Pepper harvesting manipulator

Abstract

The utility model relates to the technical field of pepper picking, and particularly discloses a pepper harvesting manipulator. A driving motor, a temporary fixing jaw, a shearing assembly and a multi-station clamping jaw are fixedly installed on the shell, the driving motor is fixedly installed on the shell, a first eccentric wheel and a second eccentric wheel are fixedly installed on an output shaft of the driving motor, and a first driving sliding block of the temporary fixing jaw is hinged to a first eccentric ring; the first eccentric ring movably sleeves the first eccentric wheel; a second driving sliding block of the shearing assembly is hinged to a second eccentric ring, and the second eccentric ring is movably arranged on a second eccentric wheel in a sleeving mode. And an output shaft of the driving motor is in transmission connection with a grooved wheel driving wheel of the multi-station clamping jaw. And the temporary fixing claw and the shearing assembly are arranged, so that the continuous actions of clamping and shearing the pepper stems can be realized. The multi-station clamping jaw can be periodically switched to improve the picking efficiency, the multi-station clamping jaw can adapt to hot peppers with different sizes and thicknesses, and hot pepper fruits can be prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of picking hot pepper, especially to a hot pepper picking manipulator. BACKGROUND

[0002] China is a big country of hot pepper production and export, and hot pepper is an important economic pillar crop. The fruit stem of hot pepper is relatively thick and strong, and the fruit part of the mature fruit is drooping. The fruit is long and finger-shaped, with a tapered and often curved top end. The mature hot pepper stem and the hot pepper fruit are easily separated and fallen off. When picking hot pepper, a sharp scissors is needed to cut the hot pepper stem so as to avoid the separation and falling off of the hot pepper stem and the hot pepper fruit. If the hot pepper stem and the hot pepper fruit are separated, it may lead to the exposure of the fruit and the wound of the hot pepper stem to the environment during the later storage and transportation process, which is easy to cause infection and corruption and difficult to store and transport. During the picking operation, the mature hot pepper fruit is in the highest water content stage, the flesh is full, and the peel is easy to be crushed and damaged. The workers should also pay attention to handle the hot pepper gently to avoid pulling or squeezing the fruit to prevent damage.

[0003] At the same time, the workers need to avoid directly pulling the hot pepper fruit as much as possible during the picking process. In addition to the possible separation of the fruit and the hot pepper stem, it is also easy to cause the breakage or damage of the main branch of the hot pepper plant, which further affects the normal growth and development of the immature fruit of the hot pepper plant.

[0004] Therefore, during the mechanical picking, how to protect the hot pepper fruit and the hot pepper plant from being damaged is a key technical problem. In the prior art, for example, a hot pepper picking manipulator based on visual recognition and its end executing mechanism disclosed in Chinese patent publication No. CN116276976A discloses a hot pepper picking manipulator. The root stem cutting assembly is used to cut the hot pepper stem, and the soft clamping jaw is used to clamp the fruit of the hot pepper. During the picking operation, the first electric cylinder pushes the second rotating frame to rotate, the arc-shaped soft pad of the soft clamping jaw clamps the hot pepper, the second electric cylinder pushes the root stem cutting assembly to rotate, the blade of the root stem cutting assembly cuts the hot pepper root stem, and the clamping force and the opening degree of the soft clamping jaw are related to the stroke of the electric cylinder. The fixed stroke of the electric cylinder can only provide the opening and closing degree of a kind of soft clamping jaw. The hot pepper fruit has different thicknesses. When clamping the hot pepper fruit with too small thickness, it is easy to clamp unstably, and the fruit is easy to fall off from the clamping jaw during the transportation process. When clamping the hot pepper fruit with too large thickness, it is easy to clamp too tightly and damage the fruit. Moreover, the mechanical arm can only pick one hot pepper at a time, and it is necessary to continuously put the picked hot pepper into the storage box, which is slow in picking speed. UTILITY MODEL CONTENTS

[0005] The utility model aims to provide a hot pepper picking manipulator to solve the problems in the prior art.

