Tobacco logistics mechanical arm stacking device

Abstract

The utility model belongs to the technical field of tobacco stacking devices, particularly relates to a tobacco logistics mechanical arm stacking device, and provides the following scheme aiming at the problems that an existing device is not flexible enough to operate, and tobacco bags are prone to being squeezed and damaged in the clamping process: the tobacco logistics mechanical arm stacking device comprises a movable supporting base, a vertical frame and a lifting plate, the negative pressure pump exhausts air in the hollow clamping plate through the first air conveying pipe and the second air conveying pipe, so that negative pressure is formed between the rubber suction cups on the clamping plate and the surface of the tobacco packet, the adsorption force to the tobacco packet is greatly enhanced, the tobacco packet can be clamped more firmly and prevented from sliding off in the carrying process, it is guaranteed that the tobacco packet is stressed in a balanced mode in the clamping process, and the tobacco packet is prevented from falling off. Therefore, the stability of the tobacco bales in the carrying process is improved, shaking and deviation are reduced, the negative pressure adsorption mode is softer, the surfaces of the tobacco bales cannot be excessively extruded or damaged, and the appearance and the internal quality of the tobacco bales can be better protected.

Description

Technical Field

[0001] This utility model relates to a palletizing device, specifically a tobacco logistics robotic arm palletizing device, belonging to the technical field of tobacco palletizing devices. Background Technology

[0002] In the tobacco logistics industry, palletizing is a crucial step. With the continuous expansion of tobacco production scale and the increasing demands for logistics efficiency, higher requirements are being placed on the performance of robotic palletizing devices in tobacco logistics.

[0003] In the prior art, such as the palletizer gripping robot arm proposed by patent number CN216548587U, the first hydraulic cylinder is set on the base plate and supports the lifting plate to move up and down. The connecting seat of the drive box is connected to the lifting plate by bolts. The second hydraulic cylinder drives the crossbeam to move, and the crossbeam further drives the vertical rod to move. The clamping plate is connected to the vertical rod through the connecting assembly. The clamping plate is provided with friction pads to facilitate stable clamping. The vertical rod extends into the limiting groove of the clamping plate. The drive rod is driven by the handle. Furthermore, the drive rod drives the gear to rotate, and the rack slides out from the movable groove and inserts into the positioning hole to ensure stable connection between the vertical rod and the clamping plate.

[0004] However, the aforementioned devices have several drawbacks. First, they lack operational flexibility, failing to achieve horizontal movement of the cigarette packs. This makes it difficult to accurately place the packs in the required positions in complex warehouse environments, significantly limiting palletizing efficiency and the rationality of space utilization. Second, in terms of the clamping method, existing devices rely solely on pure mechanical force. On one hand, the firmness of pure mechanical clamping is limited; during handling, the cigarette packs are easily slipped due to vibration, bumps, and other factors, affecting not only the palletizing progress but also potentially damaging the packs and causing economic losses. On the other hand, because mechanical force is difficult to precisely control, excessive clamping force can cause irreversible squeezing damage to the packs, affecting the quality of the tobacco and subsequent sales. Summary of the Invention

[0005] This invention provides a tobacco logistics robotic arm palletizing device to address the problem that existing devices are not flexible enough in operation and are prone to squeezing and damaging tobacco packages during the clamping process.

[0006] The present invention achieves the above objectives through the following technical solution: a tobacco logistics robotic arm palletizing device, comprising a movable support base, a stand and a lifting plate, wherein the stand is fixedly connected to the edge of one side of the surface of the movable support base, the lifting plate is installed inside the stand and the lifting plate and the stand are slidably connected.

[0007] A hollow strip seat is fixedly connected to one side surface of the lifting plate. A double-acting screw is rotatably connected inside the hollow strip seat. A drive motor is fixedly installed on the side surface of the hollow strip seat. One end of the double-acting screw passes through one side surface of the hollow strip seat and extends to the outside of the hollow strip seat, where it is fixedly connected to the output shaft of the drive motor. T-shaped moving blocks are symmetrically threaded onto the surface of the double-acting screw. The T-shaped moving blocks slide in the cavity of the hollow strip seat. One side of each of the two T-shaped moving blocks passes through the surface of the hollow strip seat and extends to the outside of the hollow strip seat, where a connecting block is fixedly connected. Guide seats are fixedly connected to the other side surfaces of the two connecting blocks. Hollow clamps are provided on the opposite sides of the two guide seats.

