Tobacco bale picking manipulator and tobacco bale carrying device

Abstract

The utility model discloses a tobacco bale picking manipulator and a tobacco bale carrying device, and relates to the technical field of tobacco production equipment. The cigarette packet picking manipulator comprises a base and a picking body, the picking body is arranged on the base, the picking body comprises at least one picking position, the picking position comprises a first adsorption face and a second adsorption face which are vertically arranged, the first adsorption face is provided with a first adsorption hole, the second adsorption face is provided with a second adsorption hole, and a negative pressure channel is arranged in the picking body. The first adsorption hole and the second adsorption hole are both communicated with a negative pressure channel, and the negative pressure channel is connected with an external negative pressure source. When cigarette packets are picked up, the first adsorption face and the second adsorption face can position and pick up the cigarette packets, it is guaranteed that the postures of the cigarette packets adsorbed to the picking-up position are fixed, in the carrying process, the first adsorption face and the second adsorption face adsorb the cigarette packets at the same time, it is guaranteed that the postures of the cigarette packets are stable, and then the accuracy of the positions of the cigarette packets is guaranteed; therefore, the cigarette packets can be smoothly boxed, and the boxing efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of tobacco production equipment, in particular to a cigarette packet picking manipulator and a cigarette packet handling device. Background Art

[0002] In the process of cigarette packet packing, a cigarette packet handling device is usually used to handle cigarette packets. The cigarette packet handling device includes a robotic arm and a cigarette packet picking manipulator. The cigarette packet picking manipulator picks up the cigarette packet, and the robotic arm drives the cigarette packet picking manipulator to move so as to transport the cigarette packet to a cigarette packet conveying die box to pack the cigarette packet into a strip box.

[0003] Most of the existing cigarette packet picking manipulators are in the form of suction cups, which suck one side of the cigarette packet. Such a picking method is unstable. During the movement of the robotic arm driving the cigarette packet picking manipulator, the posture of the cigarette packet is likely to change, resulting in the cigarette packet not being accurately placed in the designated position. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a cigarette packet picking manipulator and a cigarette packet handling device. The cigarette packet picking manipulator can solve the problem that the cigarette packet picking is unstable, resulting in the change of the posture of the cigarette packet during the handling process of the cigarette packet handling device, ensuring that the cigarette packet can be accurately placed in the designated position and smoothly packed into the strip box.

[0005] To achieve the above object, the utility model adopts the following technical solutions:

[0006] The cigarette packet picking manipulator includes:

[0007] A base;

[0008] A picking body arranged on the base. The picking body includes at least one picking position. The picking position includes a first adsorption surface and a second adsorption surface which are vertically arranged. The first adsorption surface is provided with first adsorption holes, the second adsorption surface is provided with second adsorption holes, a negative pressure channel is arranged in the picking body, the first adsorption holes and the second adsorption holes are both communicated with the negative pressure channel, and the negative pressure channel is connected with an external negative pressure source.

[0009] As an optional scheme of the cigarette packet picking manipulator, the picking body includes a horizontal connecting body and a vertical connecting body. One end of the vertical connecting body is connected to the middle of the horizontal connecting body so as to form one picking position on each side of the vertical connecting body.

[0010] As an optional scheme of the cigarette packet picking manipulator, the picking body further includes a negative pressure connector communicated with the negative pressure channel. The negative pressure connector is arranged at the end of the horizontal connecting body and is used for connecting the external negative pressure source.

[0011] As an alternative solution for the cigarette pack picking manipulator, the connection between the horizontal connecting body and the vertical connecting body is arranged in an arc shape. Both ends of the horizontal connecting body are provided with first protruding parts, and both opposite sides of the vertical connecting body are provided with second protruding parts. The side of the first protruding part away from the horizontal connecting body forms the first adsorption surface, and the side of the second protruding part away from the vertical connecting body forms the second adsorption surface.

