CN211806129U

CN211806129U - Cylindrical glass product mechanical clamping arm with two-degree-of-freedom adjustment

Info

Publication number: CN211806129U
Application number: CN201922252974.XU
Authority: CN
Inventors: 陈旺
Original assignee: Guangdong Pfannenberg Technology Co ltd
Current assignee: Guangdong Pfannenberg Technology Co ltd
Priority date: 2019-12-12
Filing date: 2019-12-12
Publication date: 2020-10-30
Anticipated expiration: 2029-12-12

Abstract

The utility model provides a cylindrical mechanical clamping arm for glass products, which is adjusted by two degrees of freedom and comprises a driving motor, a motor fixing plate, an action arm and a glass bottle clamp; the driving motors comprise a front driving arm driving motor and a rear driving arm driving motor which respectively drive a front action arm and a rear action arm connected with the glass bottle clamp, a specific track is obtained by the mutual matching of the quadrilateral action arms, and different glass bottle clamp movement tracks can be designed by adjusting the running speed, the angle and the relative position of the two action arms so as to adapt to different production lines; in addition, the swing and the clamping of the glass bottle clamp are controlled through the servo motor and the gear transmission, so that the clamping time point, the opening angle and the position of the glass bottle clamp can be freely controlled, and the glass bottle clamp is suitable for cylindrical glass products such as glass bottles, cups and the like with different specifications. The utility model provides a mechanical arm lock has the advantage of the cylindric glassware that the orbit is adjustable, control is accurate and be suitable for multiple specification.

Description

Cylindrical glass product mechanical clamping arm with two-degree-of-freedom adjustment

Technical Field

The utility model belongs to automatic cylindric glassware production facility field especially relates to a cylindric glassware's of two degrees of freedom regulation mechanical arm lock, still relates to a mechanical arm lock's control method.

Background

At present, the production of glass bottles tends to have large output, rich and various appearance designs and the like, so that the bottle clamping mechanism and the action requirement of the mechanical arm are designed towards the direction of flexibility and high speed, and the mechanical arm is required to be suitable for the shapes of different bottle bodies. In addition, the current production trend has certain technical requirements on equipment productivity, repeated positioning precision, flexible setting of starting positions of upper bottles and lower bottles and the like.

However, in the prior art, the mechanical arm mostly adopts a cylinder or a hydraulic driving mechanical arm, the cylinder and the hydraulic driving are not accurate, and the position positioning and the speed control cannot meet the requirements of high speed and large yield (such as 300/min). Meanwhile, the mechanical arm in the prior art can only clamp one glass bottle, the length and the running track of the mechanical arm need to be designed in advance according to a production line, the mechanical arm cannot be adjusted at will after being manufactured and molded, and mechanical parts can only be redesigned and replaced if the mechanical arm needs to be adjusted.

In addition, the existing glass bottle clamp only can clamp a bottle body with a certain specific diameter by circularly controlling the opening and closing time point and the opening angle position through a cam mechanism, and the opening angle and the opening and closing time point of the clamp of the bottle body cannot be adjusted according to the diameter of the bottle body, the concave-convex curve, the oval profile and other shapes of the bottle body. If glass bottles of other shapes need to be clamped, the curved profile of the cam mechanism needs to be redesigned.

SUMMERY OF THE UTILITY MODEL

Based on the problems in the prior art, the utility model provides a mechanical clamping arm for cylindrical glass products with two degrees of freedom adjustment, which comprises a driving motor, a motor fixing plate, an action arm and a glass bottle clamp; the driving motors comprise a front driving arm driving motor and a rear driving arm driving motor which are respectively connected with a front action arm and a rear action arm of the glass bottle clamp in a driving mode, specific tracks are obtained through the mutual matching of the quadrilateral action arms, and various glass bottle clamp movement tracks can be designed by adjusting the running speed, the angle and the relative position of the two action arms so as to adapt to the design requirements of different production line height differences and different spacing distances; in addition, the glass bottle clamp can rotate through the servo motor and the gear and can swing and clamp through the connecting rod in a driving mode, the advantages that the speed and the position can be accurately controlled through the servo motor are utilized, the clamping time point, the opening angle and the position of the glass bottle clamp can be freely controlled, and the glass bottle clamp is suitable for cylindrical glass products such as glass bottles, cups and the like with different specifications. The utility model provides a mechanical arm lock has the advantage of the cylindric glassware that the orbit is adjustable, control is accurate and be suitable for multiple specification.

