Shearing mechanism and shearing device

Abstract

The invention provides a shearing mechanism and a shearing device. The shearing mechanism comprises a driving device and an adjusting body, wherein one end of the adjusting body is connected with the driving device; one end of the adjusting rod is arranged in the adjusting body in a penetrating manner, and the adjusting rod is driven by the adjusting body to linearly move; an extrusion body is arranged at the other end of the adjusting rod; the telescopic rod penetrates through the adjusting rod, and a magnet is arranged at one end of the telescopic rod; the magnet is arranged in the adjusting body; the shearing body is arranged at the other end of the telescopic rod; the extrusion body is clamped with the shearing body; the device comprises a frame body and an image acquisition mechanism arranged on the frame body, the detection mechanism is arranged on the frame body; the device further comprises a shearing mechanism. The driving device is arranged on the frame body; the adjusting rod and the telescopic rod are arranged on the detection mechanism in a penetrating manner; the shearing mechanism and the shearing device are simple in structure, the overall use strength can be improved, the maintenance probability is reduced, and then the use cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of picking equipment, and in particular to a shearing and holding mechanism and a shearing and holding device. Background Art

[0002] With the development of agricultural automation, picking robots are gradually becoming an important solution to solve the problem of labor shortage; picking robots can improve the fruit picking efficiency and further reduce the labor cost.

[0003] In the prior art, the publication number is CN208113365U, and the name is a clamping and cutting mechanism, a fruit picking robot arm and a robot, which discloses a housing with an execution open cavity. At different heights on the inner wall of the execution open cavity, a clamping bidirectional screw rod and a cutting bidirectional screw rod are arranged in the same direction. Among them, two clamping nuts are connected in cooperation with the clamping bidirectional screw rod. The side end faces of the two clamping nuts are respectively connected with a clamping roller. When the clamping bidirectional screw rod rotates forward and backward, the clamping screw rod can drive the two clamping nuts to move and approach or move away from each other; two cutting nuts are connected in cooperation with the cutting bidirectional screw rod. The side end faces of the two cutting nuts are respectively connected with a cutting knife. When the cutting bidirectional screw rod rotates forward and backward, the cutting screw rod can drive the two cutting nuts to move and approach or move away from each other; the cutting edge of the cutting knife and the clamping part of the clamping roller extend out of the execution open cavity; the utility model can effectively solve the problems of complex structure of the end effector of the existing fruit picking robot, difficult control and low versatility.

[0004] However, the clamping and cutting mechanism in the prior art has a complex structure and needs to be driven through a complex structure to complete clamping and cutting. After long-term high-frequency use, the complex structure will cause component damage and require maintenance, resulting in an increase in the use cost. Summary of the Invention

[0005] The purpose of the present invention is to provide a shearing and holding mechanism and a shearing and holding device, which can solve the above technical problems;

[0006] The present invention provides a shearing and holding mechanism, including:

[0007] A driving device and an adjusting body with one end connected to the driving device;

[0008] An adjusting rod, one end of which is inserted into the adjusting body and moves linearly under the drive of the adjusting body; the other end of the adjusting rod is provided with an extrusion body;

[0009] A telescopic rod, which is inserted into the adjusting rod, and one end is provided with a magnet; the magnet is arranged in the adjusting body;

[0010] A shearing and holding body, which is arranged at the other end of the telescopic rod; and the extrusion body is clamped with the shearing and holding body.

[0011] As a further technical solution, the cutting and holding body includes:

[0012] A first cutting and holding part and a second cutting and holding part, both the first cutting and holding part and the second cutting and holding part are pin-connected to the other end of the telescopic rod; and a reset device is arranged between the first cutting and holding part and the second cutting and holding part.

[0013] As a further technical solution, a cutting edge and a clamping block are arranged on the first cutting and holding part or the second cutting and holding part.

[0014] As a further technical solution, a guide groove is arranged on the cutting and holding body, and one end of the extrusion body is placed in the guide groove.

[0015] Preferably, the extrusion body is movably connected to the adjustment rod.

[0016] Preferably, the adjustment body is threadedly connected to the adjustment rod.

[0017] Preferably, the adjustment body, the telescopic rod, the telescopic rod and the cutting and holding body are all made of magnetic metal.

