Bottle gripping robot

Abstract

The application belongs to the technical field of robots, and particularly relates to a bottle grabbing robot, which comprises a fixed support and two mechanical hand assemblies; the two mechanical hand assemblies are connected with the fixed support through moving plate cars respectively; the mechanical hand assembly comprises a mechanical arm, an anti-collision assembly and a clamping device; the anti-collision assembly comprises a fixed cylinder, a movable cylinder and an anti-collision ring; the fixed cylinder is fixedly connected with a moving platform of the mechanical arm, the movable cylinder is slidably connected with the fixed cylinder and is provided with a first spring; the movable cylinder and the fixed cylinder are both fixed with electrode rings on opposite end faces; the anti-collision ring is sleeved outside the movable cylinder; the anti-collision ring is fixedly connected with a pushing cone ring, and the movable cylinder is provided with an outer taper surface matched with the pushing cone ring. When the distance between the two mechanical hand assemblies is abnormal, the anti-collision ring is extruded to trigger the movable cylinder to move upwards, so that the two electrode rings are in contact and conduction, and the driving motor of the moving plate car is started to move and avoid, so that mechanical interference can be eliminated and serious collision accidents can be avoided.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of robots, and particularly relates to a bottle grabbing robot. BACKGROUND

[0002] In the production process of cosmetic glass bottles, two rows of cosmetic bottles on a conveying belt need to be transferred to an annealing furnace mesh belt. The prior art generally uses two parallel robots to cooperate with a grabbing mechanism to complete the work: a mechanical arm is provided with a gripper at the end, and the bottles are carried by grabbing the outer edge of the bottle mouth.

[0003] When the two rows of cosmetic bottles are too close due to misplacement, physical collision of the mechanical arms or the grippers is prone to occur during synchronous operation of the two robots, which may cause shutdown, damage to the equipment, or even bottle breakage. The existing system lacks a real-time anti-collision mechanism and can only rely on a preset safety distance for passive avoidance, and cannot dynamically respond to sudden spacing abnormalities.

[0004] The conventional gripper only relies on the extrusion of a clamping block on the outer edge of the bottle mouth to achieve fixation. Due to the smoothness of the curved surface of the bottle mouth and the existence of tolerances in the size, slipping or falling off is prone to occur during clamping; especially during carrying, the grabbing force is further weakened, which may cause the bottles to fall or deviate, affecting the continuity of production.

[0005] In addition, the driven arm of the existing parallel robot is usually provided with a double-spring structure to maintain rigidity, but the upper and lower springs need to be independently adjusted for tightness, which is complicated to operate and difficult to ensure the consistency of the tension, and is prone to cause the end of the mechanical arm to shake, thereby aggravating the instability of grabbing. SUMMARY

[0006] In view of the above technical problems, the present application provides a bottle grabbing robot which can avoid collision during operation and prevent the bottle mouth from being grabbed insecurely.

[0007] To solve the above technical problems, the technical scheme adopted by the present application is as follows:

[0008] A bottle grabbing robot comprises a fixed support and two mechanical hand assemblies; the two mechanical hand assemblies are connected with the fixed support through a moving plate car; the mechanical hand assembly comprises a mechanical arm, an anti-collision assembly and a clamping device;

[0009] The anti-collision assembly comprises a fixed cylinder, a movable cylinder and an anti-collision ring; the fixed cylinder is fixedly connected with the moving platform of the mechanical arm, the movable cylinder is slidingly connected with the fixed cylinder and is provided with a first spring; the opposite end faces of the movable cylinder and the fixed cylinder are both fixedly provided with an electrode ring; when the two electrode rings are in contact, the mechanical hand assembly is driven to move by the moving plate car; the lower end of the fixed cylinder is fixedly provided with a limiting ring, and the anti-collision ring is sleeved outside the movable cylinder; the anti-collision ring is fixedly connected with a pushing cone ring, and the movable cylinder is provided with an outer conical surface matched with the pushing cone ring;

[0010] The clamping device comprises a mounting seat and a driving cylinder, the mounting seat is fixedly connected with the lower end of the limiting ring, the driving cylinder is fixedly connected with the mounting seat, and the mounting seat is connected with at least two clamping blocks; at least two center plug blocks are connected with the cylinder body of the driving cylinder, and a pushing block matched with the center plug block is connected with the bottom of the piston rod of the driving cylinder.