[0008] As a further embodiment of this utility model: a negative pressure pump is fixedly connected to the central surface of the strip-shaped hollow seat, and a first air supply pipe is symmetrically fixedly connected to the air outlet end of the negative pressure pump. A second air supply pipe is fixedly connected to the end of each first air supply pipe away from the negative pressure pump. The two second air supply pipes are respectively fixedly connected to the hollow clamps at corresponding positions. Several rubber suction cups are fixedly connected at equal intervals on the opposite sides of the two hollow clamps.

[0009] As a further embodiment of this utility model: each hollow clamp plate has a first T-shaped block symmetrically fixedly connected to the side near the guide seat, and a first T-shaped groove is opened on the opposite side of the two guide seats. Each first T-shaped block is slidably connected in the first T-shaped groove. A positioning block is fixedly connected to the surface of each guide seat. Each positioning block is fixedly sleeved on the surface of the second gas pipe. An inverted convex block is also fixedly sleeved on the side of the surface of the second gas pipe away from the positioning block. A limiting groove is opened on the surface of each guide seat, and the inverted convex block is slidably connected in the limiting groove.

[0010] As a further embodiment of this utility model: a second T-shaped groove is provided on the bottom surface of one of the guide seats, a special-shaped plate is slidably connected in the second T-shaped groove, an adjusting bolt is threadedly connected to one side surface of the special-shaped plate, a pressure block is fixedly connected to the bottom surface of the special-shaped plate, a pressure sensor is fixedly connected to the side of the hollow clamp plate near the pressure block at the corresponding position, the setting height of the pressure sensor is the same as the height of the pressure block, and a controller is fixedly connected to the surface of the stand.

[0011] As a further improvement of this utility model, a multi-stage electric telescopic rod is fixedly connected between each hollow clamp and the corresponding connecting block.

[0012] As a further embodiment of this utility model: two adjusting screws are rotatably connected to the inner side of the upright frame, and the lifting plate is threaded onto the surface of the two adjusting screws. A driven sprocket is coaxially fixedly sleeved on the surface of each adjusting screw. A lifting motor is fixedly connected to one side of the surface of the movable support base through a mounting bracket. A drive sprocket is coaxially fixedly connected to the output shaft of the lifting motor. The two driven sprockets and the drive sprocket are connected by chain meshing.

[0013] As a further embodiment of this utility model: the multi-stage electric telescopic rod and the controller are connected by telecommunications, the pressure sensor and the controller are connected by telecommunications, and the drive motor and the controller are connected by telecommunications.

[0014] As a further improvement of this utility model: an upper limit plate and a lower limit plate are symmetrically fixedly connected to the inner side of the upright, with the upper limit plate located on the inner side of the upright near its upper position and the lower limit plate located on the inner side of the upright near its lower position.

[0015] The beneficial effects of this utility model are:

[0016] This utility model device features a movable support base, allowing for easy movement to different locations for palletizing operations. It flexibly adapts to the layout of various sites, such as tobacco warehouses, and the needs of tobacco package stacking, improving palletizing mobility and efficiency. Through the sliding connection between the lifting plate and the upright frame, the height of the clamping plates can be precisely adjusted according to the actual height requirements of the palletizing, accommodating different stacking levels and ensuring neatness and stability. A drive motor rotates a bidirectional screw, causing the T-shaped moving block to move symmetrically, which in turn drives the connecting block, guide seat, and clamping plates. This allows for quick and accurate clamping and positioning of tobacco packages, improving palletizing efficiency and accuracy. Several rubber suction cups on the opposing surfaces of the two clamping plates increase friction and adhesion to the tobacco package surface, accommodating tobacco packages of different sizes and shapes, preventing slippage during clamping and handling, and improving palletizing safety and reliability. The soft rubber suction cups avoid damaging the tobacco package surface during clamping, ensuring the integrity and appearance quality of the tobacco packages and reducing potential tobacco quality problems caused by packaging damage.

