Tray stacking and unstacking device

Abstract

The utility model relates to the technical field of unstacking and stacking devices, in particular to a tray stacking and unstacking device. The device comprises a walking mechanism, a lifting mechanism, a telescopic mechanism and a grabbing mechanism. The lifting mechanism is arranged on the walking mechanism and does linear motion in the second direction, the telescopic mechanism is arranged on the lifting mechanism in a liftable mode, and the grabbing mechanism is arranged at the telescopic end of the telescopic mechanism; the lifting mechanism comprises an upper moving assembly in sliding fit with the sky rail and a lower moving assembly in sliding fit with the ground rail. The telescopic mechanism comprises a mounting plate which reciprocates between the upper moving assembly and the lower moving assembly in the third direction, the mounting plate is connected with fixed telescopic plates in the first direction, and the fixed telescopic plates are sequentially stacked from top to bottom and can be connected with at least one movable telescopic plate in a linear motion mode in the first direction. The movable telescopic plate far away from the fixed telescopic plate in the first direction is connected with the grabbing mechanism. By means of the tray stacking and unstacking device, stacking and unstacking of trays which are distributed in a scattered mode can be achieved under the limitation of a small space.

Description

Technical Field

[0001] The utility model relates to the technical field of stacking and destacking devices, in particular to a pallet stacking and destacking device. Background Art

[0002] As an indispensable loading, unloading, storage and transportation equipment in modern logistics, pallets are widely used as horizontal platform devices for the collection, stacking, handling and transportation of various goods and products. Pallets are particularly widely used in the field of conveyor lines. Once the pallets are not properly stacked after use, the work site will become messy, which not only affects work efficiency but also easily leads to safety accidents. In addition, when using pallets, the stacked pallets must be destackered. However, the current pallet stacking and destackering process mainly relies on forklifts or manual operations, which brings inconvenience to logistics operations.

[0003] On November 24, 2015, a Chinese patent document published a transport pallet stacker for autoclaved aerated concrete products. The patent publication number is CN105347051B. The device includes a frame, a horizontal walking mechanism, a vertical lifting mechanism and a grabbing mechanism. The horizontal walking mechanism is arranged on the frame, the vertical lifting mechanism is arranged on the horizontal walking mechanism, and the grabbing mechanism is arranged at the lower end of the vertical lifting mechanism. The horizontal walking mechanism can drive the vertical lifting mechanism to move horizontally, and the vertical lifting mechanism can drive the grabbing mechanism to move up and down. The grabbing mechanism is used to grab and release the transport pallet. It has high production efficiency and low maintenance cost, and can meet the needs of automated safety production.

[0004] The device can depalletize empty industrial pallets, but when the empty pallets move within a certain range of space, the on-site space is small and they cannot be placed, and there is spatial interference with the layout of other equipment, the device is difficult to meet the above demand situations. Summary of the invention

[0005] In view of the above-mentioned existing empty pallets moving within a certain range of space, the small on-site space and the spatial interference with other equipment layouts, which cannot meet the use requirements, the utility model provides a pallet stacking and destacking device. This device can be used in other equipment layout scenarios, as well as in narrow or existing space restrictions, to stack used pallets.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions: a pallet stacking and destacking device, comprising a walking mechanism, a lifting mechanism, a telescopic mechanism and a grabbing mechanism; wherein the lifting mechanism is arranged on the walking mechanism and performs linear reciprocating motion along a second direction driven by the walking mechanism, the telescopic mechanism is assembled on the lifting mechanism and performs linear reciprocating motion along a third direction driven by the lifting mechanism; the grabbing mechanism is arranged at the telescopic end of the telescopic mechanism, and the telescopic mechanism drives the grabbing mechanism to perform linear reciprocating motion along a first direction; the grabbing mechanism is configured to grab or release the pallet;