[0011] Each clamping block is connected with the mounting seat through a connecting rod mechanism, and the piston rod of the driving cylinder is connected with the connecting rod mechanism through a driving rod.

[0012] Two locking rings are threadedly connected with the cylinder body of the driving cylinder, and an adjusting ring connected with the center plug block is arranged between the two locking rings; the center plug block is fixedly connected with the adjusting ring through an elastic rod.

[0013] The pushing block is connected with the bottom of the piston rod through a connecting rod, one end of the connecting rod is fixedly connected with the pushing block, and the other end of the connecting rod is threadedly connected with the bottom of the piston rod.

[0014] The pushing block is a conical block, and an inner conical surface matched with the conical block is arranged on the center plug block.

[0015] The mechanical arm comprises a static platform and a linkage arm, and the static platform and the moving platform are connected through three linkage arms; the static platform is connected with the moving plate vehicle; the linkage arm comprises a reduction motor, a driving arm and a pair of parallel arranged driven arms; the shell of the reduction motor is fixedly connected with the static platform, and the output shaft of the reduction motor is fixedly connected with the driving arm; the two ends of the driven arm are respectively spherically hinged with the driving arm and the moving platform; an adjusting spring assembly is arranged between the pair of driven arms.

[0016] The adjusting spring assembly comprises an upper spring assembly, an adjusting sleeve and a lower spring assembly; the upper spring assembly and the lower spring assembly are the same in structure and each comprises a second spring, a fixed ring and a supporting ring; the fixed ring is fixedly connected with one of the driven arms, and the supporting ring is fixedly connected with the other driven arm; an adjusting plate is slidably connected with the supporting ring, and the two ends of the second spring are respectively connected with the adjusting plate and the fixed ring; a push plate matched with the adjusting plate is slidably connected with the other driven arm, and the push plate drives the adjusting plate to move;

[0017] The adjusting sleeve is rotationally connected with the other driven arm; two adjusting rods are threadedly connected with the upper and lower ends of the adjusting sleeve, and the thread rotation directions of the upper and lower ends of the adjusting sleeve are opposite; the adjusting rod located at the upper end is fixedly connected with the push plate in the upper spring assembly, and the adjusting rod located at the lower end is fixedly connected with the push plate in the lower spring assembly.

[0018] A wedge-shaped hole is arranged on the adjusting plate, and a corresponding wedge-shaped block is arranged on the push plate.

[0019] The mobile cart includes a vehicle body and a drive motor. The vehicle body is slidably connected to a fixed bracket, and the housing of the drive motor is fixedly connected to the vehicle body. A drive gear is fixed on the output shaft of the drive motor, and a rack that meshes with the drive gear is provided on the fixed bracket.

[0020] Compared with the prior art, the beneficial effects of this invention are:

[0021] A collision avoidance assembly (fixed cylinder + movable cylinder + collision avoidance ring) containing electrode rings is installed on the robotic arm moving platform. When the distance between the two robotic arm components is abnormal, the collision avoidance ring is squeezed, triggering the movable cylinder to move upward, making the two electrode rings contact and conduction. The drive motor of the moving trolley is immediately activated to move and avoid collision, which can eliminate mechanical interference and avoid serious collision accidents.

[0022] The gripping device simultaneously uses the external gripping block to clamp the bottle mouth and the internal support block to support the bottle mouth, forming a two-way support from the inside and outside. The gripping force is evenly distributed, ensuring that the cosmetic bottle will not slip during the handling process.

[0023] The height of the center stopper can be flexibly adjusted via a locking ring and an adjusting ring to accommodate different bottle depths; the push block is threadedly connected to the piston rod via a connecting rod, allowing for precise adjustment of the opening stroke to match various bottle neck sizes.

