Automatic cantilever stacker crane

Abstract

The invention belongs to the technical field of stacking equipment, and mainly relates to a cantilever automatic stacker crane, a material arranging mechanism comprises a material arranging frame, a plurality of supporting parts are arranged on the material arranging frame, each supporting part is provided with a supporting inclined plane, each supporting inclined plane is used for placing a plurality of pipes to be grabbed by a stacking mechanism, each supporting inclined plane is provided with a blocking piece, and the blocking pieces are used for blocking the pipes to be grabbed by the stacking mechanism. A material pushing part is movably arranged on the material arranging frame, is located between any two adjacent supporting parts and is located below the pipes, and the material pushing part pushes the pipes; the material arranging frame comprises a base and two supporting pieces arranged in a spaced mode, one supporting piece is fixed to the base, and the other supporting piece is arranged on the base in a sliding mode. Each supporting part comprises two supporting plates, the supporting inclined faces are located on the supporting plates, and the two supporting plates are fixed to the supporting pieces on the corresponding sides respectively. And by arranging the material arranging mechanism, the stacking mechanism and the transferring mechanism, and meanwhile, the position of one of the two supporting pieces can be changed, so that the stacking requirements of the pipes with different lengths are met.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing equipment, and mainly relates to a cantilever automatic palletizer. Background Art

[0002] With the growth of demand for clean energy at home and abroad, the market demand for photovoltaic power generation equipment is increasing, and the application scenarios of photovoltaic power generation are also increasing. As an important supporting component for photovoltaic power generation, photovoltaic column tubes require different specifications and quantities for different projects. Photovoltaic column tubes of different diameters need to be stacked into different hexagons for packaging and transportation. Due to the changes in the specifications and quantity of photovoltaic tubes, the finished pipes are currently cut and manually hoisted, and then manually stacked into hexagons using simple stacking tools, and then packaged; this method has a lot of material turnover, high labor intensity, and low production efficiency.

[0003] The patent document with application number 201720836028.8 discloses an automatic steel pipe palletizer, including a frame and a double-station palletizer mounted on the frame, the double-station palletizer includes a first horizontal walking mechanism and a second horizontal walking mechanism, the first horizontal walking mechanism and the second horizontal walking mechanism are arranged at intervals, the first horizontal walking mechanism and the second horizontal walking mechanism are provided with a first vertical lifting mechanism and a second vertical lifting mechanism, the lower ends of the first vertical lifting mechanism and the second vertical lifting mechanism are provided with a first magnetic suction cup and a second magnetic suction cup, the first vertical lifting mechanism moves synchronously so that the connection line of the first magnetic suction cup is always parallel to the transported steel pipe, and the second vertical lifting mechanism moves synchronously so that the connection line of the second magnetic suction cup is always parallel to the transported steel pipe. The automatic steel pipe palletizer provided by the utility model adopts a double-station palletizer for cyclic palletizing to improve the working efficiency of pipe palletizing. However, the stacking process of the utility model is that the pipe moves within the entire stacking frame. If the stacking of pipes of various lengths is to be compatible, the overall size of the frame required in the length direction of the pipe is large, and the overall production cost is high. At the same time, because the utility model has two sets of stacking devices running at the same time, the probability of opposite movement directions is greater. The movement inertia and inertia of the two stacking devices increase the instability of magnetic suction and the probability of pipe falling off.

[0004] The patent document with application number 202222640624.2 discloses a steel pipe palletizer, including a steel pipe feeding mechanism, a first steel pipe conveying frame, a swing connecting block, a palletizing assembly and a palletizing bracket. The left end of the steel pipe feeding mechanism is provided with a first steel pipe conveying frame, the right end of the first steel pipe conveying frame is connected with a swing connecting block, the lower end of the swing connecting block is connected to the first cylinder through a transmission rod, the lower end of the first steel pipe conveying frame is connected with a third cylinder, the upper part of the first steel pipe conveying frame is provided with a limit block, the left end of the first steel pipe conveying frame is connected with a second steel pipe conveying frame, the end of the second steel pipe conveying frame is provided with a steel pipe moving part, the lower part of the second steel pipe conveying frame is provided with a palletizing assembly, and the upper part of the palletizing assembly is provided with a palletizing bracket. The utility model utilizes the steel pipe feeding mechanism, the first steel pipe conveying frame, the second steel pipe conveying frame, the palletizing assembly, the lifting platform and the palletizing bracket to automatically palletize steel pipes and improve the efficiency of palletizing. This invention palletizes pipes one by one. Although it improves the accuracy of palletizing and can adapt to different pipe diameters, the palletizing efficiency is greatly reduced. Summary of the invention

[0005] The present invention provides a cantilever automatic palletizer to solve the problem that the prior art cannot meet the demand for palletizing long pipes in daily production.

