Movable cigarette packet air pipe suction crane

Abstract

The invention discloses a movable tobacco bale air pipe suction crane which comprises a movable trolley, a movable air pipe, a movable air pipe, a movable air pipe, a movable air pipe, a movable air pipe, a movable air pipe, a movable air pipe and a movable air pipe. The moving trolley, the first connecting assembly, the second connecting assembly and the vacuum adsorption arm are sequentially connected, one of the first connecting assembly and the second connecting assembly can drive the vacuum adsorption arm to move in the horizontal plane, and the other one of the first connecting assembly and the second connecting assembly can drive the vacuum adsorption arm to move in the vertical plane; the working end of the vacuum adsorption arm is provided with a universal connector, and the universal connector, the suction cup piece and the grabbing and clamping assembly can be assembled respectively. According to the movable cigarette packet air pipe suction crane, the cigarette packets can be flexibly moved to a designated place according to the storage positions and carrying requirements of the cigarette packets, the working efficiency is improved, and the time and energy cost of manual equipment carrying is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of tobacco logistics equipment, and particularly to a mobile cigarette package air pipe lifting machine. Background Art

[0002] In the production, storage and logistics links of the tobacco industry, the handling of cigarette packages is a frequent and important task. Traditional cigarette package handling methods mainly rely on manual labor and some simple mechanical equipment.

[0003] Manual handling of cigarette packages not only has a high labor intensity and low efficiency, but also the long-term repetitive handling work is prone to causing worker fatigue, increasing the probability of work-related injury accidents. In addition, the accuracy and stability of manual handling are poor, which may cause a certain degree of damage to the cigarette packages and affect product quality.

[0004] Some simple mechanical equipment, such as ordinary forklifts, although can improve the handling efficiency to a certain extent, but the grasping and placing operations of cigarette packages are not delicate enough, and it is difficult to adapt to cigarette packages of different specifications and placement methods. Moreover, the operating flexibility of forklifts in narrow spaces is limited, and they cannot meet the handling requirements in complex storage environments. Traditional lifting machines are often fixed in a certain area and cannot move. Therefore, there is an urgent need for a new type of handling equipment. Summary of the Invention

[0005] The main object of the present invention is to provide a mobile cigarette package air pipe lifting machine to solve the problems of low cigarette package handling efficiency, high labor intensity and inability to move flexibly in the prior art.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] The mobile cigarette package air pipe lifting machine according to the present application includes:

[0008] A mobile trolley, in which a power assembly is arranged, and the power assembly is used to provide power for the movement of the mobile trolley;

[0009] A first connection assembly, a second connection assembly and a vacuum adsorption arm, the mobile trolley, the first connection assembly, the second connection assembly and the vacuum adsorption arm are connected in sequence. One of the first connection assembly and the second connection assembly can drive the vacuum adsorption arm to move in the horizontal plane, and the other can drive the vacuum adsorption arm to move in the vertical plane. A universal joint is provided at the working end of the vacuum adsorption arm, and the universal joint can be respectively assembled with a suction cup member and a clamping assembly.

[0010] The mobile cigarette pack air pipe lifting machine according to the present application, a vacuum generator is provided on the mobile trolley, the vacuum generator is communicated with the inlet of the vacuum adsorption arm through an air pipe, the second connection assembly includes a cantilever, a first hanging ring and a plurality of second hanging rings are provided on the cantilever, the first hanging ring is arranged at one end of the cantilever far away from the first connection assembly, and the plurality of second hanging rings are arranged at intervals in the length direction of the cantilever. The vacuum adsorption arm is suspended on the first hanging ring, and the air pipe is clamped in the second hanging ring.

[0011] Optionally, a wire winder is provided on the mobile trolley. The wire winder includes a bracket, a reel and a third motor. The bracket is fixed on the mobile trolley, the reel is rotatably arranged on the bracket, the third motor is in transmission connection with the reel, the reel is used for winding the air pipe, and a first limiting device is arranged at one end of the cantilever close to the first connection assembly. The first limiting device is in communication connection with the third motor.

[0012] Optionally, the cantilever includes a first sub-part and a second sub-part that are rotatably connected to each other. The first sub-part is connected to the first connection assembly, and the second sub-part is connected to the vacuum adsorption arm. A first control handle is further provided on the suction cup member, and the first control handle can be rotated to adjust the opening degree of the suction port of the suction cup member.

