A palletizing device

Abstract

The application discloses a kind of stacking devices, including base, swing arm, clamping mechanism, first driving mechanism and second driving mechanism;The first end of swing arm is rotatably connected with base, and the rotation axis is arranged along the vertical direction, and the second end of swing arm extends in the direction away from base;Clamping mechanism is used to clamp the article to be stacked, and clamping mechanism is arranged below the second end of swing arm and can move up and down relative to swing arm;First driving mechanism is used to drive swing arm to rotate relative to base;Second driving mechanism is used to drive clamping mechanism to move up and down relative to swing arm.Such arrangement, using the stacking device instead of artificial brick body is carried out, reduces the labor intensity of worker, is favorable to improve work efficiency, solves the problem of carrying and stacking brick body in batch brick production process.

Description

Technical Field

[0001] This invention relates to the field of handling and palletizing technology, and more particularly to a palletizing device. Background Technology

[0002] Currently, bricks used for building walls are made by pressing sand, gravel, and cement into bricks using brick-making machines. The produced bricks are arranged in rows and need to be stacked for subsequent handling, storage, and transportation. Due to the large size and quantity of the bricks, manually handling and stacking them during mass production is labor-intensive and inefficient for workers.

[0003] Therefore, how to solve the problem of handling and stacking bricks during the mass production of bricks has become an important technical problem for those skilled in the art. Summary of the Invention

[0004] To at least partially overcome the problems existing in the related technologies, this application provides a palletizing device that can solve the problem of handling and palletizing bricks during the mass production of bricks.

[0005] The present invention is implemented as follows: a palletizing device, comprising:

[0006] Base;

[0007] The swing arm has a first end rotatably connected to the base, with the axis of rotation set in the vertical direction, and a second end extending away from the base.

[0008] A clamping mechanism for clamping items to be stacked, the clamping mechanism being disposed below the second end of the swing arm and being movable up and down relative to the swing arm;

[0009] A first drive mechanism is used to drive the swing arm to rotate relative to the base;

[0010] The second drive mechanism is used to drive the clamping mechanism to move up and down relative to the swing arm.

[0011] Preferably, the first drive mechanism includes a first gear, a second gear meshing with the first gear, and a first motor for driving the first gear to rotate. Both the first gear and the second gear are rotatably connected to the base, and the first end of the swing arm is fixedly connected to the second gear.

[0012] Preferably, the second drive mechanism includes a drive sprocket, a driven sprocket, a linear chain, and a second motor for driving the drive sprocket to rotate on a fixed axis. The drive sprocket and the driven sprocket are respectively located at both ends of the swing arm. The linear chain is mounted on the drive sprocket and the driven sprocket and meshes with the drive sprocket and the driven sprocket for transmission. The first end of the linear chain is connected to the upper end of the clamping mechanism, and the second end is fixedly connected to a counterweight.

[0013] Preferably, the mass of the counterweight is equal to the mass of the clamping mechanism.

[0014] Preferably, a guide mechanism for guiding the movement of the clamping mechanism is provided between the second end of the swing arm and the clamping mechanism. The guide mechanism includes a first guide rail arranged in a vertical direction and a first slider slidably connected to the first guide rail. The first slider is fixedly connected to the second end of the swing arm, and the lower end of the first guide rail is connected to the upper end of the clamping mechanism.

[0015] Preferably, the second drive mechanism further includes a tension sprocket disposed between the driving sprocket and the driven sprocket, the tension sprocket being located above the straight chain and engaging with the straight chain for transmission.

[0016] Preferably, the clamping mechanism is rotatably connected to the first guide rail, with the rotation axis arranged in the vertical direction, and a third driving mechanism for driving the clamping mechanism to rotate relative to the first guide rail is provided between the upper end of the clamping mechanism and the lower end of the first guide rail.

[0017] Preferably, the swing arm includes a first swing arm and a second swing arm that can move relative to each other in a horizontal direction. The first end of the first swing arm is rotatably connected to the base, and the first end of the second swing arm is slidably connected to the second end of the first swing arm. A fourth drive mechanism for driving the second swing arm to move relative to the first swing arm is provided between the first swing arm and the second swing arm.

[0018] Preferably, the second drive mechanism is mounted on the second swing arm, and the first swing arm is provided with a follower sprocket that can rotate on a fixed axis, the follower sprocket engaging with the linear chain for transmission.

