Carrying equipment and method for forming inserting, lifting and clamping cohesive force on smoke box

Abstract

The invention discloses carrying equipment and method for forming inserting, lifting and clamping cohesive force on a smoke box, and belongs to the technical field of smoke box carrying. The device comprises a movable carrying platform, a clamping assembly and an inserting and picking assembly, and the movable carrying platform comprises oppositely and vertically arranged gantries; the clamping assembly comprises a first moving unit and two clamping arms capable of moving leftwards and rightwards, the clamping arms are installed on the first moving unit and connected with the door frame, the first moving unit can drive the two clamping arms to synchronously ascend and descend relative to the door frame, and the two clamping arms can clamp the smoke box from the two sides; the inserting and picking assembly comprises a telescopic mechanical inserting arm, the mechanical inserting arm is arranged between the two clamping arms, and the mechanical inserting arm can be inserted into the cigarette box from the front face of the cigarette box. Under the continuous and synergistic effect of the horizontally inward insertion force of the mechanical insertion arms, the lifting force generated when the mechanical insertion arms are lifted upwards and the clamping force of the left clamping arm and the right clamping arm, lifting, shifting or stacking operation of the to-be-carried cigarette boxes is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of cigarette box handling, and in particular to a handling device and method for forming an insertion, lifting, clamping and holding force on a cigarette box. Background Art

[0002] After being compacted and cut into regular cubes, the tobacco leaves are packed into cartons to form tobacco boxes. The tobacco boxes are stored in the tobacco warehouse in the form of stacks, usually 3-5 layers high. After being transported from the redrying plant to the reserve warehouse, the tobacco boxes must 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 movement and stacking of tobacco boxes in the above process are all completed by a manually controlled mobile clamping vehicle. The clamping vehicle clamps the tobacco boxes through a mechanical clamping arm installed on a mobile platform. The mechanical clamping arm lifts the tobacco boxes by applying clamping force on the left and right sides of the tobacco boxes and transports them to the designated location in the air. With the rapid advancement of my country's new industrialization development, the clamping vehicle has shown the following defects and deficiencies in the process of transporting tobacco boxes:

[0003] 1. The allocation of tobacco leaves and their outer packaging (referred to as "cigarette boxes") to the production link depends on the clamping car to complete the unloading, clamping and moving, stacking and stacking, moving and clamping out of the warehouse and other operations. The two clamping arms of the clamping car have to clamp the tobacco leaves weighing up to 200 kilograms and overcome the negative impact of the box wall separating a layer of tobacco boxes on the clamping force. It is necessary to rely entirely on the strong clamping effect of the clamping car to be able to transport the tobacco leaves steadily and smoothly. The operating characteristics of the above-mentioned clamping car lead to the structural deformation of the cigarette boxes, the loosening and misalignment of the adhesive surfaces and rivets between the cardboards, and other phenomena. After each operation in and out of the warehouse, the use value and use cycle of the cigarette boxes will be significantly reduced, and the cost of tobacco leaf packaging remains high.

[0004] Even if other hard materials or even soft packaging materials are used (flexible materials such as plastic cloth, kraft paper, non-woven fabrics, linen fabrics, etc. are used for packaging, and plywood can be used to fix the flexible packaged tobacco leaves), the operating characteristics of the above-mentioned clamping vehicle will also cause damage to the tobacco leaf packaging. After each operation in and out of the warehouse, the use value and use cycle of the tobacco leaf packaging will be significantly reduced.

[0005] 2. The stacked tobacco leaves and their packaging boxes are prone to appearance deformation. 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, the lower-layer tobacco boxes in the stack after spring and summer are easily compressed and deformed, resulting in the loss of the normal spacing between the cartons. The clamping arm of the mobile clamping car is difficult to smoothly enter the clamping position between the cigarette boxes. It is necessary to manually control a mechanical arm of the clamping car to apply thrust to one side of the cigarette box to forcibly expand the gap between the cigarette boxes to facilitate the clamping arm to extend into the clamping position between the cigarette boxes. The above-mentioned operation of relying on the clamping arm of the clamping car to forcefully expand the gap between the cigarette boxes has become an indispensable part of the daily work flow of the clamping car operator. This not only affects the work efficiency but also has a damaging effect on the clamping arm of the clamping car and the external quality of the cigarette boxes. It also restricts the transformation and upgrading of the clamping car to unmanned and intelligent operation.

[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 trucks, forklifts and other handling equipment cannot efficiently achieve the above goals.

[0007] 3. Whether it is the traditional tobacco warehouse fumigation of the whole warehouse for insect prevention or the use of mechanical nitrogen filling for insect prevention, due to the barrier of tobacco box packaging and tobacco leaf lining plastic bags, fumigants or nitrogen cannot smoothly penetrate into the tobacco box to achieve a rapid insect prevention effect. The previous solution was to drill holes on the tobacco box manually with a drill, 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 handling device and method that can form an insertion, lifting, and clamping force on a cigarette box, so as to solve the problems of difficulty in handling the cigarette box and difficulty in preventing mildew and insects.

