a gripping mechanism, where the cutting mechanism performs a bypass cut to split the plant appendage, allowing the gripping mechanism to grasp the remaining portion without damaging the harvested object.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If a robotic end effector uses digits to grab and twist fruit from a vine, then labor costs are reduced through automation, but the fruit may be accidentally damaged during removal

Engineering Contradiction:

Improverobotic harvesting automationVSAvoidcrop damage

Core Design Contradiction:

Extent of automationVSObject-affected harmful factors

Solution Approach 1:

The end effector is divided into two independent functional mechanisms: a cutting mechanism with jaws for severing the plant appendage, and a gripping mechanism with jaws for holding the harvested object. This segmentation allows each mechanism to perform its specific function without interfering with the other, preventing damage to the fruit while maintaining automation.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The cutting mechanism acts as an intermediary between the robotic system and the harvested object. Instead of the gripping mechanism directly contacting and manipulating the fruit (which causes damage), the cutting mechanism severs the appendage first, allowing the gripping mechanism to safely hold only the stem portion.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Productivity

If the gripping mechanism directly grasps the harvested object, then harvesting efficiency is improved, but the object may be damaged by direct contact and twisting motion

Engineering Contradiction:

Improveharvesting efficiencyVSAvoidobject damage

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The cutting mechanism performs a preliminary action by severing the plant appendage before the gripping mechanism contacts the harvested object. This preliminary cut removes the connection to the vine, allowing the gripping mechanism to hold the object without needing to twist or pull, thereby preventing damage while maintaining harvesting efficiency.

Inventive Principle:

Principle #10Preliminary action

3Device complexity

If the end effector uses a single gripping mechanism to both cut and hold the crop, then device complexity is reduced, but the harvested object may be damaged during the cutting process

Engineering Contradiction:

Improveend effector structureVSAvoidcrop damage

Core Design Contradiction:

Device complexityVSObject-affected harmful factors

Solution Approach 1:

The end effector is segmented into two independent mechanisms: a cutting mechanism with its own jaws for severing the appendage, and a gripping mechanism with its own jaws for holding the harvested object. This segmentation, while increasing device complexity, prevents damage by ensuring the gripping mechanism never contacts the fruit during the cutting process.

Inventive Principle:

Principle #1Segmentation

Data Source

PatentUS20250185543A1End effector for harvesting

Publication Date: 2025.06.12 OISHII FARM CORPORATION

AI summary

An end effector includes a cutting mechanism, a gripping mechanism, and a pivot component. The cutting mechanism and the gripping mechanism are coupled to the pivot component. The cutting mechanism is coupled to a first portion of the pivot component and the gripping mechanism is coupled to a second portion of the pivot component.