[0019] Preferably, the system further includes a control system, wherein the first drive mechanism, the second drive mechanism, and the clamping mechanism are all communicatively connected to the control system.

[0020] The technical solution provided in this application has the following beneficial effects:

[0021] This application provides a palletizing device, including a base, a swing arm, a clamping mechanism, a first driving mechanism, and a second driving mechanism. A first end of the swing arm is rotatably connected to the base, with its rotation axis set vertically. A second end of the swing arm extends away from the base. The first driving mechanism drives the swing arm to rotate relative to the base. The rotation positions of the swing arm include a first position where the second end of the swing arm is above the items to be palletized and a second position where the second end of the swing arm is above an already palletized stack. The clamping mechanism clamps the items to be palletized and is located below the second end of the swing arm and can move with the second end of the swing arm. The clamping mechanism can move up and down relative to the swing arm. A second drive mechanism drives the clamping mechanism to move up and down relative to the swing arm. When the first drive mechanism drives the swing arm to rotate to the first position, the second drive mechanism drives the clamping mechanism to move downwards to clamp the item to be stacked. After the clamping mechanism clamps the item, the second drive mechanism drives the clamping mechanism to move upwards. After the clamping mechanism moves upwards to a certain height, the first drive mechanism drives the swing arm to rotate to the second position. When the swing arm rotates to the second position, the second drive mechanism drives the clamping mechanism to move downwards to place the item to be stacked on the already stacked pile, thus completing one stacking operation. Then, the second drive mechanism drives the clamping mechanism to move upwards to a certain height for the next stacking operation. This design uses a stacking device to replace manual handling and stacking of bricks, reducing the labor intensity of workers, improving work efficiency, and solving the problem of handling and stacking bricks in mass brick production.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a simplified structural diagram of a palletizing device according to an embodiment of the present invention;

[0025] Figure 2 This is a simplified structural diagram of a clamping mechanism according to an embodiment of the present invention;

[0026] Figure 3 This is a simplified structural diagram of another palletizing device shown in an embodiment of the present invention when the swing arm is shortened to its shortest state;

[0027] Figure 4This is a simplified structural diagram of another palletizing device shown in an embodiment of the present invention when the swing arm is extended to its longest position.

[0028] Figure label:

[0029] 1. Base; 2. Swing arm; 3. Clamping mechanism; 4. First gear; 5. Second gear; 6. First motor; 7. Drive sprocket; 8. Driven sprocket; 9. Linear chain; 10. Counterweight; 11. First guide rail; 12. First slider; 13. Tensioning sprocket; 14. First swing arm; 15. Second swing arm; 16. Follower sprocket; 17. Support plate; 18. Clamping arm; 19. Drive assembly; 20. Third gear; 21. Fourth gear; 22. Third motor; 23. Fixing plate; 24. Third guide rail; 25. Third slider. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0031] The purpose of this specific embodiment is to provide a palletizing device to solve the problem of handling and palletizing bricks during the mass production of bricks.

[0032] Hereinafter, embodiments will be described with reference to the accompanying drawings. Furthermore, the embodiments shown below do not limit the scope of the invention as described in the claims. Additionally, the complete contents of the configurations represented in the embodiments below are not limited to those necessary for the solution of the invention described in the claims.

[0033] Reference Figures 1-4This document illustrates a schematic diagram of a palletizing device in some exemplary embodiments. The palletizing device provided in this embodiment includes a base 1, a swing arm 2, a clamping mechanism 3, a first driving mechanism, and a second driving mechanism. The first end of the swing arm 2 is rotatably connected to the base 1, with its rotation axis set vertically. The second end of the swing arm 2 extends away from the base 1. The first driving mechanism drives the swing arm 2 to rotate relative to the base 1. The rotation positions of the swing arm 2 include a first position where the second end of the swing arm 2 is positioned above the item to be palletized (such as a pre-stacked single-layer brick assembly to be clamped) and a second position where the second end of the swing arm 2 is positioned above a pre-stacked stack (such as a brick stack). The clamping mechanism 3 is used to clamp the item to be palletized. The clamping mechanism 3 is located below the second end of the swing arm 2 and can move with the second end of the swing arm 2. The clamping mechanism 3 can move up and down relative to the swing arm 2. The second drive mechanism drives the clamping mechanism 3 to move up and down relative to the swing arm 2. When the first drive mechanism drives the swing arm 2 to rotate to the first position, the second drive mechanism drives the clamping mechanism 3 to move downward to clamp the item to be stacked. After the clamping mechanism 3 clamps the item to be stacked, the second drive mechanism drives the clamping mechanism 3 to move upward. After the clamping mechanism 3 moves upward to a certain height, the first drive mechanism drives the swing arm 2 to turn to the second position. When the swing arm 2 rotates to the second position, the second drive mechanism drives the clamping mechanism 3 to move downward to place the item to be stacked on the already stacked stack, thus completing one stacking operation. Afterward, the second drive mechanism drives the clamping mechanism 3 to move upward to a certain height for the next stacking operation. With this configuration, the stacking device replaces manual handling and stacking of bricks, reducing the labor intensity of workers, improving work efficiency, and solving the problem of handling and stacking bricks in the process of mass brick production.

