Automatic cantilever stacker crane

Abstract

The utility model belongs to the technical field of stacking equipment, and mainly relates to a cantilever automatic stacking machine, a material arranging mechanism comprises a material arranging frame, a plurality of supporting parts are arranged on the material arranging frame, each supporting part is provided with a supporting inclined plane, each supporting inclined plane is used for placing a plurality of pipes to be grabbed by a stacking mechanism, each supporting inclined plane is provided with a blocking piece, and the blocking pieces are used for blocking the pipes to be grabbed by the stacking mechanism. A material pushing part is movably arranged on the material arranging frame, is located between any two adjacent supporting parts and is located below the pipes, and the material pushing part pushes the pipes; the material arranging frame comprises a base and two supporting pieces arranged in a spaced mode, one supporting piece is fixed to the base, and the other supporting piece is arranged on the base in a sliding mode. Each supporting part comprises two supporting plates, the supporting inclined faces are located on the supporting plates, and the two supporting plates are fixed to the supporting pieces on the corresponding sides respectively. And by arranging the material arranging mechanism, the stacking mechanism and the transferring mechanism, and meanwhile, the position of one of the two supporting pieces can be changed, so that the stacking requirements of the pipes with different lengths are met.

Description

Technical Field

[0001] This utility model belongs to the field of palletizing equipment technology, and mainly relates to a cantilever automatic palletizer. Background Technology

[0002] With the increasing demand for clean energy both domestically and internationally, the market demand for photovoltaic (PV) power generation equipment is growing, and the application scenarios for PV power generation are also expanding. As a crucial supporting component for PV power generation, the specifications and quantities of PV support tubes vary depending on the project. PV support tubes of different diameters need to be stacked into different hexagonal shapes for packaging and transportation. Due to the variations in PV tube specifications and quantities, currently, the finished tubes are manually lifted and cut, then manually stacked into hexagonal shapes using simple stacking jigs before packaging. This method involves high material turnover, high labor intensity, and low production efficiency.

[0003] Patent application number 201720836028.8 discloses an automatic steel pipe palletizing machine, including a frame and a dual-station palletizing device mounted on the frame. The dual-station palletizing device includes a first horizontal walking mechanism and a second horizontal walking mechanism, which are spaced apart. A first vertical lifting mechanism and a second vertical lifting mechanism are mounted on the first and second horizontal walking mechanisms. A first magnetic chuck and a second magnetic chuck are located at the lower ends of the first and second vertical lifting mechanisms. The first vertical lifting mechanism moves synchronously to ensure that the line connecting the first magnetic chuck is always parallel to the steel pipe being transported, and the second vertical lifting mechanism moves synchronously to ensure that the line connecting the second magnetic chuck is always parallel to the steel pipe being transported. This utility model provides an automatic steel pipe palletizing machine that uses a dual-station palletizing device for cyclic palletizing, improving the efficiency of pipe palletizing. However, the stacking process of this utility model involves the pipe moving within the entire stacking frame. If it is to accommodate stacking pipes of various lengths, the overall frame size required in the pipe length direction is large, resulting in high overall manufacturing costs. Furthermore, since this utility model involves two sets of stacking devices operating simultaneously, the probability of opposite movement directions is greater. The inertia and momentum of the two stacking devices increase the instability of the magnetic attraction and the probability of the pipe falling off.

[0004] Patent application number 202222640624.2 discloses a steel pipe palletizing machine, including a steel pipe feeding mechanism, a first steel pipe conveying frame, a swing connecting block, a palletizing assembly, and a palletizing support. The steel pipe feeding mechanism has a first steel pipe conveying frame at its left end, and a swing connecting block is connected to the right end of the first steel pipe conveying frame. The lower end of the swing connecting block is connected to a first cylinder through a transmission rod. A third cylinder is connected to the lower end of the first steel pipe conveying frame. A limiting block is provided on the upper part of the first steel pipe conveying frame. A second steel pipe conveying frame is connected to the left end of the first steel pipe conveying frame. A steel pipe moving part is provided at the end of the second steel pipe conveying frame. A palletizing assembly is provided at the lower part of the second steel pipe conveying frame, and a palletizing support is provided on the upper part of the palletizing assembly. This utility model utilizes the steel pipe feeding mechanism, the first steel pipe conveying frame, the second steel pipe conveying frame, the palletizing assembly, the lifting platform, and the palletizing support to automatically palletize steel pipes and improve palletizing efficiency. This utility model involves stacking the pipes one by one, which improves the accuracy of stacking and can adapt to different pipe diameters, but greatly reduces the stacking efficiency. Utility Model Content

[0005] This utility model provides a cantilever automatic palletizing machine to solve the problem that the existing technology cannot meet the palletizing needs of long pipes in daily production.

