A manipulator for taking out glassware

Abstract

The present invention relates to the technical field of manipulators, and discloses a manipulator for taking out glassware, which includes a base, an installation seat is arranged on the base, and two grasping mechanisms are symmetrically arranged on the installation seat; the grasping mechanism includes a lifting component connected to the installation seat, an upper clamp is arranged on the lifting component, and a lower clamp component is arranged on the upper clamp; after controlling the two upper clamps to be placed parallel to the upper sides of both sides of the vessel edge through the two lifting components, controlling one of the upper clamps to push the vessel edge through one of the lifting components to make it tilt, and then clamping the vessel edge through the upper clamp and the lower clamp component on the other side to take out the glassware; when taking out the glassware embedded in the container, the manipulator for taking out the glassware can first push the glassware through two symmetrical upper and lower clamps to make it tilt, so that one clamp can hold it, and then lift it to complete the taking-out process.

Description

Technical Field

[0001] The invention relates to the technical field of manipulators, in particular to a glassware taking-out manipulator. Background Art

[0002] Glassware is a vessel made of glass. Powder and clinker prepared according to the glass composition are put into a crucible kiln or a pool kiln to melt. After melting, it is clarified into a uniform glass liquid without bubbles, stones or stripes, and then cooled to a viscosity range that meets the requirements of the corresponding molding method for various molding operations.

[0003] When glassware needs to be moved during the molding process or daily use, in addition to traditional manual handling, there is also a robot as a handling option. The clamps on the robot can be used to clamp and move glassware, which can save manpower and prevent accidental falls.

[0004] However, when dealing with the situation where glassware is placed in a container, since the edges and the entire body of the glassware are embedded in the container, the robot has no way to take out the glassware. It is necessary to manually lift the glassware out of the container before the robot can be used to move it, which causes inconvenience in moving the glassware. Summary of the invention

[0005] The present invention provides a glassware removal robot, which has the beneficial effect of first pushing the glassware to tilt it through two symmetrical upper and lower clamps when removing the glassware embedded in a container, so that one clamp can clamp it, and then lifting it to complete the removal process. This solves the problem mentioned in the above background technology that when the existing glassware removal robot is dealing with the situation where the glassware is placed in the container, the edge and the whole body of the glassware are embedded in the container, and the robot has no way to remove the glassware at this time.

[0006] The present invention provides the following technical solution: a glassware taking-out robot, used for taking out glassware from a container, the container is provided with an embedding groove, the glassware is embedded in the embedding groove, the glassware is provided with a vessel edge, the glassware taking-out robot comprises a base, the base is provided with a mounting seat, and the mounting seat is symmetrically provided with two gripping mechanisms;

[0007] The grabbing mechanism comprises a lifting assembly connected to the mounting seat, an upper clamp is arranged on the lifting assembly, and a lower clamp assembly is arranged on the upper clamp;

[0008] After controlling the two upper clamps to be placed in parallel on both upper sides of the edge of the vessel through the two lifting components, the upper clamp on one side is controlled by the lifting component on that side to push the edge of the vessel to make it tilt, and then the edge of the vessel is clamped by the upper clamp and the lower clamp assembly on the other side to take out the glass vessel.

[0009] As an alternative solution of the glass vessel taking-out manipulator according to the present invention, wherein: the lower clamp assembly includes a first chute opened on the upper clamp, a lower clamp is slidably arranged in the first chute, and a first airbag is further arranged in the first chute, and two ends of the first airbag are respectively connected to the lower clamp and the inner wall of the first chute.

[0010] As an alternative solution of the glass vessel taking-out manipulator according to the present invention, wherein: the lifting component includes a connecting arm connected to the mounting seat, a telescopic arm is slidably arranged in the connecting arm, and a second airbag is further arranged in the connecting arm, and two ends of the second airbag are respectively connected to the connecting arm and the telescopic arm;

[0011] The grasping mechanism further includes a connecting component, and the upper clamp is connected to the telescopic arm through the connecting component.

[0012] As an alternative solution of the glass vessel taking-out manipulator according to the present invention, wherein: the lifting component further includes a second chute opened on the mounting seat, the connecting arm is slidably connected in the second chute, and a spring is further arranged in the second chute, and two ends of the spring are respectively connected to the connecting arm and the inner wall of the second chute.