[0009] In a first aspect, the present invention provides a handling device for forming an insertion, lifting, and clamping force on a cigarette box, comprising:

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

[0011] A clamping assembly, the clamping assembly comprising a first moving unit and two clamping arms, the first moving unit being mounted on the door frame and being able to be lifted and lowered relative to the door frame; the two clamping arms being mounted on the first moving unit and being able to move toward or away from each other so as to apply a clamping force from both sides of the cigarette box and clamp the cigarette box;

[0012] The insertion assembly includes a retractable mechanical insertion arm, which is arranged between the two clamping arms; the mechanical insertion arm can extend toward the front of the cigarette box facing the mobile carrying platform to form an "insertion force" acting on the inside of the cigarette box and be inserted into the cigarette box;

[0013] The mobile carrying platform is lifted and carried by the first mobile unit by the cigarette box under the joint action of the clamping arm and the mechanical insertion arm.

[0014] Furthermore, the insertion and picking assembly also includes a second movable unit, the mechanical insertion arm is installed on the second movable unit and is connected to the door frame or the first movable unit, and the second movable unit can drive the mechanical insertion arm to move up and down relative to the door frame to change the upper and lower distance between the mechanical insertion arm and the clamping arm.

[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 movable 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 insertion and picking assembly also includes a transverse movement unit, and the mechanical insertion arms arranged in pairs on the second moving unit can drive the two mechanical insertion arms to move left and right towards or away from each other through the transverse movement unit.

[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 the detection unit can sense and detect the physical and chemical properties of the tobacco leaf tissue outside the arm.

[0020] Furthermore, 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 length of the arm is not less than 100 mm, so that the arm of the mechanical insertion arm can cover the quality sensitive layer of the tobacco leaves and monitor the quality changes of the tobacco leaves in the sensitive layer.

[0022] In a second aspect, the present invention provides a method for transporting a cigarette box by forming an insertion, lifting, and clamping force, which is applied with the transporting device for forming an insertion, lifting, and clamping force on the cigarette box, and the steps are as follows:

[0023] S1: The clamping arms are clamped. The first moving unit drives the two clamping arms to open relative to each other. The mobile carrying platform adjusts the positions of the clamping arms to the two sides of the cigarette box to be moved. The first moving unit drives the two clamping arms to move toward each other to clamp and fix the cigarette box from both sides.

[0024] S2: Insertion of the inserting arm. The mechanical inserting arm in the retracted state and installed on the first moving unit or the second moving unit slowly extends and approaches the front of the cigarette box clamped and fixed by the clamping arms from both sides. 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.

[0025] S3: clamping and fixing. The mobile carrying platform is lifted by the first mobile unit and the second mobile unit, and the inserted arm in the cigarette box forms a new "lifting force" on the cigarette box. The cigarette box is continuously clamped and fixed by the combined action of "the clamping force of the clamping arm", "the insertion force of the insertion rod" and "the lifting force of the mechanical inserted arm";

[0026] S4: lifting and moving, the fixed cigarette box can be lifted and moved by means of the first moving unit, the second moving unit and the mobile carrying platform;

[0027] S5: After the cigarette box is moved to the set position, the first moving unit and the second moving unit are stabilized, and the mechanical arm is pulled out of the cigarette box, leaving a plug hole for airflow exchange between tobacco leaves inside the cigarette box and the environment outside the box;

[0028] S6: Release the clamping arm, lock the first moving unit, and manipulate the two clamping arms to move away from each other to release the clamping force acting on the two sides of the cigarette box.

[0029] In a third aspect, the present invention provides a method for transporting a cigarette box by forming an insertion, lifting, and clamping force, which is applied with the transporting device for forming an insertion, lifting, and clamping force on the cigarette box, and the steps are as follows:

[0030] T1: The mechanical arm is inserted. The mechanical arm installed on the first mobile unit or the second mobile unit in the retracted state is extended. The mechanical arm approaches the cigarette box with 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 first mobile unit and the second mobile unit and the mechanical arm thereon are controlled to perform a lifting action. The mechanical arm inserted into the cigarette box forms a "lifting force" on the cigarette box and lifts the cigarette box.

[0031] T2: Clamping of the clamping arms. The first moving unit drives the two clamping arms to open relative to each other and adjusts the positions of the clamping arms to the two sides of the cigarette box that has been inserted and lifted by the mechanical inserting arms, and continuously drives the two clamping arms to move toward each other, clamping and fixing the cigarette box from both sides. The cigarette box is continuously subjected to the combined action of "insertion force of the inserting rod", "lifting force of the mechanical inserting arms" and "clamping force of the clamping arms" and is clamped and fixed;

[0032] T3: lifting and moving, using the first mobile unit, the second mobile unit and the mobile carrying platform to lift and move the fixed cigarette box;

[0033] T4: The insert arm is pulled out. After the cigarette box moves to the set position, the first moving unit and the second moving unit are stabilized, and the mechanical insert arm is pulled out of the cigarette box, leaving a plug hole for airflow exchange between tobacco leaves inside the cigarette box and the environment outside the box;

[0034] T5: Release the clamping arm, lock the first moving unit, and manipulate the two clamping arms to move away from each other to release the clamping force acting on the two sides of the cigarette box.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) The present invention is a kind of handling equipment that forms a lifting and clamping force on a cigarette box. Through the coordinated action of the clamping assembly, the lifting assembly and the mobile carrying platform provided in the equipment, not only can the two clamping arms form a "clamping force" from both sides to clamp the cigarette box, but also can simultaneously apply a horizontal inward "plugging force" to the mechanical arms from the front of the cigarette box and insert them into the cigarette box. The mechanical arms in the lifting assembly also form an upward "lifting force" acting on the inside of the cigarette box during the lifting process. The clamped cigarette box is stabilized under the continuous and coordinated action of the above three forces, and the lifting, shifting and stacking operations of the target cigarette box can be smoothly realized.

