Cantilever type electric control stacking partition plate taking device

Abstract

The utility model discloses a cantilever type electric control stacking partition plate taking device, and belongs to the technical field of machining equipment. Which comprises a cross beam and two stand columns, the two stand columns are arranged on the left side and the right side of the bottom of the cross beam, a middle supporting column is arranged below the middle of the cross beam, and is characterized in that an X-axis transverse moving device is arranged at the top of the cross beam, the X-axis transverse moving device is arranged in a left-right sliding mode in the direction of the cross beam, and a cantilever cross beam is arranged at the top of the X-axis transverse moving device; the material guiding device is arranged in the gripper device assembly, the material guiding device can penetrate through a plurality of through holes in the partition plates to achieve the alignment effect of grabbing and placing the partition plates, and meanwhile when the partition plates are stacked up and down, the material guiding device can penetrate through the through holes penetrating through the partition plates and can penetrate through the through holes of the previous partition plate during stacking; therefore, during stacking, partial partition plates can be prevented from deviating.

Description

Technical Field

[0001] The utility model belongs to the technical field of processing equipment, and particularly relates to a cantilever type electric control palletizing partition board taking device. Background Art

[0002] The automatic packaging and palletizing technology of silk ingots has been widely applied in the textile chemical fiber and carbon fiber industries. The core of this technology lies in ensuring the stability and accuracy of silk ingots during the packaging and palletizing processes through a high-precision positioning system. The palletizing partition board taking device is the most crucial link among them. Automation can not only reduce the repetitive work of operators in placing partition boards but also improve the palletizing efficiency. In the production and packaging of silk ingots, the bottom layer is a pallet. Before the robot palletizes the silk, the partition board taking mechanism needs to place a layer of partition boards on the pallet first. When the robot places the silk ingots, the paper tube holes of the silk ingots need to be aligned with the partition board holes in sequence to ensure that the silk ingots are placed orderly and stably without excessive skew. After the manipulator palletizes one layer, the control system schedules the partition board taking device to accurately place the partition boards on the first layer of silk ingots for placing the second layer of silk ingots, and so on for palletizing.

[0003] The partition board holes need to be aligned with the paper tube holes of the silk ingots in the previous layer. Therefore, the partition board taking device requires high-precision positioning in the three directions of up and down, left and right, and front and back. However, in actual production, individual silk ingots may be slightly skewed during automatic palletizing, making it impossible to ensure that the partition board placement holes can accurately align with the paper tube holes of the silk ingots in the previous layer. If one layer is not palletized neatly, it will affect the palletizing of subsequent layers, resulting in pallet collapse or extrusion deformation of the silk ingots. Summary of the Utility Model

[0004] The utility model mainly solves the technical problems existing in the above-mentioned prior art, and provides a cantilever type electric control palletizing partition board taking device.

[0005] The above technical problems of the utility model are mainly solved by the following technical solutions: A cantilever type electric control palletizing partition board taking device includes a cross beam and two columns. The two columns are arranged on the left and right sides at the bottom of the cross beam. A middle support column is arranged below the middle of the cross beam. It is characterized in that: an X-axis transverse movement device is arranged on the top of the cross beam, and the X-axis transverse movement device is arranged to slide left and right along the direction of the cross beam. An overhanging beam is arranged on the top of the X-axis transverse movement device. The front end of the overhanging beam is connected with a Z-axis lifting device. A Z-axis vertical beam and a Z-axis motor mounting plate are arranged inside the Z-axis lifting device. The front end of the overhanging beam is connected with the Z-axis motor mounting plate. The Z-axis vertical beam is connected and slidably arranged on the front side of the Z-axis motor mounting plate. A gripper device assembly is arranged at the bottom of the Z-axis vertical beam. A partition board to be grabbed is arranged below the gripper device assembly.