[0017] This invention incorporates a negative pressure pump, a first air supply pipe, a second air supply pipe, and a hollow clamping plate. During use, the negative pressure pump draws air from the hollow clamping plate through the first and second air supply pipes, creating a negative pressure between the rubber suction cups on the clamping plate and the surface of the tobacco pack. This significantly enhances the adsorption force on the tobacco pack, allowing for a more secure grip and preventing it from slipping during transport. Furthermore, the symmetrical arrangement of the first and second air supply pipes ensures a more uniform adsorption force between the two clamping plates, guaranteeing a balanced force on the tobacco pack during clamping. This improves the stability of the tobacco pack during transport and reduces shaking and shifting.

[0018] The negative pressure pump can flexibly adjust the negative pressure according to the weight, material and other factors of the tobacco pack, so that the device can adapt to the clamping needs of various types of tobacco packs, thus improving the versatility and adaptability of the device.

[0019] Compared to simply relying on mechanical force to hold, negative pressure adsorption is gentler and will not cause excessive pressure or damage to the surface of the tobacco pack, thus better protecting the appearance and internal quality of the tobacco pack.

[0020] 3. By setting up a multi-stage electric telescopic rod, this utility model can move tobacco packages horizontally, so that even in complex warehouse environments, tobacco packages can be accurately placed in the required position, which greatly improves palletizing efficiency and the rationality of space utilization.

[0021] 4. This utility model, by setting up a second T-slot, a special-shaped plate, adjusting bolts, a pressing block, a pressure sensor, and a controller, allows the device to adapt to different sizes and shapes of tobacco packages and different stacking layouts during use. The electric push rod drives the hollow clamping plate to move horizontally, precisely controlling the displacement of the tobacco packages and ensuring they move along a preset path and position. This improves stacking accuracy and automation, reduces manual intervention, and increases stacking efficiency. When the pressing block of the special-shaped plate contacts the pressure sensor, it accurately determines the tobacco package's position, providing an accurate signal for placement and ensuring each package is placed in the designated location, guaranteeing neatness and standardization of stacking and improving stacking quality.

[0022] 5. By controlling the forward and reverse rotation and speed of the lifting motor, this utility model can easily control the lifting direction and speed of the lifting plate, making it easy to achieve automated control. It can accurately adjust the position of the robotic arm and clamps according to the height requirements of tobacco pack stacking, ensuring that the tobacco packs can be placed at the appropriate stacking height. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall appearance and structure of the present utility model. Figure 1 ;

[0024] Figure 2 This is a schematic diagram of the overall appearance and structure of the present utility model. Figure 2 ;

[0025] Figure 3 This is a schematic diagram of the front structure of this utility model;

[0026] Figure 4 This is a schematic diagram of the connection structure between the rotating motor and the adjusting screw in this utility model;

[0027] Figure 5 This is a schematic diagram of the connection structure between the guide seat, hollow clamping plate, and rubber suction cup in this utility model. Figure 1 ;

[0028] Figure 6 This is a schematic diagram of the connection structure between the guide seat, hollow clamping plate, and rubber suction cup in this utility model. Figure 2 ;

[0029] Figure 7 This is a schematic diagram of the connection structure between the guide seat, hollow clamping plate, and rubber suction cup in this utility model. Figure 3 ;

[0030] Figure 8 This is a schematic cross-sectional view of the connection between the hollow clamping plate and the rubber suction cup in this utility model;

[0031] Figure 9 This is a schematic diagram of the connection structure of the guide seat, hollow clamping plate, and irregular plate in this utility model. Figure 1 ;

[0032] Figure 10 This is a schematic diagram of the connection structure of the guide seat, hollow clamping plate, and irregular plate in this utility model. Figure 2 ;

[0033] Figure 11 This is a schematic diagram of the connection structure between the guide seat and the irregular plate in this utility model;

[0034] Figure 12 This is a schematic diagram of the irregular-shaped plate in this utility model.

