Tray self-positioning floor stacking and unstacking device

Abstract

The invention discloses a tray self-positioning floor stacking and unstacking device which comprises a main body frame, a lifting mechanism, a workbin translation mechanism, a workbin tray positioning mechanism and a workbin taking and placing mechanism. The lifting mechanism is arranged on the main body frame, and the workbin translation mechanism is arranged on the lifting mechanism in an up-down reciprocating mode; the material box taking and placing mechanism is arranged on the material box translation mechanism in a front-back reciprocating mode, and the material box tray positioning mechanism is arranged at the bottom of the main body frame. A material tray is centered and automatically positioned through the material box tray positioning mechanism, it is guaranteed that the taking and placing position of the material box taking and placing mechanism can be accurate in the later period, then material boxes on the tray are taken away one by one through clamping and lifting in the unstacking process through the lifting mechanism, the material box translation mechanism and the material box taking and placing mechanism, and the material boxes are placed on a warehouse-in and warehouse-out conveying line to flow away; in the stacking process, material boxes conveyed from a warehouse-out conveying line and a warehouse-in conveying line are stacked on the material box trays one by one through clamping, lifting and stacking, labor is saved, and efficient and stable operation is achieved.

Description

Technical Field

[0001] The present invention relates to a device for unstacking and stacking, and more particularly to a device for automatically positioning a pallet for floor unstacking and stacking. Background Art

[0002] In a flat warehouse with an automated power metering storage mode, to achieve the required storage capacity of goods, the storage of bins usually uses bin pallets as carriers for stacking storage. The number of stacked bins is generally 10 or 12; when bins are incoming and outgoing, a supporting unstacking and stacking device is required to stack and unstack the bins on the carrier; in an automated warehouse, the transfer of materials is carried by an AGV cart. After the AGV cart carrying the bin pallet arrives, there will be a position error, and the error position and direction are uncertain. Since the bin is fixed on the pallet cart through a positioning spigot, when the AGV transports the pallet cart to the bin unstacking and stacking station, the pallet cart needs to be positioned to accurately pick and place the bin on the bin pallet. Under this requirement, it is very necessary to design an unstacking and stacking device with an automatic pallet positioning mechanism. Therefore, it is necessary to propose a device for automatically positioning a pallet for floor unstacking and stacking. Summary of the Invention

[0003] The purpose of the present invention is to solve the problems in the background art and provide a device for automatically positioning a pallet for floor unstacking and stacking.

[0004] The above technical object of the present invention is achieved through the following technical solutions:

[0005] A device for automatically positioning a pallet for floor unstacking and stacking includes a main frame, a lifting mechanism, a bin translation mechanism, a bin pallet positioning mechanism, and a bin picking and placing mechanism. The lifting mechanism is arranged on the main frame, the bin translation mechanism reciprocates up and down on the lifting mechanism, the bin picking and placing mechanism reciprocates back and forth on the bin translation mechanism, and the bin pallet positioning mechanism is arranged at the bottom of the main frame.

[0006] The present invention automatically positions and centers the material pallet through the bin pallet positioning mechanism to ensure that the bin picking and placing mechanism can accurately pick and place the bins later. Then, through the lifting mechanism, the bin translation mechanism, and the bin picking and placing mechanism, when unstacking, the bins on the pallet are taken away one by one through clamping and lifting and placed on the incoming and outgoing conveyor lines to flow away. When stacking, the bins transported on the incoming and outgoing conveyor lines are stacked on the bin pallet one by one through clamping, lifting, and stacking, thereby realizing the automatic unstacking and stacking of bins, improving the storage space utilization rate of the flat warehouse, saving labor, and operating efficiently and stably.

[0007] The unpacking and palletizing device can be controlled either fully electrically or pneumatically and electrically. It has a compact overall structure, high stability, a large allowable error, and is convenient for installation and transportation. It can be widely used in automated intelligent warehousing storage rooms to achieve automatic unpacking and palletizing of full pallets of bins, and one-by-one in-storage palletizing of scattered bins, improving the storage space utilization rate of flat warehouses, saving labor, and operating efficiently and stably.

[0008] Preferably, the bin pallet positioning mechanism includes a left positioning structure and a right positioning structure. Both the left positioning structure and the right positioning structure include a push rod structure, a positioning push plate, and V-shaped floating guiding and positioning blocks. The push rod structure is fixed on the main frame. The positioning push plate is arranged at the output end of the push rod structure. The V-shaped floating guiding and positioning blocks are rotatably arranged at both ends on the right side of the positioning push plate. A rotating shaft is provided at the bottom of the V-shaped floating guiding and positioning blocks, and a return torsion spring is provided on the rotating shaft.