[0013] Optionally, the clamping assembly includes a hook member, a pressing member and a supporting member that are arranged at intervals. The hook member is arranged between the pressing member and the supporting member. The distance between the hook member and the pressing member is less than the distance between the hook member and the supporting member. The hook member includes a hook with a tip, the pressing member includes a rotatable pulley, and the supporting member includes a bent pipe bent into an L shape.

[0014] Optionally, the clamping assembly includes a first connecting member and a second connecting member that are hinged. The first connecting member is used for assembling with the universal joint, and the hook member, the pressing member and the supporting member are all arranged on the second connecting member.

[0015] Optionally, the supporting member is rotatably connected to the second connecting member.

[0016] Optionally, a control module is provided on the mobile trolley. The first connection assembly includes a first motor and a telescopic arm. The first motor is in transmission connection with the telescopic arm. The second connection assembly includes a second motor. The second motor is in transmission connection with the cantilever. The first motor and the second motor are both electrically connected to the control module. An induction component is arranged at the working end of the vacuum adsorption arm. The induction component is in communication connection with the control module. The induction component is used for measuring the distance between the working end of the vacuum adsorption arm and the attachment to be sucked.

[0017] Optionally, the mobile trolley includes a chassis, drive wheels, a control module, and a driving operation device. The drive wheels are mounted on the chassis, and the control module is electrically connected to the drive wheels, the power assembly, and the driving operation device.

[0018] Optionally, a navigation module is further provided on the chassis. The navigation module is electrically connected to the control module. The navigation module is configured to obtain the position information of the mobile trolley and transmit the position information to the control module. The control module can plan the driving path of the mobile trolley according to the position information.

[0019] The above technical solutions provided by the embodiments of the invention have the following advantages compared with the prior art:

[0020] The mobile cigarette pack air pipe lifting machine provided by the present invention has a power component arranged in the mobile trolley to provide power for the movement of the mobile trolley, which enables the lifting machine to move autonomously between different working areas, getting rid of the limitations of traditional fixed-position lifting equipment. For example, in a large tobacco warehouse, the lifting machine can flexibly move to a designated location according to the storage position and handling requirements of cigarette packs, improving work efficiency and reducing the time and energy costs of manual handling equipment. The entire lifting machine is based on the mobile trolley, achieving integrated mobility. Compared with traditional large, bulky and difficult-to-move lifting equipment, this lifting machine can flexibly shuttle in relatively narrow channels and spaces, adapting to different working environments, such as between the shelves in the warehouse and beside each work station in the production workshop. The first connection component and the second connection component are successively connected between the mobile trolley and the vacuum adsorption arm, and one of them can drive the vacuum adsorption arm to move in the horizontal plane, and the other can drive it to move in the vertical plane. This design enables the vacuum adsorption arm to be flexibly adjusted in three-dimensional space. When the second connection component (or the first connection component) drives the vacuum adsorption arm to move in the horizontal plane, the lifting machine can cover a larger planar working area. For example, when there are multiple rows of cigarette packs placed in the warehouse, the lifting machine does not need to frequently move the trolley. It only needs to adjust the position of the vacuum adsorption arm in the horizontal plane through the second connection component to accurately align with cigarette packs at different positions for adsorption operations. The first connection component drives the vacuum adsorption arm to move in the vertical plane, enabling the lifting machine to adapt to the handling requirements of cigarette packs at different heights. Whether it is a cigarette pack stacked on the ground or a cigarette pack placed on a higher shelf, the lifting machine can accurately move the vacuum adsorption arm to the height where the cigarette pack is located through vertical adjustment to complete the adsorption and handling work. The working end of the vacuum adsorption arm is provided with a universal joint, which can be respectively assembled with the suction cup part and the gripper assembly. This design enables the lifting machine to flexibly select a suitable adsorption or grasping method according to the different characteristics and handling requirements of cigarette packs. For cigarette packs with a flat surface and uniform texture, after assembling the suction cup part, the cigarette packs can be firmly adsorbed through the principle of vacuum adsorption, avoiding the cigarette packs from falling during handling. The adsorption method of the suction cup part is simple to operate and causes less damage to the surface of the cigarette pack. For some cigarette packs with irregular shapes, uneven surfaces or requiring more firm fixation, assembling the gripper assembly can better complete the grasping task. Description of the Drawings

[0021] Figure 1 It is a three-dimensional view of the mobile cigarette pack air pipe lifting machine provided by an embodiment of the present invention;

[0022] Figure 2 It is a top view of the mobile cigarette pack air pipe lifting machine provided by an embodiment of the present invention;

[0023] Figure 3 It is a side view of the mobile cigarette pack air pipe lifting machine provided by an embodiment of the present invention;

[0024] Figure 4 Schematic diagram of a suction cup member of a mobile cigarette packet air pipe lifting machine provided by an embodiment of the present invention;

[0025] Figure 5 Schematic diagram of another suction cup member of a mobile cigarette packet air pipe lifting machine provided by an embodiment of the present invention;

[0026] Figure 6 Schematic diagram of a clamping assembly of a mobile cigarette packet air pipe lifting machine provided by an embodiment of the present invention.

