A double-group tray automatic loading and unloading device

Abstract

The present invention relates to an automatic loading and unloading device for double pallets, comprising a frame, an empty pallet storage delivery mechanism, an empty pallet transfer mechanism, a stacking mechanism, a full pallet transfer mechanism and a material unloading trolley; the empty pallet storage delivery mechanism, the empty pallet transfer mechanism, the stacking mechanism and the full pallet transfer mechanism are all installed on the frame; the empty pallet storage delivery mechanism is provided with a storage space for accommodating two groups of empty pallets, and the full pallet transfer mechanism and the material unloading trolley are both provided with a cache space for accommodating full pallets, thereby realizing the loading and unloading of double pallets. Compared with the prior art, the present invention has the advantages of long standby time, compact layout, convenient operation, safety and reliability, etc.

Description

Technical Field

[0001] The invention relates to the technical field of automation equipment, and in particular to an automatic loading and unloading device for double-group pallets. Background Art

[0002] As a device that automatically supplies and loads workpieces to processing or assembly machinery, the automatic loading and unloading device is widely used in automated processing production lines. Statistics show that in the processing and assembly of workpieces, the cost of supplying, loading, unloading and handling of workpieces accounts for more than 1 / 3 of the total cost, and the working hours account for more than 2 / 3 of the total working hours. Especially in batch mass production, when the productivity is high and the mobile working hours are short, loading and unloading is a repetitive and arduous task. In order to improve productivity, reduce the labor intensity of operators, and ensure safe production, it is very meaningful to realize automatic loading and unloading.

[0003] According to the storage requirements of products, pallets are often used as carriers for loading and unloading. There are two main ways to load and unload pallets. The first is the traditional and most basic loading and unloading method, which is a feeder that can only put one pallet at a time. After each pallet is put, the unloading trolley must be dragged out, and the front station must stop and wait, and the unloading and picking of materials must be repeated. This method has many disadvantages such as loading errors, sequence error prevention, high labor intensity, and increased production cycle; the second is to use several feeders to supply pallets. This method requires a lot of space and is very costly.

[0004] Chinese utility model patent publication number CN206358922U discloses an automatic loading and unloading machine for pallets, including an automatic loading device and an automatic unloading device, and a medicine placing machine located between the two; the utility model can detach the stacked pallets one by one and then send them to the medicine placing machine one by one. After the operation of the medicine placing machine is completed, the full pallets can be stacked and placed in turn, replacing the manual single-disk operation, greatly improving the efficiency of batch medicine placing; medical staff only need to fill the automatic loading device with a whole stack of empty pallets or remove the pallets from the automatic unloading device when prompted, and the medicine placing machine can automatically identify and record the empty pallets. However, the problem is that the number of pallets is limited by space, the frequency of manual material collection and unloading is too high, and unloading is inconvenient, which is not suitable for occasions with high production rhythm requirements. Summary of the invention

[0005] The purpose of the present invention is to overcome the defects of the above-mentioned prior art and provide a double-group pallet automatic loading and unloading device with long standby time, compact layout, convenient operation, safety and reliability.

[0006] The purpose of the present invention can be achieved by the following technical solutions:

[0007] A double-group pallet automatic loading and unloading device, comprising:

[0008] A frame, an empty pallet storage and delivery mechanism for storing and delivering empty pallets, an empty pallet transfer mechanism for transferring empty pallets to a robot delivery position, a stacking mechanism for stacking full pallets, a full pallet transfer mechanism for transferring full pallets to a delivery position, and a delivery trolley located at the delivery position of the device;

[0009] The empty pallet storage delivery mechanism, empty pallet transfer mechanism, stacking mechanism and full pallet transfer mechanism are all installed on the frame;

[0010] The empty pallet storage delivery mechanism is provided with a storage space for accommodating two groups of empty pallets, and the full pallet transfer mechanism and the unloading trolley are both provided with a cache space for accommodating full pallets, thereby realizing the loading and unloading of two groups of pallets.

[0011] Preferably, the automatic loading and unloading device further comprises an unqualified material unloading mechanism for handling unqualified materials, and the mechanism is installed at the material unloading position of the robot; the unqualified material unloading mechanism is a belt conveyor line.

