A pulp wharf intelligent positioning hoist device and control method

Abstract

The application discloses a kind of paper pulp wharf intelligent positioning spreader device and control method, it is related to wharf spreader technical field.Device includes mechanical structure, vision module, electric control module and remote monitoring module: mechanical structure contains load upper frame and horizontally movable jaw unit, jaw unit integrates support assembly, drive assembly, guide assembly, spring-guide column type floating assembly, locking assembly, positioning assembly and clamping assembly, adapt to multiple specifications paper pulp bag and guarantee clamping stability;Vision module identifies paper pulp bag bundling steel wire position by camera and image processing unit;Electric control module is mainly controlled with programmable logic controller, linkage servo driver, sensor etc. to realize the accurate action of jaw.Control method realizes the automatic, precision, safety of paper pulp bag by remote / local scheduling, initial positioning, vision recognition offset, automatic centering, adaptive clamping, locking, hoisting release and other steps, improves operation efficiency and safety.

Description

Technical Field

[0001] This invention relates to the field of port spreader technology, and more specifically, to an intelligent positioning spreader device and control method for pulp terminals, which solves the pain points of low efficiency of manual positioning and realizes precise and unmanned operation of pulp loading and unloading. Background Technology

[0002] With the continued growth of global pulp trade and the rapid development of terminal automation technology, pulp terminals, as important logistics hubs, are placing higher demands on the precision, adaptability, and safety of loading and unloading equipment. As the core actuator that directly grips pulp bales, the performance of the gripper directly determines the terminal's operational efficiency, material loss rate, and operational safety level, making it a crucial link in achieving automated pulp loading and unloading.

[0003] Pulp bales are characterized by their diverse specifications and non-standard nature, with over 30 common sizes alone. Currently, the gripping operations at pulp terminals still face numerous technical bottlenecks: traditional grippers rely heavily on manual positioning, requiring operators to closely observe the gripping area and manually calibrate it. This not only results in time-consuming and inefficient single-bale operations but also poses safety hazards due to frequent proximity to the lifting equipment's operating area, such as collisions and compression. This approach does not align with the trend towards automation and unmanned operation at terminals.

[0004] At the equipment structure level, the design flaws of existing grippers further exacerbate operational pain points: the support components are mostly simple welded frames without topology optimization, making it difficult to balance strength and lightweight requirements; there is a lack of effective adjustment structures, making them unsuitable for various pulp bale sizes. In addition, existing grippers lack reliable auxiliary positioning structures, and positioning accuracy relies entirely on manual experience, failing to meet the high-intensity and high-precision operational requirements of modern pulp terminals.

[0005] In summary, current pulp terminal spreaders have significant shortcomings in terms of support stability, drive and guidance accuracy, multi-specification compatibility, safety protection performance, and automated positioning capabilities, which have become key bottlenecks restricting the improvement of pulp terminal operation efficiency and automation upgrades.

[0006] Based on the above situation and background, the present invention provides an intelligent positioning lifting device for pulp terminals, which aims to solve many defects of the prior art and promote the development of precision and automation in pulp terminal loading and unloading operations. Summary of the Invention

[0007] To address the shortcomings of existing methods, the present invention aims to provide an intelligent positioning spreader device and control method for pulp terminals. Through the organic collaboration of mechanical structure, electrical control module, vision module and remote monitoring module, it realizes automated, precise and safe loading and unloading of pulp bales, adapts to pulp bales of various sizes and complex operation scenarios, and solves the pain points of poor adaptability, reliance on manual positioning and high operation risk of traditional spreaders.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] On one hand, the present invention provides an intelligent positioning spreader device for pulp terminals, comprising:

[0010] A mechanical structure for performing the gripping and movement of pulp bales includes a support frame and at least one set of gripper units; the gripper units are horizontally movable along the support frame and are provided with a floating component to adapt to the height difference of the pulp bale surface, and a locking component for locking the translational degree of freedom after gripping;

[0011] The vision module is used to acquire image information of pulp bales, identify the features of their clamping parts, and calculate the offset of the grippers.

[0012] The electronic control module is connected to the mechanical structure and the vision module, and is used to receive the offset information from the vision module and control the gripper unit to complete the movement, centering and gripping actions.