[0018] The present invention also provides a cutting and holding device, including a frame body and an image acquisition mechanism arranged on the frame body; a detection mechanism is arranged on the frame body; a cutting and holding mechanism is also included; a driving device is arranged on the frame body; the adjustment rod and the telescopic rod are both arranged through the detection mechanism.

[0019] As a further technical solution, the detection mechanism includes:

[0020] A detection frame, arranged on the frame body, and the adjustment rod and the telescopic rod are both arranged through the detection frame;

[0021] A detection part, arranged on the detection frame.

[0022] As a further technical solution, the detection part includes:

[0023] A connecting plate, arranged on the detection frame;

[0024] A control device, arranged on the detection frame;

[0025] A probe, arranged in a detection groove on the connecting plate; and an elastic member is arranged on the control device, and one end of the elastic member is placed in a contact groove on the probe.

[0026] The technical solution of the present invention drives the adjustment body to act simultaneously through the driving device, and drives the adjustment rod and the telescopic rod to perform linear actions simultaneously through the adjustment body; when the telescopic rod moves to a certain range, the telescopic rod is limited by the magnet, while the adjustment rod continues to act and drives the extrusion body to act, so that the extrusion body acts on the cutting and holding body, and under the push of the extrusion body, the cutting and holding body is closed, and the fruit stalk is cut and held during the closing process to complete the picking of the fruit; during the picking process, there is no need to contact the fruit; when the fruit is placed, the driving device acts in the reverse direction and drives each component to reset, so that the cutting and holding body is in an open state for subsequent fruit picking; compared with the prior art, the technical solution of the present invention has a simple structure, can improve the overall service strength, reduce the maintenance probability, and thus reduce the use cost. Description of the Drawings

[0027] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 It is a schematic structural diagram of a cutting and holding mechanism of the present invention from one angle;

[0029] Figure 2 It is a three-dimensional view of a cutting and holding mechanism of the present invention;

[0030] Figure 3 It is a schematic structural diagram of a cutting and holding mechanism of the present invention from another angle;

[0031] Figure 4 For Figure 3 The cross-sectional view of part A-A in

[0032] Figure 5 For Figure 3 The enlarged schematic diagram of the structure of part B in

[0033] Figure 6 It is a three-dimensional view of a cutting and holding device of the present invention from one angle;

[0034] Figure 7 For Figure 6 The enlarged schematic diagram of the structure of part C in

[0035] Figure 8 It is a three-dimensional view of a cutting and holding device of the present invention from another angle.

[0036] Explanation of the reference numerals:

[0037] 100 - Driving device; 200 - Adjusting body; 300 - Adjusting rod; 400 - Extrusion body; 500 - Telescopic rod; 600 - Magnet; 700 - Cutting and holding body; 701 - First cutting and holding part; 702 - Second cutting and holding part; 703 - Blade; 704 - Clamping block; 705 - Guide groove; 800 - Frame body; 900 - Image acquisition mechanism; 1000 - Detection mechanism; 1001 - Detection frame; 1002 - Detection part; 1201 - Connecting plate; 1202 - Control device; 1203 - Probe; 1204 - Elastic member. Detailed implementation manner

[0038] The technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0039] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation to the present invention.

[0040] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more features. In the description of the present invention, "a plurality" means two or more, unless otherwise specifically defined. In addition, the terms "installation", "connection", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] As Figures 1-5 shown, a cutting and holding mechanism provided by the present invention includes:

[0042] A driving device 100 and an adjusting body 200 with one end connected to the driving device 100; during the use stage, after the driving device 100 is started, it drives the adjusting body 200 to rotate; in the present invention, the adjusting body 200 is fixedly connected to the driving device 100, thereby ensuring that the driving device 100 always drives the adjusting body 200 to rotate during the operation process; preferably, the driving device 100 is a brushless motor, which can be controlled as needed to realize the forward and reverse rotation of the driving device 100, and thus realize that the adjusting body 200 can rotate forward and reverse simultaneously;

[0043] One end of an adjusting rod 300 is inserted into the adjusting body 200 and performs a linear motion driven by the adjusting body 200; an extrusion body 400 is provided at the other end of the adjusting rod 300; specifically, the adjusting body 200 rotates under the action of the driving device 100, and the adjusting rod 300 performs a linear movement under the rotation of the adjusting body 200, and drives the extrusion body 400 to move simultaneously during the movement; preferably, the adjusting body 200 is threadedly connected to the adjusting rod 300; when the adjusting body 200 rotates, the adjusting rod 300 moves under the thread cooperation.

