Stacking equipment for carrying steel drums

Abstract

The utility model relates to the technical field of logistics equipment for carrying steel drums, in particular to stacking equipment for carrying the steel drums. The device comprises a frame, an X-axis driving mechanism, a Y-axis driving mechanism, a Z-axis driving mechanism and a steel drum clamp, the X-axis driving mechanism is connected to the top of the frame, the Y-axis driving mechanism is movably connected to the X-axis driving mechanism, the Z-axis driving mechanism is movably connected to the Y-axis driving mechanism, the steel drum clamp is connected to the Z-axis driving mechanism, and the steel drum clamp comprises a clamp driving assembly and a clamping arm assembly. The clamp driving assembly is connected with the clamping arm assembly and drives the clamping arm assembly to be closed or opened so as to clamp the steel drum or loosen the steel drum. The steel drum clamp is horizontally moved through the X-axis driving mechanism and the Y-axis driving mechanism, lifting of the steel drum clamp is controlled through the Z-axis driving mechanism, the clamp driving assembly drives the clamping arm assembly to grab the steel drum, the carrying efficiency and the automation degree of the whole logistics system are improved, and the requirements of enterprises in the chemical logistics industry for carrying the steel drum are met.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics equipment for transporting steel drums, in particular to a palletizing device for transporting steel drums. Background Art

[0002] In the chemical industry, for the convenience of transportation and handling, steel drums are generally placed on pallets and stored on high-level shelves through various logistics equipment. In the process of steel drums entering the warehouse, they are basically placed on pallets manually, and the manually sorted pallets are placed in the pallet temporary storage area, and then the pallets are picked up by forklifts for storage.

[0003] Manual sorting of steel drums is relatively lacking in neatness and efficiency, which affects the efficiency of warehousing and outbound delivery. Since steel drums are relatively heavy and most of them are hazardous chemicals, manual work is not only labor-intensive but also has a certain impact on physical health.

[0004] There are also some equipment on the market for palletizing and handling steel drums, but these equipment have a low degree of automation and mainly rely on manual operation, resulting in low palletizing efficiency. In addition, highly automated palletizing robots are not only very expensive, but also cannot adapt to the palletizing and handling of heavy steel drums. Utility Model Content

[0005] The utility model provides a palletizing device for transporting steel drums, aiming to solve the problems of low automation and low efficiency of existing steel drum transporting equipment.

[0006] The utility model provides a palletizing device for transporting steel drums, comprising a frame, an X-axis driving mechanism, a Y-axis driving mechanism, a Z-axis driving mechanism, and a steel drum clamp, wherein the X-axis driving mechanism is connected to the top of the frame, the Y-axis driving mechanism is movably connected to the X-axis driving mechanism, the Z-axis driving mechanism is movably connected to the Y-axis driving mechanism, the steel drum clamp is connected to the Z-axis driving mechanism, the steel drum clamp comprises a clamp driving assembly and a clamp arm assembly, the clamp driving assembly is connected to the clamp arm assembly, and the clamp driving assembly drives the clamp arm assembly to close or open to clamp or release the steel drum.

[0007] As a further improvement of the present invention, the clamp drive assembly includes a rotation drive module, a flange connecting plate, a synchronous lifting plate, a lifting support seat, and a screw rod. The flange connecting plate, the synchronous lifting plate, and the lifting support seat are arranged in sequence from top to bottom. The two ends of the screw rod are butt-jointed with the flange connecting plate and the lifting support seat. The screw rod is connected to the synchronous lifting plate by threads. The rotation drive module is connected to the flange connecting plate. The rotation drive module is connected to and drives the screw rod. One end of the clamp arm assembly is movably connected to the synchronous lifting plate, and the other end of the clamp arm assembly is movably connected to the lifting support seat.

[0008] As a further improvement of the utility model, the clamp drive assembly also includes a linear guide rod and a linear bearing. The linear bearing is fixed on the synchronous lifting plate. The two ends of the linear guide rod are respectively fixed with a flange connecting plate and a lifting support seat. The middle part of the linear guide rod is connected to the linear bearing.

[0009] As a further improvement of the present invention, the rotary drive module includes a servo motor, a reducer, and a coupling. One ends of the servo motor, the reducer, and the coupling are connected in sequence, and the other end of the coupling is connected to a screw rod.