[0006] The utility model discloses a pepper harvesting mechanical hand, including casing, drive motor, temporary fixed claw, shearing assembly and multi -position clamping jaw, is fixedly installed with drive motor, temporary fixed claw, shearing assembly and multi -position clamping jaw on the shell, drive motor is fixedly installed on the casing, is fixedly installed with first eccentric wheel and second eccentric wheel on the output shaft of drive motor, the first drive sliding block of temporary fixed claw is hinged with first eccentric ring, and first eccentric ring is movably sleeved on first eccentric wheel, the second drive sliding block of shearing assembly is hinged with second eccentric ring, and second eccentric ring is movably sleeved on second eccentric wheel, the output shaft of drive motor is transmission connection with the grooved wheel driving wheel of multi -position clamping jaw.

[0007] Further, the temporary fixed claw includes a first drive sliding block, a sliding groove plate, a clamp and a trajectory groove plate. The sliding groove plate is fixedly arranged on the casing. The first drive sliding block is slidingly arranged below the sliding groove plate. The clamp is arranged below the first drive sliding block. The shaft part of the clamp is fixedly connected with the first drive sliding block. The trajectory groove plate is arranged below the clamp. The first sliding groove is formed in the trajectory groove plate. The tail part of the clamp is provided with a first sliding pin. The first sliding pin is slidingly arranged in the first sliding groove.

[0008] Further, the shearing assembly includes a second drive sliding block, a scissors fixed plate and scissors. The second drive sliding block is slidingly arranged on the bottom of the trajectory groove plate fixedly arranged on the casing. The scissors are connected below the second drive sliding block. The shaft part of the scissors is fixedly connected with the second drive sliding block. The second sliding groove is formed in the tail part of the scissors. The second sliding pin is fixedly arranged on the casing below the scissors. The second sliding pin is slidingly arranged in the second sliding groove.

[0009] Further, the multi-position clamping jaw includes an upper cover plate, a lower cover plate, a grooved wheel driving wheel, a grooved wheel, a cam, a driving clamp, a driven clamp and a return spring. The upper cover plate is rotatably arranged below the casing. The lower cover plate is fixedly arranged below the upper cover plate. The grooved wheel driving wheel is arranged below the upper cover plate. The output shaft of the drive motor is connected with the grooved wheel driving wheel. The grooved wheel is fixedly arranged on the lower cover plate. The eccentric pin is arranged on the grooved wheel driving wheel. A plurality of slots are formed in the grooved wheel. The eccentric pin is slidingly arranged in each slot. A plurality of groups of driving clamps and driven clamps are circumferentially arranged on the lower cover plate. The driving clamps and the driven clamps are hinged with the lower cover plate through shafts. The tail parts of each group of driving clamps and driven clamps are provided with intermeshing teeth. The return spring is sleeved on the shafts at which the driving clamps and the driven clamps are hinged with the lower cover plate. The two ends of the return spring on the driving clamp respectively abut against the lower cover plate and the driving clamp. The two ends of the return spring on the driven clamp respectively abut against the lower cover plate and the driven clamp. The cam is arranged below the upper cover plate. The cam is rotatably connected with the casing through a shaft. The output shaft of the drive motor is transmission connected with the cam through a gear set. The lever is arranged on the driving clamp. The cam abuts against the lever.

[0010] Further, the bottom of the shell is provided with a circular groove shell, the top of the upper cover plate is provided with a circular pipe part, and a flange ring is integrally formed on the top surface of the circular pipe part and is rotationally arranged in the circular groove shell.

[0011] Further, the output shaft of the driving motor is fixedly provided with a first driving gear, a second driving gear is coaxially rotationally arranged above the groove wheel of the lower cover plate, and a third driving gear is arranged on the rotating shaft connected with the cam and the shell and is fixedly connected with the cam.

[0012] The utility model discloses the advantages of:

[0013] 1, be equipped with the temporary fixed claw and shearing assembly can realize the continuous action of the chili handle holding, shearing, two part mechanism are driven by same drive motor, simple structure is reliable, and through the shape of the first sliding groove on the track groove plate, the action of the clamp that closes, stretches out, opens, contracts can be controlled, chili handle is closest to the proximal end assembly when shearing, and the success rate of chili picking is improved.

[0014] 2, multi-station clamping jaw can fix the chili fruit, and is more stable when shearing, and the active clamping jaw and driven clamping jaw hold chili fruit through the force of reset spring, can adapt to chili fruit of different thickness, will not cause the injury of chili fruit, guarantee the complete rate of picking.