[0027] Reference numeral description: mobile trolley 10, vacuum generator 11, wire winder 12, chassis 13, drive wheel 14, first connection assembly 20, telescopic arm 21, second limiting device 22, second connection assembly 30, cantilever 31, first hanging ring 311, second hanging ring 312, first sub - part 313, second sub - part 314, vacuum adsorption arm 40, suction cup member 50, first control handle 51, clamping assembly 60, hook member 61, pressing member 62, support member 63, first connecting member 64, second connecting member 65, control module 80, driving operation device 90. Detailed implementation manners

[0028] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present application.

[0029] As Figure 1 、 Figure 2 、 Figure 4 、 Figure 5 and Figure 6 shown, the mobile cigarette packet air pipe lifting machine according to the embodiment of the present application includes a mobile trolley 10, a first connection assembly 20, a second connection assembly 30, and a vacuum adsorption arm 40.

[0030] Specifically, a power assembly is provided inside the mobile trolley 10, and the power assembly is used to provide power for the movement of the mobile trolley 10; the mobile trolley 10, the first connection assembly 20, the second connection assembly 30, and the vacuum adsorption arm 40 are connected in sequence. One of the first connection assembly 20 and the second connection assembly 30 can drive the vacuum adsorption arm 40 to move in the horizontal plane, and the other can drive the vacuum adsorption arm 40 to move in the vertical plane. A universal joint is provided at the working end of the vacuum adsorption arm 40, and the universal joint can be respectively assembled with the suction cup member 50 and the clamping assembly 60.

[0031] In a specific embodiment, four universal driving wheels 14 (two in the front and two in the rear) are installed on the bottom surface of the mobile trolley 10. Each driving wheel 14 is driven by an independent power unit (motor), and the power unit is electrically connected to the battery pack, and the battery pack provides power for the driving wheels 14.

[0032] In a specific embodiment, the vacuum adsorption arm 40 is a hollow tubular structure with an integrated gas pipeline inside. In a specific embodiment, a quick-change universal joint is provided at the end of the vacuum adsorption arm 40, and a magnetic coupling design is adopted. The female end interface is fixed at the end of the vacuum adsorption arm 40, with an annular magnet and conductive contacts built-in; both the suction cup member 50 and the gripper assembly 60 are integrated with male end interfaces, and the male end interfaces are provided with magnets and contacts matching the female end.

[0033] In a specific embodiment, the suction cup member 50 includes a circular rubber suction cup and a vacuum valve. When it is necessary to adsorb the cigarette pack, the male end interface of the suction cup member 50 is aligned with the female end interface of the vacuum adsorption arm 40 and pressed until it is adsorbed and fixed by the magnet. At this time, the gas pipeline is connected, the vacuum generator 11 is started, and the suction cup member 50 adsorbs the surface of the cigarette pack through negative pressure, and the corrugated structure at the edge of the rubber suction cup enhances the sealing performance.