[0024] The structure of the adjusting spring assembly can be adjusted by simply rotating the adjusting sleeve to simultaneously change the preload of the upper and lower second springs, thereby maintaining the same elastic force applied by the second springs at both ends of the driven boom. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0026] Figure 2 This is a cross-sectional view of the overall structure of the present invention;

[0027] Figure 3 yes Figure 2 A magnified view of a section at point A in the middle;

[0028] Figure 4 This is a schematic diagram of the structure of the robotic arm of the present invention;

[0029] Figure 5 This is a schematic diagram of the clamping device of the present invention;

[0030] Figure 6 This is a schematic diagram of the clamping device of the present invention in use;

[0031] Figure 7 This is a schematic diagram of the structure of the adjusting spring assembly of the present invention;

[0032] Figure 8 yes Figure 7 A cross-sectional view of the structure shown;

[0033] Wherein: 1 is a fixed bracket, 2 is a robotic arm assembly, 3 is a mobile trolley, 30 is the vehicle body, 31 is a drive motor, 32 is a drive gear, 4 is a robotic arm, 40 is a moving platform, 41 is a stationary platform, 42 is a linked arm, 420 is a reduction motor, 421 is the driving arm, 422 is the driven arm, 43 is an adjusting spring assembly, 44 is an upper spring assembly, 45 is a lower spring assembly, 46 is an adjusting sleeve, 47 is a second spring, 48 is a fixing ring, 49 is a support ring, 410 is an adjusting plate, 411 is a push plate, 412 is an adjusting rod, and 413 is a wedge. 414 is a wedge block, 5 is an anti-collision component, 50 is a fixed cylinder, 51 is a movable cylinder, 52 is an anti-collision ring, 53 is a first spring, 54 is an electrode ring, 55 is a limiting ring, 56 is a pushing cone ring, 57 is an outer cone surface, 6 is a clamping device, 60 is a mounting base, 61 is a drive cylinder, 62 is a clamping block, 63 is a center plug, 64 is a pushing block, 65 is a linkage mechanism, 66 is a drive rod, 67 is a locking ring, 68 is an adjusting ring, 69 is an elastic rod, 610 is a connecting rod, 611 is an inner cone surface, 7 is a rack, and 8 is a cosmetic bottle. Detailed Implementation

[0034] The technical solutions in the embodiments of the present invention will be clearly and completely described below. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0035] like Figures 1-3 As shown, a bottle-grabbing robot includes a fixed support 1 and two robotic arm assemblies 2; the two robotic arm assemblies 2 are respectively connected to the fixed support 1 via a mobile cart 3; the mobile cart 3 can drive the two robotic arm assemblies 2 to move along the fixed support 1.

[0036] The robotic arm assembly 2 includes a robotic arm 4, an anti-collision assembly 5, and a gripping device 6. The anti-collision assembly 5 is mounted on the moving platform 40 of the robotic arm 4. During the movement of the moving platform 40 of the robotic arm 4, the anti-collision assembly 5 will also move accordingly; when the anti-collision assembly 5 is collided with, it will trigger the movement of the moving trolley 3, thereby preventing the two robotic arms 4 from colliding during operation.

[0037] The anti-collision assembly 5 includes a fixed cylinder 50, a movable cylinder 51, and an anti-collision ring 52. The fixed cylinder 50 is fixedly connected to the moving platform 40, and the movable cylinder 51 is slidably connected to the fixed cylinder 50. A first spring 53 is provided between the movable cylinder 51 and the fixed cylinder 50. Electrode rings 54 are fixed on the opposite end faces of the movable cylinder 51 and the fixed cylinder 50. When no collision occurs, the two electrode rings 54 are kept at a certain distance by the first spring 53. When a collision occurs, the two electrode rings 54 will contact each other and trigger the moving trolley 3 to drive the robot arm assembly 2 to move.

[0038] Specifically, the two electrode rings 54 are connected with the driving motor 31 of the mobile plate vehicle 3 through wires, and a self-locking delay power-off circuit can be set by those skilled in the art as needed. Since the two mechanical arms 4 and the mobile plate vehicles 3 are symmetrically arranged; when the anti-collision components 5 of the two mechanical arms 4 contact and collide, the mobile plate vehicle 3 on the left side (whose driving motor 31 is powered) moves to the left, and the mobile plate vehicle 3 on the right side (whose driving motor 31 is powered) moves to the right.