[0007] The walking mechanism comprises a ground rail, an overhead rail and a walking drive assembly arranged from bottom to top along a third direction, the length directions of the ground rail and the overhead rail are consistent with the second direction, the two ends of the ground rail and the overhead rail along the second direction are respectively connected by a first column, and the length direction of the first column is parallel to the third direction; the lifting mechanism comprises an upper moving assembly slidably matched with the overhead rail, a lower moving assembly slidably matched with the ground rail, and a support frame arranged between the upper moving assembly and the lower moving assembly; a lifting drive assembly is arranged on the support frame; the telescopic mechanism comprises a mounting plate assembled on the support frame and driven by the lifting drive assembly to reciprocate along the support frame, a fixed telescopic plate is connected to the first direction of the mounting plate, the fixed telescopic plate is stacked with at least one movable telescopic plate from top to bottom, and the movable telescopic plate makes a linear reciprocating motion relative to the fixed telescopic plate along the first direction under the drive of the telescopic drive assembly, and the movable telescopic plate located at the bottom of the fixed telescopic plate is connected to the grasping mechanism.

[0008] Furthermore, the travel drive assembly includes a second synchronous belt arranged on the ground rail and transmitting along the second direction and a second reduction motor drivingly connected to the second synchronous belt. The lifting mechanism is fixedly connected to the upper belt or the lower belt of the second synchronous belt and moves along the second direction under the action of the second reduction motor.

[0009] Furthermore, the upper moving assembly and the lower moving assembly each include a support and a running wheel, a front limit guide wheel and a rear limit guide wheel arranged on the support, the support frame includes two second columns connected in parallel and passing between the two supports, the running wheels on the upper moving assembly and the lower moving assembly are respectively matched with the opposite sides of the ceiling rail and the ground rail along the third direction, and the front limit guide wheel and the rear limit guide wheel on the upper moving assembly and the lower moving assembly are respectively clamped on both sides of the ceiling rail in the first direction and both sides of the ground rail in the first direction.

[0010] Furthermore, elastic pads are provided on both sides of the support along the second direction.

[0011] Furthermore, the lifting drive assembly includes a chain arranged between the upper moving assembly and the lower moving assembly, the chain is located between two second linear guide rails, and also includes a third reduction motor arranged above or below the support frame, the third reduction motor is connected to the chain through a transmission gear, and the chain is fixed to the mounting plate.

[0012] Furthermore, the lifting mechanism also includes two second linear guide rails connected in parallel between the upper moving assembly and the lower moving assembly, and the telescopic mechanism is assembled on the two second linear guide rails through a slider so as to perform linear motion along a third direction.

[0013] Furthermore, the telescopic drive assembly includes first idler wheels arranged at both ends of the fixed telescopic plate, a synchronous belt sleeved between the two first idler wheels, and a first reduction motor; the first reduction motor forms a transmission connection with the first synchronous belt and the front and rear two first idler wheels of the fixed telescopic plate; the first synchronous belt is fixed to the tail end of the movable telescopic plate through a belt pressure plate, and when the first reduction motor drives the first synchronous belt to rotate forward, the movable telescopic plate is driven to extend relative to the fixed telescopic plate, and when the first reduction motor drives the first synchronous belt to rotate reversely, the movable telescopic plate is driven to retract relative to the fixed telescopic plate.

[0014] Furthermore, the fixed telescopic plate is stacked with more than two movable telescopic plates in sequence from top to bottom, the lower movable telescopic plate is slidably assembled on the upper movable telescopic plate, and a follower assembly is arranged on the upper movable telescopic plate, the follower assembly includes second idler wheels arranged at both ends of the upper movable telescopic plate, and a transmission member is arranged between the two second idler wheels, and the transmission member is fixed to the tail end of the lower movable telescopic plate stacked under the upper movable telescopic plate through a lower rope pressure plate; the transmission member is fixed to the upper movable telescopic plate or the fixed telescopic plate stacked on the upper movable telescopic plate through an upper rope pressure plate.