The utility model discloses a following detailed technical scheme reaches above-mentioned purpose:

a mechanical clamping arm of a cylindrical glass product with two degrees of freedom for adjustment comprises a driving motor, a motor fixing plate, an action arm and a glass bottle clamp; the driving motor comprises a front driving arm driving motor and a rear driving arm driving motor, and the driving motors are fixedly arranged on the motor fixing plate and are respectively connected to the front driving arm and the rear driving arm in a driving mode; the action arm comprises a front driving arm, a front driven arm, a rear driving arm and a rear driven arm, one end of the front driving arm is connected to a front driving arm driving motor in a transmission mode, and the other end of the front driving arm is connected to the front driven arm in a rotating mode through a rotating shaft; one end of the rear driving arm is connected to a rear driving arm driving motor in a transmission manner, the other end of the rear driving arm is connected to a rear driven arm in a rotating manner through a rotating shaft, and the ends, far away from the driving arm, of the front driven arm and the rear driven arm are mutually connected in a rotating manner through the rotating shaft; the top of the glass bottle clamp is connected to the joint of the two driven arms in a transmission way.

The driving motor also comprises a clamping motor, a swinging motor, a plurality of connecting rods and a V-shaped connecting rod connecting plate; the connecting rod connecting plate is provided with two connecting rods, V-shaped turning points of the two connecting rod connecting plates are mutually parallel and rotatably connected to the intersection of the front driving arm and the front driven arm through rotating shafts, and the two connecting rod connecting plates, the front driving arm and the front driven arm are coaxially connected; the clamping motor is fixedly arranged on the motor fixing plate and is in transmission connection with one end of a first connecting rod through a large gear and a sector gear which are meshed with each other, the other end of the first connecting rod is in transmission connection with one end of a first connecting rod connecting plate, the other end of the first connecting rod connecting plate is in transmission connection with one end of a second connecting rod, and the other end of the second connecting rod is in transmission connection with the glass bottle clamp and drives the glass bottle clamp to loosen and clamp; the swing motor is fixedly installed on the motor fixing plate and is connected to one end of the third connecting rod in a transmission mode, the other end of the third connecting rod is connected to one end of the second connecting rod connecting plate in a transmission mode, the other end of the second connecting rod connecting plate is connected to one end of the fourth connecting rod in a transmission mode, and the other end of the fourth connecting rod is connected to the glass bottle clamp in a transmission mode and drives the glass bottle clamp to rotate.

The glass bottle clamp comprises a fixed frame and two half-side clamps, the top of the fixed frame is coaxially and rotatably connected to the joint of the front driven arm and the rear driven arm through a rotating shaft, the joint of the top of the fixed frame and the rotating shaft extends outwards to form an integrally-formed stirring sheet, and the stirring sheet is rotatably connected to one end, away from the second connecting rod connecting plate, of the fourth connecting rod through a bearing; the two half clamps are respectively linked in bilateral symmetry and are respectively arranged at two sides of the fixed frame through rotating shafts to form a complete bottle clamp.

The two swing toothed plates are respectively and symmetrically arranged on the two sides of the fixing frame in a front-back mode and rotatably arranged on the fixing frame through a bottle clamp clamping shaft; the clamping block adjusting strip is connected to the non-meshing ends of the two swing tooth plates; the clamping block adjusting strip is provided with a plurality of adjusting sliding grooves along the length direction of the clamping block adjusting strip, the clamping block is at least provided with two clamping blocks and is connected below the clamping block adjusting strip in a sliding mode through the adjusting sliding grooves, and the whole half clamp is connected with the frame of the fixing frame through a bottle clamp clamping shaft on the swing toothed plate, so that the two half clamps can rotate around the respective bottle clamp clamping shafts; one of them swing pinion rack of one of them half limit clamp in two half limit clamps is provided with the poker rod that extends along swing pinion rack length direction, the poker rod be connected to the poker through joint bearing pole and be connected to the one end that the first connecting rod connecting plate is kept away from to the second connecting rod.

