END EFFECTOR FOR HARVESTING DEVICE

To solve problems, for example, a device for holding fruit provided on a prior harvesting device has a complicated structure, however holding is unstable and unreliable, and since force for holding the fruit is strong, sometimes fruit vegetable is damaged.SOLUTION: There is provided a simplified end effector for gripping leaf vegetable or fruit vegetable, a fruit tree. The end effector comprises: a rotor in which a rotation center area is hollow, and that is provided with a notch from a peripheral edge to a hollow part, and is driven to rotate by the motor; a fixing body which is adjacent to the rotor, and in which a notch is provided from a peripheral edge to a position for supporting an object on a rotor hollow part; a pressing part which is coupled to the rotor in a rotatable state in a rotation radial direction on the rotor hollow part, elastically energized inward in a rotation radial direction with weak force at which fruit being an object is not damaged and presses the object; and a support part which is coupled to the fixing body for supporting the object to the rotor hollow part in a depth part area of a fixing body notch, by the end effector, the pressing part retreats outward in the rotation radial direction by being pushed by the fruit, and can grip the fruit without damaging the fruit.SELECTED DRAWING: Figure 5 【課題】従来の収穫装置が備える果実を保持する装置は、構造は複雑であるが保持が不安定で確実でなかった。また、果実を保持する力が強いため果菜を損傷する場合があった。【解決手段】葉菜または果菜、果樹を把持する簡易な機構のエンドエフェクタで、回転中央領域が中空で外周縁から中空部まで切欠が設けられた、モーターで回転駆動される回転体と、回転体と隣接配置された、外周縁から回転体中空部の対象物を支持する位置まで切欠が設けられた固定体と、回転体中空部に回転径方向に回動可能に回転体と連結され、対象物である果実を損傷しない程度の弱い力で回転径方向内方に弾性的に付勢され対象物を押圧する押圧部と、固定体切欠の奥部領域の回転体中空部に対象物を支持する固定体と連結した支持部とを備え、果実に押されて押圧部が回転径方向外方に退避しつつ果実を傷付けることなく把持する。【選択図】図５