[0015] Furthermore, the fixed telescopic plate and the movable telescopic plate, as well as two adjacent movable telescopic plates, are connected in a sliding manner via two parallel first linear guide rails and a sliding block.

[0016] Furthermore, the grabbing mechanism includes a frame component, two third guide rails are arranged in parallel at the bottom of the frame component, grabbing hooks are arranged at both ends of the two third guide rails for relative sliding, a driving cylinder is fixed on the frame component, the telescopic end of the driving cylinder is connected to one of the grabbing hooks, the bottoms of the two grabbing hooks are rotatably connected with synchronous connecting rods, the two synchronous connecting rods are parallel and the other ends of the synchronous connecting rods are respectively rotatably connected to the ends of the swing connecting rods, and the middle part of the swing connecting rod is rotatably connected to the frame component.

[0017] In summary, the utility model has the following beneficial effects:

[0018] (1) The pallet stacking and destacking are realized through the combination of the walking mechanism, lifting mechanism, telescopic mechanism and grabbing mechanism. The space required for the equipment mainly comes from the walking mechanism. The telescopic mechanism overlaps with the material in the vertical space. The walking mechanism is in a flat space, which can save site space in some specific application scenarios. At the same time, by increasing the length of the walking mechanism, the range of equipment activity space is increased, which is convenient for stacking empty pallets in sequence. It has a wider range of usage scenarios.

[0019] (2) The pallet grabbing mechanism is fixed at the end of the telescopic mechanism. In this way, the grabbing mechanism uses translational movement in three directions, including horizontal movement, front and back movement, and up and down movement, to transfer empty pallets that have been disassembled or transferred to the next process in the space. In this way, empty pallets that are very close to the ground can be transported. For example, empty pallets that are only 7-80cm high or placed directly on the ground. Especially in some places with limited on-site space, pallets can be properly stacked after use, which has better adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the structure of the pallet stacking and destacking device.

[0021] Figure 2 Side view of the depalletizing device for pallet stacking.

[0022] Figure 3 It is a schematic diagram of the telescopic mechanism and the grasping mechanism structure.

[0023] Figure 4 It is a schematic diagram of the telescopic mechanism structure.

[0024] Figure 5 Schematic diagram of the walking mechanism and lifting mechanism

[0025] Figure 6 It is a schematic diagram of the structure of the upper moving component and the lower moving component.

[0026] Figure 7 This is a schematic diagram of the grasping mechanism structure.

[0027] The reference numerals are as follows: 1. walking mechanism; 11. ground rail; 12. ceiling rail; 13. first column; 14. second synchronous belt; 15. second reduction motor; 2. lifting mechanism; 21. upper moving assembly; 22. lower moving assembly; 221. support; 222. walking wheel; 223. front limit guide wheel; 224. rear limit guide wheel; 225. elastic pad; 23. third reduction motor; 24. chain; 25. second line linear guide rail; 26, second column; 3, telescopic mechanism; 31, mounting plate; 32, fixed telescopic plate; 321, first idler wheel; 322, first synchronous belt; 323, first reduction motor; 33, movable telescopic plate; 331, second idler wheel; 332, wire rope; 34, first linear guide rail; 4, grabbing mechanism; 41, frame member; 42, third guide rail; 43, grabbing hook; 44, synchronous connecting rod; 45, swing connecting rod. DETAILED DESCRIPTION

[0028] The utility model is further described in detail below in conjunction with the embodiments.

[0029] Embodiment 1:

[0030] When implementing: Figures 1 to 3 As shown, a pallet stacking and destacking device includes a walking mechanism 1, a lifting mechanism 2, a telescopic mechanism 3 and a grabbing mechanism 4; through the combination of the walking mechanism 1, the lifting mechanism 2, the telescopic mechanism 3 and the grabbing mechanism 4, the stacking, destacking and device operation of the pallets are realized, and the efficiency and automation of the stacking and destacking are improved. Among them, the lifting mechanism 2 is arranged on the walking mechanism 1 and moves linearly in the second direction under the drive of the walking mechanism 1, so that the device can transport and position the pallet in the horizontal direction, and the telescopic mechanism 3 is arranged on the lifting mechanism 2 in a raisable manner, and moves linearly in the third direction under the drive of the lifting mechanism 2, so that the device can adapt to pallets of different heights and perform grabbing or releasing operations.