[0012] As an alternative solution for the cigarette pack picking manipulator, both the first adsorption holes and the second adsorption holes are provided with a plurality of them. The plurality of first adsorption holes are evenly distributed along the extending direction of the first adsorption surface, and the plurality of second adsorption holes are evenly distributed along the extending direction of the second adsorption surface.

[0013] As an alternative solution for the cigarette pack picking manipulator, a first support rod is provided on the base, and there are at least two picking bodies. The at least two picking bodies are movably arranged on the first support rod.

[0014] As an alternative solution for the cigarette pack picking manipulator, the cigarette pack picking manipulator further includes a driving member. The driving member is connected to the picking body and is used to drive the picking body to move on the first support rod.

[0015] As an alternative solution for the cigarette pack picking manipulator, the driving member includes a bidirectional driving rod. The bidirectional driving rod includes a first driving rod and a second driving rod. Each of the first driving rod and the second driving rod is connected to one picking body, and the bidirectional driving rod is used to drive the two picking bodies to move synchronously in opposite directions.

[0016] As an alternative solution for the cigarette pack picking manipulator, there are more than three picking bodies. The more than three picking bodies are connected to each other in pairs through a hinge quadrilateral structure, and adjacent two hinge quadrilateral structures share a hinge axis.

[0017] As an alternative solution for the cigarette pack picking manipulator, the cigarette pack picking manipulator further includes a connection component. The connection component includes a first connection block and a second connection block. One end of the first connection block is connected to the first driving rod, and the other end is connected to one picking body. One end of the second connection block is connected to the second driving rod, and the other end is connected to another picking body.

[0018] A cigarette pack handling device, which includes a robotic arm and the cigarette pack picking manipulator according to any one of the above solutions. The cigarette pack picking manipulator is connected to the end of the robotic arm.

[0019] Advantages of the present utility model:

[0020] The cigarette pack picking manipulator provided by the present utility model has a picking main body disposed on a base. The picking main body includes at least one picking position, and the picked cigarette pack is fixed at the picking position. An external negative pressure source inputs negative pressure into a negative pressure channel in the picking main body. The first adsorption hole and the second adsorption hole generate adsorption forces on adjacent sides of the cigarette pack, and the adjacent sides of the cigarette pack are adsorbed through the vertically arranged first adsorption surface and the second adsorption surface, ensuring the stability of the adsorption of the cigarette pack. When picking up the cigarette pack, the first adsorption surface and the second adsorption surface can position and pick up the cigarette pack, ensuring that the posture of the cigarette pack adsorbed at the picking position is fixed. During the handling process, the first adsorption surface and the second adsorption surface adsorb the cigarette pack simultaneously, ensuring the stable posture of the cigarette pack.

[0021] The cigarette pack handling device provided by the present utility model includes a robotic arm and the above-mentioned cigarette pack picking manipulator. The robotic arm drives the cigarette pack picking manipulator to move for handling the cigarette pack, so that during the handling process of the cigarette pack, the adsorption is firm and the posture is stable, ensuring the accuracy of the placement position of the cigarette pack, thereby enabling the smooth completion of the box loading of the cigarette pack and improving the box loading efficiency. Description of the Drawings

[0022] Figure 1 is a schematic structural view of the picking main body of the cigarette pack picking manipulator provided by the specific embodiment of the present utility model;

[0023] Figure 2 is a cross-sectional view of the picking main body of the cigarette pack picking manipulator provided by the specific embodiment of the present utility model;

[0024] Figure 3 is a schematic structural view of the cigarette pack picking manipulator provided by the specific embodiment of the present utility model;

[0025] Figure 4 is a schematic view of a plurality of picking main bodies connected by a hinge quadrilateral structure provided by the specific embodiment of the present utility model.