[0035] In the diagram: 1. Movable support base; 2. Stand; 3. Lifting plate; 4. Hollow strip seat; 5. Drive motor; 6. Bidirectional screw; 7. T-shaped moving block; 8. Connecting block; 9. Guide seat; 10. First T-shaped block; 11. Hollow clamp plate; 12. Rubber suction cup; 13. Negative pressure pump; 14. First air supply pipe; 15. Second air supply pipe; 16. Positioning block; 17. Inverted convex block; 18. Limiting groove; 19. Second T-shaped groove; 20. Irregular plate; 21. Adjusting bolt; 22. Pressing block; 23. Pressure sensor; 24. Lifting motor; 25. Drive sprocket; 26. Driven sprocket; 27. Chain; 28. Adjusting screw; 29. ​​Upper limit plate; 30. Lower limit plate; 31. Controller; 32. Multi-stage electric telescopic rod. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0037] Example 1

[0038] like Figures 1 to 12 As shown, a tobacco logistics robotic arm palletizing device includes a movable support base 1, a stand 2, and a lifting plate 3. The stand 2 is fixedly connected to the surface of the movable support base 1. The stand 2 is installed at the edge of one side of the surface of the movable support base 1. The lifting plate 3 is installed inside the stand 2, and the lifting plate 3 and the stand 2 are slidably connected.

[0039] A hollow strip seat 4 is fixedly connected to one side surface of the lifting plate 3. A double-ended screw 6 is rotatably connected inside the hollow strip seat 4. One end of the double-ended screw 6 passes through one side surface of the hollow strip seat 4 and extends to the outside of the hollow strip seat 4. A drive motor 5 is fixedly installed on the side surface of the hollow strip seat 4. The output shaft of the drive motor 5 and one end of the double-ended screw 6 are coaxially fixedly connected. T-shaped moving blocks 7 are symmetrically threaded onto the surface of the double-ended screw 6. The T-shaped moving blocks 7 and the hollow strip seat 4 are slidably connected. One side of each of the two T-shaped moving blocks 7 passes through the surface of the hollow strip seat 4 and extends to the outside of the hollow strip seat 4. The T-shaped moving blocks 7 and the connecting blocks 8 located on the outside of the hollow strip seat 4 are fixedly connected. Guide seats 9 are fixedly connected to one side surface of each of the two connecting blocks 8. Hollow clamping plates 11 are provided on the opposite sides of each of the two guide seats 9. Each hollow clamping plate 11 has a first T-shaped block 10 symmetrically fixedly connected to the side of the guide seat 9. Each of the two guide seats 9 has a first T-shaped groove on its opposite side. Each first T-shaped block 10 is slidably connected in the first T-shaped groove. Each of the two hollow clamping plates 11 has several rubber suction cups 12 fixedly connected at equal intervals on its opposite side. In use, the drive motor 5 drives the bidirectional screw 6 to rotate, causing the T-shaped moving block 7 to move symmetrically, which in turn drives the connecting block 8, guide seat 9 and hollow clamping plate 11 to move accordingly. This allows for quick and accurate clamping and positioning of tobacco packages, improving the efficiency and accuracy of palletizing. Furthermore, the several rubber suction cups 12 on the opposite side of the two hollow clamping plates 11 can increase the friction and adsorption force with the surface of the tobacco package, adapting to tobacco packages of various shapes and preventing the tobacco packages from slipping during clamping and handling, thus improving the safety and reliability of palletizing.

[0040] Example 2

[0041] In addition to all the technical features included in Embodiment 1, this embodiment also includes:

[0042] A negative pressure pump 13 is fixedly connected to the surface of the strip-shaped hollow base 4. The negative pressure pump 13 is installed at the center of the surface of the strip-shaped hollow base 4. The air outlet of the negative pressure pump 13 is symmetrically fixedly connected to a first air supply pipe 14. A second air supply pipe 15 is fixedly connected to the end of each first air supply pipe 14 away from the negative pressure pump 13. The two second air supply pipes 15 are respectively fixedly connected to the hollow clamping plate 11 at the corresponding positions. In use, the negative pressure pump 13 draws air into the hollow clamping plate 11 through the first air supply pipe 14 and the second air supply pipe 15, causing the rubber on the hollow clamping plate 11 to... The suction cup 12 creates a negative pressure between itself and the surface of the tobacco pack, which greatly enhances the adsorption force on the tobacco pack and can hold it more firmly, preventing it from slipping during transportation. Furthermore, the negative pressure pump 13 can flexibly adjust the amount of negative pressure according to the weight and material of the tobacco pack, so that the device can adapt to the clamping needs of various types of tobacco packs, improving the versatility and adaptability of the device. Compared with simply relying on mechanical force for clamping, the negative pressure adsorption method is gentler and will not cause excessive compression or damage to the surface of the tobacco pack, thus better protecting the appearance and internal quality of the tobacco pack.

