Shifting equipment and method for pressing, inserting, lifting and holding smoke box

Abstract

The invention discloses shifting equipment and method for pressing, inserting, lifting and holding a smoke box, and belongs to the technical field of smoke box carrying. The device comprises a movable carrying platform, a pressing and holding assembly and an inserting and lifting assembly, and the movable carrying platform is provided with a vertically-arranged door frame; the pressing assembly comprises a first lifting unit and a mechanical pressing arm, the first lifting unit is movably connected with the door frame, the mechanical pressing arm is installed on the first lifting unit, and the first lifting unit can drive the mechanical pressing arm to apply pressure perpendicular to the top face of the smoke box so as to press the smoke box; the inserting and lifting assembly comprises a mechanical inserting arm, the mechanical inserting arm is arranged relative to one side of the movable carrying platform, and the mechanical inserting arm can apply inserting force from outside to inside in the horizontal direction to the front face of the smoke box tightly pressed and stabilized by the mechanical pressing arm and is inserted into the smoke box. By means of the synergistic effect of the vertically-downward pressing force and the horizontally-inward insertion force formed continuously and the lifting force formed when the mechanical insertion arm is lifted upwards, shifting and stacking of the cigarette boxes can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of cigarette box transportation, and in particular to a displacement device and method for pressing, inserting and lifting a cigarette box. Background Art

[0002] Tobacco sheets refer to the tobacco leaves that have been first cured, and then threshed and re-baked to remove the stems with a diameter greater than 1.5 mm, and then undergo a series of high-temperature baking processes to form tobacco leaves that are easy to package, transport and store. Tobacco sheets are further naturally aged in the subsequent storage and curing process, optimizing their flavor and taste and improving the quality of finished cigarettes. Tobacco sheets are molded into cubes in the re-baking plant to facilitate transportation, measurement and storage. The outer packaging of tobacco sheets can be made of plastic cloth, non-woven fabric, linen fabric, etc., and more are made in regular cubic cartons made according to industry unified standards, with a volume of about 0.6-0.7 cubic meters. Tobacco sheets are placed in cartons and are referred to as "tobacco boxes". Tobacco boxes are stored in the form of stacks in tobacco warehouses, and the height is generally 3-5 layers. In order to ensure the stability of the stack and improve the utilization rate of warehouse capacity, the stacking of tobacco boxes is compact and leaves few gaps.

[0003] After the cigarette boxes are transported from the redrying plant to the storage warehouse, they have to go through many links, such as unloading, entering the warehouse, manual stacking, inspection and stacking during storage, transportation out of the warehouse, loading and shipping, etc. The cigarette box shifting and stacking in the above process are all completed by a manually controlled mobile clamping vehicle. The clamping vehicle clamps the cigarette box through a clamping arm installed on the mobile platform. The clamping arm lifts the cigarette box and transports it to the designated location in the air by applying a clamping force on the left and right sides of the cigarette box. If there is a pallet under the cigarette box, the fork arm of the forklift can be used to lift the cigarette box and transport it to the designated location. The clamping vehicle and forklift have a driving seat, a clamping arm or fork arm, a lifting frame, a power system and a control system.

[0004] Due to the restrictions of tobacco warehouse cost control, warehouse floor height, stacking height, etc., the use rate of pallet cigarette box stacking and forklifts is very low. Currently, the main ones used are manually operated clamping vehicles. The structure of the clamping vehicle is relatively simple. It uses arms or lifting devices to clamp the cigarette box to complete lifting and displacement. With the rapid advancement of my country's new industrialization development, the clamping vehicle has the following defects and deficiencies in the process of transporting cigarette boxes:

[0005] 1. It usually takes 2-3 years for tobacco leaves to be stored in the warehouse and transferred out for use. As the storage time of the tobacco boxes increases, the appearance of the tobacco boxes and the gap between the parallel tobacco boxes will change under the action of gravity, especially in the high humidity and high temperature areas in the middle and lower reaches of the Yangtze River. After the spring and summer, the gap between the lower layer of tobacco boxes in the tobacco stack has become very small. Under this circumstance, the left and right clamping arms of the traditional mobile clamping car are difficult to smoothly enter the clamping position between the tobacco boxes. It is necessary to manually control a mechanical arm of the clamping car to apply thrust to one side of the tobacco box to forcibly expand the gap between the tobacco boxes to facilitate the clamping arm to extend into the clamping position between the tobacco boxes. The above-mentioned operation of relying on the clamping arm of the clamping car to forcefully expand the gap between the tobacco boxes has become an indispensable part of the daily work flow of the clamping car operator, which not only affects the work efficiency but also damages the clamping arm of the clamping car and the external quality of the tobacco box, and also restricts the intelligent transformation and upgrading of the unmanned operation of the clamping car.

[0006] Especially for temporary use of smoke in the whole warehouse nitrogen filling mode, since the oxygen content inside the closed warehouse is less than 5%, automated and unmanned operation measures are required to complete the emergency exit from the warehouse. The existing smoke box clamping vehicles, forklifts and other handling equipment cannot efficiently achieve the above goals.

[0007] 2. Whether it is the traditional phosphine fumigation of the tobacco warehouse or the nitrogen filling of the warehouse, the fumigant or nitrogen cannot penetrate smoothly into the tobacco box to achieve the effect of rapid insect prevention due to the barrier of tobacco box packaging and tobacco leaf lining plastic bags. The previous solution is to drill holes on the tobacco box manually, but this method lacks mechanization and automation and takes too long. At the same time, the holes drilled by the drill have poor retention effect. Summary of the invention

[0008] In view of this, it is necessary to provide a displacement device and method for pressing, inserting and lifting a cigarette box to solve the problems of difficulty in transporting the cigarette box and difficulty in preventing mildew and insects.

[0009] In a first aspect, the present invention provides a displacement device for pressing, inserting and lifting a cigarette box, comprising:

[0010] A mobile carrying platform, wherein a vertically arranged gantry is provided on the mobile carrying platform;

[0011] A pressing assembly, the pressing assembly comprising a first lifting unit and a mechanical pressing arm, the first lifting unit being movably connected to the door frame, the mechanical pressing arm being installed on the first lifting unit, the first lifting unit being able to drive the mechanical pressing arm to apply a pressure perpendicular to the top surface of the cigarette box to press the cigarette box;

[0012] An insertion and lifting assembly, the insertion and lifting assembly comprising a retractable mechanical insertion arm, the mechanical insertion arm being arranged on one side relative to the mobile carrying platform, the end of the mechanical insertion arm being a pointed structure, the mechanical insertion arm being able to exert a horizontal insertion force on the front side of the cigarette box pressed by the mechanical pressing arm and being inserted into the cigarette box;

[0013] The first lifting unit and the pressing and holding components and the inserting and lifting components thereon can be lifted and lowered vertically, and cooperate with the mobile carrying platform to lift or carry the cigarette box under the joint action of the mechanical pressing arm and the mechanical inserting arm.

[0014] Furthermore, the insertion and lifting assembly also includes a second lifting unit, and the mechanical insertion arm is installed on the door frame or the second lifting unit. The second lifting unit can drive the mechanical insertion arm to move relative to the mechanical pressing arm, thereby changing the distance between the mechanical insertion arm and the mechanical pressing arm to clamp the cigarette box.

[0015] Furthermore, the number of the mechanical arms is at least two and they are arranged in a relative array, the mechanical arms are fixedly connected to the second lifting unit, and at least two of the mechanical arms can act on the smoke boxes arranged side by side at the same time.

