Robot Arm Fruit Picking by Gentle Grasp-and-Rotate Detachment
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Solution Overview
Problem
Current fruit-picking technologies are inadequate for soft fruits like strawberries, as they often damage the fruit and require cutting mechanisms, which are inefficient and risk transferring pathogens, and lack simultaneous sorting capabilities.
Innovation Solution
A device equipped with optical detection, a robot arm with a gripper mechanism featuring multiple fingers, and a processing unit that allows for upward movement and rotation of the fruit around a horizontal axis to minimize pressure and avoid cutting, enabling gentle detachment of the fruit without damaging it or neighboring fruits.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If cutting mechanisms are used to detach fruit, then productivity is improved, but fruit damage and pathogen transfer increase
Solution Approach 1:
The patent replaces cutting mechanisms with a robotic arm equipped with a gripper that uses controlled mechanical force to detach fruit. The gripper applies force to the fruit-stalk connection point, causing the stalk to break naturally without blades or cutting tools, thereby eliminating pathogen transfer risks while maintaining efficient picking speed.
Solution Approach 2:
The system changes the mechanical parameters of fruit detachment by controlling the force magnitude, direction, and application point through the gripper. By adjusting these parameters, the stalk breaks at the abscission layer without damaging the fruit, achieving both high productivity and minimal fruit damage.
2Productivity
If traditional picking machines are used, then productivity is improved, but suitability for soft fruit decreases
Solution Approach 1:
The robotic arm provides dynamic and flexible movement capabilities that adapt to the specific geometry and position of each fruit. The gripper mechanism can adjust its closing force and positioning in real-time, making the system suitable for soft fruits like strawberries while maintaining automated productivity, unlike rigid traditional picking machines.
Solution Approach 2:
The system changes the operational parameters by using controlled, variable force application through the gripper rather than fixed mechanical cutting. This allows adaptation to different fruit types and softness levels while maintaining automation, resolving the contradiction between productivity and fruit suitability.
3Reliability
If upward movement approach is used, then fruit detachment effectiveness is improved, but contact with neighboring fruits increases
Solution Approach 1:
The gripper is designed with asymmetric finger positioning and movement patterns that approach the fruit from above and apply force in a downward direction. This asymmetric approach allows effective stalk detachment while the fingers are positioned to minimize contact with neighboring fruits, resolving the contradiction between detachment effectiveness and neighbor fruit contact.
4Object-affected harmful factors
If horizontal approach is used, then contact with neighboring fruits is reduced, but detachment effectiveness for certain fruit types decreases
Solution Approach 1:
The robotic arm provides dynamic positioning capabilities that allow the gripper to approach from above and adjust its angle of attack in real-time. This dynamic approach maintains minimal contact with neighboring fruits while achieving effective detachment by applying force at the optimal point on the stalk, resolving the contradiction between neighbor fruit protection and detachment effectiveness.
Data Source
AI summary
A device for picking fruit is provided with an optical detection means and a robot arm, fitted with a gripper mechanism. The processing unit actuates the robot arm to make the gripper mechanism move about the piece of fruit to be picked from below. Once grasped, the piece of fruit to be picked is rotated in such a way about a substantially horizontal axis that the stalk of the piece of fruit comes away from the plant.