Mechanical arm clamping hand for mushroom food processing

Abstract

The invention relates to the technical field of mechanical equipment, and discloses a mechanical arm clamping hand for mushroom food processing, which comprises an arm plate, the upper surface of the arm plate is fixedly connected to the other end of a short winding arm, the four corners of the other side of the arm plate are of vertical plate structures, and the bottoms of the four vertical plates of the other side of the arm plate are fixedly connected with clamping hand connecting assemblies; an auxiliary claw assembly is movably connected to the interior of the clamping hand connecting assembly, and a clamping assembly is fixedly connected to the interior of the clamping hand connecting assembly. According to the mechanical arm clamping hand for mushroom food processing, needle mushrooms entering the clamping assembly can be limited and clamped through meshing structures of double-shaft rods and double-toothed rods in the clamping assembly and a pushing block, adjustability is achieved, an L-shaped conical rod makes contact with a butt joint conical rod, a long chain can be pushed to push the multiple double-shaft rods and the multiple double-toothed rods to be synchronously closed, and therefore the needle mushrooms can be clamped conveniently. Meanwhile, a plurality of flammulina velutipes are clamped together, and the bottoms of the flammulina velutipes are cut by rotating the direction.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, specifically to a robotic arm gripper for processing fungal foods. Background Art

[0002] With the improvement of scientific and technological productivity, the traditional manual processing method of fungal foods has been changed to using mechanical devices. Among them, the robotic arm gripper can partially or fully replace humans to complete operations safely and effectively. The human hand is replaced by a mechanical gripper for operation, which directly reduces the labor force. At the same time, because the robotic hand can work continuously, it can effectively improve production efficiency and reduce labor cost.

[0003] Among them, the robotic arm gripper for processing fungal foods still requires additional devices for assistance during use. Especially for enoki mushrooms among fungal foods, during the processing, it is necessary for workers to place the enoki mushrooms in the box one by one on the corresponding placement table, resulting in the production process being limited by the labor force and unable to independently perform the next step of cutting and processing on the bottom of the enoki mushrooms.

[0004] In view of the above problems, there is an urgent need to innovate and design on the basis of the existing robotic arm gripper for processing fungal foods. Summary of the Invention

[0005] The purpose of the present invention is to provide a robotic arm gripper for processing fungal foods, so as to solve the problem in the above background art that during the existing processing, it is necessary for workers to place the enoki mushrooms in the box one by one on the corresponding placement table, resulting in the production process being limited by the labor force and unable to independently perform the next step of cutting and processing on the bottom of the enoki mushrooms.

[0006] To achieve the above purpose, the present invention provides the following technical solution: A robotic arm gripper for processing fungal foods, including: a base, the upper surface of the base is movably connected with a main support arm, the other end of the main support arm is rotatably connected with a front support arm, and the other end of the front support arm is rotatably connected with a short winding arm;

[0007] It further includes: an arm plate, the upper surface of the arm plate is fixedly connected to the other end of the short winding arm, and the four corners on the other side of the arm plate are all set as vertical plate structures. The bottom of the four vertical plates on the other side of the arm plate is fixedly connected with a gripper connection component. A secondary claw component is movably connected inside the gripper connection component. A clamping component is fixedly connected inside the gripper connection component. The other end of the clamping component is fixedly connected with a chain gripper. The other end of the chain gripper is rotatably connected with a main claw. A self-locking component is rotatably connected in the middle of the chain gripper. A pneumatic push component is fixedly connected between the chain gripper and the gripper connection component.

[0008] The top end of the L-rod is fixedly connected to the side panel that faces toward the outside of the plate-shaped slide bar, and the bottom end of the L-rod is fixedly connected to the side panel that faces toward the outside of the plate-shaped slide bar. A small gear is passed through one end of the shaft of the auxiliary motor, and the small gear is located inside the top end of the L-rod.

[0009] Preferably, the auxiliary claw assembly includes an auxiliary bracket, the shaft rod at the top of the auxiliary bracket is connected to the inside of one end of the two plate-shaped sliding rods, and the side surface of the auxiliary bracket extending to the inside of the two plate-shaped sliding rods is connected to a large gear, one end of the bottom of the auxiliary bracket is fixedly connected to a soft rubber claw, and one side of the inner wall of the auxiliary bracket is fixedly connected to an L-cone rod and two smooth rods from top to bottom.