[0013] The remote monitoring module is communicatively connected to the electrical control module and is used to remotely monitor the device status, receive operation data, and send control commands.

[0014] Furthermore, the gripper unit includes:

[0015] Support components, consisting of topology-optimized high-strength steel structures, are used to provide stable load-bearing capacity;

[0016] The drive component is used to drive the overall translation of the unit and the opening and closing of the clamping component;

[0017] The guide component is used in conjunction with the drive component to achieve overall translation along a preset trajectory;

[0018] The floating assembly, employing a spring-guide post structure, is designed to adapt to the height difference on the surface of the pulp bale.

[0019] The locking assembly is used to lock the translational freedom after the pulp bale is clamped, thus protecting the transmission mechanism;

[0020] The positioning component is used to position the steel wire of the pulp bale, thereby achieving precise positioning of the clamping component;

[0021] Clamping assembly for holding the wires on the pulp bale.

[0022] Furthermore, the supporting frame is composed of lifting lugs and a hoisting frame; the hoisting frame is a double-layer frame structure, with multiple sets of lifting lugs evenly distributed on its top for connecting external lifting devices; the hoisting frame includes an upper frame, connecting columns, and a lower frame; the upper frame is arranged parallel to the upper side of the lower frame, and the two are connected by multiple sets of connecting columns.

[0023] Furthermore, the hoisting frame is provided with a rack fixing plate, on which a rack plate is mounted for connection with the drive component on the gripper unit to achieve transmission; a protective cover plate is provided on the upper side of the rack plate to protect the drive component on the rack plate and the drive component.

[0024] Furthermore, the vision module includes a camera and an image processing unit, the image processing unit being used to process the images captured by the camera and identify the position of the binding wires of the pulp bales.

[0025] Furthermore, the electronic control module uses a programmable logic controller as the main control unit and is connected to a servo motor driver, an electromagnet controller, and various sensors; the sensors include a position sensor for detecting the position of the gripper, an angle sensor for monitoring the attitude of the lifting device, and an acceleration sensor.

[0026] Furthermore, the remote monitoring module includes a high-definition camera, a communication unit, and a host computer installed at key parts of the lifting device; the communication unit is used to transmit the operation screen, sensor data, and equipment status to the host computer, and to receive control commands issued by the host computer.

[0027] On the other hand, the present invention provides a control method for the intelligent positioning spreader device of the pulp terminal, comprising the following steps:

[0028] S1: Remotely or locally control the spreader to move it above the work area;

[0029] S2: The electronic control module controls each gripper unit to move along the load-bearing frame to the preset initial interval position;

[0030] S3: The vision module is activated to identify the features of the clamping part of the pulp bale below and calculate the offset of each gripper unit from the target clamping point.

[0031] S4: The electronic control module drives the gripper unit to perform horizontal fine-tuning according to the offset, so as to achieve automatic centering;

[0032] S5: After centering is completed, the electronic control module controls the gripper to open and lowers the lifting device so that the gripper contacts the pulp bale. The floating component adapts to the height of the pulp bale surface.

[0033] S6: The electronic control module controls the electromagnet on the positioning component to attract the binding wire of the pulp bale, and then controls the gripper to close and hold it.

[0034] S7: After the gripper is securely clamped, the locking component moves to lock the translational freedom of the gripper unit;

[0035] S8: Lift the hoist to transport the pulp bales to the target location.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] 1. This invention achieves automatic centering and clamping of the gripper through visual recognition and electronic control linkage, which greatly reduces manual intervention and improves work efficiency and safety.

[0038] 2. This invention adopts a modular mechanical design and multi-component collaboration, adapts to various specifications of pulp bales, has good height self-adaptation and position locking capabilities, and improves system stability and reliability.

[0039] 3. This invention supports remote monitoring and command issuance, which facilitates unmanned and intelligent terminal operations and conforms to the development trend of modern logistics automation.

[0040] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0041] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0043] Figure 2 This is a front view of the present invention.

[0044] Figure 3 This is the right view of the present invention.

[0045] Figure 4 This is a partial structural diagram of the present invention.