[0006] Preferably, the X-axis transverse movement device includes an X-axis servo motor, an X-axis transverse movement gear, an X-axis transverse movement rack, an X-axis transverse movement slide rail, an X-axis transverse movement slider, a first anti-collision block, an X-axis left limit sensor, an X-axis right limit sensor, and a reinforcing plate. The X-axis transverse movement racks are respectively laid horizontally on multiple sides of the cross beam. The X-axis transverse movement rack is arranged on the top of the cross beam. Two groups of reinforcing plates are arranged at the bottom of the cantilever cross beam. The two groups of reinforcing plates are respectively arranged on the top and the front of the cross beam. And the two groups of reinforcing plates are slidably connected to the X-axis transverse movement slide rail through the X-axis transverse movement slider. The X-axis servo motor is arranged on the reinforcing plate at the top. And the output end of the X-axis servo motor penetrates downward through the reinforcing plate. The X-axis transverse movement gear is arranged at the bottom of the output end of the X-axis servo motor and meshes with the X-axis transverse movement rack.

[0007] Preferably, the first anti-collision blocks are arranged on the left and right sides of the front of the cross beam. The X-axis left limit sensor is arranged on the left side of the back of the cross beam. The X-axis right limit sensor is arranged on the right side of the back of the cross beam.

[0008] Preferably, the Z-axis lifting device includes a Z-axis lifting slide rail, a Z-axis lifting rack, a Z-axis servo motor, a Z-axis lifting slider, a Z-axis upper limit sensor, a Z-axis lifting gear, a Z-axis lower limit sensor, and an auxiliary frame. The auxiliary frames are arranged on the left and right sides of the front of the Z-axis motor mounting plate, and one group is arranged above and below respectively. The Z-axis lifting slider is arranged on the auxiliary frame. The Z-axis vertical beam is arranged between the two auxiliary frames. The Z-axis lifting slide rails are arranged on the left and right sides of the Z-axis vertical beam. The Z-axis lifting slider is slidably connected to the Z-axis lifting slide rail. The Z-axis lifting rack is arranged on one side of the Z-axis vertical beam. The Z-axis servo motor is arranged on the back of the Z-axis motor mounting plate, and the output end penetrates forward through the Z-axis motor mounting plate. The Z-axis lifting gear is sleeved on the output end of the Z-axis servo motor, and the Z-axis lifting gear meshes with the Z-axis lifting rack.

[0009] Preferably, the Z-axis upper limit sensor is arranged on the auxiliary frame at the upper part. The Z-axis lower limit sensor is arranged below the back of the Z-axis motor mounting plate through the auxiliary frame.

[0010] Preferably, the gripper device assembly includes a gripper connecting plate, a gripper frame, a Y-axis transverse translation slide rail, a Y-axis transverse translation slider, an auxiliary power structure, a sucker telescopic cylinder, a pusher cylinder, a material guiding device, a sucker vacuum generator, a sucker, a cylinder control valve plate, an equipment plate, a detection piece, a Y-axis front limit sensor, a Y-axis rear limit sensor, a Y-axis origin sensor, and a detection partition sensor. The gripper connecting plate is arranged below the Z-axis vertical beam. The Y-axis transverse translation sliders are arranged on the left and right sides of the bottom of the gripper connecting plate. The gripper frame is arranged below the gripper connecting plate. The Y-axis transverse translation slide rails are arranged on the left and right sides of the top of the gripper frame. Second anti-collision blocks are arranged at both ends of the Y-axis transverse translation slide rails. The gripper frame is slidably connected to the upper Y-axis transverse translation sliders through the Y-axis transverse translation slide rails at the top. Multiple material guiding devices are arranged at the bottom of the gripper frame.

[0011] Preferably, the auxiliary power structure is arranged below the gripper connecting plate. The auxiliary power structure includes a Y-axis servo motor, a Y-axis nut drive seat, a Y-axis transverse translation screw, a Y-axis synchronous pulley, a Y-axis drive belt, and a second anti-collision block. The Y-axis transverse translation screw is arranged below the gripper connecting plate parallel to the Y-axis transverse translation slide rail. The Y-axis nut drive seat is sleeved on the surface of the Y-axis transverse translation screw. The top of the Y-axis nut drive seat is connected to the top of the gripper connecting plate. Both ends of the Y-axis transverse translation screw are respectively installed on the gripper frame through shaft seats. The Y-axis synchronous pulley is sleeved on the surface of one end of the Y-axis transverse translation screw. The Y-axis servo motor is installed on the gripper frame and is arranged corresponding to one side of the Y-axis synchronous pulley. The Y-axis servo motor and the Y-axis synchronous pulley are connected through the Y-axis drive belt.