[0044] A telescopic rod 500 is inserted into the adjusting rod 300, and a magnet 600 is provided at one end, and the magnet 600 is arranged in the adjusting body 200; a clamping body 700 is arranged at the other end of the telescopic rod 500; and the extrusion body 400 is clamped with the clamping body 700; when the adjusting rod 300 moves driven by the adjusting body 200, the magnet 600 moves driven by the magnetism of the adjusting rod 300 and makes the telescopic rod 500 move; when the magnet 600 contacts the inner wall of the adjusting body 200, the telescopic rod 500 cannot move further, while the adjusting rod 300 continues to act driven by the adjusting body 200, and makes the extrusion body 400 move on the clamping body 700, so that the clamping body 700 closes, cuts the fruit stalk during the closing process of the clamping body 700, and clamps the cut fruit stalk through the clamping body 700 after cutting, completing one cutting and clamping of the fruit stalk; preferably, the magnet 600 is a permanent magnet.

[0045] It should be noted that in the present invention, the adjusting body 200, the adjusting rod 300, the telescopic rod 500 and the clamping body are all made of magnetic metal;

[0046] First, in the initial state, the extrusion body 400 has not exerted a pressure on the shearing body 700, and the shearing body 700 remains in an open state. When receiving the "in place" signal of the fruit stalk, during movement, the driving device 100 drives the adjusting body 200 to rotate clockwise. The adjusting body 200 can be a trapezoidal nut, and then the adjusting rod 300 extends forward. The adjusting rod 300 can be a hollow screw rod. At the same time, the attractive force of the magnet 600 causes the telescopic rod 500 to extend forward together with the adjusting rod 300. Then, with the further forward extension of the adjusting rod 300 or the telescopic rod 500, until the magnet 600 coincides with the inner surface of the adjusting body 200, that is, the magnet 600 contacts the inner part of the adjusting body 200. This makes it impossible for the magnet 600 or the telescopic rod 500 to move further, while the adjusting rod 300 is not restricted and can continue to move, forming an asynchronous abnormal movement between the adjusting rod 300 and the telescopic rod 500. Finally, the extrusion body 400 extends forward to exert pressure on the shearing body 700, causing the shearing body 700 to close, completing the actions of cutting and clamping the fruit stalk. The adjusting body 200, the adjusting rod 300, the telescopic rod 500, and the clamping body are all made of carbon steel;

[0047] When the shearing body 700 is in the closed state, the magnet 600 and the adjusting body 200 are in a state of magnetic attraction. The driving device 100 drives the adjusting body 200 to move in the reverse direction, causing the adjusting rod 300 to retract. At this time, the magnet 600, the telescopic rod 500, and the shearing body 700 all have no forward or backward movement. The adjusting rod 300 retracts, driving the extrusion body 400 to retract. The shearing body 700 is no longer restricted by the extrusion body 400 and, under the action of the elastic body, the shearing body 700 opens and resets, releasing the fruit stalk.

[0048] Under the continuous counterclockwise rotation of the adjusting body 200, the adjusting rod 300 contacts the magnet 600. At this time, if the adjusting body 200 continues to rotate, the magnetic connection between the magnet 600 and the adjusting body 200 will be disconnected, finally resetting all components.

[0049] The technical solution of the present invention drives the adjusting body 200 to act simultaneously through the driving device 100, and drives the adjusting rod 300 and the telescopic rod 500 to perform linear actions simultaneously through the adjusting body 200. When the telescopic rod 500 moves to a certain range, the telescopic rod 500 is limited by the magnet 600, while the adjusting rod 300 continues to act and drives the extrusion body 400 to act, causing the extrusion body 400 to act on the shearing body 700 and, under the push of the extrusion body 400, causing the shearing body 700 to close, and cutting and clamping the fruit stalk of the fruit during the closing process, completing the picking of the fruit. During the picking process, there is no need to contact the fruit. When the fruit is placed, the driving device 100 acts in the reverse direction and drives each component to reset, making the shearing body 700 in an open state for subsequent fruit picking. Compared with the prior art, the technical solution of the present invention has a simple structure, can improve the overall use strength, reduce the maintenance probability, and thus reduce the use cost.

