Rope-driven fruit and vegetable picking end effector
By designing a manually operated rope-driven fruit and vegetable picking end effector, the combined structure of the thrust spring and the connecting ring joint is used to solve the problems of high electronic drive costs and easy damage, and achieve low-cost and efficient fruit and vegetable picking effects.
Patent Information
- Application Number
- CN202422362550.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-26
- Publication Date
- 2025-07-08
- Estimated Expiration
- 2034-09-26
AI Technical Summary
The existing rope-driven fruit and vegetable picking end effectors rely on electronic drives, which leads to high costs and is prone to damage outdoors, affecting the picking efficiency.
The end effector of the manually operated rope-driven fruit and vegetable picking is adopted. Through the combined structure of the thrust spring and the connecting ring joint, the plastic draw rope is used to push the elastic force of the thrust spring to cut off the fruit and vegetable picking, reducing costs and improving stability.
It realizes low-cost and convenient manual operation, and is suitable for picking different fruits and vegetables, improving the efficiency of fruits and vegetables and the stability of equipment.
Smart Images
Figure CN223067550U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of fruit and vegetable picking, in particular to a cable-driven end effector for fruit and vegetable picking. Background Technique
[0002] Fruit and vegetable picking refers to the work of collecting and picking fruits and vegetables. During the process of fruit and vegetable picking, different tools can be used. Among them, after the fruit is sleeved with a tool, the pulling rope is pulled to perform the truncation picking work, and a cable-driven end effector for fruit and vegetable picking is required. However, the current cable-driven end effectors on the market still have the following problems:
[0003] Generally, the cable-driven end effector for fruit and vegetable picking is driven electronically, and the overall cost is too high. At the same time, electronic products require energy to drive, and are prone to damage outdoors, resulting in affecting the overall fruit and vegetable picking efficiency.
[0004] In view of the above problems, an innovative design is carried out on the basis of the original cable-driven end effector for fruit and vegetable picking. Content of the Utility Model
[0005] The purpose of the utility model is to provide a cable-driven end effector for fruit and vegetable picking, so as to solve the problems of the currently common cable-driven end effectors on the market. Generally, the cable-driven end effector for fruit and vegetable picking is driven electronically, and the overall cost is too high. At the same time, electronic products require energy to drive, and are prone to damage outdoors, resulting in affecting the overall fruit and vegetable picking efficiency.
[0006] To achieve the above purpose, the utility model provides the following technical solution: A cable-driven end effector for fruit and vegetable picking, including a first combined sleeve and a second combined sleeve. The bottom end of the first combined sleeve is provided with the second combined sleeve, and a limiting square block is arranged on the outer surface of the bottom end of the second combined sleeve. An operating sleeve is sleeved on the outer side of the bottom end of the second combined sleeve, and a connecting annular joint is arranged at the bottom end of the operating sleeve and is sleeved on the outer side of the second combined sleeve. A limiting strip groove is opened on the inner wall of the operating sleeve, and the limiting strip groove is connected with the limiting square block. A connecting straight rod is arranged on the inner wall of the bottom end of the operating sleeve, and the connecting straight rod is located below the second combined sleeve. A plastic pulling rope is wound and fixedly installed on the middle end of the connecting straight rod, and the plastic pulling rope passes through the centers of the second combined sleeve and the first combined sleeve. A thrust spring is arranged around the outer sides of the first combined sleeve and the second combined sleeve, and the thrust spring is located above the connecting annular joint. The bottom end of the thrust spring is provided with an adjusting sleeve, and the adjusting sleeve is sleeved on the outer side of the first combined sleeve, and anti-slip strips are arranged on the outer surface of the adjusting sleeve.
[0007] Preferably, the first combined sleeve and the second combined sleeve are integrally structured, and the outer diameter of the first combined sleeve is greater than that of the second combined sleeve, and the second combined sleeve is slidably connected to the operating sleeve and the connecting annular joint.
[0008] Preferably, the limiting square block is fixedly embedded with the second combined sleeve, and the limiting square blocks are symmetrically distributed on the second combined sleeve, and the limiting square block is slidably connected to the limiting strip groove.
[0009] Preferably, the connecting annular joint and the operating sleeve are integrally structured, and the inner diameter of the connecting annular joint is smaller than the outer diameter of the first combined sleeve.
[0010] Preferably, the thrust spring is spot-welded to the adjusting sleeve and the connecting annular joint, and the inner diameter of the thrust spring is greater than the outer diameter of the first combined sleeve.
[0011] Preferably, the adjusting sleeve is threadedly connected to the first combined sleeve, and anti-slip strips are equiangularly distributed on the adjusting sleeve.