[0006] To solve the above problems, the present invention adopts the following technical solution:

[0007] An automatic cantilever palletizer includes a material handling mechanism for placing pipes, a palletizing mechanism for gripping pipes, and a transfer mechanism for transporting pipes.

[0008] The material handling mechanism includes a material handling rack with multiple sequentially adjacent support parts. Each support part has a support inclined surface, on which multiple pipes to be gripped by the stacking mechanism are placed. The pipes can roll from the beginning to the end of the support inclined surface. Each end of the support inclined surface is provided with a stop to restrict the rolling of the pipes. A pusher is movably mounted on the material handling rack. The pusher is located between any two adjacent support parts and below the pipes. The pusher is inclined and its inclination direction is consistent with the inclination direction of the support inclined surface. The pusher moves up and down to push the corresponding pipes so that the pipes roll onto the next support inclined surface.

[0009] The palletizing mechanism grabs the pipes on the inclined support surface and transfers them to the transfer mechanism, which then transports the pipes.

[0010] The material handling rack includes a base and two spaced-apart support members, one of which is fixed to the base and the other is slidably arranged on the base, with the sliding direction of the support member being consistent with the extension direction of the pipe.

[0011] Each of the support components includes two support plates, with the inclined support surface located on the support plate, and the two support plates are respectively fixed to the support member on the corresponding side.

[0012] It has the following beneficial effects: by arranging the material handling mechanism, the stacking mechanism and the transfer mechanism, and by changing the position of one of the two support components, the stacking requirements of pipes with different diameters and lengths can be met.

[0013] Furthermore, the plurality of said supports includes a support located at the very end, from which the stacking mechanism grips the tubing;

[0014] The support at the far end is provided with a aligning mechanism, which includes a horizontally movable aligning plate. The aligning plate is used to abut against the end face of the pipe on the inclined support surface. The aligning plate moves to align the end faces of the pipe.

[0015] It has the following beneficial effects: the alignment mechanism can align one end of multiple pipes, ensuring that the stacking mechanism grasps them neatly, thereby ensuring the neatness of the pipe stacking.

[0016] Furthermore, a guide is provided on the support fixed to the base. The guide includes a planar segment and an inclined guide segment connected to the planar segment. The end of the inclined guide segment facing away from the planar segment opens outward.

[0017] As the pipes roll on the inclined support surface, they come into contact with the inclined guide section, causing one end of each pipe to move and align along the inclined extension direction of the inclined guide section.

[0018] It has the following beneficial effects: the guide makes the pipes placed on the material handling mechanism neat, which facilitates subsequent gripping and stacking.

[0019] Furthermore, a slide rail is fixed on the base, the extension direction of the slide rail is consistent with the extension direction of the pipe, and the corresponding support is slidably arranged on the slide rail.

[0020] It has the following beneficial effects: the slide rail facilitates the sliding of the corresponding support, thereby enabling a better change in the distance between the two support members.

[0021] Furthermore, the stacking mechanism includes a truss and a mounting frame movably arranged on the truss, wherein the direction of movement of the mounting frame is perpendicular to the extension direction of the pipe.

[0022] A movable frame is movably mounted on the mounting frame. The movable frame can move up and down, and is equipped with an electromagnetic chuck for magnetically attracting the pipes on the corresponding inclined support surface.

[0023] It has the following beneficial effects: the electromagnetic chuck can move in two directions, which makes it easy for the electromagnetic chuck to magnetically hold tubing.

[0024] Furthermore, a sensor is installed on the electromagnetic chuck, which is used to detect whether the electromagnetic chuck has picked up the pipe.

[0025] It has the following beneficial effects: thus avoiding program errors caused by unfilled palletizing.

