Robotic Gripper and Blade Assembly for Clean Vine Cutting
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Solution Overview
Problem
Current agricultural harvesting systems face challenges in efficiently collecting crops that are tethered to vines, as they often require manual handling and result in vine disruption and incomplete cuts, which hinder throughput and yield.
Innovation Solution
A collection tool attached to a robotic arm featuring a base with fingers that grasp the crop and a blade to cut the tether, utilizing a guide plate and linear actuator to close the fingers and a spring-actuated mechanism to sever the tether, allowing for precise and clean cutting of the vine while grasping the crop.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If manual handling is used for harvesting tethered crops, then the crops can be collected, but vine disruption occurs and throughput is reduced
Solution Approach 1:
The patent replaces manual mechanical handling with an automated robotic system that uses a specialized end effector. This end effector incorporates a blade mechanism that cleanly severs the tether connection between crop and vine, eliminating the disruptive pulling and tugging associated with manual harvesting while maintaining high throughput capability
Solution Approach 2:
The end effector is divided into distinct functional components: fingers for grasping the crop, a blade for cutting the tether, and a guide plate for directing the crop. This segmentation allows each component to perform its specific function efficiently, with the blade separately handling the tether severing to minimize vine disruption while the fingers handle only the crop
2Productivity
If simple grasping is used without cutting mechanism, then the device structure is simple, but tether cutting is incomplete and harvesting efficiency is reduced
Solution Approach 1:
The patent merges the grasping function and the cutting function into a single integrated end effector assembly. The fingers and blade are combined in one tool that attaches to the robotic arm, allowing simultaneous or sequential grasping and tether cutting operations. This integration improves harvesting efficiency by eliminating the need for separate tools while maintaining relatively simple overall structure
Solution Approach 2:
The end effector is designed to perform both grasping and tether cutting autonomously in a single operation. The fingers grasp the crop and the blade automatically severs the tether connection, with the guide plate ensuring proper alignment. This self-service capability eliminates the need for additional manual intervention or separate cutting tools, thereby improving harvesting efficiency
3Adaptability or versatility
If fixed finger configuration is used, then the device structure is simple, but adaptability to various crop sizes and shapes is limited
Solution Approach 1:
The end effector incorporates interchangeable finger assemblies that can be swapped depending on the crop type, size, and shape requirements. This dynamic reconfiguration capability allows the same base end effector structure to adapt to various harvesting needs by simply changing the finger component, providing versatility without requiring complete redesign for each crop variety
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
Enables efficient and high-throughput harvesting by minimizing vine disruption, ensuring clean cuts that promote faster recovery and increased yield, with the ability to adapt to various crop sizes and shapes through interchangeable components and adjustable mechanisms.
Implementation Method 1
a spring disposed about the rod between a spring stop at a proximal end of the rod and a surface of the guide plate
Implementation Method 2
a profile of curvature of the plurality of fingers acts as a cam/follower mechanism, converting linear extension of the guide plate to transverse grasping force on the target object
Data Source
AI summary
Disclosed herein is a collection tool configured to independently grasp and cut a tether of a target object for removal from an environment. The collection tool may include a body securable to a robotic arm of a collection robot, a base secured to the body, a plurality of fingers having proximal ends attached to the base, the plurality of fingers constructed and arranged to grasp the target object at distal ends of the plurality of fingers, and a blade coupled to one of the base or body and configured to cut the tether to which the target object is attached while the target object is held by the plurality of fingers.