Clamping and holding vehicle for carrying smoke box

Abstract

The utility model provides a clamping and holding trolley for carrying smoke boxes, and belongs to the technical field of smoke box carrying. The clamping and holding vehicle for carrying the smoke box comprises a vehicle body, a portal frame, a lifting frame, a clamp, a chassis, a moving part, a portal frame, a lifting frame and a clamp. The portal frame drives the lifting frame to move in the direction close to or away from the vehicle body, the lifting frame is driven to move front and back, the lifting frame drives the clamp to move up and down, the clamping distance of the clamp can be adjusted, the clamping distance is matched with the size of a smoke box of a preset type, and the portal frame drives the lifting frame to move forwards. The lifting frame drives the clamp to move upwards, the clamp clamps a cigarette box, after clamping is completed, the clamp is moved downwards, the portal frame drives the lifting frame to move backwards, the total length of the clamping trolley when the cigarette box is clamped is shortened, the necessary moving space of the trolley body is reduced, and therefore the storage capacity rate of a raw material storage warehouse is effectively increased.

Description

Technical Field

[0001] The utility model relates to the technical field of cigarette box handling, and particularly relates to a clamping vehicle for handling cigarette boxes. Background Art

[0002] The raw material storage warehouse of a cigarette factory is mainly used for storing tobacco leaves, and some warehouses store cut tobacco, cut stem, expanded tobacco, flake tobacco, tobacco sheet, etc. The raw material warehouse adopts a warehousing process of box-type storage and containerless stacking, so a clamping vehicle is used as a handling tool. The storage form is ground stacking and four boxes stacked on top of each other. It is required that the clamping vehicle can handle a single box, two boxes or a stack of 4 boxes stacked in two layers. It can pick up and place the single box on the highest layer of a 4-layer box stack at most, or pick up and place a stack of two boxes or four boxes; it can pick up and place the single box or two boxes of a 1-layer box stack on the ground at least.

[0003] The intelligent handling system needs to have basic functions such as automatic driving, clamping goods, and the fixture can move up and down. The current general intelligent handling system has a relatively smaller turning radius compared with manual driving, but still requires a large activity space and does not meet the requirement of effectively increasing the inventory capacity of the raw material warehouse; the current general intelligent handling system has a limited running speed, and when considering safety and stability, the speed should not be increased too fast, resulting in low work efficiency. Content of the Utility Model

[0004] The purpose of the utility model is to provide a clamping vehicle for handling cigarette boxes in view of the above-mentioned deficiencies of the prior art.

[0005] The utility model provides a clamping vehicle for handling cigarette boxes, which includes a vehicle body, a gantry, a lifting frame, a fixture, a chassis connected to the bottom of the vehicle body, a moving member arranged at the bottom of the chassis for driving the chassis to move, a gantry slidably connected to the bottom of the chassis, a lifting frame slidably connected to one side of the gantry, and a fixture connected to the other side of the lifting frame; the gantry can move along a first preset straight line direction on the chassis to drive the lifting frame to move away from or close to the vehicle body; the lifting frame can move along a second preset straight line direction on the gantry to drive the fixture to move up and down; the clamping distance of the fixture can be adjusted to match the size of a preset type of cigarette box to clamp the preset type of cigarette box.

[0006] Further, the moving member includes a rotatable steering wheel connected to the bottom of the chassis, a follower wheel connected to the bottom of the chassis, and a transmission structure respectively connected to the steering wheel and the follower wheel for driving the follower wheel to rotate when the steering wheel rotates, and the transmission structure is used to drive the follower wheel to rotate synchronously by a first preset angle when the steering wheel laterally moves and rotates by a first preset angle.

[0007] Further, the fixture includes a fixed seat, a first clamping plate, a second clamping plate, and an adjusting structure; one end of the fixed seat is connected to the other side of the lifting frame, and the first clamping plate and the second clamping plate cooperate to clamp the cigarette box; one end of the adjusting structure is connected to the fixed seat, and the other end is respectively connected to the first clamping plate and the second clamping plate; the adjusting structure drives the first clamping plate and the second clamping plate to move closer or farther away to change the clamping distance between the first clamping plate and the second clamping plate.

[0008] Further, a first sliding groove is provided on the fixed seat, and the adjusting structure includes a first sliding block, a second sliding block, and a first oil cylinder provided on the fixed seat. One end of the first sliding block is connected to the first clamping plate, and the other end is slidably connected to the first part of the first sliding groove. One end of the second sliding block is connected to the second clamping plate, and the other end is slidably connected to the second part of the first sliding groove; the first oil cylinder is used to drive the first sliding block and / or the second sliding block to change the distance between the first sliding block and the second sliding block.

[0009] Further, there are two first sliding grooves arranged in parallel up and down, there are two first sliding blocks arranged up and down and slidably connected to the two first sliding grooves respectively, and there are two second sliding blocks arranged in parallel up and down and slidably connected to the two first sliding grooves respectively.