[0026] Furthermore, the movable frame is provided with a flexible component, and the electromagnetic chuck is assembled onto the movable frame through the flexible component.

[0027] It has the following beneficial effects: it buffers the height difference that occurs when the electromagnetic chuck grabs and stacks pipes.

[0028] Furthermore, the truss is provided with a first rack, the extension direction of the first rack is perpendicular to the extension direction of the pipe, the mounting frame is fixed with a first motor, and a first gear is coaxially fixed on the output end of the first motor. The first gear meshes with the first rack, and the first motor runs to drive the mounting frame to move.

[0029] The movable frame is provided with a second rack that extends in the vertical direction. A second motor is fixed on the mounting frame. A second gear is coaxially fixed on the output end of the second motor. The second gear meshes with the second rack. The second motor runs to drive the movable frame to move.

[0030] Furthermore, the transfer mechanism includes a track and a plurality of palletizing trolleys moving on the track. The track includes a plurality of equally spaced sleepers and two light rails spaced apart on the plurality of sleepers. Each palletizing trolley moves on the two light rails.

[0031] Furthermore, each of the palletizing trolleys includes a chassis and a plurality of wheels rotatably mounted on the chassis, each wheel rolling on a light rail on a corresponding side, and a geared motor is provided on the chassis, the geared motor being connected to the wheels to drive the palletizing trolley to move.

[0032] The chassis is equipped with stacking supports for stacking pipes. Attached Figure Description

[0033] The above and other objects, features, and advantages of the present invention will become readily understood by reading the following detailed description of exemplary embodiments with reference to the accompanying drawings. In the drawings, several embodiments of the present invention are shown by way of example and not limitation, and like or corresponding reference numerals denote like or corresponding parts, wherein:

[0034] Figure 1 This is a first-view structural schematic diagram of the present invention;

[0035] Figure 2 This is a structural schematic diagram of the present invention from a second perspective;

[0036] Figure 3 A first-person view structural diagram of the material handling mechanism;

[0037] Figure 4 This is a schematic diagram of the material handling mechanism from a second-view perspective.

[0038] Figure 5 for Figure 4 Enlarged view of point A in the middle;

[0039] Figure 6 A first-person view structural diagram of the palletizing mechanism;

[0040] Figure 7 for Figure 6 Enlarged view of point B in the middle;

[0041] Figure 8 This is a structural schematic diagram of the palletizing mechanism from a second perspective;

[0042] Figure 9 for Figure 8 Enlarged view of point C in the middle;

[0043] Figure 10 This is a structural diagram of the palletizing mechanism from a third-person perspective.

[0044] Figure 11 for Figure 10 Enlarged view of point D in the middle;

[0045] Figure 12 This is a first-person view structural diagram of the transfer facility;

[0046] Figure 13 This is a structural diagram of the transfer mechanism from a second-person perspective.

[0047] Figure 14 for Figure 13 Enlarged view of point E in the middle.

[0048] Explanation of reference numerals in the attached figures:

[0049] 1. Pipe; 2. Material handling mechanism; 3. Palletizing mechanism; 4. Transfer mechanism; 5. Base; 6. Support component; 7. Support plate; 8. Support inclined surface; 9. Stop block; 10. Pushing component; 11. First cylinder; 12. Second cylinder; 13. Pushing plate; 14. Slide rail; 15. Flat section; 16. Inclined guide section; 17. Truss; 18. Mounting frame; 19. Moving frame; 20. Electromagnetic chuck; 21. First motor; 22. Second motor; 23. Flexible component; 24. Sensor; 25. First gear; 26. First rack; 27. Second gear; 28. Second rack; 29. ​​Track; 30. Sleeper; 31. Light rail; 32. Palletizing trolley; 33. Gear motor; 34. Stacking support; 35. Chassis; 36. Wheel. Detailed Implementation

[0050] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Those skilled in the art should understand that the embodiments described below are only some, not all, of the embodiments disclosed. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model.

[0051] The following describes various non-limiting embodiments of this utility model. Any number of elements in the accompanying drawings is for illustrative purposes only and not for limitation, and any naming is for distinction only and has no limiting meaning. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0052] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0053] like Figure 1 , Figure 2 As shown, a cantilever automatic palletizer includes a material handling mechanism 2 for placing pipes 1, a palletizing mechanism 3 for gripping pipes 1, and a transfer mechanism 4 for transporting pipes 1. Pipes 1 are placed on the material handling mechanism 2 one after another. The palletizing mechanism 3 grips pipes 1 from the material handling mechanism 2 and moves them to the transfer mechanism 4. The transfer mechanism 4 then transports the palletized pipes 1 away.