[0012] Preferably, the sucker telescopic cylinders are respectively arranged at the four corners of the top of the gripper frame. The suckers are arranged at the output ends of the sucker telescopic cylinders. The pusher cylinder is arranged corresponding to one side of each sucker telescopic cylinder. After the output ends of the sucker telescopic cylinders and the pusher cylinder are opened, they both extend below the gripper frame. The equipment plate is arranged on one side of the top of the gripper frame. The sucker vacuum generator and the cylinder control valve plate are respectively arranged on the top of the equipment plate.

[0013] Preferably, the detection piece is arranged in the middle of one side of the gripper connecting plate. The Y-axis front limit sensor and the Y-axis rear limit sensor are respectively arranged corresponding to both ends of one side of the Y-axis transverse translation slide rail. The Y-axis origin sensor is arranged close to one side of the Y-axis rear limit sensor. The output ends of the Y-axis front limit sensor, the Y-axis rear limit sensor, and the Y-axis origin sensor are all arranged towards the detection piece. The detection partition sensor is arranged on the gripper frame and the detection end is arranged towards it.

[0014] The beneficial effects of the present utility model are as follows: By arranging a material guiding device inside the gripper device assembly, the material guiding device can pass through multiple through-holes in the partition to achieve the alignment effect of grasping and placing the partition. At the same time, when stacking the partitions up and down, the material guiding device passes through the through-holes of the partition and can pass through the through-holes of the previous partition during stacking, so that during stacking, the situation of partial offset of some partitions can be avoided, making the stacking of the entire partition more neat. At the same time, its cantilever structure is light, with good load-bearing capacity and high space utilization rate. The assembled installation method is adopted, which can greatly reduce the installation difficulty of the project and improve the construction efficiency of the project. By setting an X-axis transverse movement device, a Z-axis lifting device and an auxiliary power structure, the gripper device assembly can be moved on the X, Y, and Z axes, achieving good position adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is an overall layout diagram of the present utility model;

[0016] Figure 2 is a partial side view layout diagram of the X, Y, and Z axes of the present utility model;

[0017] Figure 3 is a partial top view layout diagram of the X, Y, and Z axes of the present utility model;

[0018] Figure 4 is a partial three-dimensional layout diagram of the X, Y, and Z axes of the present utility model;

[0019] Figure 5 is a rear view layout diagram of the Z axis of the present utility model;

[0020] Figure 6 is a rear view layout diagram of the X axis of the present utility model;

[0021] Figure 7 is a three-dimensional structure layout diagram of the gripper device of the present utility model;

[0022] Figure 8 is a top view structure layout diagram of the gripper device of the present utility model.

[0023] In the figure: 11, vertical column; 12, cross beam; 13, cantilever cross beam; 14, middle support column; 3, X-axis transverse movement device; 31, X-axis servo motor; 32, X-axis transverse movement gear; 33, X-axis transverse movement rack; 34, X-axis transverse movement slide rail; 35, X-axis transverse movement slider; 36, first anti-collision block; 37, X-axis left limit sensor; 38, X-axis right limit sensor; 39, reinforcing plate; 4, Z-axis lifting device; 41, Z-axis vertical beam; 42, Z-axis lifting slide rail; 43, Z-axis lifting rack; 44, Z-axis servo motor; 45, Z-axis lifting slider; 46, Z-axis upper limit sensor; 47, Z-axis lifting gear; 48, Z-axis motor mounting plate; 49, Z-axis lower limit sensor; 410, second reinforcing plate; 411, auxiliary frame; 5, gripper device assembly; 51, gripper frame; 52, gripper connecting plate; 53, Y-axis transverse movement slide rail; 54, Y-axis transverse movement slider; 55, Y-axis servo motor; 56, Y-axis bearing seat; 57, Y-axis transverse movement screw; 58, Y-axis synchronous pulley; 59, Y-axis transmission belt; 510, second anti-collision block; 511, sucker telescopic cylinder; 512, pusher cylinder; 513, sucker vacuum generator; 514, material guiding device; 515, cylinder control valve plate; 516, equipment plate; 517, detection piece; 518, Y-axis front limit sensor; 519, Y-axis rear limit sensor; 520, Y-axis origin sensor; 521, detection partition sensor; 522, sucker. Detailed implementation mode

[0024] The technical solution of the present utility model will be further specifically described below through embodiments in conjunction with the accompanying drawings.