[0013] As an alternative solution of the glass vessel taking-out manipulator according to the present invention, wherein: the connecting component includes two activity slots symmetrically opened in the telescopic arm, two sliders are symmetrically arranged on the upper clamp, and the two sliders are respectively slidably connected in the two activity slots, and a third airbag is further arranged in the telescopic arm, and two ends of the third airbag are respectively connected to the telescopic arm and the upper clamp.

[0014] As an alternative solution of the glass vessel taking-out manipulator according to the present invention, wherein: the connecting component further includes two limiting slots symmetrically opened in the telescopic arm, and the two limiting slots are respectively communicated with the two activity slots.

[0015] As an alternative solution of the glassware removing manipulator according to the present invention, wherein: the grasping mechanism further includes an extension component, the extension component includes a third chute opened on the upper fixture, a contact block is slidably arranged in the third chute, and a fourth airbag is further arranged in the third chute. Two ends of the fourth airbag are respectively connected to the contact block and the inner wall of the third chute.

[0016] As an alternative solution of the glassware removing manipulator according to the present invention, wherein: a driving mechanism is further arranged on the mounting seat, the driving mechanism includes a gas circuit system arranged on the mounting seat, and the gas circuit system is respectively connected to the first airbag, the second airbag, the third airbag and the fourth airbag through a plurality of first air pipes;

[0017] An air pump is arranged on the mounting seat, and the air pump is connected to the gas circuit system through a second air pipe.

[0018] As an alternative solution of the glassware removing manipulator according to the present invention, wherein: the base includes a base seat, a motor is arranged on the base seat, a support seat is arranged on an output shaft of the motor, and the mounting seat is connected to the support seat.

[0019] The present invention further provides the following technical solution: a removing method of a glassware removing manipulator, including the following steps:

[0020] Set the second airbag on one side as a1, the third airbag as b1, the first airbag as c1, and the fourth airbag as d1, and set the second airbag on the other side as a2, the third airbag as b2, the first airbag as c2, and the fourth airbag as d2;

[0021] S1. After controlling two upper fixtures to align with two upper sides of the edge of the ware by the motor, control b1 and b2 to inflate to the maximum expansion state and keep by the driving mechanism, control c1 and c2 to deflate to the minimum expansion state and keep, control d1 to deflate to the minimum expansion state and keep, control d2 to inflate to the maximum expansion state and keep, and then control a1 and a2 to start inflating and expanding synchronously by the driving mechanism. After the two upper fixtures reach the upper side of the edge of the ware, stop inflating a1, and continue to inflate and expand a2 so that the contact block on the upper fixture on the a2 side contacts the edge of the ware and pushes the edge of the ware downward, so that the edge of the ware contacts the upper fixture on the a1 side obliquely;

[0022] S2. Control c1 to inflate to the maximum state and keep by the driving mechanism, so that the lower fixture on the a1 side clamps one end of the edge of the ware, and control d2 to deflate to the minimum expansion state and keep, so that the contact block on the a2 side is received back into the upper fixture on the a2 side;

[0023] S3, control a2 to be evacuated to the same expansion state as a1 through the driving mechanism, so that the two upper clamps are at the same height, then control b1 and b2 to be evacuated to the minimum expansion state and maintain it, so that the two upper clamps rotate to a horizontal state and lift up, so that the edge of the vessel rotates to a horizontal state and contacts the upper clamp on the a2 side, and then control c2 to be inflated to the maximum state and keep clamping the other end of the edge of the vessel;

[0024] S4, controlling a1 and a2 to exhaust air synchronously through the driving mechanism, so that the two upper clamps rise synchronously to take out the glassware.

[0025] The present invention has the following beneficial effects:

[0026] 1. The glassware removal robot is provided with two grasping mechanisms, so that one set of clamps first contacts the edge of the glassware, and then pries the edge of the glassware from one side so that the glassware turns over in the embedded groove and tilts toward the other set of clamps, so that the other set of clamps can clamp the edge of the glassware from the side. This solves the problem that the existing robot cannot grasp the glassware to remove it from the container when the glassware is in the embedded groove.