[0054] In this embodiment, as Figures 3-5As shown, the material handling mechanism 2 includes a material handling rack with multiple support parts arranged sequentially adjacent to each other. Each support part has a support inclined surface 8, which is used to place multiple pipes 1 to be gripped by the stacking mechanism 3. The pipes 1 can roll from the beginning end of the support inclined surface 8 to the end end of the support inclined surface 8 under the action of gravity.

[0055] Each inclined support surface 8 has a stop at its end to restrict the rolling of the pipe 1. Multiple pipes 1 are mounted on each inclined support surface 8, but only one pipe 1 can contact the stop; the other pipes 1 contact the stop sequentially. A pusher 10 is movably mounted on the material handling rack. The pusher 10 is located between any two adjacent supports and below the pipe 1, so that when the stop blocks the pipe 1, the pusher 10 can push the pipe 1 upwards. The pusher 10 is inclined, and its inclination direction is consistent with the inclination direction of the inclined support surface 8. In this embodiment, the inclined arrangement of the pusher 10 means that the pusher 10 has an inclined plane, which contacts the pipe 1 during pressing. The pusher 10 moves up and down to push the corresponding pipe 1. Because the pusher 10 is inclined, when the pusher 10 lifts the pipe 1, the pipe 1 will roll off the inclined pusher 10 and fall onto the next support inclined surface 8.

[0056] In this embodiment, a first cylinder 11 is provided on the material handling rack, and the first cylinder 11 drives the pusher 10 to move.

[0057] In this embodiment, the material handling rack includes a base 5 and two spaced-apart support members 6. One support member 6 is fixed to the base 5, and the other support member 6 is slidably arranged on the base 5. The sliding direction of the support member 6 is consistent with the extension direction of the pipe 1. By changing the distance between the two support members 6, the material handling rack can be adapted to pipes 1 of different lengths.

[0058] In this embodiment, a slide rail 14 is fixed on the base 5. The extension direction of the slide rail 14 is consistent with the extension direction of the pipe 1, and the corresponding support member 6 is slidably arranged on the slide rail 14. The slide rail 14 facilitates the sliding of the corresponding support member 6, thereby enabling a better change in the distance between the two support members 6.

[0059] In this embodiment, each support part includes two support plates 7, the support inclined surface 8 is located on the support plate 7, and the two support plates 7 are respectively fixed on the support member 6 on the corresponding side, that is, one support plate 7 is provided on one support member 6.

[0060] In this embodiment, by arranging the material handling mechanism 2, the stacking mechanism 3, and the transfer mechanism 4, and by changing the position of one of the two support members 6, the stacking requirements of pipes 1 of different lengths can be met. The stacking mechanism 3 can grab pipes 1 of different diameters to meet the stacking requirements of pipes 1 of different diameters.

[0061] Among the multiple support sections, there is one support section located at the very end. The stacking mechanism 3 picks up the pipe 1 from the very end support section. The stop on the very end support section is a stop block 9, while the stop on the other support sections is the front end face of the next support plate 7. That is, the pipe 1 on the previous support plate 7 will be blocked by the front end face of the next support plate 7.

[0062] The final support section is equipped with an alignment mechanism, which includes a horizontally moving alignment plate 13. The plane of the alignment plate 13 is perpendicular to the extension direction of the pipe 1, and the moving direction of the alignment plate 13 is consistent with the extension direction of the pipe 1. The alignment plate 13 is used to abut against the end face of the pipe 1 on the inclined support surface 8. The alignment plate 13 moves to align the end faces of the pipe 1. The alignment mechanism can align one end of multiple pipes 1, ensuring that they are neatly grasped by the stacking mechanism 3, and thus ensuring the neatness of the pipes 1 during stacking.

[0063] In this embodiment, the alignment mechanism includes a second cylinder 12 mounted on the material handling rack, which pushes the alignment plate 13 to move.