[0010] Further, the adjusting structure further includes a first rack, a second rack, and a gear rotatably connected to the fixed seat; the first sliding block and the second sliding block are respectively arranged on both sides of the axis of the gear; the output end of the first oil cylinder is connected to the first clamping plate to drive the first clamping plate to move in a direction closer to or farther away from the second clamping plate; one end of the first rack is connected to the first sliding block located above, and the bottom end of the middle part meshes with the top end of the gear. One end of the second rack is connected to the second sliding block located below, and the top end of the middle part meshes with the bottom end of the gear.

[0011] Further, the first clamping plate and the second clamping plate are symmetrically arranged, the first sliding block and the second sliding block are symmetrically arranged, and the first rack and the second rack are symmetrically arranged.

[0012] Further, the fixture further includes a first friction increasing layer provided on the side surface of the first clamping plate close to the second clamping plate to increase the friction of the first clamping plate.

[0013] Further, the fixture further includes a second friction increasing layer provided on the side surface of the second clamping plate close to the first clamping plate to increase the friction of the second clamping plate.

[0014] Further, a second chute is provided on the chassis. The gantry includes a third slider slidably connected to the second chute, a second oil cylinder with its bottom end connected to the chassis, and a first support frame with its bottom end connected to the third slider. The output end of the second oil cylinder is connected to the part of the third slider protruding outside the second chute. A third chute is provided on the first support frame. The lifting frame includes a fourth slider, a second support frame, a first connecting rod, and a third oil cylinder. The fourth slider is slidably connected to the third chute. The third oil cylinder is connected to the bottom end of the first support frame, and the output end of the third oil cylinder is connected to the fourth slider. The two ends of the first connecting rod are respectively connected to the fourth slider and the second support frame. The fixture is connected to the second support frame.

[0015] The clamping truck for transporting cigarette boxes of the present utility model has the following beneficial effects:

[0016] The gantry drives the lifting frame to move towards or away from the vehicle body, realizing the forward and backward movement of the lifting frame. The lifting frame drives the fixture to move up and down. The clamping distance of the fixture is adjustable, so that the clamping distance matches the size of the cigarette boxes of the preset type. The gantry drives the lifting frame to move forward, and the lifting frame drives the fixture to move upward. The fixture clamps the cigarette boxes. After the clamping is completed, the fixture moves downward, and the gantry drives the lifting frame to move backward, shortening the total length of the clamping truck when clamping the cigarette boxes, reducing the necessary activity space of the vehicle body, and thus effectively improving the storage capacity rate of the raw material storage warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings incorporated into the specification and constituting a part of the specification illustrate embodiments of the present utility model and are used in conjunction with the description to explain the principles of the present utility model. In these drawings, like reference numerals are used to represent like elements. The following drawings in the description are some embodiments of the present utility model, not all embodiments. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 is the front view of a clamping truck for transporting cigarette boxes according to an embodiment of the present utility model;

[0019] Figure 2 is the front view of a clamping truck for transporting cigarette boxes according to an embodiment of the present utility model when the gantry drives the lifting frame to move towards the vehicle body;

[0020] Figure 3 is the side view of a clamping truck for transporting cigarette boxes according to an embodiment of the present utility model;

[0021] Figure 4 is the partial front view of the fixture of a clamping truck for transporting cigarette boxes according to an embodiment of the present utility model;

[0022] Figure 5 This is the front view when the chassis and the first support frame of a clamping vehicle for transporting cigarette boxes in the embodiment of the present utility model are sectioned.

[0023] In the figure: 1 - vehicle body, 2 - chassis, 21 - second chute, 3 - gantry, 31 - third slider, 32 - second oil cylinder, 33 - first support frame, 331 - third chute, 4 - lifting frame, 41 - fourth slider, 42 - third oil cylinder, 43 - second support frame, 44 - first connecting rod, 5 - fixture, 51 - fixed seat, 52 - first chute, 53 - first slider, 54 - second slider, 551 - first rack, 552 - second rack, 56 - first clamping plate, 561 - first friction increasing layer, 57 - second clamping plate, 571 - second friction increasing layer, 58 - gear, 59 - first oil cylinder, 6 - cigarette box, 7 - lidar, 8 - industrial camera, 9 - warning light, 10 - camera, 11 - steering wheel, 12 - follower wheel, 13 - laser sensor. Specific embodiments

[0024] To make the objectives, technical solutions and advantages of the embodiments of the present utility model clearer, the technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Apparently, the described embodiments are some, but not all, of the embodiments of the present utility model. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other arbitrarily.

[0025] Please refer to Figures 1 to 5 A clamping vehicle for transporting cigarette boxes in the embodiment of the present utility model includes a vehicle body 1, a gantry 3, a lifting frame 4, a fixture 5, a chassis 2 connected to the bottom of the vehicle body 1 at one end, a moving member arranged at the bottom of the chassis 2 for driving the chassis 2 to move, a gantry 3 slidably connected to the bottom of the chassis 2, a lifting frame 4 slidably connected to one side of the gantry 3, and a fixture 5 connected to the other side of the lifting frame 4; the gantry 3 can move along a first preset straight line direction on the chassis 2 to drive the lifting frame 4 to move away from or close to the vehicle body 1; the lifting frame 4 can move along a second preset straight line direction on the gantry 3 to drive the fixture 5 to move up and down; the clamping distance of the fixture 5 can be adjusted to match the size of a preset type of cigarette box 6 to clamp the preset type of cigarette box 6.