[0037] The above-mentioned equipment and method no longer require manual control of a mechanical arm of the clamping vehicle to apply thrust to one side of the cigarette box to forcibly expand and enlarge the gap between the cigarette boxes, so that the clamping arm can extend into the clamping position between the cigarette boxes. This can avoid the damage to the external quality of the cigarette box caused by the clamping arm of the clamping vehicle, and is also conducive to the transformation and upgrading of the clamping vehicle to unmanned and intelligent operation.

[0038] (2) The "lifting force" applied to the cigarette box by the mechanical insert arm of the present invention during the lifting process can effectively offset and share part of the weight of the cigarette box clamped by the clamping arm, and can appropriately reduce the clamping force applied by the clamping arm on both sides of the cigarette box, thereby avoiding the deformation of the tobacco packaging structure and the damage of the packaging materials (including flexible materials) caused by the operation of the traditional clamping vehicle.

[0039] (3) The present invention is a handling device that forms a combined force of insertion, lifting and clamping on a cigarette box. During the process of mechanical inserting, clamping, fixing and lifting the cigarette box, the cigarette box is continuously subjected to the upward lifting force of the mechanical inserting arm, and an elliptical plug hole with a cross section of "vertical inner diameter> horizontal inner diameter" is left on the side of the cigarette box and in the compacted tobacco layer contained in the box. The plug hole is automatically formed when the cigarette box is transported, which can optimize and omit the process of manually punching holes in the cigarette box. The process of the mechanical inserting arm carrying and moving in the cigarette box maximizes the area of ​​the plug hole, which is conducive to the rapid penetration of gas into the interior of the cigarette box when fumigants or gas conditioning are used for insect control during tobacco storage and maintenance, which can reduce the amount of medicine used and the operating time of nitrogen filling and gas conditioning of the nitrogen generator, and is conducive to energy conservation and emission reduction. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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:

[0041] Figure 1 The overall structure of the present invention is shown in FIG. Figure 1 ;

[0042] Figure 2 The overall structure of the present invention is shown in FIG. Figure 2 ;

[0043] Figure 3 It is a schematic diagram of the structure of the mechanical insert arm in the present invention;

[0044] Figure 4 This is the use status of the present invention Figure 1 ;

[0045] Figure 5 This is the use status of the present invention Figure 2 ;

[0046] Figure 6 This is the use status of the present invention Figure 3 ;

[0047] Figure 7 The use steps of the present invention are Figure 1 ;

[0048] Figure 8 The use steps of the present invention are Figure 2 .

[0049] In the figure, 100, a mobile carrying platform; 110, a gantry;

[0050] 200, clamping assembly; 210, first moving unit; 220, clamping arm;

[0051] 300, insertion and picking assembly; 310, mechanical insertion arm; 311, arm rod; 312, linear drive member; 320, second moving unit;

[0052] 400. Cigarette box. DETAILED DESCRIPTION

[0053] 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.

[0054] Example 1

[0055] See also Figures 1 to 7 In this embodiment, a handling device that forms a combined force of insertion, lifting and clamping on a cigarette box includes: a mobile carrying platform 100, a clamping assembly 200 and an insertion and lifting assembly 300. The mobile carrying platform 100 can be used as a platform to provide connection, power and driving basis for the clamping assembly 200 and the insertion and lifting assembly 300. The insertion and lifting assembly 300 can be inserted into the cigarette box 400 to carry and move the cigarette box 400. The clamping assembly 200 can clamp the cigarette box 400 and prevent the cigarette box from being pushed out of position during the process of inserting the insertion and lifting assembly 300 into the cigarette box 400. The insertion and lifting assembly 300 and the clamping assembly 200 cooperate with each other to complete the fixing and movement of the cigarette box 400.

[0056] 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 the multi-layer (3-5 layers) tobacco boxes 400 stacked together.

[0057] The clamping assembly 200 includes a first movable unit 210 and two clamping arms 220 that can move relative to each other. The clamping assembly 200 is a basic component of an existing clamping vehicle. The clamping arm 220 is connected to the gantry 110 through the first movable unit 210. The first movable unit 210 serves as an existing transmission mechanism, which can drive the two clamping arms 220 to move toward or away from each other to clamp or release the cigarette box 400, and can also drive the two clamping arms 220 to move up and down synchronously as a whole to grab or move the cigarette box 400.

[0058] The insertion assembly 300 includes a retractable mechanical insertion arm 310, which is arranged between the two clamping arms 220, and the mechanical insertion arm 310 is arranged on one side of the relatively movable carrying platform 100. The relatively retracted mechanical insertion arm 310 can extend from the front of the cigarette box 400 and insert into the tobacco leaves of the cigarette box 400. The mechanical insertion arm 310 can not only apply force to the cigarette box 400, but also assist in the stabilization, lifting and transportation of the cigarette box 400. A jack for communication with the outside world can also be formed in the cigarette box 400 and the tobacco leaves, so as to promote the fumigant and insect-proof nitrogen in the environment where the cigarette box is located to enter the deep layer of the tobacco leaves to effectively kill the insect pests hidden inside the tobacco leaves. The mechanical insertion arm 310 and the clamping arm 220 apply force from the left and right sides and the front of the target cigarette box in the horizontal direction, respectively, to achieve the clamping and stabilization of the cigarette box 400, and effectively suppress the deformation and damage of the cigarette box 400, so as to ensure the transportation safety of the cigarette box 400.