The glass bottle clamp further comprises a spacing clamp, the spacing clamp comprises a connecting frame, a clamping block adjusting strip and a middle spacing block, the connecting frame is fixed to the bottom of the fixing frame between the two half clamps, the clamping block adjusting strip is fixedly installed at the bottom of the connecting frame, the middle spacing block is connected to the lower portion of the clamping block adjusting strip in a sliding mode through an adjusting sliding groove, the position of the middle spacing block can be adjusted in a sliding mode according to the length of the glass bottle, therefore, the glass bottle clamp is suitable for glass bottles with different lengths, and the middle spacing block can be fixed by means of conventional means such as bolts or clamping and the like.

The driving motor is a servo motor, the driving motor is fixedly mounted on the motor fixing plate through a flange, the power output end penetrates through the motor fixing plate and extends to the other surface of the motor fixing plate, and the front driving arm driving motor and the rear driving arm driving motor are respectively connected to the front driving arm and the rear driving arm in a transmission mode through planetary gear reducers.

The power output ends of the clamping motor and the swing motor are respectively provided with a transmission gear, the transmission gears of the two motors are respectively meshed with two sector gears which are coaxially connected, the circle centers of the two sector gears are coaxially and rotatably connected onto a motor fixing plate through a same rotating shaft, and the edges of the circumferences of the two sector gears, which are close to the first connecting rod and the third connecting rod, are respectively rotatably connected with one ends of the first connecting rod and the third connecting rod.

A control method of a mechanical arm capable of adjusting a motion trail comprises the steps that firstly, four action arms are mutually connected in an end-to-end rotating mode to form a quadrilateral mechanical arm, then two power sources working independently are respectively installed at the end portions of two driving arms, an action end of the mechanical arm is arranged at one end where two driven arms are connected, finally, the power sources respectively output rotary power with different speeds to the two independent action arms to drive the action arms to make different rotation angles and speed combination rules, and therefore the quadrilateral which is continuously deformed drives the action end of the mechanical arm to carry out different motion trails.

The utility model discloses beneficial effect who has:

1. the deformable quadrilateral mechanical arm is formed by four action arms, different powers are independently output to the two action arms, the quadrilateral is driven to deform, the positions of the two power sources are relatively fixed, the deformation of the quadrilateral can drive the other three vertexes to displace, the power parameters output to two ends by the two independent power sources can be calculated by combining the actual track demand with the deformation characteristic of the quadrilateral, and therefore a specific track is designed. The motion trail of the motion end can be changed by adjusting the output parameters of the power, so that the adjustment and modification of the motion trail are more convenient, the adaptability of the whole mechanical arm is stronger, the corresponding adjustment can be made according to different production lines, redesign is not needed, and a new mechanical arm is modified and manufactured.

2. Because the servo motor can ensure that the control speed and the position precision are very accurate, the repetitive accuracy of the motion track of the mechanical arm is better and the precision is higher by utilizing the drive of the servo motor. And the servo motor is matched with the gear transmission and the connecting rod transmission to ensure that the control of the whole mechanical arm is more accurate and free, the instability of the driving of the cylinder and the oil cylinder of the traditional mechanical arm and the non-adjustability of the cam control clamping are avoided, and the mechanical arm can adapt to glass bottles with different specifications and has higher running speed.

Drawings

Fig. 1 is a schematic perspective view of a mechanical gripper arm for a two-degree-of-freedom adjustable cylindrical glassware.

Fig. 2 is a schematic perspective view of another angle of the mechanical gripper arm of a two-degree-of-freedom adjustable cylindrical glassware.

Fig. 3 is an enlarged perspective view of a motor fixing plate of the robot arm.

Fig. 4 is an enlarged perspective view of the robot arm at the joint plate.

FIG. 5 is an enlarged perspective view of the robot arm at the glass bottle clamp.

FIG. 6 is an enlarged perspective view of the robot arm at another angle to the glass bottle clamp.

Fig. 7 is an enlarged perspective view of the glass bottle clamp paddle of the robot arm, and a part of the blocking structure is omitted to show the paddle.

Fig. 8 is an enlarged perspective view of the glass bottle clamp lever of the robot arm, and a part of the blocking structure is omitted to show the lever.