[0015] 3, multi-station clamping jaw can periodically switch, has multiple stations, can pick multiple chilies at a time, so that the mechanical hand does not need to move to the stock bin position frequently, and the picking efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the whole structure schematic diagram of the utility model.

[0017] Figure 2 It is the structure explosion drawing of the first eccentric wheel and the second eccentric wheel.

[0018] Figure 3 It is the local structure schematic diagram of the temporary fixed claw and shearing assembly.

[0019] Figure 4 It is the local structure sectional view of the temporary fixed claw.

[0020] Figure 5 It is the local structure sectional view of the shearing assembly.

[0021] Figure 6 The structure explosion drawing of multi-station clamping jaw.

[0022] Figure 7 It is the structure schematic diagram of the groove wheel driving wheel and the groove wheel.

[0023] Figure 8Structure exploded view at the active jaw and the driven jaw.

[0024] Figure 9 Local structure schematic view at the cam.

[0025] In the figure: 1, the shell; 2, drive motor; 3, temporary fixing claw; 4, shearing assembly; 5, multi-station clamping jaw; 101, circular groove shell; 201, first eccentric wheel; 202, second eccentric wheel; 203, first drive gear; 204, second drive gear; 205, third drive gear; 301, first drive slider; 302, first eccentric ring; 303, sliding slot plate; 304, clamp; 305, trajectory slot plate; 306, first sliding slot; 307, first sliding pin; 401, second drive slider; 402, second eccentric ring; 403, scissors; 404, second sliding pin; second sliding slot 405; 501, upper cover plate; 5011, round pipe part; 5012, flange ring; 502, lower cover plate; 503, groove wheel driving wheel; 5031, eccentric pin; 504, groove wheel; 5041, notch; 505, cam; 506, active clamping jaw; 5061, lever; 507, driven clamping jaw; 508, reset spring. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0027] As shown in Figure 1 , Figure 2 : a hot pepper harvesting manipulator, comprising a shell 1, a drive motor 2, a temporary fixing claw 3, a shearing assembly 4 and a multi-station clamping jaw 5, the drive motor 2, the temporary fixing claw 3, the shearing assembly 4 and the multi-station clamping jaw 5 are fixedly installed on the shell 1, wherein the drive motor 2 is used for providing power for the whole mechanical structure, the drive motor 2 is a stepper motor, and the rotation angle and rotation speed thereof can be accurately controlled, the temporary fixing claw 3 is used for clamping the upper part of a hot pepper stem, the shearing assembly 4 is used for shearing the hot pepper stem from below the hot pepper stem clamped by the temporary fixing claw 3, and the multi-station clamping jaw 5 is provided with a plurality of active clamping jaws 506 and driven clamping jaws 507 for clamping hot pepper fruit parts, each group of active clamping jaws 506 and driven clamping jaws 507 is a station, and can be used for temporarily clamping a plurality of hot peppers.

[0028] The driving motor 2 is fixedly installed on the shell 1, the first eccentric wheel 201 and the second eccentric wheel 202 are fixedly installed on the output shaft of the driving motor 2, the first driving slider 301 of the temporary fixing claw 3 is hinged with the first eccentric ring 302, the first eccentric ring 302 is movably sleeved on the first eccentric wheel 201; the second driving slider 401 of the shearing assembly 4 is hinged with the second eccentric ring 402, the second eccentric ring 402 is movably sleeved on the second eccentric wheel 202, in the embodiment, the first eccentric wheel 201 and the second eccentric wheel 202 are arranged at a certain angle of deflection between each other, when the driving motor 2 rotates to drive the first eccentric wheel 201 and the second eccentric wheel 202 to rotate, the first eccentric ring 302 and the second eccentric ring 402 sleeved on the first eccentric wheel 201 and the second eccentric wheel 202 eccentrically swing around the output shaft of the driving motor 2, and then drive the first driving slider 301 and the second driving slider 401 to reciprocate, because the first eccentric wheel 201 and the second eccentric wheel 202 are arranged at a certain angle of deflection between each other, the first driving slider 301 and the second driving slider 401 are not reciprocated synchronously, the angle of deflection between the first eccentric wheel 201 and the second eccentric wheel 202 can be set according to the requirement to control the time difference of the reciprocation of the first driving slider 301 and the second driving slider 401.