[0010] Preferably, the clamping assembly includes a hollow square frame, both ends of the hollow square frame are fixedly connected to the opposite ends of the T-rod and the L-rod, and the hollow square frame is equidistantly arranged with a plurality of hollow openings, the end of the hollow square frame opposite to the back plate is fixedly connected to a top frame, the end of the top frame opposite to the back plate is fixedly connected to an umbrella plate, an inner frame is fixedly connected to the hollow opening of the hollow square frame, and the end of the inner frame opposite to the back plate is arranged as a slide groove structure, and the slide groove side surface of the inner frame is slidably connected to a movable pressure block.

[0011] Preferably, a plurality of double-toothed rods and double-axis rods are fixedly connected to the side of the back plate opposite to the inner wall of the arm plate, and the plurality of double-toothed rods and double-axis rods are grouped into two and located in a single hollow opening. At the same time, the double-toothed rods and double-axis rods in the same group are overlapped on the back of the two movable pressure blocks, and the double-toothed rods and double-axis rods in the same group are movably connected with a short chain on the side close to the movable pressure block, and the multiple groups of double-toothed rods and double-axis rods are movably connected with a long chain at one end close to the back plate, and the outward side of the long chain is fixedly connected with a docking cone rod, and the docking cone rod is close to one end of the T-rod, and the backs of the two movable pressure blocks in the same group are staggered and fixedly connected with push blocks, and the two push blocks are both meshed with the side faces of the short chain.

[0012] Preferably, the chain gripper includes a portal plate, one end of the portal plate is fixedly connected to one end of the hollow square frame, a rolling rod is rotatably connected inside the portal plate, fixed rods are fixedly connected to the two outer sides of the portal plate facing outward, the two sides of the other end of the portal plate are rotatably connected to a Y-shaped rod through a fixed rotating rod, convex rods are rotatably connected to both ends of the plurality of Y-shaped rods, telescopic spring rods are movably connected to both sides of the protruding end of the convex rod, and both ends of the plurality of Y-shaped rods are connected in series by convex rods and concave rods. One end of the last group of Y-shaped rods is connected to both sides of the main gripper through a fixed rotating rod.

[0013] Preferably, the self-locking assembly includes two inner winding rods and an outer winding rod. The axles of the adjacent ends of the inner winding rod and the outer winding rod are sleeved on the side surfaces of the axle rods at both ends of the middle Y-shaped rod. The two long rods of the outer winding rod are fixedly connected by a shaft rod. And the inner winding rod and the outer winding rod on the same side are set as a group. The other ends of the inner winding rod and the outer winding rod in the same group are respectively slidably connected to a lower support rod and an upper support rod. A telescopic pressure rod is fixedly connected to the opposite sides of the inner winding rod and the outer winding rod in the same group. The opposite ends of the upper support rod and the lower support rod are respectively fixedly connected to a socket plate and a circular insertion rod. A reverse circular tube is slidably connected to the side surface inside the circular insertion rod. The other end inside the socket plate is of a groove structure. A resisting rod is movably connected inside the socket plate. A return spring is sleeved on the side surface of the resisting rod. And one end of the return spring is fixedly connected to the inner wall of the groove of the socket plate. A cover plate is fixedly connected to the other side of the socket plate. And circular holes are provided at the axles of the socket plate and the cover plate.

[0014] Preferably, the air-pushing assembly is composed of an air chamber, an air pipe and a connecting seat. The air chamber is fixedly connected to one end of the adjacent outward-expanding plate. And the connecting seat is located on the outer sides of the fixed rotating rods on both sides of the main gripper.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] In the present invention, through the gripper connection assembly, a pile of enoki mushrooms can be wrapped. As the telescopic motor on the other side pushes the auxiliary gripper assembly to perform gripping, the fungi can be extracted in batches, reducing the requirement for the platform where the grabbed objects are placed and increasing the movement range of the mechanical gripper for grabbing.