[0050] As shown Figures 3-5 in the figure, the cutting and holding body 700 includes a first cutting and holding part 701 and a second cutting and holding part 702. Both the first cutting and holding part 701 and the second cutting and holding part 702 are pin-connected to the other end of the telescopic rod 500. And a reset device (not shown in the figure) is arranged between the first cutting and holding part 701 and the second cutting and holding part 702. Preferably, the reset device is a spring. Specifically, under the action of the reset device, the first cutting and holding part 701 and the second cutting and holding part 702 are in an open state. When the first cutting and holding part 701 and the second cutting and holding part 702 are placed at the fruit stalk position, under the action of the pressing body 400, the first cutting and holding part 701 and the second cutting and holding part 702 are closed, and the fruit stalk is cut during the closing process and clamped after cutting. Among them, a cutting edge 703 and a clamping block 704 are arranged on the first cutting and holding part 701 or the second cutting and holding part 702. Under the action of the pressing body 400, the first cutting and holding part 701 and the second cutting and holding part 702 are closed, the fruit stalk is cut by the cutting edge 703, and the fruit stalk is clamped by the clamping block 704 after cutting. It should be noted that in the present invention, the cutting edge 703 needs to be arranged above the clamping block 704 to ensure clamping after cutting the fruit stalk.

[0051] In addition, the cutting edge 703 and the clamping block 704 are integrally formed with the first cutting and holding part 701 or the second cutting and holding part 702, avoiding the need for an additional installation structure in the split structure and reducing the overall failure rate. In addition, since both the first cutting and holding part 701 and the second cutting and holding part 702 are pin-connected to the other end of the telescopic rod 500, when a failure occurs in the first cutting and holding part 701 or the second cutting and holding part 702, it can be quickly disassembled and assembled with the other end of the telescopic rod 500. At the same time, in the present invention, the cutting edge 703 and the clamping block 704 are selectively arranged on the first cutting and holding part 701 or the second cutting and holding part 702 according to needs, specifically subject to the actual situation, but in any case, the cutting edge 703 needs to be above the clamping block 704.

[0052] As Figure 5As shown in the figure, a guiding groove 705 is provided on the cutting and holding body 700, and one end of the pressing body 400 is placed in the guiding groove 705; under the push of the adjusting rod 300, the pressing body 400 moves in the guiding groove 705 and pushes the cutting and holding body 700 to gradually close during the movement; in the present invention, the guiding groove 705 can be provided on the first cutting and holding part 701 or the second cutting and holding part 702, and a pressing body 400 is provided on one side of the adjusting rod 300, so that the first cutting and holding part 701 and the second cutting and holding part 702 are closed by the pressing body 400; alternatively, guiding grooves 705 can be provided on both the first cutting and holding part 701 and the second cutting and holding part 702, and pressing bodies 400 are provided on both sides of the adjusting rod 300. By the simultaneous action of the two pressing bodies 400, the first cutting and holding part 701 and the second cutting and holding part 702 are pushed to move relatively, and the first cutting and holding part 701 and the second cutting and holding part 702 are closed; specifically, it shall be subject to the actual situation, and the present invention will not be further described;

[0053] In addition, the pressing body 400 is movably connected to the adjusting rod 300; the length of the pressing body 400 placed outside the adjusting rod 300 can be adjusted on the adjusting rod 300; preferably, a threaded hole is provided on the adjusting rod 300, and a thread adapted to the threaded hole is provided on the pressing body 400; thus, the length of the pressing body 400 is adjusted through the cooperation of the thread and the threaded hole; to adjust the opening angle of the first cutting and holding part 701 and the second cutting and holding part 702, and further be able to better adapt to different fruit stalks, and further shorten the opening and closing time of the first cutting and holding part 701 and the second cutting and holding part 702; of course, other connection methods can also be adopted between the pressing body 400 and the adjusting rod 300, such as interference fit, etc.; specifically, it shall be subject to the actual situation, and the present invention will not be further described;

[0054] As Figures 6-8 As shown in the figure, the present invention also provides a cutting and holding device, which includes a frame body 800 and an image acquisition mechanism 900 arranged on the frame body 800; a detection mechanism 1000 is arranged on the frame body 800; a cutting and holding mechanism is also included; a driving device 100 is arranged on the frame body 800; the adjusting rod 300 and the telescopic rod 500 are both arranged through the detection mechanism 1000; the adjusting rod 300 and the telescopic rod 500 are supported by the detection mechanism 1000; in the actual use stage, the positions of the fruit stalks are detected by the detection mechanism 1000 and the image acquisition mechanism in the same direction at the same time. After contacting the fruit stalks, the driving device 100 drives the adjusting body 200 to act, so that the adjusting rod 300 and the telescopic rod 500 move, and the cutting and holding body 700 is placed at the position of the fruit stalk, and the fruit stalk is cut and held by the cutting and holding body 700 to complete the picking of the fruit;