Fig. 9 is an enlarged perspective view of the bottle gripper shaft of the glass bottle gripper of the robot arm, and a part of the stopper structure is omitted to show the bottle gripper shaft.

Fig. 10 is a schematic view of a two-degree-of-freedom adjustable cylindrical glassware gripper arm in inverted orientation for transport.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second", "third" and "fourth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", "third" and "fourth" may explicitly or implicitly include one or more of the features. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

The mechanical clamping arm for cylindrical glass products with two-degree-of-freedom adjustment shown in the attached drawings 1-9 comprises a driving motor, a motor fixing plate 2, an action arm and glass bottle clamp 4, four connecting rods 5 and a V-shaped connecting rod connecting plate 6; the driving motors comprise a front driving arm driving motor 11, a rear driving arm driving motor 12, a clamping motor 14 and a swinging motor 13, and are fixedly arranged on the motor fixing plate 2 and are respectively connected to the front driving arm 31 and the rear driving arm 32 in a driving manner; the action arm comprises a front driving arm 31, a front driven arm 33, a rear driving arm 32 and a rear driven arm 34, one end of the front driving arm 31 is connected to the front driving arm driving motor 11 in a transmission way, and the other end of the front driving arm 31 is connected to the front driven arm 33 in a rotating way through a rotating shaft and a bearing; one end of the rear driving arm 32 is connected to the rear driving arm driving motor 12 in a transmission manner, the other end of the rear driving arm is connected to the rear driven arm 34 in a rotating manner through a rotating shaft and a bearing, and the ends, far away from the driving arm, of the front driven arm 33 and the rear driven arm 34 are mutually connected with the bearing in a rotating manner through the rotating shaft; the top of the glass bottle clamp 4 is rotatably connected to the joint of the two driven arms through a bearing; the connecting rod connecting plate 6 is provided with two connecting rods, the V-shaped turning points of the two connecting rod connecting plates 6 are mutually parallel and rotatably connected to the intersection of the front driving arm 31 and the front driven arm 33 through rotating shafts, and the two connecting rod connecting plates 6, the front driving arm 31 and the front driven arm 33 are coaxially connected; the clamping motor 14 is fixedly arranged on the motor fixing plate 2 and is connected to one end of the first connecting rod 5 through gear transmission, the other end of the first connecting rod 5 is connected to one end of the first connecting rod connecting plate 6 in a transmission manner, the other end of the first connecting rod connecting plate 6 is connected to one end of the second connecting rod 5 in a transmission manner, and the other end of the second connecting rod 5 is connected to the glass bottle clamp 4 in a transmission manner and drives the glass bottle clamp 4 to loosen and clamp; the swing motor 13 is fixedly arranged on the motor fixing plate 2 and is connected to one end of the third connecting rod 5 in a transmission mode, the other end of the third connecting rod 5 is connected to one end of the second connecting rod connecting plate 6 in a transmission mode, the other end of the second connecting rod connecting plate 6 is connected to one end of the fourth connecting rod 5 in a transmission mode, the other end of the fourth connecting rod 5 is connected to the glass bottle clamp 4 in a transmission mode and drives the glass bottle clamp 4 to rotate, and cylindrical glass products such as glass bottles and cups can be placed horizontally or vertically through rotation of the glass bottle clamp.

As a preferred embodiment, the glass bottle clamp 4 comprises a fixed frame 41 and two half clamps 42, the top of the fixed frame 41 is coaxially and rotatably connected to the joint of the front driven arm 33 and the rear driven arm 34 through a rotating shaft, the joint of the top of the fixed frame 41 and the rotating shaft extends outwards to form an integrally-formed toggle piece 421, and the toggle piece 421 is rotatably connected to one end of the fourth connecting rod 5 away from the second connecting rod connecting plate 6 through a bearing; two half clamps 42 bilateral symmetry links respectively and install respectively in mount 41 both sides through the rotation axis and form complete bottle and press from both sides, swing motor 13 drives the sector gear 7 round trip rotation in certain angle rather than the meshing through the drive gear of output, sector gear 7's rotation drives third connecting rod 5 back-and-forth movement, thereby drive second connecting rod connecting plate 6 round trip rotation, then drive fourth connecting rod 5 and reciprocate, reciprocating of fourth connecting rod 5 drives stirring piece 421 swing back and forth, because stirring piece 421 and mount 41 integrated into one piece just rotate through the pivot and be connected to the action arm, can drive the bottle clamp and revolve the axle rotation when stirring piece 421 swings.