[0046] Figure 5 This is a right view of a partial structure of the present invention.

[0047] Figure 6 This is a schematic diagram of the gripper unit in this invention.

[0048] In the diagram: 1. Lifting lug; 2. Lifting frame; 21. Upper frame; 22. Connecting support column; 23. Lower frame; 3. Gripper unit; 31. Drive assembly; 32. Guide assembly; 33. Locking assembly; 34. Support assembly; 35. Floating assembly; 36. Clamping assembly; 37. Positioning assembly; 4. Rack plate; 5. Protective cover plate; 6. Rack fixing plate. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0050] Example 1: As Figures 1 to 6 As shown, a smart positioning spreader device for a pulp terminal includes a mechanical structure, a vision module, an electrical control module, and a remote monitoring module.

[0051] Among them, the mechanical structure serves as the core actuator, used to clamp and move pulp bales, including a support frame and at least one set of gripper units 3;

[0052] The supporting frame consists of lifting lugs 1 and a lifting frame 2. The lifting frame 2 adopts a double-layer frame structure, including an upper frame 21, connecting columns 22 and a lower frame 23. The upper frame 21 is parallel to the upper side of the lower frame 23 and is fixedly connected by multiple sets of connecting columns 22. Multiple sets of lifting lugs 1 are evenly distributed on the top for stable connection with external lifting equipment. A rack fixing plate 6 is fixedly installed on the lifting frame 2. A rack plate 4 is installed on the rack fixing plate 6. A protective cover plate 5 is installed on the upper side of the rack plate 4, which not only realizes the transmission cooperation with the gripper unit 3, but also protects the rack plate 4 and the driving components from dust and collision damage.

[0053] The gripper unit 3 can move horizontally along the rack plate 4 supporting the upper frame. Internally, it integrates a support assembly 34, a drive assembly 31, a guide assembly 32, a floating assembly 35, a locking assembly 33, a positioning assembly 37, and a clamping assembly 36. The support assembly 34 uses a topology-optimized high-strength steel structure, achieving lightweight design while ensuring load-bearing strength. The drive assembly 31 meshes with the rack plate 4 for transmission, driving the overall translation of the gripper unit 3 and the opening and closing of the clamping assembly 36. The guide assembly 32 uses a linear guide rail structure, working in conjunction with the drive... The moving component 31 enables the gripper unit 3 to move smoothly along a preset trajectory; the floating component 35 adopts a spring-guide column structure, which can adaptively extend and retract according to the height difference of the pulp bale surface to ensure that the clamping component 36 is in close contact with the surface of the pulp bale; the locking component 33 locks the translational freedom of the gripper unit 3 after clamping to avoid wear of the transmission mechanism due to displacement; the positioning component 37 uses an electromagnet to attract the binding wire of the pulp bale to achieve precise positioning of the clamping part; the clamping component 36 is used to stably clamp the binding wire on the pulp bale to prevent slippage.

[0054] The support component 34 includes a gripper connecting frame, a main support, hangers, clamping plates, trays, and reaming bolts c. Two pairs of clamping plates are symmetrically fixed to the top of the main support. A gripper connecting frame is parallel to the top of the main support. Integrated trays are symmetrically arranged on the left and right sides of the bottom of the gripper connecting frame, and the trays are inserted between the pairs of clamping plates. A vertically oriented strip groove b is provided inside the tray, and the reaming bolt c passes through the clamping plate and through the strip groove b to connect the tray and the clamping plate. Two sets of hangers are arranged parallel to each other at intervals at the bottom of the main support. Vertically oriented strip grooves a are provided on the hangers for the gripper pull rods to pass through. The gripper connecting frame and the main support are connected by a floating component 35, which adapts to the height difference of the pulp bale surface through relative displacement, avoiding unstable gripping or pulp damage caused by rigid contact.

[0055] The guide assembly 32 includes a channel steel, a grooved wheel, and a grooved wheel angle steel frame. The channel steel is fixed to the external lifting device. The grooved wheel angle steel frame has two sets, which are symmetrically installed on the top two sides of the upper frame of the gripper by bolts. The grooved wheel is assembled on the outside of the grooved wheel angle steel frame and rolls with the channel steel. It works with the drive assembly 31 to guide the whole to move along the preset trajectory, ensuring that the translation process is smooth and accurate.