[0009] In the present invention, the push rod structure is used to push the positioning push plate to move. The V-shaped floating guiding and positioning blocks are in a V-shaped state in the initial state. During the moving process, the V-shaped floating guiding and positioning blocks rotate around the rotating shaft, generating a thrust perpendicular to the moving direction of the positioning push plate. When the positioning push plate reaches the position, the V-shaped floating guiding and positioning blocks are in an L-shaped state and fit with the four corners of the bin pallet, completing the centering positioning of the bin pallet, accurately positioning the bin pallet to ensure that the positions of the bin pallets entering the interior of the device are accurate and consistent each time.

[0010] Preferably, the push rod structure includes a rack push rod motor, a guiding telescopic shaft, and a mounting plate. The rack of the rack push rod motor is fixedly connected to the positioning push plate. The two guiding telescopic shafts are located on both sides of the rack of the rack push rod motor. One end of the guiding telescopic shaft is fixedly connected to the positioning push plate, and the other end is connected to the mounting plate. The mounting plate is fixed on the main frame.

[0011] In the present invention, the rack push rod motor is used in cooperation with the guiding telescopic shaft to complete the reciprocating movement of the positioning push plate.

[0012] Preferably, the lifting mechanism includes a servo reduction motor, a driving chain, a transmission shaft, a lifting chain sprocket, a lifting chain, and a chain driven sprocket. The transmission shaft is arranged at the top of the main frame, and the lifting chain sprockets are arranged at both ends of the transmission shaft. The chain driven sprocket is arranged at the bottom of the lifting chain sprocket. The lifting chain is arranged on the lifting chain sprocket and the chain driven sprocket. The servo reduction motor is arranged at the top of the main frame, and the servo reduction motor drives the transmission shaft through the driving chain. Both ends of the lifting chain are respectively connected to the bin translation mechanism to form a connection closed loop.

[0013] In the present invention, the servo reduction motor drives the transmission shaft through the chain, the transmission shaft drives the chain to rotate, thereby driving the bin translation mechanism to reciprocate up and down, realizing the lifting movement of the bin translation mechanism, and thus completing the up and down movement of the bin.

[0014] Preferably, the bin translation mechanism includes a translation slide rail and a translation plate that slides on the translation slide rail. The translation plate is driven by the translation slide rail to reciprocate, thereby completing the forward and backward movement of the bin.

[0015] Preferably, the bin picking and placing mechanism includes a left clamping member and a right clamping member. Both the left clamping member and the right clamping member include a picking and placing slide rail provided on the translation slide rail and a picking and placing fork that slides on the picking and placing slide rail. The sliding direction of the picking and placing fork is in the left-right direction.

[0016] The present invention completes the left and right movement of the picking and placing fork through the picking and placing slide rail, thereby completing the actions of picking and placing the bin.

[0017] Preferably, the picking and placing fork includes a horizontal plate, a vertical plate, and a bottom plate. The bottom plate is connected to the vertical plate. The horizontal plate is located at the top of the vertical plate and is slidably connected to the slide rail. The horizontal plate and the vertical plate, and the vertical plate and the bottom plate are perpendicularly connected. A reinforcing plate is also provided. The reinforcing plate is located between the vertical plate and the bottom plate to strengthen the firmness through the reinforcing plate. A flange for easy handling is formed on the side wall of the bin.

[0018] The present invention enables the bottom plate to clamp the flange of the bin through the bottom plate, thereby realizing the clamping of the bin.

[0019] Preferably, a flipping mechanism is further provided on the side of the bottom plate. The flipping mechanism includes a driving electric push rod, a rack, a gear, a rotating shaft, a rotating bearing, and a connecting block. The rotating shaft is provided at the rear side of the bottom plate. The gear is provided at one end of the rotating shaft. The rotating bearing is provided at the other end of the rotating shaft. The connecting block is fixedly connected to the vertical plate and fixedly connected to the outer ring of the rotating bearing. The rack meshes with the gear. The push rod end of the driving electric push rod is fixedly connected to the rack, and the motor end of the driving electric push rod is fixed on the side wall of the bottom plate.

