A grabbing device suitable for automatic loading and unloading of cigarette boxes

Abstract

The present invention relates to a grasping device suitable for automatic loading and unloading of cigarette boxes, comprising a carrier support, a first conveyor line, a second conveyor line, a grasping mechanism and a driving mechanism, wherein the first conveyor line and the second conveyor line are installed at intervals on the upper part of the carrier support along the front-to-back direction, and the conveying directions of the two are along the front-to-back direction, and the conveying surfaces are in the same plane, the driving mechanism is installed on the carrier support, and is transmission-connected with the grasping mechanism, and is used to drive the grasping mechanism to reciprocate along the front-to-back direction below, above the front side of the first conveyor line, and below between the first conveyor line and the second conveyor line, and the grasping mechanism is used to obtain or release the cigarette box located in front of the carrier support. Advantages: The structural design is reasonable, and the automatic loading and unloading operations of cigarette boxes can be easily and quickly realized, the operating efficiency is greatly improved, and labor and labor costs are saved.

Description

Technical Field

[0001] The invention relates to the technical field of cigarette box loading and unloading, and in particular to a grabbing device suitable for automatic loading and unloading of cigarette boxes. Background Art

[0002] The handling of cigarette boxes in the tobacco logistics system is mainly done manually. Since the handling environment is basically completed in the container, working in the hot summer and cold winter environment, and the labor intensity is high, it is difficult for enterprises to recruit, employ and retain workers. In addition, with the continuous growth of the domestic consumer market, in order to meet consumer demand and fill the technical gap, logistics equipment is required to be more automated, more efficient and more intelligently managed. Therefore, a grabber suitable for automatic loading and unloading of cigarette boxes is an indispensable and important equipment in the modern logistics system.

[0003] Existing box handling is often done manually to load and unload boxes. In this type of physically demanding work, employee turnover is high, and the labor intensity and risk of falling during handling are high. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a gripping device suitable for automatic loading and unloading of cigarette boxes, which effectively overcomes the defects of the prior art.

[0005] The technical solution of the present invention to solve the above technical problems is as follows:

[0006] A grasping device suitable for automatic loading and unloading of cigarette boxes comprises a carrier support, a first conveyor line, a second conveyor line, a grasping mechanism and a driving mechanism. The first conveyor line and the second conveyor line are installed at intervals on the upper part of the carrier support along the front-to-back direction, and the conveying directions of the two are along the front-to-back direction, and the conveying surfaces are in the same plane. The driving mechanism is installed on the carrier support and is transmission-connected with the grasping mechanism, and is used to drive the grasping mechanism to reciprocate along the front-to-back direction below, above the front side of the first conveyor line, and below between the first conveyor line and the second conveyor line. The grasping mechanism is used to obtain or release the cigarette box located in front of the carrier support.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the first conveyor line and the second conveyor line are both belt conveyors.

[0009] Furthermore, one of the rollers of the first conveyor line and the second conveyor line is an electric roller.

[0010] Furthermore, the grabbing mechanism comprises two groups of four-link assemblies, a mounting frame and a suction cup assembly, the two groups of the four-link assemblies are respectively arranged on the outer sides of the left and right side frames of the first conveyor line, the four-link assembly comprises a bottom link and a top link which are horizontally arranged along the front-to-back direction and spaced apart up and down, and two side links, the two side links are rotatably connected to the two ends of the bottom link and the top link respectively, the mounting frame is arranged along the left-right direction, and its left and right ends are respectively connected and fixed to the top links on both sides through connecting beams arranged on both sides of the first conveyor line, the suction cup assembly is assembled on the front end of the mounting frame, the left and right side frames of the first conveyor line extend backward to the outer sides of the left and right side frames of the second conveyor line, and the upper parts of the left and right side frames of the first conveyor line are arranged as climbing rolling surfaces, and the front and rear ends of the climbing rolling surfaces are both slopes that slowly descend downward, the middle part is a straight plane, and the two sides The inner lower part of the above-mentioned top connecting rod is rotatably connected with a walking wheel, and the lower part of the above-mentioned walking wheel is rollingly supported on the above-mentioned climbing rolling surface on the corresponding side. The above-mentioned driving mechanism is transmission-connected with the above-mentioned bottom connecting rods on both sides, and the above-mentioned driving mechanism is used to drive the above-mentioned bottom connecting rods on both sides to move forward and backward, thereby driving the above-mentioned walking wheels on both sides to roll along the above-mentioned climbing rolling surface on the corresponding side; and when the above-mentioned walking wheel moves forward along the above-mentioned climbing rolling surface to the above-mentioned slope section at the front end, the height of the above-mentioned top connecting rods on both sides decreases accordingly, so that the above-mentioned mounting frame and suction cup assembly move from the top of the above-mentioned first conveyor line to the front side and bottom of the above-mentioned first conveyor line; when the above-mentioned walking wheel moves backward along the above-mentioned climbing rolling surface to the above-mentioned slope section at the rear end, the height of the above-mentioned top connecting rods on both sides decreases accordingly, so that the above-mentioned mounting frame and suction cup assembly move from the top of the above-mentioned first conveyor line to the bottom between the above-mentioned first conveyor line and the second conveyor line.