[0043] Each guide seat 9 has a fixedly connected positioning block 16 on its surface. Each positioning block 16 is fixedly sleeved on the surface of the second air supply pipe 15. On the side of the second air supply pipe 15 away from the positioning block 16, an inverted convex block 17 is also fixedly sleeved. Each guide seat 9 has a limiting groove 18 on its surface. The inverted convex block 17 is slidably connected in the limiting groove 18. Both the first air supply pipe 14 and the second air supply pipe 15 are provided with a section of telescopic corrugated pipe. The telescopic corrugated pipes provided in the first air supply pipe 14 and the second air supply pipe 15 can adapt to changes in the length and position of the air supply pipe when the hollow clamp 11 is moved, opened and closed, etc., to ensure the stability of negative pressure transmission and at the same time avoid damage to the air supply pipe due to excessive stretching or bending, thus ensuring the normal operation of the negative pressure system.

[0044] One of the guide seats 9 has a second T-slot 19 on its bottom surface. A profiled plate 20 is slidably connected in the second T-slot 19. An adjusting bolt 21 is threaded onto one side of the profiled plate 20. A pressing block 22 is fixedly connected to the bottom surface of the profiled plate 20. A pressure sensor 23 is fixedly connected to the side of the hollow clamping plate 11 near the pressing block 22 at the corresponding position. The height of the pressure sensor 23 is the same as the height of the pressing block 22. A controller 31 is fixedly connected to the surface of the upright 2. The pressure sensor 23 and the controller 31 are electrically connected. During use, the profiled plate 20 is adjusted according to the stacking position. The positioning of the template 20 allows the device to adapt to tobacco packages of different sizes and shapes, as well as different palletizing layouts. The hollow clamping plate 11 is moved horizontally by an electric push rod, which can precisely control the displacement of the tobacco packages, ensuring that they move according to the preset path and position, improving the accuracy and automation of palletizing, reducing manual intervention, and improving palletizing efficiency. When the pressing block 22 of the irregularly shaped plate 20 contacts the pressure sensor 23, it can accurately determine that the tobacco package is in place, providing an accurate signal for placing the tobacco package, ensuring that each tobacco package is placed in the specified position, ensuring the neatness and standardization of palletizing, and improving the quality of palletizing.

[0045] Each hollow clamp 11 is fixedly connected to a multi-stage electric telescopic rod 32 at the corresponding position connecting block 8, and the multi-stage electric telescopic rod 32 is electrically connected to the controller 31.

[0046] Example 3

[0047] In addition to all the technical features included in Embodiment 1, this embodiment also includes:

[0048] Two adjusting screws 28 are rotatably connected to the inner side of the upright frame 2. The lifting plate 3 is threaded onto the surface of the two adjusting screws 28. A driven sprocket 26 is coaxially fixedly sleeved on the surface of each adjusting screw 28. A lifting motor 24 is fixedly connected to one side of the surface of the movable support base 1 through a mounting bracket. A drive sprocket 25 is coaxially fixedly connected to the output shaft of the lifting motor 24. The two driven sprockets 26 and the drive sprocket 25 are meshed and connected by a chain 27. By controlling the forward and reverse rotation and speed of the lifting motor 24, the lifting direction and speed of the lifting plate 3 can be easily controlled, which is easy to achieve automated control. The position of the robotic arm and clamps and other components can be accurately adjusted according to the height requirements of tobacco pack stacking to ensure that the tobacco packs can be placed at the appropriate stacking height.

[0049] The inner side of the upright frame 2 is symmetrically fixed with an upper limit plate 29 and a lower limit plate 30. The upper limit plate 29 is located on the inner side of the upright frame 2 near its upper part, and the lower limit plate 30 is located on the inner side of the upright frame 2 near its lower part, which can limit the lifting height of the tobacco pack.

