Patent Description:
<CIT> describes a method for airborne replacement of existing lighting luminaire on a luminaire support with replacement lighting luminaire comprising the steps: remotely controlling one or more unmanned aerial vehicles (UAV) in the air space of a luminaire support; operating an UAV to remove existing lighting luminaire from the luminaire support; providing by means of an UAV replacement lighting luminaire at the luminaire support; operating an UAV to arrange replacement lighting luminaire on the luminaire support; connecting the modular lighting luminaire to an electrical source.

<CIT> describes an end effector comprising: a frame unit; a cutting unit which is provided with a sliding body positioned at the frame unit, and a blade coupled to the sliding body; a grip unit which is provided with a first grip part and a second grip part positioned at the frame unit and facing each other, and in which at least one among a rear end portion of the first grip part and a rear end portion of the second grip part is coupled to the cutting unit; and a driving unit which is coupled to the cutting unit through the frame unit and provides a driving force to the cutting unit to move the cutting unit forward and backward, wherein among the first and second grip parts, the coupled grip part coupled to the cutting unit is hinge-coupled to the frame unit, and a front end portion of the first grip part and a front end portion of the second grip part move toward each other when the sliding body moves forward, and move away from each other when the sliding body moves backward.

<CIT> describes pruning shears for cutting fruit from a fruit tree.

<CIT> describes a fruit clipper, which is adapted for the picking of citrus fruit.

<CIT> describes a pair of shears with tongs, which can perform cutting and clipping at the same time.

<CIT> describes a citrus fruit picking end effector with a multi-connecting-rod structure, which comprises a shell, a transmission mechanism, a grabbing mechanism and a shearing mechanism. The shell consists of an upper-layer clamping plate, a middle-layer clamping plate, a lower-layer clamping plate and a baffle; a connecting rod mechanism topological structure consists of a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a left connecting rod and a right connecting rod, wherein the first connecting rod, the second connecting rod, the third connecting rod and the fourth connecting rod are hinged end to end to form a rhombic connecting rod structure, a hinge point at the tail of the rhombic connecting rod structure is hinged to the front portion of a push plate, a hinge point on the left side of the rhombic connecting rod structure is hinged to the tail of the left connecting rod, and a hinge point on the right side of the rhombic connecting rod structure is hinged to the tail of the right connecting rod; the grabbing mechanism consists of an arc-shaped sphere structure, a left arc-shaped sphere clamping piece and a right arc-shaped sphere clamping piece; and the shearing mechanism is arranged on the shell, and a cutting edge opening is positioned above an arc-shaped sphere inner shell and is linked with the grabbing mechanism.

According to the present invention, there is provided an end effector according to any of claims <NUM> to <NUM>.

The invention is described in connection with such embodiments. The scope of the invention is limited only by the claims. These details are provided for the purpose of example and the invention may be practiced according to the claims.

An end effector for cutting an appendage of a plant is disclosed. The end effector is comprised of a cutting mechanism and a gripping mechanism. The cutting mechanism and the gripping mechanism include corresponding sets of jaws. The end effector is configured to open and close, in parallel, the cutting mechanism and the gripping mechanism. The plant may include an appendage (e.g., stem, vine, branch, stalk, etc.) and an object to be harvested (e.g., flower, piece of fruit, etc.). When the cutting mechanism and gripping mechanism are open, an appendage of the plant may be placed in an opening associated with the corresponding sets of jaws. An actuator associated with the end effector may apply a force that causes the cutting mechanism and the gripping mechanism to close. The applied force may cause the cutting mechanism to perform a bypass cut that splits the plant appendage into a first portion and a second portion while the applied force causes the gripping mechanism to grasp the second portion of the plant appendage that is coupled to the object to be harvested. As a result, the end effector is able to remove the harvested object from the plant without damaging the harvested object.

<FIG> are diagrams illustrating a side view and a top-down view of an end effector, respectively, in accordance with some embodiments. In the example shown, end effector <NUM> includes cutting mechanism <NUM> and a gripping mechanism <NUM>.