[0011] Furthermore, the suction cup assembly also includes an air pipe, which is arranged below the connecting beam along the front-to-back direction, with its front end connected to the negative pressure chamber inside the suction cup assembly and its rear end connected to an external negative pressure device through a pipeline.

[0012] Furthermore, the above-mentioned four-bar linkage assembly is a parallelogram four-bar linkage assembly.

[0013] Furthermore, the left and right sides of the carrier bracket are respectively provided with side plates along the front-to-back direction, and both ends of a roller shaft at the front end of the first conveyor line and a roller shaft at the rear end of the second conveyor line are respectively assembled and connected with the side plates on both sides.

[0014] Furthermore, the driving mechanism comprises two sets of synchronous belt transmission pairs and a power assembly, the two sets of synchronous belt transmission pairs are both mounted on the opposite outer sides of the side plates on both sides along the front-to-back direction, a main transmission shaft is connected between the wheel sets at the front end or rear end of the two sets of synchronous belt transmission pairs, the power assembly is connected to the main transmission shaft for driving the main transmission shaft to rotate and drive the two sets of synchronous belt transmission pairs to run synchronously, the side plates on both sides are both provided with strip holes passing through them left and right along the front-to-back direction, the opposite outer sides of the bottom connecting rods on both sides are respectively provided with connecting parts passing through the strip holes on the corresponding sides, the connecting parts are connected and fixed to the synchronous belts of the synchronous belt transmission pairs on the corresponding side through synchronous belt connectors, guide rails are provided on the inner lower parts of the side plates on both sides along the front-to-back direction, and guide wheel sets rollingly matched with the guide rails are respectively rotatably installed on the front and rear ends of the outer sides of the bottom connecting rods on both sides.

[0015] Furthermore, the power assembly includes a motor, a reducer, two synchronous pulleys and a synchronous belt body. The drive shaft of the motor is transmission-connected to the input shaft of the reducer, and both are mounted on the carrier bracket. The output shaft of the reducer extends in the left-right direction. The two synchronous pulleys are coaxially mounted on the output shaft of the reducer and the main drive shaft at corresponding positions, and the synchronous belt body is wrapped around the two synchronous pulleys.

[0016] The beneficial effects of the present invention are: reasonable structural design, capable of easily and quickly realizing automatic loading and unloading operations of cigarette boxes, greatly improving operating efficiency, and saving labor and labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a grabbing device suitable for automatic loading and unloading of a cigarette box according to the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of the grabbing device suitable for automatic loading and unloading of cigarette boxes of the present invention after removing one side plate;

[0019] Figure 3 It is a schematic structural diagram of a power assembly in a gripping device suitable for automatic loading and unloading of a cigarette box according to the present invention;

[0020] Figure 4 It is a structural schematic diagram of the grasping mechanism in the grasping device suitable for automatic loading and unloading of cigarette boxes of the present invention.