[0027] 2. The glassware removal manipulator sets the clamp to be formed by combining an upper clamp and a lower clamp. The bottom end of the upper clamp is horizontal and can contact the upper end of the vessel edge and tilt with the tilt of the vessel edge to maintain fit. The lower clamp is stored inside the upper clamp and can be controlled by the airbag to pop out from the lower end of the vessel edge, thereby clamping the side of the vessel edge on both sides. Then the glassware can be rotated to a horizontal state by rotating the clamp, so that another set of clamps can also clamp the other side of the glassware, and then rise together to drive the glassware up, making the removal of the glassware smoother. And further considering that if the vessel edge is completely trapped in the embedded groove, a retractable resistance block is also provided at the horizontal lower end of the upper clamp, so that the resistance block can be extended to extend into the embedded groove to push the vessel edge.

[0028] 3. The glassware taking-out robot, the ejection of the lower clamp, the lifting and lowering of the upper clamp, and the extension and retraction of the abutment block are respectively controlled by a plurality of air bags, and the plurality of air bags are uniformly controlled by a driving mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0030] Figure 2 It is a schematic diagram of the overall cross-sectional structure of the present invention.

[0031] Figure 3 For the present invention Figure 2 Schematic diagram of the local enlarged structure at point A in the middle.

[0032] Figure 4 This is the first cross-sectional structure schematic diagram of the telescopic arm of the present invention.

[0033] Figure 5 This is the second cross-sectional structure schematic diagram of the telescopic arm of the present invention.

[0034] Figure 6 This is the overall exploded structure schematic diagram of the present invention.

[0035] Figure 7 This is the exploded structure schematic diagram of the grasping mechanism of the present invention.

[0036] Figure 8 This is the first working principle schematic diagram of the present invention.

[0037] Figure 9 This is the second working principle schematic diagram of the present invention.

[0038] Figure 10 This is the third working principle schematic diagram of the present invention.

[0039] In the figure: 100, container; 110, embedding groove; 200, glassware; 210, edge of the ware; 300, base; 310, base seat; 320, motor; 330, support seat; 400, mounting seat; 500, grasping mechanism; 510, upper clamp; 520, lower clamp assembly; 521, first sliding groove; 522, lower clamp; 523, first airbag; 530, lifting assembly; 531, connecting arm; 532, telescopic arm; 533, second airbag; 534, second sliding groove; 535, spring; 540, connecting component; 541, movable groove; 542, slider; 543, third airbag; 544, limiting groove; 550, extending component; 551, third sliding groove; 552, abutting block; 553, fourth airbag; 600, driving mechanism; 610, air circuit system; 620, first air pipe; 630, air pump; 640, second air pipe. Detailed implementation manners

[0040] 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 of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0041] Embodiment 1

[0042] Generally, when using a manipulator to take out the glassware 200, if the glassware 200 is stored in a container, such as after the large glassware 200 is formed in the container or the small glassware 200 for daily use is cooked in a pot, at this time, whether it is to clamp the glassware 200 with a ware edge 210 from the side or to clamp the glassware 200 without a ware edge 210 from above, the manipulator cannot achieve it. To solve the above problems, Embodiment 1 is proposed;

[0043] Please refer to Figures 1-7 , a glassware taking-out manipulator for taking out the glassware 200 from the container 100. An embedding groove 110 is formed on the container 100, and the glassware 200 is fitted in the embedding groove 110. A ware edge 210 is arranged on the glassware 200. The glassware taking-out manipulator includes a base 300;

[0044] The base 300 includes a base seat 310. A motor 320 is arranged on the base seat 310. A support seat 330 is arranged on the output shaft of the motor 320. The mounting seat 400 is connected to the support seat 330;

[0045] The base 300 is provided with a mounting seat 400, and two grasping mechanisms 500 are symmetrically arranged on the mounting seat 400;

[0046] The grasping mechanism 500 includes a lifting assembly 530 connected to the mounting seat 400. An upper fixture 510 is arranged on the lifting assembly 530, and a lower fixture assembly 520 is arranged on the upper fixture 510;

[0047] After controlling the two upper fixtures 510 to be placed in parallel on both sides of the upper end of the ware edge 210 through the two lifting assemblies 530, controlling one side of the upper fixture 510 to push the ware edge 210 to make it tilt through one side of the lifting assembly 530, and then clamping the ware edge 210 through the upper fixture 510 and the lower fixture assembly 520 on the other side to take out the glassware 200;

[0048] The lower fixture assembly 520 includes a first sliding groove 521 formed on the upper fixture 510, and a lower fixture 522 is slidably arranged in the first sliding groove 521.