[0034] According to the mobile cigarette packet tracheal suction crane of the embodiment of the present application, the power assembly arranged in the mobile trolley 10 provides power for the movement of the mobile trolley 10, which enables the suction crane to move independently between different working areas, getting rid of the limitation of traditional fixed-position suction lifting equipment. For example, in a large tobacco warehouse, the suction crane can flexibly move to the designated location according to the storage location and handling requirements of the cigarette packets, improving work efficiency and reducing the time and energy costs of manual handling equipment. The entire suction crane is based on the mobile trolley 10 to achieve integrated mobility. Compared with traditional large, heavy and difficult-to-move suction lifting equipment, this suction crane can flexibly shuttle in relatively narrow channels and spaces, adapting to different working environments, such as between the shelves of a warehouse, beside each working station in a production workshop, etc. The first connection component 20 and the second connection component 30 are sequentially connected between the mobile trolley 10 and the vacuum adsorption arm 40, and one of them can drive the vacuum adsorption arm 40 to move in the horizontal plane, and the other can drive it to move in the vertical plane. This design enables the vacuum adsorption arm 40 to be flexibly adjusted in three-dimensional space. When the second connection component 30 (or the first connection component 20) drives the vacuum adsorption arm 40 to move in the horizontal plane, the suction crane can cover a larger planar working area. For example, when there are multiple rows of cigarette packets placed in a warehouse, the suction crane does not need to frequently move the mobile trolley 10. It only needs to adjust the position of the vacuum adsorption arm 40 in the horizontal plane through the second connection component 30 to accurately align the cigarette packets at different positions for adsorption operations. The first connection component 20 drives the vacuum adsorption arm 40 to move in the vertical plane, enabling the suction crane to adapt to the handling requirements of cigarette packets at different heights. Whether it is a cigarette packet stacked on the ground or a cigarette packet placed on a higher shelf, the suction crane can accurately move the vacuum adsorption arm 40 to the height where the cigarette packet is located through vertical adjustment to complete the adsorption and handling work. The working end of the vacuum adsorption arm 40 is provided with a universal joint, which can be respectively assembled with the suction cup member 50 and the gripper assembly 60. This design enables the suction crane to flexibly select a suitable adsorption or grasping method according to the different characteristics and handling requirements of the cigarette packets. For a cigarette packet with a flat surface and uniform texture, after assembling the suction cup member 50, the cigarette packet can be firmly adsorbed through the principle of vacuum adsorption, avoiding the cigarette packet from falling during handling. The adsorption method of the suction cup member 50 is simple to operate and causes less damage to the surface of the cigarette packet. For some cigarette packets with irregular shapes, uneven surfaces or requiring more firm fixation, assembling the gripper assembly 60 can better complete the grasping task.

[0035] Such as Figure 1As shown, for the mobile cigarette pack air pipe lifting machine according to an embodiment of the present application, a vacuum generator 11 is provided on the mobile trolley 10. The vacuum generator 11 is connected to the inlet of the vacuum adsorption arm 40 through an air pipe. The second connection assembly 30 includes a cantilever 31. A first hanging ring 311 and a plurality of second hanging rings 312 are provided on the cantilever 31. The first hanging ring 311 is arranged at one end of the cantilever 31 away from the first connection assembly 20. The plurality of second hanging rings 312 are arranged at intervals in the length direction of the cantilever 31. The vacuum adsorption arm 40 is suspended on the first hanging ring 311, and the air pipe is clamped in the second hanging rings 312.

[0036] In the above embodiment, the vacuum generator 11 provided on the mobile trolley 10 is connected to the vacuum adsorption arm 40 through an air pipe. The integrated layout of the vacuum generator 11 effectively reduces the load weight of the vacuum adsorption arm 40, making its movement in the horizontal and vertical planes more lightweight and flexible. The first hanging ring 311 arranged at one end of the second connection assembly 30 away from the first connection assembly 20 connects the vacuum adsorption arm 40 in a suspended manner, forming a flexible support structure similar to a boom. When the vacuum adsorption arm 40 moves in three-dimensional space, it can maintain stability by naturally drooping under gravity, reducing the mechanical stress that may be generated by rigid connections. At the same time, standardized vacuum adsorption arms 40 of different lengths can also be manufactured for matching and replacement to improve versatility. The plurality of second hanging rings 312 arranged at intervals in the length direction of the cantilever 31 form stepped air pipe fixing points. After the air pipe is clamped into the second hanging rings 312, it can automatically move synchronously along the contour of the cantilever 31 during the telescoping or rotating process of the cantilever 31. This not only avoids the risk of the pipeline dragging and wearing or winding, but also reduces the sag arc of the air pipe through segmented fixing, ensuring the smooth transmission of the vacuum air flow. The combination of this suspended structure and the stepped pipeline fixing design enables the air pipe to always maintain a proper tension state when the vacuum adsorption arm 40 performs high or low position cigarette pack handling tasks. This not only ensures the continuity of vacuum adsorption, but also improves the adsorption efficiency by reducing pipeline resistance, and at the same time avoids the problem of pipeline fatigue fracture that may occur in traditional rigid connection methods during complex movements.

[0037] In a specific embodiment, before entering the vacuum adsorption arm 40, the air pipe is connected to the internal pipeline of the cantilever 31 through a rotary joint, and the rotary joint allows 360° free rotation.