[0016] Furthermore, the width of the mechanical pressing arm is not less than 100 mm so as to press at least two cigarette boxes simultaneously.

[0017] Furthermore, the mechanical arm includes an arm rod, on which a detection unit is provided, and the detection unit can detect the physical and chemical properties of tobacco leaves in the cigarette box.

[0018] Furthermore, the arm is provided with a slot for installing the detection unit.

[0019] Furthermore, the arm is a hollow rod structure, a monitoring hole is provided in the arm, the detection unit is installed in the monitoring hole and can sense and detect the physical and chemical properties of the tobacco leaf tissue outside the arm.

[0020] Furthermore, the arm length of the mechanical arm is not less than 100 mm so as to be able to monitor the quality changes of the susceptible layer tobacco leaves, and the detection unit includes one or any combination of a temperature sensor, a humidity sensor, a moisture sensor or a color detector.

[0021] Furthermore, the insertion and lifting assembly also includes a transverse movement unit, and the mechanical insertion arms arranged in pairs are connected to the second lifting unit through the transverse movement unit, and the transverse movement unit can drive the two mechanical insertion arms to move toward or away from each other.

[0022] Furthermore, the pressing assembly also includes a locking unit, which is arranged on the mechanical pressing arm, and the locking unit can lock or unlock the connection between the mechanical pressing arm and the cigarette box.

[0023] Furthermore, the locking unit includes a screw that can be spirally fed, and the screw is movably connected to the mechanical pressing arm. The first lifting unit can drive the mechanical pressing arm to move up and down, so that the screw can be screwed in or out of the cigarette box.

[0024] Furthermore, the locking unit includes a suckable suction cup, which is connected to the mechanical pressing arm. The first lifting unit can drive the mechanical pressing arm to move up and down, and the suction cup can press and suck the surface of the cigarette box to stabilize the cigarette box.

[0025] In a second aspect, the present invention provides a method for shifting a cigarette box by pressing, inserting, lifting and holding, which is applied with the above-mentioned device for shifting a cigarette box by pressing, inserting, lifting and holding, and the steps are as follows:

[0026] S1: The mechanical pressing arm is pressed, the first lifting unit drives the mechanical pressing arm to move to a high position, and the mobile carrying platform adjusts the position of the mechanical pressing arm to the top of the cigarette box to be moved; the first lifting unit drives the mechanical pressing arm to move downward and press the top of the cigarette box;

[0027] S2: The mechanical inserting arm is inserted. The mechanical inserting arm in the retracted state gradually extends relative to the cigarette box to form an "insertion force" applied to the cigarette box and is inserted into the interior of the cigarette box. The mechanical inserting arm is inserted into the tobacco in the cigarette box and forms a plug hole for gas exchange with the outside world;

[0028] S3: Clamping and fixing, when the cigarette box is simultaneously subjected to the "pressure" applied from top to bottom by the mechanical pressing arm and the "lifting force" formed when the mechanical inserting arm is lifted from bottom to top, the two forces work together to fix the cigarette box;

[0029] S4: lifting and moving, the fixed cigarette box can be lifted and moved by means of the first lifting unit and the mobile carrying platform;

[0030] S5: the mechanical inserting arm is pulled out, the cigarette box clamped by the mechanical pressing arm and the mechanical inserting arm combination is moved to a set position, the mechanical inserting arm is pulled out from the cigarette box and a plug hole is left for airflow exchange between tobacco leaves inside the cigarette box and the environment outside the box;

[0031] S6: Release the mechanical pressing arm, control the mechanical pressing arm to lift relative to the cigarette box, and release the pressure acting on the surface of the cigarette box.

[0032] In a second aspect, the present invention provides a method for shifting a cigarette box by pressing, inserting, lifting and holding, which is applied with the above-mentioned device for shifting a cigarette box by pressing, inserting, lifting and holding, and the steps are as follows:

[0033] T1: The mechanical arm is inserted. The mechanical arm in the retracted state approaches the cigarette box with a support at the back and is slowly inserted into the front of the cigarette box. The mechanical arm continues to extend to form an "insertion force" acting on the inside of the cigarette box and is inserted into the cigarette box. The mechanical arm is inserted into the tobacco in the cigarette box and forms a plug hole for gas exchange with the outside world.

[0034] T2: The mechanical pressing arm is pressed, the first lifting unit drives the mechanical pressing arm to move to a high position, and the mobile carrying platform adjusts the position of the mechanical pressing arm to the top of the cigarette box to be moved; the first lifting unit drives the mechanical pressing arm to move downward and press the top of the cigarette box; the cigarette box is simultaneously subjected to the "pressure" applied from top to bottom by the mechanical pressing arm and the "lifting force" formed when the mechanical insertion arm is lifted from bottom to top, and the two forces work together to fix the cigarette box;

[0035] T3: lifting and transporting, the fixed cigarette box can be lifted and moved by means of the first lifting unit and the mobile carrying platform;

[0036] T4: The mechanical inserting arm is pulled out, and the cigarette box clamped by the mechanical pressing arm and the mechanical inserting arm combination is moved to a set position, and the mechanical inserting arm is pulled out from the cigarette box, leaving a plug hole for airflow exchange between the tobacco leaves inside the cigarette box and the environment outside the box;

[0037] T5: Release the mechanical pressing arm and control the mechanical pressing arm to lift relative to the smoke box to release the pressure on the surface of the smoke box.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] (1) The device and method for pressing, inserting, lifting and holding a cigarette box of the present invention are different from the traditional clamping vehicle, which can only rely on the clamping force of two clamping arms to hold and carry the cigarette box. Instead, the mechanical pressing arm is controlled to apply a vertical downward pressing force to the surface of the cigarette box to make it stable, and the mechanical insertion arm is controlled to insert the cigarette box and lift it to form a new lifting force. Relying on the synergistic effect of the three forces of "vertical downward pressing force + horizontal inward insertion force + lifting force formed when the mechanical arm insertion rod is lifted upward", the synergistic effect of pressing, inserting and holding the cigarette box is achieved and the displacement and stacking of the cigarette box are completed.

[0040] (2) The present invention provides a displacement device and method for pressing, inserting and lifting a cigarette box, which is provided with a mechanical insert arm. The upward lifting force of the mechanical insert arm continuously acts on the cigarette box, and a plug hole with an elliptical cross section with "vertical inner diameter>horizontal inner diameter" is simultaneously formed at the level of the cigarette box, thereby omitting the process of manually punching holes to increase the airflow exchange channel inside and outside the cigarette box. The mechanical insert arm maximizes the area of ​​the plug hole during the load-bearing and movement process in the cigarette box, which is conducive to the rapid penetration of gas into the interior of the cigarette box when fumigants or nitrogen filling for insect prevention are used during the storage and maintenance of tobacco leaves. It can reduce the amount of agents used and the nitrogen filling and adjustment operation time of the nitrogen generator, which is conducive to energy conservation and emission reduction.