[0049] In this embodiment: The base 300 can be replaced according to the specific situation of clamping the glassware 200. For example, when clamping the large glassware 200, the base 300 can be mechanically driven. Among them, the base seat 310 is installed on the ground, and the operation of the motor 320 can drive the support seat 330 and the mounting seat 400 to rotate for the handling process. The mounting seat 400 can also be installed on a handling vehicle. Or when dealing with the small glassware 200, the mounting seat 400 is changed to be handheld.

[0050] For the glassware 200 with the feature of the vessel edge 210, it can be set that the vessel edge 210 is completely located within the slot 110, or the distance between the bottom edge of the vessel edge 210 and the slot 110 is such that the fixture cannot extend in from the side. At this time, after the two upper fixtures 510 respectively contact the symmetric two sides at the upper end of the vessel edge 210, if one of the upper fixtures 510 is lowered to tilt the glassware 200 in the other direction, the lower fixture 522 on the other upper fixture 510 can slide out along the arc-shaped first chute 521 to jointly clamp one side edge of the vessel edge 210 with the upper fixture 510.

[0051] Embodiment 2

[0052] To achieve the complete process of grasping the glassware 200 from within the slot 110, Embodiment 2 is proposed;

[0053] This embodiment is an improved explanation based on Embodiment 1. Specifically, please refer to Figures 1-10 , a first airbag 523 is further provided within the first chute 521, and the two ends of the first airbag 523 are respectively connected to the lower fixture 522 and the inner wall of the first chute 521;

[0054] The lifting assembly 530 includes a connecting arm 531 connected to the mounting base 400. A telescopic arm 532 is slidably arranged within the connecting arm 531. A second airbag 533 is further provided within the connecting arm 531, and the two ends of the second airbag 533 are respectively connected to the connecting arm 531 and the telescopic arm 532;

[0055] The grasping mechanism 500 further includes a connecting assembly 540, and the upper fixture 510 is connected to the telescopic arm 532 through the connecting assembly 540;

[0056] The lifting assembly 530 further includes a second chute 534 opened on the mounting base 400. The connecting arm 531 is slidably connected within the second chute 534. A spring 535 is further provided within the second chute 534, and the two ends of the spring 535 are respectively connected to the connecting arm 531 and the inner wall of the second chute 534;

[0057] The connecting assembly 540 includes two movable slots 541 symmetrically opened within the telescopic arm 532. Two sliders 542 are symmetrically arranged on the upper fixture 510, and the two sliders 542 are respectively slidably connected within the two movable slots 541. A third airbag 543 is further provided within the telescopic arm 532, and the two ends of the third airbag 543 are respectively connected to the telescopic arm 532 and the upper fixture 510;

[0058] The connecting assembly 540 further includes two limiting slots 544 symmetrically opened within the telescopic arm 532, and the two limiting slots 544 are respectively communicated with the two movable slots 541;

[0059] The gripping mechanism 500 further includes an extension assembly 550, which includes a third slide groove 551 provided on the upper fixture 510, a resisting block 552 slidably disposed in the third slide groove 551, a fourth air bag 553 is further disposed in the third slide groove 551, and two ends of the fourth air bag 553 are respectively connected to the resisting block 552 and the inner wall of the third slide groove 551;

[0060] Set the second airbag 533 on one side to a1, the third airbag 543 to b1, the first airbag 523 to c1, and the fourth airbag 553 to d1, and set the second airbag 533 on the other side to a2, the third airbag 543 to b2, the first airbag 523 to c2, and the fourth airbag 553 to d2.