[0059] In this embodiment, a method for pressing, inserting, lifting and carrying a cigarette box is provided, and a displacement device for pressing, inserting, lifting and carrying a cigarette box is applied, and the steps are as follows:

[0060] S1: Clamping with clamping arms. First, the mobile platform 100 is controlled to approach the stack of several cigarette boxes 400 stacked together, and the two clamping arms 220 are driven to open relative to each other by the first mobile unit 210. Then, the clamping arms 220 are controlled to aim at the gaps on both sides of the target cigarette box 400 to be displaced, and slowly move toward the front of the cigarette box and clamp the cigarette box 400, forming a clamping force F1 in opposite directions and pointing to the center of the cigarette box 400 to stabilize the cigarette box 400. The clamping arms 220 can clamp and fix two adjacent cigarette boxes 400 distributed on the same layer at the same time.

[0061] S2: The mechanical arm 310 is inserted. The position of the mechanical arm 310 can be set as needed. The relatively retracted mechanical arm 310 slowly extends out and gradually approaches the front of the cigarette box 400 clamped and fixed from both sides by the clamping arm 220. The mechanical arm 310 applies a horizontal inward insertion force F2 and is inserted into the interior of the cigarette box 400.

[0062] S3: Clamping and fixing, the clamping arm 220 and the mechanical inserting arm 310 act together on the cigarette box 400, the two clamping arms 220 act inward from both sides to clamp the cigarette box 400, the mobile carrying platform 100 is lifted by the first mobile unit 210 or the second mobile unit 320, and the inserting arm inserted into the cigarette box forms a new "lifting force F3" on the cigarette box, and the cigarette box is continuously subjected to the combined action of the three forces of "clamping force F1", "insertion force F2" and "lifting force F3" and is clamped, further avoiding the shaking and falling of the cigarette box 400 when being carried. In addition, under the action of the mobile carrying platform 100 and the first mobile unit 210 or the second mobile unit 320, the cigarette box 400 is also subjected to the vertical upward lifting force F3 from the mechanical inserting arm 310, completing the support of the weight of the cigarette box 400.

[0063] S4: Lifting and transporting: the cigarette box 400 clamped by the clamping arm 220 and the mechanical insertion arm 310 is lifted and shifted upward, and the mobile carrying platform 100 is driven to move the cigarette box 400.

[0064] S5: The insert arm is pulled out. After the cigarette box 400 is moved to the set position, such as the compartment of a transport vehicle or a forklift board, the clamping arm 220 is kept clamping the cigarette box from both sides, and the mechanical insert arm 310 is pulled out from the cigarette box 400, leaving a plug hole for airflow exchange between the tobacco leaves inside the cigarette box 400 and the environment outside the box.

[0065] S6: Release the clamping arms, and use the first moving unit 210 to drive the two clamping arms 220 away from each other, release the clamping force F1 acting on the two sides of the cigarette box 400, and complete the transportation of the target cigarette box 400.

[0066] The handling equipment in this embodiment forms a combined force of insertion, lifting and clamping for the cigarette box, which innovates a handling method that is different from the traditional one that relies on the strong clamping force of the clamping vehicle to clamp and lift the cigarette box.

[0067] The conventional clamping vehicle clamps the cigarette box 400 from both sides with the clamping arms, and uses the friction between the clamping arms and the cigarette box 400 to overcome the gravity of the cigarette box 400 to lift and carry the cigarette box. However, the friction depends on the lateral pressure and friction coefficient between the cigarette box 400 and the clamping arms. When the friction coefficient remains relatively unchanged, sufficient friction can only be obtained by increasing the clamping force, and the increased clamping force will directly act on the cigarette box 400, causing irreversible damage to the cigarette box 400.

[0068] In this example, see Figure 1 and Figure 2A lifting assembly 300 is provided on the same side as the two clamping arms 220. The mechanical arm 310 of the lifting assembly 300 can be extended and inserted into the cigarette box 400. As the lifting assembly 300 is lifted upward, a lifting force is formed to overcome the gravity of the cigarette box 400. Through the continuous and synergistic effect of "horizontal inward insertion force + lifting force when the mechanical arm 310 is lifted upward + clamping force formed by the left and right clamping arms 220" on the cigarette box 400, the lifting, shifting and stacking operations of the cigarette box 400 are completed in steps.

[0069] The lifting force F3 applied to the cigarette box 400 by the mechanical insertion arm 310 can effectively offset a part of the clamping force F1 applied to the two sides of the cigarette box by the clamping arm when clamping and lifting the cigarette box, thereby avoiding the deformation of the tobacco packaging structure and the damage of the packaging materials (including flexible materials) caused by the operation of the traditional clamping vehicle.