[0006] To solve the above problems, the present invention adopts the following technical solutions: The cantilever automatic palletizer includes a material sorting mechanism for placing pipes, a palletizing mechanism for grabbing pipes, and a transfer mechanism for transporting pipes; The material sorting mechanism comprises a material sorting rack, on which a plurality of supporting parts arranged adjacent to each other are provided, each of which has a supporting inclined surface, on which a plurality of pipes to be grasped by the stacking mechanism are placed, and the pipes can roll from the starting end of the supporting inclined surface to the end of the supporting inclined surface, and at the end of each supporting inclined surface a stopper is provided for limiting the rolling of the pipes, and a pushing piece is movably provided on the material sorting rack, and the pushing piece is located between any two adjacent supporting parts and below the pipes, the pushing piece is arranged obliquely and the inclination direction is consistent with the inclination direction of the supporting inclined surface, and the pushing piece moves in the up-and-down direction to push the corresponding pipes, so that the pipes roll onto the next supporting inclined surface; The stacking mechanism grabs the pipes on the supporting inclined surface and transfers them to the transfer mechanism, which transports the pipes; The material sorting rack comprises a base and two spaced apart supporting members, one of which is fixed on the base and the other is slidably arranged on the base, and the sliding direction of the supporting member is consistent with the extending direction of the pipe; Each of the support parts includes two support plates, the support inclined surfaces are located on the support plates, and the two support plates are respectively fixed on the support members on the corresponding sides.

[0007] The invention has the following beneficial effects: by arranging the material sorting mechanism, the stacking mechanism and the transfer mechanism, the position of one of the two supporting members can be changed at the same time, thus meeting the stacking requirements of pipes with different diameters and different lengths.

[0008] Further, the plurality of support parts include a support part located at the end, and the stacking mechanism grabs the pipe from the end-most support part; The support part at the end is provided with a pushing mechanism, which includes a horizontally movable pushing plate, which is used to abut against the end surface of the pipe on the supporting inclined surface, and the pushing plate moves to align the end surface of the pipe.

[0009] The invention has the following beneficial effects: the pushing mechanism can align one ends of a plurality of pipes, thereby ensuring that the stacking mechanism is neat when grabbing, thereby ensuring that the pipes are neat when stacking.

[0010] Furthermore, a guide member is provided on the support member fixed on the base, and the guide member includes a plane section and an inclined guide section connected to the plane section, and one end of the inclined guide section away from the plane section opens toward the outside; The pipes come into conflict with the inclined guide section during rolling on the supporting inclined surface, so that one ends of the plurality of pipes move and align along the inclined extension direction of the inclined guide section.

[0011] The invention has the following beneficial effects: the guide piece makes the pipes placed on the material sorting mechanism neat, which is convenient for subsequent grabbing and stacking.

[0012] Furthermore, a slide rail is fixed on the base, the extension direction of the slide rail is consistent with the extension direction of the pipe, and the corresponding support member is slidably arranged on the slide rail.

[0013] The invention has the following beneficial effects: the slide rail facilitates the sliding of the corresponding support member, thereby being able to better change the distance between the two support members.

[0014] Furthermore, the stacking mechanism includes a truss and a mounting frame movably arranged on the truss, and the moving direction of the mounting frame is perpendicular to the extending direction of the pipe; A moving frame is movably mounted on the mounting frame, and the moving frame moves in up and down directions. The moving frame is provided with an electromagnetic suction cup for magnetically sucking the pipes on the corresponding supporting inclined surface.

[0015] The invention has the following beneficial effects: the electromagnetic chuck can realize movement in two directions, so that the electromagnetic chuck can magnetically absorb the pipe.

[0016] Furthermore, a sensor is installed on the electromagnetic chuck, and the sensor is used to detect whether the electromagnetic chuck grabs the pipe.

[0017] The invention has the following beneficial effects: program errors caused by stacking without material are avoided.

[0018] Furthermore, a flexible member is provided on the movable frame, and the electromagnetic suction cup is assembled on the movable frame through the flexible member.

