A standard grabbing device for a pallet exchange system and a grabbing method thereof

Abstract

The present invention discloses a standard gripping device for a pallet exchange system and a gripping method thereof, which relate to the field of pallet gripping devices. A standard gripping device for a pallet exchange system comprises a first bottom plate which can be horizontally moved. The present invention provides a guiding arm, which can first guide the pallet through the contact arm when gripping the pallet, so that the pallet is straightened and enters the card slot, which is convenient for the clamp hook to grip. When stacking the pallet, the position of the pallet below is corrected by the inclined guiding arm on the rotated guiding arm, which can make the skewed pallet below be straightened, thereby facilitating the gripped pallet not to be skewed when being stacked, thereby improving the stacking quality. At the same time, the device can also automatically mark the sequence on the side of the pallet below when stacking, thereby facilitating the unified marking of the pallets gripped by the gripping device there, which is convenient for subsequent warehouse management.

Description

Technical Field

[0001] The present invention belongs to the technical field of pallet grabbing devices, and in particular relates to a standard grabbing device for a pallet exchange system. Background Art

[0002] During the production process, pallets can be used to collect and stack materials and facilitate transportation. Therefore, pallets are often used in the production process of enterprises. Pallets vary in size and are mainly set according to actual production needs. Pallets need to be handled by a gripping device in the production line to exchange them between workstations and processes. Therefore, it is necessary to design a gripping device that can be used for pallet exchange and efficiently grip pallets.

[0003] However, due to the deviation in the placement of some pallets, the existing pallet exchange grasping device will find it difficult to grasp them accurately and quickly, resulting in poor grasping effect and even causing the grasped pallet to tip over. In addition, when stacking and placing after grasping, the existing grasping device is difficult to align with the pallet below, resulting in skewed stacking. For this reason, a standard grasping device for a pallet exchange system is proposed. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to overcome the deficiencies of the prior art and provide a standard gripping device for a pallet exchange system that can overcome the above problems or at least partially solve the above problems.

[0005] To solve the above technical problems, the basic concept of the technical solution adopted by the present invention is as follows: a standard grasping device for a pallet exchange system, comprising a first base plate capable of horizontal transverse movement, and further comprising: a second base plate arranged to be lifted and lowered on the first base plate, a third base plate connected below the second base plate, a first clamping cylinder and a second clamping cylinder mounted on either side of the third base plate, respectively, the telescopic ends of the first clamping cylinder and the second clamping cylinder being fixedly connected to mounting plates, and clamping hooks being fixedly connected on either side of the mounting plates, the clamping hooks corresponding to grooves provided at both ends of the pallet; a connecting frame mounted on either side of the length direction of the third base plate, a mounting block mounted on the connecting frame, the mounting block having a downwardly opening slot corresponding to the wall thickness of the pallet; a first mounting slot provided on the mounting block; a guide arm rotatably connected to the first mounting slot via a torsion spring, the guide arm being provided with a contact arm, a vertical arm, and an inclined guide arm, for correcting the position of the pallet when grasping the pallet, and automatically aligning the pallet below via the inclined guide arm when stacking the pallet.

[0006] Preferably, a downward cylinder is installed on the first bottom plate, the telescopic end of the downward cylinder is connected to the second bottom plate, the first guide rod is symmetrically fixedly connected to the second bottom plate, and the first guide rod is slidably connected to the first bottom plate.

[0007] Furthermore, an electric slide is installed on the second base plate, a connecting plate is installed on the slide seat on the electric slide, the connecting plate is connected to the first clamping cylinder, and an avoidance groove is provided on the third base plate near the first clamping cylinder, and the first clamping cylinder slides in the avoidance groove; the second guide rod is symmetrically fixedly connected to the third base plate, and a slider is symmetrically fixedly connected to the connecting plate, and the slider is slidably connected to the second guide rod.

[0008] Furthermore, a marking component is provided for automatically marking the sequence of the side walls of the pallet below when the pallet is grabbed and stacked.

[0009] Preferably, the marking assembly includes a second mounting groove provided on the vertical arm, in which a marking stamp is slidably connected, so that after the pallet is grabbed, the vertical arm and the side wall of the pallet are horizontal, and the marking stamp is driven to extend from the second mounting groove and contact the side wall of the pallet during the stacking process.