[0061] In this embodiment: first, b1 and b2 are expanded to the maximum extent, so that the two upper clamps 510 can respectively drive the two sliders 542 to slide into the two limit grooves 544. The slider 542 is square and the limit groove 544 is circular, and the midpoints of the two coincide, so that the slider 542 can rotate in the limit groove 544, and the two upper clamps 510 are in a state of free rotation. C1 and c2 are both evacuated to the minimum expansion state, so that the two lower clamps 522 are stored back in the first slide groove 521. D1 is evacuated to the minimum expansion state so that the resistance block 552 on the a1 side is stored in the third slide groove 551, and D2 is inflated to the maximum expansion state so that the resistance block 552 on the a2 side extends out. The purpose is that when the vessel edge 210 is completely located inside the embedded groove 110, the upper clamp 510 cannot extend into the embedded groove 110, but the resistance block 552 can.

[0062] Then, a1 and a2 are expanded synchronously to drive the two upper clamps 510 to descend synchronously. The two upper clamps 510 move to above the edge 210 of the vessel and then stop. At this time, a1 stops inflating.

[0063] Then, a2 is allowed to continue to inflate to drive the telescopic arm 532 and the upper clamp 510 on the a2 side to descend, so that the resistance block 552 contacts the vessel edge 210 and continues to push downward, tilting the vessel edge 210 toward the a1 side, so that the vessel edge 210 contacts the upper clamp 510 on the a1 side.

[0064] Then c1 is expanded and maintained to allow the lower clamp 522 to slide out and cooperate with the upper clamp 510 to clamp the vessel edge 210 from the upper and lower sides to complete the fixation. At this time, d2 can be evacuated and contracted to allow the resistance block 552 on the a2 side to be retracted. At the same time, a2 is evacuated to allow the telescopic arm 532 on the a2 side to rise to the same height as the telescopic arm 532 on the a1 side.

[0065] Then, evacuate to the minimum through b1 and b2, so that the sliders 542 on the two upper jigs 510 slide into the movable slots 541. The movable slots 541 are rectangular slots, the width of which is equal to that of the sliders 542, and there is an arc transition between the limiting slots 544 and the movable slots 541. During the process of sliding into the movable slots 541, the two sliders 542 will drive the two upper jigs 510 to rotate to the horizontal state, so as to rotate the vessel edge 210 to the horizontal so that the vessel edge 210 also contacts the upper jig 510 on the a2 side.

[0066] At this time, it is possible to inflate and maintain through c2 so that the lower jig 522 on the a2 side also slides out to cooperate with the upper jig 510 to clamp the other side of the vessel edge 210.

[0067] Finally, evacuate a1 and a2 synchronously, so that the two telescopic arms 532 rise synchronously, which can drive the glass vessel 200 to rise smoothly to complete the taking-out process. For subsequent handling, the motor 320 can drive the mounting seat 400 and the glass vessel 200 as a whole to rotate to the handling point, and then lower the vessel edge 210 through inflation of a1 and a2, and evacuate c1 and c2 to loosen the vessel edge 210.

[0068] During the process of taking out the vessel edge 210, the two connecting arms 531 are respectively slidably mounted in the two second sliding slots 534, can be adjusted along with the movement of the vessel edge 210, and are elastically reset by the two springs 535.

[0069] Embodiment 3

[0070] To control the evacuation, inflation, deflation and maintaining the inflated state of several air bags, Embodiment 3 is proposed;

[0071] This embodiment is an improved description based on Embodiment 2. Specifically, please refer to Figures 1-7 , a driving mechanism 600 is further provided on the mounting seat 400. The driving mechanism 600 includes a gas circuit system 610 provided on the mounting seat 400. The gas circuit system 610 is respectively connected to the first air bag 523, the second air bag 533, the third air bag 543 and the fourth air bag 553 through several first air pipes 620;

[0072] An air pump 630 is provided on the mounting seat 400. The air pump 630 is connected to the gas circuit system 610 through a second air pipe 640.

[0073] In this embodiment: The gas path system 610 can be a precision gas path system such as a gas path block controlled by an electronic device. By connecting one of the airbags to the second air tube 640 through the gas path system 610, the air pump 630 can pump air into or out of the airbag, and control the rate of air pumping or inflation. When one of the airbags is blocked, its inflated state can be maintained, or a sensor for the degree of airbag inflation can be provided to fill the airbag with gas to maintain its inflated state when the internal gas of the airbag is compressed due to external force extrusion. The first air tube 620 is a flexible tube that can be stretched and folded.