[0019] The utility model has the following beneficial effects: the height difference that occurs when the electromagnetic chuck grabs and stacks the pipes is buffered.

[0020] Furthermore, the truss is provided with a first rack, the extension direction of the first rack is perpendicular to the extension direction of the pipe, the mounting frame is fixed with a first motor, the output end of the first motor is coaxially fixed with a first gear, the first gear is meshed with the first rack, and the first motor is operated to drive the mounting frame to move; The movable frame is provided with a second rack extending in the up-down direction, the mounting frame is fixed with a second motor, the output end of the second motor is coaxially fixed with a second gear, the second gear is meshed with the second rack, and the second motor is operated to drive the movable frame to move.

[0021] Furthermore, the transfer mechanism includes a track and a plurality of stacking carts moving on the track, the track includes a plurality of sleepers arranged at equal intervals and two light rails arranged at intervals on the plurality of sleepers, and each of the stacking carts moves on the two light rails.

[0022] Furthermore, each of the stacking trolleys comprises a chassis and a plurality of wheels rotatably mounted on the chassis, each of the wheels rolls on the light rail on the corresponding side, a reduction motor is provided on the chassis, and the reduction motor is transmission-connected to the wheels to drive the stacking trolley to move; The chassis is provided with a stacking support for stacking pipes. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By reading the following detailed description with reference to the accompanying drawings, the above and other objects, features and advantages of the exemplary embodiments of the present invention will become readily understood. In the accompanying drawings, several embodiments of the present invention are shown in an exemplary and non-limiting manner, and the same or corresponding reference numerals represent the same or corresponding parts, wherein: Figure 1 It is a structural schematic diagram of the present invention from a first viewing angle; Figure 2 It is a structural schematic diagram of the second viewing angle of the present invention; Figure 3 This is a structural diagram of the material sorting mechanism from the first perspective; Figure 4 This is a structural diagram of the material sorting mechanism from the second perspective; Figure 5 for Figure 4 The enlarged view of point A in the middle; Figure 6 It is a structural diagram of the palletizing mechanism from the first perspective; Figure 7 for Figure 6 The enlarged view of point B in the middle; Figure 8 It is a structural schematic diagram of the palletizing mechanism from the second perspective; Fig. 9 for Figure 8 Enlarged view of point C in the middle; Fig.10 It is a structural schematic diagram of the palletizing mechanism from the third perspective; Fig.11 for Fig.10 The enlarged view of point D in the middle; Fig.12 It is a structural diagram of the transfer mechanism from the first perspective; Fig.13 It is a structural diagram of the transfer mechanism from the second perspective; Fig.14 for Fig.13 Enlarged view of point E in the middle.

[0024] Description of reference numerals: 1. Pipe; 2. Material sorting mechanism; 3. Stacking mechanism; 4. Transfer mechanism; 5. Base; 6. Support member; 7. Support plate; 8. Support inclined surface; 9. Stop block; 10. Pushing member; 11. First cylinder; 12. Second cylinder; 13. Pushing plate; 14. Slide rail; 15. Plane section; 16. Inclined guide section; 17. Truss; 18. Mounting frame; 19. Moving frame; 20. Electromagnetic suction cup; 21. First motor; 22. Second motor; 23. Flexible member; 24. Sensor; 25. First gear; 26. First rack; 27. Second gear; 28. Second rack; 29. ​​Track; 30. Sleeper; 31. Light rail; 32. Stacking trolley; 33. Reducer motor; 34. Stacking support; 35. Chassis; 36. Wheel. DETAILED DESCRIPTION

[0025] 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. Those skilled in the art should know that the embodiments described below are part of the embodiments of the present disclosure, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0026] Various non-limiting embodiments of the present invention are described in detail below. Any number of elements in the accompanying drawings is for illustration and not for limitation, and any naming is only for distinction and does not have any limiting meaning. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0027] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0028] like Figure 1 , Figure 2 As shown, the cantilever automatic palletizer includes a material sorting mechanism 2 for placing pipes 1, a palletizing mechanism 3 for grabbing pipes 1, and a transfer mechanism 4 for transporting pipes 1. The pipes 1 are placed on the material sorting mechanism 2, one by one, the palletizing mechanism 3 grabs the pipes 1 from the material sorting mechanism 2, and the pipes 1 are moved to the transfer mechanism 4, and the transfer mechanism 4 then transports the stacked pipes 1 away.