[0017] In the present invention, through the small gear in the gripper connection assembly and the large gear in the auxiliary gripper assembly, after the soft rubber gripper and the main gripper grab a certain amount of fungi, they can rotate, so that the enoki mushrooms can be successively pushed into the clamping assembly, saving the staff's placement steps, and the mechanical claws also have the effect of automatic placement.

[0018] In the present invention, through the meshing structure of the double-axis rod and the double-tooth rod in the clamping assembly with the push block, the enoki mushrooms entering the inside of the clamping assembly can be limited and clamped, with adjustability. Moreover, when the L-shaped cone rod contacts the docking cone rod, it can also push the long chain to drive multiple double-axis rods and double-tooth rods to close synchronously, clamp multiple enoki mushrooms simultaneously, and rotate to cut the bottom of the enoki mushrooms. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the left-side structure of the whole present invention;

[0020] Figure 2 Schematic diagram of the right-side structure of the whole present invention;

[0021] Figure 3 Schematic diagram of the front-end structure of the mechanical claw of the present invention;

[0022] Figure 4 Schematic diagram of the enlarged structure of the mechanical claw of the present invention;

[0023] Figure 5 Schematic diagram of the inside of the mechanical claw of the present invention;

[0024] Figure 6 Schematic diagram of the connection structure between the chain-type gripper and the self-locking assembly of the present invention;

[0025] Figure 7 Back-view structure schematic diagram of the chain-type gripper and the self-locking assembly of the present invention;

[0026] Figure 8 Schematic diagram of the internal structure of the jacking plate of the present invention;

[0027] Figure 9 Schematic diagram of the side-view structure of the gripper connection assembly and the auxiliary claw assembly of the present invention;

[0028] Figure 10 Schematic diagram of the front-view structure of the gripper connection assembly and the auxiliary claw assembly of the present invention;

[0029] Figure 11 Schematic diagram of the top-view structure of the clamping assembly of the present invention;

[0030] Figure 12 Schematic diagram of the bottom-view structure of the clamping assembly of the present invention;

[0031] Figure 13 Enlarged schematic diagram of the back-side structure of the clamping assembly of the present invention;

[0032] Figure 14 Schematic diagram of the internal structure of the clamping assembly of the present invention.

[0033] In the figure: 1, base; 2, main support arm; 3, front support arm; 4, short winding arm; 5, arm plate; 6, clamp connection assembly; 601, outer expansion plate; 602, T-bar; 603, trapezoidal track; 604, toothed ladder plate; 605, telescopic motor set; 606, slide plate; 607, plate-shaped slide bar; 608, L-bar; 609, auxiliary rotation motor; 6010, small gear; 6011, back plate; 7, auxiliary claw assembly; 701, auxiliary support; 702, large gear; 703, soft rubber claw; 704, L-cone rod; 705, smooth rod; 8, clamping assembly; 801, hollow square; 802, top frame; 803, umbrella plate; 804, inner frame; 805, movable pressing block; 806, double-toothed rod; 807, double-shaft rod; 808, short chain; 809, long chain; 8010, docking cone rod; 8011, push block; 9, chain clamp; 901, portal plate; 902, roller rod; 903, fixed rod; 904, Y-bar; 905, fixed rotating rod; 906, convex rod; 907, concave rod; 10, main claw; 11, self-locking assembly; 1101, inner winding rod; 1102, outer winding rod; 1103, upper support rod; 1104, jack plate; 1105, resisting rod; 1106, return spring; 1107, cover plate; 1108, lower support rod; 1109, circular insertion rod; 1110, round tube; 1111, telescopic pressing rod; 12, air push assembly. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0035] Please refer to Figures 1 - 14 , the present invention provides a technical solution: a robotic arm clamp for processing fungal foods, including: a base 1, the upper surface of the base 1 is movably connected to a main support arm 2, the other end of the main support arm 2 is rotatably connected to a front support arm 3, and the other end of the front support arm 3 is rotatably connected to a short winding arm 4;

[0036] It further includes: an arm plate 5, the upper surface of the arm plate 5 is fixedly connected to the other end of the short winding arm 4, and the four corners on the other side of the arm plate 5 are all set as vertical plate structures. The bottoms of the four vertical plates on the other side of the arm plate 5 are fixedly connected to a clamp connection assembly 6. An auxiliary claw assembly 7 is movably connected inside the clamp connection assembly 6, a clamping assembly 8 is fixedly connected inside the clamp connection assembly 6, the other end of the clamping assembly 8 is fixedly connected to a chain clamp 9, the other end of the chain clamp 9 is rotatably connected to a main claw 10, a self-locking assembly 11 is rotatably connected to the middle of the chain clamp 9, and an air push assembly 12 is fixedly connected between the chain clamp 9 and the clamp connection assembly 6.

