Automatic stacker crane

Abstract

The utility model discloses an automatic stacker crane which comprises a frame body, a Y-axis moving mechanism, an X-axis moving mechanism, a Z-axis moving mechanism, a first clamping device and a second clamping device, and the Y-axis moving mechanism is arranged at the upper end of the frame body; the X-axis moving mechanism is connected with the Y-axis moving mechanism in a sliding manner; the Z-axis moving mechanism is connected with the X-axis moving mechanism in a sliding manner; the first clamping device is in driving connection with the Z-axis moving mechanism, is rotationally connected with the Z-axis moving mechanism and is used for clamping goods; the second clamping device is rotationally connected to the bottom of one side of the first clamping device, and when the first clamping device clamps goods, the second clamping device bears the bottoms of the goods. The second clamping device is additionally arranged at the bottom of the first clamping device, when the first clamping device clamps the goods, the second clamping device rotates to the bottom of the goods to support the goods, and even if the surfaces of the goods are smooth, the goods can be supported through the second clamping device.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizers, in particular to an automatic palletizer. Background Art

[0002] Palletizer is an automated mechanical device whose main function is to stack and move products according to preset rules. According to these rules, the palletizer can move products from one location to another, or stack products into different shapes and heights. It is widely used in various industries, such as food, medicine, chemical, electronics, etc., to palletize bulk products into a whole according to certain rules for fast storage and transportation.

[0003] The current palletizers have relatively poor grasping ability for goods with relatively smooth surfaces, which are easy to drop. If the grasping force is increased, the goods are easily damaged, especially for some goods with fragile boxes, which are easily damaged and difficult to pick up, resulting in low efficiency. Utility Model Content

[0004] The main purpose of the utility model is to provide an automatic palletizer, aiming to solve the problem of being able to effectively clamp goods with smoother surfaces.

[0005] To achieve the above-mentioned purpose, the utility model proposes an automatic palletizer, including a frame; a Y-axis moving mechanism, which is arranged at the upper end of the frame; an X-axis moving mechanism, which is slidably connected to the Y-axis moving mechanism; a Z-axis moving mechanism, which is slidably connected to the X-axis moving mechanism; a first clamping device, which is drivingly connected to the Z-axis moving mechanism and rotatably connected to the Z-axis moving mechanism, and is used to clamp goods; a second clamping device, which is rotatably connected to the bottom of one side of the first clamping device, and when the first clamping device clamps the goods, the second clamping device supports the bottom of the goods.

[0006] In one embodiment of the utility model, the first clamping device includes a clamping frame and at least two clamping blocks, a guide rail is provided at the lower end of the clamping frame, and two clamping blocks are slidably connected to the guide rail to form a clamping space for clamping goods, and the lower end of one of the clamping blocks is connected to the second clamping device.

[0007] In one embodiment of the utility model, the second clamping device includes a driving assembly, a rotating shaft and a plurality of supporting blocks, the supporting blocks are evenly arranged along the length direction of the rotating shaft, the rotating shaft is rotatably connected to the bottom of the clamping block, and the driving assembly is transmission-connected to one end of the rotating shaft.

[0008] In one embodiment of the utility model, the driving assembly includes a rotating block and a pneumatic actuator, one end of the rotating block is fixedly connected to the rotating shaft, one end of the pneumatic actuator is rotatably connected to the upper end of the first clamping device, and the other end of the pneumatic actuator is rotatably connected to the rotating block, so that the telescopic movement of the pneumatic actuator drives the rotating shaft to rotate.

[0009] In one embodiment of the utility model, the Z-axis moving mechanism includes a driving bracket slidably mounted on the X-axis moving mechanism, a first lifting part mounted on the driving bracket, a second lifting part transmission-connected to the lower end of the first lifting part and enabling it to move up and down, and the lower end of the second lifting part is rotatably connected to the first clamping device.

[0010] In one embodiment of the present invention, the first lifting part includes a lifting frame, a plurality of lifting shafts and a fixing frame for fixing the plurality of lifting shafts. The lifting shafts are vertically arranged downward and are transmission-connected to the lifting frame. The lower ends of the lifting shafts are fixedly connected to the fixing frame.