Cutting mechanism <NUM> includes a cutting set of jaws. In some embodiments, the cutting set of jaws is an anvil-style cutting mechanism. In some embodiments, the cutting set of jaws is a bypass-style cutting mechanism. In some embodiments, the cutting set of jaws is a flush style cutting mechanism.

Gripping mechanism <NUM> includes a gripping set of jaws. In some embodiments, the gripping set of jaws is a plier-style gripping mechanism. In some embodiments, the gripping set of jaws includes varyingly shaped textures or teeth. In some embodiments, the gripping set of jaws are flat and tapered.

Cutting mechanism <NUM> and gripping mechanism <NUM> are mechanically coupled to each other via a coupling mechanism, which includes pivot component <NUM>. Pivot component <NUM> may be a pin, a screw, a bolt, a fastener, a dowel, a peg, etc. Cutting mechanism <NUM> is coupled to a first portion of pivot component <NUM> and gripping mechanism <NUM> is coupled to a second portion of pivot component <NUM>. The first portion is a top portion of pivot component <NUM> and the second portion is a bottom portion of pivot component <NUM>. For example, end effector <NUM> may be used to remove a piece of fruit that is hanging from a vine. When end effector <NUM> is used to remove the piece of fruit, cutting mechanism <NUM> may cut the vine while the gripping mechanism grasps the part of the vine attached to the fruit, which prevents the fruit from falling to the ground and potentially being damaged. In some embodiments, the first portion is a bottom portion of pivot component <NUM> and the second portion is a top portion of pivot component <NUM>. For example, end effector <NUM> may be used to harvest a flower. When end effector <NUM> is used to harvest a flower, cutting mechanism <NUM> may cut the flower from a bottom portion of a stem while the gripping mechanism grasps the part of the stem attached to the flower, which prevents the fruit from falling to the ground and potentially being damaged. In some embodiments, pivot component <NUM> is comprised of two pivot components. The two pivot components may be staggered such that a first pivot component associated with cutting mechanism <NUM> does not overlap with a second pivot component associated with gripping mechanism <NUM>. In some embodiments, cutting mechanism <NUM> and gripping mechanism <NUM> are coupled to each other via a different coupling mechanism, such as a linear coupling with an angled block and return springs.

End effector <NUM> includes an actuation connection structure <NUM> that is configured to open and close, in parallel, cutting mechanism <NUM> and gripping mechanism <NUM>. Actuation connection structure <NUM> includes a straight portion <NUM> and a loop portion <NUM>. Actuation connection structure <NUM> may be a wire form, an assembly of a mold or machined part and a metal pin, or other rigid material, such as a plastic, a polymer, a composite material, or any other type of rigid material that is capable of withstanding a force from actuator <NUM> when cutting mechanism <NUM> and gripping mechanism <NUM> are opened and closed.

Cutting mechanism <NUM> and gripping mechanism <NUM> include corresponding slot openings (shown in <FIG>). The slot openings may be angled slot openings (same angle or different angle), straight slot openings, curved slot openings, or follow a compound path. Loop portion <NUM> of actuation connection structure <NUM> is interlocked with cutting mechanism <NUM> and gripping mechanism <NUM> via the corresponding slot openings. The slot openings associated with cutting mechanism <NUM> and the slot openings associated with gripping mechanism <NUM> have different widths. The slot opening width associated with gripping mechanism <NUM> is wider than the slot opening width associated with cutting mechanism <NUM>. In some embodiments, the slot opening width associated with cutting mechanism <NUM> is the width of the loop portion <NUM> of actuation connection structure <NUM>. In some embodiments, the slot opening width associated with cutting mechanism <NUM> is wider than a width of the loop portion <NUM> of actuation connection structure <NUM> by a threshold amount (e.g., <NUM>), but narrower than a slot opening width associated with gripping mechanism <NUM>.

In some embodiments, actuation connection structure <NUM> includes a straight portion <NUM> that is coupled to an inclined ramp that can be pulled or pushed upon. In some embodiments, actuation connection structure <NUM> includes a straight portion <NUM> and a screw mechanism that is capable of being rotated through the straight portion <NUM>. The rotation of the screw mechanism applies a force that causes cutting mechanism <NUM> and gripping mechanism <NUM> to open or close, in parallel.