[0034] It should be noted that this palletizing device is not only suitable for handling and palletizing in various tunnel kilns, rotary kilns, sand-lime brick factories, and in the production process of hollow blocks and aerated blocks, but also suitable for handling and palletizing in cement plants, feed mills, flour mills, and other scenarios, such as handling and palletizing bagged cement, bagged feed, and bagged flour.

[0035] In implementation, the aforementioned first driving mechanism can be a gear transmission mechanism driven by a motor, specifically including a first gear 4, a second gear 5, and a first motor 6. The second gear 5 meshes with the first gear 4, and both the first gear 4 and the second gear 5 are rotatably connected to the base 1. The first gear 4 is fixedly connected to the output shaft of the first motor 6. The first gear 4 is the driving gear, and the second gear 5 is the driven gear. The first motor 6 drives the first gear 4 to rotate, thereby driving the second gear 5 to rotate. The axes of the first gear 4 and the second gear 5 are both arranged in the vertical direction. The first end of the swing arm 2 can be fixed to the upper surface of the second gear 5. When the second gear 5 rotates, the swing arm 2 rotates accordingly.

[0036] It should be noted that the number of teeth of the first gear 4 is less than the number of teeth of the second gear 5. During the transmission process, the rotational speed of the second gear 5 is less than the rotational speed of the first gear 4. That is, the first drive mechanism has a deceleration effect. Under the drive of the first motor 6, the swing arm 2 can rotate stably, ensuring the safety of the handling and stacking process.

[0037] In a preferred embodiment, the second drive mechanism is configured as a chain drive mechanism, specifically including a drive sprocket 7, a driven sprocket 8, a linear chain 9, and a second motor. The drive sprocket 7 and the driven sprocket 8 are located at the two ends of the swing arm 2, respectively. The length of the linear chain 9 is greater than the distance between the drive sprocket 7 and the driven sprocket 8. The linear chain 9 is placed on the drive sprocket 7 and the driven sprocket 8 and engages with them for transmission. The two ends of the linear chain 9 extend downward in the vertical direction. The drive sprocket 7 is fixedly connected to the output shaft of the second motor. The second motor drives the drive sprocket 7 to rotate, thereby causing the two ends of the linear chain 9 to move up and down, and the driven sprocket 8 also rotates accordingly. For ease of explanation, it is hereby specified that the driving sprocket 7 is located at the first end of the swing arm 2, the driven sprocket 8 is located at the second end of the swing arm 2, the end of the straight chain 9 furthest from the base 1 is the first end of the straight chain 9, and the end of the straight chain 9 closest to the base 1 is the second end of the straight chain 9. The first end of the straight chain 9 is connected to the upper end of the clamping mechanism 3, and the second end is fixedly connected to a counterweight 10. The counterweight 10 has a certain weight, and in cooperation with the clamping mechanism 3, it can ensure that the straight chain 9 maintains meshing transmission with the driving sprocket 7 and the driven sprocket 8, avoiding the problem of chain derailment. Figure 1 As shown, when the second motor drives the drive sprocket 7 to rotate clockwise, the second end of the linear chain 9 moves upward and the first end of the linear chain 9 moves downward. Correspondingly, the clamping mechanism 3 moves downward and the counterweight 10 moves upward. When the second motor drives the drive sprocket 7 to rotate counterclockwise, the second end of the linear chain 9 moves downward and the first end of the linear chain 9 moves upward. Correspondingly, the clamping mechanism 3 moves upward and the counterweight 10 moves downward.

