Title:
HARVESTING-DEVICE END EFFECTOR
Document Type and Number:
WIPO Patent Application WO/2023/218496
Kind Code:
A1
Abstract:
This end effector has a simplified mechanism for securely gripping, without damaging, leafy vegetables, fruiting vegetables, or fruit trees, the end effector comprising: a rotator which has a rotation-middle area that is hollow, which is provided with a notch from the outer peripheral rim to the hollow part, and which is rotationally driven by a motor; a stator that is disposed adjoining the rotator and is provided with a notch from the outer peripheral rim to a location where a target object is supported in the rotator hollow section; a presser that is in the rotator hollow section and coupled to the rotator so as to be rotatable in the rotational radius direction and that, with a force weak enough not to damage fruit being a target object, is elastically urged inward in the rotational radius direction to press on the target object; and a support part, which is coupled to the stator and which supports the target object in the rotator hollow part in a deep region deep with respect to the stator notch. The presser is pressed by fruit and retracts outward in the rotational radius direction, gripping the fruit without injuring same.
Inventors:
HAGIWARA KOJI (JP)
Application Number:
PCT/JP2022/019610
Publication Date:
November 16, 2023
Filing Date:
May 07, 2022
Export Citation:
Assignee:
HAGIWARA KOJI (JP)
International Classes:
A01D46/30; B25J15/00
Foreign References:
| JP6799363B1 | 2020-12-16 | |||
| JP2000188928A | 2000-07-11 | |||
| JP2020184936A | 2020-11-19 |
Download PDF: