A fully automatic intelligent visual robot for processing sweet and sour pork

Abstract

The present invention relates to the field of robot technology, and discloses a fully automatic intelligent visual robot for processing sweet and sour pork, comprising an oil pan; a positioning device; a clamping mechanism for clamping some fried food raw materials; a power mechanism for driving the clamping mechanism to perform reciprocating cyclic motion; the power mechanism is installed on the positioning device, and the clamping mechanism is installed on the power mechanism. The fully automatic intelligent visual robot for processing sweet and sour pork can clamp the food and automatically place it inside the oil pan through the cooperation of the power mechanism and the clamping mechanism, and can clamp and release the food by using a special clamping structure, thereby realizing the automation of the overall frying clamping, without the need for manual placement by the operator, reducing the situation of oil splashing, directly avoiding the situation of scalding the user, and at the same time ensuring the consistency of each frying process, thereby improving the consistency of the food taste.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, and in particular to a fully automatic intelligent visual manipulator for processing sweet and sour pork. Background Art

[0002] Food machinery refers to the mechanical equipment and devices used in the process of processing food raw materials into food or semi-finished products. Food machinery can be mainly divided into two categories: food processing machinery and packaging equipment.

[0003] At present, the use of robots in some food processing is relatively limited. For example, in the frying process of sweet and sour pork, the traditional process is to rely on manual wrapping of the food in batter and then frying it in an oil pan. The current robots are very stiff, and there is no suitable robot that can specifically perform mechanized operations on some fried foods. For manual operations, first of all, the oil pan needs to be heated when frying. When the food is placed in the oil pan manually, it is easy to splash oil and splash onto the user's hands, causing burns. In addition, when frying some foods, the placement time and angle are also relatively strict. Because these requirements depend on the excellent taste of the food after processing, a fully automatic intelligent visual robot for sweet and sour pork processing is proposed to solve the above-mentioned problems. Summary of the invention

[0004] In view of the shortcomings of the prior art, the present invention provides a fully automatic intelligent visual robot for processing sweet and sour pork, which solves the problem that there is no robot equipment for fried food in the prior art, resulting in manual operation and easy burns and oil splashing.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a fully automatic intelligent visual robot for processing sweet and sour pork, comprising an oil pan; a positioning device; a clamping mechanism for clamping some fried food ingredients; a power mechanism for driving the clamping mechanism to perform reciprocating circular motion; the power mechanism is installed on the positioning device, and the clamping mechanism is installed on the power mechanism; the clamping mechanism includes a lifting device and a clamping component; the lifting device includes a fixed plate, the fixed plate is fixed on the table through a connecting piece, the fixed plate is connected to a key shaft, the key shaft is slidably connected to a rotating column through a key slot, and the rotating column is connected to the clamping component.

[0006] Preferably, an adjusting component is provided on the rotating column, and the adjusting component includes a threaded rod, the threaded rod is threadedly connected to the rotating column, one end of the threaded rod is fixedly connected to a rotating wheel, the other end of the threaded rod is rotatably connected to a connecting frame, two limit rods are connected to the connecting frame, the limit rods are slidably connected to the inside of the rotating column, the bottom of the connecting frame is rotatably connected to a pressure wheel, and the pressure wheel is slidably connected to a fixed plate.

[0007] Preferably, the clamping component includes a base plate, which is installed on a rotating column through a connecting piece, and two vertebrae are slidably connected to the base plate. The bottom of the vertebrae is fixedly connected to a movable plate through a connecting rod, and a roller is engaged with a side of the movable plate close to the rotating column, and the roller is rotatably connected to the rotating column.

[0008] Preferably, a guide plate is connected to the top of the key shaft, a guide rod is fixedly connected to the guide plate, the bottom of the guide rod is meshed with the roller, a sliding rod is slidably connected to the guide rod, the sliding rod is slidably connected to the guide rod, a middle tooth plate is fixedly connected to the bottom of the sliding rod, a compression spring is sleeved on the sliding rod, one end of the compression spring is connected to the guide rod, and the other end of the compression spring is connected to the middle tooth plate, a pressure plate is connected to the side of the rotating column close to the guide rod, and the pressure plate moves downward to abut against the left end of the sliding rod.

[0009] Preferably, a pressure claw is provided above the bottom plate, and two pressure claws are provided, and both pressure claws are fixedly connected with a rotating wheel, and the rotating wheel is rotatably connected to the guide rod through a connecting piece, and the middle tooth plate is meshed with both rotating wheels.

[0010] Preferably, the positioning device includes a positioning suction cup, the bottom of the positioning suction cup is adsorbed on the table surface, a lower gear disc is fixedly connected to the positioning suction cup, an upper gear disc is clamped on the lower gear disc, the axis of the lower gear disc is connected to the upper gear disc through a connecting rod, an intermediate spring is connected to the upper gear disc, the top of the intermediate spring is connected to an adjusting wheel, a positioning sleeve is installed on the top of the adjusting wheel, and the power mechanism is arranged inside the positioning sleeve.

[0011] Preferably, the power mechanism includes a driving motor, which is installed inside the positioning sleeve, and the output end of the driving motor is fixedly connected to a rotating sleeve, the surface of the rotating sleeve is fixedly connected to a power plate, the surface of the power plate is abutted against a transmission plate, and the transmission plate is fixed to the right side of the rotating column.

[0012] Preferably, the power mechanism also includes a rebound mechanism, which includes an arc rod, both ends of the arc rod are fixedly connected to pressure rods, the pressure rod is slidably connected to a fixed plate, a return spring is sleeved on the surface of the arc rod, one end of the return spring is connected to a rotating column, and the other end of the return spring is fixedly connected to the pressure rod.

[0013] Preferably, a compression spring is sleeved on the key shaft, one end of the compression spring is connected to the guide plate, and the other end of the compression spring is in contact with the rotating column.

[0014] Compared with the prior art, the present invention provides a fully automatic intelligent visual manipulator for processing sweet and sour pork, which has the following beneficial effects:

[0015] 1. The fully automatic intelligent visual robot for processing sweet and sour pork can clamp the food and automatically place it inside the oil pan through the cooperation of the power mechanism and the clamping mechanism. The special clamping structure can clamp and release the food, realizing the automation of the overall frying clamping. There is no need for manual placement by the operator, which reduces oil splashing and directly avoids scalding of users. At the same time, it ensures the consistency of each frying process, thereby improving the consistency of food taste.

[0016] 2. The fully automatic intelligent visual robot for processing sweet and sour pork can realize the overall rebound-type entry into the pot through the set rebound component, and can realize the cyclic operation of food entering the pot, thereby improving the overall food processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the overall structure of a fully automatic intelligent visual manipulator for processing sweet and sour pork proposed by the present invention;

[0018] Figure 2 This is a schematic diagram of the connection structure of the clamping mechanism and the rebound mechanism of a fully automatic intelligent visual manipulator for processing sweet and sour pork proposed by the present invention;

[0019] Figure 3 This is a structural schematic diagram of a gripper mechanism of a fully automatic intelligent visual manipulator for processing sweet and sour pork proposed by the present invention;

[0020] Figure 4 For the present invention Figure 3 The enlarged structural diagram at A in the middle;

[0021] Figure 5 This is a schematic diagram of the fixed plate connection structure of a fully automatic intelligent visual manipulator for processing sweet and sour pork proposed by the present invention;

[0022] Figure 6 This is a schematic diagram of the power mechanism of a fully automatic intelligent visual manipulator for processing sweet and sour pork proposed by the present invention;

[0023] Figure 7 This is a schematic diagram of a positioning device for a fully automatic intelligent visual manipulator for processing sweet and sour pork proposed by the present invention.

[0024] In the figure: 1. oil pan; 2. positioning device; 201. positioning suction cup; 202. lower tooth plate; 203. upper tooth plate; 204. middle spring; 205. adjusting wheel; 206. positioning sleeve; 3. clamping mechanism; 301. fixed plate; 302. guide rod; 303. rotating column; 304. clamping part; 3041. pressing claw; 3042. rotating wheel; 3043. middle tooth plate; 3044. sliding rod; 3045. compression spring; 3046. bottom plate; 3047 , vertebral body; 3048, roller; 3049, moving plate; 305, rotating wheel; 306, threaded rod; 307, pressure wheel; 308, connecting frame; 309, limiting rod; 310, guide plate; 311, pressure plate; 4, power mechanism; 401, driving motor; 402, rotating sleeve; 403, power plate; 404, transmission plate; 5, rebound mechanism; 501, arc rod; 502, pressure rod; 503, reset spring; 504, key shaft; 505, extrusion spring. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0026] See also Figure 1-Figure 7 A fully automatic intelligent visual manipulator for processing fried pork, including an oil pan 1; a positioning device 2; a clamping mechanism 3, used to clamp some fried food ingredients; a power mechanism 4, used to drive the clamping mechanism 3 to perform reciprocating circular motion; the power mechanism 4 is installed on the positioning device 2, and the clamping mechanism 3 is installed on the power mechanism 4; the clamping mechanism 3 includes a lifting device and a clamping component 304; the lifting device includes a fixed plate 301, the fixed plate 301 is fixed on the table through a connecting piece, the fixed plate 301 is connected to a key shaft 504, the key shaft 504 is slidably connected to a rotating column 303 through a key slot, and the rotating column 303 is connected to the clamping component 304.

[0027] In this embodiment, an adjusting component is provided on the rotating column 303, and the adjusting component includes a threaded rod 306, which is threadedly connected to the rotating column 303, one end of the threaded rod 306 is fixedly connected to the rotating wheel 305, and the other end of the threaded rod 306 is rotatably connected to the connecting frame 308, and two limit rods 309 are connected to the connecting frame 308, and the limit rods 309 are slidably connected to the inside of the rotating column 303, and the bottom of the connecting frame 308 is rotatably connected to the pressure wheel 307, and the pressure wheel 307 is slidably connected to the fixed plate 301. Taking into account the overall oil level inside the oil pan 1, it may decrease with consumption. At this time, the user needs to control the rotation of the rotating wheel 305 to drive the rotation of the threaded rod 306. Using the connection relationship of the thread, the connecting frame 308 is driven to move up and down, and then the pressure wheel 307 is driven to move up and down. Therefore, the overall spacing with the fixed plate 301 will change. When the pressure wheel 307 moves up, the movement height of the entire rotating column 303 will increase. When the pressure wheel 307 moves up, the opposite is true. Therefore, the height of the up and down movement of the entire clamping mechanism 3 connected to the rotating column 303 is controlled to make it fit the oil surface.

[0028] Furthermore, the clamping member 304 includes a bottom plate 3046, which is mounted on the rotating column 303 through a connecting piece, and two vertebrae 3047 are slidably connected to the bottom plate 3046, and the bottom of the vertebrae 3047 is fixedly connected to a moving plate 3049 through a connecting rod, and a roller 3048 is engaged on the side of the moving plate 3049 close to the rotating column 303, and the roller 3048 is rotatably connected to the rotating column 303. The fried food is laid on the bottom plate 3046 by another manipulator or manually, and the two vertebrae 3047 are used to clamp the food or directly insert it into the food. Because the bottom plate 3046 is in an inclined state, it is easy to slide if it is only attached to the bottom plate 3046, so the two vertebrae 3047 are used for positioning.

[0029] Furthermore, a guide plate 310 is connected to the top of the key shaft 504, a guide rod 302 is fixedly connected to the guide plate 310, the bottom of the guide rod 302 is meshed with the roller 3048, a sliding rod 3044 is slidably connected to the guide rod 302, the sliding rod 3044 is slidably connected to the guide rod 302, a middle tooth plate 3043 is fixedly connected to the bottom of the sliding rod 3044, a compression spring 3045 is sleeved on the sliding rod 3044, one end of the compression spring 3045 is connected to the guide rod 302, the other end of the compression spring 3045 is connected to the middle tooth plate 3043, a pressure plate 311 is connected to the side of the rotating column 303 close to the guide rod 302, the pressure plate 311 moves down and abuts against the left end of the sliding rod 3044. Two pressing claws 3041 are provided, and the two pressing claws 3041 are fixedly connected with a rotating wheel 3042, and the rotating wheel 3042 is rotatably connected to the guide rod 302 through a connecting piece, and the middle tooth plate 3043 is meshed with the two rotating wheels 3042. The gravity of the rotating column 303 itself is still used to squeeze the elastic force provided by the spring 505, and the pressing plate 311 is pushed downward to squeeze the sliding rod 3044, thereby controlling the middle tooth plate 3043 to move downward, and under the action relationship of meshing, the two pressing claws 3041 meshed therewith are driven to rotate and open, thereby contacting and pressing the pot-fried pork, and then the pot-fried pork will slide along the inclined bottom plate 3046 to the oil pan 1, and be smoothly placed on the oil surface for frying, thereby achieving food cooking.

[0030] In addition, the positioning device 2 includes a positioning suction cup 201, the bottom of the positioning suction cup 201 is adsorbed on the table, the positioning suction cup 201 is fixedly connected to the lower toothed disc 202, the lower toothed disc 202 is clamped with the upper toothed disc 203, the axis of the lower toothed disc 202 is connected to the upper toothed disc 203 through a connecting rod, the upper toothed disc 203 is connected with an intermediate spring 204, the top of the intermediate spring 204 is connected with an adjusting wheel 205, the top of the adjusting wheel 205 is installed with a positioning sleeve 206, and the power mechanism 4 is arranged inside the positioning sleeve 206. The positioning device 2 is arranged to position the entire manipulator, and the positioning suction cup 201 is adsorbed on the table, and then the adjusting wheel 205 is rotated to drive the upper toothed disc 203 to rotate through the bottom shaft, and because the upper toothed disc 203 and the bottom shaft are connected by a keyway type up and down sliding, it can drive the upper toothed disc 203 to slide up and down while rotating, and the purpose of sliding up and down is to control the upper toothed disc 203 and the lower toothed disc 202 to disengage from the clamping position. When it is rotated to the desired position, the elastic force of the middle spring 204 is used to press down, which will drive the upper gear plate 203 to be pressed down and engaged with the lower gear plate 202 to achieve the combined positioning, thereby improving the overall applicability of the equipment.

[0031] In addition, the power mechanism 4 includes a driving motor 401, which is installed inside the positioning sleeve 206. The output end of the driving motor 401 is fixedly connected to the rotating sleeve 402, and the surface of the rotating sleeve 402 is fixedly connected to the power sheet 403. The surface of the power sheet 403 abuts against the transmission sheet 404, and the transmission sheet 404 is fixed to the right side of the rotating column 303. When the driving motor 401 rotates, the power sheet 403 on the rotating sleeve 402 is separated from the transmission sheet 404. At this time, the rotating column 303 will be affected by the elastic force of the reset spring 503, which will push the rotating column 303 to perform reverse reset movement, thereby realizing the movement trajectory of the clamping mechanism 3 from the outside of the pot into the pot.

[0032] It is worth noting that the power mechanism 4 also includes a rebound mechanism 5, which includes an arc rod 501, and the two ends of the arc rod 501 are fixedly connected with a pressure rod 502, and the pressure rod 502 is slidably connected to the fixed plate 301. The surface of the arc rod 501 is sleeved with a return spring 503, and one end of the return spring 503 is connected to the rotating column 303, and the other end of the return spring 503 is fixedly connected to the pressure rod 502. During the rotation of the rotating column 303, the return spring 503 will be squeezed, and the pressure rod 502 and the arc rod 501 will rise synchronously with the rotating column 303, and the arc rod 501 is set to limit the rotation direction of the rotating column 303, and the return spring 503 is used to generate a certain degree of compression elastic force to achieve the action of entering the pot.

[0033] It is worth noting that a squeeze spring 505 is sleeved on the key shaft 504, one end of the squeeze spring 505 is connected to the guide piece 310, and the other end of the squeeze spring 505 is in contact with the rotating column 303. Considering that the instantaneous action of the elastic force may be too fast, the squeeze spring 505 is provided, and the squeeze spring 505 squeezes the lower part to a certain extent, which will drive the rotating column 303 to slowly return to the original position, and the friction force is used to offset part of the rebound force of the return spring 503.

[0034] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device for controlling a computer or the like.

[0035] The working principle is that by controlling the rotation of the driving motor 401, the power sheet 403 on the rotating sleeve 402 will be driven to rotate, and the power sheet 403 will abut against the transmission sheet 404 on the rotating path, and then drive the rotating column 303 to rotate in the opposite direction by a certain angle, and the rotating column 303 will rotate around the center of the key shaft 504 during the rotation process, and then the pressure wheel 307 on the rotating column 303 will roll on the fixed disk 301, and when it rolls to the slope on the fixed disk 301, the entire pressure wheel 307 will rise, thereby driving the rotating column 303 to rise to a certain height, and then the rotating column 303 will abut against the transmission sheet 404 during the rotation process. The return spring 503 forms an extrusion, and the pressure rod 502 and the arc rod 501 will rise synchronously with the rotating column 303. After that, when the entire clamping mechanism 3 rotates to the front, the fried food needs to be placed on the bottom plate 3046 by another robot or manually, and the two vertebrae 3047 are used to clamp the food or directly insert it into the food. The following example of food is used as an illustration, such as sweet and sour pork. When the sweet and sour pork is inserted into the two vertebrae 3047, because the bottom plate 3046 is in an inclined state, it is easy to slip if it only relies on the attachment of the bottom plate 3046, so the two vertebrae 3047 are used for positioning.After that, when the driving motor 401 rotates, the power sheet 403 on the rotating sleeve 402 is separated from the transmission sheet 404. At this time, the rotating column 303 will be affected by the elastic force of the reset spring 503, which will push the rotating column 303 to perform reverse reset movement. Considering that the instantaneous action of the elastic force may be too fast, an extrusion spring 505 is provided. The extrusion spring 505 is used to squeeze the lower part to a certain extent, which will drive the rotating column 303 to slowly reset. A protrusion is provided on the fixed plate 301. The purpose of the protrusion is to allow the rotating column 303 to move in the reverse direction. The up and down movement is realized on the moving path, and the purpose of the up and down movement is to control the clamping part 304 to move up and down, and it can be lifted to avoid the edge of the oil pan 1 during the movement. The purpose of moving down is to be able to move the pot-wrapped meat on the bottom plate 3046 down to the oil surface to avoid splashing the oil when the pot-wrapped meat falls too high. When the entire rotating column 303 moves down, it will control the roller 3048 at the bottom to move down synchronously. At this time, the guide rod 302 and the guide sheet 310 are in a connected state, so the guide rod 302 is in a fixed state. Later, when the roller 3048 moves down, it will be connected with the guide sheet 310. The bottom of the guide rod 302 engages and rotates, and then when the roller 3048 rotates, it will drive the movable plate 3049 engaged on the other side to move downward, and then the movable plate 3049 slides on the bottom plate 3046, and then drives the vertebral body 3047 to move downward through the connecting piece, so that the vertebral body 3047 is separated from the sweet and sour pork and dislocated. After the rotating column 303 moves downward, it will also drive the pressing plate 311 to move downward. After the rotating column 303 moves downward, it will contact the top of the sliding rod 3044, and then use the gravity of the rotating column 303 itself and the elastic force provided by the extrusion spring 505 to push The movable pressure plate 311 presses the sliding rod 3044 downward, thereby controlling the middle tooth plate 3043 to move downward, and is also subjected to the meshing action relationship, driving the two meshing pressing claws 3041 to rotate and open, thereby contacting and pressing the sweet and sour pork. After that, the sweet and sour pork will slide along the inclined bottom plate 3046 to the oil pan 1, and be smoothly placed on the oil surface for frying, thereby cooking the food. After that, as the driving motor 401 continues to rotate in a full circle, it will repeatedly drive the clamping claw mechanism 3 to perform reverse reset movement, and move it out of the oil pan 1, so as to facilitate the re-placement of the sweet and sour pork. The clamping of the entire manipulator is not limited to sweet and sour pork, for example, any meat food that needs to be fried can be used.The positioning device 2 is used to position the entire manipulator, and the positioning suction cup 201 is used to absorb it on the table. Then, rotating the adjusting wheel 205 will drive the upper gear disc 203 to rotate through the bottom shaft. Because the upper gear disc 203 and the bottom shaft are connected by a keyway-type up and down sliding connection, the upper gear disc 203 can be driven to slide up and down while rotating. The purpose of the up and down sliding is to control the disengagement of the upper gear disc 203 and the lower gear disc 202. Because the positions of the working stations of the oil pan 1 and the loading stations are not fixed during the actual movement, the upper gear disc 203 is controlled to rotate by rotating the adjusting wheel 205. When it rotates to the required position, the elastic force of the intermediate spring 204 is used to press down, which will drive the upper gear disc 203 to be pressed down and engaged with the lower gear disc 202, thereby realizing the combined positioning, thereby improving the overall applicability of the equipment. And considering the overall oil level inside the oil pan 1, it may decrease with consumption. At this time, the user needs to control the rotation of the rotating wheel 305 to drive the rotation of the threaded rod 306, which uses the connection relationship of the thread to drive the connecting frame 308 to achieve up and down movement, and then drives the pressure wheel 307 to move up and down, so the overall spacing with the fixed plate 301 will change, because the overall lifting action is controlled by the spacing height of the pressure wheel 307 on the fixed plate 301, so when the pressure wheel 307 moves up, the movement height of the overall rotating column 303 will increase, and when the pressure wheel 307 moves up, it is the opposite, so the height of the up and down movement of the entire clamping mechanism 3 connected to the rotating column 303 is controlled to make it fit the oil surface.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