[0020] The present invention, through the flipping mechanism, when there is no flange on the side wall of the bin, only needs to drive the rack to move by the driving electric push rod, thereby driving the gear to rotate, and then driving the bottom plate to flip 90 degrees, so that the bottom plate flips to be flush with the vertical plate, enabling the bin without a flange to be clamped through the clamping of the vertical plate, thereby enhancing the applicability of the device in this case.

[0021] Preferably, a flush transition plate is fixed on the upper surface of the bottom plate. The present invention enables the bottom plate to be flush with the vertical plate after flipping through the flush transition, and can increase the clamping area through the flush transition plate to enhance the clamping effect.

[0022] Preferably, a flush transition plate is fixed on the upper surface of the bottom plate. A plurality of compression springs are arrayed at the top of the flush transition plate, and an extrusion plate is provided at the top end of the compression spring. In the present invention, through the flush transition plate, the flipped bottom plate can become a part of the vertical plate, thereby strengthening the clamping area and increasing the clamping force. At the same time, the clamping force is strengthened by a plurality of compression springs.

[0023] In summary, the beneficial effects of the present invention are as follows:

[0024] 1. In the present invention, the material box tray positioning mechanism automatically positions the material tray in the center, ensuring that the later material box picking and placing mechanism can accurately pick and place. Then, through the lifting mechanism, the material box translation mechanism, and the material box picking and placing mechanism, when unstacking, the material boxes on the tray are picked up one by one through clamping and lifting and placed on the outgoing and incoming conveyor lines to flow away. When stacking, the material boxes conveyed on the outgoing and incoming conveyor lines are stacked on the material box tray one by one through clamping, lifting, and stacking, thereby realizing the automatic unstacking and stacking of the material boxes, improving the storage space utilization rate of the flat warehouse, saving labor, and operating efficiently and stably.

[0025] 2. In the present invention, the positioning push plate is pushed to move through the push rod structure. The V-shaped floating guide positioning block is in a V-shaped state in the initial state. During the movement, the V-shaped floating guide positioning block rotates around the rotating shaft, generating a thrust perpendicular to the moving direction of the positioning push plate. When the positioning push plate reaches the position, the V-shaped floating guide positioning block becomes an L-shaped state and fits with the four corners of the material box tray, completing the centering positioning of the material box tray and accurately positioning the material box tray to ensure that the positions of the material box trays entering the device interior are accurate and consistent each time.

[0026] 3. In the present invention, the bottom plate can clamp the flange of the material box through the bottom plate, thereby realizing the clamping of the material box.

[0027] 4. In the present invention, through the flipping mechanism, when the side wall of the material box has no flange, only by driving the electric push rod to push the rack to move, the gear can be driven to rotate, and then the bottom plate can be driven to flip 90 degrees, so that the bottom plate flips to be flush with the vertical plate, enabling the material box without a flange to be clamped through the clamping of the vertical plate, thereby strengthening the applicability of the device in this case. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 is a schematic diagram of the whole of the present invention;

[0029] Figure 2 is the present invention Figure 1 an enlarged schematic diagram of part B;

[0030] Figure 3 is a three-dimensional schematic diagram of the back of the present invention;

[0031] Figure 4 is a front view schematic diagram of the present invention;

[0032] Figure 5 is a schematic diagram after the bin of the present invention is positioned;

[0033] Figure 6 is a schematic diagram of the bin tray positioning mechanism of the present invention;

[0034] Figure 7 is a schematic diagram of the V-shaped floating guiding positioning block of the present invention;

[0035] Figure 8 is a schematic diagram of the bin picking and placing mechanism of the present invention;

[0036] Figure 9 is the present invention Figure 8 an enlarged schematic diagram of part A;

[0037] Figure 10 is a schematic diagram of the bin picking and placing mechanism of the present invention clamping the bin;

[0038] Figure 11 is a schematic diagram of the lifting mechanism of the present invention;

[0039] Figure 12 is a three-dimensional schematic diagram of the flipping mechanism of the present invention;

[0040] Figure 13 is a side view schematic diagram of the flipping mechanism of the present invention;

[0041] Figure 14 is a schematic diagram of the main body frame of the present invention;