[0021] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0022] 1. Carrier bracket; 2. First conveyor line; 3. Second conveyor line; 4. Grabbing mechanism; 5. Driving mechanism; 6. Main transmission shaft; 11. Side plate; 21. Climbing rolling surface; 41. Four-link assembly; 42. Mounting frame; 43. Suction cup assembly; 44. Traveling wheel; 51. Synchronous belt transmission pair; 52. Power assembly; 111. Strip hole; 411. Bottom connecting rod; 412. Top connecting rod; 413. Side connecting rod; 431. Air pipe; 521. Motor; 522. Reducer; 523. Synchronous pulley; 524. Synchronous belt body; 4111. Connecting part; 4112. Guide wheel group. DETAILED DESCRIPTION

[0023] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0024] Example: Figure 1 and 2 As shown, the grasping device of this embodiment suitable for automatic loading and unloading of cigarette boxes includes a carrier support 1, a first conveyor line 2, a second conveyor line 3, a grasping mechanism 4 and a driving mechanism 5. The first conveyor line 2 and the second conveyor line 3 are installed on the upper part of the carrier support 1 at intervals along the front-to-back direction, and the conveying directions of the two are along the front-to-back direction, and the conveying surfaces are in the same plane. The driving mechanism 5 is installed on the carrier support 1 and is transmission-connected with the grasping mechanism 4, and is used to drive the grasping mechanism 4 to reciprocate along the front-to-back direction below, above the front side of the first conveyor line 2 and below between the first conveyor line 2 and the second conveyor line 3. The grasping mechanism 4 is used to obtain or release the cigarette box located in front of the carrier support 1.

[0025] In actual use, the entire grabbing device is connected to the docking mechanism for loading and unloading, so that loading and transportation can be realized from the docking mechanism through the grabbing device, and unloading and transportation can be realized from the unloading vehicle or workstation through the grabbing device to the docking mechanism. The specific process is as follows:

[0026] 1) During unloading, the grabbing device is placed at the unloading station, and it can move with the docking mechanism so that its front end is close to the cigarette box. After that, the driving mechanism 5 drives the grabbing mechanism 4 to move to the front along the top of the first conveyor line 2, and the grabbing mechanism 4 grabs the cigarette box in the front. Then, the driving mechanism 5 drives the grabbing mechanism 4 to move from the front to the back to the top of the first conveyor line 2, so that the cigarette box falls on the conveying surface of the first conveyor line 2. At the same time, when the driving mechanism 5 drives the grabbing mechanism 4 to move from the top of the first conveyor line 2 to the rear between the first conveyor line 2 and the second conveyor line 3 and falls, the grabbing mechanism 4 releases the cigarette box and falls on the first conveyor line 2 and the second conveyor line 3 after being empty. The cigarette box is transported from the first conveyor line 2 to the second conveyor line 2 at the rear (the length of the cigarette box is enough to span the interval between the two conveyor lines and will not fall through the interval). After the cigarette box is completely placed on the conveying surface of the second conveyor line 3, the driving mechanism 5 drives the grasping mechanism 4 to move forward to the front of the first conveyor line 2, and after the grasping device is adjusted with the docking mechanism to align with the next cigarette box to be grasped, it grasps (the cigarette box) again and is pulled to the conveying surface of the first conveyor line 2 under the action of the driving mechanism 5 again. Repeating the above steps can realize continuous automated operation at the unloading position.

[0027] 2) During loading, the grabbing device of the docking mechanism moves and adjusts the landing point of the front end of the first conveyor line 2. The cigarette box comes out of the docking mechanism and is transported to the first conveyor line 2 via the second conveyor line 3 (in this process, the grabbing mechanism 4 is located below between the two conveyor lines to avoid the cigarette box). After the cigarette box is completely transported to the conveying surface of the first conveyor line 2, the grabbing mechanism 4 is driven by the driving mechanism 5 to move forward from the rear of the cigarette box on the first conveyor line 2. Under the joint action of the first conveyor line 2, the cigarette box is pushed to the loading landing point. Then, the driving mechanism 5 drives the grabbing mechanism 4 to move quickly back to the position below between the two conveyor lines. Next, the grabbing device moves again to adjust the next landing point of the front end of the first conveyor line. Then, the next cigarette box is sent out from the docking mechanism again. Repeating the above steps can realize the continuous automated operation of cigarette box loading.