[0010] Preferably, a second slide bar is connected to one side of the marking stamp, the second slide bar is slidably connected to the vertical arm, the second slide bar is fixedly connected to the end away from the marking stamp with a second wedge block, and a spring is provided on the second slide bar located between the second wedge block and the vertical arm; it also includes a first wedge block, when the pallet is stacked, the first wedge block moves up and contacts the second wedge block, so that the second slide bar pushes the marking stamp to extend from the second mounting slot.

[0011] Preferably, the mounting block is slidably connected to a first sliding rod, one end of the first sliding rod is located in a slot, the first sliding rod is fixedly connected to a fixing ring, the fixing ring is connected to the mounting block by a tension spring, the first sliding rod is fixedly connected to a first connecting rod, the first connecting rod is rotatably connected to a second connecting rod by a torsion spring, the mounting block is fixedly connected to a fixing block, the first connecting rod and the second connecting rod are slidably connected to the fixing block, and the first wedge block is fixedly connected to the end of the second connecting rod.

[0012] Furthermore, a piston cylinder is fixedly connected to the side of the vertical arm away from the second mounting groove, a piston rod is slidably connected in the piston cylinder, one end of the piston rod is fixedly connected to the second wedge block, and a suction pipe and a discharge pipe are fixedly connected to the piston cylinder respectively, and a one-way valve is provided on the suction pipe and the discharge pipe, and the discharge pipe leads to the second mounting groove.

[0013] A grasping method for a standard grasping device of a pallet exchange system mainly comprises the following steps:

[0014] S1. The first base plate is moved above the pallet to be grasped, and the clamping hooks are driven to approach the two sides of the pallet by the downward movement of the cylinder, and the mounting blocks are made close to the wall thickness of the pallet;

[0015] S2. When the guide arm approaches the pallet, the pallet is calibrated and aligned, and the wall thickness of the pallet enters the slot to limit the pallet, and then the clamping hooks clamp the two ends of the pallet;

[0016] S3. The grabbed pallet moves to the stacking area. When stacking, the position of the pallet below is corrected and straightened by tilting the guide arm. Then the clamping hook separates from the pallet, completing the grabbing and stacking of the pallet.

[0017] After adopting the above technical scheme, the present invention has the following beneficial effects compared with the prior art: the present invention sets a guide arm, which can first guide the pallet through the contact arm when grabbing the pallet, so that the pallet is straightened and enters the card slot, which is convenient for the clamp hook to grab, and when stacking the pallet, the position of the pallet below is corrected by the inclined guide arm on the rotated guide arm, which can make the skewed pallet below straighten its position, thereby facilitating the grabbed pallet not to be skewed during stacking, thereby improving the stacking quality. At the same time, the device can also automatically mark the sequence on the side of the pallet below during stacking, thereby facilitating the unified marking of the pallets grabbed by the grabbing device at this location, and facilitating subsequent warehouse management. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In the attached figure:

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of a standard gripping device for a pallet exchange system proposed by the present invention;

[0020] Figure 2 This is a schematic structural diagram of an electric slide of a standard gripping device for a pallet exchange system proposed by the present invention;

[0021] Figure 3 This is a schematic structural diagram of the first clamping cylinder and the second clamping cylinder of a standard gripping device for a pallet exchange system proposed by the present invention;

[0022] Figure 4 This is a front view of a standard gripping device for a pallet exchange system proposed by the present invention;

[0023] Figure 5 This is a right side view of a standard gripping device for a pallet exchange system proposed by the present invention;

[0024] Figure 6This is a structural schematic diagram of a connecting frame of a standard gripping device for a pallet exchange system proposed by the present invention;

[0025] Figure 7 This is a schematic structural diagram of a clamping hook of a standard gripping device for a pallet exchange system proposed by the present invention;

[0026] Figure 8 This is a schematic structural diagram of the contact arm, vertical arm, and inclined guide arm of a standard gripping device for a pallet exchange system proposed by the present invention;

[0027] Figure 9 This is a structural schematic diagram of a card slot of a standard gripping device of a pallet exchange system proposed by the present invention;

[0028] Figure 10 This is a schematic structural diagram of a piston cylinder of a standard gripping device for a pallet exchange system proposed by the present invention;

[0029] Figure 11 This is a schematic diagram of pallet exchange, grabbing and stacking.