[0026] In the figure:

[0027] 1. Base; 11. First support rod; 12. Second support rod;

[0028] 2. Picking main body; 21. Picking position; 211. First adsorption surface; 2111. First adsorption hole; 212. Second adsorption surface; 2121. Second adsorption hole; 22. Negative pressure channel; 23. Horizontal connecting body; 231. First protrusion; 232. First through hole; 24. Vertical connecting body; 241. Second protrusion; 25. Negative pressure joint;

[0029] 3. Driving member; 31. First driving rod; 32. Second driving rod;

[0030] 41. First connecting block; 42. Second connecting block; 43. Second through hole;

[0031] 5. Hinge quadrilateral structure; 51. Hinge rod; 52. Hinge shaft. Detailed implementation manner

[0032] To make the technical problems solved by the present utility model, the adopted technical solutions and the achieved technical effects clearer, the technical solutions of the present utility model will be further described below with reference to the accompanying drawings and through specific implementation manners.

[0033] In the description of the present utility model, unless otherwise clearly specified and limited, the terms "connected", "connected to", and "fixed" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific situations.

[0034] This embodiment provides a cigarette pack handling device, which includes a robotic arm and a cigarette pack picking manipulator. The cigarette pack picking manipulator is connected to the end of the robotic arm. The cigarette pack picking manipulator is used to pick up cigarette packs, and the robotic arm drives the cigarette pack picking manipulator to move, so as to transport the cigarette packs into a cigarette pack conveying die box. The robotic arm has multiple degrees of freedom and can drive the cigarette pack picking manipulator to move and rotate in multiple directions, with good flexibility, so as to ensure that the cigarette packs can be picked up and boxed smoothly.

[0035] In order to ensure accurate placement at the designated position of the cigarette pack conveying die box, when picking up a cigarette pack, it is necessary to ensure that the cigarette pack is picked up in a fixed posture, and during the process of the robotic arm driving the cigarette pack picking manipulator to move and transporting the picked-up cigarette pack to the cigarette pack conveying die box, the posture of the cigarette pack will not change. Due to the poor posture stability of the existing cigarette pack picking manipulator after picking up a cigarette pack, the posture is likely to change during the transportation of the cigarette pack, resulting in the cigarette pack not being accurately placed in the designated position, thereby affecting the smooth boxing of the cigarette pack.

[0036] To solve the above technical problems, as Figure 1 and Figure 2As shown in the figure, this embodiment provides a cigarette packet picking manipulator, which is applied to the above-mentioned cigarette packet handling device. The cigarette packet picking manipulator includes a base 1 and a picking body 2. The base 1 is connected to a robotic arm, and the picking body 2 is arranged on the base 1. The picking body 2 includes at least one picking position 21. The picking position 21 includes a first adsorption surface 211 and a second adsorption surface 212 that are vertically arranged. The first adsorption surface 211 is provided with first adsorption holes 2111, and the second adsorption surface 212 is provided with second adsorption holes 2121. A negative pressure channel 22 is arranged inside the picking body 2. Both the first adsorption holes 2111 and the second adsorption holes 2121 are communicated with the negative pressure channel 22, and the negative pressure channel 22 is connected to an external negative pressure source. When picking up a cigarette packet, the vertically arranged first adsorption surface 211 and second adsorption surface 212 are respectively abutted against adjacent sides of the cigarette packet, realizing the positioning of the cigarette packet at the picking position 21, determining the posture of the cigarette packet, and then the external negative pressure source inputs negative pressure into the negative pressure channel 22 inside the picking body 2. The first adsorption holes 2111 and the second adsorption holes 2121 generate adsorption forces on adjacent sides of the cigarette packet, ensuring that the posture of the cigarette packet adsorbed at the picking position 21 is fixed. During the handling process, the first adsorption surface 211 and the second adsorption surface 212 adsorb the cigarette packet simultaneously, improving the adsorption strength of the cigarette packet and ensuring the stable posture of the cigarette packet. Thus, when the cigarette packet is transported to the cigarette packet conveying die box, the cigarette packet can be placed in the specified position in a fixed posture, and the smooth boxing of the cigarette packet can be realized.