[0039] A limiting ring 55 is fixed at the lower end of the fixed cylinder 50, and the anti-collision ring 52 is sleeved outside the movable cylinder 51, and there is a gap between the inner ring surface of the anti-collision ring 52 and the outer surface of the fixed cylinder 50, so that the anti-collision ring 52 has a radial movement space. The anti-collision ring 52 is fixedly connected with a push cone ring 56, and the movable cylinder 51 is provided with an outer conical surface 57 matched with the push cone ring 56. Specifically, the outer diameter of the anti-collision ring 52 is greater than the width of the clamping device 6; therefore, when a collision occurs, the anti-collision ring 52 will be collided first.

[0040] In the case where no collision occurs, the movable cylinder 51 is lowered by the pressure applied by the first spring 53, the outer conical surface 57 of the movable cylinder 51 is in contact with the inner surface of the push cone ring 56 (at this time, the fixed cylinder 50 and the anti-collision ring 52 are in a coaxial state), and the lower surface of the anti-collision ring 52 is in contact with the limiting ring 55.

[0041] When a collision occurs, the anti-collision ring 52 moves radially, and through the cooperation of the inner surface of the push cone ring 56 and the outer conical surface 57 of the movable cylinder 51, the movable cylinder 51 is moved upward, and then the two electrode rings 54 are contacted, triggering the mobile plate vehicle 3 to drive the mechanical arm assembly 2 to move. Thus, the collision of the two mechanical arms 4 and the clamping devices 6 thereon is effectively avoided, and a protection effect is achieved.

[0042] The clamping device 6 comprises a mounting seat 60 and a driving cylinder 61, and the mounting seat 60 is fixedly connected with the lower end of the limiting ring 55. The cylinder body of the driving cylinder 61 is fixedly connected with the mounting seat 60, and the mounting seat 60 is connected with at least two clamping blocks 62; the opposite or relative movement between the clamping blocks 62 is realized by the extension and retraction of the piston rod of the driving cylinder 61.

[0043] At least two center plug blocks 63 are connected with the cylinder body of the driving cylinder 61, and a push block 64 matched with the center plug blocks 63 is connected with the bottom of the piston rod of the driving cylinder 61. The distance between the center plug blocks 63 is increased by the movement of the push block 64 driven by the extension of the piston rod of the driving cylinder 61.

[0044] In the clamping process, the clamping device 6 is moved to the bottle mouth of the cosmetic bottle 8 by the mechanical arm 4, so that the bottle mouth of the cosmetic bottle 8 is located between the clamping blocks 62 and the center plug blocks 63. When the piston rod of the driving cylinder 61 is elongated, the relative movement of each clamping block 62 is achieved, and the bottle mouth outside is clamped inward; at the same time, the pushing block 64 is lowered to increase the distance between each center plug block 63 and contact with the inside of the bottle mouth. Finally, the cosmetic bottle 8 is transferred to the mesh belt of the annealing furnace by the mechanical arm 4; the piston rod of the driving cylinder 61 is retracted, the opposite movement of each clamping block 62 is achieved, the center plug block 63 is reset, and then the cosmetic bottle 8 is released.

[0045] Further, as shown in Figures 3 to 6 each clamping block 62 is connected to the mounting seat 60 through a connecting rod mechanism 65, and the piston rod of the driving cylinder 61 is connected to the connecting rod mechanism 65 through a driving rod 66. The connecting rod mechanism 65 is specifically composed of two parallel connecting rods, the two ends of the connecting rod are respectively hinged to the mounting seat 60 and the clamping block 62; one end of the driving rod 66 is hinged to one of the connecting rods, and the other end of the driving rod 66 is hinged to the piston rod.

[0046] The cylinder body of the driving cylinder 61 is threadedly connected with two locking rings 67, and an adjusting ring 68 connected with the center plug block 63 is arranged between the two locking rings 67. The center plug block 63 is fixedly connected with the adjusting ring 68 through an elastic rod 69; preferably, each center plug block 63 is connected with two elastic rods 69.