[0025] Embodiment: A cantilever type electric control palletizing and partition grabbing device, as Figures 1 - 8 shown, includes a cross beam 12 and two vertical columns 11. The two vertical columns 11 are arranged on the left and right sides of the bottom of the cross beam 12. A middle support column 14 is arranged below the middle of the cross beam 12. An X-axis transverse movement device 3 is arranged on the top of the cross beam 12. The X-axis transverse movement device 3 is slidably arranged left and right along the direction of the cross beam 12. An upper part of the X-axis transverse movement device 3 is provided with a cantilever cross beam 1312. The front end of the cantilever cross beam 1312 is connected with a Z-axis lifting device 4. A Z-axis vertical beam 41 and a Z-axis motor mounting plate 48 are arranged in the Z-axis lifting device 4. The front end of the cantilever cross beam 1312 is connected with the Z-axis motor mounting plate 48. The Z-axis vertical beam 41 is slidably connected and arranged on the front surface of the Z-axis motor mounting plate 48. A gripper device assembly 5 is arranged at the bottom of the Z-axis vertical beam 41. A partition to be grabbed is arranged below the gripper device assembly 5.

[0026] The X-axis transverse movement device 3 includes an X-axis servo motor 31, an X-axis transverse movement gear 32, an X-axis transverse movement rack 33, an X-axis transverse movement slide rail 34, an X-axis transverse movement slider 35, a first anti-collision block 36, an X-axis left limit sensor 37, an X-axis right limit sensor 38, and a reinforcing plate 39. The X-axis transverse movement racks 33 are respectively laid horizontally on multiple sides of the cross beam 12. The X-axis transverse movement rack 33 is arranged on the top of the cross beam 12. Two groups of reinforcing plates 39 are arranged at the bottom of the cantilever cross beam 1312. The two groups of reinforcing plates 39 are respectively arranged on the top and the front of the cross beam 12, and the two groups of reinforcing plates 39 are slidably connected to each other through the X-axis transverse movement slider 35 and the X-axis transverse movement slide rail 34. The X-axis servo motor 31 is arranged on the reinforcing plate 39 at the top, and the output end of the X-axis servo motor 31 penetrates downward through the reinforcing plate 39. The X-axis transverse movement gear 32 is arranged at the bottom of the output end of the X-axis servo motor 31 and meshes with the X-axis transverse movement rack 33. The first anti-collision blocks 36 are arranged on the left and right sides of the front of the cross beam 12. The X-axis left limit sensor 37 is arranged on the left side of the back of the cross beam 12. The X-axis right limit sensor 38 is arranged on the right side of the back of the cross beam 12. The X-axis left limit sensor 37 and the X-axis left limit sensor 37 are within the range between the two first anti-collision blocks 36. The X-axis right limit sensor 38 and the X-axis left limit sensor 37 are used to prevent the X-axis transverse movement device 3 from moving beyond the limit left and right on the cantilever cross beam 1312.

[0027] The Z-axis lifting device 4 includes a Z-axis lifting slide rail 42, a Z-axis lifting rack 43, a Z-axis servo motor 44, a Z-axis lifting slider 45, a Z-axis upper limit sensor 46, a Z-axis lifting gear 47, a Z-axis lower limit sensor 49, and an auxiliary frame 411. The auxiliary frames 411 are arranged on the left and right sides of the front of the Z-axis motor mounting plate 48, and one group is arranged above and below respectively. The Z-axis lifting slider 45 is arranged on the auxiliary frame 411. The Z-axis vertical beam 41 is arranged between the two auxiliary frames 411. The Z-axis lifting slide rail 42 is arranged on the left and right sides of the Z-axis vertical beam 41. The Z-axis lifting slider 45 is slidably connected to the Z-axis lifting slide rail 42. The Z-axis lifting rack 43 is arranged on one side of the Z-axis vertical beam 41. The Z-axis servo motor 44 is arranged on the back of the Z-axis motor mounting plate 48, and the output end penetrates forward through the Z-axis motor mounting plate 48. The Z-axis lifting gear 47 is sleeved on the output end of the Z-axis servo motor 44, and the Z-axis lifting gear 47 meshes with the Z-axis lifting rack 43. The Z-axis upper limit sensor 46 is arranged on the auxiliary frame 411 at the upper side. The Z-axis lower limit sensor 49 is arranged below the back of the Z-axis motor mounting plate 48 through the auxiliary frame 411. The Z-axis upper limit sensor 46 and the Z-axis lower limit sensor 49 are used to prevent the Z-axis lifting device 4 from moving beyond the limit up and down on the Z-axis vertical beam 41.