[0010] As a further improvement of the present utility model, the clamping arm assembly includes a synchronous connecting rod, a limiting arm, a first connecting rod, a second connecting rod, and a clamping claw. The lifting support seat is provided with a waist-shaped hole, the synchronous connecting rod is provided with a limiting hole, the two ends of the synchronous connecting rod are respectively hinged to the synchronous lifting plate and one end of the first connecting rod, the middle part of the synchronous connecting rod passes through the waist-shaped hole, one end of the limiting arm is movably connected in the limiting hole and clamped above the lifting support seat, the other end of the limiting arm is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to the clamping claw, and the other end of the first connecting rod is hinged to the middle part of the second connecting rod.

[0011] As a further improvement of the present invention, the clamp arm assembly further includes a third connecting rod, the third connecting rod is arranged in parallel with the second connecting rod, and the two ends of the third connecting rod are respectively hinged to the limiting arm and the clamping claw.

[0012] As a further improvement of the present invention, the steel drum clamp also includes a height sensor, and the height sensor is connected to the bottom of the lifting support seat.

[0013] As a further improvement of the present invention, the X-axis drive mechanism includes an X-axis power module, an X-axis slide rail, and an X-axis synchronous belt; the Y-axis drive mechanism includes a Y-axis support seat, a Y-axis power module, a Y-axis slide rail, and a Y-axis synchronous belt; the X-axis slide rail is connected to the frame, the X-axis power module is connected to and drives the X-axis synchronous belt, the Y-axis support seat is slidably connected to the X-axis slide rail and is fixed to the X-axis synchronous belt; the Y-axis slide rail is connected to the Y-axis support seat, the Y-axis power module is connected to and drives the Y-axis synchronous belt, and the Z-axis drive mechanism is slidably connected to the Y-axis slide rail and is fixed to the Y-axis synchronous belt.

[0014] As a further improvement of the present utility model, the Z-axis drive mechanism includes a Z-axis support seat, a Z-axis power module, a gear, a rack, a Z-axis pulley, and a Z-axis lifting bracket. The rack is fixed on the Z-axis lifting bracket, the Z-axis power module is installed on the Z-axis support seat, the output end of the Z-axis power module is connected to the gear, the gear is meshed with the rack, the Z-axis pulley is connected to the Z-axis support seat, the Z-axis lifting bracket is slidably connected to the Z-axis pulley, and the Z-axis support seat is slidably connected to the Y-axis slide rail and fixed to the Y-axis synchronous belt.

[0015] As a further improvement of the utility model, the palletizing equipment for transporting steel drums also includes limit sensors and mechanical limit components, and limit sensors and / or mechanical limit components are set at both ends of the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis drive mechanism.

[0016] The beneficial effects of the utility model are: the steel drum clamp is translated by the X-axis drive mechanism and the Y-axis drive mechanism, the lifting of the steel drum clamp is controlled by the Z-axis drive mechanism, and the clamp drive assembly drives the clamp arm assembly to grab the steel drum, without relying on manual labor to perform the main operations, which can greatly improve the handling efficiency and automation level of the entire logistics system and meet the needs of chemical logistics industry enterprises for steel drum handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is the overall structural diagram of the palletizing equipment used for transporting steel drums of the utility model;

[0018] Figure 2 This is a structural front view of the steel drum clamp of the utility model;

[0019] Figure 3 It is a structural diagram of a multi-link clamp in a steel drum clamp of the utility model. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0021] like Figures 1 to 3 As shown, the utility model is a palletizing device for transporting steel drums, comprising a frame 1, an X-axis drive mechanism 2, a Y-axis drive mechanism 3, a Z-axis drive mechanism 4, and a steel drum clamp 5. The X-axis drive mechanism 2 is connected to the top of the frame 1, the Y-axis drive mechanism 3 is movably connected to the X-axis drive mechanism 2, the Z-axis drive mechanism 4 is movably connected to the Y-axis drive mechanism 3, the steel drum clamp 5 is connected to the Z-axis drive mechanism 4, the steel drum clamp 5 comprises a clamp drive assembly 6 and a clamp arm assembly 7, the clamp drive assembly 6 is connected to the clamp arm assembly 7, and the clamp drive assembly 6 drives the clamp arm assembly 7 to close or open to clamp or release the steel drum.