[0037] In one embodiment, the picking body 2 includes a horizontal connecting body 23 and a vertical connecting body 24. One end of the vertical connecting body 24 is connected to the middle of the horizontal connecting body 23, so as to form a picking position 21 on each side of the vertical connecting body 24. That is, the picking body 2 is set in a T shape, and two picking positions 21 are arranged on one picking body 2, realizing the simultaneous picking of two cigarette packets by one picking body 2, increasing the number of cigarette packets that can be transported each time, and improving the handling efficiency of the cigarette packet handling device.

[0038] Exemplarily, when picking up a cigarette packet, the top surface of the cigarette packet abuts against the horizontal connecting body 23, and the side surface of the cigarette packet abuts against the vertical connecting body 24, thereby determining the posture of the cigarette packet when picking up the cigarette packet and ensuring that the posture of each picked-up cigarette packet is consistent.

[0039] Specifically, the picking body 2 further includes a negative pressure connector 25 communicated with the negative pressure channel 22. The negative pressure connector 25 is arranged at the end of the horizontal connecting body 23, and the negative pressure connector 25 is used to connect to an external negative pressure source. The middle of the horizontal connecting body 23 is connected to the base 1. Arranging the negative pressure connector 25 at the end of the horizontal connecting body 23 will not interfere with the base 1 and does not affect the picking of the cigarette packet. The layout is more reasonable and it is easier to connect the negative pressure channel 22 to the external negative pressure source.

[0040] As Figure 2As shown, the picking body 2 can be provided with a negative pressure channel 22. Two picking positions 21 share one negative pressure channel 22 to achieve the common adsorption and release of cigarette packs at the two picking positions 21. When setting one negative pressure channel 22, only one negative pressure connector 25 needs to be set at one of the two ends of the horizontal connecting body 23. The picking body 2 can also be provided with two negative pressure channels 22, with one negative pressure channel 22 corresponding to one picking position 21, so that the two picking positions 21 can be independently controlled, with better flexibility. When setting two negative pressure channels 22, one negative pressure connector 25 is set at each of the two ends of the horizontal connecting body 23.

[0041] In one embodiment, the connection between the horizontal connecting body 23 and the vertical connecting body 24 is set to be arc-shaped. First convex portions 231 are provided at both ends of the horizontal connecting body 23, and second convex portions 241 are provided on the opposite sides of the vertical connecting body 24. A first adsorption surface 211 is formed on the side of the first convex portion 231 away from the horizontal connecting body 23, and a second adsorption surface 212 is formed on the side of the second convex portion 241 away from the vertical connecting body 24. Such a setting enables an avoidance position to be formed between the horizontal connecting body 23 and the vertical connecting body 24. The cigarette pack is located at a position close to the edge of the picking body 2, which is more convenient for placing the cigarette pack.

[0042] Furthermore, a plurality of first adsorption holes 2111 and a plurality of second adsorption holes 2121 are provided. The plurality of first adsorption holes 2111 are evenly distributed along the extending direction of the first adsorption surface 211, and the plurality of second adsorption holes 2121 are evenly distributed along the extending direction of the second adsorption surface 212. By evenly distributing a plurality of first adsorption holes 2111 on the first adsorption surface 211 and a plurality of second adsorption holes 2121 on the second adsorption surface 212, there are multiple adsorption points on each adsorption surface, further improving the stability of cigarette pack adsorption.