[0056] The locking assembly 33 includes a locking rack bracket, a locking rack a, a locking rack fixing plate, and a locking rack b; the locking rack a is mounted on the locking rack fixing plate, which is welded to the bottom of the channel steel with its teeth facing upwards; the locking rack b is compatible with the specifications of the locking rack a and is mounted on the locking rack bracket with its teeth facing downwards; the bottom of the locking rack bracket is mounted on the main bracket by bolts.

[0057] The floating assembly 35 includes a support spring, a spring cover plate, a spring fixing bolt, and a support plate. The support plate is located inside the locking rack bracket and is fixed perpendicularly to the locking rack bracket. The spring is telescopically mounted on the support plate through the spring cover plate and the spring fixing bolt. The top of the spring cover plate and the bottom of the support plate are always in contact with each other. When stationary, the spring is completely relaxed. When unloaded, the spring supports its own weight to keep the locking rack a and locking rack b separated. After clamping the pulp bale, the locking rack a and locking rack b mesh with each other to achieve translational freedom locking.

[0058] The clamping assembly 36 includes a hinge lug, a hinge bolt b, a gripper connecting rod, a hinge bolt a, a gripper, and a reinforcing shaft. Two sets of hinge lugs are symmetrically fixed on the left and right sides of the bottom of the main support and located on the outside of the hanger. The gripper is openable and closable and located on the outside of the bottom of the hanger. The upper end of the gripper connecting rod is hinged to the hinge lug through the hinge bolt b, and the lower end is hinged to the gripper through the hinge bolt a, forming a transmission mechanism that transmits the power of the drive assembly 31 to the gripper through the gripper connecting rod, thereby realizing the opening and closing action of the gripper. The grippers on both sides are connected by a reinforcing shaft.

[0059] Drive assembly 31 includes a fixed bracket, transmission gear, worm gear reducer, servo motor a, gripper pull rod, servo motor b, and electric cylinder; the fixed bracket is bolted to the top of the gripper connection frame, the worm gear reducer is mounted on the fixed bracket, the servo motor a is connected to the worm gear reducer, the output end of the worm gear reducer is equipped with a transmission gear, the transmission gear meshes with the rack and pinion of the external lifting device to drive the overall translation;

[0060] The servo motor b drives the electric cylinder, which is installed inside the hanger. The output end of the electric cylinder is connected to the gripper rod through a Y-connector. The two ends of the gripper rod pass through the strip groove a on the hanger and are rotatably connected to the grippers on both sides to achieve stable opening and closing of the grippers.

[0061] The positioning component 37 includes a camera, an electromagnet, and a positioning block. The camera is installed at the bottom of the gripper lever to collect image information of the pulp bales, providing visual basis for positioning. The positioning block is a U-shaped structure, inverted and installed at the bottom of the hanger, used to support the hanger and for gripping and positioning. The electromagnet is located at the bottom of the gripper lever to assist in adsorbing and lifting the steel wire during the gripper closing process, ensuring that the gripper is accurately aligned with the pulp bale clamping position and ensuring the accuracy of automatic positioning. A proximity switch is provided on the side of the positioning block, which is electrically connected to the control component to sense whether the gripper has reached the designated position.

[0062] In this embodiment, the vision module includes a high-definition camera and an image processing unit. The camera is fixed at a key position of the lifting device to collect image information of pulp bales in the working area in real time. The image processing unit performs grayscale conversion, edge detection, feature extraction and other processing on the collected images to accurately identify the position of the binding wire of the pulp bales, i.e. the target clamping position. It also calculates the horizontal offset between the current position of each gripper unit 3 and the target clamping point through image coordinates and transmits the offset data to the electronic control module.