[0038] It should be noted that the swing arm 2 has a hollow internal structure, such as... Figure 1 As shown, the chain drive mechanism can be installed inside the swing arm 2 to improve the aesthetics of the palletizing device.

[0039] Furthermore, the mass of the counterweight 10 is equal to the mass of the clamping mechanism 3, and the two are balanced with each other. During the process of the clamping mechanism 3 clamping the items to be stacked and moving them upward or downward, the load of the second motor is only the weight of the items to be stacked once, which reduces the power consumption of the second motor, has an energy-saving effect, and reduces the power requirements of the motor, which is conducive to reducing costs.

[0040] In practice, the clamping mechanism 3 is moved by a linear chain 9. To prevent the clamping mechanism 3 from wobbling during movement, a guide mechanism is provided between the second end of the swing arm 2 and the clamping mechanism 3 to guide its movement. This guide mechanism is a guide rail slider mechanism, specifically including a first guide rail 11 and a first slider 12 slidably connected to the first guide rail 11. The first guide rail 11 is arranged vertically, and the first slider 12 has relative vertical movement to the first guide rail 11. The first slider 12 is fixedly connected to the second end of the swing arm 2, and the lower end of the first guide rail 11 is connected to the upper end of the clamping mechanism 3.

[0041] In practice, to further ensure the tension of the linear chain 9 during transmission and avoid the problem of tooth stripping, the second drive mechanism also includes a tension sprocket 13, which is set between the driving sprocket 7 and the driven sprocket 8. The tension sprocket 13 is located above the linear chain 9 and meshes with the linear chain 9 for transmission.

[0042] In implementation, the clamping mechanism 3 includes a horizontally arranged support plate 17, two clamping arms 18 slidably connected to the support plate 17, and a drive assembly 19 for driving the two clamping arms 18 closer to or further apart. The support plate 17 can be connected to the first end of the linear chain 9 and the lower end of the first guide rail 11. The two clamping arms 18 are located below the support plate 17. A third guide rail 24 is fixed on the support plate 17, and two reciprocating third sliders 25 are provided on the third guide rail 24. The two clamping arms 18 are fixedly connected to the two third sliders 25 respectively. The drive assembly 19 can be in the form of a hydraulic cylinder or a pneumatic cylinder. The two ends of the hydraulic cylinder or pneumatic cylinder are fixedly connected to the two support plates 17 respectively. The extension and retraction of the hydraulic cylinder or pneumatic cylinder is controlled by a hydraulic circuit or a pneumatic circuit. The action of the hydraulic cylinder or pneumatic cylinder is a simple extension and retraction action. The hydraulic circuit or pneumatic circuit that drives the hydraulic cylinder or pneumatic cylinder to perform simple extension and retraction actions is a mature existing technology and will not be described in detail here. To increase the friction between the clamping arm 18 and the items to be stacked, a rubber pad can be installed on the side of the clamping arm 18 facing each other.

[0043] In a preferred embodiment, the clamping mechanism 3 and the first guide rail 11 can be rotatably connected, with the rotation axis set vertically. In this case, a third driving mechanism needs to be set between the upper end of the clamping mechanism 3 and the lower end of the first guide rail 11 to drive the clamping mechanism 3 to rotate relative to the first guide rail 11 around a fixed axis. The third driving mechanism can be a gear transmission mechanism driven by a motor, specifically including a third gear 20, a fourth gear 21, and a third motor 22. The fourth gear 21 meshes with the third gear 20, and both the third gear 20 and the fourth gear 21 are rotatably connected to the lower end of the first guide rail 11. To facilitate the connection between the third gear 20 and the fourth gear 21 and the first guide rail 11, a fixing plate 23 can be set at the lower end of the first guide rail 11. The third gear 20 and the fourth gear 21 are rotatably connected to the fixing plate 23, and the third gear 20 is fixedly connected to the output shaft of the third motor 22. The third gear 20 is the driving gear, and the fourth gear 21 is the driven gear. The third motor 22 drives the third gear 20 to rotate, thereby driving the fourth gear 21 to rotate. The axes of the third gear 20 and the fourth gear 21 are arranged vertically, which can fix the support plate 17 of the clamping mechanism 3 to the lower end face of the fourth gear 21. When the fourth gear 21 rotates, the support plate 17 drives the clamping mechanism 3 to rotate accordingly.