[0037] The pinch hand connection assembly 6 includes an outwardly expanding plate 601. The upper surface of the outwardly expanding plate 601 is fixedly connected to the bottoms of the four corners of the arm plate 5. Inside one end of the outwardly expanding plate 601, a T-bar 602 is fixedly connected. On both sides of one end of the crossbar of the T-bar 602, trapezoidal tracks 603 are fixedly connected. On the upper surface of one end of the crossbar of the T-bar 602, a toothed ladder plate 604 is fixedly connected. One end of the T-bar 602 close to the arm plate 5 is fixedly connected to a telescopic motor group 605. One end of the crossbar of the T-bar 602 is fixedly connected to a back plate 6011. One end of the telescopic rod of the telescopic motor group 605 is fixedly connected to a slideway plate 606. On the other side of the slideway plate 606, a plate-shaped slide rod 607 is slidably connected. The other end of the back plate 6011 is fixedly connected to an L-bar 608, and one end of the top of the L-bar 608 is provided with a hollow structure. On the outer side of one end of the L-bar 608 close to the plate-shaped slide rod 607, an auxiliary rotation motor 609 is fixedly connected. One end of the shaft rod of the auxiliary rotation motor 609 penetrates through a small gear 6010, and the small gear 6010 is located inside one end of the top of the L-bar 608.

[0038] The auxiliary claw assembly 7 includes an auxiliary support 701. The shaft rod at the top of the auxiliary support 701 penetrates and is connected to the inside of one end of two plate-shaped slide rods 607, and on the side surface of the auxiliary support 701 extending into the two plate-shaped slide rods 607, a large gear 702 is penetrated and connected. One end of the bottom of the auxiliary support 701 is fixedly connected to a soft rubber claw 703. On one side of the inner wall of the auxiliary support 701, an L-shaped taper rod 704 and two smooth rods 705 are fixedly connected from top to bottom.

[0039] The clamping assembly 8 includes a hollow square frame 801. The two ends of the hollow square frame 801 are fixedly connected to the opposite ends of the T-bar 602 and the L-bar 608, and the hollow square frame 801 is equidistantly provided with a plurality of hollow openings. The end of the hollow square frame 801 opposite to the back plate 6011 is fixedly connected to a top frame 802. The end of the top frame 802 opposite to the back plate 6011 is fixedly connected to an umbrella plate 803. Inside the hollow opening of the hollow square frame 801, an inner frame 804 is fixedly connected, and the end of the inner frame 804 opposite to the back plate 6011 is provided with a chute structure, and a movable pressing block 805 is slidably connected to the side surface of the chute of the inner frame 804.

[0040] On the side of the back plate 6011 opposite to the inner wall of the arm plate 5, a plurality of double-toothed rods 806 and double-axis rods 807 are fixedly connected. The plurality of double-toothed rods 806 and double-axis rods 807 are grouped in pairs and located within a single hollow opening. At the same time, the double-toothed rods 806 and double-axis rods 807 in the same group are lapped on the back surfaces of the two movable pressing blocks 805. A short chain 808 is movably connected to the side of the double-toothed rods 806 and double-axis rods 807 in the same group close to the movable pressing block 805. One end of the multiple groups of double-toothed rods 806 and double-axis rods 807 close to the back plate 6011 is movably connected to a long chain 809. A docking cone rod 8010 is fixedly connected to the outer side of the long chain 809, and the docking cone rod 8010 is close to one end of the T-bar 602. On the back surfaces of the two movable pressing blocks 805 in the same group, push blocks 8011 are staggeredly fixedly connected, and both push blocks 8011 are meshed and connected to the side surface of the short chain 808.