[0074] Embodiment 4

[0075] Specifically, please refer to Figures 1-10 , a method for removing a glassware by a removal manipulator, including the following steps:

[0076] S1. After controlling the two upper clamps 510 to align with both upper sides of the edge of the ware 210 by the motor 320, control b1 and b2 to inflate to the maximum inflated state and maintain it, control c1 and c2 to deflate to the minimum inflated state and maintain it, control d1 to deflate to the minimum inflated state and maintain it, control d2 to inflate to the maximum inflated state and maintain it through the driving mechanism 600. Then, control a1 and a2 to start inflating and expanding synchronously through the driving mechanism 600. After the two upper clamps 510 reach the upper side of the edge of the ware 210, stop inflating a1, and continue to inflate and expand a2 so that the contact block 552 on the upper clamp 510 on the a2 side contacts the edge of the ware 210 and pushes the edge of the ware 210 downward, so that the edge of the ware 210 contacts the upper clamp 510 on the a1 side obliquely;

[0077] S2. Control c1 to inflate and expand to the maximum state and maintain it through the driving mechanism 600, so that the lower clamp 522 on the a1 side clamps one end of the edge of the ware 210, and control d2 to deflate to the minimum inflated state and maintain it, so that the contact block 552 on the a2 side is retracted into the upper clamp 510 on the a2 side;

[0078] S3. Control a2 to deflate to the same inflated state as a1 through the driving mechanism 600, so that the two upper clamps 510 are at the same height. Then, control b1 and b2 to deflate to the minimum inflated state and maintain it, so that the two upper clamps 510 rotate to the horizontal state and lift, so that the edge of the ware 210 rotates to the horizontal state and contacts the upper clamp 510 on the a2 side. Then, control c2 to inflate and expand to the maximum state and maintain it to clamp the other end of the edge of the ware 210;

[0079] S4. Control a1 and a2 to deflate synchronously through the driving mechanism 600, so that the two upper clamps 510 rise synchronously to take out the glassware 200.

[0080] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device.

[0081] The above are only the preferred embodiments of the present invention. It should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and refinements can be made, and these improvements and refinements should also be regarded as the protection scope of the present invention.

Claims

1. A glassware removal manipulator is used to remove a glassware (200) from a container (100). An embedding groove (110) is formed on the container (100), and the glassware (200) is embedded in the embedding groove (110). A ware edge (210) is provided on the glassware (200), and it is characterized in that: The glassware removal manipulator includes a base (300), on which an installation base (400) is provided, and two grasping mechanisms (500) are symmetrically arranged on the installation base (400); The grasping mechanism (500) includes a lifting component (530) connected to the installation base (400), an upper clamp (510) is arranged on the lifting component (530), and a lower clamp component (520) is arranged on the upper clamp (510); After controlling the two upper clamps (510) to be placed in parallel on both upper sides of the edge of the ware (210) through the two lifting components (530), controlling one of the upper clamps (510) to push the edge of the ware (210) through one of the lifting components (530) to make it tilt, and then clamping the edge of the ware (210) through the other upper clamp (510) and the lower clamp component (520) to take out the glassware (200).

2. The glassware removal manipulator according to claim 1, wherein: The lower clamp component (520) includes a first sliding groove (521) opened on the upper clamp (510), a lower clamp (522) is slidably arranged in the first sliding groove (521), and a first air bag (523) is also arranged in the first sliding groove (521), and two ends of the first air bag (523) are respectively connected to the lower clamp (522) and the inner wall of the first sliding groove (521).

3. The glassware removal manipulator according to claim 2, characterized in that: The lifting component (530) includes a connecting arm (531) connected to the installation base (400), a telescopic arm (532) is slidably arranged in the connecting arm (531), and a second air bag (533) is also arranged in the connecting arm (531), and two ends of the second air bag (533) are respectively connected to the connecting arm (531) and the telescopic arm (532); The grasping mechanism (500) further includes a connecting component (540), and the upper clamp (510) is connected to the telescopic arm (532) through the connecting component (540).

4. The glassware removing manipulator according to claim 3, characterized in that: The lifting component (530) further includes a second sliding groove (534) opened on the installation base (400), the connecting arm (531) is slidably connected in the second sliding groove (534), and a spring (535) is also arranged in the second sliding groove (534), and two ends of the spring (535) are respectively connected to the connecting arm (531) and the inner wall of the second sliding groove (534).