[0044] It should be noted that the number of teeth of the third gear 20 is less than the number of teeth of the fourth gear 21. During the transmission process, the speed of the fourth gear 21 is less than the speed of the third gear 20. That is, the third drive mechanism has a speed reduction effect. Under the drive of the third motor 22, the clamping mechanism 3 can rotate stably.

[0045] As an optional implementation, the swing arm 2 can be configured to have an adjustable length, so that the distance between the clamping mechanism 3 and the base 1 is adjustable, as shown in the figure. Figures 3-4 Specifically, the swing arm 2 includes two parts that can move relative to each other in the horizontal direction, namely a first swing arm 14 and a second swing arm 15. The first end of the first swing arm 14 is rotatably connected to the base 1, and the first end of the second swing arm 15 is slidably connected to the second end of the first swing arm 14. A fourth drive mechanism is provided between the first swing arm 14 and the second swing arm 15 to drive the second swing arm 15 to move relative to the first swing arm 14.

[0046] In implementation, the second drive mechanism is mounted on the second swing arm 15, specifically the drive sprocket 7, driven sprocket 8, and tension sprocket 13. When the second swing arm 15 moves relative to the first swing arm 14, the drive sprocket 7, driven sprocket 8, and tension sprocket 13 move accordingly, and the linear chain 9 also moves. To prevent the second end of the linear chain 9 and the counterweight 10 located at the second end of the linear chain 9 from moving horizontally, a fixed-axis rotatable follower sprocket 16 can be mounted on the first swing arm 14. The follower sprocket 16 engages with the linear chain 9 for transmission. The follower sprocket 16 can engage with the side of the linear chain 9 away from the clamping mechanism 3, or it can engage with the side of the linear chain 9 closer to the clamping mechanism 3, depending on the relative position of the swing arm 2 and the base 1. When the swing arm 2 is extended to its longest state, if the driving sprocket 7 is located on the side of the base 1 away from the clamping mechanism 3, the follower sprocket 16 will engage with the side of the straight chain 9 away from the clamping mechanism 3 for transmission. When the swing arm 2 is shortened to its shortest state, if the driving sprocket 7 is located between the base 1 and the clamping mechanism 3, the follower sprocket 16 will engage with the side of the straight chain 9 close to the clamping mechanism 3 for transmission. This ensures that the follower sprocket 16 always provides support for the straight chain 9 during the extension and retraction of the swing arm 2, and prevents the second end of the straight chain 9 from moving in the horizontal direction.

[0047] It should be noted that during the extension and retraction of the swing arm 2, the distance between the drive sprocket 7 and the follower sprocket 16 will change, and the length of the part of the straight chain 9 located between the drive sprocket 7 and the follower sprocket 16 will also change. This length change can be adaptively adjusted by rotating the follower sprocket 16.

[0048] The sliding connection between the first swing arm 14 and the second swing arm 15 can be achieved by a guide rail slider mechanism, specifically including a second guide rail and a second slider that is slidably connected to the second guide rail. The second guide rail is set in the horizontal direction and is fixedly connected to the first swing arm 14. The second slider is fixedly connected to the second swing arm 15, thereby driving the second swing arm 15 to move in the horizontal direction relative to the first swing arm 14.

[0049] The aforementioned fourth drive mechanism can be a gear and rack transmission mechanism or a lead screw and nut transmission mechanism driven by a fourth motor. When a gear and rack transmission mechanism is selected, the gear is rotatably connected to the first swing arm 14, the rack is fixedly connected to the second swing arm 15, and the axis of the rack is set in the horizontal direction. When a lead screw and nut transmission mechanism is selected, the lead screw is rotatably connected to the first swing arm 14, the axis of the lead screw is set in the horizontal direction, and the nut is fixedly connected to the second swing arm 15. The aforementioned fourth drive mechanism can also be in the form of an electric actuator, with the axis of the electric actuator set in the horizontal direction, and the two relatively movable parts of the electric actuator fixedly connected to the first swing arm 14 and the second swing arm 15 respectively.