[0043] In one embodiment, as Figure 1 and Figure 3As shown in the figure, a first support rod 11 is provided on the base 1, and at least two picking bodies 2 are provided. The at least two picking bodies 2 are movably arranged on the first support rod 11. The base 1 is arranged in a U shape, and the first support rod 11 is arranged inside the U-shaped base 1 near the opening. There are two first support rods 11. Two first through holes 232 are spaced in the middle of the horizontal connecting body 23. The two first support rods 11 respectively pass through the two first through holes 232. The two first support rods 11 jointly support the picking body 2 to ensure that both ends of the picking body 2 are stressed evenly and will not be skewed. Both ends of the first support rod 11 are respectively connected to the two side walls of the U-shaped base 1. By arranging at least two picking bodies 2 on the base 1, the number of cigarette packs picked up by the cigarette pack picking manipulator each time is further increased, achieving the purpose of improving the handling efficiency of the cigarette pack handling device. At the same time, the distance between adjacent two picking bodies 2 can be adjusted, so that the distance between adjacent picking bodies 2 matches the distance between cigarette packs, ensuring that multiple cigarette packs can be picked up smoothly at the same time when the cigarette pack picking manipulator picks up multiple cigarette packs at the same time.

[0044] Specifically, the cigarette pack picking manipulator further includes a driving member 3. The driving member 3 is connected to the picking body 2 and is used to drive the picking body 2 to move on the first support rod 11. By driving the picking body 2 to move on the first support rod 11 by the driving member 3, the adjustment of the distance between adjacent two picking bodies 2 is realized. One driving member 3 can be provided, and at least two picking bodies 2 are simultaneously driven by one driving member 3 to move on the first support rod 11. At least two driving members 3 can also be provided, and the at least two driving members 3 are arranged in one-to-one correspondence with the at least two picking bodies 2, that is, one driving member 3 is provided for each picking body 2 to realize the independent driving of each picking body 2.

[0045] In an embodiment, the driving member 3 includes a bidirectional driving rod. The bidirectional driving rod includes a first driving rod 31 and a second driving rod 32. The first driving rod 31 and the second driving rod 32 are each connected to a picking body 2. The bidirectional driving rod is used to drive the two picking bodies 2 to move synchronously in opposite directions. By providing one bidirectional driving rod, one driving member 3 can drive the two picking bodies 2 to move in opposite directions at the same time, reducing the number of driving members 3, reducing the cost and occupying less space at the same time.

[0046] Exemplarily, the driving member 3 can be a bidirectional air cylinder, a bidirectional electric cylinder or a servo motor. The servo motor is connected to a positive and negative lead screw. The first driving rod 31 is threadedly driven by the first thread direction of the positive and negative lead screw, and the second driving rod 32 is threadedly driven by the second thread direction of the positive and negative lead screw. The servo motor drives the positive and negative lead screw to rotate, driving the first driving rod 31 and the second driving rod 32 to move synchronously in opposite directions.

[0047] Furthermore, as Figure 4As shown, there are more than three picking bodies 2. The more than three picking bodies 2 are connected to each other in pairs through a hinge quadrilateral structure 5, and two adjacent hinge quadrilateral structures 5 share a hinge axis 52. In order to enable the first driving rod 31 and the second driving rod 32 to drive two picking bodies 2 to move respectively, and to enable more than three picking bodies 2 to move, that is, the distance between adjacent picking bodies 2 among more than three picking bodies 2 is adjusted through a driving member 3. The more than three picking bodies 2 are connected to each other in pairs through the hinge quadrilateral structure 5, that is, each adjacent two picking bodies 2 are connected through a hinge quadrilateral structure 5. Exemplarily, there are three picking bodies 2, and two hinge quadrilateral structures 5 are provided to connect the three picking bodies 2 in pairs, and the two hinge quadrilateral structures 5 are connected together through the shared hinge axis 52, thereby connecting the three picking bodies 2 together. There are four picking bodies 2, and three hinge quadrilateral structures 5 are provided to connect the four picking bodies 2 in pairs, and the three hinge quadrilateral structures 5 are connected together through two hinge axes 52, thereby connecting the four picking bodies 2 together; there are five picking bodies 2, and four hinge quadrilateral structures 5 are provided to connect the five picking bodies 2 in pairs, and the four hinge quadrilateral structures 5 are connected together through three hinge axes 52, thereby connecting the five picking bodies 2 together. The first driving rod 31 and the second driving rod 32 of the driving member 3 are respectively connected to any two picking bodies 2. When synchronously driving any two picking bodies 2 to move in opposite directions, the more than three picking bodies 2 can be driven to move synchronously through the hinge quadrilateral structure 5, thereby realizing the common adjustment of the distance between the more than three picking bodies 2 and improving the distance adjustment efficiency between the picking bodies 2.