[0012] Preferably, the empty pallet storage and delivery mechanism includes a long-side material receiving structure and a short-side material dividing structure; the long-side material receiving structure transports a group of empty pallets to the short-side material dividing structure, and the short-side material dividing structure delivers the empty pallets to the empty pallet transferring mechanism in sequence, while the long-side material dividing structure clamps another group of empty pallets to realize double-group pallet loading.

[0013] More preferably, the long side material receiving structure includes a long side material discharge cylinder, a first connecting plate, a first cylindrical guide rail, a second connecting plate, a long side material receiving slide cylinder, a long side material receiving angle aluminum and a pallet material discharge guide angle aluminum; the long side material discharge cylinder is installed on the first connecting plate, and its piston is connected to the second connecting plate; the first cylindrical guide rail is slidably connected to the first connecting plate, and its end is connected to the second connecting plate; the long side material receiving slide cylinder is installed on the second connecting plate, and its piston is connected to the long side material receiving angle aluminum; the pallet material discharge guide angle aluminum is connected to the frame.

[0014] More preferably, the short side material dividing structure includes a third connecting plate, a short side double-stroke material dividing cylinder, a second cylindrical guide rail, a fourth connecting plate short side material receiving slide cylinder and a short side material receiving angle aluminum; the second cylindrical guide rail is fixedly connected to the first connecting plate; the third connecting plate is fixedly connected to the second cylindrical guide rail; the short side double-stroke material dividing cylinder is fixed on the third connecting plate, and its piston is connected to the fourth connecting plate; the fourth connecting plate is slidably connected to the second cylindrical guide rail; the short side material receiving slide cylinder is installed on the fourth connecting plate, and its piston is connected to the short side material receiving angle aluminum.

[0015] More preferably, the empty pallet storage delivery mechanism is provided with a pallet discharge guide angle aluminum for guiding the empty pallet to move to the long side material receiving structure.

[0016] More preferably, the empty pallet storage delivery mechanism is provided with a photoelectric sensor for detecting the position of the empty pallet.

[0017] Preferably, the empty pallet transferring mechanism includes a first rodless cylinder, a pallet unloading platform, a pallet positioning cylinder and four positioning blocks for fixing the pallet; the first rodless cylinder is connected to the frame; the pallet unloading platform is fixedly connected to the slide of the first rodless cylinder; the pallet positioning cylinder is installed on the pallet unloading platform; the positioning block is connected to the slide of the pallet positioning cylinder.

[0018] Preferably, the stacking mechanism comprises a servo electric cylinder, a stacking mechanism connecting plate, a pallet stacking claw and a claw clamping cylinder; the servo electric cylinder is installed on a frame; the stacking mechanism connecting plate is connected to the slide of the servo electric cylinder; the pallet stacking claw and the claw clamping cylinder are both installed on the stacking mechanism connecting plate; the pallet stacking claw is also connected to the piston of the claw clamping cylinder.

[0019] Preferably, the full pallet transfer mechanism includes a second rodless cylinder, a material discharge lifting cylinder and a U-shaped pallet chuck; the second rodless cylinder is connected to the frame; the material discharge lifting cylinder is installed on the slide of the second rodless cylinder; the U-shaped pallet chuck is installed on the slide of the material discharge lifting cylinder.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] 1. Long standby time: The automatic loading and unloading device of the present invention adopts double-group pallet loading and double-group pallet unloading, which means that the device can accommodate a large number of pallets and can replace a new group of pallets at any time within the consumption cycle of a group of pallets. The standby time of the equipment is greatly increased, which changes the production mode of high-frequency and fixed-point material replacement by operators and realizes lean production.

[0022] 2. Compact layout: The automatic loading and unloading device of the present invention adopts a vertical layout, with a compact structure, a small footprint and high space utilization.

[0023] 3. Convenient operation: The automatic loading and unloading device of the present invention is arranged above the equipment for loading empty pallets; for heavier full pallets, they are directly transferred to the unloading trolley through the buffer transfer mechanism, eliminating unnecessary handling operations.