[0026] Specifically, the first preset linear direction may include a first forward direction and a first backward direction, and the axes of the first forward direction and the first backward direction coincide. The first part at the top of the chassis 2 is connected to the vehicle body 1, and the bottom of the gantry 3 is slidably connected to the second part of the chassis 2. The gantry 3 moves along the first preset linear direction on the chassis 2, and then the gantry 3 drives the lifting frame 4 to move away from or close to the vehicle body 1. When the gantry 3 moves along the first forward direction, the gantry 3 drives the lifting frame 4 to move away from the vehicle body 1. When the gantry 3 moves along the first backward direction, the gantry 3 drives the lifting frame 4 to move close to the vehicle body 1. The second preset linear direction may include a first upward movement direction and a first downward movement direction, and the axes of the first upward movement direction and the first downward movement direction coincide. When the lifting frame 4 moves along the first upward movement direction on the gantry 3, that is, the connection part between the lifting frame 4 and the gantry 3 moves along the first upward movement direction on the gantry 3, the lifting frame 4 moves upward, so that the lifting frame 4 drives the fixture 5 to move upward. When the lifting frame 4 moves along the first downward movement direction on the gantry 3, that is, the connection part between the lifting frame 4 and the gantry 3 moves along the first downward movement direction on the gantry 3, the lifting frame 4 moves downward, so that the lifting frame 4 drives the fixture 5 to move downward. The fixture 5 is adjustable, and the clamping distance of the fixture 5 can be adjusted, so that the clamping distance of the fixture 5 can be adjusted to match the size of the preset type of cigarette box 6, so that the fixture 5 can clamp the preset type of cigarette box 6. The preset type of cigarette box 6 may include cigarette boxes 6 of various different sizes, and the clamping distance of the fixture 5 can be adjusted to match the different sizes of different cigarette boxes 6, so that the fixture 5 can clamp the cigarette boxes 6 of different sizes.

[0027] Specifically, such as Figure 1As shown in the figure, the vehicle body 1 is connected to the left side of the chassis 2. The gantry 3 is slidably connected to the part of the chassis 2 on the right side of the vehicle body 1. When the gantry 3 moves to the right along the chassis 2, the gantry 3 drives the lifting frame 4 to move to the right. At this time, the right side is the forward direction of the clamping truck, that is, the gantry 3 drives the lifting frame 4 to move forward. After the fixture 5 grabs the cigarette box 6, the gantry 3 moves to the left along the chassis 2, and the gantry 3 drives the lifting frame 4 to move to the left. At this time, the left side is the backward direction of the clamping truck, that is, the gantry 3 drives the lifting frame 4 to move backward; the moving part drives the chassis 2 to move, so that the gantry 3, the lifting frame 4, and the fixture 5 can be moved to the destination. The fixture 5 is installed on the lifting frame 4, and the lifting frame 4 can slide up and down in the gantry 3. The gantry 3 can be telescoped, and the connection between the gantry 3 and the lifting frame 4 can move back and forth along the chassis 2; when the gantry 3 extends, the gantry 3 drives the lifting frame 4 to move forward, and the lifting frame 4 moves up to a preset height. The clamping distance of the fixture 5 is adjusted to a preset width and the cigarette box 6 is clamped. After grabbing the cigarette box 6, the lifting frame 4 moves down and drives the fixture 5 to move down. Then the gantry 3 is shortened, so that the gantry 3 moves backward, reducing the total length of the clamping truck when grabbing the cigarette box 6 and minimizing the necessary movement space of the vehicle body 1, thereby effectively improving the storage capacity rate of the raw material storage warehouse. The chassis 2 is horizontally arranged, and the first preset straight line direction can be parallel or coincident with the axis of the chassis 2. The first preset straight line direction is perpendicular to the second preset straight line direction.

[0028] The chassis 2 may be provided with a second sliding groove 21. The gantry 3 may include a third slider 31 slidably connected to the second sliding groove 21, a second oil cylinder 32 with its bottom end connected to the chassis 2, and a first support frame 33 with its bottom end connected to the third slider 31. The output end of the second oil cylinder 32 is connected to the part of the third slider 31 protruding outside the second sliding groove 21. The axis of the second oil cylinder 32 is parallel to the axis of the second sliding groove 21. The second oil cylinder 32 is horizontally arranged. The axis of the second sliding groove 21 may be parallel to the axis of the chassis 2. The axis of the first support frame 33 is perpendicular to the axis of the second sliding groove 21. The first support frame 33 is vertically arranged. When the second oil cylinder 32 extends, the second oil cylinder 32 drives the third slider 31 to move away from the vehicle body 1. When the second oil cylinder 32 contracts, the second oil cylinder 32 drives the third slider 31 to move towards the vehicle body 1. A third sliding groove 331 is provided on the first support frame 33. The axis of the third sliding groove 331 coincides with the axis of the first support frame 33. The lifting frame 4 may include a fourth slider 41, a second support frame 43, a first connecting rod 44, and a third oil cylinder 42. The third oil cylinder 42 is connected to the bottom end of the first support frame 33. The axis of the third oil cylinder 42 is parallel to or coincides with the axis of the first support frame 33. The third oil cylinder 42 is vertically arranged. The output end of the third oil cylinder 42 is connected to the fourth slider 41. The two ends of the first connecting rod 44 are respectively connected to the fourth slider 41 and the second support frame 43. The fourth slider 41 is slidably connected to the third sliding groove 331. The fixture 5 is connected to the second support frame 43. The axis of the second support frame 43 is perpendicular to the axis of the third sliding groove 331. When the third oil cylinder 42 extends, it pushes the fourth slider 41 to move upward in the third sliding groove 331, thereby driving the fixture 5 to move upward. When the third oil cylinder 42 contracts, it drives the fourth slider 41 to move downward in the third sliding groove 331, thereby driving the fixture 5 to move downward.