[0050] In practice, the palletizing device also includes a control system. The first drive mechanism, the second drive mechanism, the drive assembly 19 of the clamping mechanism 3, the third drive mechanism, and the fourth drive mechanism are all communicatively connected to the control system. Specifically, the control system includes a PLC controller and a control panel communicatively connected to the PLC controller. The control panel is equipped with control buttons for inputting action commands, and the PLC controller has pre-set control programs. The first motor 6 of the first drive mechanism, the second motor of the second drive mechanism, the third motor 22 of the third drive mechanism, and the fourth motor of the fourth drive mechanism are all servo motors, with each servo motor communicatively connected to the PLC controller. The electromagnetic directional valves in the hydraulic or pneumatic circuits of the drive assembly 19 are also communicatively connected to the PLC controller. With this configuration, the operator inputs action commands through the control panel, and each servo motor and electromagnetic directional valve generates corresponding actions, thereby achieving automated control of the palletizing device.

[0051] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A palletizing device, characterized in that, The base (1) is provided with a first end and a second end, the first end is rotatably connected with the base (1), the rotation axis is arranged along the vertical direction, the second end of the swing arm (2) extends away from the base (1); the clamping mechanism (3) is arranged below the second end of the swing arm (2) and can move up and down relative to the swing arm (2); the first driving mechanism is used for driving the swing arm (2) to rotate relative to the base (1); the second driving mechanism is used for driving the clamping mechanism (3) to move up and down relative to the swing arm (2); the second driving mechanism comprises a driving sprocket (7), a driven sprocket (8), a straight chain (9) and a second motor for driving the driving sprocket (7) to rotate, the driving sprocket (7) and the driven sprocket (8) are respectively arranged at the two ends of the swing arm (2), the straight chain (9) is arranged on the driving sprocket (7) and the driven sprocket (8) and is in meshing transmission with the driving sprocket (7) and the driven sprocket (8), the first end of the straight chain (9) is connected with the upper end of the clamping mechanism (3), and the second end is fixedly connected with a counterweight (10); the second driving mechanism further comprises a tension sprocket (13) arranged between the driving sprocket (7) and the driven sprocket (8), the tension sprocket (13) is arranged above the straight chain (9) and is in meshing transmission with the straight chain (9); the swing arm (2) comprises a first swing arm (14) and a second swing arm (15) which can move relative to each other in the horizontal direction, the first end of the first swing arm (14) is rotatably connected with the base (1), the first end of the second swing arm (15) is slidably connected with the second end of the first swing arm (14), and a fourth driving mechanism is arranged between the first swing arm (14) and the second swing arm (15) for driving the second swing arm (15) to move relative to the first swing arm (14); the second driving mechanism is arranged on the second swing arm (15), and a driven sprocket (16) which can rotate about a fixed axis is arranged on the first swing arm (14), and the driven sprocket (16) is in meshing transmission with the straight chain (9); In the process of stretching and retracting the swing arm (2), the distance between the driving sprocket (7) and the driven sprocket (16) changes, and the length of the part of the straight chain (9) between the driving sprocket (7) and the driven sprocket (16) also changes, and the length change can be adaptively adjusted through the rotation of the driven sprocket (16). The first driving mechanism comprises a first gear (4), a second gear (5) in meshing transmission with the first gear (4) and a first motor (6) for driving the first gear (4) to rotate, the first gear (4) and the second gear (5) are rotatably connected with the base (1), and the first end of the swing arm (2) is fixedly connected with the second gear (5). The mass of the counterweight (10) is equal to the mass of the clamping mechanism (3). ​ ​ ​ ​ 2. The palletizing device according to claim 1, characterized in that ​ 3. The palletizing device of claim 1, wherein ​ 4. The palletizing device of claim 1, wherein A guide mechanism for guiding movement of the clamping mechanism (3) is arranged between the second end of the swing arm (2) and the clamping mechanism (3), and comprises a first guide rail (11) arranged in a vertical direction and a first sliding block (12) in sliding connection with the first guide rail (11), the first sliding block (12) being fixedly connected with the second end of the swing arm (2), and the lower end of the first guide rail (11) being connected with the upper end of the clamping mechanism (3).

5. The palletizing device of claim 4, wherein, The clamping mechanism (3) is rotationally connected with the first guide rail (11), with a rotation axis arranged in a vertical direction, and a third driving mechanism is arranged between the upper end of the clamping mechanism (3) and the lower end of the first guide rail (11) to drive the clamping mechanism (3) to rotate relative to the first guide rail (11).

6. The palletizing device of claim 1, wherein, A control system is further included, and the first driving mechanism, the second driving mechanism and the clamping mechanism (3) are all in communication connection with the control system.

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