[0042] 1. Main body frame; 2. Lifting mechanism; 3. Bin translation mechanism; 5. Bin tray positioning mechanism; 4. Bin picking and placing mechanism; 6. Left positioning structure; 7. Right positioning structure; 521. Push rod structure; 522. Positioning push plate; 523. V-shaped floating guiding positioning block; 513. Rotating shaft; 512. Reset torsion spring; 524. Rack push rod motor; 525. Guiding telescopic shaft; 526. Mounting plate; 21. Servo reduction motor; 22. Driving chain; 23. Transmission shaft; 24. Lifting chain sprocket; 25. Lifting chain; 26. Chain driven sprocket; 31. Translation slide rail; 32. Translation plate; 41. Left clamping part; 42. Right clamping part; 411. Picking and placing slide rail; 412. Picking and placing forklift; 416. Horizontal plate; 413. Vertical plate; 414. Bottom plate; 415. Reinforcing plate; 6. Flipping mechanism; 61. Driving electric push rod; 62. Rack; 63. Gear; 64. Rotating shaft; 65. Rotating bearing; 66. Connecting block; 67. Flush transition plate; 671. Compression spring; 672. Extrusion plate. Detailed implementation manners

[0043] The following specific embodiments are only explanations of the present invention and are not limitations thereof. After reading this specification, those skilled in the art can make modifications to these embodiments without creative contributions as needed, but as long as they are within the scope of the claims of the present invention, they are protected by the patent law.

[0044] The present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0045] Embodiment 1:

[0046] As Figures 1-4 shown, a self-positioning floor-mounted palletizing and depalletizing device for trays includes a main body frame 1, a lifting mechanism 2, a bin translation mechanism 3, a bin pallet positioning mechanism 5, and a bin picking and placing mechanism 4. The lifting mechanism 2 is arranged on the main body frame 1. The bin translation mechanism 3 reciprocates up and down on the lifting mechanism 2. The bin picking and placing mechanism 4 reciprocates back and forth on the bin translation mechanism 3. The bin pallet positioning mechanism 5 is arranged at the bottom of the main body frame 1. The device is arranged at the material inlet end of the roller conveyor system, and the roller line 8 extends into the device. According to the requirements of the picking and placing task, the material bin 9 is picked and placed from the bin pallet 60 onto the roller line 8 or from the roller line 8 onto the bin pallet 60 through the bin translation mechanism 3. Four floating support plates 7 for the bin pallet are arranged on the ground inside the device, mainly reducing the acting force during the positioning of the fully loaded bin pallet, effectively protecting the support legs of the material pallet, and extending the service life of the bin pallet 6. The side wall of the bin is formed with a flange 61 for easy handling.

[0047] As Figure 14 shown, the main body frame 1 is composed of a left vertical frame 10, a top frame 11, and a right vertical frame 12. Linear guide rails 13 are installed on the inner side surfaces of the left and right vertical frames for guiding. The installation position for the lifting mechanism 2 is reserved on the upper plane of the top frame 11.

[0048] As Figures 5-7As shown in the figure, the bin pallet positioning mechanism 5 includes a left positioning structure 51 and a right positioning structure 52. Both the left positioning structure 51 and the right positioning structure 52 include a push rod structure 521, a positioning push plate 522, and a V-shaped floating guiding and positioning block 523. The push rod structure 521 is fixed on the main body frame 1. The positioning push plate 522 is arranged at the output end of the push rod structure 521. The V-shaped floating guiding and positioning blocks 523 are rotatably arranged at both ends on the right side of the positioning push plate 522. A rotating shaft 513 is provided at the bottom of the V-shaped floating guiding and positioning block 523, and a return torsion spring 512 is arranged on the rotating shaft 513. The push rod structure 521 includes a rack push rod motor 524, a guiding telescopic shaft 525, and a mounting plate 526. The rack of the rack push rod motor 524 is fixedly connected to the positioning push plate 522. Two guiding telescopic shafts 525 are located on both sides of the rack of the rack push rod motor 524. One end of the guiding telescopic shaft 525 is fixedly connected to the positioning push plate 522, and the other end is connected to the mounting plate 526. The mounting plate 526 is fixed on the main body frame 1.

[0049] As Figure 11 shown in the figure, the lifting mechanism 2 includes a servo reduction motor 21, a driving chain 22, a transmission shaft 23, a lifting chain sprocket 24, a lifting chain 25, and a chain driven sprocket 26. The transmission shaft 23 is arranged at the top of the main body frame 1. The lifting chain sprockets 24 are arranged at both ends of the transmission shaft 23. The chain driven sprocket 26 is arranged at the bottom of the lifting chain sprocket 24. The lifting chain 25 is arranged on the lifting chain sprocket 24 and the chain driven sprocket 26. The servo reduction motor 21 is arranged at the top of the main body frame 1. The servo reduction motor 21 drives the transmission shaft 23 through the driving chain 22. Both ends of the lifting chain 25 are respectively connected to the bin translation mechanism 3 to form a connection closed loop.