[0029] The moving member may include a steerable wheel 11 rotatably connected to the bottom of the chassis 2, a follower wheel 12 connected to the bottom of the chassis 2, and a transmission structure respectively connected to the steerable wheel 11 and the follower wheel 12 for driving the follower wheel 12 to rotate when the steerable wheel 11 rotates. The transmission structure is used to drive the follower wheel 12 to rotate synchronously by a first preset angle when the steerable wheel 11 laterally moves and rotates by a first preset angle.

[0030] Specifically, the driving mode of the steering wheel 11 and the follower wheel 12 is adopted. The steering wheel 11 contains a driving motor and a rotating motor inside, and can drive and rotate independently; the follower wheel 12 cannot drive independently and can be driven by a motor to rotate through a transmission structure. When moving laterally, the follower wheel 12 can rotate synchronously with the steering wheel 11 by 90°. Omnidirectional movement can be achieved, including forward, backward, lateral driving, diagonal driving, arc turning, in-situ rotation and other movements. There can be multiple steering wheels 11 and multiple follower wheels 12. The moving member further includes a first controller, and the control output of the first controller is connected to the steering wheel 11. The steering wheel 11 can adopt the driving steering wheel disclosed in CN104111657B, an automatically navigated vehicle capable of omnidirectional driving. The follower wheel 12 can adopt the follower wheel 12 disclosed in CN104111657B, an automatically navigated vehicle capable of omnidirectional driving. The first controller can adopt the vehicle control module disclosed in CN104111657B, an automatically navigated vehicle capable of omnidirectional driving. The steering wheel 11 can also adopt the steering wheel 11 disclosed in CN209962134U, a double-steering-wheel omnidirectional lifting AGV vehicle. The follower wheel 12 can adopt the driven wheel disclosed in CN209962134U, a double-steering-wheel omnidirectional lifting AGV vehicle. The first controller can adopt the omnidirectional control device disclosed in CN209962134U, a double-steering-wheel 11 omnidirectional lifting AGV vehicle. The steering wheel 11 can also adopt the steering wheel 11 disclosed in CN216426636U, an unmanned transport vehicle for transporting textile yarn bobbins. The follower wheel 12 can adopt the driven wheel disclosed in CN216426636U, an unmanned transport vehicle for transporting textile yarn bobbins. The first controller can adopt the vehicle main control unit disclosed in CN216426636U, an unmanned transport vehicle for transporting textile yarn bobbins.

[0031] The fixture 5 can include a fixed seat 51, a first clamping plate 56, a second clamping plate 57, and an adjusting structure; one end of the fixed seat 51 is connected to the other side of the lifting frame 4. The first clamping plate 56 and the second clamping plate 57 cooperate to clamp the cigarette box 6; one end of the adjusting structure is connected to the fixed seat 51, and the other ends are respectively connected to the first clamping plate 56 and the second clamping plate 57; the adjusting structure drives the first clamping plate 56 and the second clamping plate 57 to move closer or farther away to change the clamping distance between the first clamping plate 56 and the second clamping plate 57.

[0032] Specifically, the fixed seat 51 can be connected to one end of the second support frame 43 of the lifting frame 4 that is far from the first connecting rod 44. The first clamping plate 56 and the second clamping plate 57 respectively abut against two opposite side surfaces of the cigarette case 6, and the first clamping plate 56 and the second clamping plate 57 cooperate together to clamp the cigarette case 6; the distance between two mutually approaching side surfaces of the first clamping plate 56 and the second clamping plate 57 is the clamping distance. When the size of the cigarette case 6 changes, the adjusting structure drives the first clamping plate 56 and / or the second clamping plate 57, that is, the adjusting structure can drive only one of the first clamping plate 56 and the second clamping plate 57 to move, or can drive the first clamping plate 56 and the second clamping plate 57 to move together, so that the first clamping plate 56 and the second clamping plate 57 move closer or farther away, thereby changing the clamping distance between the first clamping plate 56 and the second clamping plate 57; when the size of the cigarette case 6 is larger than the existing clamping distance between the first clamping plate 56 and the second clamping plate 57, the adjusting structure drives the first clamping plate 56 and / or the second clamping plate 57 to move farther away, so that the clamping distance between the first clamping plate 56 and the second clamping plate 57 becomes larger; when the size of the cigarette case 6 is smaller than the existing clamping distance between the first clamping plate 56 and the second clamping plate 57, the adjusting structure drives the first clamping plate 56 and / or the second clamping plate 57 to move closer, so that the clamping distance between the first clamping plate 56 and the second clamping plate 57 becomes smaller.