End effector <NUM> includes a bias mechanism <NUM>. In some embodiments, bias mechanism <NUM> is an axial spring that surrounds actuation connection structure <NUM>. In some embodiments, bias mechanism <NUM> is an angular spring around a rotating mechanism. In some embodiments, bias mechanism <NUM> is a compliant mechanism, elastomeric, or otherwise.

The bias mechanism may be placed between a proximal end of loop portion <NUM> and a proximal end of bias limiting component <NUM>. Bias limiting component <NUM> may be an L-shaped structure. The proximal end of bias limiting component <NUM> may include a U-shaped opening that enables it to be attached to actuation connection structure <NUM>. The proximal end of bias limiting component <NUM> is coupled to a first end of bias mechanism <NUM>. The distal end of bias limiting component <NUM> is coupled to the slot opening associated with gripping mechanism <NUM> via a knob feature <NUM>. Bias limiting component <NUM> includes a groove portion <NUM> that enables loop portion <NUM> to pass through bias limiting component <NUM>. In this example, the groove portion <NUM> is U-shaped.

End effector <NUM> includes a housing <NUM>. Housing <NUM> may be long narrow mechanical segment that enables cutting mechanism <NUM> and gripping mechanism <NUM> to get close to a point of cutting without disturbing the parts of a plant, other fruit, flowers, or other mechanical aspects of a grow. In some embodiments, housing <NUM> is a hollow tube. In some embodiments, housing <NUM> is a long extrusion of alternative cross section. In some embodiments, housing <NUM> is an external mechanical skeleton that is not an extrusion. Housing <NUM> may surround actuation connection structure <NUM>, bias mechanism <NUM>, bias limiting component <NUM>, a proximal end of cutting mechanism <NUM>, and a proximal end of gripping mechanism <NUM>.

End effector <NUM> includes actuator <NUM>. In some embodiments, actuator <NUM> is a servo motor, a stepper motor, or any other type of electromagnetic motor. In some embodiments, actuator <NUM> is a pneumatic motor, hydraulic motor, or any other type of rotational actuator. In some embodiments, actuator <NUM> is a linear actuator powered by pneumatics, electromagnetics, or hydraulics. In some embodiments, actuator <NUM> applies a force that causes cutting mechanism <NUM> and gripping mechanism <NUM> to open in parallel. In some embodiments, actuator <NUM> applies the force after an appendage of a plant is cut into two portions and a harvested object is placed in a tray or bin for storage.

Actuator <NUM> applies the force prior to attempting to harvest an object from a plant. In some embodiments, the applied force causes cutting mechanism <NUM> and gripping mechanism <NUM> to open a particular amount. For example, the end effector may be used harvest a plurality of hanging fruit that are proximally located in a grow environment. The distance between the vines associated with the plurality of hanging fruit may vary. When attempting to harvest a particular fruit, actuator <NUM> may cause cutting mechanism <NUM> and gripping mechanism <NUM> to open a particular amount instead of fully opening cutting mechanism <NUM> and gripping mechanism <NUM> to avoid accidentally disturbing and potentially damaging other plants, fruits, vines, flowers, etc. that are located in the grow.

In some embodiments, actuator <NUM> applies a force that causes cutting mechanism <NUM> and gripping mechanism <NUM> to close in parallel. In some embodiments, in response to feedback that the appendage of a plant has not been completely severed, actuator <NUM> applies an additional force that causes cutting mechanism <NUM> to apply more force to the appendage. The additional force, as described herein, does not cause gripping mechanism <NUM> to apply more force to the appendage.

In some embodiments, end effector <NUM> remains in a closed state after an object is harvested and is changed to an open state prior to an attempt to harvest a next object from a plant. In some embodiments, end effector <NUM> changes to an open state after an object is harvested in order to release it into a storage location.