[0064] In other embodiments, the first cylinder 11 and the second cylinder 12 may be replaced by an electric push rod or a hydraulic cylinder.

[0065] A guide is provided on the support member 6 fixed to the base 5. The guide includes a flat section 15 and an inclined guide section 16 connected to the flat section 15. The end of the inclined guide section 16 facing away from the flat section 15 opens outwards, which facilitates the entry of the pipe 1. As the pipe 1 rolls on the inclined support surface 8, it abuts against the inclined guide section 16, so that one end of multiple pipes 1 moves along the inclined extension direction of the inclined guide section 16 and is aligned. The guide ensures that the pipes 1 placed on the material handling mechanism 2 are neat, which facilitates subsequent gripping and stacking.

[0066] In this embodiment, as Figures 6-11 As shown, the stacking mechanism 3 includes a truss 17 and a mounting frame 18 movably arranged on the truss 17. The moving direction of the mounting frame 18 is perpendicular to the extending direction of the pipe 1. A movable frame 19 is movably mounted on the mounting frame 18. The movable frame 19 moves vertically and is equipped with an electromagnetic chuck 20 for magnetically attracting the pipe 1 on the corresponding inclined support surface 8. The electromagnetic chuck 20 can move in two directions, facilitating the magnetic attraction of the pipe 1.

[0067] A sensor 24 is installed on the electromagnetic chuck 20. The sensor 24 is used to detect whether the electromagnetic chuck 20 has picked up the pipe 1. This avoids program errors caused by stacking without material.

[0068] The movable frame 19 is equipped with a flexible component 23, and the electromagnetic chuck 20 is assembled onto the movable frame 19 through the flexible component 23. This buffers the height difference that occurs when the electromagnetic chuck 20 grips and stacks the pipe 1.

[0069] In this embodiment, a first rack 26 is provided on the truss 17. The extension direction of the first rack 26 is perpendicular to the extension direction of the pipe 1. A first motor 21 is fixed on the mounting frame 18. A first gear 25 is coaxially fixed on the output end of the first motor 21. The first gear 25 meshes with the first rack 26. The first motor 21 runs to drive the mounting frame 18 to move.

[0070] The movable frame 19 is provided with a second rack 28, which extends in the vertical direction. A second motor 22 is fixed on the mounting frame 18. A second gear 27 is coaxially fixed on the output end of the second motor 22. The second gear 27 meshes with the second rack 28. The second motor 22 runs to drive the movable frame 19 to move.

[0071] In this embodiment, as Figures 12-14 As shown, the transfer mechanism 4 includes a track 29 and a plurality of palletizing trolleys 32 that move on the track 29. The track 29 includes a plurality of equally spaced sleepers 30 and two light rails 31 that are spaced apart on the plurality of sleepers 30. The extension direction of the sleepers 30 is perpendicular to the extension direction of the light rails 31. Each palletizing trolley 32 moves on the two light rails 31.

[0072] Each palletizing trolley 32 includes a chassis 35 and multiple wheels 36 rotatably mounted on the chassis 35. Each wheel 36 rolls on a light rail 31 on a corresponding side. A geared motor 33 is mounted on the chassis 35, and the geared motor 33 is connected to the wheels 36 to drive the palletizing trolley 32 to move. The chassis 35 is provided with a stacking support 34 for stacking pipes 1. The stacking support 34 can restrain multiple pipes 1 on the chassis 35, thereby realizing the stacking of pipes 1.

[0073] The working process of this utility model is as follows:

[0074] Pipe 1 is placed on the inclined support surface 8. Pipe 1 rolls under its own weight and is stopped by the front end of the next support plate 7. At this time, the pusher 10 rises and lifts pipe 1. When it reaches a certain height, the front end of the next support plate 7 no longer stops pipe 1. Pipe 1 will roll onto the next support plate 7 and finally be stopped by the stop block 9. Then, the electromagnetic chuck 20 magnetically attracts pipe 1 and moves it to the stacking trolley 32. After a certain number of pipes 1 are stacked on the stacking trolley 32, the stacking trolley 32 will transport these pipes 1 away.

[0075] In the description of this specification, references to terms such as "in this embodiment" indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative descriptions of the above terms do not necessarily refer to the same embodiment or example.