[0041] (3) Compared with the traditional method of using a clamping arm to insert into the gap between cigarette boxes to hold the cigarette boxes, the use of a mechanical insertion arm can smoothly complete the mechanical lifting or shifting of stacked cigarette boxes without manually expanding the gap between the cigarette boxes. It can also be developed into a new AGV or AMR vehicle that automatically guides the mechanical arm to perform the pressing, inserting and lifting functions by superimposing automatic positioning navigation, autonomous obstacle avoidance, autonomous planning and optimized route technologies on the mobile carrying platform. It is particularly suitable for automated operation measures in the whole warehouse nitrogen filling and low oxygen environment mode to complete the emergency warehouse transportation operation of the cigarette boxes. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0043] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0044] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0045] Figure 3 It is a structural schematic diagram of the second lifting unit in the present invention;

[0046] Figure 4 It is a schematic diagram of the structure of the mechanical insert arm in the present invention;

[0047] Figure 5 This is a schematic diagram of the structure of the mechanical pressing arm in the present invention. Figure 1 ;

[0048] Figure 6 This is a schematic diagram of the structure of the mechanical pressing arm in the present invention. Figure 2 ;

[0049] Figure 7This is a schematic diagram of the structure of the mechanical pressing arm in the present invention. Figure 3 ;

[0050] Figure 8 This is the use status of the present invention Figure 1 ;

[0051] Fig. 9 This is the use status of the present invention Figure 2 ;

[0052] Fig.10 This is the use status of the present invention Figure 3 ;

[0053] Fig.11 The use steps of the present invention are Figure 1 ;

[0054] Fig.12 The use steps of the present invention are Figure 2 .

[0055] In the figure, 100, a mobile carrying platform; 110, a gantry;

[0056] 200, holding assembly; 210, first lifting unit; 220, mechanical pressing arm; 230, locking unit; 231, screw rod; 232, suction cup; 233, insertion rod;

[0057] 300, insertion and lifting assembly; 310, mechanical insertion arm; 311, arm rod; 312, linear drive member; 320, second lifting unit;

[0058] 400. Cigarette box. DETAILED DESCRIPTION

[0059] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0060] Example 1

[0061] See also Figures 1 to 11 In this embodiment, a displacement device for pressing, inserting, and lifting a cigarette box includes: a mobile carrying platform 100, a pressing and holding component 200, and an insertion and lifting component 300. The mobile carrying platform 100 can serve as a platform to provide a connection and driving basis for the pressing and holding component 200 and the insertion and lifting component 300. The insertion and lifting component 300 can be inserted into the cigarette box 400 to directly lift, transport, and move the cigarette box 400. The pressing and holding component 200 can press the cigarette box 400 to avoid the cigarette box being pushed out of position during the insertion of the insertion and lifting component 300 into the cigarette box 400. The insertion and lifting component 300 and the pressing and holding component 200 cooperate with each other to complete the fixing, lifting, and moving of the cigarette box 400.

[0062] The mobile loading platform 100 is modified based on the tobacco leaf handling clamping vehicle produced by Linde (China) Forklift Co., Ltd. or Anhui Heli Co., Ltd. A relatively vertically arranged gantry 110 is arranged on the mobile loading platform 100, and the height of the gantry 110 is greater than the height of 400 stacking of 4-5 layers of tobacco boxes.

[0063] The pressing assembly 200 includes a first lifting unit 210 and a mechanical pressing arm 220. The first lifting unit 210 is movably connected to the gantry 110. The first lifting unit 210 can use a power drive system and a control system to realize its own lifting and moving relative to the gantry 110. The mechanical pressing arm 220 is installed on the first lifting unit 210. The first lifting unit 210 drives the mechanical pressing arm 220 to move up and down to the position above the top of the target cigarette box 400 to be transported. The mechanical pressing arm 220 slowly moves downward, applies pressure perpendicular to the top surface of the cigarette box 400 and presses the cigarette box 400. Compared with the traditional clamping method of clamping the cigarette box 400 from two sides, the top of the cigarette box 400 always remains empty, and the mechanical pressing arm 220 is not interfered by the gap between the sides of the cigarette box that needs to be inserted into the clamping arm. The mechanical pressing arm 200 can flexibly press and fix the cigarette box 400.

[0064] The insertion and lifting assembly 300 includes a retractable mechanical insertion arm 310, which is arranged on the same side as the mechanical pressing arm 220 in the relative mobile loading platform 100. The mechanical insertion arm 310 can be extended toward the front of the cigarette box 400 pressed by the mechanical pressing arm 310. The gradually extended mechanical insertion arm 310 applies a horizontal insertion force and is inserted into the cigarette box 400. With the lifting of the mechanical insertion arm 310, the mechanical insertion arm 310 can not only apply a lifting force to the cigarette box 400 to assist in the transportation of the cigarette box 400. After the mechanical insertion arm 310 is pulled out, a plug hole for airflow exchange with the external environment can be formed in the cigarette box 400 and the tobacco leaves, which promotes the fumigant or nitrogen gas in the environment to enter the deep layer of the tobacco leaves during the insect prevention process to improve the effect of killing insect pests.

[0065] The mechanical pressing arm 220 and the mechanical inserting arm 310 apply forces to the cigarette box 400 from the upper and lower directions in the vertical direction, respectively, so as to firmly clamp the cigarette box 400, help avoid deformation and damage of the cigarette box 400, and ensure the transportation safety of the cigarette box 400.

[0066] It should be noted that the end of the mechanical insertion arm 310 is a pointed structure, which can enhance the pressure at the end of the arm 311, help the arm 311 penetrate the cigarette box 400, and avoid irregular tearing on the surface of the cigarette box 400 due to the poor penetration of the arm 311. The pointed arm 311 can relatively easily shuttle through the tobacco leaves, complete the perforation of the cigarette box 400 and the tobacco leaves as a whole, realize the fixation of the cigarette box 400 and complete the formation of the exchange jack between the tobacco leaves and the outside gas.

[0067] The cigarette pieces in the cigarette box are also squeezed by the arm 311 in the vertical direction, so that the insertion hole formed by the cigarette pieces is relatively tight, and its edge structure is relatively stable and not prone to collapse and accumulation, making the insertion hole more air permeable.

[0068] In this embodiment, a method for shifting a cigarette box by pressing, inserting, lifting and holding is provided, and a device for shifting a cigarette box by pressing, inserting, lifting and holding is provided, and the steps are as follows:

[0069] S1: Mechanical pressing arm pressing, firstly, the mobile carrying platform 100 is controlled to approach the stack formed by a plurality of cigarette boxes 400, and the first lifting unit 210 is used to drive the mechanical pressing arm 220 to move to a high position, and then the mechanical pressing arm 220 is controlled to aim at the top surface of the target cigarette box 400 to be shifted and slowly move downward to press the cigarette box 400, forming a vertical downward pressure F1 to stabilize the cigarette box 400;

[0070] The mechanical pressing arm 220 moves its end downward to press the top surface of any top layer of the stack of cigarette boxes 400, forming a vertical downward pressure F1. The pressure F1 is transmitted vertically downward through the top cigarette box 400 to the second, third, fourth or fifth layer of cigarette boxes 400 (with the top layer of cigarette boxes 400 as the first layer). Under the action of the pressure F1, the stability of one or two vertical rows of cigarette boxes 400 below the top layer of cigarette boxes 400 is enhanced.

[0071] S2: The mechanical arm is inserted. The position of the mechanical arm 310 can be flexibly raised or lowered according to the position of the target cigarette box to be transported. The relatively retracted mechanical arm 310 extends out to face the front side of the target cigarette box 400 to apply a horizontal insertion force F2, and inserts the mechanical arm 310 into the interior of the cigarette box 400.