[0028] The gripper device assembly 5 includes a gripper connection plate 52, a gripper frame 51, a Y-axis transverse sliding rail 53, a Y-axis transverse sliding block 54, an auxiliary power structure, a suction cup telescopic cylinder 511, a material pushing cylinder 512, a material guiding device 514, a suction cup 522, a vacuum generator 513, a suction cup 522, a cylinder control valve plate 515, an equipment plate 516, a detection piece 517, a Y-axis front limit sensor 518, a Y-axis rear limit sensor 519, a Y-axis origin sensor 520, and a detection partition sensor 521. The gripper connection plate 52 is arranged below the Z-axis vertical beam 41. The Y-axis transverse sliding blocks 54 are arranged on the left and right sides of the bottom of the gripper connection plate 52. The gripper frame 51 is arranged below the gripper connection plate 52. The Y-axis transverse sliding rails 53 are arranged on the left and right sides of the top of the gripper frame 51. Second anti-collision blocks 510 are arranged at both ends of the Y-axis transverse sliding rails 53. The gripper frame 51 is slidably connected to the upper Y-axis transverse sliding blocks 54 through the Y-axis transverse sliding rails 53 at the top. Multiple material guiding devices 514 are arranged at the bottom of the gripper frame 51. The auxiliary power structure is arranged below the gripper connection plate 52. The auxiliary power structure includes a Y-axis servo motor 55, a Y-axis nut transmission seat 56, a Y-axis transverse screw 57, a Y-axis synchronous pulley 58, a Y-axis transmission belt 59, and a second anti-collision block 510. The Y-axis transverse screw 57 is arranged parallel to the Y-axis transverse sliding rail 53 below the gripper connection plate 52. The Y-axis nut transmission seat 56 is sleeved on the surface of the Y-axis transverse screw 57. The top of the Y-axis nut transmission seat 56 is connected to the top of the gripper connection plate 52. Both ends of the Y-axis transverse screw 57 are respectively installed on the gripper frame 51 through shaft seats. The Y-axis synchronous pulley 58 is sleeved on the surface of one end of the Y-axis transverse screw 57. The Y-axis servo motor 55 is installed on the gripper frame 51 and is arranged corresponding to one side of the Y-axis synchronous pulley 58. The Y-axis servo motor 55 and the Y-axis synchronous pulley 58 are connected through the Y-axis transmission belt 59. The suction cup telescopic cylinders 511 are respectively arranged at the four corners of the top of the gripper frame 51. The suction cups 522 are arranged at the output ends of the suction cup telescopic cylinders 511. The material pushing cylinders 512 are arranged corresponding to one side of each suction cup telescopic cylinder 511. After the output ends of the suction cup telescopic cylinders 511 and the output ends of the material pushing cylinders 512 are opened, they both extend below the gripper frame 51. The equipment plate 516 is arranged on one side of the top of the gripper frame 51. The suction cup 522 vacuum generator 513 and the cylinder control valve plate 515 are respectively arranged on the top of the equipment plate 516. The detection piece 517 is arranged in the middle of one side of the gripper connection plate 52. The Y-axis front limit sensor 518 and the Y-axis rear limit sensor 519 are respectively arranged corresponding to both ends of one side of the Y-axis transverse sliding rail 53. The Y-axis origin sensor 520 is arranged close to one side of the Y-axis rear limit sensor 519. The output ends of the Y-axis front limit sensor 518, the Y-axis rear limit sensor 519, and the Y-axis origin sensor 520 all face one side of the detection piece 517.The Y-axis front limit sensor 518 and the Y-axis rear limit sensor 519 are used to prevent the auxiliary power structure from moving beyond the limit in the left and right movement of the Y-axis cross slide rail 53. The detection partition sensor 521 is arranged on the gripper frame 51, and the detection end is arranged in a specific direction.