[0022] The palletizing equipment for transporting steel drums also includes a control cabinet 8 , which is connected to and controls an X-axis driving mechanism 2 , a Y-axis driving mechanism 3 , a Z-axis driving mechanism 4 , and a steel drum clamp 5 .

[0023] The frame 1 is mainly composed of columns, tie rods and other structural parts. Its function is to suspend each axis to a certain height. It is composed of welded parts such as square tubes or rectangular tubes. The design and adjustment of the frame 1 structure can be carried out according to the actual working conditions. The three motion components of the X-axis drive mechanism 2, the Y-axis drive mechanism 3, and the Z-axis drive mechanism 4 are the core components of the truss manipulator, and their definition rules follow the Cartesian coordinate system. The steel drum clamp 5 adopts a chuck multi-link clamping form according to the shape, size and material of the steel drum. The control cabinet 8 is equivalent to the brain of the steel drum palletizing manipulator. Through the industrial controller, it collects the input signals of each sensor or button to send instructions to each actuator to execute according to the established action.

[0024] The X-axis driving mechanism 2 includes an X-axis power module 21, an X-axis slide rail 22, and an X-axis synchronous belt 23. The Y-axis driving mechanism 3 includes a Y-axis support seat 31, a Y-axis power module 32, a Y-axis slide rail 33, and a Y-axis synchronous belt 34. The X-axis slide rail 22 is connected to the frame 1. The X-axis power module 21 is connected to and drives the X-axis synchronous belt 23. The Y-axis support seat 31 is slidably connected to the X-axis slide rail 22 and fixed to the X-axis synchronous belt 23. The Y-axis slide rail 33 is connected to the Y-axis support seat 31. The Y-axis power module 32 is connected to and drives the Y-axis synchronous belt 34. The Z-axis driving mechanism 4 is slidably connected to the Y-axis slide rail 33 and fixed to the Y-axis synchronous belt 34. A synchronous belt pressing block is provided on the Y-axis support seat 31, and the synchronous belt pressing block is fixedly connected to the X-axis synchronous belt 23. A set of X-axis slide rails 22 and an X-axis synchronous belt 23 are respectively provided on both sides of the frame. The two sets of X-axis synchronous belts 23 are connected by a transmission shaft 24 , and one end of the transmission shaft 24 is connected to the X-axis power module 21 .

[0025] The Z-axis driving mechanism 4 includes a Z-axis support seat 41, a Z-axis power module 42, a gear, a rack, a Z-axis pulley 43, and a Z-axis lifting bracket 44. The rack is fixed on the Z-axis lifting bracket 44, the Z-axis power module 42 is installed on the Z-axis support seat 41, the output end of the Z-axis power module 42 is connected to the gear, the gear is meshed with the rack, the Z-axis pulley 43 is connected to the Z-axis support seat 41, the Z-axis lifting bracket 44 is slidably connected to the Z-axis pulley 43, the Z-axis support seat 41 is slidably connected to the Y-axis slide rail 33 and fixed to the Y-axis synchronous belt 34. A synchronous belt pressure block is provided on the Z-axis support seat 41, and the synchronous belt pressure block is fixedly connected to the Y-axis synchronous belt 34.

[0026] The palletizing equipment for transporting steel drums also includes limit sensors and mechanical limit components. Limit sensors and / or mechanical limit components are arranged at both ends of the X-axis drive mechanism 2, the Y-axis drive mechanism 3, and the Z-axis drive mechanism 4.

[0027] Each shaft assembly usually consists of five parts: structural parts, guide parts, transmission parts, limit sensor detection elements and mechanical limit components.

[0028] Structural parts: including the Y-axis support seat 31, the Z-axis support seat 41 and the frame 1 supporting the X-axis drive mechanism 2, which is composed of structures such as square tubes or rectangular tubes. Its function is to serve as the installation base for components such as guide parts and transmission parts, and it is also the main bearer of the load of the steel barrel clamp 5.

[0029] Guide parts: including X-axis slide rail 22, Y-axis slide rail 33, Z-axis pulley 43, with linear guide rails as the guide structure, which can ensure its use condition and positioning accuracy.

[0030] Transmission parts: The X-axis drive mechanism 2 and the Y-axis drive mechanism 3 are driven by a synchronous belt structure, and the Z-axis drive mechanism 4 is rotated by a gear rack structure.