[0029] In this embodiment, Figure 3-Figure 5 As shown, the material sorting mechanism 2 includes a material sorting rack, which is provided with a plurality of supporting parts arranged adjacent to each other in sequence, each supporting part has a supporting inclined surface 8, and the supporting inclined surface 8 is used to place a plurality of pipes 1 to be grasped by the stacking mechanism 3. The pipes 1 can roll from the starting end of the supporting inclined surface 8 to the end of the supporting inclined surface 8 under the action of gravity.

[0030] A stopper for limiting the rolling of the pipe 1 is provided at the end of each supporting inclined surface 8. There are multiple pipes 1 on each supporting inclined surface 8, but only one pipe 1 can contact the stopper, and the other pipes 1 contact the pipe 1 in turn. A pusher 10 is movably provided on the material sorting rack. The pusher 10 is located between any two adjacent support parts and below the pipe 1, so that when the stopper blocks the pipe 1, the pusher 10 can just push the pipe 1 up. The pusher 10 is arranged obliquely and the inclination direction is consistent with the inclination direction of the supporting inclined surface 8. The inclined arrangement of the pusher 10 described in this embodiment means that there is an inclined plane on the pusher 10, and this inclined plane contacts the pipe 1 when pressing. The pusher 10 moves up and down to push the corresponding pipe 1. Because the pusher 10 is inclined, when the pusher 10 lifts the pipe 1, the pipe 1 will roll down from the inclined pusher 10 and roll onto the next supporting inclined surface 8.

[0031] In this embodiment, a first cylinder 11 is provided on the material sorting rack, and the first cylinder 11 drives the material pushing member 10 to move.

[0032] In this embodiment, the material sorting rack includes a base 5 and two spaced support members 6, one of which is fixed on the base 5, and the other is slidably arranged on the base 5, and the sliding direction of the support member 6 is consistent with the extension direction of the pipe 1. By changing the distance between the two support members 6, the material sorting rack can be adapted to pipes 1 of different lengths.

[0033] In this embodiment, a slide rail 14 is fixed on the base 5, and the extension direction of the slide rail 14 is consistent with the extension direction of the pipe 1, and the corresponding support member 6 is slidably arranged on the slide rail 14. The slide rail 14 facilitates the sliding of the corresponding support member 6, so that the distance between the two support members 6 can be better changed.

[0034] In this embodiment, each support portion includes two support plates 7 , the support inclined surface 8 is located on the support plate 7 , and the two support plates 7 are respectively fixed on the support members 6 on the corresponding sides, that is, one support plate 7 is provided on one support member 6 .

[0035] This embodiment arranges a material sorting mechanism 2, a stacking mechanism 3 and a transfer mechanism 4, and the position of one of the two support members 6 can be changed, thereby meeting the stacking requirements of pipes 1 of different lengths. The stacking mechanism 3 can grab pipes 1 of different diameters to meet the stacking requirements of pipes 1 of different diameters.

[0036] Among the multiple support parts, there is a support part located at the end, and the stacking mechanism 3 grabs the pipe 1 from the end support part. The stopper on the end support part is a stopper block 9, and the stoppers on the remaining support parts are the front end surface of the next support plate 7, that is, the pipe 1 on the previous support plate 7 will be blocked by the front end surface of the next support plate 7.

[0037] The support part at the end is provided with a pushing mechanism, which includes a horizontally movable pushing plate 13, the plane where the pushing plate 13 is located is perpendicular to the extension direction of the pipe 1, and the moving direction of the pushing plate 13 is consistent with the extension direction of the pipe 1. The pushing plate 13 is used to contact the end face of the pipe 1 on the supporting inclined surface 8, and the pushing plate 13 moves to align the end faces of the pipe 1. The pushing mechanism can align one end of multiple pipes 1, ensuring that the stacking mechanism 3 is neat when grabbing, and then ensuring the neatness of the pipes 1 when stacking.

[0038] In this embodiment, the pushing mechanism includes a second cylinder 12 disposed on the material sorting rack, and the second cylinder 12 pushes the pushing plate 13 to move.

[0039] In other embodiments, the first cylinder 11 and the second cylinder 12 may be replaced by electric push rods or hydraulic cylinders.