[0011] In one embodiment of the present invention, the second lifting part includes a lifting rod and a transmission assembly, the transmission assembly is fixedly connected to one side of the fixing frame, and the lifting rod is vertically arranged downward and transmission-connected to the transmission assembly.

[0012] In one embodiment of the utility model, the Y-axis moving mechanism includes linear rails parallel to each other on both sides of the top of the frame, sliding rods slidably mounted with the linear rails at both ends, and a synchronous transmission device arranged on one side of the top of the frame. The sliding rod and the linear rails are arranged perpendicular to each other, and the two ends of the synchronous transmission device are synchronously transmitted with the two ends of the sliding rod.

[0013] In one embodiment of the utility model, the synchronous transmission device includes two transmission rods, two transmission belts and a first drive motor, the first drive motor is arranged on the side of the frame avoiding the linear track, one end of the two transmission rods are respectively arranged on both sides of the first drive motor and are coaxially connected to the first drive motor and make the two transmission rods and the linear track perpendicular to each other, one end of the two transmission belts are respectively connected to one end of the transmission rod away from the first drive motor and make the two transmission belts parallel to the linear track, and the other end of the transmission belt away from the transmission rod is rotatably connected to one end of the frame.

[0014] In one embodiment of the utility model, the X-axis moving mechanism includes a slide rail arranged along the length direction of the slide rod and a second drive motor fixedly installed on one side of the Z-axis moving mechanism, the Z-axis moving mechanism is slidably connected to the slide rail, and the second drive motor is transmission connected to the slide rail.

[0015] The technical solution of the utility model adopts the scheme of adding a second clamping device at the bottom of the first clamping device. When the first clamping device clamps the goods, the second clamping device rotates to the bottom of the goods to support the goods. The pneumatic actuator controls the rotating shaft to control the supporting block to lift the goods. Even if the first clamping device cannot clamp the goods due to the smooth surface of the goods, the second clamping device can be inserted into the bottom of the goods to lift the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 This is a structural schematic diagram of an embodiment of an automatic palletizer of the utility model;

[0018] Figure 2 This is a schematic diagram of the structure of a Y-axis moving mechanism of an embodiment of an automatic palletizer of the utility model;

[0019] Figure 3 This is a schematic structural diagram of a Z-axis moving mechanism of an embodiment of an automatic palletizer of the utility model;

[0020] Figure 4 This is a schematic structural diagram of the first lifting axis of the Z-axis moving mechanism of an embodiment of an automatic palletizer of the utility model;

[0021] Figure 5 This is a schematic diagram of the structure of the second lifting axis of the Z-axis moving mechanism of an embodiment of an automatic palletizer of the utility model;

[0022] Figure 6 This is a schematic structural diagram of a second clamping device of an embodiment of an automatic palletizer of the utility model;

[0023] Figure 7 It is a structural schematic diagram of a first clamping device of an embodiment of an automatic palletizer of the utility model.

[0024] Description of Figure Numbers:

[0025] 1. Frame; 2. Y-axis moving mechanism; 3. X-axis moving mechanism; 4. Z-axis moving mechanism; 5. Second clamping device; 6. First clamping device; 11. Linear track; 12. First drive motor; 13. Transmission rod; 14. Transmission belt; 15. Slide rod; 16. Second slider; 17. First slider; 18. Slide rail; 41. First lifting part; 42. Second lifting part; 411. Lifting shaft; 412. Lifting frame; 413. Fixed frame; 421. Lifting rod; 422. Transmission assembly; 51. Clamping frame; 52. Clamping block; 61. Supporting block; 62. Rotating shaft; 63. Rotating block; 64. Pneumatic actuator.

[0026] The realization of the purpose, functional features and advantages of the utility model will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0028] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0029] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0030] In addition, in the present utility model, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the meaning of "and / or" appearing in the full text is to include three parallel solutions. Taking "A and / or B as an example", it includes solution A, or solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present utility model.

[0031] The utility model provides an automatic palletizer.

