US 11,716,934 B2
End effector for harvesting
Jaylyn Daugherty, Lakewood, CO (US); Gregory Schroll, Denver, CO (US); and Timothy Brackbill, Lakewood, CO (US)
Assigned to Tortuga Agricultural Technologies, Inc., Denver, CO (US)
Filed by Tortuga Agricultural Technologies, Inc., Denver, CO (US)
Filed on Jun. 23, 2022, as Appl. No. 17/847,912.
Application 17/847,912 is a continuation of application No. 17/168,019, filed on Feb. 4, 2021, granted, now 11,406,060.
Prior Publication US 2022/0386532 A1, Dec. 8, 2022
Int. Cl. A01D 46/30 (2006.01); B25J 11/00 (2006.01); B26D 7/01 (2006.01)
CPC A01D 46/30 (2013.01) [B25J 11/0055 (2013.01); B26D 7/01 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An end effector, comprising:
a cutting mechanism that includes a cutting set of jaws;
a gripping mechanism that includes a gripping set of jaws;
a pivot component, 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;
an actuation connection structure, wherein the actuation connection structure includes a straight portion and a loop portion, wherein the loop portion of the actuation connection structure is coupled to the cutting mechanism via slot openings associated with the cutting mechanism and coupled to the gripping mechanism via slot openings 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; and
an actuator coupled to the actuation connection structure and configured to:
push the actuation connection structure towards a distal end of the end effector; and
pull the actuation connection structure towards a proximal end of the end effector.