[0038] As Figure 1 shown, in some embodiments, a wire winder 12 is provided on the mobile trolley 10. The wire winder 12 includes a bracket, a reel, and a third motor. The bracket is fixed on the mobile trolley 10. The reel is rotatably arranged on the bracket. The third motor is in transmission connection with the reel. The reel is used for winding the air pipe. A first limiting device is arranged at one end of the cantilever 31 close to the first connection assembly 20. The first limiting device is in communication connection with the third motor. The first limiting device is used for detecting the tensile state of the air pipe.

[0039] According to the mobile cigarette pack air pipe lifting machine of the embodiment of the present application, the bracket fixed on the mobile trolley 10 provides stable support for the reel. The third motor drives the reel to automatically wind the air pipe through the transmission mechanism, realizing the orderly winding and unwinding of the air pipe, and avoiding the cumbersome operation of manually sorting the pipeline. When the cantilever 31 drives the vacuum adsorption arm 40 to move, the air pipe is stretched or contracted as the cantilever 31 moves. The first limiting device installed at one end of the cantilever 31 close to the first connection assembly 20 monitors the stretching state of the air pipe in real time. When the air pipe reaches the preset limit length, the first limiting device triggers a signal to stop the third motor from working, preventing the air pipe from being overstretched and causing breakage or vacuum leakage. This electromechanical linkage winding system not only realizes the automatic management of the air pipe, but also extends the service life of the pipeline through the limit protection mechanism. At the same time, it ensures that the air pipe always maintains an appropriate tension state when the cantilever 31 moves in a large range, avoiding pipeline dragging and wear or aerial entanglement, and improving the operation reliability and operation safety of the equipment under complex working conditions.

[0040] As Figure 1 - Figure 4 shown, in some embodiments, the cantilever 31 includes a first sub-part 313 and a second sub-part 314 that are rotatably connected to each other. The first sub-part 313 is connected to the first connection assembly 20, and the second sub-part 314 is connected to the vacuum adsorption arm 40. The suction cup member 50 is also provided with a first control handle 51, and the first control handle 51 can be rotated to adjust the opening degree of the suction port of the suction cup member 50.

[0041] In this embodiment, the first sub-part 313 and the second sub-part 314 of the cantilever 31 are rotatably connected, greatly enhancing the movement range and flexibility of the vacuum adsorption arm 40 in space. Compared with the traditional integral cantilever 31, it can achieve more complex angle adjustments. In the actual cigarette pack handling scenario, whether the cigarette packs are at different stacking heights, placed obliquely or in a relatively narrow space, the connection part of the first sub-part 313 and the second sub-part 314 can be rotated to make the vacuum adsorption arm 40 accurately reach the target cigarette pack position, avoiding the situation where the operation is impossible due to space limitations, and improving the applicability and versatility of the equipment. Secondly, the first control handle 51 on the suction cup member 50 can be rotated to adjust the opening degree of the suction port, which enables the equipment to flexibly adjust the adsorption force according to the size, shape and surface characteristics of different cigarette packs. For cigarette packs with uneven surfaces or special textures, the opening degree of the suction port can be increased by rotating the first control handle 51 to make the suction cup better fit the surface of the cigarette pack, thereby enhancing the adsorption effect and preventing the cigarette pack from falling during handling; for smaller-sized cigarette packs, the opening degree of the suction port can be appropriately reduced to concentrate the adsorption force and improve the adsorption efficiency and stability. This adjustable suction port design improves the processing ability of the equipment for different cigarette packs, reduces the safety risks and work mistakes caused by insufficient adsorption, and further improves the efficiency and quality of cigarette pack handling.

[0042] As Figure 1 and Figure 6 shown, in some embodiments, the gripper assembly 60 includes a hook member 61, a pressing member 62, and a support member 63 that are spaced apart. The hook member 61 is disposed between the pressing member 62 and the support member 63. The distance between the hook member 61 and the pressing member 62 is less than the distance between the hook member 61 and the support member 63. The hook member 61 includes a hook with a tip. The pressing member 62 includes a rotatable pulley. The support member 63 includes a bent pipe bent into an L shape.