[0028] The whole grabbing device has a reasonable structural design, which can easily and quickly realize the automatic loading and unloading operations of the cigarette boxes, greatly improving the operating efficiency and saving labor and labor costs.

[0029] Preferably, the first conveyor line 2 and the second conveyor line 3 are both belt conveyors.

[0030] Specifically, one of the rollers of the first conveyor line 2 and the second conveyor line 3 is an electric roller, which can drive the corresponding conveyor line to operate by connecting to electricity, without the need to install an additional power system, thereby reducing the volume of the entire device.

[0031] As a preferred embodiment, Figure 1 , 2 4, the grabbing mechanism 4 includes two groups of four-link assemblies 41, a mounting frame 42 and a suction cup assembly 43, the two groups of the four-link assemblies 41 are respectively arranged on the outer sides of the left and right side frames of the first conveyor line 2, the four-link assembly 41 includes a bottom link 411 and a top link 412 and two side links 413 horizontally arranged in the front-to-back direction and distributed in an upper and lower interval, the two side links 413 are respectively rotatably connected to the two ends of the bottom link 411 and the top link 412, the mounting frame 42 is arranged in the left and right direction The left and right ends of the first conveyor line 2 are respectively connected and fixed to the top connecting rods 412 on both sides through the connecting beams placed on both sides of the first conveyor line 2. The suction cup assembly 43 is assembled on the front end of the mounting frame 42. The left and right side frames of the first conveyor line 2 are extended backward to the outside of the left and right side frames of the second conveyor line 3. The upper parts of the left and right side frames of the first conveyor line 2 are both set as climbing rolling surfaces 21. The front and rear ends of the climbing rolling surfaces 21 are both downwardly descending slopes, and the middle parts are all straight planes. The inner lower part of the top connecting rod 412 is rotatably connected with a walking wheel 44, and the lower part of the walking wheel 44 is rollingly supported on the climbing rolling surface 21 on the corresponding side. The driving mechanism 5 is transmission-connected with the bottom connecting rods 411 on both sides, and the driving mechanism 5 is used to drive the bottom connecting rods 411 on both sides to move forward and backward, thereby driving the walking wheels 44 on both sides to roll along the climbing rolling surface 21 on the corresponding side; and when the walking wheel 44 moves forward along the climbing rolling surface 21 to the slope section at the front end, , the heights of the top connecting rods 412 on both sides decrease accordingly, so that the mounting frame 42 and the suction cup assembly 43 move from above the first conveyor line 2 to the front and lower side of the first conveyor line 2; when the walking wheels 44 move backward along the climbing rolling surface 21 to the slope section at the rear end, the heights of the top connecting rods 412 on both sides decrease accordingly, so that the mounting frame 42 and the suction cup assembly 43 move from above the first conveyor line 2 to below between the first conveyor line 2 and the second conveyor line 3.

[0032] In this embodiment, when the driving mechanism 4 drives the bottom connecting rods 411 on both sides to move in the front and rear directions, the walking wheels 44 on the top connecting rod 412 roll along the climbing rolling surface 21 on the corresponding side. When the walking wheels 44 slowly descend the slope at the front and rear ends of the climbing rolling surface 21, the height of the top connecting rod 412 decreases accordingly, that is, the height of the mounting frame 42 and the suction cup assembly 43 decreases accordingly. Therefore, when the mounting frame 42 and the suction cup assembly 43 slowly descend the slope section at the front and rear ends of the climbing rolling surface 21, the mounting frame 42 and the suction cup assembly 43 just fall on the front and lower side of the first conveyor line 2, and the lower side between the first conveyor line 2 and the second conveyor line 3 (the upper ends of the mounting frame 42 and the suction cup assembly 43 will not protrude from the conveying surfaces of the two conveyor lines), so as to ensure good avoidance of the cigarette boxes conveyed on the conveying surface and achieve good loading and unloading operations. The design of the entire grasping mechanism 4 is relatively reasonable and the operation is stable.