[0012] Compared with the prior art, the beneficial effects of the present utility model are as follows: This rope-driven end effector for fruit and vegetable picking
[0013] 1. The operating sleeve and the connecting annular joint are pushed by the elastic force of the thrust spring to perform telescopic operation, so that the operating sleeve can pull the plastic pull rope through the connecting straight rod, which is convenient for the loop of the plastic pull rope combination to squeeze and cut off the connection part of the fruit and vegetable. The overall manual operation is simple and convenient, and the production cost is low;
[0014] 2. According to needs, the thrust of the thrust spring on the connecting annular joint and the operating sleeve can be adjusted, so as to be suitable for picking different kinds of fruits and vegetables. By rotating the adjusting sleeve, the adjusting sleeve can squeeze the thrust spring to adjust the overall elastic coefficient, and the adjustment operation is convenient. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a schematic diagram of the overall combined three-dimensional structure of the present utility model;
[0016] Figure 2 It is a schematic diagram of the overall partial bottom view three-dimensional structure of the present utility model;
[0017] Figure 3 It is a schematic diagram of the three-dimensional structure when the operating sleeve moves downward of the present utility model;
[0018] Figure 4 It is a schematic diagram of the three-dimensional structure when the adjusting sleeve moves downward of the present utility model;
[0019] Figure 5This is a schematic three-dimensional sectional view of the overall structure of the utility model.
[0020] In the figure: 1. First combined sleeve; 2. Second combined sleeve; 3. Limit square; 4. Operating sleeve; 5. Connecting ring joint; 6. Limit strip groove; 7. Connecting straight rod; 8. Plastic pull rope; 9. Thrust spring; 10. Adjusting sleeve; 11. Anti-slip strip. Specific implementation mode
[0021] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present utility model.
[0022] Please refer to Figures 1 - 5 , the present utility model provides a technical solution: a cable-driven fruit and vegetable picking end effector, including a first combined sleeve 1 and a second combined sleeve 2. The bottom end of the first combined sleeve 1 is provided with the second combined sleeve 2, and a limit square 3 is provided on the outer surface of the bottom end of the second combined sleeve 2. The outer side of the bottom end of the second combined sleeve 2 is sleeved and installed with an operating sleeve 4, and the bottom end of the operating sleeve 4 is provided with a connecting ring joint 5, and the connecting ring joint 5 is sleeved and installed on the outer side of the second combined sleeve 2. A limit strip groove 6 is opened on the inner wall of the operating sleeve 4, and the limit strip groove 6 is connected to the limit square 3. A connecting straight rod 7 is provided on the inner wall of the bottom end of the operating sleeve 4, and the connecting straight rod 7 is located below the second combined sleeve 2. A plastic pull rope 8 is wound and fixedly installed on the middle end of the connecting straight rod 7, and the plastic pull rope 8 passes through the centers of the second combined sleeve 2 and the first combined sleeve 1. Thrust springs 9 are installed around the outer sides of the first combined sleeve 1 and the second combined sleeve 2, and the thrust springs 9 are located above the connecting ring joint 5. The bottom end of the thrust spring 9 is installed with an adjusting sleeve 10, and the adjusting sleeve 10 is sleeved and installed on the outer side of the first combined sleeve 1, and an anti-slip strip 11 is provided on the outer surface of the adjusting sleeve 10.
[0023] The first combined sleeve 1 and the second combined sleeve 2 are integrally structured, and the outer diameter of the first combined sleeve 1 is larger than the outer diameter of the second combined sleeve 2. Moreover, the connection method between the second combined sleeve 2 and the operating sleeve 4 and the connecting ring joint 5 is a sliding connection. According to the structures of the first combined sleeve 1 and the second combined sleeve 2, it is convenient for the subsequent docking and assembly of components, so as to carry out the operation work.
[0024] The limiting square block 3 is fixedly connected to the second combined sleeve 2 by embedding, and the limiting square blocks 3 are symmetrically distributed on the second combined sleeve 2. The connection between the limiting square block 3 and the limiting strip groove 6 is a sliding connection. According to the sliding connection between the limiting square block 3 and the limiting strip groove 6, the stability of the operating sleeve 4 and the connecting annular joint 5 during subsequent movement can be maintained, and the rotation phenomenon can be avoided.
[0025] The connecting annular joint 5 and the operating sleeve 4 are integrally structured, and the inner diameter of the connecting annular joint 5 is smaller than the outer diameter of the first combined sleeve 1, which facilitates the connecting annular joint 5 to drive the operating sleeve 4 to slide up and down on the second combined sleeve 2 without sliding onto the first combined sleeve 1. At the same time, the connecting annular joint 5 will not slide and separate from the second combined sleeve 2.
[0026] The connection between the thrust spring 9 and the adjusting sleeve 10 and the connecting annular joint 5 is spot welding. The inner diameter of the thrust spring 9 is larger than the outer diameter of the first combined sleeve 1, which preserves the stability of the thrust spring 9, avoids shaking, and at the same time prevents the thrust spring 9 from rubbing against the outer surface of the first combined sleeve 1.
[0027] The connection between the adjusting sleeve 10 and the first combined sleeve 1 is a threaded connection, and anti-slip strips 11 are equiangularly distributed on the adjusting sleeve 10. The adjusting sleeve 10 can rotate and lift on the first combined sleeve 1, which facilitates the adjusting sleeve 10 to squeeze the thrust spring 9 and adjust the overall elastic coefficient.