[0072] S3: clamping and fixing, the mechanical pressing arm 220 and the mechanical inserting arm 310 act together on the cigarette box 400, so that the cigarette box 400 is subjected to a downward pressure F1 and an upward lifting force F3, thereby completing the fixing of the cigarette box 400.

[0073] If the mechanical insertion arm 310 applies a horizontal insertion force F2 along a direction perpendicular to the front side of any of the second, third, fourth, and fifth layers of the cigarette boxes 400, the mechanical insertion arm 310 is inserted into the interior of the cigarette box 400, so that at least two layers of the cigarette boxes 400 are simultaneously subjected to the downward pressure F1 and the upward lifting force F3, thereby being clamped.

[0074] S4: Lifting and transporting: the cigarette box 400 clamped by the mechanical pressing arm 220 and the mechanical inserting arm 310 is lifted upward and separated from the tobacco leaf stack, and the mobile carrying platform 100 is driven to move the cigarette box 400 to the set position.

[0075] S5: The mechanical insertion arm is pulled out, and the cigarette box 400 clamped by the mechanical pressing arm 220 and the mechanical insertion arm 310 is moved to the set position, the mechanical pressing arm 220 is kept pressed on the cigarette box 400, and the mechanical insertion arm 310 is pulled out from the cigarette box 400, leaving a socket at the position where the mechanical insertion arm 310 is pulled out for airflow exchange between the tobacco leaves inside the cigarette box 400 and the environment outside the box.

[0076] S6: Release the mechanical pressing arm, lift the mechanical pressing arm 220 , release the pressure F1 acting on the surface of the cigarette box 400 , and move the carrying platform 100 away from the cigarette box 400 .

[0077] The device and method for pressing, inserting, lifting and holding a cigarette box in this embodiment is different from the traditional clamping vehicle which can only rely on two clamping arms to clamp the cigarette box to hold and carry the cigarette box. Instead, the mechanical pressing arm is controlled to apply a vertical downward pressure to the surface of the cigarette box to make it stable, and the mechanical insertion arm is controlled to insert the cigarette box and lift it to form a new lifting force. Relying on the synergistic effect of the three forces of "vertical downward pressure force + horizontal inward insertion force + lifting force formed when the mechanical arm insertion rod is lifted upward", the pressing, inserting and lifting of the cigarette box 400 are achieved and the displacement and stacking of the target cigarette box are completed.

[0078] Compared with the traditional method of using a clamping arm to insert into the gap between cigarette boxes to hold the cigarette boxes, the use of the mechanical insertion arm 310 can smoothly complete the mechanical lifting or shifting of the cigarette boxes without manually expanding the gap between the cigarette boxes. It can also be developed into a new AGV or AMR vehicle that automatically guides the mechanical arm to perform pressing, inserting, and lifting functions by superimposing automatic positioning navigation, autonomous obstacle avoidance, autonomous planning and optimized route technologies on the mobile carrying platform 100. It is particularly suitable for automated operation measures in the whole warehouse nitrogen filling and low oxygen environment mode to complete the emergency warehouse and transportation operations of the target cigarette boxes.

[0079] The upward lifting force of the mechanical insert arm 310 continuously acts on the cigarette box 400, forming an elliptical cross-section plug hole with "vertical inner diameter>horizontal inner diameter" in the tobacco leaves inside the cigarette box 400, omitting the process of manually punching holes to increase the airflow exchange plug hole inside and outside the cigarette box 400. The mechanical insert arm 310 maximizes the area of ​​the plug hole during the lifting, carrying and moving process in the cigarette box 400, which is conducive to the rapid penetration of nitrogen gas into the interior of the cigarette box 400 when fumigants or nitrogen filling for insect prevention are used during the storage and maintenance of tobacco leaves, which can reduce the amount of medicine used and the nitrogen filling and adjustment operation time of the nitrogen generator, which is conducive to energy saving and emission reduction.

[0080] As one implementation, see Figure 1 The insertion and lifting assembly 300 also includes a second lifting unit 320. The mechanical insertion arm 310 is installed on the second lifting unit 320 and connected to the door frame 110. The mechanical insertion arm 310 can adjust the position of the mechanical insertion arm 310 relative to the door frame 110 with the help of the second lifting unit 320. The mechanical insertion arm 310 and the mechanical pressing arm 220 can move independently. In the clamping and fixing step, after the mechanical pressing arm 220 presses a vertical row of cigarette boxes 400, the mechanical insertion arm 310 can be adjusted in height as needed to be inserted into any target cigarette box 400 of the next layer. With the lifting of the mechanical insertion arm 310, at least two layers of cigarette boxes 400 are simultaneously subjected to the downward pressure F1 and the upward lifting force F3 and are clamped, thereby improving the handling efficiency of the equipment. In the above-mentioned lifting and transporting steps, it is necessary to control the synchronous lifting of the second lifting unit 320 and the first lifting unit 210 in the system, the mechanical insertion arm 310 and the mechanical pressing arm 220 move synchronously relative to the door frame 110, and the distance between the mechanical insertion arm 310 and the mechanical pressing arm 220 remains unchanged, so as to finally realize the lifting and movement of the cigarette box 400.

[0081] As one implementation, see Figure 2 and Fig. 9 The insertion and lifting assembly 300 also includes a second lifting unit 320. The mechanical insertion arm 310 is connected to the first lifting unit 210 through the second lifting unit 320. The mechanical insertion arm 310 can adjust the position of the mechanical insertion arm 310 relative to the mechanical pressing arm 220 with the help of the second lifting unit 320. The mechanical insertion arm 310 can only move relative to the mechanical pressing arm 220. In the step of clamping and fixing the target cigarette box, after the mechanical pressing arm 220 presses a vertical row of cigarette boxes 400, the mechanical insertion arm 310 can move up and down along the first lifting unit 210 as needed to reach the positive side position of the target cigarette box 400. The mechanical insertion arm 310 is inserted into the target cigarette box 400, so that at least two layers of cigarette boxes 400 are clamped by the combined action of the downward pressure F1 and the upward lifting force F3 at the same time, which greatly improves the working efficiency of the equipment. In the above lifting and transporting step.

[0082] As one implementation, see Figure 3 and Figure 8 , the mechanical inserting arm 310 on the insertion and lifting assembly 300 can be directly installed on the first lifting unit 210, and the mechanical inserting arm 310 can only move with the first lifting unit 210. In the step of clamping and fixing the target cigarette box, after the mechanical pressing arm 220 presses a vertical row of cigarette boxes 400, the mechanical inserting arm 310 extends and is inserted into the cigarette box 400 on the top layer, so that the cigarette box 400 on the top layer is simultaneously subjected to the combined action of the downward pressure F1 and the upward lifting force F3 and is clamped. In the lifting and transporting step, the control system only needs to control the lifting and movement of the first lifting unit 210 relative to the door frame 110, so as to simultaneously drive the mechanical pressing arm 220 and the mechanical inserting arm 310 to move, and complete the lifting and transport of the top layer of the cigarette box 400. The above process is repeated multiple times to complete the transport of all the stacked cigarette boxes 400.

[0083] In some embodiments, see Figure 1 , 2 The first lifting unit 210 includes a first frame and a driving mechanism. The first frame is slidably engaged with the door frame 110, and the mechanical pressing arm 220 is installed on the first frame.

[0084] The driving mechanism is a hydraulic driving system. Both ends of the hydraulic cylinder are connected to the first frame and the mobile carrying platform 100 respectively. The high-pressure pump pressurizes the hydraulic oil to push the piston rod in the hydraulic cylinder, thereby driving the first frame to move relative to the door frame 110.