[0063] In this embodiment, the electrical control module uses a programmable logic controller (PLC) as the main control unit. It is connected to the drive component 31, locking component 33, positioning component 37 of the mechanical structure, as well as the vision module and remote monitoring module via wiring. The main control unit is connected to a servo motor driver, an electromagnet controller, and various sensors. The position sensor is used to detect the translational position of the gripper unit 3 in real time, while the tilt sensor and acceleration sensor are used to monitor the overall attitude and motion state of the lifting device. After receiving the offset data transmitted by the vision module, the electrical control module controls the drive component 31 to move through the servo motor driver, thereby achieving horizontal fine-tuning and centering of the gripper unit 3. At the same time, based on the position and attitude data fed back by the sensors, it coordinates and controls the electromagnet adsorption of the positioning component 37 and the opening and closing of the clamping component 36 to ensure precise linkage of the actions of each link.

[0064] In this embodiment, the remote monitoring module includes a high-definition camera installed at a key part of the lifting device, a wireless communication unit, and a host computer monitoring platform. The high-definition camera captures real-time operation footage, including gripper movements and pulp bale clamping status. The operation footage, equipment status data collected by sensors (such as gripper position, lifting device tilt angle, motor load, etc.), and operation data (such as number of operations and time per operation) are transmitted to the host computer in real time. The host computer can display the equipment operating status and operation progress. Operators can issue remote control commands through the host computer, such as starting the operation, adjusting the initial gripper interval, and emergency stop, to achieve remote monitoring and remote operation without requiring personnel to approach the work area.

[0065] Example 2: The present invention also provides a control method based on the above-mentioned intelligent positioning spreader device for pulp terminals, comprising the following steps:

[0066] S1: The operator sends a work instruction through the host computer of the remote monitoring module or the local control terminal to control the spreader to move the entire spreader to the work area above the target pulp bale. At this time, the tilt sensor and acceleration sensor provide real-time feedback on the spreader's attitude to ensure that the spreader moves smoothly.

[0067] S2: After receiving the start signal, the electronic control module controls each gripper unit 3 to move along the rack plate 4 that supports the upper frame to the preset initial interval position. The initial interval is preset according to the common pulp bale size and can be flexibly adjusted by the host computer.

[0068] S3: The vision module is activated. The high-definition camera captures image information of the pulp bales below and transmits it to the image processing unit. The image processing unit identifies the target clamping part of the binding wire of the pulp bales, calculates the horizontal offset between the current position of each gripper unit 3 and the corresponding target clamping point, and sends the offset data to the electronic control module.

[0069] S4: The PLC main control unit of the electronic control module controls the driving component 31 of each gripper unit 3 to move according to the offset data through the servo motor driver. The gripper unit 3 is driven to make horizontal fine adjustments along the guide component 32 until the gripping component 36 of the gripper unit 3 is aligned with the target gripping point, thus completing automatic centering. During this process, the position sensor provides real-time feedback on the gripper position, forming a closed-loop control.

[0070] S5: After centering is completed, the electronic control module controls the clamping component 36 to open and simultaneously controls the external lifting device to lower, so that the clamping component 36 of the gripper unit 3 is close to the surface of the pulp bale; during the lowering process, the spring-guide column of the floating component 35 adaptively extends and retracts according to the height difference of the pulp bale surface to ensure that the clamping component 36 makes stable contact with the surface of the pulp bale and avoids rigid collision;

[0071] S6: The electronic control module activates the electromagnet of the positioning component 37 through the electromagnet controller, so that the electromagnet attracts the binding wire of the pulp bale, and achieves precise positioning of the clamping part; after positioning is completed, the clamping component 36 is controlled to close, and the binding wire is firmly clamped. At this time, the position sensor feeds back the clamping position signal.

[0072] S7: After the locking component 33 locks, the electronic control module sends a signal to the host computer. After the operator confirms that the clamping is secure, the host computer sends a lifting command, and the lifting device is lifted as a whole to transport the pulp bales to the preset target location, such as a transport vehicle or storage rack. During the lifting process, the locking component 33 moves to lock the translational degree of freedom of the gripper unit 3.

[0073] S8: After the pulp bale is transported to the target location, the electronic control module controls the locking component 33 to unlock, the clamping component 36 to open, and the pulp bale to be released, completing a single operation; then the lifting device can move to the next working area according to the instructions and repeat the above steps for continuous operation.