[0029] The output shaft of the driving motor 2 is in transmission connection with the groove wheel driving wheel 503 of the multi-station clamping jaw 5, the driving motor 2 drives the multi-station clamping jaw 5 at the bottom to rotate periodically when rotating, and the driving motor 2 provides power for the active clamping jaw 506 and the driven clamping jaw 507 on the multi-station clamping jaw 5 to complete the opening and closing movement.

[0030] When the manipulator works, the driving motor 2 stops after rotating to a certain angle, which is the initial state of the manipulator, so that the temporary fixing claw 3 is opened, the shearing assembly 4 is opened, the multi-station clamping jaw 5 is rotated to a new empty station, and the active clamping jaw 506 and the driven clamping jaw 507 are kept in the open state, then the manipulator is aligned with the picked pepper by the control of the mechanical arm of the picking robot, the temporary fixing claw 3 and the shearing assembly 4 are aligned with the pepper stem, and the multi-station clamping jaw 5 is aligned with the pepper fruit part, then the driving motor 2 continues to rotate, the temporary fixing claw 3 is first closed, the pepper stem is clamped, and then the pepper is pulled a certain distance in the direction of the manipulator, then the active clamping jaw 506 and the driven clamping jaw 507 of the multi-station clamping jaw 5 are closed to clamp the pepper fruit, after clamping, the shearing assembly 4 continues to complete the action of shearing the pepper stem, then the driving motor 2 continues to rotate, the multi-station clamping jaw 5 switches to the next empty station, the next set of empty active clamping jaw 506 and driven clamping jaw 507 are rotated to the position, at the same time, the temporary fixing claw 3 is opened, the shearing assembly 4 is opened, and the active clamping jaw 506 and the driven clamping jaw 507 are also opened, ready for the action of picking the next pepper, the cycle is reciprocated, and the action of picking the pepper can be completed by controlling the rotation of the driving motor 2.

[0031] AsFigure 3 , Figure 4 As shown in the figure: the temporary fixing claw 3 includes a first driving slider 301, a sliding groove plate 303, a clamp 304 and a track groove plate 305, the sliding groove plate 303 is in sliding connection with the first driving slider 301, and the sliding groove plate 303 can be provided with a sliding groove or an existing track, etc. can realize its function, the sliding groove plate 303 is fixedly arranged on the shell 1, the first driving slider 301 is slidingly arranged below the sliding groove plate 303, the clamp 304 is arranged below the first driving slider 301, the pivot part of the clamp 304 is fixedly connected with the first driving slider 301, the track groove plate 305 is arranged below the clamp 304, the first sliding groove 306 is arranged on the track groove plate 305, the tail part of the clamp 304 is provided with the first sliding pin 307, and the first sliding pin 307 is slidingly arranged in the first sliding groove 306;

[0032] When the first driving slider 301 reciprocates along the sliding groove plate 303, the pivot part of the clamp 304 is driven to reciprocate along the sliding groove direction on the sliding groove plate 303, the two tail parts of the clamp 304 slide along the track of the first sliding groove 306, according to the shape of the first sliding groove 306 in the figure, the clamp 304 completes the periodic motion of stretching out, opening, closing and retracting, corresponding to the actions of opening to prepare for clamping the pepper stem, closing to clamp the pepper stem, retracting to pull back the pepper stem by a certain distance and stretching out to prepare for clamping the pepper stem next time.

[0033] As shown in the figure: Figure 5 The shearing assembly 4 includes a second driving slider 401 and a scissors 403, the second driving slider 401 is slidingly arranged at the bottom of the track groove plate 305 fixed on the shell 1, the scissors 403 is connected below the second driving slider 401, the pivot part of the scissors 403 is fixedly connected with the second driving slider 401, the second sliding groove 405 is arranged at the tail part of the scissors 403, and the second sliding pin 404 is fixedly arranged on the shell 1 below the scissors 403 and slidingly arranged in the second sliding groove 405; similarly, when the second driving slider 401 reciprocates, the scissors 403 can be driven to reciprocate and open and close, according to the angle of deflection of the first eccentric wheel 201 and the second eccentric wheel 202, the time difference of opening and closing of the clamp 304 and the scissors 403 is controlled, and the above-mentioned actions and functions can be realized.