[0085] The driving mechanism is a mechanical driving system. The first frame is connected to the door frame 110 through a chain sprocket or a screw nut. The motor can drive the chain sprocket or the screw nut to operate, thereby driving the first frame to move relative to the door frame 110.

[0086] The driving mechanism is an electric driving system. The first frame is connected to the gantry 110 through an electric push rod or a linear motor. Electricity can be used to drive the first frame to move relative to the gantry 110.

[0087] The second lifting unit 320 includes a second frame and a driving mechanism. The mechanical insertion arm 310 is installed on the second frame. The second frame is connected to the door frame 110 or the first frame through the driving mechanism. The second lifting unit 320 can change the distance between the mechanical insertion arm 310 and the mechanical pressure arm 220.

[0088] See also Figure 4In this embodiment, the linear drive member 312 of the mechanical arm 310 is an electric push rod, which is a type of reciprocating screw that converts electrical energy into reciprocating linear motion. The basic types of reciprocating screw mechanisms include ordinary unidirectional rotating reciprocating screws, planetary roller reciprocating screws and hydraulic transmission reciprocating screws, which are mainly composed of mechanisms such as motors, push rods and control devices. The reciprocating screw (electric push rod) drives the stroke of the mechanical arm to be flexibly adjusted according to the position of the cigarette box 400 and the number of transports, and its thrust, stroke and speed are matched with each other, and the movement of the mechanical arm 310 is controlled by remote control, centralized control or automatic control.

[0089] This embodiment uses an electric push rod manufactured by Shandong Wotai Machinery Manufacturing Co., Ltd., and the standard stroke can be set to 200, 250, 300, 350, 400, 450 mm, etc. to adapt to different application scenarios.

[0090] In order to flexibly select power components according to local conditions, other motor-driven linear reciprocating motion mechanisms can be used to replace the electric push rod in this embodiment, such as a simple gear-driven rack transmission mechanism or a nut-screw transmission mechanism.

[0091] It should be noted that the above-mentioned "cigarette box 400" refers to a cubic packaging box made of cardboard or corrugated cardboard. Flexible materials such as sacks, kraft paper, plastic sheets, non-woven fabrics, etc. can also be used to make packaging to hold (contain) re-baked and compacted tobacco sheets.

[0092] The mechanical pressing arm 220 presses the end of the cigarette box 400 using plastic, metal or other plates to form a panel structure in different geometric forms such as square, round, and elliptical, or uses strips of plastic, metal or other materials that are combined or welded together to form a pressure plate structure.

[0093] Example 2

[0094] In this example, see Fig.10 The end of the mechanical pressing arm 220 that contacts the surface of the cigarette box 400 to form a fulcrum is a pressing plate with a width of not less than 100 mm. The mechanical pressing arm 220 can at least cover and press the gap between two adjacent cigarette boxes 400, so that the top surfaces of the above two cigarette boxes 400 can withstand the vertical downward pressure F1.

[0095] At the same time, in this embodiment, the number of mechanical arms 310 can be two and they can be arranged in a relative array. The two mechanical arms 310 can act on two smoke boxes 400 arranged side by side at the same time. The mechanical arms 310 are installed on the second lifting unit 320, and the second lifting unit 320 can adjust the height of the mechanical arms 310 as needed.

[0096] As a further implementation, the number of mechanical arms 310 is increased to 3, 4, 5...N (N is a positive integer greater than 5) to increase the lifting force on the smoke box 400 and increase the number of holes for airflow exchange inside and outside the smoke box 400.

[0097] Under the lifting action of the second lifting unit 320, an upward lifting force F3 is formed inside each cigarette box 400 that bears the pressure F1 and inserts the insertion rod, and the two adjacent cigarette boxes 400 are lifted or shifted at the same time. According to the above method, after the top surfaces of two adjacent cigarette boxes 400 on any top layer of the tobacco leaf stack are subjected to the downward pressure F1, the pressure F1 will be transmitted vertically downward through the top cigarette box 400 to the two adjacent cigarette boxes 400 on the second, third, fourth or fifth layer below (with the top layer of cigarette boxes 400 as the first layer). Under the action of the pressure F1, the stability of the two adjacent vertical rows of cigarette boxes 400 in the vertical direction below the top layer of cigarette boxes 400 is enhanced; the mechanical insertion arm 310 is applied horizontally inward in a direction perpendicular to the front side of the above-mentioned second layer of cigarette boxes 400. The insertion force F2 is generated and the mechanical insertion arm 310 is inserted into two adjacent cigarette boxes 400, and then the first lifting unit 210 and the second lifting unit 320 are started to form an upward lifting force F3 on the cigarette box 400 inserted by the mechanical insertion arm 310. The lifting force F3 and the pressure F1 formed by the mechanical pressing arm 220 in a direction perpendicular to the top surface of the cigarette box 400 together form a combined force of "F1+F3". At this time, "the two cigarette boxes on the top layer + the two adjacent cigarette boxes on the second layer" are clamped, and the actions of grabbing, displacing, and pulling out the cigarette boxes are completed successively, completing the synchronous handling operation of a total of four cigarette boxes on the second layer at one time.

[0098] Example 3

[0099] Basically the same as Example 1 and 2, please refer to Figure 4 The mechanical insertion arm 310 includes an arm 311, which is fixedly connected to a driving member of the mechanical insertion arm 310. The driving member can drive the arm 311 to telescopically move, so that the arm 311 is inserted into or withdrawn from the cigarette box 400. A detection unit is provided on the arm 311, and the detection unit includes one or any combination of a temperature sensor, a humidity sensor or a color detector. The detection unit can detect the temperature, humidity and color of the tobacco leaves.

[0100] It should be noted that the quality of tobacco leaves must be inspected both when they are put in and out of storage. The inspection content includes the temperature, moisture content and color of the tobacco leaves which reflects the degree of aging. This inspection mainly relies on manual monitoring by plug-in temperature and moisture detectors. This work overlaps and interferes with the transportation of tobacco leaves in and out of storage. The transportation process of tobacco box 400 using a clamping car often has to give way to cumbersome manual quality inspection procedures, which is labor-intensive and time-consuming.

[0101] In this embodiment, the detection unit is directly arranged on the mechanical arm 310, and can complete the detection of various properties of the cigarette sheets during the process of inserting the mechanical arm 310 into the cigarette box 400 and transporting the cigarette box 400, eliminating the mutual interference between the warehousing and transportation operations and the detection operations, simplifying the warehousing procedures, and reducing labor intensity.

[0102] Example 4

[0103] It is basically the same as Example 3, wherein the outer side of the arm 311 is provided with a slot for setting tobacco leaf moisture, temperature and humidity sensors, and the slot is a groove or a wire groove. The sensor is selected from Beijing Kunlun Zhongda, and the sensor probe is embedded in the groove on the surface of the metal plug rod, and the cable and data line are laid in the surface wire groove of the metal rod and connected to the detection host. With the mechanical plug arm 310 inserted into the interior of the cigarette box 400 and the displacement and transportation process after the mechanical pressing arm 220 clamps the cigarette box 400, the sensor probe completes the sensing and detection of the temperature and humidity of the tobacco leaves at the location, and the above-mentioned monitoring host is fixedly placed on the mobile carrying platform 100.