[0031] The walking mechanism 1 includes a ground rail 11, a ceiling rail 12 and a walking drive assembly arranged from bottom to top along the third direction, the length direction of the ground rail 11 and the ceiling rail 12 is consistent with the second direction, and the two ends of the ground rail 11 and the ceiling rail 12 along the second direction are respectively connected by a first column 13, and the length direction of the first column 13 is parallel to the third direction.

[0032] The telescopic end of the telescopic mechanism 3 is telescopic along the third direction, and the grabbing mechanism 4 is arranged at the telescopic end of the telescopic mechanism 3 for grabbing or releasing the pallet; the lifting mechanism 2 includes an upper moving component 21 that slides with the ceiling rail 12, and a lower moving component 22 that slides with the ground rail 11; and a support frame arranged between the upper moving component 21 and the lower moving component 22; a lifting drive component is arranged on the support frame; the telescopic mechanism 3 includes a mounting plate 31 that is assembled on the support frame and driven by the lifting drive component to reciprocate along the support frame, the mounting plate 31 is connected to a fixed telescopic plate 32 in a first direction, the fixed telescopic plate 32 is sequentially stacked with at least one movable telescopic plate 33 from top to bottom, the movable telescopic plate 33 performs a linear reciprocating motion relative to the fixed telescopic plate 32 along the first direction under the drive of the telescopic drive component, and the movable telescopic plate 33 located at the bottom of the fixed telescopic plate 32 is connected to the grabbing mechanism 4. Through the combination of the mounting plate 31, the fixed telescopic plate 32 and the movable telescopic plate 33, the stable movement of the telescopic mechanism 3 and the reliable function of grabbing the pallet are realized.

[0033] The first direction is consistent with the length direction of the fixed telescopic plate 32, that is, Figure 1 The second direction is consistent with the length direction of the upper moving component 21 and the lower moving component 22, that is, Figure 1 The third direction is perpendicular to the first direction and the second direction and is consistent with the height direction of the lifting mechanism 2, that is, Figure 1 The geometric layout of the first, second and third directions makes the movement and operation directions of the device clear and definite, and can stack and disassemble empty pallets in various places in the space.

[0034] Embodiment 2:

[0035] like Figures 4 to 6 As shown, the pallet stacking and destacking device based on Example 1 includes a walking mechanism 1, a lifting mechanism 2, a telescopic mechanism 3 and a gripping mechanism 4; through the combination of the walking mechanism 1, the lifting mechanism 2, the telescopic mechanism 3 and the gripping mechanism 4, the stacking, destacking and device operation of the pallets are realized, and the efficiency and automation of stacking and destacking are improved.

[0036] During implementation, the walking mechanism 1 includes a ground rail 11 and a ceiling rail 12 arranged from bottom to top along the third direction, the length direction of the ground rail 11 and the ceiling rail 12 is consistent with the second direction, and the two ends of the ground rail 11 and the ceiling rail 12 along the second direction are respectively connected by a first column 13, and the connection between the ground rail 11 and the ceiling rail 12 is achieved through the first column 13, which provides stable support and structural strength, ensures that the upper moving component 21 and the lower moving component 22 can move on the ceiling rail 12 and the ground rail 11, and ensures stability and reliability during the movement. At the same time, the first column 13 and the third direction are consistent with the height direction of the first column 13, so The travel drive assembly includes a second synchronous belt 14 on the ground rail 11 that transmits along the second direction and a second reduction motor 15 that is drive-connected to the second synchronous belt 14. Both ends of the second synchronous belt 14 are sleeved on pulleys, and the pulleys are arranged on the ground rail 12. The second reduction motor 15 is drive-connected to one of the pulleys. The second reduction motor 15 is installed on the travel mechanism 1. The lifting mechanism 2 is fixedly connected to the second synchronous belt 14 and moves along the second direction under the action of the second reduction motor 15. By setting the second synchronous belt 14 and the driving reduction motor, the lifting mechanism 2 can move along the second direction, thereby realizing the vertical lifting and placement operations of the pallet.