[0040] A guide is provided on the support member 6 fixed on the base 5. The guide includes a plane section 15 and an inclined guide section 16 connected to the plane section 15. The end of the inclined guide section 16 facing away from the plane section 15 opens outward, which is convenient for the pipe 1 to enter. The pipe 1 contacts the inclined guide section 16 during rolling on the supporting inclined surface 8, so that one end of the plurality of pipes 1 moves and aligns along the inclined extension direction of the inclined guide section 16. The guide makes the pipes 1 placed on the material sorting mechanism 2 neat, which is convenient for subsequent grabbing and stacking.

[0041] In this embodiment, Figure 6-Figure 11 As shown, the stacking mechanism 3 includes a truss 17 and a mounting frame 18 movably arranged on the truss 17, and the moving direction of the mounting frame 18 is perpendicular to the extension direction of the pipe 1. A moving frame 19 is movably mounted on the mounting frame 18, and the moving frame 19 moves in the up and down directions. The moving frame 19 is provided with an electromagnetic suction cup 20 for magnetically attracting the pipe 1 on the corresponding supporting inclined surface 8. The electromagnetic suction cup 20 can realize movement in two directions, so that the electromagnetic suction cup 20 can magnetically attract the pipe 1.

[0042] A sensor 24 is installed on the electromagnetic chuck 20, and the sensor 24 is used to detect whether the electromagnetic chuck 20 grabs the pipe 1. This avoids program errors caused by stacking without material.

[0043] A flexible member 23 is provided on the mobile frame 19, and the electromagnetic chuck 20 is assembled on the mobile frame 19 through the flexible member 23. The height difference that occurs when the electromagnetic chuck 20 grabs and stacks the pipe 1 is buffered.

[0044] In this embodiment, a first rack 26 is provided on the truss 17, and the extension direction of the first rack 26 is perpendicular to the extension direction of the pipe 1. A first motor 21 is fixed on the mounting frame 18, and a first gear 25 is coaxially fixed on the output end of the first motor 21. The first gear 25 is meshed with the first rack 26, and the first motor 21 runs to drive the mounting frame 18 to move.

[0045] A second rack 28 is provided on the movable frame 19, and the second rack 28 extends in the up and down direction. A second motor 22 is fixed on the mounting frame 18, and a second gear 27 is coaxially fixed on the output end of the second motor 22. The second gear 27 is meshed with the second rack 28, and the second motor 22 runs to drive the movable frame 19 to move.

[0046] In this embodiment, Figure 12-14 As shown, the transfer mechanism 4 includes a track 29 and a plurality of stacking carts 32 moving on the track 29 , the track 29 includes a plurality of sleepers 30 arranged at equal intervals and two light rails 31 arranged at intervals on the plurality of sleepers 30 , the extension direction of the sleepers 30 is perpendicular to the extension direction of the light rails 31 , and each stacking cart 32 moves on the two light rails 31 .

[0047] Each palletizing trolley 32 includes a chassis 35 and a plurality of wheels 36 rotatably mounted on the chassis 35, each wheel 36 rolling on the light rail 31 on the corresponding side, and a reduction motor 33 is provided on the chassis 35, and the reduction motor 33 is connected to the wheels 36 to drive the palletizing trolley 32 to move. A stacking support 34 for stacking pipes 1 is provided on the chassis 35, and the stacking support 34 can limit a plurality of pipes 1 on the chassis 35, thereby realizing the stacking of the pipes 1.

[0048] The working process of the present invention is as follows: Place the pipe 1 on the supporting inclined surface 8. The pipe 1 will roll under the action of its own gravity and will be stopped by the front end surface of the next supporting plate 7. At this time, the pushing piece 10 rises and lifts up the pipe 1. When it reaches a certain height, the front end surface of the next supporting plate 7 no longer stops the pipe 1. The pipe 1 will roll to the next supporting plate 7 and will be stopped by the stopping block 9. Then the electromagnetic suction cup 20 will magnetically attract the pipe 1 and move it to the stacking trolley 32. When a certain number of pipes 1 are stacked on the stacking trolley 32, the stacking trolley 32 will transport these pipes 1 away.

[0049] In the description of this specification, the description with reference to the term "in this embodiment" or the like means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic description of the above terms does not necessarily refer to the same embodiment or example.