[0104] The sensor can also use a resistive single-rod moisture meter produced by Zhengzhou Zhonggu Mechanical Equipment (Instrument) Co., Ltd., and the metal detection rod of the single-rod moisture meter is embedded in the surface wire groove of the arm 311 to ensure that the sensing surface of the detection rod can directly contact the tobacco leaves inside the cigarette box 400.

[0105] The moisture and temperature and humidity sensors can also use the resistive double-rod moisture meter produced by Zhengzhou Zhonggu Mechanical Equipment Co., Ltd., set up at least two mechanical arms 310, and embed the two detection rods of the double-rod moisture meter in the surface grooves of two adjacent mechanical arms 310 to ensure that the sensing surface of the detection rod can directly contact the tobacco leaves inside the cigarette box 400 to sense the moisture content of the tobacco leaves.

[0106] Example 5

[0107] It is basically the same as Example 4, except that the arm 311 is a hollow rod structure, and a monitoring hole is provided on the mechanical arm, which is arranged along the radial direction of the arm 311 and connected to the outside world. The detection unit is installed in the monitoring hole, and the sensor of the detection unit is selected from the Beijing Kunlun Zhongda temperature and humidity sensor. The sensor probe is placed inside the hollow arm 311, and the sensor probe is located in the section where the mechanical arm 310 is inserted into the inside of the cigarette box 400 and is connected to the host through a cable and a data cable. An air hole is provided at the rod wall corresponding to the placement of the sensor, and the air hole is arranged along the radial direction of the arm 311 and connected to the outside world. During the insertion of the mechanical arm 310 into the cigarette box 400 and the subsequent displacement of the cigarette box 400, the sensor probe completes the sensing and detection of the moisture, temperature and humidity of the tobacco leaves at the location through the air hole, and the monitoring host is fixedly mounted on the mobile mounting platform 100.

[0108] Example 6

[0109] The embodiment is basically the same as the embodiment 5, except that: an observation hole is provided on the section of the mechanical inserting arm 310 inserted into the interior of the cigarette box 400, and an infrared method or high-frequency electromagnetic induction probe is placed inside the mechanical inserting arm 310 corresponding to the position of the observation hole. When the mechanical inserting arm 310 is inserted into the cigarette box 400, the probe performs non-contact sensing through the observation hole to detect the moisture content of the tobacco leaves along the way;

[0110] The detection of tobacco leaf moisture uses an online non-contact infrared moisture detector. When the tobacco leaf material is irradiated with infrared light of a specific wavelength, the water contained in the tobacco leaf will absorb part of the energy of the infrared light. The more water it contains, the more it absorbs. Then, the reduction of reflected light can be measured and the amount of tobacco leaf moisture can be calculated under the condition of eliminating various signal interferences. This embodiment uses the VicoMeter infrared non-contact sensor produced by Jiangsu Vico Instrument Co., Ltd. The product can be installed close to the detection point. The tobacco leaf moisture detection range is 0-30%, the response speed is fast, the measurement accuracy is high, the calibration is simple, and the maintenance is convenient. At this time, the diameter of the mechanical arm 310 and the size of the observation hole should be flexibly increased to adapt to the arrangement of the detection sensor probe.

[0111] You can also use the LDS-3H online moisture monitor produced by Zhengzhou Zhonggu Mechanical Equipment Co., Ltd., which can pre-set the moisture or temperature control value and output the control signal to dynamically monitor whether the moisture or temperature of the tobacco leaves inserted into the internal section of the cigarette box 400 exceeds the standard. The online moisture meter consists of a main unit, a moisture sensor or a temperature sensor, and can flexibly adjust the arrangement of the sensor probe, the inner diameter of the mechanical arm 310 and the size of the observation hole opening to fix the sensor probe into the interior of the mechanical arm 310 and correspond to the observation hole.

[0112] Example 7

[0113] The embodiment is basically the same as Example 5, except that an observation hole is provided on the section of the mechanical arm 310 inserted into the interior of the cigarette box 400, and the probe of the industrial endoscope is placed inside the hollow mechanical arm 310 corresponding to the position of the observation hole. The host of the industrial endoscope is installed on the mobile carrying platform 100, and the host of the industrial endoscope is connected to the detection head through a data cable. During the process of inserting the mechanical arm 310 into the cigarette box 400, the detection head performs non-contact scanning through the observation hole to record the color of the tobacco leaves during the process of inserting the mechanical arm 310 into the cigarette box 400, so as to detect the aging progress of the tobacco leaves (tobacco leaves will show different absorbance values ​​and colors for different storage times), whether there is mildew (when the tobacco leaves are mildewed, their apparent color will change regularly) and the situation of tobacco insect damage (when tobacco insect damage occurs, the color of the insect body itself will be presented, and characteristic pollutants will also be produced during the tobacco insect damage).

[0114] The industrial endoscope can also be a video endoscope with a video display function to provide video / static image recording. This embodiment selects the G10 series industrial endoscope of Shenzhen Huashi Endoscope Co., Ltd., which provides a 1 million pixel CCD camera, 32GB large-capacity storage, HDM I high-definition output synchronous display and TYPE-C data interface. At this time, the diameter of the mechanical arm 310 and the size of the observation hole should be flexibly increased to adapt to the arrangement of the detection sensor probe.

[0115] Example 8

[0116] It is basically the same as Example 1, wherein the length of the mechanical insert arm 310 is not less than 100 mm, and the depth of the mechanical insert arm 310 inserted into the inside of the cigarette box 400 can exceed 100 mm. For tobacco warehouses with general storage conditions and weak environmental temperature and humidity control capabilities, the tobacco inside the cigarette box 400 is prone to mildew, especially surface wind mold and insect pests are very likely to occur on the surface of tobacco leaves within a thickness range of 100 mm. The surface of tobacco leaves within a thickness range of 100 mm is a susceptible layer for changes in tobacco leaf quality. The length of the mechanical insert arm 310 is not less than 100 mm, and the formed jack can completely cover this part of the susceptible layer, promote the communication between the susceptible layer and the external nitrogen and pesticides, reduce the probability of wind mold and insect pests, and improve the quality of tobacco leaves. At the same time, the temperature, humidity and color of the susceptible layer can also be monitored through the jack, simplifying the monitoring process and reducing the difficulty of operation.

[0117] Example 9

[0118] It is basically the same as Example 1, except that: the insertion and lifting assembly 300 also includes a transverse movement unit, and the paired mechanical insertion arms 310 are connected to the second lifting unit 320 through the transverse movement unit. The transverse movement unit can drive the two mechanical insertion arms 310 to move toward or away from each other, thereby changing the distance between the two mechanical insertion arms 310.

[0119] In the specific implementation process, one end of the lateral movement unit is connected to the second frame, and the other end of the lateral movement unit is connected to the mechanical insertion arm 310. The lateral movement unit can drive the two mechanical insertion arms 310 to move relative to each other to change the distance between the two mechanical insertion arms 310. The lateral movement unit is a linear drive member arranged horizontally and staggered, and the linear drive member is preferably an electric push rod.

[0120] When moving one or a vertical row of cigarette boxes, the distance between the two mechanical arms 310 can be adjusted to be smaller than the width of the cigarette box 400. The two mechanical arms 310 are inserted into the cigarette box 400 at the same time. The weight of the cigarette box 400 can be shared by the two mechanical arms 310, and the pressure F1 applied by the mechanical pressure arm can be appropriately reduced, thereby avoiding the deformation of the tobacco leaf packaging structure and the damage of the packaging materials (including flexible materials) caused by the operation of the traditional clamping vehicle.