[0047] Through the structural arrangement of the locking ring 67, the height of the center plug block 63 can be adjusted as needed. When adjustment is needed, the two locking rings 67 are rotated to increase the distance between the two locking rings 67; then the height of the center plug block 63 is adjusted, and during the height adjustment process, the center plug block 63 will drive the adjusting ring 68 to move through the elastic rod 69. After the height is adjusted, the two locking rings 67 are respectively rotated in the opposite direction to shorten the distance between the two locking rings 67, and then the position of the adjusting ring 68 is clamped and fixed.

[0048] The structure of the elastic rod 69 can realize the reset of the center plug block 63; when the piston rod drives the pushing block 64 to move downward to increase the distance between each center plug block 63, the elastic rod 69 is bent and deformed to generate elastic potential energy; when the piston rod drives the pushing block 64 to move upward, the elastic rod 69 releases the elastic potential energy to reset the center plug block 63.

[0049] The pushing block 64 is connected with the bottom of the piston rod through a connecting rod 610, one end of the connecting rod 610 is fixedly connected with the pushing block 64, and the other end of the connecting rod 610 is threadedly connected with the bottom of the piston rod. In the threaded connection mode, the height of the pushing block 64 can be adjusted as required. Specifically, the pushing block 64 is moved upward by tightening the connecting rod 610 to shorten the extension length of the connecting rod 610, and the pushing block 64 is moved downward by loosening the connecting rod 610 to increase the extension length of the connecting rod 610.

[0050] The change of the height of the pushing block 64 can change the initial contact position of the pushing block 64 and the center plug block 63, and further change the distance between the center plug blocks 63 after the pushing block 64 is moved to the position.

[0051] The pushing block 64 is a conical block, and the center plug block 63 is provided with an inner conical surface 611 matched with the conical block. When the pushing block 64 is moved downward, the outer surface of the conical block is matched with the inner conical surface 611 of the center plug block 63, so that each center plug block 63 moves outward, and the distance between each center plug block 63 is increased.

[0052] Further, the mechanical arm 4 can specifically adopt the structure of a parallel mechanical arm commonly used in the prior art; as shown in Figure 4 , it includes a static platform 41 and a linkage arm 42, and the static platform 41 is connected between the static platform 41 and the moving plate vehicle 3 through three linkage arms 42.

[0053] The linkage arm 42 includes a reduction motor 420, a driving arm 421 and a pair of parallel arranged driven arms 422; the shell of the reduction motor 420 is fixedly connected with the static platform 41, and the output shaft of the reduction motor 420 is fixedly connected with the driving arm 421; the two ends of the driven arm 422 are respectively ball-hinged with the driving arm 421 and the moving platform 40; and an adjusting spring assembly 43 is arranged between the pair of driven arms 422. The adjusting spring assembly 43 can adjust the tightness of the upper and lower two springs (the second spring 47 described below) arranged between the pair of driven arms 422, so as to avoid loosening between the driven arms 422.

[0054] In order to solve the problem that the common spring adjusting assembly needs to be adjusted respectively in the adjusting process, which is inconvenient and cannot guarantee the consistency of the adjustment of the upper and lower two springs (the second spring 47 described below), as shown in Figure 4 , Figure 7 and Figure 8 , the adjusting spring assembly 43 includes an upper spring assembly 44, an adjusting sleeve 46 and a lower spring assembly 45. The upper spring assembly 44 is arranged at the upper part of the pair of driven arms 422, and the lower spring assembly 45 is arranged at the lower part of the pair of driven arms 422.

[0055] The upper spring assembly 44 and the lower spring assembly 45 are identical in structure, and each comprises a second spring 47, a fixing ring 48 and a supporting ring 49; the second spring 47 is specifically a tension spring. The fixing ring 48 is fixedly connected with one of the driven arms 422, and the supporting ring 49 is fixedly connected with the other driven arm 422; the supporting ring 49 is slidably connected with an adjusting plate 410. The two ends of the second spring 47 are connected with the adjusting plate 410 and the fixing ring 48 respectively; the other driven arm 422 is slidably connected with a push plate 411 which cooperates with the adjusting plate 410, and the adjusting plate 410 is driven to move radially along the supporting ring 49 through the push plate 411. When the adjusting plate 410 moves radially, the second spring 47 can be lengthened or shortened.