[0032] Reference Figures 1 to 7 In an embodiment of the utility model, an automatic palletizer includes a frame 1, a Y-axis moving mechanism 2, an X-axis moving mechanism 3, a Z-axis moving mechanism 4, a first clamping device 6 and a second clamping device 5, wherein the Y-axis moving mechanism 2 is arranged at the upper end of the frame 1; the X-axis moving mechanism 3 is slidably connected to the Y-axis moving mechanism 2; and the Z-axis moving mechanism 4 is slidably connected to the X-axis moving mechanism 3; in order to facilitate the clamping of goods and adjust the direction of goods, the first clamping device 6 is driven and connected to the Z-axis moving mechanism 4 and is rotatably connected to the Z-axis moving mechanism 4, and is used to clamp the goods; and the second clamping device 5 is rotatably connected to the bottom of one side of the first clamping device 6. When the first clamping device 6 clamps the goods, the second clamping device 5 supports the bottom of the goods, which can better clamp the goods and prevent them from falling.

[0033] In an automated palletizer of the present application, a Y-axis moving mechanism 2 can move goods along the Y-axis direction, and its structure can be, including a first slider 17, a linear track 11 arranged in the Y-axis direction at the top of the frame 1, and a first drive motor 12. The first slider 17 is slidably connected to the linear track 11, and the first drive motor 12 is transmission-connected to the linear track 11, so that the mechanism connected to the first slider 17 can move along the Y-axis direction. The structure of the Y-axis moving mechanism 2 can also be, including a linear track 11, a first slider 17 slidably mounted on the linear track 11, and a linear bearing with one end fixedly connected to the slide rail 18, the linear The bearing controls the first slider 17 to move on the linear track 11; the X-axis moving mechanism 3 structure can make the goods move along the X-axis direction, and its structure can be similar to the Y-axis moving mechanism 2 structure, including a slide rail 18 in the X-axis direction, a second slider 16 slidably mounted on the slide rail 18, and a second motor fixedly connected to the second slider 16, wherein the second fixed motor is connected to the slide rail 18 through a gear transmission, so that the goods can move in the X-axis direction; the Z-axis moving mechanism 4 can make the goods move up and down, and its structure can be, including a lifting shaft 411 and a third motor fixedly connected to the second slider 16, and one side of the lifting shaft 411 is provided with There is a gear guide rail, the third motor is connected to the gear and the gear and the gear guide rail are meshed with each other, and the third motor can be rotated to make the lifting shaft 411 move up and down, so that the goods connected to the lifting shaft 411 can move up and down along the Z-axis direction; the X-axis moving mechanism 3, the Y-axis moving mechanism 2, and the Z-axis moving mechanism 4 form a three-dimensional coordinate system, which can make the goods connected to the lifting shaft 411 move to any place within the moving range of the frame 1; in addition, in order to facilitate the clamping of the goods, a first clamping device 6 is connected to the lower end of the Z-axis moving mechanism 4, and its structure can be, including a clamping frame 51, a clamping block 52 and a clamping frame fixedly installed on the clamping frame. The fourth driving motor on the clamping frame 51, wherein one end of the clamping frame 51 is connected to the lower end of the Z-axis moving mechanism 4, a guide rail is provided at the bottom of the clamping frame 51, and two clamping blocks 52 are slidably mounted on the guide rail, and the fourth driving motor drives the clamping frame 51 to move on the guide rail to clamp goods. The guide rail can be set longer as needed so that goods of different sizes can be clamped. In order to better stack goods and adjust the direction of goods, the first clamping device 6 is set as a rotatable device, that is, the top of the clamping frame 51 is rotatably connected to the lower end of the Z-axis moving mechanism 4, which can be achieved by driving the motor to rotate the clamping frame 51 and the lower end of the Z-axis moving mechanism 4;In order to solve the problem of some goods with smooth surfaces that are difficult to clamp, a second clamping device 5 is provided below the first clamping device 6, wherein the second clamping device 5 may be structured as including a fifth driving motor and a plurality of supporting blocks 61, the supporting blocks 61 being evenly arranged along the bottom of the clamping block 52 and slidably connected with the clamping block 52 in the direction in which the two clamping blocks 52 approach each other, the fifth motor being fixedly connected with one side of the clamping block 52, the fifth motor being transmission-connected with the supporting block 61, and controlling the supporting block 61 to perform telescopic movement, so that after the first clamping device 6 clamps the goods, the supporting block 61 can be inserted into the bottom of the goods to hold the goods and prevent them from falling. ;