[0121] When moving two side-by-side or two rows of multi-layered cigarette boxes, the distance between the two mechanical arms 310 can be adjusted to be greater than the width of the cigarette box 400, and the two mechanical arms 310 are inserted into the two side-by-side cigarette boxes 400 at the same time. The two mechanical arms 310 can clamp the two cigarette boxes 400 or two vertical rows of cigarette boxes 400 at the same time.

[0122] Example 10

[0123] It is basically the same as Example 1, except that: the first lifting unit 210 is omitted, the first frame is set at the top of the door frame 110 and fixedly connected to the door frame 110, the first frame cannot move relative to the door frame 110, and a linear drive member 312 (such as an electric push rod) is set between the first frame and the mechanical pressing arm 220, and the mechanical pressing arm 220 is driven to press the top of the target cigarette box 400 by controlling the extension and retraction of the linear drive member 312.

[0124] Embodiment 11

[0125] In this example, see Figures 5 to 7 The pressing assembly 200 further includes a locking unit 230, which is disposed on the mechanical pressing arm 220. The locking unit 230 can lock or unlock the connection between the mechanical pressing arm 220 and the cigarette box 400. When the mechanical pressing arm 220 presses the cigarette box 400, the locking unit 230 can lock the cigarette box 400, which can enhance the stability of the cigarette box 400 and prevent the mechanical insertion arm 310 from pushing the cigarette box 400 when applying the insertion force. At the same time, the locking unit 230 can enhance the stability of the cigarette box 400 during the transportation of the cigarette box 400, and prevent the cigarette box 400 from shaking or even falling due to the movement of the mobile carrying platform 100.

[0126] See also Figure 5The locking unit 230 includes a screw rod 231 that can be spirally fed. The screw rod 231 is movably connected to the mechanical pressing arm 220. The screw rod 231 can be screwed in or out of the cigarette box 400. The screw rod 231 has a pointed head. The screw rod 231 can be spirally fed relative to the cigarette box 400. The thread on the screw rod 231 uses the friction between its inclined circular rotation and the tobacco leaves to screw the screw rod into the cigarette box 400, so that the mechanical pressing arm 220, the cigarette box 400 and the tobacco leaves are engaged and fixed.

[0127] The vertical downward pressure F1 exerted by the mechanical pressure arm 220 on the cigarette box 400 can be distributed on the lower surface of each thread that engages with the tobacco leaves. Finally, the mechanical insertion arm 310 is unscrewed from the cigarette box 400 to release the pressure F1 acting on the surface of the cigarette box 400. At this time, holes are left on the top and front surfaces of the cigarette box 400 for airflow exchange between the internal and external environments of the cigarette box.

[0128] Example 12

[0129] The same as Example 11, except that: Figure 6 The locking unit 230 includes a suckable suction cup 232 and is connected to the mechanical pressing arm 220. The disc-shaped suction cup 232 is made of flexible material, and the surface of the suction cup 232 is seamlessly attached to the top surface of the cigarette box 400. The bottom of the suction cup 232 is connected to the compressed air or vacuum pump. By opening the air source, a negative pressure is formed at the bottom of the suction cup 232 and an adsorption force is formed between the top surface of the cigarette box 400 to complete the fixing of the cigarette box 400. After the actions of pressing, inserting, lifting, shifting, and pulling out the target cigarette box are completed, the air source is closed to eliminate the negative pressure under the suction cup 232, and even a reverse air pressure is generated by using a reversing valve to separate the cigarette box 400 and the suction cup 232 from each other.

[0130] Embodiment 13

[0131] The same as Example 11, except that: Figure 7The locking unit 230 includes an insertion rod 233, which is a pointed rod structure. The root of the insertion rod 233 is fixedly connected to the mechanical pressure arm 220, and the tip of the insertion rod 233 is perpendicular to the mechanical pressure arm 220 and is arranged downward. The mechanical pressing arm 220 is controlled to move the tip of the insertion rod 233 downward, form a vertical downward pressure F1 and insert it into the interior of the cigarette box 400. Then, the mechanical insertion arm 310 is inserted into the interior of the cigarette box 400. The mechanical insertion arm 310 is lifted and forms an upward lifting force F3 under the drive of the power device. At this time, the cigarette box 400 is subjected to the combined force of "F1+F3" corresponding to the upper and lower directions and opposite to each other and is clamped. After the insertion, lifting, displacement and withdrawal of the mechanical insertion arm 310 are completed, the mechanical pressing arm 220 is lifted and the pressure F1 acting on the surface of the cigarette box 400 is released, and the mechanical insertion arm 310 is pulled out of the cigarette box 400. At this time, there are holes on the top and front surfaces of the cigarette box 400 for airflow exchange between the internal and external environments of the cigarette box 400, which can promote the rapid exchange between the gas in the external environment of the cigarette box and the inside of the tobacco leaves.

[0132] Embodiment 14

[0133] The present invention is basically the same as the first embodiment, except that, compared with the first embodiment, the present embodiment is different from the first embodiment in that a displacement method for pressing, inserting and lifting a cigarette box is used, and a displacement device for pressing, inserting and lifting a cigarette box is used. Fig.12 , the steps are as follows:

[0134] T1: Mechanical insert arm insertion, the mechanical insert arm 310 in the retracted state approaches the cigarette box 400 with support at the back, and slowly inserts into the front of the cigarette box 400. The back of the cigarette box 400 is supported by the wall or the stacked cigarette boxes 400, and can withstand the thrust from the mechanical insert arm 310. The continuous extension of the mechanical insert arm 310 forms an "insertion force" acting on the inside of the cigarette box 400 and inserts into the cigarette box 400. The mechanical insert arm 310 is inserted into the tobacco in the cigarette box 400 and forms a plug hole for gas exchange with the outside world.

[0135] T2: The mechanical pressing arm is pressed, the first lifting unit 210 drives the mechanical pressing arm 220 to move to a high position, and the mobile carrying platform 100 adjusts the position of the mechanical pressing arm 220 to the top of the cigarette box 400 to be moved; the first lifting unit 210 drives the mechanical pressing arm 220 to move downward and press the top of the cigarette box 400; the cigarette box 400 is simultaneously subjected to the "pressure" applied from top to bottom by the mechanical pressing arm 220 and the "lifting force" formed when the mechanical insertion arm 310 is lifted from bottom to top, and the two forces work together to fix the cigarette box 400.

[0136] T3: Lifting and transporting: With the help of the first lifting unit 210 and the mobile loading platform 100, the fixed cigarette box 400 can be lifted and moved, and the cigarette box 400 can be transported to a designated location.

[0137] T4: The mechanical insertion arm is pulled out, and the cigarette box 400 clamped by the mechanical pressing arm 220 and the mechanical insertion arm 310 is moved to a set position, and the mechanical insertion arm 310 is pulled out from the cigarette box 400 and the insertion hole is left.

[0138] T5: Release the mechanical pressing arm, control the mechanical pressing arm 220 to lift relative to the smoke box 400, and release the pressure acting on the surface of the smoke box.

[0139] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present invention should be covered by the present invention.