[0033] The fixed seat 51 may be provided with a first sliding groove 52. The adjusting structure includes a first sliding block 53, a second sliding block 54, and a first oil cylinder 59 arranged on the fixed seat 51. One end of the first sliding block 53 is connected to the first clamping plate 56, and the other end is slidably connected to the first part of the first sliding groove 52. One end of the second sliding block 54 is connected to the second clamping plate 57, and the other end is slidably connected to the second part of the first sliding groove 52; the first oil cylinder 59 is used to drive the first sliding block 53 and / or the second sliding block 54 to change the distance between the first sliding block 53 and the second sliding block 54.

[0034] Specifically, the first preset linear direction is the front-back direction, the second preset linear direction is the up-down direction, the second preset linear direction can be perpendicular to the first preset line, the axis of the first chute 52 can be perpendicular to the second preset linear direction. In a three-dimensional coordinate system, the first preset linear direction can be parallel to the X-axis, the second preset linear direction can be parallel to the Z-axis, and the axis of the first chute 52 can be parallel to the Y-axis. The axis of the first oil cylinder 59 is parallel to or coincides with the axis of the first chute 52. When the first oil cylinder 59 is a two-way hydraulic cylinder, the first slider 53 and the second slider 54 can be respectively arranged on the left and right sides of the first oil cylinder 59, and the two ends of the first oil cylinder 59 are respectively connected to the first slider 53 and the second slider 54. Then, the first oil cylinder 59 can drive only one of the first slider 53 and the second slider 54 to move, or the first oil cylinder 59 can also drive both the first slider 53 and the second slider 54 to move simultaneously, thereby changing the distance between the first slider 53 and the second slider 54 and realizing the adjustment of the clamping distance between the first clamping plate 56 and the second clamping plate 57. When the first oil cylinder 59 is a one-way hydraulic cylinder, the first slider 53 and the second slider 54 are respectively arranged on one side of the first oil cylinder 59, the output end of the first oil cylinder 59 is connected to one of the first slider 53 and the second slider 54, and the other of the first slider 53 and the second slider 54 abuts against one end in the first chute 52. The first oil cylinder 59 pushes one of the first slider 53 and the second slider 54 towards the other of the first slider 53 and the second slider 54, driving the first clamping plate 56 and the second clamping plate 57 to move closer, so that the first clamping plate 56 and the second clamping plate 57 clamp the cigarette box 6. The axes of the first clamping plate 56 and the second clamping plate 57 can both be perpendicular to the axis of the first chute 52.

[0035] There can be two first chutes 52 arranged parallel to each other up and down. There are two first sliders 53 arranged up and down and respectively slidingly connected to the two first chutes 52. There are two second sliders 54 arranged parallel to each other up and down and respectively slidingly connected to the two first chutes 52.

[0036] Specifically, the two first sliders 53 are respectively connected to the first clamping plate 56, the two first sliders 53 can be symmetrically arranged with respect to the axis of the first clamping plate 56, the two second sliders 54 are respectively connected to the second clamping plate 57, and the two second sliders 54 are symmetrically arranged with respect to the axis of the second clamping plate 57.

[0037] The adjusting structure may further include a first rack 551, a second rack 552, and a gear 58 rotatably connected to the fixed seat 51. The first slider 53 and the second slider 54 are respectively arranged on both sides of the axis of the gear 58. The output end of the first oil cylinder 59 is connected to the first clamping plate 56 to drive the first clamping plate 56 to move towards or away from the second clamping plate 57. One end of the first rack 551 is connected to the upper first slider 53, and the bottom end of the middle part meshes with the top end of the gear 58. One end of the second rack 552 is connected to the lower second slider 54, and the top end of the middle part meshes with the bottom end of the gear 58.

[0038] Specifically, the first oil cylinder 59 is arranged between the first clamping plate 56 and the second clamping plate 57, so the first oil cylinder 59 is arranged between the first slider 53 and the second slider 54, so both the first oil cylinder 59 and the gear 58 are arranged between the first slider 53 and the second slider 54. The first clamping plate 56 is arranged on the left side of the first oil cylinder 59, and the second clamping plate 57 is arranged on the right side of the first oil cylinder 59. When the first oil cylinder 59 extends, the first oil cylinder 59 pushes the first clamping plate 56 to move away from the first oil cylinder 59, that is, the first clamping plate 56 moves to the left. The first clamping plate 56 drives the first slider 53 to move away from the first oil cylinder 59, that is, drives the first slider 53 to move to the left. The first slider 53 drives the first rack 551 to move away from the first oil cylinder 59, that is, drives the first rack 551 to move to the left. The first rack 551 drives the gear 58 to rotate counterclockwise, then the gear 58 drives the second rack 552 to move to the right. The second rack 552 drives the second slider 54 to move to the right, that is, drives the second slider 54 to move away from the gear 58. The second slider 54 drives the second clamping plate 57 to move to the right, that is, drives the second clamping plate 57 to move away from the first oil cylinder 59, realizing the away movement of the first clamping plate 56 and the second clamping plate 57, thereby expanding the clamping distance between the first clamping plate 56 and the second clamping plate 57. When the first oil cylinder 59 contracts, the first oil cylinder 59 pulls the first clamping plate 56 to move towards the first oil cylinder 59, that is, the first clamping plate 56 moves to the right. The first clamping plate 56 drives the first slider 53 to move towards the first oil cylinder 59, that is, drives the first slider 53 to move to the right. The first slider 53 drives the first rack 551 to move towards the first oil cylinder 59, that is, drives the first rack 551 to move to the right. The first rack 551 drives the gear 58 to rotate clockwise, then the gear 58 drives the second rack 552 to move to the left. The second rack 552 drives the second slider 54 to move to the left, that is, drives the second slider 54 to move towards the gear 58. The second slider 54 drives the second clamping plate 57 to move to the left, that is, drives the second clamping plate 57 to move towards the first oil cylinder 59, realizing the close movement of the first clamping plate 56 and the second clamping plate 57, thereby reducing the clamping distance between the first clamping plate 56 and the second clamping plate 57.