[0037] During implementation, the upper moving assembly 21 and the lower moving assembly 22 each include a support 221 and a walking wheel 222, a front limit guide wheel 223 and a rear limit guide wheel 224 arranged on the support 221, and the walking wheels 222 on the upper moving assembly 21 and the lower moving assembly 22 are respectively matched with the opposite sides of the ceiling rail 12 and the ground rail 11 along the third direction, and the support frame includes two second columns 26 arranged in parallel between the two supports 221, and the two second columns 26 are fixedly connected to the two supports 211, and the walking wheel 222 is provided with at least two along the length direction of the support 221. The front limit guide wheel 223 and the rear limit guide wheel 224 on the upper moving assembly 21 and the lower moving assembly 22 are respectively clamped on both sides of the first direction of the ceiling rail 12 and the first direction of the ground rail 11. The front limit guide wheel 223 and the rear limit guide wheel 224 provide guidance and stability for the support 221 on the ceiling rail 12 and the ground rail 11. The upper moving assembly 21 and the lower moving assembly 22 realize the linear movement of the lifting mechanism 2 along the third direction through the sliding cooperation with the ceiling rail 12 and the ground rail 11, ensuring the stable grasping and releasing operation of the device in the vertical direction. At the same time, a frame-type fixed frame is formed by connecting the ceiling rail 12, the ground rail 11 and the first first column 13. The structure of the two supports 221 connecting the second column 26 provides a moving path in the third direction for the lifting mechanism 2. The lifting mechanism 2 and the telescopic mechanism 3 move within the frame range, effectively reducing the area of ​​the occupied space, and can be applied to flat space.

[0038] Preferably, elastic pads 225 are provided on both sides of the support 221 along the second direction, and the elastic pads 225 play a buffering role to reduce vibration and impact during movement.

[0039] During implementation, the lifting drive assembly includes a chain 24 arranged between the upper moving assembly 21 and the lower moving assembly 22, the chain 24 is located between the two second linear guide rails 25, the lower moving assembly 22, the upper moving assembly 21 or the middle of the upper and lower ends of the support frame are provided with a third reduction motor 23, the third reduction motor 23 is installed on the support 221 below, the third reduction motor 23 is connected to the chain 24 through a transmission gear, the chain 24 is fixed to the mounting plate 31, and the mounting plate 31 can move smoothly, which is conducive to the accurate clamping of the pallet. The lifting mechanism 2 also includes two second linear guide rails 25 connected in parallel between the upper moving assembly 21 and the lower moving assembly 22, and the telescopic mechanism 3 can be assembled on the two second linear guide rails 25 by a slider to perform linear motion along the third direction.

[0040] Embodiment 3:

[0041] like Figures 4 to 6 As shown, based on Example 1 and Example 2, the pallet stacking and destacking device includes a walking mechanism 1, a lifting mechanism 2, a telescopic mechanism 3 and a grabbing mechanism 4.

[0042] In this embodiment, the front and rear two first idler wheels 321 are embedded in the front and rear ends of the fixed telescopic plate 32, so that the upper belt and the lower belt of the first synchronous belt 322 are respectively located above and below the fixed telescopic plate 32, and the front and rear two second idler wheels 331 are embedded in the front and rear ends of the movable telescopic plate 33, and the upper rope and the lower rope of the wire rope 332 are respectively located above and below the movable telescopic plate 33. In the specific implementation, in order to reduce the weight of the fixed telescopic plate 32 and the movable telescopic plate 33, a plurality of circular holes are opened on the weight of the fixed telescopic plate 32 and the movable telescopic plate 33.