[0074] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. All obvious variations or modifications derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims

1. A smart positioning lifting device for a pulp terminal, characterized in that, include: A mechanical structure for performing the gripping and movement of pulp bales includes a support frame and at least one set of gripper units (3); the gripper units (3) are horizontally movable along the support frame and are provided with a floating component (35) to adapt to the height difference of the pulp bale surface, and a locking component (33) for locking the translational freedom after gripping; The vision module is used to acquire image information of pulp bales, identify the features of their clamping parts, and calculate the offset of the grippers. The electronic control module is connected to the mechanical structure and the vision module, and is used to receive the offset information of the vision module and control the gripper unit (3) to complete the movement, centering and gripping actions. The remote monitoring module is communicatively connected to the electronic control module and is used to remotely monitor the device status, receive operation data, and send control commands. The gripper unit (3) includes: Support components (34) are topology-optimized high-strength steel structures used to provide stable load-bearing capacity; Drive component (31) is used to drive the overall translation of the drive unit and open and close the clamping component (36); The guide component (32) is used in conjunction with the drive component (31) to achieve overall translation along a preset trajectory; The floating component (35) adopts a spring-guide post structure to adapt to the height difference of the pulp bale surface; The locking assembly (33) is used to lock the translational freedom after clamping the pulp bale, thus protecting the transmission mechanism; The positioning component (37) is used to position the steel wire of the pulp bale to achieve precise positioning of the clamping component (36); Clamping assembly (36) for clamping the wire on the pulp bale; The supporting frame is composed of lifting lugs (1) and a lifting frame (2); the lifting frame (2) is a double-layer frame structure, with multiple sets of lifting lugs (1) evenly distributed on its top for connecting external lifting devices; the lifting frame (2) includes an upper frame (21), connecting pillars (22) and a lower frame (23); the upper frame (21) is arranged parallel to the upper side of the lower frame (23), and the two are connected by multiple sets of connecting pillars (22).

2. The intelligent positioning spreader device for pulp quays according to claim 1, characterized in that: The hoisting frame (2) is provided with a rack fixing plate (6), and a rack plate (4) is installed on the rack fixing plate (6) for connecting with the drive component (31) on the gripper unit (3) to realize transmission; a protective cover plate (5) is provided on the upper side of the rack plate (4) for protecting the drive components on the rack plate (4) and the drive component (31).

3. The intelligent positioning spreader device for pulp quays according to claim 1, characterized in that: The vision module includes a camera and an image processing unit. The image processing unit is used to process the images captured by the camera and identify the position of the binding wires of the pulp bales.

4. The intelligent positioning spreader device for pulp quays according to claim 1, characterized in that: The electrical control module uses a programmable logic controller as the main control unit and is connected to a servo motor driver, an electromagnet controller, and various sensors. The sensors include a position sensor for detecting the position of the gripper, an angle sensor for monitoring the attitude of the lifting device, and an acceleration sensor.

5. The intelligent positioning spreader device for pulp quays according to claim 1, characterized in that: The remote monitoring module includes a high-definition camera, a communication unit, and a host computer installed at key parts of the lifting device; the communication unit is used to transmit the operation screen, sensor data, and equipment status to the host computer, and to receive control commands issued by the host computer.

6. A control method for the intelligent positioning spreader device of a pulp pier according to any one of claims 1-5, characterized in that: Includes the following steps: S1: Remotely or locally control the spreader to move it above the work area; S2: The electronic control module controls each gripper unit (3) to move along the support frame to the preset initial interval position; S3: The vision module is activated to identify the characteristics of the clamping part of the pulp bale below and calculate the offset of each gripper unit (3) from the target clamping point; S4: The electronic control module drives the gripper unit (3) to make horizontal fine adjustments according to the offset, so as to achieve automatic centering; S5: After centering is completed, the electronic control module controls the gripper to open and lowers the lifting device so that the gripper contacts the pulp bale, and the floating component (35) adapts to the surface height of the pulp bale; S6: The electric control module controls the electromagnet on the positioning component (37) to attract the binding wire of the pulp bale, and then controls the jaws to close and clamp; S7: After the gripper is secure, the locking component (33) activates to lock the translational freedom of the gripper unit (3); S8: Lift the hoist to transport the pulp bales to the target location.

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