[0070] During the insertion, clamping, fixing and lifting process of the mechanical insert arm 310, the cigarette box 400 is continuously subjected to the upward lifting force of the mechanical insert arm 310, and an elliptical plug hole with a cross section of "vertical inner diameter> horizontal inner diameter" is left on the side of the cigarette box 400 and in the compacted tobacco layer contained in the box. The plug hole is automatically formed when the cigarette box 400 is transported, and the manual drilling process on the cigarette box 400 can be omitted. The mechanical insert arm 310 maximizes the area of ​​the above-mentioned plug hole during the carrying and moving process of the cigarette box 400, which is conducive to the rapid penetration of nitrogen gas into the interior of the cigarette box 400 when using fumigants or controlled atmosphere insect control during tobacco storage and maintenance, which can reduce the use of agents and reduce the nitrogen filling and gas conditioning operation time of the nitrogen generator, which is conducive to energy conservation and emission reduction.

[0071] The cigarette pieces in the cigarette box are also squeezed in the vertical direction by the mechanical insertion arm 310, 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.

[0072] As one implementation, see Figure 1The insertion and lifting assembly 300 also includes a second moving unit 320. The mechanical insertion arm 310 is installed on the second moving unit 320 and connected to the door frame 110. The mechanical insertion arm 310 and the clamping arm 220 can move relatively independently. The second moving unit 320 moves up and down to adjust the position of the mechanical insertion arm 310 relative to the door frame 110. In the step of clamping and fixing the cigarette box, after the clamping arm 220 clamps a cigarette box on the top layer of a vertical column or two side-by-side cigarette boxes 400 on the top layers of two adjacent vertical columns, the mechanical insertion arm 310 can be adjusted in height as needed and inserted into the second or third layer of cigarette boxes 400 below the top layer. At least two layers of cigarette boxes 400 are subjected to the clamping force F1 and the upward lifting force F3 from both sides at the same time, so that 1, 2 or 4 cigarette boxes are clamped, lifted and carried at the same time, improving the working efficiency of the equipment and shortening the retention time of personnel and equipment in the warehouse.

[0073] In the lifting and transporting step, it is necessary to control the first mobile unit 210 and the second mobile unit 320 to clamp and insert the cigarette box 400 and other series of actions to coordinate and lift synchronously. During the lifting process, the distance between the mechanical insertion arm 310 and the clamping arm 220 remains unchanged, and the mechanical insertion arm 310 and the clamping arm 220 move synchronously relative to the door frame 110. Finally, the lifting and movement of the cigarette box 400 is achieved.

[0074] As one embodiment, the insertion and lifting assembly 300 further includes a second mobile unit 320, a mechanical insertion arm 310 is mounted on the second mobile unit 320 and connected to the first mobile unit 210, and the mechanical insertion arm 310 can adjust the position of the mechanical insertion arm 310 relative to the clamping arm 220 with the help of the second mobile unit 320, and the mechanical insertion arm 310 can only move relative to the clamping arm 220. In the step of clamping and fixing the cigarette box, after the clamping arm 220 clamps the top layer of cigarette boxes 400 in a vertical row, the mechanical insertion arm 310 can move downward along the first mobile unit 210 to the front position of any layer of cigarette boxes as needed and insert the mechanical insertion arm 310 into the corresponding cigarette box 400, so that at least two layers of cigarette boxes 400 are simultaneously subjected to the clamping force F1 from both sides and the upward lifting force F3, thereby being clamped, which can improve the working efficiency of the equipment and shorten the retention time of personnel and equipment in the warehouse. In the process of lifting and moving the cigarette box, it is only necessary to control the first moving unit 210 to move up and down relative to the door frame 110, so as to simultaneously drive the clamping arm 220 and the mechanical insertion arm 310 to move, thereby completing the lifting and movement of the cigarette box 400.

[0075] As one implementation, see Figure 2, the mechanical insert arm 310 on the insertion and lifting assembly 300 can be directly installed on the first mobile unit 210, and the mechanical insert arm 310 can only move with the first mobile unit 210. In the clamping and fixing step, after the clamping arm 220 clamps a vertical row of top-layer cigarette boxes 400, the mechanical insert arm 310 cannot move, and can and can only extend and insert into the corresponding top-layer cigarette box 400 at the fixed position of the installation, so that the aligned cigarette box 400 is clamped by the clamping force F1 from both sides and the upward lifting force F3 at the same time. In the lifting and transportation step, it is only necessary to control the second mobile unit 320 to move up and down relative to the door frame 110, so as to drive the clamping arm 220 and the mechanical insert arm 310 to move at the same time, and complete the lifting and transportation of the top-layer cigarette box 400. Repeating this process several times can complete the transportation of all the stacked cigarette boxes 400.

[0076] In some embodiments, the first mobile unit 210 includes a first frame, a first vertical drive mechanism, and a horizontal drive mechanism. The first frame is slidably engaged with the door frame 110, and the clamping arm 220 is connected to the first frame.

[0077] The first vertical drive mechanism is a hydraulic drive system. Both ends of the hydraulic cylinder are respectively connected to the first frame and the mobile carrying platform 100. 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 gantry 110.

[0078] The first vertical driving mechanism is a mechanical driving system. The first frame is connected to the gantry 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 gantry 110.

[0079] The first vertical 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.