[0043] During implementation, the telescopic drive assembly includes a first idler wheel 321 arranged at both ends of the fixed telescopic plate 12, a synchronous belt 322 sleeved between the two first idler wheels 321, and a first reduction motor 323; the first reduction motor 323 forms a transmission connection with the first synchronous belt 322 and the front and rear first idler wheels 321 of the fixed telescopic plate 32; the first synchronous belt 322 is fixed to the tail end of the movable telescopic plate 33 through a belt pressure plate, and when the first reduction motor 323 drives the first synchronous belt 322 to rotate forward, the movable telescopic plate 33 is driven to extend relative to the fixed telescopic plate 32, and when the first reduction motor 323 drives the first synchronous belt 322 to rotate reversely, the movable telescopic plate 33 is driven to retract relative to the fixed telescopic plate 32.

[0044] The fixed telescopic plate 32 is stacked with more than two movable telescopic plates 33 from top to bottom in sequence, the lower movable telescopic plate 33 is slidably assembled on the upper movable telescopic plate 33, and a follower assembly is arranged on the upper movable telescopic plate 33, the follower assembly includes second idler wheels 331 arranged at both ends of the upper movable telescopic plate 33, and a transmission member is arranged between the two second idler wheels 331, and the transmission member is fixed to the tail end of the lower movable telescopic plate 33 stacked under the upper movable telescopic plate 33 through a lower rope pressure plate; the transmission member is fixed to the upper movable telescopic plate 33 or the fixed telescopic plate 32 stacked on the upper movable telescopic plate 33 through an upper rope pressure plate.

[0045] During implementation, the fixed telescopic plate 32 and the movable telescopic plate 33 as well as two adjacent movable telescopic plates 33 are connected in a sliding manner through two parallel first linear guide rails 34 and sliders.

[0046] Embodiment 4:

[0047] like Figures 4 to 7 As shown, the pallet stacking and destacking device in the above embodiment includes a walking mechanism 1, a lifting mechanism 2, a telescopic mechanism 3 and a gripping mechanism 4.

[0048] In implementation, the grabbing mechanism 4 includes a frame member 41, two third guide rails 42 are arranged in parallel at the bottom of the frame member 41, grabbing hooks 43 are arranged at both ends of the two third guide rails 42 for relative sliding, a driving cylinder is fixed on the frame member 41, the telescopic end of the driving cylinder is connected to one of the grabbing hooks 43, the bottoms of the two grabbing hooks 43 are rotatably connected with a synchronous link 44, the two synchronous links 44 are parallel and the other ends of the synchronous links 44 are respectively rotatably connected to the ends of the swing link 45, and the middle part of the swing link 45 is rotatably connected to the frame member 41. The opening and closing operations of the gripper are realized through the control of the driving device, ensuring the stable grabbing and releasing of the pallet by the device.

[0049] In a specific implementation, the first idler wheel 321 has teeth, and the second synchronous belt 14 is also sleeved on two toothed transmission wheels, and the synchronous belt is a flat belt.

[0050] After the product packaging is completed, this device arranges the empty pallets in order and stacks them for storage, replacing the original manual stacking or destacking method, greatly improving production efficiency. During the stacking process, it is necessary to first place the empty pallets within the space in an orderly manner at the stacking station, or to remove the empty pallets from the stacking station in an orderly manner. One of the applicable scenarios is as follows. After the pallet is loaded with goods and transported to the designated location by the conveying device, the manipulator unloads the goods or moves them to the next process. At this time, it is necessary to consider the possible interference between the manipulator and the stacking and destacking equipment in the space. This device can use the telescopic mechanism to allow the manipulator to transfer the goods to other places, including the conveyor belt of the next process. The telescopic mechanism drives the grasping mechanism to clamp and place the empty pallets, and stack the empty pallets to one side of the conveying device. In this way, the device can move in a small space through the walking mechanism and the lifting mechanism, and the empty pallets can be centrally and uniformly arranged in columns.