[0030] In the figure: 1, first base plate; 11, lowering cylinder; 111, threaded seat; 12, first guide rod; 13, second base plate; 131, electric slide; 132, slide seat; 133, connecting plate; 134, first clamping cylinder; 1341, mounting plate; 1342, clamping hook; 135, second guide rod; 136, slide block; 137, second clamping cylinder; 14, third base plate; 140, avoidance groove; 15, tray; 151, wall thickness; 152, groove; 16, connecting frame; 160, mounting block; 161, slot; 16 2. First slide bar; 163. Fixed ring; 164. Tension spring; 165. First connecting rod; 1651. Fixed block; 1652. Second connecting rod; 166. First wedge block; 17. Guide arm; 1700. First mounting groove; 171. Contact arm; 172. Vertical arm; 173. Inclined guide arm; 174. Second mounting groove; 175. Marking stamp; 176. Second slide bar; 177. Spring; 178. Second wedge block; 18. Piston cylinder; 181. Piston rod member; 182. Suction tube; 183. Discharge tube. DETAILED DESCRIPTION

[0031] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention but are not used to limit the scope of the present invention.

[0032] Example 1: Reference Figures 1-11, a standard gripping device for a pallet exchange system includes a first base plate 1 that can be moved horizontally, and also includes: a second base plate 13 that is lifted and lowered on the first base plate 1, a third base plate 14 is connected below the second base plate 13, a first clamping cylinder 134 and a second clamping cylinder 137 are respectively installed on both sides of the third base plate 14, and a mounting plate 1341 is fixedly connected to the telescopic ends of the first clamping cylinder 134 and the second clamping cylinder 137, and clamping hooks 1342 are fixedly connected on both sides of the mounting plate 1341, and the clamping hooks 1342 correspond to the grooves 152 set at both ends of the pallet 15; the connecting frames 16 are respectively installed on the third base plate Mounting blocks 160 are mounted on the connecting frame 16 on both sides of the length direction of the plate 14. The mounting blocks 160 are provided with downward-opening slots 161 for corresponding to the wall thickness 151 of the tray 15. A first mounting slot 1700 is provided on the mounting block 160. A guide arm 17 is rotatably connected to the first mounting slot 1700 via a torsion spring. The guide arm 17 is provided with a contact arm 171, a vertical arm 172, and an inclined guide arm 173 for correcting the position of the tray 15 when grabbing it. When the trays 15 are stacked, the inclined guide arm 173 is used to automatically align the trays 15 below.

[0033] A downward cylinder 11 is mounted on the first base plate 1, and the telescopic end of the downward cylinder 11 is connected to the second base plate 13. A first guide rod 12 is symmetrically fixedly connected to the second base plate 13, and the first guide rod 12 is slidably connected to the first base plate 1;

[0034] An electric slide 131 is installed on the second base plate 13, and a connecting plate 133 is installed on the slide seat 132 on the electric slide 131. The connecting plate 133 is connected to the first clamping cylinder 134. An avoidance groove 140 is opened near the third base plate 14 to the first clamping cylinder 134, and the first clamping cylinder 134 slides in the avoidance groove 140; a second guide rod 135 is symmetrically fixedly connected to the third base plate 14, and a slider 136 is symmetrically fixedly connected to the connecting plate 133. The slider 136 is slidably connected to the second guide rod 135. The electric slide 131 can easily change the distance between the first clamping cylinder 134 and the second clamping cylinder 137, so as to facilitate the grabbing of pallets 15 of different lengths;

[0035] When the device is in use, the threaded seats 111 on both sides of the first base plate 1 are connected to the screw threads provided, so that the first base plate 1 can be moved horizontally; therefore, when in use, the first base plate 1 is driven by the screw to approach the pallet 15, and the second base plate 13 and the third base plate 14 are pushed downward by the downward cylinder 11, so that the clamping hooks 1342 are located on both sides of the pallet 15, and then the first clamping cylinder 134 and the second clamping cylinder 137 drive the mounting plate 1341 to approach the side of the pallet 15, so that the clamping hooks 1342 on the mounting plate 1341 enter the grooves 152 provided at both ends of the pallet 15, and then the pallet 15 is grabbed by the first clamping cylinder 134 and the second clamping cylinder 137;