[0031] Limit sensor detection elements: Travel switches are used as electrical limits at both ends of the X-axis drive mechanism 2, the Y-axis drive mechanism 3, and the Z-axis drive mechanism 4. When the moving component moves to the limit travel switches at both ends, the mechanism needs to be locked to prevent it from overtravel; in addition, there are origin sensors and position feedback sensors.

[0032] Mechanical limit assembly: Its function is to provide a rigid limit outside the electrical limit stroke, providing the last line of safety protection.

[0033] like Figure 2 and Figure 3 As shown, the clamp drive assembly 6 includes a rotary drive module, a flange connection plate 65, a synchronous lifting disk 66, a lifting support seat 67, and a screw 64. The flange connection plate 65, the synchronous lifting disk 66, and the lifting support seat 67 are arranged in sequence from top to bottom. The two ends of the screw 64 are butt-jointed on the flange connection plate 65 and the lifting support seat 67. The screw 64 and the synchronous lifting disk 66 are connected by threads. The rotary drive module is connected to the flange connection plate 65. The rotary drive module is connected and drives the screw 64. One end of the clamp arm assembly 7 is movably connected to the synchronous lifting disk 66, and the other end of the clamp arm assembly 7 is movably connected to the lifting support seat 67. The rotary drive module converts the rotary motion into the linear motion of the synchronous lifting disk 66 through the screw 64, so as to realize the movement of the synchronous disk between the flange connection plate 65 and the lifting support seat 67, thereby driving the clamp assembly to open or close.

[0034] The fixture drive assembly 6 also includes a linear guide rod 68 and a linear bearing 69. The linear bearing 69 is fixed on the synchronous lifting plate 66. The two ends of the linear guide rod 68 are respectively fixed to the flange connection plate 65 and the lifting support seat 67. The middle part of the linear guide rod 68 is connected to the linear bearing 69. The linear guide rod 68 and the linear bearing 69 cooperate to guide the movement of the synchronous lifting plate 66 between the flange connection plate 65 and the lifting support seat 67.

[0035] The rotary drive module includes a servo motor 61, a reducer 62, and a coupling 63. The servo motor 61, the reducer 62, and one end of the coupling 63 are connected in sequence, and the other end of the coupling 63 is connected to a screw 64. The screw 64 is preferably a ball screw 64.

[0036] The servo motor 61 is the power output of the steel drum clamp 5, and drives the screw 64 through the reducer 62 (deceleration and torque increase) and the coupling 63. The screw 64 converts the rotational motion of the servo motor 61 into a linear motion that can be lifted up and down. The screw 64 transmits the power to the synchronous lifting plate 66. Guided by the linear guide rod 68, the clamping arm assembly 7 is connected to the synchronous lifting plate 66 and the lifting support seat 67. The synchronous lifting plate 66 moves up and down, and the clamping arm assembly 7 performs an opening-closing motion under the action of the synchronous lifting plate 66 and the lifting support seat 67, thereby simulating the grabbing action of the steel drum. The grabbing mechanism has a compact structure, and the driving part of the grabbing mechanism can be installed inside the Z-axis drive mechanism 4, which can effectively save the height of the equipment.

[0037] The clamping arm assembly 7 includes a synchronous connecting rod 71, a limiting arm 72, a first connecting rod 73, a second connecting rod 74, and a clamping claw 76. A waist-shaped hole 671 is provided on the lifting support seat 67, and a limiting hole 711 is provided on the synchronous connecting rod 71. The two ends of the synchronous connecting rod 71 are respectively hinged to the synchronous lifting plate 66 and one end of the first connecting rod 73. The middle part of the synchronous connecting rod 71 passes through the waist-shaped hole 671. One end of the limiting arm 72 is movably connected in the limiting hole 711 and is stuck above the lifting support seat 67. The other end of the limiting arm 72 is hinged to one end of the second connecting rod 74. The other end of the second connecting rod 74 is hinged to the clamping claw 76, and the other end of the first connecting rod 73 is hinged to the middle part of the second connecting rod 74.