[0056] The adjusting sleeve 46 is rotatably connected with the other driven arm 422, and the adjusting sleeve 46 can only rotate but cannot move axially. The upper and lower ends of the adjusting sleeve 46 are threadedly connected with two adjusting rods 412, and the screw directions of the threads on the upper and lower ends of the adjusting sleeve 46 are opposite; the adjusting rod 412 located at the upper end is fixedly connected with the push plate 411 in the upper spring assembly 44, and the adjusting rod 412 located at the lower end is fixedly connected with the push plate 411 in the lower spring assembly 45.

[0057] When the adjusting sleeve 46 is rotated, the two adjusting rods 412 can move towards or away from each other, thereby driving the push plate 411 to move and causing the adjusting plate 410 to move radially. Specifically, the adjusting plate 410 is provided with a wedge-shaped hole 413, and the push plate 411 is provided with a corresponding wedge-shaped block 414. When it is needed to increase the elastic force of the second spring 47, the adjusting sleeve 46 is rotated to move the two adjusting rods 412 away from each other, the push plate 411 is driven to move outward through the cooperation of the wedge-shaped block 414 and the wedge-shaped hole 413, and the second spring 47 in the upper spring assembly 44 and the lower spring assembly 45 is lengthened to increase the elastic force. Conversely, when it is needed to decrease the elastic force of the second spring 47, the adjusting sleeve 46 is rotated in the opposite direction to move the two adjusting rods 412 towards each other, the adjusting plate 410 moves inward through the cooperation of the wedge-shaped block 414 and the wedge-shaped hole 413 and under the action of the second spring 47, and the second spring 47 in the upper spring assembly 44 and the lower spring assembly 45 is shortened to decrease the elastic force.

[0058] Through the above structure, the adjustment of the elastic force of the second spring 47 in the upper spring assembly 44 and the lower spring assembly 45 can be realized only by rotating the adjusting sleeve 46; and since the two adjusting rods 412 move synchronously, the elastic forces of the second springs 47 in the upper spring assembly 44 and the lower spring assembly 45 are basically consistent.

[0059] Further, as shown in FIG. 2, the adjusting plate 410 is provided with a plurality of through holes 415, and the push plate 411 is provided with a plurality of corresponding protrusions 416. When the adjusting plate 410 moves radially, the protrusions 416 on the push plate 411 can pass through the through holes 415 on the adjusting plate 410, thereby preventing the adjusting plate 410 from rotating. Figure 1As shown, the mobile plate vehicle 3 comprises a vehicle body 30 and a driving motor 31, the vehicle body 30 is in sliding connection with the fixed support 1. The static platform 41 is fixedly connected with the vehicle body 30. The shell of the driving motor 31 is fixedly connected with the vehicle body 30; the output shaft of the driving motor 31 is fixed with a driving gear 32, and the fixed support 1 is provided with a rack 7 in engagement with the driving gear 32. When the driving motor 31 is powered, the output shaft drives the driving gear 32 to rotate, and through the engagement between the driving gear 32 and the rack 7, the movement of the vehicle body 30 along the fixed support 1 is realized.

[0060] The above is only a detailed description of the preferred embodiments of the present application, but the present application is not limited to the above embodiments.

Claims

1. A bottle grabbing robot, characterized by: Including fixed support (1) and two mechanical hand subassembly (2), two mechanical hand subassembly (2) is connected with fixed support (1) through moving plate car (3) respectively, mechanical hand subassembly (2) includes mechanical arm (4), anti-collision subassembly (5) and clamping device (6), Anti-collision subassembly (5) includes fixed cylinder (50), movable cylinder (51) and anti-collision ring (52), fixed cylinder (50) is fixedly connected with the moving platform (40) of mechanical arm (4), the upper end of fixed cylinder (50) is equipped with the protrusion, movable cylinder (51) is connected between fixed cylinder (50) and the protrusion, and first spring (53) is arranged between movable cylinder (51) and the protrusion, the opposite end faces of movable cylinder (51) and the protrusion are fixed with electrode ring (54), when two electrode rings (54) contact, mechanical hand subassembly (2) is driven to move through moving plate car (3), the lower end of fixed cylinder (50) is fixed with limit ring (55), anti-collision ring (52) is sleeved outside movable cylinder (51), push cone ring (56) is fixedly connected on anti-collision ring (52), and outer taper surface (57) is arranged on movable cylinder (51) and matched with push cone ring (56), Clamping device (6) includes mounting seat (60) and drive cylinder (61), mounting seat (60) is fixedly connected with the lower end of limit ring (55), drive cylinder (61) is fixedly connected with mounting seat (60), and mounting seat (60) is connected with at least two clamping blocks (62), at least two center plug blocks (63) are connected on the cylinder body of drive cylinder (61), and push block (64) is connected with center plug block (63) on the bottom of the piston rod of drive cylinder (61).