<FIG> is a diagram illustrating a top-down view of an end effector in accordance with some embodiments. In the example shown, end effector <NUM> includes a cutting mechanism <NUM>, a gripping mechanism <NUM>, and a pivot component <NUM>. Cutting mechanism <NUM> includes slot openings <NUM> and gripping mechanism <NUM> includes slot openings <NUM>. Loop portion <NUM> of actuation connection structure <NUM> is interlocked with slot openings <NUM> and slot openings <NUM>.

<FIG> is a diagram illustrating a top-down view of a cutting mechanism and a gripping mechanism in accordance with some embodiments. In the example shown, cutting mechanism <NUM> includes slot openings <NUM>. The loop portion <NUM> of actuation connection structure <NUM> is interlocked with slot openings <NUM> and slot openings <NUM>. Gripping mechanism <NUM> includes slot openings <NUM>. The knob feature <NUM> of bias limiting component <NUM> is coupled to slot openings <NUM>. Bias limiting component <NUM> includes a groove portion that allows loop portion <NUM> of actuation connection structure <NUM> to pass through slot openings <NUM>.

The slot openings associated with cutting mechanism <NUM> and the slot openings associated with gripping mechanism <NUM> have different widths. The slot opening width associated with gripping mechanism <NUM> is wider than the slot opening width associated with cutting mechanism <NUM>. In some embodiments, the slot opening width associated with cutting mechanism <NUM> is the width of actuation connection structure <NUM>. In some embodiments, the slot opening width associated with cutting mechanism <NUM> is wider than a width of actuation connection structure <NUM> by a threshold amount (e.g., <NUM>), but narrower than a slot width associated with gripping mechanism <NUM>.

<FIG> are diagrams illustrating an embodiment of a side view and a top-down view of an end effector, respectively. In the example shown, end effector <NUM> is in an open state. Cutting mechanism <NUM> and gripping mechanism <NUM> are both in an open position. An appendage <NUM> is placed in an opening <NUM>.

In some embodiments, end effector <NUM> is in a closed position, for example, as seen in <FIG>. To open end effector <NUM>, actuator <NUM> may apply a force to actuation connection structure <NUM>. For example, the applied force may push actuation connection structure <NUM> towards a distal end of end effector <NUM>. The applied force may cause the loop portion <NUM> to move from a proximal end of the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM> towards a distal end of the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM>. The loop portion <NUM> of actuation connection structure <NUM> may transfer the applied force to slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM>. The loop portion <NUM> of actuation connection structure <NUM> is interlocked with the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM>. As a result, the force applied to the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM> causes the jaws of cutting mechanism <NUM> and gripping mechanism <NUM> to rotate open, in parallel, around pivot component <NUM>. The degree to which the jaws of cutting mechanism <NUM> and gripping mechanism <NUM> open is based on the amount of force applied by actuator <NUM>.

In other embodiments, actuation connection structure <NUM> is rigid at distal portion (e.g., the tip) and includes a spring (not shown) that is coupled to a cable. In response to the cable being pulled, the spring is configured to push the distal end, which causes cutting mechanism <NUM> and gripping mechanism <NUM> to close. In response to the cable being released, the spring causes cutting mechanism <NUM> and gripping mechanism to open.

<FIG> is a diagram illustrating an embodiment of a top-down view of a cutting mechanism and a gripping mechanism. In the example shown, cutting mechanism <NUM> and gripping mechanism <NUM> are both in an open position. An appendage <NUM> is placed in an opening associated with cutting mechanism <NUM> and an opening associated with gripping mechanism <NUM>. The loop portion <NUM> of actuation connection structure <NUM> is located at a distal end of the slot openings <NUM>, <NUM>.

<FIG> are diagrams illustrating an embodiment of a side view and a top-down view of an end effector, respectively. In the examples shown, the end effector <NUM> is in a closed state.

In one embodiment, end effector <NUM> is in an open position, for example, as seen in <FIG>. To close the end effector <NUM>, actuator <NUM> applies a force to actuation connection structure <NUM>. For example, the applied force pulls actuation connection structure <NUM> towards a proximal end of the end effector. The applied force causes the loop portion <NUM> of actuation connection structure <NUM> to move from a distal end of the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM> towards a proximal end of the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM>. In the example shown, loop portion <NUM> has moved a distance <NUM>.