[0039] The first clamping plate 56 and the second clamping plate 57 can be symmetrically arranged, the first slider 53 and the second slider 54 are symmetrically arranged, and the first rack 551 and the second rack 552 are symmetrically arranged.

[0040] Specifically, the first clamping plate 56 and the second clamping plate 57 are symmetrically arranged, which can stably clamp the cigarette box 6. The first slider 53 and the second slider 54 are symmetrically arranged, and the first rack 551 and the second rack 552 are symmetrically arranged, which is convenient for installation. The first chute 52, the first oil cylinder 59, and the gear 58 are respectively installed on the fixed seat 51. The first rack 551 and the second rack 552 are respectively arranged on the upper and lower sides of the gear 58, which can realize the synchronous movement of the first clamping plate 56 and the second clamping plate 57, so that the first slider 53 and the second slider 54 move in the corresponding first chute 52, thereby adjusting the distance between the first clamping plate 56 and the second clamping plate 57. Compared with only changing the distance between the first clamping plate 56 and the second clamping plate 57 by the first oil cylinder 59, the control accuracy by the combined action of the first rack 551, the second rack 552, the gear 58, and the first oil cylinder 59 is higher.

[0041] The fixture 5 may further include a first friction increasing layer 561 provided on one side surface of the first clamping plate 56 close to the second clamping plate 57 for increasing the friction of the first clamping plate 56.

[0042] Specifically, the first friction increasing layer 561 increases the friction of the first clamping plate 56, thereby improving the stability of the connection between the first clamping plate 56 and one side surface of the cigarette box 6, so that the first clamping plate 56 and the second clamping plate 57 can clamp the cigarette box 6.

[0043] The fixture 5 may further include a second friction increasing layer 571 provided on one side surface of the second clamping plate 57 close to the first clamping plate 56 for increasing the friction of the second clamping plate 57.

[0044] Specifically, the second friction increasing layer 571 increases the friction of the second clamping plate 57, thereby improving the stability of the connection between the second clamping plate 57 and the other side surface of the cigarette box 6, so that the first clamping plate 56 and the second clamping plate 57 can clamp the cigarette box 6.

[0045] Specifically, the first clamping plate 56 is detachably connected to the first slider 53, and the second clamping plate 57 is detachably connected to the second slider 54.

[0046] Specifically, it is convenient to replace the first clamping plate 56 and the second clamping plate 57. The clamping distance between the first clamping plate 56 and the second clamping plate 57 matches the width of the cigarette case 6. The first clamping plate 56 is correspondingly arranged opposite to one side surface of the cigarette case 6, and the second clamping plate 57 is correspondingly arranged opposite to the other side surface of the cigarette case 6. By replacing the first clamping plate 56 and the second clamping plate 57, the area of the first clamping plate 56 matches the area of one side surface of the cigarette case 6, and the area of the second clamping plate 57 matches the area of the other side surface of the cigarette case 6, thereby improving the stability of clamping the cigarette case 6 by the first clamping plate 56 and the second clamping plate 57.

[0047] As a clamping vehicle for transporting cigarette cases in this embodiment, it may further include a first controller, a lidar 7 arranged on the top of the vehicle body 1, a warning light 9 arranged on the vehicle body 1, an industrial camera 8 arranged on the fixed seat 51, a laser sensor 13 arranged on the chassis 2, and a camera 10 arranged on the fixed seat 51. The first controller is used to control the moving member, the lidar 7, the industrial camera 8, the laser sensor 13, the warning light 9, and the camera 10 respectively.