[0050] Working principle: Before use, the operator rotates the adjusting bolt 21 according to the stacking position and the size and shape of the tobacco package, so that the irregular plate 20 slides in the second T-groove 19 on the bottom surface of the guide seat 9. After adjusting to the appropriate position, the adjusting bolt 21 is tightened to fix it.

[0051] To begin operation, the lifting motor 24 is started, and its output shaft drives the drive sprocket 25 to rotate. This drives the driven sprocket 26 to rotate synchronously via the chain 27, which in turn drives the coaxially fixed adjusting screw 28 to rotate. This causes the lifting plate 3, which is threaded onto the adjusting screw 28, to rise and fall smoothly along the inner side of the frame 2. Once the appropriate height is reached, the lifting motor 24 is stopped. During this process, the upper limit plate 29 and the lower limit plate 30, which are symmetrically fixed at the top and bottom of the inner side of the frame 2, limit the range of the lifting height of the lifting plate 3.

[0052] Next, the drive motor 5 is started, and its output shaft drives the bidirectional screw 6 to rotate, causing the T-shaped moving block 7 to move symmetrically within the hollow strip seat 4, which in turn moves the connecting block 8, guide seat 9, and hollow clamping plate 11 closer to the tobacco pack. At the same time, the negative pressure pump 13 at the center of the surface of the hollow strip seat 4 is turned on, and air is drawn from the hollow clamping plate 11 through the first air supply pipe 14 and the second air supply pipe 15, so that the rubber suction cup 12 forms a negative pressure with the surface of the tobacco pack. Combined with the friction between the rubber suction cup 12 and the surface of the tobacco pack, the tobacco pack is firmly clamped. The telescopic corrugated pipes of the first air supply pipe 14 and the second air supply pipe 15 adapt to the positional changes of the hollow clamping plate 11 during its movement, ensuring that the negative pressure is stable. Compared with simply relying on mechanical force to clamp, the negative pressure adsorption method is gentler and will not cause excessive compression or damage to the surface of the tobacco pack, thus better protecting the appearance and internal quality of the tobacco pack.

[0053] Subsequently, the controller 31 controls the operation of the multi-stage electric telescopic rod 32 (the multi-stage electric telescopic rod 32 is connected between the hollow clamping plate 11 and the connecting block 8 and is electrically connected to the controller 31), which drives the hollow clamping plate 11, which grips the tobacco package, to move horizontally. The positioning block 16, the inverted convex block 17, and the limiting slide groove 18 cooperate to ensure the stability of movement and the accuracy of position. When the pressing block 22 on the bottom surface of the irregular plate 20 contacts the pressure sensor 23 on the hollow clamping plate 11, the pressure sensor 23 sends a signal to the controller 31 indicating that the tobacco package has moved into place. The tobacco package can be moved horizontally, so that even in a complex warehouse environment, the tobacco package can be accurately placed in the required position, which greatly improves the palletizing efficiency and the rationality of space utilization.

[0054] Finally, after receiving the signal, the controller 31 controls the hollow clamp 11 to release the tobacco packs to complete the stacking, and the robotic arm returns to the initial position to prepare for the next stacking.

[0055] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0056] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A tobacco stream mechanical arm stacking device, comprising a mobile support base (1), a stand (2) and a lifting plate (3), characterized in that: The stand (2) is fixedly connected at the edge of one side of the surface of the mobile support base (1), the lifting plate (3) is installed inside the stand (2), and the lifting plate (3) and the stand (2) are slidingly connected; One side surface of the lifting plate (3) is fixedly connected with a strip-shaped hollow seat (4), the strip-shaped hollow seat (4) is rotatably connected with a bidirectional screw rod (6), the strip-shaped hollow seat (4) is fixedly installed with a driving motor (5) on the side surface, one end of the bidirectional screw rod (6) penetrates through one side surface of the strip-shaped hollow seat (4) and extends to the outside of the strip-shaped hollow seat (4) and is fixedly connected with the output shaft of the driving motor (5), the surface of the bidirectional screw rod (6) is symmetrically threaded with a T-shaped moving block (7), the T-shaped moving block (7) slides in the cavity of the strip-shaped hollow seat (4), one side of each of the two T-shaped moving blocks (7) penetrates through the surface of the strip-shaped hollow seat (4) and extends to the outside of the strip-shaped hollow seat (4) and is fixedly connected with a connecting block (8), the other side surfaces of the two connecting blocks (8) are respectively fixedly connected with guide seats (9), and the opposite sides of the two guide seats (9) are both provided with hollow clamping plates (11).