[0050] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. Cantilever automatic palletizer, characterized in that: It includes a material sorting mechanism for placing pipes, a stacking mechanism for grabbing pipes, and a transfer mechanism for transporting pipes; The material sorting mechanism comprises a material sorting rack, on which a plurality of supporting parts arranged adjacent to each other are provided, each of which has a supporting inclined surface, on which a plurality of pipes to be grasped by the stacking mechanism are placed, and the pipes can roll from the starting end of the supporting inclined surface to the end of the supporting inclined surface, and at the end of each supporting inclined surface a stopper is provided for limiting the rolling of the pipes, and a pushing piece is movably provided on the material sorting rack, and the pushing piece is located between any two adjacent supporting parts and below the pipes, the pushing piece is arranged obliquely and the inclination direction is consistent with the inclination direction of the supporting inclined surface, and the pushing piece moves in the up-and-down direction to push the corresponding pipes, so that the pipes roll onto the next supporting inclined surface; The stacking mechanism grabs the pipes on the supporting inclined surface and transfers them to the transfer mechanism, which transports the pipes; The material sorting rack comprises a base and two spaced apart supporting members, one of which is fixed on the base and the other is slidably arranged on the base, and the sliding direction of the supporting member is consistent with the extending direction of the pipe; Each of the support parts includes two support plates, the support inclined surfaces are located on the support plates, and the two support plates are respectively fixed on the support members on the corresponding sides.

2. The cantilever automatic palletizer according to claim 1, characterized in that: The plurality of support parts include a support part located at the end, and the stacking mechanism grabs the pipe from the support part at the end; The support part at the end is provided with a pushing mechanism, which includes a horizontally movable pushing plate, which is used to abut against the end surface of the pipe on the supporting inclined surface, and the pushing plate moves to align the end surface of the pipe.

3. The cantilever automatic palletizer according to claim 2, characterized in that: A guide member is provided on the support member fixed on the base, the guide member comprises a plane section and an inclined guide section connected to the plane section, and one end of the inclined guide section facing away from the plane section opens toward the outside; The pipes come into conflict with the inclined guide section during rolling on the supporting inclined surface, so that one ends of the plurality of pipes move and align along the inclined extension direction of the inclined guide section.

4. The cantilever automatic palletizer according to claim 3, characterized in that: A slide rail is fixed on the base, the extension direction of the slide rail is consistent with the extension direction of the pipe, and the corresponding support member is slidably arranged on the slide rail.

5. The cantilever automatic palletizer according to any one of claims 1 to 4, characterized in that: The stacking mechanism includes a truss and a mounting frame movably arranged on the truss, and the moving direction of the mounting frame is perpendicular to the extending direction of the pipe; A moving frame is movably mounted on the mounting frame, and the moving frame moves in up and down directions. The moving frame is provided with an electromagnetic suction cup for magnetically sucking the pipes on the corresponding supporting inclined surface.

6. The cantilever automatic palletizer according to claim 5, characterized in that: A sensor is installed on the electromagnetic chuck, and the sensor is used to detect whether the electromagnetic chuck grabs the pipe.

7. The cantilever automatic palletizer according to claim 6, characterized in that: The movable frame is provided with a flexible member, and the electromagnetic suction cup is assembled on the movable frame through the flexible member.

8. The cantilever automatic palletizer according to claim 7, characterized in that: The truss is provided with a first rack, the extension direction of the first rack is perpendicular to the extension direction of the pipe, the mounting frame is fixed with a first motor, the output end of the first motor is coaxially fixed with a first gear, the first gear is meshed with the first rack, and the first motor is operated to drive the mounting frame to move; The movable frame is provided with a second rack extending in the up-down direction, the mounting frame is fixed with a second motor, the output end of the second motor is coaxially fixed with a second gear, the second gear is meshed with the second rack, and the second motor is operated to drive the movable frame to move.

9. The cantilever automatic palletizer according to any one of claims 1 to 4, characterized in that: The transfer mechanism comprises a track and a plurality of stacking trolleys moving on the track, wherein the track comprises a plurality of sleepers arranged at equal intervals and two light rails arranged at intervals on the plurality of sleepers, and each of the stacking trolleys moves on the two light rails.

10. The cantilever automatic palletizer according to claim 9, characterized in that: Each of the stacking trolleys comprises a chassis and a plurality of wheels rotatably mounted on the chassis, each of the wheels rolling on the light rail on the corresponding side, a reduction motor is provided on the chassis, and the reduction motor is transmission-connected to the wheels to drive the stacking trolley to move; The chassis is provided with a stacking support for stacking pipes.

Images