[0036] In addition, when the second bottom plate 13 and the third bottom plate 14 are close to the tray 15, the guide arm 17 (see FIG. Figure 9 ), the contact arm 171 will first contact the upper surface of the wall thickness 151 of the tray 15. Since the contact arm 171 is inclined when the guide arm 17 is in the initial state, the position of the tray 15 can be automatically corrected when the contact arm 171 contacts the wall thickness 151 of the tray 15, so that the tray 15 is in the correct position. When the tray 15 is in the correct position, the continuous downward movement of the third base plate 14 will cause the wall thickness 151 of the tray 15 to enter the clamping groove 161, and then the tray 15 after the correct position is limited by the multiple mounting blocks 160 provided on both sides of the third base plate 14, thereby facilitating the first clamping cylinder 134 and the second clamping cylinder 137 to drive the clamping hook 1342 to stably grasp the tray 15, and there is no need to worry about the situation where the tray 15 cannot be effectively grasped due to the skewness of the tray 15. After the tray 15 is grasped, the downward cylinder 11 pulls the tray 15 up;

[0037] After the pallet 15 is grabbed, the screw is rotated to drive the first base plate 1 to move to one side. After moving to the stacking area, the telescopic end of the downward cylinder 11 is extended again, so that the pallet 15 is close to the pallet 15 in the stacking area. During the approach process, the inclined guide arm 173 on the guide arm 17 will calibrate the position of the pallet 15 below, so that the tilted pallet 15 below can be straightened, thereby facilitating the stacking of the grabbed pallet 15 without tilting, thereby improving the stacking quality.

[0038] Example 2: Reference Figures 1-10 A standard grabbing device for a pallet exchange system is substantially the same as that of Example 1, and further comprises a marking component for automatically marking the position of the side wall of the lower pallet 15 when stacking the pallet 15 after grabbing it;

[0039] The marking assembly includes a second mounting slot 174 formed on the vertical arm 172. A marking stamp 175 is slidably connected to the second mounting slot 174. After the pallet 15 is grasped, the vertical arm 172 is aligned with the side wall of the pallet 15 and is driven to extend from the second mounting slot 174 and contact the side wall of the pallet 15 during the stacking process.

[0040] A second slide bar 176 is connected to one side of the marking stamp 175. The second slide bar 176 and the marking stamp 175 are connected by screws, which makes it easy to replace the marking stamp 175. The second slide bar 176 is slidably connected to the vertical arm 172. The end of the second slide bar 176 away from the marking stamp 175 is fixedly connected to the second wedge block 178. A spring 177 is sleeved on the second slide bar 176 located between the second wedge block 178 and the vertical arm 172; the first wedge block 166 is also included. When the pallets 15 are stacked, the first wedge block 166 moves up and contacts the second wedge block 178, so that the second slide bar 176 pushes the marking stamp 175 out of the second mounting slot 174.

[0041] A first sliding rod 162 is slidably connected to the mounting block 160, one end of the first sliding rod 162 is located in the slot 161, a fixing ring 163 is fixedly connected to the first sliding rod 162, and the fixing ring 163 is connected to the mounting block 160 via a tension spring 164, a first connecting rod 165 is fixedly connected to the first sliding rod 162, and a second connecting rod 1652 is rotatably connected to the first connecting rod 165 via a torsion spring, a fixing block 1651 is fixedly connected to the mounting block 160, the first connecting rod 165 and the second connecting rod 1652 are slidably connected to the fixing block 1651, and a first wedge block 166 is fixedly connected to the end of the second connecting rod 1652;

[0042] A piston cylinder 18 is fixedly connected to the side of the vertical arm 172 away from the second mounting groove 174. A piston rod 181 is slidably connected to the piston cylinder 18. One end of the piston rod 181 is fixedly connected to the second wedge block 178. A liquid suction pipe 182 and a liquid discharge pipe 183 are fixedly connected to the piston cylinder 18. Both the liquid suction pipe 182 and the liquid discharge pipe 183 are provided with a one-way valve. The liquid discharge pipe 183 leads to the second mounting groove 174. A liquid storage box is provided on the third bottom plate 14, and the liquid suction pipe 182 leads to the liquid storage box.