[0055] Among them, the detection mechanism 1000 includes a detection frame 1001 and a detection part 1002. The detection frame 1001 is arranged on the frame body 800, and the adjusting rod 300 and the telescopic rod 500 are both arranged through the detection frame 1001; the detection part 1002 is arranged on the detection frame 1001; among them, the adjusting rod 300 is arranged through the detection frame 1001, and the telescopic rod 500 is arranged inside the adjusting rod 300; when the driving device 100 acts, the adjusting rod 300 moves on the detection frame 1001, and the detection frame 1001 supports the adjusting rod 300 during the movement; in the actual use stage, after the detection part 1002 contacts the fruit stalk to obtain the position of the fruit stalk, the driving device 100 is actuated, the driving device 100 drives the adjusting body 200 to act, and with the cooperation of the adjusting rod 300 and the telescopic rod 500, when the cutting and holding body 700 is placed at the position of the fruit stalk, the fruit stalk is cut and held by the cutting and holding body 700 under the push of the extrusion body 400; the fruit picking is completed;

[0056] As Figure 6 shown, the detection part 1002 includes a connecting plate 1201, a control device 1202, a probe 1203 and an elastic member 1204. The connecting plate 1201 is arranged on the detection frame 1001, and the connecting plate 1201 is rigidly connected to the detection frame 1001 without displacement during the use stage; the control device 1202 is arranged on the detection frame 1001; the probe 1203 is arranged in the detection groove on the connecting plate 1201; an elastic member 1204 is arranged on the control device 1202, and a signal contact point (not shown in the figure) is arranged at a position adjacent to the elastic member 1204 on the control device 1202. One end of the elastic member 1204 is placed in the contact groove on the probe 1203. When in a static state, there is no contact between the elastic member 1204 and the contact groove on the probe 1203; among them, a conductive sponge is arranged in the contact groove on the connecting plate 1201; when the probe 1203 contacts the fruit stalk, the probe 1203 will generate displacement and move on the connecting plate 1201. When the probe 1203 moves, the contact groove will move simultaneously, and the conductive sponge in the contact groove will contact the elastic member 1204, and one end of the elastic member 1204 is deformed by the contact groove and the conductive sponge, thereby generating an electrical signal; that is, the position of the fruit stalk is obtained

[0057] When the fruit stalk is placed, the probe 1203 has no contact with the fruit stalk. At this time, the probe 1203 is reset under the push of the elastic member 1204. At the same time, during the reset process of the probe 1203, the contact groove is driven to act, so that the conductive sponge in the contact groove is separated from the elastic member 1204, closing the electrical signal. In addition, one end of the probe 1203 is in an arc-shaped structure to prevent relative displacement between the two when one end of the probe 1203 contacts the fruit stalk;

[0058] It should be noted that the driving device 100 is connected to the main control device, and the main control device is also connected to the control device 1202. When the control device 1202 generates a start signal, it will be sent to the main control device, and the driving device 100 is controlled by the main control device to act, so that the adjusting body 200, the adjusting rod 300, the telescopic rod 500, the squeezing body 400 and the shearing body 700 act to pick fruits; after the fruits are picked, the main control device controls the driving device 100 to act in the reverse direction to reset all components; preferably, the main control device is a single-chip microcomputer or a PLC control board; the control device 1202 is a PCB control board.

[0059] In addition, in the present invention, the image acquisition mechanism 900 is a camera, preferably a monocular camera. By collecting pictures through the image acquisition mechanism 900 and cooperating with the detection mechanism 1000, the position of the fruit stalk can be determined by means of double positioning of position and image, improving the accuracy of fruit picking.