[0024] 4. Safe and reliable: The automatic loading and unloading device of the present invention has a high degree of modularization and reliable operation, and a safety grating is used at each human-machine interface to ensure the safety of personnel operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of the present invention;

[0026] Figure 2 Another structural schematic diagram of the present invention;

[0027] Figure 3 It is a structural schematic diagram of the main body of the automatic loading and unloading device in the present invention;

[0028] Figure 4 It is a structural schematic diagram of the hollow pallet storage delivery mechanism of the present invention;

[0029] Figure 5 It is a structural schematic diagram of the hollow tray transfer mechanism of the present invention;

[0030] Figure 6 It is a structural schematic diagram of the stacking mechanism in the present invention;

[0031] Figure 7 It is a schematic diagram of the structure of the full pallet transfer and unloading trolley in the present invention.

[0032] The numbers in the figure show:

[0033] 1. Frame, 2. Empty pallet storage delivery mechanism, 3. Empty pallet transfer mechanism, 4. Stacking mechanism, 5. Full pallet transfer mechanism, 6. Unloading trolley, 7. Unqualified unloading mechanism, 201. Long side unloading cylinder, 202. First connecting plate, 203. First cylindrical guide rail, 204. Second connecting plate, 205. Long side receiving slide cylinder, 206. Long side receiving angle aluminum, 207. Third connecting plate, 208. Short side double stroke distributing cylinder, 209. Second cylindrical guide rail, 210. Four connecting plates, 211, short side material connection slide cylinder, 212, short side material connection angle aluminum, 213, pallet unloading guide angle aluminum, 214, photoelectric sensor, 301, first rodless cylinder, 302, pallet unloading platform, 303, pallet positioning cylinder, 304, positioning block, 401, servo electric cylinder, 402, stacking mechanism connecting plate, 403, pallet stacking claw, 404, claw clamping cylinder, 501, second rodless cylinder, 502, unloading lifting cylinder, 503, U-shaped pallet chuck. DETAILED DESCRIPTION

[0034] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] The present invention relates to an automatic loading and unloading device for double-group pallets. Figures 1 to 3 As shown, the device includes a profile frame 1, an empty pallet storage and delivery mechanism 2, an empty pallet transfer mechanism 3, a stacking mechanism 4, a full pallet transfer mechanism 5, a material unloading trolley 6, and an unqualified material unloading mechanism 7. In this embodiment, the frame 1 is a double-layer structure, the empty pallet storage and delivery mechanism 2 is located on one side of the upper layer of the frame 1, the stacking mechanism 4 is located on the other side of the upper layer of the frame 1, the empty pallet transfer mechanism 3 is located in the area where the empty pallet storage and delivery mechanism 2 and the stacking mechanism 4 are located, the full pallet transfer mechanism 5 is located in the lower layer of the frame 1, the material unloading trolley 6 is located in the unloading area, and the unqualified material unloading mechanism 7 is specifically a belt conveyor line, which is located at the robot unloading position on the upper layer of the frame 1.

[0036] The structure of the empty pallet storage delivery mechanism 2 is as follows: Figure 4 As shown, it includes a long side material receiving structure and a short side material dividing structure. The long side material receiving structure includes two long side material discharge cylinders 201, a first connecting plate 202, two pairs of first cylindrical guide rails 203, two second connecting plates 204, two long side material receiving slide cylinders 205 and two long side material receiving angle aluminums 206. The long side material discharge cylinder 201 is installed on the first connecting plate 202, and its piston is connected to the second connecting plate 204. The first cylindrical guide rail 203 is slidably connected to the first connecting plate 202, and its end is connected to the second connecting plate 204. The long side material receiving slide cylinder 205 is installed on the second connecting plate 204, and its piston is connected to the long side material receiving angle aluminum 206. When the device is running, the long side material discharge cylinder 201 and the long side material receiving slide cylinder 205 are controlled by PLC to realize the clamping and delivery of empty pallets.