[0048] Specifically, the lidar 7 is used to scan the distance between the front object and the lidar 7, so as to form a point cloud map to construct a warehouse map and position. The industrial camera 8 is used to take pictures of the stack positions of the cigarette boxes 6 to form a three-dimensional map, and calculate the positional relationship between the fixture 5 and the stack position through calculation to obtain the movement amount. The camera 10 is used to record the operation process of the clamping truck, and the real-time process of the intelligent clamping truck can be viewed on the computer side, and the operation record of the clamping truck can also be viewed. The warning light 9 is used to attract the attention of surrounding personnel by emitting light signals, reminding them to pay attention to avoiding or taking corresponding safety measures, with 1 warning function, 2 indicating the state of the trolley, and 3 improving safety. The lidar 7 can adopt the 3D lidar 7 disclosed in CN109270534B, a method for online calibration of an intelligent vehicle laser sensor and a camera. The industrial camera 8 can adopt the industrial camera 8 disclosed in CN109270534B, a method for online calibration of an intelligent vehicle laser sensor and a camera. The lidar 7 can also adopt the lidar 7 disclosed in CN116643285A, a robot automatic point coordinate acquisition system and method based on artificial intelligence. The industrial camera 8 can adopt the industrial camera 8 disclosed in CN116643285A, a robot automatic point coordinate acquisition system and method based on artificial intelligence. The laser sensor 13 can also adopt the laser sensor 13 disclosed in CN116643285A, a robot automatic point coordinate acquisition system and method based on artificial intelligence. The lidar 7 can also adopt the lidar 7 disclosed in CN221070877U, a latent lifting AGV based on ground pattern and laser navigation. The industrial camera 8 can adopt the camera disclosed in CN221070877U, a latent lifting AGV based on ground pattern and laser navigation. The laser sensor 13 can also adopt the laser sensor 13 disclosed in CN221070877U, a latent lifting AGV based on ground pattern and laser navigation. This application includes a lidar 7, an industrial camera 8, a warning light 9, and a camera 10, which have functions such as laser navigation, visual recognition, light warning, and monitoring. The laser sensor 13 is used to detect the distance between the intelligent clamping truck and surrounding objects during operation, and drive normally within a safe distance, playing a safety role.

[0049] Specifically, when the clamping truck of the present application clamps the cigarette box 6, in order to maintain the stability of the overall structure, there are certain requirements for the load torque, the weight of the vehicle body 1, and the distance between the front and rear wheels, so as to ensure that the clamping truck will not tip over when clamping the cigarette box 6. Therefore, the distance between the front and rear wheels cannot be continuously reduced, and there will be a practical reasonable value. If the in-situ rotation radius and the turning radius are reduced, the necessary movement space of the vehicle body 1 can be reduced, thereby effectively increasing the storage capacity rate of the raw material storage warehouse. In order to reduce the in-situ rotation radius and the turning radius, the total length of the clamping truck when clamping goods needs to be shortened. In order to shorten the total length of the clamping truck when clamping the cigarette box 6, after clamping the cigarette box 6, the gantry 3 can be moved backward as a whole. When the gantry 3 moves backward, the fixture 5 and the cigarette box 6 are above the chassis 2. When clamping the cigarette box 6 on the ground floor, the fixture 5 needs to be close to the ground. Therefore, when the gantry 3 moves forward to the limit position, the fixture 5 needs to be lowered downward so that the fixture 5 is close to the ground.

[0050] Specifically, the process of the clamping truck clamping goods: The clamping truck travels in the passage. When encountering a 90° turning path, the steering wheel 11 and the follower wheel 12 can be rotated 90°, enabling the clamping truck to move laterally, reducing the turning-around time, and thus effectively improving the operating efficiency of the clamping truck. Similarly, it can also travel obliquely at 45°. Any angle from 0° to 180° can be adjusted according to actual needs. When the clamping truck travels to a suitable position, the gantry 3 moves forward to the limit position, the fixture 5 moves upward or downward to the clamping position, the fixture 5 adjusts the distance between the first clamping plate 56 and the second clamping plate 57 until the cigarette box 6 is clamped, and then the fixture 5 moves upward or downward to a suitable position, and the gantry 3 moves backward as a whole, thereby achieving the purpose of the automatic driving and clamping of the cigarette box 6 by the clamping truck, shortening the total length of the intelligent clamping truck when clamping goods, reducing the turning radius, reducing the necessary movement space of the vehicle body 1, and effectively increasing the storage capacity rate of the raw material storage warehouse. The present application can achieve omnidirectional driving, clamping of goods, and movement of the fixture 5, effectively reducing the minimum passageway, reducing the turning radius, and reducing the number of turns, thereby effectively improving the operating efficiency of the intelligent clamping truck and increasing the storage capacity rate of the raw material storage warehouse.

[0051] The content described above can be implemented alone or in various combinations, and these variant ways are all within the protection scope of the present utility model.

[0052] It should be noted that in the description of this application, the terms "upper end", "lower end", and "bottom end" indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of this application is customarily placed during use. These are only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to this application. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising one..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A clamping vehicle for transporting cigarette boxes, characterized in that: The invention comprises a vehicle body (1), a door frame (3), a lifting frame (4), a clamp (5), a chassis (2) connected at one end to the bottom of the vehicle body (1), a moving part arranged at the bottom of the chassis (2) for driving the chassis (2) to move, a door frame (3) slidably connected to the chassis (2) at the bottom, a lifting frame (4) slidably connected to the door frame (3) at one side, and a clamp (5) connected to the other side of the lifting frame (4); the door frame (3) can move along a first preset straight line direction on the chassis (2) to drive the lifting frame (4) to move in a direction away from or close to the vehicle body (1); the lifting frame (4) can move along a second preset straight line direction on the door frame (3) to drive the clamp (5) to move up and down; the clamping distance of the clamp (5) can be adjusted to match the size of a preset type of cigarette box (6) to clamp the preset type of cigarette box (6).

