Problem is to prevent damage to the main stem and branch at harvest.The end effector 1 is a crop harvesting end effector for cutting the fruit stalk 93 and harvesting the main stem 92 and the harvest object 91 which is formed in the branch.End effectorA base member 10 provided with a cutting blade 2 for cutting a patternIt is made up of flexible and long members that can be bent and bent by itself.A flexible member 20 extending from the base member to form an annular passage part 3 surrounding the cutting blade andA deflecting mechanism 30 for enlarging and reducing the passage by pushing the flexible member from the base member and pulling it into the base member sideIs provided.The expansion and contraction mechanism is made such that the flexible member is pulled into the base member side by passing through the inside of the passing portion, and the passing portion is reduced, and the pattern is sandwiched between the flexible member and the cutting blade.Diagram
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