[0043] When the guide arm 17 is tilted in the initial state, one end of the second slide bar 176 pushes the second connecting bar 1652 to rotate (refer to Figure 9 ), and when the tray 15 is grabbed, the contact arm 171 of the guide arm 17 approaches the first mounting groove 1700, so that the vertical arm 172 and the first connecting rod 165 tend to be perpendicular. At this time, the second connecting rod 1652 is horizontal with the first connecting rod 165 under the influence of the torsion spring (refer to Figure 10), and then after the pallet 15 is stacked, the downward cylinder 11 moves downward again for a stroke, so that the wall thickness 151 of the pallet 15 pushes the first slide bar 162 to move upward, pulling the tension spring 164 while driving the first connecting rod 165 and the second connecting rod 1652 to move upward, so that the rotation point between the first connecting rod 165 and the second connecting rod 1652 enters the fixed block 1651, so that the second connecting rod 1652 cannot rotate on the first connecting rod 165, so it will pull the first wedge block 166 to push the second wedge block 178, so that the marking stamp 175 extends from the second mounting groove 174, marking the sequence of the side of the pallet 15 below, thereby facilitating the unified marking of the pallets 15 grabbed by the grabbing device at this location, and facilitating subsequent warehouse management;

[0044] The marking stamp 175 is water-absorbent, so when the second slide rod 176 slides, the second wedge block 178 pushes the piston rod 181 to squeeze the marking liquid in the piston cylinder 18, and sprays it from the liquid outlet pipe 183 to the marking stamp 175 located in the second mounting groove 174, thereby achieving the function of automatically replenishing the marking liquid and avoiding the mark left by the marking stamp 175 from fading due to long-term marking.

[0045] Example 3: Reference Figures 1-11 A method for grasping a standard grasping device of a pallet exchange system mainly includes the following steps:

[0046] S1. The first base plate 1 is moved above the pallet 15 to be grasped, and the downward cylinder 11 drives the clamping hooks 1342 to approach the two sides of the pallet 15, and the mounting block 160 is moved close to the wall thickness 151 of the pallet 15;

[0047] S2. When the guide arm 17 approaches the tray 15, the tray 15 is calibrated and aligned, and the wall thickness 151 of the tray 15 enters the slot 161 to limit the position of the tray 15. Then, the clamping hooks 1342 clamp the two ends of the tray 15.

[0048] S3. The grabbed pallet 15 moves to the stacking area. When stacking, the position of the pallet 15 below is corrected and straightened by the tilting guide arm 173. Then the clamping hook 1342 separates from the pallet 15, completing the grabbing and stacking of the pallet 15.

[0049] The present invention provides a guide arm 17, which can first guide the pallet 15 through the contact arm 171 when grabbing the pallet 15, so that the pallet 15 is straightened and enters the card slot 161, which is convenient for the clamping hook 1342 to grab. When the pallet 15 is stacked, the position of the lower pallet 15 is corrected by the inclined guide arm 173 on the rotated guide arm 17, which can make the skewed pallet 15 below straighten its position, thereby facilitating the grabbed pallet 15 not to be skewed during stacking, thereby improving the stacking quality. At the same time, the device can also automatically mark the sequence on the side of the lower pallet 15 during stacking, thereby facilitating unified marking of the pallets 15 grabbed by the grabbing device at that location, and facilitating subsequent warehouse management.

[0050] The above description is merely a preferred embodiment of the present invention and does not constitute any form of limitation to the present invention. Although the present invention has been disclosed as above in terms of a preferred embodiment, it is not intended to limit the present invention. Any technician familiar with the present invention can make slight changes or modifications to equivalent embodiments using the above-mentioned technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the solution of the present invention.

Claims

1. A standard gripping device for a pallet exchange system, comprising a first bottom plate (1) capable of horizontal transverse movement, characterized in that: Also includes: A second bottom plate (13) is provided on the first bottom plate (1) and is lifted up and down. A third bottom plate (14) is connected below the second bottom plate (13). A first clamping cylinder (134) and a second clamping cylinder (137) are respectively installed on both sides of the third bottom plate (14). The telescopic ends of the first clamping cylinder (134) and the second clamping cylinder (137) are fixedly connected to mounting plates (1341). Clamping hooks (1342) are fixedly connected to both sides of the mounting plate (1341). The clamping hooks (1342) correspond to the grooves (152) provided at both ends of the tray (15); A connecting frame (16) is mounted on both sides of the third bottom plate (14) in the longitudinal direction, and a mounting block (160) is mounted on the connecting frame (16). The mounting block (160) is provided with a downwardly opening slot (161) for corresponding to the wall thickness (151) of the tray (15); A first mounting groove (1700) is provided on the mounting block (160); A guide arm (17) is rotatably connected to the first mounting slot (1700) via a torsion spring, and a contact arm (171), a vertical arm (172), and an inclined guide arm (173) are provided on the guide arm (17) for correcting the position of the tray (15) when the tray (15) is grabbed, and for automatically aligning the lower tray (15) via the inclined guide arm (173) when the tray (15) is stacked; It also includes a marking component for automatically marking the sequence of the side wall of the tray (15) below when the tray (15) is grabbed and stacked; The marking assembly includes a second mounting groove (174) provided on the vertical arm (172), wherein a marking stamp (175) is slidably connected to the second mounting groove (174), so that after the pallet (15) is grabbed, the vertical arm (172) and the side wall of the pallet (15) are in a horizontal position, and during the stacking process, the marking stamp (175) is driven to extend from the second mounting groove (174) and contact the side wall of the pallet (15); A second slide bar (176) is connected to one side of the marking stamp (175), and the second slide bar (176) is slidably connected to the vertical arm (172). An end of the second slide bar (176) away from the marking stamp (175) is fixedly connected to a second wedge block (178), and a spring (177) is sleeved on the second slide bar (176) located between the second wedge block (178) and the vertical arm (172); It also includes a first wedge block (166). When the trays (15) are stacked, the first wedge block (166) moves upward to contact the second wedge block (178), so that the second slide bar (176) pushes the marking stamp (175) to extend from the second installation slot (174).