[0080] The horizontal driving mechanism can be a hydraulic driving system. The two clamping arms 220 are slidably connected with the first frame through the guide rail slider. The two hydraulic cylinders act between the two clamping arms 220 and the first frame respectively. The high-pressure pump pressurizes the hydraulic oil and pushes the piston rod in the hydraulic cylinder, so that the two clamping arms 220 move toward or away from each other, thereby clamping and loosening the cigarette box 400.

[0081] Likewise, the horizontal drive mechanism may also use a mechanical drive system and an electric drive system.

[0082] The second movable unit 320 includes a second frame and a second vertical driving mechanism. The second frame is connected to the mechanical insertion arm 310. The second frame is connected to the gantry 110 or the first frame through the vertical driving mechanism. The second movable unit 320 can change the distance between the mechanical insertion arm 310 and the clamping arm 220.

[0083] The second vertical driving mechanism has the same structure as the first vertical driving mechanism.

[0084] In this embodiment, the linear drive component 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 size of the cigarette box 400 and the number of transports, and the thrust, stroke and speed are matched to each other. The movement of the mechanical arm 310 is controlled by remote control, centralized control or automatic control.

[0085] 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, 350, 450 mm, etc., in order to adapt to different application scenarios.

[0086] 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.

[0087] It should be noted that the above-mentioned "cigarette box 400" refers to a cubic packaging box made of cardboard or a packaging material made of flexible materials (gunny bags, kraft paper, plastic cloth, non-woven fabrics, etc.) to contain (hold) re-baked and compacted tobacco leaves.

[0088] Example 2

[0089] It is basically the same as the first embodiment, except that: in this embodiment, the number of mechanical arms 310 is at least two, and the number of mechanical arms 310 can be increased to 2, 3...N (N is a positive integer greater than 3). In addition, at least two mechanical arms 310 are arranged in an array relative to each other, and the mechanical arms 310 are fixedly connected to the first frame of the second mobile unit 320. At least two mechanical arms 310 can be simultaneously inserted into the smoke boxes 400 arranged side by side, which can increase the lifting force of the smoke box 400 and increase the number of holes for airflow exchange inside and outside the smoke box 400.

[0090] Example 3

[0091] It is basically the same as Example 1, except that: the insertion and picking assembly 300 also includes a transverse movement unit, and the paired mechanical insertion arms 310 are connected to the second movable unit 320 through the transverse movement unit. The transverse movement unit has the same structure as the horizontal driving mechanism. 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.

[0092] In a specific implementation process, two ends of the transverse movement unit are respectively connected to the second frame and the mechanical insertion arm 310 , and the transverse movement unit can drive the two mechanical insertion arms 310 to move relative to each other, thereby changing the distance between the two mechanical insertion arms 310 .

[0093] When moving one or a vertical row of cigarette boxes 400, 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 clamping force F1 applied by the clamping arm can be appropriately reduced, thereby avoiding the deformation of the tobacco packaging structure and the damage of the packaging materials (including flexible materials) caused by the operation of the traditional clamping vehicle.

[0094] When moving two side-by-side or two rows of cigarette boxes 400, 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 simultaneously inserted into the two side-by-side cigarette boxes 400. With the assistance of the clamping arms 220, the two mechanical arms 310 can simultaneously clamp the two cigarette boxes 400 or two vertical rows of cigarette boxes 400.

[0095] Example 4

[0096] In this embodiment, the clamping assembly 200 further includes a folding unit, and the clamping arm 220 is connected to the first frame of the first moving unit 210 through the folding unit. The folding unit can drive the clamping arm 220 to rotate 90 degrees relative to each other. The clamping arm 220 has a working position and a folding position. In the working position, the clamping arm 220 is relatively horizontally arranged and perpendicular to the door frame 110. In the folding position, the clamping arm 220 is arranged parallel to the door frame 110 and relatively upwardly arranged. In the folding unit, the clamping arm 220 is relatively spaced from the mechanical insertion arm 310, and the mechanical insertion arm 310 can be used to move the cigarette box 400 to expose the gap between the cigarette boxes 400, so that the clamping arm 220 in the working position can be inserted into the gap to complete the side clamping of the cigarette box 400.

[0097] In the specific implementation process, when the gap between the stacked cigarette boxes 400 is narrow and the operation of inserting the clamping arm 220 cannot be completed smoothly, the clamping arm 220 is first flipped 90 degrees upward to a folded position, and then the mechanical insertion arm 310 is manipulated to insert into the interior of the target cigarette box 400. The third step is to manipulate the second mobile unit 320 and the first mobile unit 210 to lift or move the cigarette boxes 400 upward to expand the gap between the cigarette boxes 400; finally, the clamping arm 220 is flipped 90 degrees to the working position, and the clamping arm 220 is manipulated to slowly enter the enlarged gap between the cigarette boxes 400 to complete the clamping and fixation of the cigarette boxes 400.

[0098] The folding unit can be a gear rack structure or a connecting rod type turning mechanism. Choose the customized product of Shanghai Zhunguan Packaging Machinery Co., Ltd. or Shandong Beilai Heavy Industry Machinery Co., Ltd.

[0099] The folding unit may also be a servo motor, which directly drives the clamping arm 220 to rotate 90°.

[0100] Example 5

[0101] It is basically the same as Example 1, 2, 3, and 4. Please refer to Figure 3 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.

[0102] 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.