2. The tobacco stream robotic palletizing device of claim 1, wherein: The center surface of the strip-shaped hollow seat (4) is fixedly connected with a negative pressure pump (13), the gas outlet end of the negative pressure pump (13) is fixedly connected with a first gas conveying pipe (14) in a symmetrical manner, one end of each of the first gas conveying pipes (14) away from the negative pressure pump (13) is fixedly connected with a second gas conveying pipe (15), the first gas conveying pipe (14) and the second gas conveying pipe (15) are both provided with a section of telescopic bellows, the two second gas conveying pipes (15) are respectively fixedly connected with the hollow clamping plates (11) at the corresponding positions, and the opposite sides of the two hollow clamping plates (11) are both fixedly connected with a plurality of rubber suction cups (12) at equal intervals.

3. The tobacco stream robotic palletizing apparatus of claim 2, wherein: The opposite sides of the two guide seats (9) are both provided with first T-shaped grooves, each of the first T-shaped blocks (10) is slidingly connected in the first T-shaped groove, the surface of each of the guide seats (9) is fixedly connected with a positioning block (16), each of the positioning blocks (16) is fixedly sleeved on the surface of the second gas conveying pipe (15), the side of the surface of the second gas conveying pipe (15) away from the positioning block (16) is further fixedly sleeved with an inverted convex block (17), and the surface of each of the guide seats (9) is provided with a limiting sliding groove (18), and the inverted convex block (17) is slidingly connected in the limiting sliding groove (18).

4. The tobacco stream robotic palletizing apparatus of claim 3, wherein: The bottom surface of one of the guide seats (9) is provided with a second T-shaped groove (19), and a special-shaped plate (20) is slidably connected in the second T-shaped groove (19); the side surface of the special-shaped plate (20) is threadedly connected with an adjusting bolt (21); the bottom surface of the special-shaped plate (20) is fixedly connected with a pressing block (22); the hollow clamping plate (11) at the corresponding position is fixedly connected with a pressure sensor (23) on the side close to the pressing block (22); the setting height of the pressure sensor (23) is consistent with the height of the pressing block (22); and the surface of the stand (2) is fixedly connected with a controller (31).

5. The tobacco stream robotic palletizing apparatus of claim 4, wherein: A multi-stage electric telescopic rod (32) is fixedly connected between each hollow clamping plate (11) and the connecting block (8) at the corresponding position.

6. The tobacco stream robotic palletizing device of claim 4, wherein: The inner side surface of the stand (2) is rotatably connected with two adjusting screws (28); the lifting plate (3) is threadedly sleeved on the surface of the two adjusting screws (28); the surface of each adjusting screw (28) is coaxially fixedly sleeved with a driven sprocket (26); one side of the surface of the movable supporting base (1) is fixedly connected with a lifting motor (24) through a mounting frame; the output shaft of the lifting motor (24) is coaxially fixedly connected with a driving sprocket (25); and the two driven sprockets (26) and the driving sprocket (25) are meshingly connected through a chain (27).

7. The tobacco stream robotic arm collating device of claim 5, wherein: The multi-stage electric telescopic rod (32) and the controller (31) are electrically connected in signal; the pressure sensor (23) and the controller (31) are electrically connected in signal; and the driving motor (5) and the controller (31) are electrically connected in signal.

8. The tobacco stream robotic arm palletizing device of claim 6, wherein: The inner side surface of the stand (2) is respectively and symmetrically fixedly connected with an upper limiting plate (29) and a lower limiting plate (30); the upper limiting plate (29) is located on the inner side surface of the stand (2) close to the upper position thereof; and the lower limiting plate (30) is located on the inner side surface of the stand (2) close to the lower position thereof.

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