[0033] Optimally, the suction cup assembly 43 further comprises an air pipe 431, which is arranged below the connecting beam along the front-to-back direction, with its front end being connected to the negative pressure cavity inside the suction cup assembly 43, and its rear end being connected to an external negative pressure device through a pipeline.

[0034] In this solution, the air pipe 431 is arranged in a hidden manner to avoid blocking the area above the conveying surface of the conveying line.

[0035] The above-mentioned suction cup assembly 43 includes a plurality of suction cups arranged at intervals along the left and right directions, and a diverter block is hidden and installed on the rear side of the mounting frame 42. The diverter block has a negative pressure chamber inside, and has negative pressure ports that are connected and communicated with the suction cups one by one. The air pipe 431 is connected to the negative pressure chamber inside the diverter block from the rear end thereof.

[0036] Preferably, the above-mentioned four-bar linkage assembly 41 is a parallelogram four-bar linkage assembly. During the movement of the walking wheel 44 on the top link 412 along the climbing rolling surface 21, when the walking wheel 44 climbs or descends the front and rear end slopes of the climbing rolling surface 21, the top link 412 rises and falls smoothly using the parallelogram principle under the support of the two side links 413.

[0037] A support portion for mounting the travel wheel 44 is protruded from the lower end of the top connecting rod 412 to facilitate good assembly of the travel wheel 44 .

[0038] As a preferred embodiment, side plates 11 are respectively provided on the left and right sides of the above-mentioned carrier bracket 1 along the front-to-back direction, and both ends of a roller shaft at the front end of the above-mentioned first conveyor line 2 and a roller shaft at the rear end of the above-mentioned second conveyor line 3 are respectively assembled and connected with the above-mentioned side plates 11 on both sides.

[0039] In this solution, the design of the side plate 11 enables the two conveyor lines to be located between the side plates 11 on both sides. The structural design is relatively compact and the assembly between the structures is relatively stable.

[0040] On the basis of the above embodiment, the driving mechanism 5 includes two groups of synchronous belt transmission pairs 51 and a power assembly 52. ​​The two groups of synchronous belt transmission pairs 51 are both mounted on the opposite outer sides of the side plates 11 on both sides along the front-to-back direction. A main transmission shaft 6 is connected between the wheel groups at the front or rear ends of the two groups of synchronous belt transmission pairs 51. The power assembly 52 is connected to the main transmission shaft 6 for driving the main transmission shaft 6 to rotate and drive the two groups of synchronous belt transmission pairs 51 to run synchronously. The side plates 11 on both sides are provided with strip holes 111 passing through them left and right along the front-to-back direction. The opposite outer sides of the bottom connecting rods 411 on both sides are respectively provided with connecting parts 4111 passing through the strip holes 111 on the corresponding sides. The connecting parts 4111 are connected and fixed to the synchronous belts of the synchronous belt transmission pairs 51 on the corresponding sides through synchronous belt connectors. Guide rails are provided on the inner lower parts of the side plates 11 on both sides along the front-to-back direction. Guide wheel groups 4112 rollingly matched with the guide rails are respectively rotatably installed on the front and rear ends of the outer sides of the bottom connecting rods 411 on both sides.

[0041] In this solution, the power assembly 52 can synchronously drive the two sets of synchronous transmission pairs 51 to operate, thereby driving the two sets of four-bar assemblies 41 connected to the synchronous belts of the two sets of synchronous transmission pairs 51 to move forward and backward, thereby effectively driving the walking wheels 44 on the top connecting rods 412 of the four-bar assemblies 41 to move along the corresponding climbing rolling surfaces 21, realizing the movement and height lifting of the mounting frame 42 and the suction cup assembly 43. The synchronous belt transmission pairs 51 on both sides have highly consistent movements, and the driving of the mounting frame 42 and the suction cup assembly 43 is relatively stable.

[0042] More specifically, if Figure 3 As shown, the power assembly 52 includes a motor 521, a reducer 522, two synchronous pulleys 523 and a synchronous belt body 524. The driving shaft of the motor 521 is connected to the input shaft of the reducer 522, and both are installed on the carrier bracket 1. The output shaft of the reducer 522 extends in the left and right directions. The two synchronous pulleys 523 are coaxially installed on the output shaft of the reducer 522 and the main drive shaft 6 at corresponding positions, and the synchronous belt body 524 surrounds the two synchronous pulleys 523.