[0103] In this embodiment, the detection unit is directly arranged on the mechanical arm 310. After the mechanical arm 310 is inserted into the cigarette box 400, the detection of various properties of the cigarette sheets can be completed during the process of transporting the cigarette box 400, thereby eliminating the mutual interference between the warehousing and transportation operations and the detection operations, simplifying the warehousing procedures, and reducing labor intensity.

[0104] Example 6

[0105] It is basically the same as Example 5, 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 displacement and transportation process after the mechanical plug arm 310 is inserted into the interior of the cigarette box 400 and clamped with the pressure arm to clamp 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.

[0106] 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.

[0107] 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.

[0108] Example 7

[0109] It is basically the same as Example 5, except that a monitoring hole is provided in the middle of the arm 311 to form a hollow metal rod structure. The sensor is selected from Beijing Kunlun Zhongda Temperature and Humidity Sensor, and the sensor probe is placed inside the hollow arm 311. The sensor probe is located in the section where the mechanical arm 310 is inserted into 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. The air hole is arranged along the radial direction of the arm 311 and is 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. The above-mentioned monitoring host is fixedly mounted on the mobile mounting platform 100.

[0110] Example 8

[0111] The embodiment is basically the same as the embodiment 7, 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;

[0112] 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 in 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. 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.

[0113] 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.

[0114] Example 9

[0115] It is basically the same as Example 7, except that: an observation hole is set 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 main body of the industrial endoscope is installed on the mobile carrying platform 100, and the main body 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 mold (when the tobacco leaves are moldy, their apparent color changes regularly) and the situation of tobacco insect damage (when tobacco insect damage occurs, the color of the insect body itself is presented, and characteristic pollutants are also produced during the tobacco insect damage).

[0116] The industrial endoscope can also select 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 megapixel CCD camera, 32GB large-capacity storage, HDMI high-definition output synchronous display and TYPE-C data interface. 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.

[0117] Example 10

[0118] The same as any one of the embodiments 1-9, wherein the end of the arm 311 facing the cigarette box 400 is pointed, which can enhance the pressure at the end of the arm 311, help the arm 311 penetrate the cigarette box 400, and avoid the formation of tearing on the surface of the cigarette box 400 due to the low 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 gas exchange between the tobacco leaves and the outside world.

[0119] Embodiment 11

[0120] It is basically the same as Example 10, 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 interior 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 leaves inside the cigarette box 400 are 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.

[0121] Example 12

[0122] The same as the first embodiment, except that there is another method for carrying the cigarette box by pressing, inserting and lifting, which is different from the first embodiment, and a displacement device for pressing, inserting and lifting the cigarette box is applied, see Figure 8 , the steps are as follows:

[0123] T1: Insertion of the mechanical arm 310. The position of the mechanical arm 310 can be set as needed. The relatively retracted mechanical arm 310 slowly extends and gradually approaches 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 arm 310. The mechanical arm 310 applies a horizontal inward insertion force F2 and inserts into the interior of the cigarette box 400, controlling the first mobile unit 210 and the second mobile unit 320 and the mechanical arm 310 thereon to perform a lifting action. The mechanical arm 310 inserted into the cigarette box 400 forms a "lifting force" on the cigarette box and lifts the cigarette box 400.

[0124] T2: The clamping arms clamp, the first moving unit 210 drives the two clamping arms 220 to open relatively and adjusts the positions of the clamping arms 220 to the two sides of the cigarette box 400 that has been inserted and lifted by the mechanical insertion arms 310, and continuously drives the two clamping arms 220 to move toward each other, clamping and fixing the cigarette box 400 from both sides. The cigarette box 400 is continuously subjected to the combined action of "insertion force of the insertion rod", "lifting force of the mechanical insertion arm" and "clamping force of the clamping arms" and is clamped and fixed.

[0125] T3: lifting and transporting, using the first mobile unit 210, the second mobile unit 320 and the mobile carrying platform 100 to lift and move the fixed cigarette box 400, and transport the cigarette box 400 to a designated location.

[0126] T4: The insert arm is pulled out. After the cigarette box 400 moves to the set position, the first movable unit 210 and the second movable unit 320 are stabilized, and the mechanical insert arm 310 is pulled out from the cigarette box 400, leaving a plug hole for airflow exchange between the tobacco leaves inside the cigarette box 400 and the environment outside the box;

[0127] T5: Release the clamping arms, and use the first moving unit 210 to drive the two clamping arms 220 away from each other, release the clamping force F1 acting on the two sides of the cigarette box 400, and complete the transportation of the target cigarette box 400.

[0128] 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 handling device for forming a combined force of insertion, lifting and clamping on a cigarette box, characterized in that: include: A mobile carrying platform, wherein the mobile carrying platform is provided with a relatively vertically arranged gantry; A clamping assembly, the clamping assembly comprising a first moving unit and two clamping arms, the first moving unit being mounted on the gantry, and the first moving unit being capable of being lifted and lowered relative to the gantry; The two clamping arms are installed on the first moving unit, and the two clamping arms can move toward or away from each other so as to apply clamping force from both sides of the cigarette box and clamp the cigarette box; The insertion and picking assembly includes a retractable mechanical insertion arm, which is arranged between the two clamping arms; the mechanical insertion arm can extend toward the front of the cigarette box facing the mobile carrying platform to form an "insertion force" acting on the inside of the cigarette box and be inserted into the cigarette box; The mobile carrying platform is lifted and carried by the first mobile unit by the cigarette box under the joint action of the clamping arm and the mechanical insertion arm.