[0043] In the above embodiment, the hook member 61 is located between the pressing member 62 and the support member 63 and is closer to the pressing member 62. This asymmetric layout enables a lever-type clamping force to be formed between the pressing member 62 and the support member 63 after the cigarette packet is hooked during gripping, which can adapt to the stable gripping of cigarette packets with different thicknesses. The tip hook design of the hook member 61 can quickly embed into the cigarette packet, and the curvature of the hook matches the friction coefficient of the cigarette packet packaging material to ensure that it is not easy to slip off after being hooked. The pressing member 62 adopts a rotatable pulley structure. When the cigarette packet is hooked, the pulley can roll along with the surface shape of the cigarette packet, reducing the sliding friction during the gripping process, avoiding wear or tearing of the packaging material, and at the same time converting the concentrated stress into rolling friction force to reduce the risk of damage to the cigarette packet. At the same time, it is easier to unhook. The L-shaped bent pipe structure of the support member 63 provides three-point contact support for the cigarette packet. The bending angle of the bent pipe is adapted to the stacking angle of the cigarette packets. When the hook member 61 hooks the cigarette packet, the end of the bent pipe abuts against the other side of the cigarette packet, forming a stable triangular support structure, effectively preventing the cigarette packet from tilting or rotating during handling, and improving the stability and safety of gripping. This gripper design with multi-component cooperation not only realizes the firm gripping of the cigarette packet but also protects the integrity of the cigarette packet, especially suitable for the handling scenario of cigarette packets with easily damaged surfaces.

[0044] As Figure 1 and Figure 6 shown, in some embodiments, the gripper assembly 60 includes a first connecting member 64 and a second connecting member 65 that are hinged. The first connecting member 64 is used for assembling with a universal joint. The hook member 61, the pressing member 62, and the support member 63 are all disposed on the second connecting member 65.

[0045] In the above embodiment, the detachable assembly design of the first connecting member 64 and the universal joint allows the gripping assembly 60 to be quickly replaced with the suction cup member 50 or other working tools, thereby improving the versatility and working efficiency of the equipment. The second connecting member 65 serves as a carrier of the execution component, integrating the hook member 61, the pressure member 62 and the support member 63 into one body, and forms a linkage joint with the first connecting member 64 through a hinge structure, allowing the gripping assembly 60 to swing freely within a certain range in the horizontal plane, thereby adapting to the needs of grabbing cigarette packs at different angles. When it is necessary to grab tilted or irregularly placed cigarette packs, the second connecting member 65 can automatically adjust its posture along the normal direction of the cigarette pack surface, so that the tip of the hook of the hook member 61 is always vertically embedded in the gap of the cigarette pack, and the pulley of the pressure member 62 and the curved tube of the support member 63 are synchronously attached to the surface of the cigarette pack, forming a three-point contact stable clamping. This articulated structure not only reduces the concentration of mechanical stress during grasping, but also compensates for the placement error of the cigarette pack through the joint freedom, ensuring that the gripping assembly 60 and the cigarette pack always maintain the best contact state during the transportation process, which significantly improves the reliability and safety of cigarette pack grasping under complex working conditions.

[0046] In some embodiments, the support member 63 is rotatably connected to the second connecting member 65 .

[0047] In the above-mentioned embodiment, the support member 63 can rotate freely within a certain range around the horizontal axis. When the gripping assembly 60 contacts the cigarette pack, the support member 63 can automatically adjust the contact position according to the actual inclination angle of the cigarette pack surface to ensure that the bend tube always maintains a vertical support state with the side of the cigarette pack. This dynamic adaptive capability enables the gripping assembly 60 to form a stable triangular support surface with the tip of the hook of the hook member 61 and the pulley of the pressing member 62 when grabbing cigarette packs placed at different angles, effectively dispersing the weight of the cigarette pack and avoiding damage to the package caused by single-point force. It significantly improves the adaptability and grasping stability of the gripping assembly 60 to irregular cigarette packs, and is particularly suitable for efficient handling scenarios of multi-layer stacked or special-shaped cigarette packs. It is understandable that the support member 63 can be locked after rotating into place.

[0048] like Figure 1 As shown, in some embodiments, a control module 80 is provided on the mobile vehicle 10, the first connecting component 20 includes a first motor and a telescopic arm 21, the first motor and the telescopic arm 21 are transmission-connected, the second connecting component 30 includes a second motor, the second motor and the cantilever 31 are transmission-connected, the first motor and the second motor are both electrically connected to the control module 80, and the working end of the vacuum adsorption arm 40 is provided with a sensing component, the sensing component is communication-connected with the control module 80, and the sensing component is used to measure the distance between the working end of the vacuum adsorption arm 40 and the object to be adsorbed.