2. A standard gripping device for a pallet exchange system according to claim 1, characterized in that: A downward cylinder (11) is installed on the first base plate (1), and the telescopic end of the downward cylinder (11) is connected to the second base plate (13). A first guide rod (12) is symmetrically fixedly connected to the second base plate (13), and the first guide rod (12) is slidably connected to the first base plate (1).

3. A standard gripping device for a pallet exchange system according to claim 2, characterized in that: An electric slide (131) is installed on the second base plate (13), a connecting plate (133) is installed on the slide seat (132) on the electric slide (131), the connecting plate (133) is connected to the first clamping cylinder (134), and an avoidance groove (140) is provided on the third base plate (14) near the first clamping cylinder (134), and the first clamping cylinder (134) slides in the avoidance groove (140); A second guide rod (135) is symmetrically fixedly connected to the third bottom plate (14), a slider (136) is symmetrically fixedly connected to the connecting plate (133), and the slider (136) is slidably connected to the second guide rod (135).

4. A standard gripping device for a pallet exchange system according to claim 1, characterized in that: The mounting block (160) is slidably connected to a first slide bar (162), one end of the first slide bar (162) is located in a slot (161), a fixing ring (163) is fixedly connected to the first slide bar (162), the fixing ring (163) is connected to the mounting block (160) via a tension spring (164), a first connecting rod (165) is fixedly connected to the first slide bar (162), a second connecting rod (1652) is rotatably connected to the first connecting rod (1655) via a torsion spring, a fixing block (1651) is fixedly connected to the mounting block (160), the first connecting rod (165) and the second connecting rod (1652) are slidably connected in the fixing block (1651), and the first wedge block (166) is fixedly connected to the end of the second connecting rod (1652).

5. A standard gripping device for a pallet exchange system according to claim 4, characterized in that: A piston cylinder (18) is fixedly connected to a side of the vertical arm (172) away from the second mounting groove (174), a piston rod (181) is slidably connected to the piston cylinder (18), one end of the piston rod (181) is fixedly connected to the second wedge block (178), and a liquid suction pipe (182) and a liquid discharge pipe (183) are fixedly connected to the piston cylinder (18), respectively. Both the liquid suction pipe (182) and the liquid discharge pipe (183) are provided with a one-way valve, and the liquid discharge pipe (183) leads to the second mounting groove (174).

6. A method for grasping a standard grasping device of a pallet exchange system, comprising the standard grasping device of a pallet exchange system according to claim 5, characterized in that: The main steps include: S1, the first base plate (1) is moved above the pallet (15) to be grasped, and the clamping hook (1342) is driven to approach the two sides of the pallet (15) by the downward cylinder (11), and the mounting block (160) is moved to approach the wall thickness (151) of the pallet (15); S2, when the guide arm (17) approaches the tray (15), the tray (15) is calibrated and aligned, and the wall thickness (151) of the tray (15) enters the slot (161), the tray (15) is limited, and then the clamping hook (1342) clamps the two ends of the tray (15); S3. The grabbed pallet (15) moves to the stacking area, and when stacking, the position of the pallet (15) below is corrected and aligned by the tilting guide arm (173), and then the clamping hook (1342) is separated from the pallet (15), completing the grabbing and stacking of the pallet (15).

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