[0050] As Figure 2 shown in the figure, the bin translation mechanism 3 includes a translation slide rail 31 and a translation plate 32 sliding on the translation slide rail 31.

[0051] As Figures 8-10 shown in the figure, the bin picking and placing mechanism 4 includes a left clamping member 41 and a right clamping member 42. Both the left clamping member 41 and the right clamping member 42 include a picking and placing slide rail 411 arranged on the translation slide rail 31 and a picking and placing fork 412 sliding on the picking and placing slide rail 511. The sliding direction of the picking and placing fork 412 is sliding in the left-right direction. The picking and placing fork 412 includes a cross plate 416, a vertical plate 413, and a bottom plate 414. The bottom plate 414 is connected to the vertical plate 413. The cross plate 416 is located at the top of the vertical plate 413 and is slidably connected to the slide rail 411. Between the cross plate 416 and the vertical plate 413, and between the vertical plate 413 and the bottom plate 414, they are vertically connected. A reinforcing plate 415 is also provided. The reinforcing plate 415 is located between the vertical plate 413 and the bottom plate 414.

[0052] Working principle: As Figures 1-14 shown, when the AGV 50 carries a full or empty bin pallet 60 into the bin pallet positioning mechanism 5, the rack push rod motor 524 of the bin pallet positioning mechanism 5 drives the positioning push plate 522 to extend from both sides. The V-shaped floating guide positioning block 523 is in a V-shaped state in the initial state. During the movement, the V-shaped floating guide positioning block 523 rotates around the rotating shaft 513, generating a thrust perpendicular to the moving direction of the positioning push plate 522. When the positioning push plate 522 reaches the position, the V-shaped floating guide positioning block 523 becomes an L-shaped state and fits with the four corners of the bin pallet 60, completing the centering positioning of the bin pallet 60. Then, when depalletizing is required, the servo reduction motor 21 of the lifting mechanism 2 drives the transmission shaft 23 through the chain 15. The transmission shaft 23 drives the chain 18 to rotate, thereby driving the bin translation mechanism to reciprocate up and down, realizing the lifting movement of the bin translation mechanism 3, and thus completing the up and down movement of the bin 500. The reciprocating movement of the translation plate 32 is driven by the translation slide rail 31, thereby completing the front and back movement of the bin 500. The left and right movement of the pick-and-place fork 412 is completed through the pick-and-place slide rail 511, thereby completing the movement of the bin from the roller line to the bin pallet 60 or from the roller line to the bin pallet 60, so as to realize the automatic out-of-storehouse depalletizing of the whole stack of bins 500, the piecemeal bins are stored in the warehouse and palletized one by one, improving the utilization rate of the flat warehouse storage space, saving labor, and operating efficiently and stably.

[0053] Embodiment 2

[0054] As Figures 12-13 shown, different from Embodiment 1, a turning mechanism 6 is further provided on the side of the bottom plate 414. The turning mechanism 6 includes a driving electric push rod 61, a rack 62, a gear 63, a rotating shaft 64, a rotating bearing 65, and a connecting block 66. The rotating shaft 64 is arranged at the rear side of the bottom plate 414. The gear 63 is arranged at one end of the rotating shaft 64. The rotating bearing 65 is arranged at the other end of the rotating shaft 64. The connecting block 66 is fixedly connected with the vertical plate 413 and fixedly connected with the outer ring of the rotating bearing 65. The rack 62 meshes with the gear 63. The push rod end of the driving electric push rod 61 is fixedly connected with the rack 62, and the motor end of the driving electric push rod 61 is fixed on the side wall of the bottom plate 414. A flush transition plate 67 is fixedly arranged on the upper surface of the bottom plate 414. A plurality of compression springs 671 are arranged in an array on the top of the flush transition plate 67. An extrusion plate 672 is arranged at the top end of the compression spring 671.

Claims

1. A pallet self-positioning floor-mounted de-palletizing and palletizing device, characterized in that It includes a main frame (1), a lifting mechanism (2), a bin translation mechanism (3), a bin tray positioning mechanism (5), and a bin picking and placing mechanism (4). The lifting mechanism (2) is arranged on the main frame (1). The bin translation mechanism (3) reciprocates up and down on the lifting mechanism (2). The bin picking and placing mechanism (4) reciprocates back and forth on the bin translation mechanism (3). The bin tray positioning mechanism (5) is arranged at the bottom of the main frame (1).