2. A clamping vehicle for transporting cigarette boxes as claimed in claim 1, characterized in that: The moving member comprises a steering wheel (11) connected to the bottom of the chassis (2), a follower wheel (12) connected to the bottom of the chassis (2), and a transmission structure respectively connected to the steering wheel (11) and the follower wheel (12) and used to drive the follower wheel (12) to rotate when the steering wheel (11) rotates; the transmission structure is used to drive the follower wheel (12) to synchronously rotate by a first preset angle when the steering wheel (11) moves sideways and rotates by a first preset angle.

3. A clamping vehicle for transporting cigarette boxes as claimed in claim 1 or 2, characterized in that: The clamp (5) comprises a fixing seat (51), a first clamping plate (56), a second clamping plate (57), and an adjusting structure; one end of the fixing seat (51) is connected to the other side of the lifting frame (4), and the first clamping plate (56) and the second clamping plate (57) cooperate with each other to clamp the cigarette box (6); one end of the adjusting structure is connected to the fixing seat (51), and the other end is respectively connected to the first clamping plate (56) and the second clamping plate (57); the adjusting structure drives the first clamping plate (56) and the second clamping plate (57) to move closer or farther, so as to change the clamping distance between the first clamping plate (56) and the second clamping plate (57).

4. A clamping vehicle for transporting cigarette boxes as claimed in claim 3, characterized in that: The fixing seat (51) is provided with a first slide groove (52), and the adjustment structure comprises a first slider (53), a second slider (54), and a first oil cylinder (59) arranged on the fixing seat (51); one end of the first slider (53) is connected to the first clamping plate (56), and the other end is slidably connected to the first part of the first slide groove (52); one end of the second slider (54) is connected to the second clamping plate (57), and the other end is slidably connected to the second part of the first slide groove (52); the first oil cylinder (59) is used to drive the first slider (53) and / or the second slider (54) to change the distance between the first slider (53) and the second slider (54).

5. A clamping vehicle for transporting cigarette boxes as claimed in claim 4, characterized in that: The first slide grooves (52) are two arranged in parallel up and down, the first sliding blocks (53) are two arranged in parallel up and down and respectively slidably connected to the two first slide grooves (52), and the second sliding blocks (54) are two arranged in parallel up and down and respectively slidably connected to the two first slide grooves (52).

6. A clamping vehicle for transporting cigarette boxes as claimed in claim 5, characterized in that: The adjustment structure further comprises a first rack (551), a second rack (552), and a gear (58) rotatably connected to the fixed seat (51); the first slider (53) and the second slider (54) are respectively arranged on both sides of the axis of the gear (58); the output end of the first oil cylinder (59) is connected to the first clamping plate (56) to drive the first clamping plate (56) to move towards or away from the second clamping plate (57); one end of the first rack (551) is connected to the first slider (53) located at the top, and the bottom end of the middle part is meshed with the top end of the gear (58); one end of the second rack (552) is connected to the second slider (54) located at the bottom, and the top end of the middle part is meshed with the bottom end of the gear (58).

7. A clamping vehicle for transporting cigarette boxes as claimed in claim 6, characterized in that: The first clamping plate (56) and the second clamping plate (57) are symmetrically arranged, the first sliding block (53) and the second sliding block (54) are symmetrically arranged, and the first rack (551) and the second rack (552) are symmetrically arranged.

8. A clamping vehicle for transporting cigarette boxes as claimed in claim 3, characterized in that: The clamp (5) further comprises a first friction increasing layer (561) which is arranged on a side surface of the first clamping plate (56) close to the second clamping plate (57) and is used to increase the friction force of the first clamping plate (56).

9. A clamping vehicle for transporting cigarette boxes as claimed in claim 3, characterized in that: The clamp (5) further comprises a second friction increasing layer (571) which is arranged on a side of the second clamping plate (57) close to the first clamping plate (56) and is used to increase the friction force of the second clamping plate (57).

10. A clamping vehicle for transporting cigarette boxes as claimed in claim 1 or 2, characterized in that: The chassis (2) is provided with a second slide groove (21), the door frame (3) comprises a third slide block (31) slidably connected to the second slide groove (21), a second oil cylinder (32) whose bottom end is connected to the chassis (2), and a first support frame (33) whose bottom end is connected to the third slide block (31), the output end of the second oil cylinder (32) is connected to a portion of the third slide block (31) protruding outside the second slide groove (21), the first support frame (33) is provided with a third slide groove (331), and the lifting frame (4) comprises A fourth slider (41), a second support frame (43), a first connecting rod (44), and a third oil cylinder (42), wherein the fourth slider (41) is slidably connected to the third slide groove (331), the third oil cylinder (42) is connected to the bottom end of the first support frame (33), the output end of the third oil cylinder (42) is connected to the fourth slider (41), the two ends of the first connecting rod (44) are respectively connected to the fourth slider (41) and the second support frame (43), and the clamp (5) is connected to the second support frame (43).

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