[0029] The X-axis left limit sensor 37, the X-axis right limit sensor 38, the Z-axis upper limit sensor 46 and the Z-axis lower limit sensor 49 all adopt a snap switch, also called a travel switch, with the model number WLCA2-2N-Q, which is used for limit protection. The Y-axis front limit sensor 518, the Y-axis rear limit sensor 519 and the Y-axis origin sensor 520 are all inductive sensors, with the model number DW-AS-627-M12-069, which cooperate with the detection piece 517 in the middle to sense the position. The Y-axis origin sensor 520 is the reference point sensor of the Y-axis servo motor 55. The Y-axis servo motor 55 uses an incremental encoder for positioning. After power-off and restart, the Y-axis servo motor 55 moves to this position, and the encoder is cleared. The detection partition sensor 521 is a photoelectric sensor, with the model number E3FA-DP11, which is used to detect whether the bottom partition is adsorbed.

[0030] Among them Figure 2 、 4 Set two partitions to be grabbed in 5 and 6. One is in the just-grabbed state, and the other is in the state of rising after the partition is adsorbed for the detection partition sensor 521 to detect.

[0031] The principle of the present utility model: When no task of placing the partition is received, it is in the safe initial position. After receiving the task, the control system drives the X-axis servo motor 31 and the Y-axis servo motor 55 to move, driving the gripper device assembly 5 located below to move to the predetermined material-taking position. The control system drives the Z-axis servo motor 44 to start. The Z-axis servo motor 44 meshes with the Z-axis lifting rack 43 through the gear at the output end and rotates, thereby driving the Z-axis vertical beam 41 to start moving downward. And the Z-axis upper limit sensor 46 is arranged on the uppermost auxiliary frame 411, which is used to prevent the Z-axis vertical beam 41 from moving beyond the limit range. When the Z-axis vertical beam 41 moves downward and drives the gripper device assembly 5 at the bottom to move above the partition, the cylinder valve piece controls the suction cup telescopic cylinder 511 to extend, the vacuum generator works, and the suction cup 522 adsorbs the partition, so that the output end suction cup 522 adsorbs on the partition. At the same time, during the downward movement, the guiding device 514 aligns and grabs the multiple through holes on the partition. Then the suction cup telescopic cylinder 511 drives the partition at the bottom to retract upward until the detection partition sensor 521 detects the partition, and the control system drives the Z-axis servo motor 44 to drive the Z-axis vertical beam 41 to rise to the safe height.

[0032] Then, drive the X-axis servo motor 31 and the Y-axis servo motor 55 to move, and move the gripper device assembly 5 to the predetermined feeding position. The Z-axis vertical beam 41 descends to the height corresponding to the number of layers, and the top end of the material guiding device 514 penetrates into the silk ingot paper tube. At this time, the vacuum generator stops, so that the suction force in the suction cup 522 loses its effect. At the same time, the pushing cylinder 512 works and extends, so that the suction cup 522 is separated from the partition plate. This step is used to prevent some partition plates from still being adsorbed on the suction cup 522 after the suction force of the suction cup 522 is lost. After the partition plate sensor 521 detects that there is no partition plate, the suction cup telescopic cylinder 511 and the pushing cylinder 512 retract, and the Z-axis rises to the safe height. The system drives the X-axis servo motor 31 back to the safe initial position and waits for the next task.

[0033] Finally, it should be noted that the above embodiments are only relatively representative examples of the present invention. Obviously, the present invention is not limited to the above embodiments and there can be many variations. Any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention shall be considered as belonging to the protection scope of the present invention.