[0037] The short side material distribution structure includes a third connecting plate 207, a short side double-stroke material distribution cylinder 208, a second cylindrical guide rail 209, a fourth connecting plate 210, a short side material receiving slide cylinder 211 and a short side material receiving angle aluminum 212. The second cylindrical guide rail 209 is fixed to the first connecting plate 202 in the vertical direction, the third connecting plate 207 is fixed to the second cylindrical guide rail 209, the short side double-stroke material distribution cylinder 208 is fixed to the third connecting plate 207, and its piston is connected to the fourth connecting plate 210. The fourth connecting plate 210 is slidably connected to the second cylindrical guide rail 209, the short side material receiving slide cylinder 211 is fixed to the fourth connecting plate 210, and its piston is connected to the short side material receiving angle aluminum 212. When the device is running, the short side double-stroke material distribution cylinder 208 first extends in the second order to place a group of empty pallets on the empty pallet transfer mechanism 3. Then the second-stage retraction is performed, driving the fourth connecting plate 210 to rise to a certain height, which is the same as the height of a pallet, and then the short-side material receiving slide cylinder 211 drives the short-side material receiving angle aluminum 212 to extend, clamp the empty pallet, and then the short-side double-stroke material dividing cylinder 208 drives the empty pallet to retract in the first stage. At this time, only one empty pallet remains on the empty pallet transfer mechanism 3, and the empty pallet transfer mechanism 3 transfers the single empty pallet.

[0038] When the short-side material distribution structure puts empty pallets, the staff can put another group of empty pallets at the long-side material receiving structure, that is, the empty pallet storage and delivery mechanism 2 can accommodate two groups of empty pallets, realizing double-group pallet loading.

[0039] The empty pallet storage and delivery mechanism 2 is also provided with a pallet discharge guide angle aluminum 213 for guiding the empty pallet to move to the long side material receiving structure, and the staff can easily put the empty pallet into the empty pallet storage and delivery mechanism 2 through the guide angle aluminum.

[0040] The empty pallet storage and delivery mechanism 2 is also provided with a photoelectric sensor 214 for detecting the position of the empty pallet, which is installed on the first connecting plate 202 through a bracket. By detecting the position of the empty pallet in the empty pallet storage and delivery mechanism 2, it is determined whether the empty pallet is misplaced and whether the staff needs to put in a new empty pallet.

[0041] The structure of the empty pallet transfer mechanism 3 is as follows: Figure 5 As shown, it includes a first rodless cylinder 301, a pallet unloading platform 302, a pallet positioning cylinder 303 and four positioning blocks 304 for fixing the pallet. The first rodless cylinder 301 is connected to the frame 1, the pallet unloading platform 302 is fixedly connected to the slide of the first rodless cylinder 301, the pallet positioning cylinder 303 is installed on the pallet unloading platform 302, and the positioning block 304 is connected to the slide of the pallet positioning cylinder 303. When a pallet is detected on the pallet unloading platform 302, the pallet positioning cylinder 303 extends, and the four positioning blocks 304 will position the pallet and fix the pallet on the pallet unloading platform, and then the slide moves to the robot unloading position, and the loading robot places the material in the empty pallet.

[0042] The structure of the stacking mechanism 4 is as follows: Figure 6 As shown, it includes a servo electric cylinder 401, a stacking mechanism connecting plate 402, a pallet stacking claw 403 and a claw clamping cylinder 404. The servo electric cylinder 401 is installed on the frame 1, the stacking mechanism connecting plate 402 is connected to the slide of the servo electric cylinder 401, the pallet stacking claw 403 and the claw clamping cylinder 404 are both installed on the stacking mechanism connecting plate 402, the stacking claw 403 is also connected to the piston of the claw clamping cylinder 404, and the claw clamping cylinder 404 can realize the clamping and opening of the stacking claw 403.

[0043] The structures of the full material tray transfer mechanism 5 and the unloading trolley 6 are as follows: Figure 7As shown. The full pallet transfer mechanism 5 includes a second rodless cylinder 501, a discharge lifting cylinder 502 and a U-shaped pallet chuck 503. The second rodless cylinder 501 is connected to the frame 1, the discharge lifting cylinder 502 is mounted on the slide of the second rodless cylinder 501, and the U-shaped pallet chuck 503 is mounted on the slide of the discharge lifting cylinder 502. When the device is running, the full pallet is placed on the U-shaped pallet chuck 503 by the stacking mechanism 4, and then the second rodless cylinder 501 transfers the full pallet in the horizontal direction, and after moving to the position corresponding to the unloading trolley 6, the discharge lifting cylinder 502 drives the U-shaped pallet chuck 503 to move downward until the full pallet is placed on the unloading trolley 6, and then the second rodless cylinder 501 retracts first, and takes the U-shaped pallet chuck 503 away from the area where the unloading trolley is located, and then the discharge lifting cylinder 502 drives the U-shaped pallet chuck 503 to rise to the set position.