As a preferred embodiment, the half clamps 42 comprise two oscillating tooth plates 422, two clamping block adjusting strips 423 and two clamping blocks 424, the two oscillating tooth plates 422 are respectively and symmetrically installed at two sides of the fixed frame 41 in a front-back manner and rotatably installed on the fixed frame 41 through a bottle clamp clamping shaft 427, and when the two half clamps 42 are combined into a complete bottle clamp, the two oscillating tooth plates 422 of one half clamp 42 are respectively engaged with the two oscillating tooth plates 422 of the other half clamp 42; the clamping block adjusting strips 423 are connected to the non-meshing ends of the two oscillating tooth plates 422; the clamping block adjusting strip 423 is provided with a plurality of adjusting sliding grooves 425 along the length direction of the clamping block adjusting strip 423, the clamping blocks 424 are at least two and are connected below the clamping block adjusting strip 423 in a sliding manner through the adjusting sliding grooves 425, and the whole half-edge clamp 42 is connected with the frame of the fixed frame 41 through a bottle clamp clamping shaft 427 on the swinging toothed plate 422, so that the two half-edge clamps 42 can rotate around the respective bottle clamp clamping shafts 427; one of the oscillating tooth plates 422 of one of the two half clamps 42 is provided with a tap lever 426 extending along the length of the oscillating tooth plate 422, the poke rod 426 is connected to the poke sheet through a joint bearing rod and is connected to one end of the second connecting rod 5 far away from the first connecting rod connecting plate 6, the clamping motor 14 is driven by a transmission gear at the output end to rotate back and forth in a certain angle with a sector gear 7 meshed with the clamping motor, the rotation of the sector gear 7 drives the first connecting rod 5 to move back and forth, thereby driving the first connecting rod 6 to rotate back and forth and then driving the second connecting rod 5 to move up and down, the up and down movement of the second connecting rod 5 drives the poke rod 426 to swing up and down through the poke piece and the joint bearing rod, because the poke rod 426 and the swing toothed plate 422 are integrally formed, the oscillating tooth plate 422 also oscillates up and down to cause the entire bottle gripper to be gripped and released in conjunction with the other oscillating tooth plate 422 engaged therewith.

In a preferred embodiment, the glass bottle clamp 4 further comprises a spacer clamp 43, the spacer clamp 43 comprises a connecting frame 431, a clamping block adjusting strip 423 and a middle spacer block 432, the connecting frame 431 is fixed to the bottom of the fixing frame 41 between the two half clamps, the clamping block adjusting strip 423 is fixedly installed on the bottom of the connecting frame 431, and the middle spacer block 432 is slidably connected to the position below the clamping block adjusting strip 423 through an adjusting sliding groove 425.

As a preferred embodiment, the driving motor is a servo motor, the driving motor is fixedly mounted on the motor fixing plate 2 through a flange, a power output end penetrates through the motor fixing plate 2 and extends to the other surface of the motor fixing plate 2, and the front driving arm driving motor 11 and the rear driving arm driving motor 12 are respectively connected to the front driving arm 31 and the rear driving arm 32 through planetary gear reducers in a transmission manner.

As a preferred embodiment, the power output ends of the clamping motor 14 and the swing motor 13 are both provided with a transmission gear, the transmission gears of the two motors are respectively meshed with the two coaxially connected sector gears 7, the circle centers of the two sector gears 7 are coaxially and rotatably connected to the motor fixing plate 2 through the same rotating shaft, and the two sector gears 7 are respectively and rotatably connected with one ends of the first connecting rod 5 and the third connecting rod 5 near the circumferential edges of the first connecting rod 5 and the third connecting rod 5. In this embodiment, in order to make the best use of space, the size of the motor fixing plate 2 is reduced, the two sector gears 7 and the planetary gear reducer of the front driving arm 31 are overlapped in space, that is, the rotating shaft of the sector gear 7 is fixedly connected to the power output end of the planetary gear reducer, and is fixed to the motor fixing plate 2 again by the planetary gear reducer, the two sector gears 7 and the rotating shaft are connected through a bearing, that is, the rotating shaft rotates along with the power output end of the planetary gear reducer, but because the rotating motion of the rotating shaft is offset by the action of the bearing, the rotation of the sector gear 7 and the rotation of the rotating shaft are independently performed, and the two sector gears do not.