Claims

1. A cantilever type electric controlled stacking and partition removing device, comprising a cross beam (12) and two columns (11), wherein the two columns (11) are arranged on the left and right sides of the bottom of the cross beam (12), and a middle support column (14) is arranged below the middle of the cross beam (12), characterized in that: An X-axis lateral movement device (3) is arranged on the top of the crossbeam (12), and the X-axis lateral movement device (3) is arranged to slide left and right along the direction of the crossbeam (12). A cantilever crossbeam (13) is arranged on the top of the X-axis lateral movement device (3), and the front end of the cantilever crossbeam (13) is connected to a Z-axis lifting device (4). A Z-axis vertical beam (41) and a Z-axis motor mounting plate (48) are arranged in the Z-axis lifting device (4). The front end of the cantilever crossbeam (13) and the Z-axis motor mounting plate (48) are connected to each other, and the Z-axis vertical beams (41) are connected to each other and slidably arranged on the front side of the Z-axis motor mounting plate (48). A gripper device assembly (5) is arranged at the bottom of the Z-axis vertical beam (41), and a partition to be gripped is arranged below the gripper device assembly (5).

2. A cantilever type electrically controlled stacking and partition removing device according to claim 1, characterized in that: The X-axis transverse movement device (3) comprises an X-axis servo motor (31), an X-axis transverse movement gear (32), an X-axis transverse movement rack (33), an X-axis transverse movement slide rail (34), an X-axis transverse movement slider (35), a first anti-collision block (36), an X-axis left limit sensor (37), an X-axis right limit sensor (38) and a reinforcing plate (39), wherein the X-axis transverse movement rack (33) is respectively laid transversely on multiple side surfaces of the crossbeam (12), the X-axis transverse movement rack (33) is arranged on the top of the crossbeam (12), and two groups of X-axis transverse movement racks (33) are arranged at the bottom of the cantilever crossbeam (13). A reinforcing plate (39), two groups of the reinforcing plates (39) are respectively arranged on the top and the front of the crossbeam (12), and the two groups of the reinforcing plates (39) are slidably connected to each other through an X-axis transverse sliding block (35) and an X-axis transverse sliding rail (34), the X-axis servo motor (31) is arranged on the reinforcing plate (39) located at the top, and the output end of the X-axis servo motor (31) is downwardly penetrated through the reinforcing plate (39), and the X-axis transverse gear (32) is arranged at the bottom of the output end of the X-axis servo motor (31) and meshes with the X-axis transverse rack (33).

3. A cantilever type electrically controlled stacking and partition removing device according to claim 2, characterized in that: The first anti-collision block (36) is arranged on the left and right sides of the front side of the crossbeam (12), the X-axis left limit sensor (37) is arranged on the left side of the back side of the crossbeam (12), and the X-axis right limit sensor (38) is arranged on the right side of the back side of the crossbeam (12).

4. The cantilever type electric controlled stacking and partition removing device according to claim 1 is characterized in that: The Z-axis lifting device (4) comprises a Z-axis lifting rail (42), a Z-axis lifting rack (43), a Z-axis servo motor (44), a Z-axis lifting slider (45), a Z-axis upper limit sensor (46), a Z-axis lifting gear (47), a Z-axis lower limit sensor (49) and an auxiliary frame (411). The auxiliary frame (411) is arranged on the left and right sides of the front of the Z-axis motor mounting plate (48), and one group is arranged at the top and the bottom. The Z-axis lifting slider (45) is arranged on the auxiliary frame (411). The Z-axis vertical beam (41) is arranged between the two auxiliary frames (411). The Z-axis lifting rail (42) is arranged on the left and right sides of the Z-axis vertical beam (41), the Z-axis lifting slider (45) and the Z-axis lifting rail (42) are slidably connected to each other, the Z-axis lifting rack (43) is arranged on one side of the Z-axis vertical beam (41), the Z-axis servo motor (44) is arranged on the back of the Z-axis motor mounting plate (48), and the output end is arranged to pass through the Z-axis motor mounting plate (48) forward, the Z-axis lifting gear (47) is sleeved on the output end of the Z-axis servo motor (44), and the Z-axis lifting gear (47) and the Z-axis lifting rack (43) are meshed with each other.