[0044] The unloading trolley 6 includes a trolley frame, guide wheels and handles installed on the trolley frame, and a pallet positioning structure. In this embodiment, 8 pallet positioning structures are provided for positioning the pallet.

[0045] When unloading, a group of full pallets can be stacked on the U-shaped pallet chuck 503, and a group of full pallets can also be stacked on the unloading trolley 6, so as to realize double-group pallet unloading.

[0046] The operation process of the double-group pallet automatic loading and unloading device in this embodiment is as follows:

[0047] A group of 10 empty pallets are placed along the pallet unloading guide angle aluminum 213, and two groups of long side material receiving slide cylinders 205 can push the long side material receiving angle aluminum 206 to extend toward each other, catch the left and right sides of the bottom empty pallet, and drive it down through the long side unloading cylinder 201. After being lowered into place, the short side material receiving slide cylinder 211 can push the short side material receiving angle aluminum 212 to extend toward each other, and the long side material receiving slide cylinder 205 retracts, and the material receiving mode changes from long side material receiving to short side material receiving, the short side double stroke material dividing cylinder 208 extends in the second stage, the short side material receiving slide cylinder 211 retracts, the long side material receiving slide cylinder 205 retracts, and the empty pallet falls on the empty pallet transfer mechanism 3, and the short side double stroke material dividing cylinder 208 retracts in the second stage, which means that the short side material receiving structure rises by the height of a pallet, and then the short side material receiving slide cylinder 211 extends, and the short side double stroke material dividing cylinder 208 retracts in the first stage, lifting the 9 empty pallets to a certain height. The above actions are repeated 10 times for 10 pallets, and they are placed on the empty pallet transfer mechanism 3 in sequence.

[0048] The pallet is placed on the pallet unloading platform 302 of the empty pallet transfer mechanism 3. The pallet positioning cylinder 303 at the bottom of the platform drives the positioning block 304 to position the pallet. The first rodless cylinder 301 moves horizontally to the robot unloading position. When the robot unloads the material, it will judge the quality of the material. The robot will automatically pick up the unqualified material and place it on the unqualified unloading mechanism 7, i.e., the belt conveyor line. After the robot unloads the material, the pallet positioning cylinder 303 retracts, and the servo electric cylinder 401 drives the pallet stacking claw 403 to descend to clamp the full pallet and transport it to the U-shaped pallet chuck 503 of the full pallet transfer mechanism 5.

[0049] After a group of full pallets are stacked on the U-shaped pallet chuck 503, the second rodless cylinder 501 moves horizontally to the pallet positioning structure of the unloading trolley 6, and then the material unloading lifting cylinder 502 descends to make the full pallet fall on the unloading trolley 6. This is the unloading cache point for a group of full pallets.

[0050] After the second rodless cylinder 501 returns to the initial position, the stacking mechanism 4 can seat another group of full pallets on the U-shaped pallet chuck 503, which is the unloading cache point for another group of full pallets.

[0051] The empty pallet storage delivery mechanism 2, the empty pallet transfer mechanism 3, the stacking mechanism 4 and the full pallet transfer mechanism 5 in this embodiment are all connected to the PLC, and automatic loading and unloading of materials is achieved through the PLC.

[0052] The double-group pallet automatic loading and unloading device in this embodiment is provided with a safety grating at the human-machine interface to ensure the safety of the operator.