As shown in fig. 10, the robot arm provided by the present patent can also be designed as a mechanical clamping arm in the opposite direction according to the requirements of the actual production line.

The glass bottle mechanical clamping arm with two degrees of freedom for adjustment in the embodiment adopts the following method principle to realize that the glass bottle and the cup are mechanically clamped and adjusted on the upper and lower degrees of freedom and the front and back degrees of freedom, so that different motion tracks are realized: the four-arm combined type mechanical arm comprises four action arms which are mutually connected in an end-to-end rotating mode to form a quadrilateral mechanical arm, two power sources which work independently are respectively installed at the end portions of two driving arms, an action end of the mechanical arm is arranged at one end where the two driving arms are connected, and finally the power sources respectively output rotary power with different speeds to the two independent action arms to drive the action arms to make different combination rules of rotation angles and speeds, so that the action ends of the mechanical arm are driven to move along different movement tracks through the quadrilateral which deforms continuously.

The above-mentioned embodiments only represent one embodiment of the present invention, and the description thereof is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

Claims

1. A mechanical clamping arm of a cylindrical glass product with two degrees of freedom for adjustment is characterized by comprising a driving motor, a motor fixing plate (2), an action arm and a glass bottle clamp (4); the driving motors comprise a front driving arm driving motor (11) and a rear driving arm driving motor (12), and the driving motors are fixedly arranged on the motor fixing plate (2) and are respectively connected to the front driving arm (31) and the rear driving arm (32) in a driving mode; the action arm comprises a front driving arm (31), a front driven arm (33), a rear driving arm (32) and a rear driven arm (34), one end of the front driving arm (31) is connected to a front driving arm driving motor (11) in a transmission mode, and the other end of the front driving arm is connected to the front driven arm (33) in a rotating mode through a rotating shaft; one end of the rear driving arm (32) is connected to the rear driving arm driving motor (12) in a transmission mode, the other end of the rear driving arm is connected to the rear driven arm (34) in a rotating mode through a rotating shaft, and the ends, far away from the driving arm, of the front driven arm (33) and the rear driven arm (34) are connected in a rotating mode through the rotating shaft; the top of the glass bottle clamp (4) is connected to the joint of the two driven arms in a transmission way.

2. The mechanical gripper arm for cylindrical glassware with two degrees of freedom adjustments of claim 1, characterized in that the drive motor further comprises a gripping motor (14), a swinging motor (13), a plurality of links (5) and a "V" -shaped link web (6); the connecting rod connecting plate (6) is provided with two connecting rods, V-shaped turning points of the two connecting rod connecting plates (6) are mutually parallel through rotating shafts and are connected to the intersection of the front driving arm (31) and the front driven arm (33), and the two connecting rod connecting plates (6), the front driving arm (31) and the front driven arm (33) are coaxially connected; the clamping motor (14) is fixedly arranged on the motor fixing plate (2) and is in transmission connection with one end of a first connecting rod (5), the other end of the first connecting rod (5) is in transmission connection with one end of a first connecting rod connecting plate (6), the other end of the first connecting rod connecting plate (6) is in transmission connection with one end of a second connecting rod (5), and the other end of the second connecting rod (5) is in transmission connection with the glass bottle clamp (4) and drives the glass bottle clamp (4) to loosen and clamp; the swing motor (13) is fixedly installed on the motor fixing plate (2) and is connected to one end of the third connecting rod (5) in a transmission mode, the other end of the third connecting rod (5) is connected to one end of the second connecting rod connecting plate (6) in a transmission mode, the other end of the second connecting rod connecting plate (6) is connected to one end of the fourth connecting rod (5) in a transmission mode, and the other end of the fourth connecting rod (5) is connected to the glass bottle clamp (4) in a transmission mode and drives the glass bottle clamp (4) to rotate.