2. The handling device for forming insertion, lifting and clamping forces on a cigarette box according to claim 1, characterized in that: The insertion and picking assembly also includes a second movable unit, the mechanical insertion arm is installed on the second movable unit and is connected to the door frame or the first movable unit, and the second movable unit can drive the mechanical insertion arm to move up and down relative to the door frame to change the upper and lower distance between the mechanical insertion arm and the clamping arm.

3. The handling device for forming insertion, lifting and clamping forces on a cigarette box according to claim 2, 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 moving 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 handling device for forming an insertion, lifting and clamping force on a cigarette box according to claim 3, characterized in that: The insertion and picking assembly also includes a transverse movement unit, and the mechanical insertion arms arranged in pairs on the second moving unit can drive the two mechanical insertion arms to move left and right towards or away from each other through the transverse movement unit.

5. A handling device for forming insertion, lifting and clamping forces on 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 handling device for forming insertion, lifting and clamping forces on a cigarette box according to claim 5, characterized in that: The arm is provided with a slot for installing the detection unit.

7. The handling device for forming insertion, lifting and clamping forces on 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 the detection unit can sense and detect the physical and chemical properties of the tobacco leaf tissue outside the arm.

8. The handling equipment for forming insertion, lifting and clamping forces on a cigarette box according to claim 6 or 7, characterized in that: The detection unit includes one or any combination of a temperature sensor, a humidity sensor, a moisture sensor or a color detector.

9. The handling device for forming insertion, lifting and clamping forces on a cigarette box according to claim 8, characterized in that: The length of the arm is not less than 100 mm, so that the arm of the mechanical insertion arm can cover the quality sensitive layer of the tobacco leaves and monitor the quality changes of the tobacco leaves in the sensitive layer.

10. A method for transporting a cigarette box by forming a combined force of insertion, lifting and clamping, characterized in that: A handling device for forming an insertion, lifting and clamping force on a cigarette box as described in any one of claims 1 to 9 is used, and the steps are as follows: S1: The clamping arms are clamped. The first moving unit drives the two clamping arms to open relative to each other. The mobile carrying platform adjusts the positions of the clamping arms to the two sides of the cigarette box to be moved. The first moving unit drives the two clamping arms to move toward each other to clamp and fix the cigarette box from both sides. S2: Insertion of the inserting arm. The mechanical inserting arm in the retracted state and installed on the first moving unit or the second moving unit slowly extends and approaches the front of the cigarette box clamped and fixed by the clamping arms from both sides. 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. S3: clamping and fixing. The mobile carrying platform is lifted by the first mobile unit and the second mobile unit, and the inserted arm in the cigarette box forms a new "lifting force" on the cigarette box. The cigarette box is continuously clamped and fixed by the combined action of the "clamping force of the clamping arm", the "insertion force of the insertion rod" and the "lifting force of the mechanical inserted arm"; S4: lifting and moving, the fixed cigarette box can be lifted and moved by means of the first moving unit, the second moving unit and the mobile carrying platform; S5: After the cigarette box is moved to the set position, the first moving unit and the second moving unit are stabilized, and the mechanical arm is pulled out of the cigarette box, leaving a plug hole for airflow exchange between tobacco leaves inside the cigarette box and the environment outside the box; S6: Release the clamping arm, lock the first moving unit, and manipulate the two clamping arms to move away from each other to release the clamping force acting on the two sides of the cigarette box.

11. A method for transporting a cigarette box by forming a combined force of insertion, lifting and clamping, characterized in that: A handling device for forming an insertion, lifting and clamping force on a cigarette box as described in any one of claims 1 to 9 is used, and the steps are as follows: T1: The mechanical arm is inserted. The mechanical arm installed on the first mobile unit or the second mobile unit in the retracted state is extended. The mechanical arm 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 first mobile unit and the second mobile unit and the mechanical arm thereon are controlled to perform a lifting action. The mechanical arm inserted into the cigarette box forms a "lifting force" on the cigarette box and lifts the cigarette box; T2: Clamping of the clamping arms. The first moving unit drives the two clamping arms to open relative to each other and adjusts the positions of the clamping arms to the two sides of the cigarette box that has been inserted and lifted by the mechanical inserting arms, and continuously drives the two clamping arms to move toward each other, clamping and fixing the cigarette box from both sides. The cigarette box is continuously subjected to the combined action of the "insertion force of the inserting rod", the "lifting force of the mechanical inserting arms" and the "clamping force of the clamping arms" and is clamped and fixed; T3: lifting and moving, using the first mobile unit, the second mobile unit and the mobile carrying platform to lift and move the fixed cigarette box; T4: The insert arm is pulled out. After the cigarette box moves to the set position, the first moving unit and the second moving unit are stabilized, and the mechanical insert arm is pulled out of the cigarette box, leaving a plug hole for airflow exchange between tobacco leaves inside the cigarette box and the environment outside the box; T5: Release the clamping arm, lock the first moving unit, and manipulate the two clamping arms to move away from each other to release the clamping force acting on the two sides of the cigarette box.

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