[0041] The chain-type gripper 9 includes a gantry plate 901. One end of the gantry plate 901 is fixedly connected to one end of the hollow square frame 801. A rolling rod 902 is rotatably connected inside the gantry plate 901. Fixed rods 903 are fixedly connected to the two outer sides of the gantry plate 901. Y-rods 904 are rotatably connected to both sides of the other end of the gantry plate 901 through fixed rotating rods 905. Convex rods 906 are rotatably connected to both ends of the multiple Y-rods 904. Concave rods 907 are movably connected to both sides of the protruding end of the convex rod 906 through telescopic spring rods. Both ends of the multiple Y-rods 904 are connected in series by the convex rods 906 and the concave rods 907. One end of the last group of Y-rods 904 is connected through a fixed rotating rod 905 to both sides of the main gripper 10.

[0042] The self-locking assembly 11 includes two inner winding rods 1101 and an outer winding rod 1102. The axles at the adjacent ends of the inner winding rod 1101 and the outer winding rod 1102 are sleeved on the side surfaces of the axle rods at both ends of the middle Y-rod 904. The two long rods of the outer winding rod 1102 are fixedly connected by a shaft rod. The inner winding rod 1101 and the outer winding rod 1102 on the same side are set as a group. The other ends of the inner winding rod 1101 and the outer winding rod 1102 in the same group are respectively slidably connected to a lower support rod 1108 and an upper support rod 1103. A telescopic pressure rod 1111 is fixedly connected to the opposite sides of the inner winding rod 1101 and the outer winding rod 1102 in the same group. Jacking disc 1104 and circular insertion rod 1109 are respectively fixedly connected to the opposite ends of the upper support rod 1103 and the lower support rod 1108. A reversely rounded tube 1110 is slidably connected to the side surface inside the circular insertion rod 1109. The other end inside the jacking disc 1104 is of a groove structure. A resisting rod 1105 is movably connected inside the jacking disc 1104. A return spring 1106 is sleeved on the side surface of the resisting rod 1105, and one end of the return spring 1106 is fixedly connected to the inner wall of the groove of the jacking disc 1104. A cover plate 1107 is fixedly connected to the other side of the jacking disc 1104. Circular hole structures are provided at the axles of the jacking disc 1104 and the cover plate 1107.

[0043] The air-pushing component 12 is composed of an air chamber, an air pipe, and a connecting seat. The air chamber is fixedly connected to one end of the adjacent outer expansion plate 601, and the connecting seat is located on the outer sides of the fixed rotating rods 905 on both sides of the main jaw 10.

[0044] In summary, for the robotic arm gripper for processing fungal foods, when in use, first, the base 1 drives the main support arm 2 so that the short winding arm 4 at the front end of the front support arm 3 extends to one side of the stacked enoki mushrooms. Then, the main jaw 10 is inserted under the enoki mushrooms. During the downward movement, multiple Y-shaped rods 904 are forced to press downwards. Among them, the concave rods 907 on both sides of the Y-shaped rod 904 enter the convex rod 906. At the same time, the inner winding rod 1101 and the outer winding rod 1102 slide along the inner slides of the lower support rod 1108 and the upper support rod 1103, and the circular insertion rods 1109 at the opposite ends are inserted into the cover plate 1107 and the jack plate 1104. Moreover, the top of the circular insertion rod 1109 is pushed open by multiple abutting rods 1105 to fix the circular insertion rod 1109. Multiple Y-shaped rods 904 are bent into an arc to wrap multiple enoki mushrooms. At the same time, the telescopic motor group 605 pushes the plate-shaped sliding rod 607 and the auxiliary support 701 forward. During the forward movement, the 705 on the inner wall of the auxiliary support 701 slides along the inside of the trapezoidal track 603, and the soft rubber claws 703 at the bottom of the auxiliary support 701 synchronously clamp multiple enoki mushrooms. Among them, the smooth rod 705 moves forward and then falls in front of the trapezoidal track 603. During the falling process, the large gear 702 meshes with the small gear 6010 to drive the auxiliary support 701 to rotate. During the rotation process, the enoki mushrooms are sequentially dialed to slide along the roller rod 902. During the sliding process, until the umbrella plate 803 falls above the movable pressing block 805. At the same time, the plate-shaped sliding rod 607 synchronously falls along the slide plate 606. When the telescopic motor group 605 retracts the auxiliary support 701, the L-shaped cone rod 704 contacts and drags the docking cone rod 8010, causing the long chain 809 to rotate. When the multiple double-toothed rods 806 that are meshed rotate, they drive the push blocks 8011 on both sides and the movable pressing block 805 at the bottom to move relatively and close. Finally, the retracted large gear 702 meshes with the toothed trapezoidal plate 604 and rotates to reset.