[0034] The technical solution of the utility model adopts the solution of adding a second clamping device 5 at the bottom of the first clamping device 6, which can effectively clamp relatively smooth goods and prevent damage to the goods due to increasing the clamping force to clamp smooth goods. When the first clamping device 6 clamps the goods, the second clamping device 5 rotates to the bottom of the goods to support the goods, and even if the first clamping device 6 cannot clamp the goods due to the smooth surface, the second clamping device 5 can be inserted into the bottom of the goods to support the goods without damaging the goods.

[0035] Combined with reference Figure 2 In one embodiment of the present application, the first clamping device 6 includes a clamping frame 51 and at least two clamping blocks 52. A guide rail is provided at the lower end of the clamping frame 51. The two clamping blocks 52 are slidably connected to the guide rail to form a clamping space for clamping items. The goods are clamped and the two clamping blocks 52 are controlled by pneumatic actuators 64 to approach each other to clamp the goods. In order to better clamp the goods, a second clamping device 5 is connected to the lower end of one of the clamping blocks 52. The structure of the second clamping device 5 may include a fifth driving motor and multiple supporting blocks 61. The supporting blocks 61 are evenly arranged along the bottom of the clamping blocks 52 and are slidably connected to the clamping blocks 52 in the direction in which the two clamping blocks 52 approach each other. The fifth motor is fixedly connected to one side of the clamping block 52, and the fifth motor is transmission-connected to the supporting block 61 to control the supporting block 61 to perform telescopic movement.

[0036] Furthermore, the structure of the first clamping device 6 can also be that one of the two clamping blocks 52 is fixedly connected to one end of the clamping frame 51 in the length direction of the guide rail, and the other of the two clamping blocks 52 is movably connected to the guide rail to form a clamping space for clamping items. The clamping blocks 52 movably connected to the guide rail are driven by the pneumatic actuator 64 to make the two clamping blocks 52 approach each other to clamp the goods. In this way, only one pneumatic actuator 64 can be used to clamp goods of different sizes, saving costs.

[0037] like Figure 7As shown, optionally, in order to better realize the function of lifting the goods, the second clamping device 5 includes a driving component, a rotating shaft 62 and a plurality of supporting blocks 61, wherein the supporting blocks 61 are evenly and fixedly arranged along the length direction of the rotating shaft 62 for holding the goods, and the rotating shaft 62 is rotatably connected to the bottom of the clamping block 52, and the driving component is transmission-connected to one end of the rotating shaft 62 so that the supporting block 61 rotates to lift the goods, and the driving component can be a motor directly transmission-connected to the transmission shaft, or the rotating shaft 62 can be rotated by other means.

[0038] In some possible implementations, the driving assembly includes a rotating block 63 and a pneumatic actuator 64. One end of the rotating block 63 is fixedly connected to the rotating shaft 62. Pulling the rotating block 63 can rotate the rotating shaft 62, so that the supporting block 61 connected to the rotating shaft 62 can be rotated to lift the goods. In order to better rotate the rotating block 63, one end of the pneumatic actuator 64 is rotatably connected to the upper end of the clamping block 52, and the other end of the pneumatic actuator 64 is rotatably connected to the rotating block 63, thereby realizing the telescopic movement of the pneumatic actuator 64 to drive the rotating shaft 62 to rotate.

[0039] like Figure 3 As shown, optionally, in order to achieve stacking of goods higher, the Z-axis moving mechanism 4 of this embodiment includes a driving bracket slidably mounted on the first slider 17, a first lifting part 41 mounted on the driving bracket, and a second lifting part 42 drivingly connected to the lower end of the first lifting part 41 and enabling it to move up and down, wherein the first lifting part 41 can move up and down directly relative to the drive, which can be achieved by motor transmission, that is, the motor is fixedly mounted on the driving bracket, and a vertically downward gear track is provided on the first lifting part 41, and the motor is drivingly connected to the gear track, and the structure of the second lifting part 42 can be similar to that of the first lifting part 41, and the up and down movement is achieved by motor drive, and the lower end of the second lifting part 42 is rotatably connected to the clamping frame 51 of the first clamping device 6, and by dividing the Z-axis moving mechanism 4 into two parts, the goods can be lifted higher in a limited space.