[0049] According to the mobile cigarette pack air pipe lifting machine of the embodiment of the present application, the control module 80 serves as the central processing unit. By receiving the distance data between the vacuum adsorption arm 40 and the object to be adsorbed in real time fed back by the induction component, it dynamically adjusts the output parameters of the first motor and the second motor, drives the telescopic arm 21 and the cantilever 31 to move in coordination, and realizes the precise three-dimensional positioning of the vacuum adsorption arm 40. When the induction component detects a distance deviation, the control module 80 synchronously adjusts the telescopic speed of the telescopic arm 21 and the rotation angle of the cantilever 31, so that the vacuum adsorption arm 40 smoothly approaches the target cigarette pack, avoiding the inertial impact that may be generated by manual operation.

[0050] The motion planning function integrated in the control module 80 can automatically generate the optimal path according to the position of the cigarette pack. For example, when encountering a shelf obstruction, it first drives the telescopic arm 21 to extend horizontally to a safe distance, and then controls the cantilever 31 to descend vertically to ensure the safety and efficiency of the adsorption process. In this way, through the real-time feedback mechanism, the idling loss of mechanical components is reduced, and the operation efficiency and stability in complex logistics scenarios are significantly improved.

[0051] As Figure 1 shown, in a specific embodiment, a second limiting device 22 is provided at one end of the telescopic arm 21 connected to the cantilever 31. The second limiting device 22 is electrically connected to the control module 80 and is used to sense the rotation angle of the second sub-part 314.

[0052] As Figure 1 shown, in some embodiments, the mobile trolley 10 includes a chassis 13, driving wheels 14, a control module 80, and a driving operation device 90. The driving wheels 14 are installed on the chassis 13, and the control module 80 is electrically connected to the driving wheels 14, the power component, and the driving operation device 90.

[0053] According to the mobile cigarette pack air pipe lifting machine of the embodiment of the present application, the low center-of-gravity installation structure of the driving wheels 14 and the chassis 13 reduces the risk of equipment overturning and ensures the dynamic balance when handling heavy objects. The control module 80 realizes the real-time interconnection of the driving wheel 14 motor, the power component, and the driving operation device 90 through a multi-channel data bus, and realizes the response to user instructions and the coordinated control of multiple components. The driving operation device 90 adopts a handle control, which is convenient for manual operation.

[0054] In some embodiments, the driving operation device is used to receive the operation instructions issued by the user and send them to the control module 80, and the control module 80 controls the power component according to the control instructions.

[0055] The driving operation device adopts an ergonomic handle and pedal combination, which can accurately input commands for moving direction, speed, and operation mode. After receiving the operation commands, the control module 80 adjusts the torque output of each drive wheel 14 to ensure the smooth operation of the equipment under complex working conditions such as narrow aisles or slopes. This not only retains the flexibility of manual operation but also improves the safety and energy utilization efficiency of the equipment operation, making the cigarette package handling process efficient and controllable.

[0056] In some embodiments, a navigation module is further provided on the chassis 13. The navigation module is electrically connected to the control module 80. The navigation module is used to obtain the position information of the mobile trolley 10 and transmit the position information to the control module 80. The control module 80 can plan the driving path of the mobile trolley 10 according to the position information.

[0057] In the above embodiments, the navigation module (such as lidar, inertial measurement unit, and two-dimensional code positioning system, which belong to the prior art) obtains the accurate position information of the mobile trolley 10 in real time and transmits the data to the control module 80 through the CAN bus. Based on the preset electronic map and path planning algorithm, the control module 80 dynamically generates the optimal driving path, enabling the mobile trolley 10 to autonomously avoid obstacles and select the shortest path to reach the target position in a complex warehousing environment. The collaborative control of this navigation system and the drive wheel 14 enables the equipment to achieve full-process automated handling without human intervention, significantly reducing the manual operation time and path planning error. At the same time, the safety distance control during the collaborative operation of multiple devices is ensured through real-time position feedback, effectively improving the intelligent level and space utilization rate of the tobacco logistics link.

[0058] Among them, the technology that the control module 80 can plan the driving path of the mobile trolley 10 according to the position information is the prior art.

[0059] Although the terms first, second, third, etc. can be used in the text to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms can only be used to distinguish one element, component, region, layer, or section from another region, layer, or section. Unless the context clearly indicates, terms such as "first" and "second" and other numerical terms do not imply order or sequence when used in the text. Therefore, the first element, component, region, layer, or section discussed below can be referred to as the second element, component, region, layer, or section without departing from the teachings of the exemplary embodiments.