[0045] In the description of the present invention, unless otherwise specified, the meaning of "multiple" is two or more; the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 therefore cannot be construed as a limitation of the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0046] In the description of the present invention, it should be noted that, unless otherwise clearly specified and defined, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. 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.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. The robotic arm gripper for processing fungal foods, comprising: Base (1), the upper surface of the base (1) is movably connected with a main support arm (2), the other end of the main support arm (2) is rotatably connected with a front support arm (3), and the other end of the front support arm (3) is rotatably connected with a short winding arm (4); It is characterized in that it further includes: an arm plate (5), the upper surface of the arm plate (5) is fixedly connected to the other end of the short winding arm (4), and the four corners on the other side of the arm plate (5) are all set as vertical plate structures. A clamping hand connection component (6) is fixedly connected to the bottom of the four vertical plates on the other side of the arm plate (5). A secondary claw component (7) is movably connected inside the clamping hand connection component (6). A clamping component (8) is fixedly connected inside the clamping hand connection component (6). The other end of the clamping component (8) is fixedly connected to a chain clamping hand (9). The other end of the chain clamping hand (9) is rotatably connected to a main claw (10). A self-locking component (11) is rotatably connected to the middle of the chain clamping hand (9). An air push component (12) is fixedly connected between the chain clamping hand (9) and the clamping hand connection component (6).

2. The robotic arm gripper for processing fungal food according to claim 1, wherein: The clamping hand connection component (6) includes an outward expansion plate (601). The upper surface of the outward expansion plate (601) is fixedly connected to the bottoms of the four corners of the arm plate (5). A T-bar (602) is fixedly connected inside one end of the outward expansion plate (601). Trapezoidal tracks (603) are fixedly connected to both sides of the horizontal bar end of the T-bar (602). A toothed trapezoidal plate (604) is fixedly connected to the upper surface of the horizontal bar end of the T-bar (602). A telescopic motor group (605) is fixedly connected to the end of the T-bar (602) close to the arm plate (5). A back plate (6011) is fixedly connected to one end of the horizontal bar of the T-bar (602). A slideway plate (606) is fixedly connected to the end of the telescopic rod of the telescopic motor group (605). A plate-shaped slide bar (607) is slidably connected to the other side of the slideway plate (606). An L-bar (608) is fixedly connected to the other end of the back plate (6011), and one end of the top of the L-bar (608) is provided with a hollow structure. A secondary rotation motor (609) is fixedly connected to the outer side of the upper end of the L-bar (608) close to one end of the plate-shaped slide bar (607). A small gear (6010) penetrates through one end of the shaft of the secondary rotation motor (609), and the small gear (6010) is located inside one end of the top of the L-bar (608).

3. The robotic arm gripper for processing fungal foods according to claim 2, wherein: The secondary claw component (7) includes a secondary support (701). The shaft of the top of the secondary support (701) penetrates and is connected to the inside of one end of the two plate-shaped slide bars (607). A large gear (702) penetrates and is connected to the side surface of the secondary support (701) extending into the two plate-shaped slide bars (607). A soft rubber claw (703) is fixedly connected to one end of the bottom of the secondary support (701). An L-cone rod (704) and two smooth rods (705) are fixedly connected to one side of the inner wall of the secondary support (701) from top to bottom.

4. The robotic arm gripper for processing fungal foods according to claim 3, wherein: The clamping assembly (8) includes a hollow square frame (801). Both ends of the hollow square frame (801) are fixedly connected to the opposite ends of the T-bar (602) and the L-bar (608). The hollow square frame (801) is equidistantly provided with a plurality of hollow openings. One end of the hollow square frame (801) opposite to the back plate (6011) is fixedly connected with a top frame (802). One end of the top frame (802) opposite to the back plate (6011) is fixedly connected with an umbrella plate (803). An inner frame (804) is fixedly connected inside the hollow opening of the hollow square frame (801). One end of the inner frame (804) opposite to the back plate (6011) is provided with a chute structure. A movable pressing block (805) is slidably connected to the side surface of the chute of the inner frame (804).