5. The glassware removing manipulator according to claim 4, wherein: The connecting component (540) includes two moving grooves (541) symmetrically opened in the telescopic arm (532), two sliding blocks (542) are symmetrically arranged on the upper clamp (510), the two sliding blocks (542) are respectively slidably connected in the two moving grooves (541), and a third air bag (543) is also arranged in the telescopic arm (532), and two ends of the third air bag (543) are respectively connected to the telescopic arm (532) and the upper clamp (510).

6. The glassware removal manipulator according to claim 5, characterized in that: The connection assembly (540) further comprises two limiting grooves (544) symmetrically arranged in the telescopic arm (532), and the two limiting grooves (544) are respectively connected to the two movable grooves (541).

7. The glassware removal manipulator according to claim 6, characterized in that: The gripping mechanism (500) further comprises an extension component (550), wherein the extension component (550) comprises a third slide groove (551) provided on the upper clamp (510), wherein a resistance block (552) is slidably arranged in the third slide groove (551), and a fourth air bag (553) is also arranged in the third slide groove (551), and two ends of the fourth air bag (553) are respectively connected to the resistance block (552) and the inner wall of the third slide groove (551).

8. A glassware removal manipulator according to claim 7, characterized in that: The mounting seat (400) is further provided with a driving mechanism (600), the driving mechanism (600) comprising an air circuit system (610) provided on the mounting seat (400), the air circuit system (610) being connected to the first air bag (523), the second air bag (533), the third air bag (543) and the fourth air bag (553) respectively through a plurality of first air pipes (620); An air pump (630) is provided on the mounting seat (400), and the air pump (630) is connected to the air circuit system (610) via a second air pipe (640).

9. The glassware removal manipulator according to claim 8, wherein: The base (300) comprises a pedestal (310), a motor (320) is arranged on the pedestal (310), a support seat (330) is arranged on the output shaft of the motor (320), and the mounting seat (400) is connected to the support seat (330).

10. The taking-out method of a glassware taking-out manipulator according to claim 9, characterized in that, The steps include: The second airbag (533) on one side is set to a1, the third airbag (543) is set to b1, the first airbag (523) is set to c1, and the fourth airbag (553) is set to d1; the second airbag (533) on the other side is set to a2, the third airbag (543) is set to b2, the first airbag (523) is set to c2, and the fourth airbag (553) is set to d2; S1, after controlling the two upper clamps (510) to align with both sides of the upper end of the vessel edge (210) through the motor (320), the driving mechanism (600) controls b1 and b2 to be inflated to the maximum expansion state and maintained, c1 and c2 to be evacuated to the minimum expansion state and maintained, d1 to be evacuated to the minimum expansion state and maintained, d2 to be inflated to the maximum expansion state and maintained, and then the driving mechanism (600) controls a1 and a2 to start synchronous inflation and expansion, so that after the two upper clamps (510) reach the upper side of the vessel edge (210), a1 stops inflating and a2 continues to inflate and expand so that the abutment block (552) on the upper clamp (510) on the a2 side contacts the vessel edge (210) and pushes the vessel edge (210) downward, so that the vessel edge (210) tilts and contacts the upper clamp (510) on the a1 side; S2. Control c1 to inflate and expand to the maximum state and maintain it through the driving mechanism (600), so that the lower clamp (522) on the a1 side clamps one end of the vessel edge (210), and control d2 to evacuate to the minimum expansion state and maintain it, so that the abutting block (552) on the a2 side is retracted into the upper clamp (510) on the a2 side; S3. Control a2 to evacuate to the same expansion state as a1 through the driving mechanism (600), so that the two upper clamps (510) are at the same height, then control b1 and b2 to evacuate to the minimum expansion state and maintain it, so that the two upper clamps (510) rotate to the horizontal state and lift, so that the vessel edge (210) rotates to the horizontal state and contacts the upper clamp (510) on the a2 side, and then control c2 to inflate and expand to the maximum state and maintain it to clamp the other end of the vessel edge (210); S4. Control a1 and a2 to evacuate synchronously through the driving mechanism (600), so that the two upper clamps (510) rise synchronously to take out the glassware (200).

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