[0038] The clamp arm assembly 7 further includes a third connecting rod 75, which is arranged in parallel with the second connecting rod 74, and the two ends of the third connecting rod 75 are respectively hinged to the limit arm 72 and the clamping claw 76. The third connecting rod 75 is added on the basis of the second connecting rod 74 to strengthen the support of the clamping claw 76. The clamping claw 76 is hinged and fixed at two connection points of the second connecting rod 74 and the third connecting rod 75, which can reduce the shaking of the clamping claw 76 and make the control of the clamping claw 76 more precise.

[0039] The steel drum clamp 5 also includes a height sensor 9, which is connected to the bottom of the lifting support seat 67. The height sensor 9 is used to detect the position of the bottom of the steel drum clamp 5 from the steel drum material, thereby positioning the position relationship between the clamp 76 and the steel drum.

[0040] like Figure 3 As shown, the flange connecting plate 65, the linear guide rod 68, and the lifting support seat 67 are connected by bolts to form the fixed support and sliding guide mechanism of the entire clamping jaw 76. The screw rod 64, the nut and the linear bearing 69 are installed on the synchronous lifting plate 66. The screw rod 64 can rotate left and right to drive the synchronous lifting plate 66 to move up and down along the linear guide rod 68. The synchronous lifting plate 66 is connected to the synchronous connecting rod 71 through a hinge. The synchronous connecting rod 71 is connected to the lifting support seat 67 through a waist-shaped hole 671 and a limit arm 72, so that it can move within a certain range. The waist-shaped hole 671 determines the stroke size of the clamping jaw 76. The two ends of the first connecting rod 73 are respectively connected to the synchronous connecting rod 71 and the second connecting rod 74 through hinges. One end of the third link 75 and the second link 74 is connected to the clamp 76 through a hinge, and the other end is connected to the synchronous link 71 through a hinge and a limit arm 72. When the synchronous link 71 moves, it drives the first link 73, the second link 74, the third link 75, and the clamp 76 to move together, so that the clamp 76 can realize the opening-closing action. When the screw rod 64 drives the synchronous lifting plate 66 to move downward, the clamp 76 opens, and when the screw rod 64 drives the synchronous lifting plate 66 to move upward, the clamp 76 closes, and cooperates with the height sensor 9 to realize the steel barrel picking and placing action. With the movement of the steel barrel fixture 5 in the three dimensions of X, Y, and Z, the steel barrel can be depalletized, stacked, and transported.

[0041] The palletizing equipment for steel drum handling uses a motor-driven synchronous belt for the palletizing robot for X-axis and Y-axis translation, a motor-driven rack and pinion for the palletizing robot for Z-axis lifting, and a motor-driven ball screw 64 for the multi-link clamp 76 mechanism to grasp the steel drum. The steel drum disassembly and palletizing robot solves a major pain point in steel drum handling, greatly improves efficiency and realizes automation, which not only reduces equipment costs but also saves human resources.

[0042] Advantages of this palletizing equipment for steel drum handling:

[0043] (1) The chemical industry can be used with logistics conveying equipment or as a single machine;

[0044] (2) The steel drums can be automatically unstacking and transported online when entering and leaving the warehouse. When used together with sensors and other visual systems, it can completely replace manual labor.

[0045] (3) Fully automatic and intelligent, with low production cost and high efficiency in handling, stacking and depalletizing.

[0046] The above contents are further detailed descriptions of the present invention in combination with specific preferred implementations, and the specific implementation of the present invention cannot be considered to be limited to these descriptions. For ordinary technicians in the technical field to which the present invention belongs, several simple deductions or substitutions can be made without departing from the concept of the present invention, which should be regarded as falling within the protection scope of the present invention.

Claims

1. A palletizing device for transporting steel drums, characterized in that: It includes a frame, an X-axis drive mechanism, a Y-axis drive mechanism, a Z-axis drive mechanism, and a steel drum clamp. The X-axis drive mechanism is connected to the top of the frame, the Y-axis drive mechanism is movably connected to the X-axis drive mechanism, the Z-axis drive mechanism is movably connected to the Y-axis drive mechanism, and the steel drum clamp is connected to the Z-axis drive mechanism. The steel drum clamp includes a clamp drive assembly and a clamp arm assembly. The clamp drive assembly is connected to the clamp arm assembly, and the clamp drive assembly drives the clamp arm assembly to close or open to clamp or release the steel drum.