Claims

1. A fully automatic intelligent visual manipulator for processing sweet and sour pork, characterized in that: include: Oil pan (1); Positioning device (2); A clamping claw mechanism (3) is used to clamp some fried food ingredients; A power mechanism (4) is used to drive the clamping mechanism (3) to perform reciprocating cyclic motion; The power mechanism (4) is mounted on the positioning device (2), and the clamping mechanism (3) is mounted on the power mechanism (4); The clamping claw mechanism (3) comprises a lifting device and a clamping component (304); The lifting device comprises a fixed plate (301), the fixed plate (301) is fixed on the table surface via a connecting piece, the fixed plate (301) is connected to a key shaft (504), the key shaft (504) is slidably connected to a rotating column (303) via a key slot, and the rotating column (303) is connected to a clamping component (304); The clamping component (304) comprises a bottom plate (3046), the bottom plate (3046) is mounted on the rotating column (303) via a connecting piece, two vertebrae (3047) are slidably connected to the bottom plate (3046), the bottom of the vertebrae (3047) is fixedly connected to a moving plate (3049) via a connecting rod, a roller (3048) is meshed on a side of the moving plate (3049) close to the rotating column (303), and the roller (3048) is rotatably connected to the rotating column (303); The top of the key shaft (504) is connected to a guide piece (310), a guide rod (302) is fixedly connected to the guide piece (310), the bottom of the guide rod (302) is meshed with the roller (3048), a sliding rod (3044) is slidably connected to the guide rod (302), the sliding rod (3044) is slidably connected to the guide rod (302), a middle tooth plate (3043) is fixedly connected to the bottom of the sliding rod (3044), a compression spring (3045) is sleeved on the sliding rod (3044), one end of the compression spring (3045) is connected to the guide rod (302), and the other end of the compression spring (3045) is connected to the middle tooth plate (3043), a pressure plate (311) is connected to the side of the rotating column (303) close to the guide rod (302), and the pressure plate (311) moves downward to abut against the left end of the sliding rod (3044); A pressure claw (3041) is arranged above the bottom plate (3046), two pressure claws (3041) are arranged, and a rotating wheel (3042) is fixedly connected to each of the two pressure claws (3041), and the rotating wheel (3042) is rotatably connected to the guide rod (302) via a connecting piece, and the middle tooth plate (3043) is meshed with both rotating wheels (3042).