2. The self-positioning floor palletizing and depalletizing device according to claim 1, characterized in that, The bin tray positioning mechanism (5) includes a left positioning structure (51) and a right positioning structure (52). Both the left positioning structure (51) and the right positioning structure (52) include a push rod structure (521), a positioning push plate (522), and a V-shaped floating guide positioning block (523). The push rod structure (521) is fixed on the main frame (1). The positioning push plate (522) is arranged at the output end of the push rod structure (521). The V-shaped floating guide positioning blocks (523) are rotatably arranged at both ends on the right side of the positioning push plate (522).

3. A pallet self-positioning floor-mounted unpacking and palletizing device according to claim 2, characterized in that, A rotating shaft (513) is arranged at the bottom of the V-shaped floating guide positioning block (523), and a return torsion spring (512) is arranged on the rotating shaft (513).

4. A pallet self-positioning floor-mounted unpacking and palletizing device according to claim 2, characterized in that, The push rod structure (521) includes a rack push rod motor (524), a guiding telescopic shaft (525), and a mounting plate (526). The rack of the rack push rod motor (524) is fixedly connected to the positioning push plate (522). The two guiding telescopic shafts (525) are located on both sides of the rack of the rack push rod motor (524). One end of the guiding telescopic shaft (525) is fixedly connected to the positioning push plate (522), and the other end is connected to the mounting plate (526). The mounting plate (526) is fixed on the main frame (1).

5. A pallet self-positioning floor-mounted unpacking and palletizing device according to claim 1, characterized in that, The lifting mechanism (2) includes a servo reduction motor (21), a driving chain (22), a transmission shaft (23), a lifting chain sprocket (24), a lifting chain (25), and a chain driven sprocket (26). The transmission shaft (23) is arranged at the top of the main frame (1). The lifting chain sprockets (24) are arranged at both ends of the transmission shaft (23). The chain driven sprocket (26) is arranged at the bottom of the lifting chain sprocket (24). The lifting chain (25) is arranged on the lifting chain sprocket (24) and the chain driven sprocket (26). The servo reduction motor (21) is arranged at the top of the main frame (1). The servo reduction motor (21) drives the transmission shaft (23) through the driving chain (22). Both ends of the lifting chain (25) are respectively connected to the bin translation mechanism (3) to form a connection closed loop.

6. A pallet self-positioning floor-mounted unstacking and stacking device according to claim 5, characterized in that, The bin translation mechanism (3) includes a translation slide rail (31) and a translation plate (32) sliding on the translation slide rail (31).

7. A pallet self-positioning floor-mounted unpacking and palletizing device according to claim 6, characterized in that, The bin picking and placing mechanism (4) includes a left clamping member (41) and a right clamping member (42). Both the left clamping member (41) and the right clamping member (42) include a picking and placing slide rail (411) arranged on the translation slide rail (31) and a picking and placing fork (412) sliding on the picking and placing slide rail (511).

8. A pallet self-positioning floor-mounted de-palletizing and palletizing device according to claim 7, characterized in that, The fork (412) for picking and placing goods includes a horizontal plate (416), a vertical plate (413), and a bottom plate (414). The bottom plate (414) is connected to the vertical plate (413). The horizontal plate (416) is located at the top of the vertical plate (413) and is slidably connected to the slide rail (411).

9. The pallet self-positioning floor-mounted de-palletizing and palletizing device according to claim 8, characterized in that, A turnover mechanism (6) is further provided on the side of the bottom plate (414). The turnover mechanism (6) includes a driving electric push rod (61), a rack (62), a gear (63), a rotating shaft (64), a rotating bearing (65), and a connecting block (66). The rotating shaft (64) is provided at the rear side of the bottom plate (414). The gear (63) is provided at one end of the rotating shaft (64). The rotating bearing (65) is provided at the other end of the rotating shaft (64). The connecting block (66) is fixedly connected to the vertical plate (413) and is fixedly connected to the outer ring of the rotating bearing (65). The rack (62) is engaged with the gear (63). The push rod end of the driving electric push rod (61) is fixedly connected to the rack (62), and the motor end of the driving electric push rod (61) is fixed on the side wall of the bottom plate (414).

10. A pallet self-positioning floor-mounted unpacking and palletizing device according to claim 9, characterized in that, A flush transition plate (67) is fixed on the upper surface of the bottom plate (414). A plurality of compression springs (671) are arrayed at the top of the flush transition plate (67). An extrusion plate (672) is provided at the top end of the compression spring (671).

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