[0040] In one embodiment of the present application, Figure 4As shown, the structure of the first lifting part 41 includes a lifting frame 412, multiple lifting shafts 411 and a fixing frame 413 for fixing the multiple lifting shafts 411, wherein the lifting shaft 411 is vertically arranged downward and is transmission-connected with the lifting frame 412 so that the lifting shaft 411 can move up and down. In order to better fix the lifting shaft 411, the lower end of the lifting shaft 411 is fixedly connected to the fixing frame 413, and a through hole is provided in the center of the fixing frame 413. The second lifting part 42 passes through the through hole and is arranged inside the first lifting part 41 and is transmission-connected to the first lifting part 41. A motor is installed at one end of the fixing frame 413, and the motor is transmission-connected to the lifting rod 421 of the second lifting part 42, so that further extension is achieved when the first lifting part 41 moves up and down.

[0041] Furthermore, if Figure 5 As shown, the structure of the second lifting part 42 is set as follows, including a lifting rod 421 and a transmission assembly 422, the transmission assembly 422 is fixedly connected to one side of the fixed frame 413, the lifting rod 421 is in the shape of a strip object, which can be round or other shapes, the lifting rod 421 is vertically arranged downward and connected to the transmission assembly 422, and the lifting rod 421 is controlled to move up and down by the transmission assembly 422, wherein the structure of the transmission assembly 422 can be, including a third motor and a transmission gear, one end of the transmission gear is connected to the third motor, a gear track is provided in the length direction of the lifting rod 421, the transmission gear and the gear track are engaged with each other, and the lifting rod 421 can also be directly connected to the linear bearing.

[0042] Alternatively, if Figure 2 As shown, the Y-axis moving mechanism 2 includes linear rails 11 parallel to each other arranged on both sides of the top of the frame 1, slide bars 15 with both ends slidably installed with the linear rails 11, and a synchronous transmission device arranged on one side of the top of the frame 1, wherein the slide bar 15 and the linear rails 11 are arranged perpendicular to each other, and both ends of the synchronous transmission device are synchronously transmitted with both ends of the slide bar 15 respectively. The synchronous transmission device can be two motors that respectively control the synchronous movement of the two ends of the slide bar 15, or it can be a pulling force applied to the middle of the slide bar 15 so that the two ends of the hanging rod are subjected to force and move synchronously.

[0043] Optionally, in order to better achieve synchronous transmission at both ends of the sliding rod 15, coaxial transmission is used to achieve this. The synchronous transmission device of this embodiment includes two transmission rods 13, two transmission belts 14 and a first driving motor 12. The first driving motor 12 is arranged on the side of the frame 1 away from the linear track 11. One ends of the two transmission rods 13 are respectively arranged on both sides of the first driving motor 12 and are coaxially connected to the first driving motor 12, and the two transmission rods 13 and the linear track 11 are perpendicular to each other, and one ends of the two transmission belts 14 are respectively transmission connected to one end of the transmission rod 13 away from the first driving motor 12 and the two transmission belts 14 are parallel to the linear track 11. The other end of the transmission belt 14 away from the transmission rod 13 is rotatably connected to one end of the frame 1, and the two ends of the sliding rod 15 are fixedly connected to the transmission belt 14. When the first driving motor 12 rotates, the transmission rods 13 on both sides are driven to rotate at the same time, thereby driving the transmission to rotate, so that the moving distance of the two ends of the sliding rod 15 remains consistent.

[0044] Optionally, the X-axis moving mechanism 3 includes a slide rail 18 arranged along the length direction of the slide rod 15 and a second drive motor fixedly installed on one side of the Z-axis moving mechanism 4. The second slider 16 of the Z-axis moving mechanism 4 is slidably connected to the slide rail 18. The second drive motor is transmission-connected to the slide rail 18 so that the second slider 16 can move along the X-axis direction, thereby realizing that the Z-axis moving mechanism 4 can move along the X-axis direction.