2. The fully automatic intelligent visual manipulator for processing sweet and sour pork according to claim 1, characterized in that: The rotating column (303) is provided with an adjusting component, the adjusting component comprising a threaded rod (306), the threaded rod (306) being threadedly connected to the rotating column (303), one end of the threaded rod (306) being fixedly connected to a rotating wheel (305), the other end of the threaded rod (306) being rotatably connected to a connecting frame (308), the connecting frame (308) being connected to two limiting rods (309), the limiting rods (309) being slidably connected to the inside of the rotating column (303), the bottom of the connecting frame (308) being rotatably connected to a pressure wheel (307), the pressure wheel (307) being slidably connected to the fixed plate (301).

3. The fully automatic intelligent visual manipulator for processing sweet and sour pork according to claim 1, characterized in that: The positioning device (2) comprises a positioning suction cup (201), the bottom of the positioning suction cup (201) is adsorbed on the table, a lower toothed disc (202) is fixedly connected to the positioning suction cup (201), an upper toothed disc (203) is clamped on the lower toothed disc (202), the axis of the lower toothed disc (202) is connected to the upper toothed disc (203) via a connecting rod, an intermediate spring (204) is connected to the upper toothed disc (203), the top of the intermediate spring (204) is connected to an adjusting wheel (205), a positioning sleeve (206) is installed on the top of the adjusting wheel (205), and the power mechanism (4) is arranged inside the positioning sleeve (206).

4. The fully automatic intelligent visual manipulator for processing sweet and sour pork according to claim 3, characterized in that: The power mechanism (4) comprises a drive motor (401), the drive motor (401) being mounted inside the positioning sleeve (206), the output end of the drive motor (401) being fixedly connected to a rotating sleeve (402), the surface of the rotating sleeve (402) being fixedly connected to a power sheet (403), the surface of the power sheet (403) being in contact with a transmission sheet (404), and the transmission sheet (404) being fixed to the right side of the rotating column (303).

5. The fully automatic intelligent visual manipulator for processing sweet and sour pork according to claim 4, characterized in that: The power mechanism (4) further comprises a rebound mechanism (5), wherein the rebound mechanism (5) comprises an arc-shaped rod (501), both ends of the arc-shaped rod (501) being fixedly connected to pressure rods (502), the pressure rod (502) being slidably connected to the fixed disk (301), a return spring (503) being sleeved on the surface of the arc-shaped rod (501), one end of the return spring (503) being connected to the rotating column (303), and the other end of the return spring (503) being fixedly connected to the pressure rod (502).

6. The fully automatic intelligent visual manipulator for processing sweet and sour pork according to claim 5, characterized in that: A pressing spring (505) is sleeved on the key shaft (504), one end of the pressing spring (505) is connected to the guide plate (310), and the other end of the pressing spring (505) is in contact with the rotating column (303).

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