[0048] Specifically, each hinge quadrilateral structure 5 includes four hinge rods 51. The four hinge rods 51 are hinged end to end through a hinge axis 52, and two of the hinge axes 52 arranged oppositely are respectively arranged on two adjacent picking bodies 2. Among three adjacent picking bodies 2, the hinge axis 52 on the middle picking body 2 connects the four hinge rods 51, thereby connecting the two adjacent hinge quadrilateral structures 5 through the hinge axis 52 on the middle picking body 2.

[0049] Continue to refer to Figure 3 and Figure 4, the driving member 3 is arranged on the inner bottom of the U-shaped base 1, and the first driving rod 31 and the second driving rod 32 respectively extend towards the side walls of the U-shaped base 1 close to them. In order to realize the connection between the first driving rod 31 and the second driving rod 32 and the picking main body 2, the cigarette packet picking manipulator further includes a second support rod 12 and a connecting component. The second support rod 12 is arranged in parallel with the first support rod 11. The connecting component includes a first connecting block 41 and a second connecting block 42. The first connecting block 41 and the second connecting block 42 are slidably arranged on the second support rod 12. One end of the first connecting block 41 is connected to the first driving rod 31, and the other end is connected to a picking main body 2. One end of the second connecting block 42 is connected to the second driving rod 32, and the other end is connected to the other picking main body 2. Two second support rods 12 can be arranged, and the two second support rods 12 are respectively arranged on both sides of the driving member 3. Two second through holes 43 are arranged on both the first connecting block 41 and the second connecting block 42. After the second support rod 12 passes through the second through holes 43, both ends are respectively connected to the two side walls of the U-shaped base 1. The first driving rod 31 drives the first connecting block 41 to move on the second support rod 12, and the first connecting block 41 drives the picking main body 2 connected to it to move on the first support rod 11. The second driving rod 32 drives the second connecting block 42 to move on the second support rod 12, and the second connecting block 42 drives the picking main body 2 connected to it to move on the first support rod 11. The arrangement of the second support rod 12 can ensure that the first connecting block 41 will not deflect under the drive of the first driving rod 31 and the second connecting block 42 will not deflect under the drive of the second driving rod 32, thereby ensuring that the picking main body 2 will not deflect when moving, guaranteeing the stability of the picking main body 2 when adjusting the distance, and further guaranteeing the stability of the posture of the cigarette packet when picking up the cigarette packet.

[0050] Exemplarily, the first connection block 41 and the second connection block 42 are respectively connected to the two outermost pick-up bodies 2 among more than three pick-up bodies 2. In this way, when the first driving rod 31 and the second driving rod 32 move in opposite directions, the two outermost pick-up bodies 2 are respectively driven by the first connection block 41 and the second connection block 42 to move in opposite directions. Since the pick-up bodies 2 are connected to each other in pairs through the hinge quadrilateral structure 5, when the outermost pick-up body 2 moves away from the adjacent pick-up body 2, the two hinge rods 51 connected to the hinge shaft 52 connected to the outermost pick-up body 2 rotate towards each other. Furthermore, the other two hinge rods 51 are driven to rotate towards each other by the hinge shaft 52 at the end where the two hinge rods 51 are away from each other, thereby driving the intermediate pick-up body 2 to move. At the same time, the two hinge rods 51 of another hinge quadrilateral structure 5 connected to the hinge shaft 52 are driven to rotate towards each other, and the other two hinge rods 51 of the other hinge quadrilateral structure also rotate towards each other, so as to realize the simultaneous movement of the three pick-up bodies 2, and further realize the adjustment of the distance between the three pick-up bodies 2.