[0034] As shown in the figure: Figure 6 The multi-station clamp claw 5 includes an upper cover plate 501, a lower cover plate 502, a groove wheel driving wheel 503, a groove wheel 504, a cam 505, a driving clamp claw 506, a driven clamp claw 507 and a return spring 508.

[0035] The bottom of the shell 1 is provided with a circular groove shell 101, the top of the upper cover plate 501 is provided with a circular pipe part 5011, the top surface of the circular pipe part 5011 is integrally formed with a flange ring 5012, the flange ring 5012 is rotatably arranged in the circular groove shell 101, the upper cover plate 501 and the lower cover plate 502 are fixedly connected with each other, the driving motor 2 drives the upper cover plate 501 and the lower cover plate 502 to synchronously and periodically rotate, the circular pipe part 5011 on the top of the upper cover plate 501 penetrates into the circular groove shell 101, the flange ring 5012 is arranged in the circular groove shell 101, the bottom surface of the flange ring 5012 abuts against the inside of the circular groove shell 101, so that the upper cover plate 501 is integrally mounted on the bottom of the shell 1, and the upper cover plate 501 and the lower cover plate 502 are rotatable.

[0036] As shown in Figure 7 The bottom of the shell 1 is provided with a circular groove shell 101, the top of the upper cover plate 501 is provided with a circular pipe part 5011, the top surface of the circular pipe part 5011 is integrally formed with a flange ring 5012, the flange ring 5012 is rotatably arranged in the circular groove shell 101, the upper cover plate 501 and the lower cover plate 502 are fixedly connected with each other, the driving motor 2 drives the upper cover plate 501 and the lower cover plate 502 to synchronously and periodically rotate, the circular pipe part 5011 on the top of the upper cover plate 501 penetrates into the circular groove shell 101, the flange ring 5012 is arranged in the circular groove shell 101, the bottom surface of the flange ring 5012 abuts against the inside of the circular groove shell 101, so that the upper cover plate 501 is integrally mounted on the bottom of the shell 1, and the upper cover plate 501 and the lower cover plate 502 are rotatable.

[0037] As shown in Figure 8As shown: a plurality of groups of active clamping jaw 506 and driven clamping jaw 507 are arranged circumferentially on the lower cover plate 502, the active clamping jaw 506 and the driven clamping jaw 507 are hinged with the lower cover plate 502 through the rotating shaft, the tail of each group of active clamping jaw 506 and driven clamping jaw 507 is provided with intermeshing teeth, when the active clamping jaw 506 opens outward, the driven clamping jaw 507 also opens, when the active clamping jaw 506 closes, the driven clamping jaw 507 is also closed, the reset spring 508 is sleeved on the rotating shaft of the active clamping jaw 506 and the driven clamping jaw 507 hinged with the lower cover plate 502, the both ends of the reset spring 508 on the active clamping jaw 506 are respectively abutted with the lower cover plate 502 and the active clamping jaw 506, the both ends of the reset spring 508 on the driven clamping jaw 507 are respectively abutted with the lower cover plate 502 and the driven clamping jaw 507, the cam 505 is arranged below the upper cover plate 501, the cam 505 is rotatably connected with the shell 1 through the rotating shaft, the output shaft of the driving motor 2 is drivingly connected with the cam 505 through the gear set, the push rod 5061 is arranged on the active clamping jaw 506, the cam 505 is abutted with the push rod 5061;

[0038] As shown: Figure 9 The first driving gear 203 is fixedly arranged on the output shaft of the driving motor 2, the second driving gear 204 is coaxially and rotatably arranged above the groove wheel 504 of the lower cover plate 502, the third driving gear 205 is arranged on the rotating shaft of the cam 505 connected with the shell 1, and the third driving gear 205 is fixedly connected with the cam 505.