3. The mechanical clamping arm for the cylindrical glass product with two degrees of freedom for adjustment according to claim 2 is characterized in that the glass bottle clamp (4) comprises a fixed frame (41) and two half-side clamps (42), the top of the fixed frame (41) is coaxially and rotatably connected to the joint of the front driven arm (33) and the rear driven arm (34) through a rotating shaft, an integrally formed toggle sheet (421) extends outwards from the joint of the top of the fixed frame (41) and the rotating shaft, and the toggle sheet (421) is rotatably connected to one end, away from the second connecting rod connecting plate (6), of the fourth connecting rod (5) through a bearing; the two half clamps (42) are respectively linked in bilateral symmetry and are respectively arranged at two sides of the fixed frame (41) through rotating shafts to form a complete bottle clamp.

4. The mechanical clamping arm for cylindrical glass products with two degrees of freedom for adjustment according to claim 3, characterized in that the half-side clamps (42) comprise two oscillating toothed plates (422), two clamping block adjusting bars (423) and two clamping blocks (424), the two oscillating toothed plates (422) are respectively and symmetrically installed at two sides of the fixed frame (41) in front and back direction and rotatably installed to the fixed frame (41) through a bottle clamp clamping shaft (427), when the two half-side clamps (42) are combined into a complete bottle clamp, the two oscillating toothed plates (422) belonging to one half-side clamp (42) are respectively engaged with the two oscillating toothed plates (422) belonging to the other half-side clamp (42); the clamping block adjusting strip (423) is connected to the non-meshing ends of the two swing tooth plates (422); the clamping block adjusting strip (423) is provided with a plurality of adjusting sliding grooves (425) along the length direction of the clamping block adjusting strip (423), the clamping blocks (424) are at least provided with two adjusting sliding grooves (425) which are connected below the clamping block adjusting strip (423) in a sliding mode, and the whole half-side clamp (42) is connected with a frame of the fixing frame (41) through a bottle clamp clamping shaft (427) on the swinging toothed plate (422), so that the two half-side clamps (42) can rotate around the respective bottle clamp clamping shafts (427); one of the swing toothed plate (422) of one of the two half-side clamps (42) is provided with a poke rod (426) extending along the length direction of the swing toothed plate (422), and the poke rod (426) is connected to the poke sheet through a joint bearing rod and is connected to one end, far away from the first connecting rod connecting plate (6), of the second connecting rod (5).

5. The mechanical gripper arm for cylindrical glass articles with two degrees of freedom adjustment according to claim 4, characterized in that the glass bottle gripper (4) further comprises a spacer (43), the spacer (43) comprises a connecting frame (431), a gripper adjusting bar (423) and a middle spacer (432), the connecting frame (431) is fixed to the bottom of the fixing frame (41) between the two half grippers, the gripper adjusting bar (423) is fixedly mounted to the bottom of the connecting frame (431), and the middle spacer (432) is slidably connected to the underside of the gripper adjusting bar (423) through an adjusting chute (425).

6. The mechanical clamping arm for cylindrical glassware with two degrees of freedom adjustments as set forth in any one of claims 1-5, characterized in that the driving motor is a servo motor, the driving motor is fixedly mounted on the motor fixing plate (2) through a flange, the power output end penetrates through the motor fixing plate (2) and extends to the other side of the motor fixing plate (2), and the front driving arm driving motor (11) and the rear driving arm driving motor (12) are respectively connected to the front driving arm (31) and the rear driving arm (32) in a transmission manner through planetary gear reducers.

7. The mechanical gripper arm for cylindrical glassware with two degrees of freedom adjustments according to any one of claims 2-5, characterized in that the power take-off of the gripper motor (14) and the swing motor (13) are provided with drive gears, the drive gears of both motors are respectively engaged with two coaxially connected sector gears (7), the centers of the two sector gears (7) are coaxially and rotatably connected to the motor fixing plate (2) through the same rotating shaft, and the two sector gears (7) are respectively rotatably connected to one end of the first connecting rod (5) and one end of the third connecting rod (5) near the circumferential edges of the first connecting rod (5) and the third connecting rod (5).