[0043] In this embodiment, the power assembly 52 adopts a combination of a motor 521 and a reducer 522, and can adjust the reduction ratio according to actual operation to achieve a good matching relationship between the suction cup assembly 43 and the conveyor line, thereby facilitating smooth loading and unloading operations of the cigarette box.

[0044] The above-mentioned synchronous belt drive pair 51 is a structure of the prior art, specifically, it includes two synchronous belt pulleys and a plurality of tension pulleys, the two synchronous belt pulleys are respectively arranged at the front and rear ends of the outer sides of the side plates 11 on the corresponding sides, and one of the synchronous belt pulleys is coaxially connected to the corresponding end of the main transmission shaft 6, and the other synchronous belt pulley is rotatably connected to the side plate 11, and a plurality of tension pulleys are installed on the outer side of the side plate 11, and the synchronous belt is wrapped around the synchronous belt pulleys and the tension pulleys.

[0045] It should be noted that: photoelectric sensors are respectively provided on the relative outer sides of the bottom connecting rods 411 on both sides, and sensing plates corresponding to the photoelectric sensors are respectively provided on the rear ends of both sides of the carrier bracket 1. When the driving mechanism 5 drives the four-link assembly 41 to move backward until the photoelectric sensor senses the sensing plate, the grasping mechanism 4 just moves to the position of the rear end slope (top of the slope) of the climbing rolling surface 21 corresponding to the walking wheel 44. At this time, the grasping mechanism 4 releases the cigarette box (most of the cigarette box is located on the first conveyor line 2), and in the subsequent movement process falls below the first conveyor line 2 and the second conveyor line 3 to avoid the cigarette box from being conveyed from front to back.

[0046] It should be added that the grasping device of the present embodiment is provided with an adaptive control system, which is connected to the first conveyor line 2, the second conveyor line 3, the driving mechanism 5 and the photoelectric sensor to realize automatic operation control of the grasping device.