[0051] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A cigarette pack picking robot, characterized in that: include: Base (1); A picking body (2) is arranged on the base (1), the picking body (2) comprises at least one picking position (21), the picking position (21) comprises a first adsorption surface (211) and a second adsorption surface (212) arranged vertically, the first adsorption surface (211) is provided with a first adsorption hole (2111), the second adsorption surface (212) is provided with a second adsorption hole (2121), a negative pressure channel (22) is arranged inside the picking body (2), the first adsorption hole (2111) and the second adsorption hole (2121) are both connected to the negative pressure channel (22), and the negative pressure channel (22) is connected to an external negative pressure source.

2. The cigarette pack picking robot according to claim 1, characterized in that: The picking body (2) comprises a horizontal connecting body (23) and a vertical connecting body (24), one end of the vertical connecting body (24) is connected to the middle of the horizontal connecting body (23) to form a picking position (21) on each side of the vertical connecting body (24).

3. The cigarette pack picking robot according to claim 2, characterized in that: The picking body (2) further comprises a negative pressure connector (25) in communication with the negative pressure channel (22); the negative pressure connector (25) is arranged at the end of the horizontal connecting body (23); and the negative pressure connector (25) is used to connect to the external negative pressure source.

4. The cigarette pack picking robot according to claim 2, characterized in that: The connection between the horizontal connecting body (23) and the vertical connecting body (24) is arranged in an arc shape, and first protrusions (231) are arranged at both ends of the horizontal connecting body (23), and second protrusions (241) are arranged on opposite sides of the vertical connecting body (24). The first protrusion (231) forms the first adsorption surface (211) on the side away from the horizontal connecting body (23), and the second protrusion (241) forms the second adsorption surface (212) on the side away from the vertical connecting body (24).

5. The cigarette pack picking robot according to claim 1, characterized in that: A plurality of the first adsorption holes (2111) and a plurality of the second adsorption holes (2121) are provided, and the plurality of the first adsorption holes (2111) are evenly distributed along the extension direction of the first adsorption surface (211), and the plurality of the second adsorption holes (2121) are evenly distributed along the extension direction of the second adsorption surface (212).

6. The cigarette pack picking robot according to any one of claims 1 to 5, characterized in that: The base (1) is provided with a first support rod (11), and at least two picking bodies (2) are provided, and at least two picking bodies (2) are movably arranged on the first support rod (11).

7. The cigarette pack picking robot according to claim 6, characterized in that: The cigarette packet picking robot further comprises a driving member (3), wherein the driving member (3) is connected to the picking body (2) and is used for driving the picking body (2) to move on the first supporting rod (11).

8. The cigarette pack picking robot according to claim 7, characterized in that: The driving member (3) comprises a bidirectional driving rod, and the bidirectional driving rod comprises a first driving rod (31) and a second driving rod (32). The first driving rod (31) and the second driving rod (32) are each connected to one of the picking bodies (2). The bidirectional driving rod is used to drive the two picking bodies (2) to move synchronously in opposite directions.

9. The cigarette pack picking robot according to claim 8, characterized in that: More than three picking bodies (2) are provided, and the three or more picking bodies (2) are connected in pairs via hinged quadrilateral structures (5), and two adjacent hinged quadrilateral structures (5) share a hinge axis (52).

10. The cigarette pack picking robot according to claim 9, characterized in that: The cigarette pack picking robot also includes a connecting component, which includes a first connecting block (41) and a second connecting block (42), one end of the first connecting block (41) is connected to the first driving rod (31), and the other end is connected to one of the picking bodies (2), and one end of the second connecting block (42) is connected to the second driving rod (32), and the other end is connected to another of the picking bodies (2).

11. A cigarette pack handling device, characterized in that: It comprises a mechanical arm and a cigarette pack picking robot as claimed in any one of claims 1 to 10, wherein the cigarette pack picking robot is connected to the end of the mechanical arm.

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