[0060] In the present invention, for better understanding of the technical solution, specific examples are given for illustration:

[0061] The fruit to be picked is a strawberry; the diameter of the fruit stalk of the strawberry is 1.5 - 2.5 mm; the width of one end of the probe 1203 is 4 mm, and this end is in an arc-shaped structure; when the shearing body 700 is in the closed state, the outer width is 10 mm, and the overall thickness of the probe 1203 and the shearing body 700 is 9.5 mm; the squeezing body 400 is a stainless steel solid round bar with a diameter of 1.5 mm;

[0062] Move, obtain the position of the strawberry fruit stalk through the detection mechanism 1000 and the image acquisition mechanism 900, generate a fruit stalk position signal after the probe 1203 contacts the fruit stalk, and send the generated signal to the main control device through the control device 1202. Start the driving device 100 through the main control device. Driven by the driving device 100, the adjusting body 200 rotates, and at the same time, the adjusting rod 300 and the telescopic rod 500 act to drive the shearing body 700 to be placed at the position where the fruit stalk is located; in this state, the first shearing part 701 and the second clamping part are in the open state; under the action of the magnet 600, the first shearing part 701 and the second shearing part 702 stop moving, while the adjusting rod 300 continues to act driven by the adjusting body 200, and drives the squeezing body 400 to continuously act on the first shearing part 701 and the second shearing part 702, so that the first shearing part 701 and the second shearing part 702 close, and during the closing process, the fruit stalk is cut by the blade 703, and the fruit stalk is clamped by the clamping block 704 after cutting; change the position, place the clamped strawberry at the collection position; under the control of the main control device, the driving device 100 acts in the reverse direction to reset all components, and move the position to pick the next strawberry.

[0063] In the present invention, the main control device may be a PC, a cloud server, etc. Of course, it may also be other existing technologies capable of performing calculations and controls, and the present invention will not list them one by one.

[0064] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A cutting and holding mechanism, characterized in that, Comprising: A driving device (100) and an adjusting body (200) with one end connected to the driving device (100); An adjusting rod (300) with one end passing through the adjusting body (200) and performing a linear motion driven by the adjusting body (200); a pressing body (400) is provided at the other end of the adjusting rod (300); A telescopic rod (500) passing through the adjusting rod (300), and a magnet (600) is provided at one end; the magnet (600) is arranged in the adjusting body (200); A shearing body (700) is provided at the other end of the telescopic rod (500); and the pressing body (400) is clamped with the shearing body (700).

2. The cutting and holding mechanism according to claim 1, wherein, The shearing body (700) includes: A first shearing part (701) and a second shearing part (702), both the first shearing part (701) and the second shearing part (702) are pin-connected to the other end of the telescopic rod (500); and a reset device is arranged between the first shearing part (701) and the second shearing part (702).

3. The cutting and holding mechanism according to claim 2, wherein, A blade (703) and a clamping block (704) are provided on the first shearing part (701) or the second shearing part (702).

4. The cutting and holding mechanism according to claim 2, wherein A guiding groove (705) is provided on the shearing body (700), and one end of the pressing body (400) is placed in the guiding groove (705).

5. The cutting and holding mechanism according to claim 1, characterized in that, The pressing body (400) is movably connected to the adjusting rod (300).

6. The cutting and holding mechanism according to claim 1, characterized in that, The adjusting body (200) is threadedly connected to the adjusting rod (300).

7. The cutting and holding mechanism according to claim 1, characterized in that, The adjusting body (200), the adjusting rod (300), the telescopic rod (500) and the shearing body (700) are all made of magnetic metal.

8. A cutting and holding device, characterized in that, Comprising a frame body (800) and an image acquisition mechanism (900) arranged on the frame body (800); a detection mechanism (1000) is arranged on the frame body (800); and further comprising a shearing mechanism according to any one of claims 1-7; the driving device (100) is arranged on the frame body (800); the adjusting rod (300) and the telescopic rod (500) both pass through the detection mechanism (1000).

9. The cutting and holding device according to claim 8, wherein, The detection mechanism (1000) includes: A detection frame (1001) arranged on the frame body (800), and the adjusting rod (300) and the telescopic rod (500) both pass through the detection frame (1001); A detection part (1002) arranged on the detection frame (1001).

10. The cutting and holding device according to claim 9, characterized in that, The detection part (1002) includes: A connecting plate (1201) arranged on the detection frame (1001); A control device (1202) arranged on the detection frame (1001); A probe (1203) arranged in a detection groove on the connecting plate (1201); and an elastic member (1204) is arranged on the control device (1202), and one end of the elastic member (1204) is placed in a contact groove on the probe (1202).

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