[0047] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A gripping device suitable for automatic loading and unloading of cigarette boxes, characterized in that: The invention comprises a carrier support (1), a first conveyor line (2), a second conveyor line (3), a grasping mechanism (4) and a driving mechanism (5), wherein the first conveyor line (2) and the second conveyor line (3) are installed on the upper part of the carrier support (1) at intervals along the front-to-back direction, and the conveying directions of the two are along the front-to-back direction, and the conveying surfaces are in the same plane, the driving mechanism (5) is installed on the carrier support (1) and is transmission-connected with the grasping mechanism (4), and is used to drive the grasping mechanism (4) to reciprocate along the front-to-back direction below and above the front side of the first conveyor line (2) and below between the first conveyor line (2) and the second conveyor line (3), and the grasping mechanism (4) is used to obtain or release A cigarette box is located in front of the carrier support (1); the first conveyor line (2) and the second conveyor line (3) are both belt conveyors; the grabbing mechanism (4) comprises two groups of four-link assemblies (41), a mounting frame (42) and a suction cup assembly (43); the two groups of the four-link assemblies (41) are respectively arranged on the outside of the left and right side frames of the first conveyor line (2); the four-link assembly (41) comprises a bottom link (411) and a top link (412) which are horizontally arranged in the front-to-back direction and spaced apart from each other, and two side links (413); the two side links (413) are respectively rotatably connected to the two ends of the bottom link (411) and the top link (412); the mounting frame (42) The first conveyor line (2) is provided along the left and right directions, and its left and right ends are respectively connected and fixed to the top connecting rods (412) on both sides through connecting beams arranged on both sides of the first conveyor line (2), and the suction cup assembly (43) is assembled on the front end of the mounting frame (42), and the left and right side frames of the first conveyor line (2) are both extended backward to the outside of the left and right side frames of the second conveyor line (3), and the upper parts of the left and right side frames of the first conveyor line (2) are both set as climbing rolling surfaces (21), and the front and rear ends of the climbing rolling surfaces (21) are both downwardly descending slopes, and the middle parts are all flat planes, and the inner lower parts of the top connecting rods (412) on both sides are rotatably connected to walking wheels (44), and the walking wheels (44) are ) are both rollingly supported on the climbing rolling surface (21) on the corresponding side, the driving mechanism (5) is transmission-connected with the bottom connecting rods (411) on both sides, and the driving mechanism (5) is used to drive the bottom connecting rods (411) on both sides to move forward and backward, thereby driving the walking wheels (44) on both sides to roll along the climbing rolling surface (21) on the corresponding side; and when the walking wheels (44) move forward along the climbing rolling surface (21) to the slope section at the front end, the heights of the top connecting rods (412) on both sides decrease accordingly, thereby causing the mounting frame (42) and the suction cup assembly (43) to move from the upper side of the first conveyor line (2) to the lower side of the front side of the first conveyor line (2);When the walking wheel (44) moves backward along the climbing rolling surface (21) to the slope section at the rear end, the heights of the top connecting rods (412) on both sides decrease accordingly, so that the mounting frame (42) and the suction cup assembly (43) move from the top of the first conveyor line (2) to the bottom between the first conveyor line (2) and the second conveyor line (3); the left and right sides of the carrier bracket (1) are respectively provided with side plates (11) in the front-to-back direction, and the two ends of a roller shaft at the front end of the first conveyor line (2) and a roller shaft at the rear end of the second conveyor line (3) are respectively assembled and connected to the side plates (11) on both sides; the driving mechanism (5) comprises two sets of synchronous belt transmission pairs (51) and a power assembly (52), the two sets of synchronous belt transmission pairs (51) are both assembled on the opposite outer sides of the side plates (11) on both sides in the front-to-back direction, and the two sets of synchronous belt transmission pairs (51) are respectively assembled on the opposite outer sides of the side plates (11) on both sides. A main transmission shaft (6) is connected between the front and rear wheel groups of the moving pair (51), and the power assembly (52) is in driving connection with the main transmission shaft (6) for driving the main transmission shaft (6) to rotate and drive the two sets of synchronous belt transmission pairs (51) to operate synchronously. The side plates (11) on both sides are provided with strip holes (111) passing through them in the front-to-back direction. The opposite outer sides of the bottom connecting rods (411) on both sides are provided with connecting parts (4111) passing through the strip holes (111) on the corresponding sides, and the connecting parts (4111) are connected and fixed to the synchronous belt of the synchronous belt transmission pair (51) on the corresponding side through a synchronous belt connector. The inner lower parts of the side plates (11) on both sides are provided with guide rails in the front-to-back direction, and the front and rear ends of the outer sides of the bottom connecting rods (411) on both sides are respectively rotatably mounted with guide wheel groups (4112) that roll with the guide rails. ; 2. A grabbing device suitable for automatic loading and unloading of cigarette boxes according to claim 1, characterized in that: One of the rollers of both the first conveyor line (2) and the second conveyor line (3) is an electric roller.

3. A gripping device suitable for automatic loading and unloading of cigarette boxes according to claim 1, characterized in that: The suction cup assembly (43) further comprises an air pipe (431), wherein the air pipe (431) is arranged below the connecting beam along the front-to-back direction, the front end of the air pipe is connected to the negative pressure chamber inside the suction cup assembly (43), and the rear end is connected to an external negative pressure device via a pipeline.

4. A gripping device suitable for automatic loading and unloading of cigarette boxes according to claim 1, characterized in that: The four-bar linkage assembly (41) is a parallelogram four-bar linkage assembly.

5. A grabbing device suitable for automatic loading and unloading of cigarette boxes according to claim 1, characterized in that: The power assembly (52) comprises a motor (521), a reducer (522), two synchronous pulleys (523) and a synchronous belt body (524); the drive shaft of the motor (521) is drivingly connected to the input shaft of the reducer (522), and both are mounted on the carrier bracket (1); the output shaft of the reducer (522) extends in the left-right direction; the two synchronous pulleys (523) are coaxially mounted on the output shaft of the reducer (522) and the main transmission shaft (6) at corresponding positions; and the synchronous belt body (524) surrounds the two synchronous pulleys (523).

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