[0045] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An automatic palletizer, characterized in that: include Frame; A Y-axis moving mechanism is disposed at the upper end of the frame; An X-axis moving mechanism, slidably connected to the Y-axis moving mechanism; A Z-axis moving mechanism, slidably connected to the X-axis moving mechanism; A first clamping device, drivingly connected to the Z-axis moving mechanism and rotationally connected to the Z-axis moving mechanism, for clamping goods; The second clamping device is rotatably connected to the bottom of one side of the first clamping device. When the first clamping device clamps the goods, the second clamping device supports the bottom of the goods.

2. An automatic palletizer according to claim 1, characterized in that: The first clamping device includes a clamping frame and at least two clamping blocks. A guide rail is provided at the lower end of the clamping frame. Two clamping blocks are slidably connected to the guide rail to form a clamping space for clamping goods. The lower end of one of the clamping blocks is connected to the second clamping device.

3. An automatic palletizer according to claim 2, characterized in that: The second clamping device includes a driving assembly, a rotating shaft and a plurality of supporting blocks, wherein the supporting blocks are evenly arranged along the length direction of the rotating shaft, the rotating shaft is rotatably connected to the bottom of the clamping block, and the driving assembly is transmission-connected to one end of the rotating shaft.

4. An automatic palletizer according to claim 3, characterized in that: The driving assembly includes a rotating block and a pneumatic actuator, one end of the rotating block is fixedly connected to the rotating shaft, one end of the pneumatic actuator is rotatably connected to the upper end of the first clamping device, and the other end of the pneumatic actuator is rotatably connected to the rotating block, so that the telescopic movement of the pneumatic actuator drives the rotating shaft to rotate.

5. An automatic palletizer according to claim 4, characterized in that: The Z-axis moving mechanism includes a driving bracket slidably mounted on the X-axis moving mechanism, a first lifting part mounted on the driving bracket, and a second lifting part transmission-connected to the lower end of the first lifting part so that it can move up and down, and the lower end of the second lifting part is rotationally connected to the first clamping device.

6. An automatic palletizer according to claim 5, characterized in that: The first lifting part includes a lifting frame, a plurality of lifting shafts and a fixing frame for fixing the plurality of lifting shafts. The lifting shafts are vertically arranged downward and are transmission-connected to the lifting frame. The lower ends of the lifting shafts are fixedly connected to the fixing frame.

7. An automatic palletizer according to claim 6, characterized in that: The second lifting part includes a lifting rod and a transmission assembly. The transmission assembly is fixedly connected to one side of the fixing frame. The lifting rod is vertically arranged downward and is transmission-connected to the transmission assembly.

8. An automatic palletizer according to any one of claims 1 to 7, characterized in that: The Y-axis moving mechanism includes linear rails parallel to each other on both sides of the top of the frame, sliding rods with both ends slidably mounted on the linear rails, and a synchronous transmission device arranged on one side of the top of the frame. The sliding rod and the linear rails are arranged perpendicular to each other, and both ends of the synchronous transmission device are synchronously transmitted with the two ends of the sliding rod.

9. An automatic palletizer according to claim 8, characterized in that: The synchronous transmission device includes two transmission rods, two transmission belts and a first driving motor. The first driving motor is arranged on a side of the frame avoiding the linear track. One ends of the two transmission rods are respectively arranged on both sides of the first driving motor and are coaxially connected to the first driving motor so that the two transmission rods and the linear track are perpendicular to each other. One ends of the two transmission belts are respectively connected to one end of the transmission rod away from the first driving motor so that the two transmission belts are parallel to the linear track. The other end of the transmission belt away from the transmission rod is rotatably connected to one end of the frame.

10. An automatic palletizer according to claim 9, characterized in that: The X-axis moving mechanism includes a slide rail arranged along the length direction of the slide rod and a second drive motor fixedly installed on one side of the Z-axis moving mechanism. The Z-axis moving mechanism is slidably connected to the slide rail, and the second drive motor is transmission-connected to the slide rail.

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