[0039] When working, the driving motor 2 rotates to drive the first driving gear 203 to rotate, the first driving gear 203 drives the second driving gear 204 to rotate, the second driving gear 204 further drives the third driving gear 205 to rotate, and then the cam 505 continuously rotates; when the groove wheel driving wheel 503 drives the groove wheel 504 to rotate to the empty station, the driving jaw 506 and the driven jaw 507 on the station keep the state of mutual clamping due to the action of the reset spring 508, at this time, the eccentric pin 5031 of the groove wheel driving wheel 503 just leaves the slot 5041 on the groove wheel 504, and continues to rotate without driving the groove wheel 504 to rotate, but the cam 505 continuously rotates, the cam 505 gradually approaches and contacts the push rod 5061, the push rod 5061 deviates from the hinge position of the driving jaw 506 and the lower cover plate 502, the cam 505 extrudes the push rod 5061, drives the driving jaw 506 to open outward, and stops when the opening reaches a certain degree, which is the initial state of the mechanical hand, after aligning the pepper, the driving motor 2 continues to rotate, the temporary fixing claw 3 is closed, the clamp 304 clamps the pepper stem to pull a certain distance in the direction of the mechanical hand, in this process, the cam 505 continues to rotate to drive the driving jaw 506 and the driven jaw 507 to continue to open, until the clamp 304 returns to the most internal position, the cam 505 reaches the farthest distance, continues to rotate to leave the push rod 5061, the driving jaw 506 is closed under the action of the reset spring 508, drives the driven jaw 507 to close, clamps the fruit part of the pepper, and then the cutting assembly 4 completes the cutting, after the cutting is completed, the groove wheel driving wheel 503 has rotated through a certain angle, the eccentric pin 5031 is about to be embedded in the next slot 5041, the driving motor 2 continues to rotate to drive the eccentric pin 5031 to be embedded in the slot 5041, to drive the groove wheel 504 to rotate, switch to the next empty station, at the same time, the temporary fixing claw 3 and the cutting assembly 4 complete the reset, return to the initial state of the mechanical hand, and the cam 505 also simultaneously drives the driving jaw 506 and the driven jaw 507 on the empty station to be kept open, to start the picking work on the next pepper; after multiple picking operations, all the stations clamp the peppers, the mechanical hand can be moved to the top of the hopper by the mechanical arm, the driving motor 2 rotates rapidly and continuously to release all the peppers on the stations in turn, and the peppers fall into the hopper, so that the next picking cycle can be performed, the mechanical hand can temporarily store multiple peppers according to the number of the driving jaw 506 and the driven jaw 507, and does not need to frequently return to the position of the hopper to unload, so that the picking efficiency is improved.

[0040] In the description of the utility model, need explain, the term "center", "upper", "lower", "front", "back", "top", "bottom", "left", "right", "vertical", "horizontal", "internal", "external" and so on indicate the orientation or positional relation is based on the orientation or positional relation shown in the drawing, just is for the convenience of describing the utility model and simplifying the description, and is not indicate or imply that the indicated device or element must have a particular orientation, construct and operate with a particular orientation, therefore can not be understood as the limitation to the utility model.

Claims

1. A mechanical pepper harvesting hand, characterized in that, The utility model relates to a kind of shears, including shell (1), drive motor (2), temporary fixed jaw (3), shearing assembly (4) and multi-station clamping jaw (5), drive motor (2), temporary fixed jaw (3), shearing assembly (4) and multi-station clamping jaw (5) are fixedly installed on shell (1), drive motor (2) is fixedly installed on shell (1), first eccentric wheel (201) and second eccentric wheel (202) are fixedly installed on the output shaft of drive motor (2), the first drive slider (301) of temporary fixed jaw (3) is hinged with first eccentric ring (302), first eccentric ring (302) is movably sleeved on first eccentric wheel (201);Second drive slider (401) of shearing assembly (4) is hinged with second eccentric ring (402), second eccentric ring (402) is movably sleeved on second eccentric wheel (202);The output shaft of drive motor (2) is transmission connection with the slot pulley driving wheel (503) of multi-station clamping jaw (5).

2. The mechanical pepper harvesting hand of claim 1, wherein, The utility model relates to a kind of shears, including shell (1), drive motor (2), temporary fixed jaw (3), shearing assembly (4) and multi-station clamping jaw (5), drive motor (2), temporary fixed jaw (3), shearing assembly (4) and multi-station clamping jaw (5) are fixedly installed on shell (1), drive motor (2) is fixedly installed on shell (1), first eccentric wheel (201) and second eccentric wheel (202) are fixedly installed on the output shaft of drive motor (2), the first drive slider (301) of temporary fixed jaw (3) is hinged with first eccentric ring (302), first eccentric ring (302) is movably sleeved on first eccentric wheel (201);Second drive slider (401) of shearing assembly (4) is hinged with second eccentric ring (402), second eccentric ring (402) is movably sleeved on second eccentric wheel (202);The output shaft of drive motor (2) is transmission connection with the slot pulley driving wheel (503) of multi-station clamping jaw (5).