5. The cantilever type electric controlled stacking and partition removing device according to claim 4 is characterized in that: The Z-axis upper limit sensor (46) is arranged on the auxiliary frame (411) located above, and the Z-axis lower limit sensor (49) is arranged below the back side of the Z-axis motor mounting plate (48) through the auxiliary frame (411).

6. The cantilever type electric controlled stacking and partition removing device according to claim 1 is characterized in that: The gripper device assembly (5) comprises a gripper connecting plate (52), a gripper frame (51), a Y-axis lateral sliding rail (53), a Y-axis lateral sliding block (54), an auxiliary power structure, a suction cup telescopic cylinder (511), a material pushing cylinder (512), a material guiding device (514), a suction cup vacuum generator (513), a suction cup (522), a cylinder control valve plate (515), an equipment plate (516), a detection plate (517), a Y-axis front limit sensor (518), a Y-axis rear limit sensor (519), a Y-axis origin sensor (520) and a detection partition sensor (521), and the gripper connecting plate (52) The gripper frame (51) is arranged below the Z-axis vertical beam (41), the Y-axis transverse sliding block (54) is arranged on the left and right sides of the bottom of the gripper connecting plate (52), the gripper frame (51) is arranged below the gripper connecting plate (52), the Y-axis transverse sliding rail (53) is arranged on the left and right sides of the top of the gripper frame (51), and second anti-collision blocks (510) are arranged at both ends of the Y-axis transverse sliding rail (53). The gripper frame (51) is slidably connected to the upper Y-axis transverse sliding block (54) through the top Y-axis transverse sliding rail (53), and the material guiding device (514) is arranged in multiple parts at the bottom of the gripper frame (51).

7. A cantilever type electrically controlled stacking and partition removing device according to claim 6, characterized in that: The auxiliary power structure is arranged below the gripper connecting plate (52), and the auxiliary power structure includes a Y-axis servo motor (55), a Y-axis nut transmission seat (56), a Y-axis transverse screw (57), a Y-axis synchronous wheel (58), a Y-axis transmission belt (59) and a second anti-collision block (510). The Y-axis transverse screw (57) is arranged below the gripper connecting plate (52) parallel to the Y-axis transverse slide rail (53). The Y-axis nut transmission seat (56) is sleeved on the surface of the Y-axis transverse screw (57). The Y-axis nut transmission seat (56) ) is connected to the top of the gripper connecting plate (52), the two ends of the Y-axis transverse screw (57) are respectively installed on the gripper frame (51) through shaft seats, the Y-axis synchronous wheel (58) is sleeved on one end surface of the Y-axis transverse screw (57), the Y-axis servo motor (55) is installed on the gripper frame (51), and the Y-axis servo motor (55) is arranged on one side corresponding to the Y-axis synchronous wheel (58), and the Y-axis servo motor (55) and the Y-axis synchronous wheel (58) are connected by a Y-axis transmission belt (59).

8. The cantilever type electric controlled stacking and partition removing device according to claim 7 is characterized in that: The suction cup telescopic cylinder (511) is respectively arranged at the four corners of the top of the gripper frame (51); the suction cup (522) is arranged on the output end of the suction cup telescopic cylinder (511); the pushing cylinder (512) is arranged on one side of each suction cup telescopic cylinder (511); the output end of the suction cup telescopic cylinder (511) and the output end of the pushing cylinder (512) both extend to the bottom of the gripper frame (51) after being opened; the equipment plate (516) is arranged on one side of the top of the gripper frame (51); and the suction cup vacuum generator (513) and the cylinder control valve plate (515) are respectively arranged on the top of the equipment plate (516).

9. The cantilever type electrically controlled stacking and partition removing device according to claim 7, characterized in that: The detection plate (517) is arranged in the middle of one side of the gripper connecting plate (52); the Y-axis front limit sensor (518) and the Y-axis rear limit sensor (519) are respectively arranged at the two ends of one side of the Y-axis transverse slide rail (53); the Y-axis origin sensor (520) is arranged close to the side of the Y-axis rear limit sensor (519); the output ends of the Y-axis front limit sensor (518), the Y-axis rear limit sensor (519) and the Y-axis origin sensor (520) are all arranged toward one side of the detection plate (517); the detection partition sensor (521) is arranged on the gripper frame (51), and the detection end is arranged toward the detection plate.

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