[0028] Working principle: According to Figures 1 - 5, first, the first combined sleeve 1 can be threadedly assembled and fixed to the fruit and vegetable picking tool. At the same time, the plastic drawstring 8 extends to the top of the fruit and vegetable picking tool to form a set of loop structures, which are connected to the collection bag. At the same time, manually press the operation sleeve 4 and the connecting annular joint 5. The operation sleeve 4 is slidably connected to the limiting square block 3 through the limiting strip groove 6, and can slide smoothly on the outside of the second combined sleeve 2. At the same time, the operation sleeve 4 drives the connecting annular joint 5 to squeeze the thrust spring 9, and the thrust spring 9 contracts and operates through the adjusting sleeve 10. The operation sleeve 4 drives the connecting straight rod 7 to push the plastic drawstring 8, making the diameter of the top loop of the plastic drawstring 8 larger. Then, after docking the loop structure formed by the plastic drawstring 8 with the picked fruit and vegetable, release the operation sleeve 4 and the connecting annular joint 5, so that the thrust spring 9 elastically pushes them, causing the operation sleeve 4 and the connecting annular joint 5 to move downward. Thus, the operation sleeve 4 pulls the plastic drawstring 8 through the connecting straight rod 7, facilitating the reduction of the loop structure at the top of the plastic drawstring 8, thereby squeezing and cutting off the connection of the fruit and vegetable, and the fruit and vegetable fall into the bag for collection. And as a whole, according to requirements, by rotating the adjusting sleeve 10, the adjusting sleeve 10 rotates and moves downward on the first combined sleeve 1, which can push the thrust spring 9 and increase the thrust coefficient of the subsequent thrust spring 9. The above is the working process of the entire device, and the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.
[0029] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A cable-driven end effector for fruit and vegetable picking, comprising a first combined sleeve (1) and a second combined sleeve (2), characterized in that: A second combined sleeve (2) is provided at the bottom end of the first combined sleeve (1), and a limiting square block (3) is provided on the outer surface of the bottom end of the second combined sleeve (2). An operating sleeve (4) is sleeved and installed on the outer side of the bottom end of the second combined sleeve (2), and a connecting annular joint (5) is provided at the bottom end of the operating sleeve (4). The connecting annular joint (5) is sleeved and installed on the outer side of the second combined sleeve (2). A limiting strip groove (6) is formed in the inner wall of the operating sleeve (4), and the limiting strip groove (6) is connected to the limiting square block (3). A connecting straight rod (7) is provided on the inner wall of the bottom end of the operating sleeve (4), and the connecting straight rod (7) is located below the second combined sleeve (2). A plastic pull rope (8) is wound and fixedly installed on the middle end of the connecting straight rod (7), and the plastic pull rope (8) passes through the centers of the second combined sleeve (2) and the first combined sleeve (1). A thrust spring (9) is installed around the outer sides of the first combined sleeve (1) and the second combined sleeve (2), and the thrust spring (9) is located above the connecting annular joint (5). An adjusting sleeve (10) is installed at the bottom end of the thrust spring (9), and the adjusting sleeve (10) is sleeved and installed on the outer side of the first combined sleeve (1). Anti-slip strips (11) are provided on the outer surface of the adjusting sleeve (10).
2. The end effector for rope-driven fruit and vegetable picking according to claim 1, characterized in that: The first combined sleeve (1) and the second combined sleeve (2) are integrally structured, and the outer diameter of the first combined sleeve (1) is larger than the outer diameter of the second combined sleeve (2). The connection mode between the second combined sleeve (2) and the operating sleeve (4) and the connecting annular joint (5) is a sliding connection.
3. The cable-driven fruit and vegetable picking end effector according to claim 1, characterized in that: The connection mode between the limiting square block (3) and the second combined sleeve (2) is inlaid and fixed. The limiting square blocks (3) are symmetrically distributed on the second combined sleeve (2). The connection mode between the limiting square block (3) and the limiting strip groove (6) is a sliding connection.
4. A cable-driven end effector for fruit and vegetable picking according to claim 1, characterized in that: The connecting annular joint (5) and the operating sleeve (4) are integrally structured, and the inner diameter of the connecting annular joint (5) is smaller than the outer diameter of the first combined sleeve (1).
5. The end effector for rope-driven fruit and vegetable picking according to claim 1, characterized in that: The connection mode between the thrust spring (9) and the adjusting sleeve (10) and the connecting annular joint (5) is spot welding connection, and the inner diameter of the thrust spring (9) is larger than the outer diameter of the first combined sleeve (1).
6. The end effector for rope-driven fruit and vegetable picking according to claim 1, wherein: The connection mode between the adjusting sleeve (10) and the first combined sleeve (1) is a threaded connection, and the anti-slip strips (11) are equally angularly distributed on the adjusting sleeve (10).