The loop portion <NUM> of actuation connection structure <NUM> transfers the applied force to slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM>. The loop portion <NUM> of actuation connection structure <NUM> is interlocked with the slot openings associated with cutting mechanism <NUM> and gripping mechanism <NUM>. The width of slot openings <NUM> associated with cutting mechanism <NUM> may be the width of loop portion <NUM> of actuation connection structure <NUM>. As a result of this configuration, the force applied to the slot openings associated with cutting mechanism <NUM> and gripping mechanism causes the jaws of cutting mechanism <NUM> and gripping mechanism <NUM> to rotate closed, in parallel, around pivot component <NUM>. The applied force initially causes gripping mechanism <NUM> to grip appendage <NUM>.

The applied force initially causes gripping mechanism <NUM> to grip appendage <NUM>. As more force is applied, the applied force causes cutting mechanism <NUM> to perform a bypass cut of appendage <NUM>, which causes appendage <NUM> to split into a first portion 302a and a second portion 302b. The amount of force with which cutting mechanism <NUM> applies to appendage <NUM> is proportional to the force applied by actuator <NUM>.

The amount of force with which gripping mechanism <NUM> applies to appendage <NUM> is limited by bias component <NUM> and bias limiting component <NUM>. When placed in between a proximal end of bias limiting component <NUM> and a proximal end of loop portion <NUM>, bias component <NUM> is preloaded with a particular amount of force. The preloaded force may be a force that is unable to cut an appendage, regardless of the appendage diameter (e.g., <NUM> - <NUM>). For example, bias component <NUM> may be preloaded with <NUM> lbs (or <NUM>) of force. In some embodiments, the preloaded amount is within a threshold of the particular amount of force (e.g., ± <NUM> lbs (or <NUM>)).

When actuator <NUM> applies a force to actuation connection structure <NUM>, the force causes bias component <NUM> to compress. The amount of compression experienced by bias component <NUM> is based on Hooke's law (F = kx<NUM>). The amount of force with which gripping mechanism <NUM> applies to appendage may not exceed the preloaded amount of force within the threshold amount. In the event the amount of force applied by actuator <NUM> increases, the amount of force applied by gripping mechanism <NUM> to appendage 302b does not exceed the preloaded amount of force within a threshold amount.

After end effector <NUM> cuts appendage <NUM> into a first portion 302a and a second portion <NUM>, a robotic arm coupled to end effector <NUM> may move end effector <NUM> to a location at which the harvested object is stored. Actuator <NUM> applies a force that causes cutting mechanism <NUM> and gripping mechanism to open, for example as shown in <FIG>. The harvested object attached to the second portion <NUM> may be placed in a temporary storage location (e.g., bin, tray) associated with a robotic system that includes the robotic arm. As a result, the end effector is able to harvest an object from the plant without damaging the harvested object.

<FIG> is a diagram illustrating an embodiment of a top-down view of a cutting mechanism and a gripping mechanism. In the example shown, cutting mechanism <NUM> and gripping mechanism <NUM> are both in a closed position. Cutting mechanism <NUM> has split appendage <NUM> into a first portion 302a and a second portion 302b. The first portion 302a may stay attached to the plant after being separated from appendage <NUM> while the second portion 302b is grasped by gripping mechanism <NUM>.

Claim 1:
An end effector (<NUM>; <NUM>; <NUM>), comprising:
a cutting mechanism (<NUM>) that includes a cutting set of jaws;
a gripping mechanism (<NUM>) that includes a gripping set of jaws;
a pivot component (<NUM>), wherein the cutting mechanism and the gripping mechanism are coupled to the pivot component, wherein 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; and
an actuation connection structure (<NUM>), wherein the actuation connection structure includes a straight portion (<NUM>) and a loop portion (<NUM>), wherein the loop portion of the actuation connection structure is coupled to the cutting mechanism via slot openings (<NUM>) associated with the cutting mechanism and coupled to the gripping mechanism via slot openings (<NUM>) associated with the gripping mechanism, wherein a width of the slot openings associated with the cutting mechanism is less than a width of the slot openings associated with the gripping mechanism.