Claims

1. A displacement device for pressing, inserting and lifting a cigarette box, characterized in that: include: A mobile carrying platform, wherein a vertically arranged gantry is provided on the mobile carrying platform; A pressing assembly, the pressing assembly comprising a first lifting unit and a mechanical pressing arm, the first lifting unit being movably connected to the door frame, the mechanical pressing arm being installed on the first lifting unit, the first lifting unit being able to drive the mechanical pressing arm to apply a pressure perpendicular to the top surface of the cigarette box to press the cigarette box; An insertion and lifting assembly, the insertion and lifting assembly comprising a retractable mechanical insertion arm, the mechanical insertion arm being arranged on one side relative to the mobile carrying platform, the end of the mechanical insertion arm being a pointed structure, the mechanical insertion arm being able to exert a horizontal insertion force on the front side of the cigarette box pressed by the mechanical pressing arm and being inserted into the cigarette box; The first lifting unit and the pressing and holding components and the inserting and lifting components thereon can be lifted and lowered vertically, and cooperate with the mobile carrying platform to lift or carry the cigarette box under the joint action of the mechanical pressing arm and the mechanical inserting arm.

2. The device for pressing, inserting and lifting a cigarette box according to claim 1 is characterized in that: The insertion and lifting assembly also includes a second lifting unit, and the mechanical insertion arm is installed on the door frame or the second lifting unit. The second lifting unit can drive the mechanical insertion arm to move relative to the mechanical pressing arm, changing the distance between the mechanical insertion arm and the mechanical pressing arm to clamp the cigarette box.

3. The device for pressing, inserting and lifting a cigarette box according to claim 2 is characterized in that: The number of the mechanical insertion arms is at least two and they are arranged in a relative array. The mechanical insertion arms are fixedly connected to the second lifting unit. At least two of the mechanical insertion arms can act on the smoke boxes arranged side by side at the same time.

4. The device for pressing, inserting and lifting a cigarette box according to claim 3 is characterized in that: The width of the mechanical pressing arm is not less than 100 mm so as to press at least two cigarette boxes simultaneously.

5. A device for pressing, inserting and lifting a cigarette box according to any one of claims 1 to 4, characterized in that: The mechanical insertion arm comprises an arm rod, on which a detection unit is provided, and the detection unit can detect the physical and chemical properties of tobacco leaves in the cigarette box.

6. The device for pressing, inserting and lifting a cigarette box according to claim 5 is characterized in that: The arm is provided with a slot for installing the detection unit.

7. The device for pressing, inserting and lifting a cigarette box according to claim 5, characterized in that: The arm is a hollow rod structure, a monitoring hole is provided in the arm, the detection unit is installed in the monitoring hole and can sense and detect the physical and chemical properties of tobacco leaf tissue outside the arm.

8. A device for pressing, inserting and lifting a cigarette box according to claim 6 or 7, characterized in that: The arm length of the mechanical arm is not less than 100 mm so as to be able to monitor the quality changes of the susceptible layer tobacco leaves, and the detection unit includes one or any combination of a temperature sensor, a humidity sensor, a moisture sensor or a color detector.

9. A device for pressing, inserting and lifting a cigarette box according to claim 2 or 3, characterized in that: The insertion and lifting assembly also includes a transverse movement unit, and the mechanical insertion arms arranged in pairs are connected to the second lifting unit through the transverse movement unit. The transverse movement unit can drive the two mechanical insertion arms to move toward or away from each other.

10. A device for pressing, inserting and lifting a cigarette box according to any one of claims 1 to 3, characterized in that: The pressing assembly further comprises a locking unit, which is arranged on the mechanical pressing arm and can lock or unlock the connection between the mechanical pressing arm and the cigarette box.

11. The device for pressing, inserting and lifting a cigarette box according to claim 10, characterized in that: The locking unit comprises a screw that can be fed spirally, and the screw is movably connected to the mechanical pressing arm. The first lifting unit can drive the mechanical pressing arm to move up and down, so that the screw can be screwed in or out of the cigarette box.

12. The device for pressing, inserting and lifting a cigarette box according to claim 10, characterized in that: The locking unit includes a suckable suction cup, which is connected to the mechanical pressing arm. The first lifting unit can drive the mechanical pressing arm to move up and down. The suction cup can press and suck the surface of the cigarette box to stabilize the cigarette box.

13. A method for displacement of a cigarette box by pressing, inserting, lifting and holding, characterized in that: A device for pressing, inserting and lifting a cigarette box as described in any one of claims 1 to 12 is used, and the steps are as follows: S1: The mechanical pressing arm is pressed, the first lifting unit drives the mechanical pressing arm to move to a high position, and the mobile carrying platform adjusts the position of the mechanical pressing arm to the top of the cigarette box to be moved; the first lifting unit drives the mechanical pressing arm to move downward and press the top of the cigarette box; S2: The mechanical inserting arm is inserted. The mechanical inserting arm in the retracted state gradually extends relative to the cigarette box to form an "insertion force" applied to the cigarette box and is inserted into the interior of the cigarette box. The mechanical inserting arm is inserted into the tobacco in the cigarette box and forms a plug hole for gas exchange with the outside world; S3: Clamping and fixing, when the cigarette box is simultaneously subjected to the "pressure" applied from top to bottom by the mechanical pressing arm and the "lifting force" formed when the mechanical inserting arm is lifted from bottom to top, the two forces work together to fix the cigarette box; S4: lifting and moving, the fixed cigarette box can be lifted and moved by means of the first lifting unit and the mobile carrying platform; S5: the mechanical inserting arm is pulled out, the cigarette box clamped by the mechanical pressing arm and the mechanical inserting arm combination is moved to a set position, the mechanical inserting arm is pulled out from the cigarette box and a plug hole is left for airflow exchange between tobacco leaves inside the cigarette box and the environment outside the box; S6: Release the mechanical pressing arm, control the mechanical pressing arm to lift relative to the cigarette box, and release the pressure acting on the surface of the cigarette box.

14. A method for pressing, inserting and lifting a cigarette box, characterized in that: A device for pressing, inserting and lifting a cigarette box as described in any one of claims 1 to 12 is used, and the steps are as follows: T1: The mechanical inserting arm is inserted. The mechanical inserting arm in the retracted state approaches the cigarette box with support at the back and is slowly inserted into the front of the cigarette box. The mechanical inserting arm continues to extend to form an "insertion force" acting on the inside of the cigarette box and is inserted into the cigarette box. The mechanical inserting arm is inserted into the tobacco in the cigarette box and forms a plug hole for gas exchange with the outside world; T2: The mechanical pressing arm is pressed, the first lifting unit drives the mechanical pressing arm to move to a high position, and the mobile carrying platform adjusts the position of the mechanical pressing arm to the top of the cigarette box to be moved; the first lifting unit drives the mechanical pressing arm to move downward and press the top of the cigarette box; the cigarette box is simultaneously subjected to the "pressure" applied from top to bottom by the mechanical pressing arm and the "lifting force" formed when the mechanical insertion arm is lifted from bottom to top, and the two forces work together to complete the fixation of the cigarette box; T3: lifting and transporting, the fixed cigarette box can be lifted and moved by means of the first lifting unit and the mobile carrying platform; T4: The mechanical inserting arm is pulled out, and the cigarette box clamped by the mechanical pressing arm and the mechanical inserting arm combination is moved to a set position, and the mechanical inserting arm is pulled out from the cigarette box, leaving a plug hole for airflow exchange between the tobacco leaves inside the cigarette box and the environment outside the box; T5: Release the mechanical pressing arm and control the mechanical pressing arm to lift relative to the smoke box to release the pressure on the surface of the smoke box.

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