5. The robotic arm gripper for processing fungal food according to claim 4, characterized in that: On the side of the back plate (6011) opposite to the inner wall of the arm plate (5), a plurality of double-toothed rods (806) and double-axis rods (807) are fixedly connected. Two of the plurality of double-toothed rods (806) and double-axis rods (807) form a group and are located inside a single hollow opening. At the same time, the double-toothed rod (806) and the double-axis rod (807) of the same group are lapped on the back of two movable pressing blocks (805). A short chain (808) is movably connected to the side of the double-toothed rod (806) and the double-axis rod (807) of the same group close to the movable pressing block (805). One end of the plurality of groups of double-toothed rods (806) and double-axis rods (807) close to the back plate (6011) is movably connected with a long chain (809). A docking cone rod (8010) is fixedly connected to the outer side of the long chain (809). The docking cone rod (8010) is close to one end of the T-bar (602). Push blocks (8011) are staggeredly fixedly connected to the back of the two movable pressing blocks (805) of the same group. Both push blocks (8011) are meshed and connected to the side surface of the short chain (808).

6. The robotic arm gripper for processing fungal foods according to claim 5, characterized in that: The chain-type gripper (9) includes a portal plate (901). One end of the portal plate (901) is fixedly connected to one end of the hollow square frame (801). A rolling rod (902) is rotatably connected inside the portal plate (901). Fixed rods (903) are fixedly connected to the outer sides of the portal plate (901). Y-rods (904) are rotatably connected to both sides of the other end of the portal plate (901) through fixed rotating rods (905). Convex rods (906) are rotatably connected to both ends of the plurality of Y-rods (904). Concave rods (907) are movably connected to both sides of the protruding end of the convex rod (906) through telescopic spring rods. Both ends of the plurality of Y-rods (904) are connected in series by the convex rod (906) and the concave rod (907). One end of the last group of Y-rods (904) is connected to both sides of the main gripper (10) through a fixed rotating rod (905).

7. The robotic arm gripper for processing fungal foods according to claim 6, wherein: The self-locking assembly (11) includes two inner winding rods (1101) and an outer winding rod (1102). The axles at the adjacent ends of the inner winding rods (1101) and the outer winding rod (1102) are sleeved on the side surfaces of the axle rods at both ends of the middle Y-shaped rod (904). The two long rods of the outer winding rod (1102) are fixedly connected by an axle rod. The inner winding rod (1101) and the outer winding rod (1102) on the same side are set as a group. The other ends of the inner winding rod (1101) and the outer winding rod (1102) in the same group are respectively slidably connected to a lower support rod (1108) and an upper support rod (1103). A telescopic pressure rod (1111) is fixedly connected to the opposite sides of the inner winding rod (1101) and the outer winding rod (1102) in the same group. The opposite ends of the upper support rod (1103) and the lower support rod (1108) are respectively fixedly connected to a jacking disc (1104) and a circular insertion rod (1109). A reversely rounded tube (1110) is slidably connected to the inner side surface of the circular insertion rod (1109). The other end inside the jacking disc (1104) is of a groove structure. A resisting rod (1105) is movably connected inside the jacking disc (1104). A return spring (1106) is sleeved on the side surface of the resisting rod (1105). One end of the return spring (1106) is fixedly connected to the inner wall of the groove of the jacking disc (1104). A cover plate (1107) is fixedly connected to the other side of the jacking disc (1104). The axles of the jacking disc (1104) and the cover plate (1107) are both of circular hole structures.

8. The robotic arm gripper for processing fungal foods according to claim 7, characterized in that: The air-pushing assembly (12) is composed of an air chamber, an air pipe and a connecting seat. The air chamber is fixedly connected to one end of the adjacent outer expansion plate (601). The connecting seat is located on the outer sides of the fixed rotating rods (905) on both sides of the main jaw (10).

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