[0076] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0077] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A cantilever automatic palletizer, characterized in that, It includes a material handling mechanism for placing pipes, a stacking mechanism for gripping pipes, and a transfer mechanism for transporting pipes. The material handling mechanism includes a material handling rack with multiple sequentially adjacent support parts. Each support part has a support inclined surface, on which multiple pipes to be gripped by the stacking mechanism are placed. The pipes can roll from the beginning to the end of the support inclined surface. Each end of the support inclined surface is provided with a stop to restrict the rolling of the pipes. A pusher is movably mounted on the material handling rack. The pusher is located between any two adjacent support parts and below the pipes. The pusher is inclined and its inclination direction is consistent with the inclination direction of the support inclined surface. The pusher moves up and down to push the corresponding pipes so that the pipes roll onto the next support inclined surface. The palletizing mechanism grabs the pipes on the inclined support surface and transfers them to the transfer mechanism, which then transports the pipes. The material handling rack includes a base and two spaced-apart support members, one of which is fixed to the base and the other is slidably arranged on the base, with the sliding direction of the support member being consistent with the extension direction of the pipe. Each of the support components includes two support plates, with the inclined support surface located on the support plate, and the two support plates are respectively fixed to the support member on the corresponding side.

2. The cantilever automatic palletizer according to claim 1, characterized in that, The plurality of said support portions include a support portion located at the very end, from which the stacking mechanism picks up the tubing; The support at the far end is provided with a aligning mechanism, which includes a horizontally movable aligning plate. The aligning plate is used to abut against the end face of the pipe on the inclined support surface. The aligning plate moves to align the end faces of the pipe.

3. The cantilever automatic palletizer according to claim 2, characterized in that, A guide is provided on the support fixed to the base. The guide includes a planar section and an inclined guide section connected to the planar section. The end of the inclined guide section facing away from the planar section opens outward. As the pipes roll on the inclined support surface, they come into contact with the inclined guide section, causing one end of each pipe to move and align along the inclined extension direction of the inclined guide section.

4. The cantilever automatic palletizer according to claim 3, characterized in that, The base is fixed with a slide rail, the extension direction of which is consistent with the extension direction of the pipe, and the corresponding support is slidably arranged on the slide rail.

5. A cantilever automatic palletizer according to any one of claims 1-4, characterized in that, The stacking mechanism includes a truss and a mounting frame movably arranged on the truss, wherein the direction of movement of the mounting frame is perpendicular to the extension direction of the pipe. A movable frame is movably mounted on the mounting frame. The movable frame can move up and down, and is equipped with an electromagnetic chuck for magnetically attracting the pipes on the corresponding inclined support surface.

6. A cantilever automatic palletizer according to claim 5, characterized in that, The electromagnetic chuck is equipped with a sensor, which is used to detect whether the electromagnetic chuck has picked up the pipe.

7. A cantilever automatic palletizer according to claim 6, characterized in that, The mobile frame is equipped with a flexible component, and the electromagnetic chuck is assembled onto the mobile frame through the flexible component.

8. A cantilever automatic palletizer according to claim 7, characterized in that, The truss is provided with a first rack, the extension direction of the first rack is perpendicular to the extension direction of the pipe, the mounting frame is fixed with a first motor, and a first gear is coaxially fixed on the output end of the first motor. The first gear meshes with the first rack, and the first motor runs to drive the mounting frame to move. The movable frame is provided with a second rack that extends in the vertical direction. A second motor is fixed on the mounting frame. A second gear is coaxially fixed on the output end of the second motor. The second gear meshes with the second rack. The second motor runs to drive the movable frame to move.

9. A cantilever automatic palletizer according to any one of claims 1-4, characterized in that, The transfer mechanism includes a track and multiple palletizing trolleys that move on the track. The track includes multiple sleepers arranged at equal intervals and two light rails arranged at intervals on the multiple sleepers. Each palletizing trolley moves on the two light rails.

10. A cantilever automatic palletizer according to claim 9, characterized in that, Each of the palletizing trolleys includes a chassis and a plurality of wheels rotatably mounted on the chassis, each wheel rolling on a light rail on a corresponding side, and a geared motor is provided on the chassis, the geared motor being connected to the wheels to drive the palletizing trolley to move. The chassis is equipped with stacking supports for stacking pipes.

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