2. The palletizing equipment for transporting steel drums according to claim 1, characterized in that: The clamp driving assembly includes a rotation driving module, a flange connecting plate, a synchronous lifting plate, a lifting support seat, and a screw rod. The flange connecting plate, the synchronous lifting plate, and the lifting support seat are arranged in sequence from top to bottom. Both ends of the screw rod are butt-jointed with the flange connecting plate and the lifting support seat. The screw rod is connected to the synchronous lifting plate by threads. The rotation driving module is connected to the flange connecting plate. The rotation driving module is connected to and drives the screw rod. One end of the clamp arm assembly is movably connected to the synchronous lifting plate, and the other end of the clamp arm assembly is movably connected to the lifting support seat.

3. The palletizing equipment for transporting steel drums according to claim 2 is characterized in that: The fixture drive assembly also includes a linear guide rod and a linear bearing. The linear bearing is fixed on the synchronous lifting plate. The two ends of the linear guide rod are respectively fixed with a flange connecting plate and a lifting support seat. The middle part of the linear guide rod is connected to the linear bearing.

4. The palletizing equipment for transporting steel drums according to claim 2, characterized in that: The rotary drive module comprises a servo motor, a reducer, and a coupling. One ends of the servo motor, the reducer, and the coupling are connected in sequence, and the other end of the coupling is connected to a lead screw.

5. The palletizing equipment for transporting steel drums according to claim 2, characterized in that: The clamping arm assembly includes a synchronous connecting rod, a limiting arm, a first connecting rod, a second connecting rod, and a clamping claw. The lifting support seat is provided with a waist-shaped hole, and the synchronous connecting rod is provided with a limiting hole. The two ends of the synchronous connecting rod are respectively hinged to the synchronous lifting plate and one end of the first connecting rod. The middle part of the synchronous connecting rod passes through the waist-shaped hole. One end of the limiting arm is movably connected in the limiting hole and clamped above the lifting support seat. The other end of the limiting arm is hinged to one end of the second connecting rod. The other end of the second connecting rod is hinged to the clamping claw, and the other end of the first connecting rod is hinged to the middle part of the second connecting rod.

6. The palletizing equipment for transporting steel drums according to claim 5, characterized in that: The clamp arm assembly also includes a third connecting rod, which is arranged in parallel with the second connecting rod, and the two ends of the third connecting rod are respectively hinged to the limit arm and the clamping claw.

7. The palletizing equipment for transporting steel drums according to claim 2, characterized in that: The steel drum clamp also includes a height sensor, which is connected to the bottom of the lifting support seat.

8. The palletizing equipment for transporting steel drums according to claim 1, characterized in that: The X-axis driving mechanism includes an X-axis power module, an X-axis slide rail, and an X-axis synchronous belt. The Y-axis driving mechanism includes a Y-axis support seat, a Y-axis power module, a Y-axis slide rail, and a Y-axis synchronous belt. The X-axis slide rail is connected to the frame, the X-axis power module is connected to and drives the X-axis synchronous belt, the Y-axis support seat is slidably connected to the X-axis slide rail and fixed to the X-axis synchronous belt; the Y-axis slide rail is connected to the Y-axis support seat, the Y-axis power module is connected to and drives the Y-axis synchronous belt, and the Z-axis driving mechanism is slidably connected to the Y-axis slide rail and fixed to the Y-axis synchronous belt.

9. The palletizing equipment for transporting steel drums according to claim 8, characterized in that: The Z-axis driving mechanism includes a Z-axis support seat, a Z-axis power module, a gear, a rack, a Z-axis pulley, and a Z-axis lifting bracket. The rack is fixed on the Z-axis lifting bracket, and the Z-axis power module is installed on the Z-axis support seat. The output end of the Z-axis power module is connected to the gear, and the gear is meshed with the rack. The Z-axis pulley is connected to the Z-axis support seat, and the Z-axis lifting bracket is slidably connected to the Z-axis pulley, and the Z-axis support seat is slidably connected to the Y-axis slide rail and fixed to the Y-axis synchronous belt.

10. The palletizing equipment for transporting steel drums according to claim 1, characterized in that: It also includes limit sensors and mechanical limit components. Limit sensors and / or mechanical limit components are set at both ends of the X-axis drive mechanism, the Y-axis drive mechanism, and the Z-axis drive mechanism.

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