[0060] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A mobile cigarette bag air tube suction and lifting machine, characterized in that: include: A mobile trolley, wherein a power assembly is arranged in the mobile trolley, and the power assembly is used to provide power for the movement of the mobile trolley; A first connecting component, a second connecting component and a vacuum adsorption arm, the movable trolley, the first connecting component, the second connecting component and the vacuum adsorption arm are connected in sequence, one of the first connecting component and the second connecting component can drive the vacuum adsorption arm to move in a horizontal plane, and the other can drive the vacuum adsorption arm to move in a vertical plane, and a universal joint is provided at the working end of the vacuum adsorption arm, and the universal joint can be assembled with the suction cup component and the grabbing clamp component respectively.

2. The mobile cigarette bag air tube suction and lifting machine according to claim 1 is characterized in that: The mobile trolley is provided with a vacuum generator, and the vacuum generator is connected to the inlet of the vacuum adsorption arm through an air pipe. The second connecting component includes a cantilever, and the cantilever is provided with a first hanging ring and a plurality of second hanging rings. The first hanging ring is arranged at an end of the cantilever away from the first connecting component, and the plurality of second hanging rings are arranged in sequence at intervals along the length direction of the cantilever. The vacuum adsorption arm is suspended on the first hanging ring, and the air pipe is clamped in the second hanging ring.

3. The mobile cigarette bag air tube suction and lifting machine according to claim 2 is characterized in that: The mobile trolley is provided with a wire winder, which includes a bracket, a reel and a third motor. The bracket is fixed on the mobile trolley, and the reel is rotatably provided on the bracket. The third motor is transmission-connected to the reel, and the reel is used to wind up the gas pipe. A first limiting device is provided at one end of the cantilever close to the first connecting component, and the first limiting device is communicatively connected to the third motor.

4. The mobile cigarette bag air tube suction and lifting machine according to claim 2 is characterized in that: The cantilever includes a first sub-section and a second sub-section which are rotatably connected to each other, the first sub-section is connected to the first connecting assembly, and the second sub-section is connected to the vacuum adsorption arm. A first control handle is also provided on the suction cup member, and the first control handle can be rotated to adjust the opening and closing degree of the adsorption port of the suction cup member.

5. The mobile cigarette bag air tube suction and lifting machine according to claim 4 is characterized in that: The gripping assembly includes a hook member, a pressure member and a support member that are arranged at intervals, the hook member is arranged between the pressure member and the support member, the distance between the hook member and the pressure member is smaller than the distance between the hook member and the support member, the hook member includes a curved hook with a pointed end, the pressure member includes a rotatable pulley, and the support member includes a curved tube bent into an L shape.

6. The mobile cigarette bag air tube suction and lifting machine according to claim 5, characterized in that: The gripping clamp assembly comprises a hinged first connecting member and a second connecting member, wherein the first connecting member is used for being assembled with the universal joint, and the hook member, the pressing member and the supporting member are all arranged on the second connecting member.

7. The mobile cigarette bag air tube suction and lifting machine according to claim 6, characterized in that: The supporting member is rotatably connected to the second connecting member.

8. The mobile cigarette bag air tube suction and lifting machine according to any one of claims 2 to 7, characterized in that: The mobile cart is provided with a control module, the first connecting component includes a first motor and a telescopic arm, the first motor and the telescopic arm are transmission-connected, the second connecting component includes a second motor, the second motor and the cantilever are transmission-connected, the first motor and the second motor are both electrically connected to the control module, the working end of the vacuum adsorption arm is provided with a sensing component, the sensing component is communication-connected with the control module, and the sensing component is used to measure the distance between the working end of the vacuum adsorption arm and the object to be adsorbed.

9. The mobile cigarette bag air tube suction and lifting machine according to claim 8, characterized in that: The mobile vehicle comprises a chassis, a driving wheel, a control module and a driving operation device. The driving wheel is mounted on the chassis, and the control module is electrically connected to the driving wheel, the power assembly and the driving operation device.

10. The mobile cigarette bag air tube suction and lifting machine according to claim 9, characterized in that: A navigation module is also provided on the chassis, and the navigation module is electrically connected to the control module. The navigation module is used to obtain the position information of the mobile vehicle and transmit the position information to the control module. The control module can plan the driving path of the mobile vehicle according to the position information.

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