[0053] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A double-group tray automatic loading and unloading device, characterized in that: The automatic loading and unloading device comprises: A frame (1), an empty pallet storage and delivery mechanism (2) for storing and delivering empty pallets, an empty pallet transfer mechanism (3) for transferring empty pallets to a robot delivery position, a stacking mechanism (4) for stacking full pallets, a full pallet transfer mechanism (5) for transferring full pallets to a delivery position, and a delivery trolley (6) located at the delivery position of the device; The empty pallet storage delivery mechanism (2), the empty pallet transfer mechanism (3), the stacking mechanism (4) and the full pallet transfer mechanism (5) are all mounted on the frame (1); The empty pallet storage delivery mechanism (2) is provided with storage space for accommodating two groups of empty pallets, and the full pallet transfer mechanism (5) and the unloading trolley (6) are both provided with buffer space for accommodating full pallets, thereby realizing loading and unloading of two groups of pallets; The empty pallet storage delivery mechanism (2) comprises a long side material receiving structure and a short side material dividing structure; the long side material receiving structure conveys a group of empty pallets to the short side material dividing structure, and the short side material dividing structure delivers the empty pallets to the empty pallet transfer mechanism (3) in sequence, while the long side material dividing structure clamps another group of empty pallets, thereby realizing double-group pallet loading; The long side material receiving structure comprises a long side material discharging cylinder (201), a first connecting plate (202), a first cylindrical guide rail (203), a second connecting plate (204), a long side material receiving slide cylinder (205), a long side material receiving angle aluminum (206) and a tray material discharging guide angle aluminum (213); the long side material discharging cylinder (201) is mounted on the first connecting plate (202), and its piston is connected to the second connecting plate (204); the first cylindrical guide rail (203) is slidably connected to the first connecting plate (202), and its end is connected to the second connecting plate (204); the long side material receiving slide cylinder (205) is mounted on the second connecting plate (204), and its piston is connected to the long side material receiving angle aluminum (206); the tray material discharging guide angle aluminum (213) is connected to the frame (1); The short side material distribution structure comprises a third connecting plate (207), a short side double-stroke material distribution cylinder (208), a second cylindrical guide rail (209), a fourth connecting plate (210), a short side material receiving slide cylinder (211) and a short side material receiving angle aluminum (212); the second cylindrical guide rail (209) is fixedly connected to the first connecting plate (202); the third connecting plate (207) is fixedly connected to the second cylindrical guide rail (209); the short side double-stroke material distribution cylinder (208) is fixed on the third connecting plate (207), and its piston is connected to the fourth connecting plate (210); the fourth connecting plate (210) is slidably connected to the second cylindrical guide rail (209); the short side material receiving slide cylinder (211) is installed on the fourth connecting plate (210), and its piston is connected to the short side material receiving angle aluminum (212).

2. The automatic loading and unloading device for double-group pallets according to claim 1 is characterized in that: The automatic loading and unloading device further comprises an unqualified material unloading mechanism (7) for processing unqualified materials, the mechanism being installed at the material unloading position of the robot; the unqualified material unloading mechanism (7) is a belt conveyor line.

3. The automatic loading and unloading device for double-group pallets according to claim 1 is characterized in that: The empty pallet storage delivery mechanism (2) is provided with a pallet delivery guide angle aluminum (213) for guiding the empty pallet to move to the long side material receiving structure.

4. The automatic loading and unloading device for double-group pallets according to claim 1 is characterized in that: The empty pallet storage delivery mechanism (2) is provided with a photoelectric sensor (214) for detecting the position of the empty pallet.

5. The automatic loading and unloading device for double-group pallets according to claim 1 is characterized in that: The empty pallet transfer mechanism (3) comprises a first rodless cylinder (301), a pallet discharge platform (302), a pallet positioning cylinder (303) and four positioning blocks (304) for fixing the pallet; the first rodless cylinder (301) is connected to the frame (1); the pallet discharge platform (302) is fixedly connected to the slide of the first rodless cylinder (301); the pallet positioning cylinder (303) is installed on the pallet discharge platform (302); and the positioning blocks (304) are connected to the slide of the pallet positioning cylinder (303).

6. The automatic loading and unloading device for double-group pallets according to claim 1 is characterized in that: The stacking mechanism (4) comprises a servo electric cylinder (401), a stacking mechanism connecting plate (402), a pallet stacking claw (403) and a claw clamping cylinder (404); the servo electric cylinder (401) is mounted on the frame (1); the stacking mechanism connecting plate (402) is connected to the slide of the servo electric cylinder (401); the pallet stacking claw (403) and the claw clamping cylinder (404) are both mounted on the stacking mechanism connecting plate (402); the pallet stacking claw (403) is also connected to the piston of the claw clamping cylinder (404).

7. The automatic loading and unloading device for double-group pallets according to claim 1 is characterized in that: The full-material pallet transfer mechanism (5) comprises a second rodless cylinder (501), a material discharge lifting cylinder (502) and a U-shaped pallet chuck (503); the second rodless cylinder (501) is connected to the frame (1); the material discharge lifting cylinder (502) is mounted on a slide of the second rodless cylinder (501); and the U-shaped pallet chuck (503) is mounted on a slide of the material discharge lifting cylinder (502).

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