[0051] In summary, the pallet stacking, destacking and device operation are highly automated, reducing the need for manual operation and improving work efficiency and accuracy. By moving horizontally, forward and backward, empty pallets can be transferred in space, and empty pallets that are very close to the ground can be transported. For example, the height is only 7-80cm high, or directly placed on the ground. In some places with on-site space restrictions, this equipment also has better adaptability, and the pallet stacking, destacking and device operation are highly accurate, and can accurately perform stacking and destacking operations.

[0052] The above description is only a preferred embodiment of the utility model and is not intended to limit the utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the utility model should be included in the protection scope of the utility model.

Claims

1. A pallet stacking and destacking device, comprising a walking mechanism (1), a lifting mechanism (2), a telescopic mechanism (3) and a grasping mechanism (4); wherein: The lifting mechanism (2) is arranged on the walking mechanism (1) and is driven by the walking mechanism (1) to perform linear reciprocating motion in the second direction; the telescopic mechanism (3) is mounted on the lifting mechanism (2) and is driven by the lifting mechanism (2) to perform linear reciprocating motion in the third direction; the gripping mechanism (4) is arranged at the telescopic end of the telescopic mechanism (3), and the telescopic mechanism (3) drives the gripping mechanism (4) to perform linear reciprocating motion in the first direction; the gripping mechanism (4) is configured to grip or release a pallet; and is characterized in that: The walking mechanism (1) comprises a ground rail (11), a ceiling rail (12) and a walking drive assembly arranged from bottom to top along a third direction, the length direction of the ground rail (11) and the ceiling rail (12) is consistent with the second direction, the two ends of the ground rail (11) and the ceiling rail (12) along the second direction are respectively connected by a first column (13), and the length direction of the first column (13) is parallel to the third direction; the lifting mechanism (2) comprises an upper moving assembly (21) slidably matched with the ceiling rail (12), a lower moving assembly (22) slidably matched with the ground rail (11), and a moving drive assembly arranged between the upper moving assembly (21) and the lower moving assembly (22). 2) between the support frame; a lifting drive assembly is arranged on the support frame; the telescopic mechanism (3) comprises a mounting plate (31) mounted on the support frame and driven by the lifting drive assembly to reciprocate along the support frame, the mounting plate (31) is connected to a fixed telescopic plate (32) in a first direction, the fixed telescopic plate (32) is stacked with at least one movable telescopic plate (33) in sequence from top to bottom, the movable telescopic plate (33) is driven by the telescopic drive assembly to reciprocate linearly relative to the fixed telescopic plate (32) along the first direction, and the movable telescopic plate (33) located at the bottom layer of the fixed telescopic plate (32) is connected to the grasping mechanism (4).

2. The pallet stacking and destacking device according to claim 1, characterized in that: The travel drive assembly comprises a second synchronous belt (14) arranged on the ground rail (11) and transmitting in a second direction, and a second reduction motor (15) drivingly connected to the second synchronous belt (14); the lifting mechanism (2) is fixedly connected to the upper belt or the lower belt of the second synchronous belt (14), and moves in the second direction under the action of the second reduction motor (15).

3. The pallet stacking and destacking device according to claim 2, characterized in that: The upper moving assembly (21) and the lower moving assembly (22) both comprise a support (221) and a running wheel (222), a front limiting guide wheel (223) and a rear limiting guide wheel (224) arranged on the support (221); the support frame comprises two second uprights (26) connected in parallel and passing between the two supports (221); the running wheels (222) on the upper moving assembly (21) and the lower moving assembly (22) are respectively matched to the opposite sides of the ceiling rail (12) and the ground rail (11) along the third direction; the front limiting guide wheel (223) and the rear limiting guide wheel (224) on the upper moving assembly (21) and the lower moving assembly (22) are respectively clamped on both sides of the ceiling rail (12) in the first direction and on both sides of the ground rail (11) in the first direction.