2. The bottle grabbing robot according to claim 1, characterized in that: Each clamping block (62) is connected with mounting seat (60) through connecting rod mechanism (65), and the piston rod of drive cylinder (61) is connected with connecting rod mechanism (65) through drive rod (66).

3. The bottle grabbing robot according to claim 2, characterized in that: The cylinder body of drive cylinder (61) is screw-connected with two locking rings (67), and adjusting ring (68) connected with center plug block (63) is arranged between two locking rings (67), center plug block (63) is fixedly connected with adjusting ring (68) through elastic rod (69).

4. The bottle grabbing robot according to claim 2, characterized in that: Push block (64) is connected with the bottom of the piston rod through connecting rod (610), one end of connecting rod (610) is fixedly connected with push block (64), and the other end of connecting rod (610) is screw-connected with the bottom of the piston rod.

5. The bottle grabbing robot according to claim 2, characterized in that: The push block (64) is a conical block, and the inner taper surface (611) matched with the conical block is arranged on the center plug block (63).

6. The bottle grabbing robot according to claim 1, characterized in that: The mechanical arm (4) comprises a static platform (41) and a linkage arm (42), the static platform (41) is connected with the moving platform (40) through three linkage arms (42); the static platform (41) is connected with the moving plate vehicle (3); the linkage arm (42) comprises a reduction motor (420), a driving arm (421) and a pair of parallel arranged driven arms (422); the shell of the reduction motor (420) is fixedly connected with the static platform (41), the output shaft of the reduction motor (420) is fixedly connected with the driving arm (421); the two ends of the driven arm (422) are respectively spherically hinged with the driving arm (421) and the moving platform (40); an adjusting spring assembly (43) is arranged between the pair of driven arms (422).

7. The bottle grabbing robot according to claim 6, characterized in that: The adjusting spring assembly (43) comprises an upper spring assembly (44), an adjusting sleeve (46) and a lower spring assembly (45); the upper spring assembly (44) and the lower spring assembly (45) are the same in structure and both comprise a second spring (47), a fixed ring (48) and a supporting ring (49); the fixed ring (48) is fixedly connected with one of the driven arms (422), and the supporting ring (49) is fixedly connected with the other driven arm (422); the supporting ring (49) is slidably connected with an adjusting plate (410), and the two ends of the second spring (47) are connected with the adjusting plate (410) and the fixed ring (48) respectively; the other driven arm (422) is slidably connected with a push plate (411) matched with the adjusting plate (410), and the push plate (411) drives the adjusting plate (410) to move; The adjusting sleeve (46) is rotatably connected with the other driven arm (422); the upper and lower ends of the adjusting sleeve (46) are threadedly connected with two adjusting rods (412), and the threads of the upper and lower ends of the adjusting sleeve (46) are opposite in direction; the adjusting rod (412) located at the upper end is fixedly connected with the push plate (411) in the upper spring assembly (44), and the adjusting rod (412) located at the lower end is fixedly connected with the push plate (411) in the lower spring assembly (45).

8. The bottle grabbing robot according to claim 7, characterized in that: The adjusting plate (410) is provided with a wedge-shaped hole (413), and the push plate (411) is provided with a corresponding wedge-shaped block (414).

9. The bottle grabbing robot according to claim 1, characterized in that: The moving plate vehicle (3) comprises a vehicle body (30) and a driving motor (31), the vehicle body (30) is slidably connected with the fixed support (1), and the shell of the driving motor (31) is fixedly connected with the vehicle body (30); the output shaft of the driving motor (31) is fixedly connected with a driving gear (32), and the fixed support (1) is provided with a rack (7) engaged with the driving gear (32).

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