3. The mechanical pepper picking hand of claim 2, wherein, The utility model relates to a kind of shears, including shell (1), drive motor (2), temporary fixed jaw (3), shearing assembly (4) and multi-station clamping jaw (5), drive motor (2), temporary fixed jaw (3), shearing assembly (4) and multi-station clamping jaw (5) are fixedly installed on shell (1), drive motor (2) is fixedly installed on shell (1), first eccentric wheel (201) and second eccentric wheel (202) are fixedly installed on the output shaft of drive motor (2), the first drive slider (301) of temporary fixed jaw (3) is hinged with first eccentric ring (302), first eccentric ring (302) is movably sleeved on first eccentric wheel (201);Second drive slider (401) of shearing assembly (4) is hinged with second eccentric ring (402), second eccentric ring (402) is movably sleeved on second eccentric wheel (202);The output shaft of drive motor (2) is transmission connection with the slot pulley driving wheel (503) of multi-station clamping jaw (5).

4. The mechanical hand for harvesting hot pepper according to any one of claims 1 to 3, wherein The multi-station clamping jaw (5) comprises an upper cover plate (501), a lower cover plate (502), a groove wheel driving wheel (503), a groove wheel (504), a cam (505), a driving clamping jaw (506), a driven clamping jaw (507) and a reset spring (508), the upper cover plate (501) is rotatably arranged below the shell (1), the lower cover plate (502) is fixedly arranged below the upper cover plate (501), the groove wheel driving wheel (503) is arranged below the upper cover plate (501), the output shaft of the driving motor (2) is connected with the groove wheel driving wheel (503), the groove wheel (504) is fixedly arranged on the lower cover plate (502), the eccentric pin (5031) is arranged on the groove wheel driving wheel (503), a plurality of slots (5041) are formed in the groove wheel (504), and the eccentric pin (5031) is slidably arranged in each slot (5041); a plurality of groups of the driving clamping jaw (506) and the driven clamping jaw (507) are circumferentially arranged on the lower cover plate (502), the driving clamping jaw (506) and the driven clamping jaw (507) are hingedly connected with the lower cover plate (502) through the rotating shaft, the tail portions of each group of the driving clamping jaw (506) and the driven clamping jaw (507) are provided with intermeshing teeth, the reset spring (508) is sleeved on the rotating shaft, on which the driving clamping jaw (506) and the driven clamping jaw (507) are hingedly connected with the lower cover plate (502), the two ends of the reset spring (508) on the driving clamping jaw (506) are respectively abutted against the lower cover plate (502) and the driving clamping jaw (506), the two ends of the reset spring (508) on the driven clamping jaw (507) are respectively abutted against the lower cover plate (502) and the driven clamping jaw (507), the cam (505) is arranged below the upper cover plate (501), the cam (505) is rotatably connected with the shell (1) through the rotating shaft, the output shaft of the driving motor (2) is drivingly connected with the cam (505) through a gear set, the push rod (5061) is arranged on the driving clamping jaw (506), and the cam (505) is abutted against the push rod (5061).

5. The mechanical pepper picking hand of claim 4, wherein, A circular groove shell (101) is arranged at the bottom of the shell (1), a circular pipe portion (5011) is arranged at the top of the upper cover plate (501), a flange ring (5012) is integrally formed on the top surface of the circular pipe portion (5011), and the flange ring (5012) is rotatably arranged in the circular groove shell (101).

6. The mechanical pepper picking hand of claim 5, wherein, A first driving gear (203) is fixedly arranged on the output shaft of the driving motor (2), a second driving gear (204) is coaxially and rotatably arranged above the groove wheel (504) of the lower cover plate (502), and a third driving gear (205) is arranged on the rotating shaft, on which the cam (505) is connected with the shell (1), and the third driving gear (205) is fixedly connected with the cam (505).

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