4. The pallet stacking and destacking device according to claim 3, characterized in that: Elastic cushion blocks (225) are provided on both sides of the support (221) along the second direction.

5. The pallet stacking and destacking device according to claim 3, characterized in that: The lifting drive assembly comprises a chain (24) arranged between the upper moving assembly (21) and the lower moving assembly (22), wherein the chain (24) is located between two second linear guide rails (25), and further comprises a third reduction motor (23) arranged above or below the support frame, wherein the third reduction motor (23) is transmission-connected to the chain (24) via a transmission gear, and the chain (24) is fixed to the mounting plate (31).

6. The pallet stacking and destacking device according to claim 5, characterized in that: The lifting mechanism (2) further comprises two second linear guide rails (25) connected in parallel between the upper moving assembly (21) and the lower moving assembly (22), and the telescopic mechanism (3) is assembled on the two second linear guide rails (25) via a slider so as to be capable of linear motion along a third direction.

7. The pallet stacking and destacking device according to claim 1, characterized in that: The telescopic drive assembly comprises first idler wheels (321) arranged at both ends of the fixed telescopic plate (32), a synchronous belt (322) sleeved between the two first idler wheels (321), and a first reduction motor (323); the first reduction motor (323) forms a transmission connection with the first synchronous belt (322) and the two first idler wheels (321) at the front and rear of the fixed telescopic plate (32); the first synchronous belt (322) is fixed to the rear end of the movable telescopic plate (33) via a belt pressure plate; when the first reduction motor (323) drives the first synchronous belt (322) to rotate in the forward direction, the movable telescopic plate (33) is driven to extend relative to the fixed telescopic plate (32); when the first reduction motor (323) drives the first synchronous belt (322) to rotate in the reverse direction, the movable telescopic plate (33) is driven to retract relative to the fixed telescopic plate (32).

8. The pallet stacking and destacking device according to claim 7, characterized in that: The fixed telescopic plate (32) is stacked with two or more movable telescopic plates (33) in sequence from top to bottom, the lower movable telescopic plate (33) is slidably mounted on the upper movable telescopic plate (33), and a follower assembly is arranged on the upper movable telescopic plate (33), the follower assembly includes second idler wheels (331) arranged at both ends of the upper movable telescopic plate (33), and a transmission member is arranged between the two second idler wheels (331), the transmission member is fixed to the tail end of the lower movable telescopic plate (33) stacked under the upper movable telescopic plate (33) through a lower rope pressure plate; the transmission member is fixed to the upper movable telescopic plate (33) or the fixed telescopic plate (32) stacked on the upper movable telescopic plate (33) through an upper rope pressure plate.

9. The pallet stacking and destacking device according to claim 7, characterized in that: The fixed telescopic plate (32) and the movable telescopic plate (33), as well as two adjacent movable telescopic plates (33), are connected in a sliding manner via two parallel first linear guide rails (34) and a sliding block.

10. The pallet stacking and destacking device according to claim 1, characterized in that: The grabbing mechanism (4) comprises a frame member (41), two third guide rails (42) are arranged in parallel at the bottom of the frame member (41), grabbing hooks (43) are arranged at both ends of the two third guide rails (42) in a relatively slidable manner, a driving cylinder is fixed to the frame member (41), the telescopic end of the driving cylinder is connected to one of the grabbing hooks (43), the bottoms of the two grabbing hooks (43) are rotatably connected to synchronous connecting rods (44), the two synchronous connecting rods (44) are parallel and the other ends of the synchronous connecting rods (44) are respectively rotatably connected to the ends of the swing connecting rods (45), and the middle part of the swing connecting rod (45) is rotatably connected to the frame member (41).

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