Master and sub-tray separation and stacking device

Abstract

The utility model belongs to transmission technical field discloses a kind of child-mother tray separation stacking device, including lifting mechanism and pneumatic clamping jaw, lifting mechanism is set to inside of machine and is located above conveyor, pneumatic clamping jaw includes clamping jaw and embrace clamping component, two clamping jaws are symmetrically laid along vertical direction, embrace clamping component is connected in the lifting end of lifting mechanism, at least one clamping jaw is provided with the first sensor of detection clamping jaw and tray clamping distance, first sensor is electrically connected with controller, controller is electrically connected with embrace clamping component, embrace clamping component is used to flexible clamping / loosen tray, controller is used to control embrace clamping component action.The child-mother tray separation stacking device can automatically adjust the moving stroke of embrace clamping component according to the shape and size of the tray by setting the first sensor, can adaptively adjust the gripping force of the clamping jaw, ensure stable clamping of the tray while protecting the tray from damage, so that accurate clamping of different size child trays and mother trays can be achieved, and good versatility.

Description

Technical Field

[0001] This utility model relates to the field of transmission technology, and in particular to a parent-child pallet separating and palletizing device. Background Technology

[0002] On cigarette auxiliary material recycling production lines, auxiliary material suppliers usually bring their own pallets (sub-pallets) when supplying auxiliary materials. However, these pallets are of poor quality and strength, making them unsuitable for transport on logistics conveyor lines or for storage in high-bay warehouses. Therefore, the auxiliary materials provided by the suppliers, along with their own pallets, are directly placed on standard pallets (mother pallets) for transport and storage.

[0003] After the auxiliary materials are used up, the child pallet and the mother pallet need to be recycled separately. Since the child pallets and the mother pallet are different sizes, the existing pallet separation and stacking device is difficult to accurately pick up pallets of different sizes. Therefore, manual sorting of child pallets and mother pallets is also adopted. However, manual sorting is time-consuming, labor-intensive and costly.

[0004] Therefore, there is an urgent need to design a new mother-child pallet separation and palletizing device to improve the above problems. Utility Model Content

[0005] The purpose of this utility model is to provide a pallet separation and palletizing device to solve the technical problems of time-consuming and labor-intensive manual sorting of pallets and the inability of existing pallet separation and palletizing devices to accurately grasp pallets of different sizes.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] The present invention provides a pallet-separation and palletizing device, comprising a body and a conveyor, wherein the conveyor is disposed within the body and transports pallets horizontally, and further comprising:

[0008] A lifting mechanism is disposed inside the machine body and above the conveyor;

[0009] A pneumatic gripper includes grippers and a clamping assembly. At least two grippers are provided, symmetrically arranged vertically. The clamping assembly is connected to the lifting end of a lifting mechanism. The two grippers are respectively connected to two moving ends of the clamping assembly. At least one gripper is equipped with a first sensor to detect the distance between the gripper and the tray. The first sensor is electrically connected to a controller, which is also electrically connected to the clamping assembly. The clamping assembly is configured to move the two grippers closer to / away from each other to flexibly grip / release the tray. The controller controls the movement of the clamping assembly.

[0010] The pallet is conveyed onto a conveyor via external conveying equipment. The conveyor carries the pallet into the machine body. When it reaches the separation station, the conveyor stops, allowing the pallet to remain at the separation station. The lifting mechanism lowers the pneumatic grippers to a suitable clamping position on the pallet. The clamping assembly drives the two grippers to move closer together. When the first sensor detects that the grippers are in contact with or clamping the pallet, it sends a signal to the controller. The controller then controls the lifting mechanism to raise the pallet and starts the conveyor to transfer the pallet from the separation station to the next work stage. By setting the first sensor, the movement stroke of the clamping assembly can be automatically adjusted according to the shape and size of the pallet, and the gripping force of the grippers can be adaptively adjusted to ensure stable clamping of the pallet while protecting it from damage. This allows for precise clamping of parent and child pallets of different sizes, offering good versatility.

[0011] As a preferred embodiment of the mother-daughter pallet separation and palletizing device, the gripper includes a supporting part and a clamping part. The two sides of the clamping part of the two grippers are mounting surfaces. The first sensor is disposed on the mounting surface. One end of the supporting part extends movably into the bottom of the pallet to support the pallet.

[0012] The first sensor detects the distance between the clamping part and the side wall of the tray, which can accurately control the clamping force of the gripper to grasp the tray, resulting in high clamping accuracy.

[0013] As a preferred embodiment of the mother-child pallet separation and palletizing device, the supporting part and the clamping part are arranged in an L-shape, the clamping part is arranged vertically, and a gasket is detachably installed on the end of the supporting part away from the clamping part through a connector.

[0014] The gasket reduces wear between the support and the pallet. When the gasket is worn out over a long period of time, it can be removed and replaced with a new one. The gasket protects the support and extends the service life of the gripper.

[0015] As a preferred embodiment of the mother-child pallet separation and palletizing device, the thickness of the end of the supporting part connected to the clamping part gradually decreases towards the end with the pad.

[0016] That is, the end of the support portion away from the clamping portion is smaller than the end connected to the clamping portion, so that the support portion can extend into the bottom of the lower pallet to accommodate pallets with smaller thickness.

[0017] As a preferred embodiment of the mother-child pallet separation and palletizing device, the upper end face of the pad is provided with an abutment platform, and the side of the abutment platform facing the pallet is set as an inclined surface, and the inclined surface gradually slopes from the bottom of the pad towards the top of the pad.

[0018] The abutment platform can push the tray to center and adjust it during the gripping process, making the alignment more precise and ensuring higher detection accuracy of the first sensor during subsequent gripping.

[0019] As a preferred embodiment of the parent-child pallet separation and palletizing device, a second sensor is correspondingly provided on the inner side of the inner wall of the machine body along the inner side perpendicular to the pallet conveying direction. The second sensor is electrically connected to the controller and the conveyor. The second sensor is configured to send a signal to the controller when the pallet arrives at the separation station. The controller is used to control the start and stop of the conveyor.

[0020] The second sensor precisely positions the tray at the separation station, facilitating subsequent equipment operation.

[0021] As a preferred embodiment of the parent-child pallet separation and palletizing device, both the first sensor and the second sensor are laser rangefinders.

[0022] Using a laser rangefinder sensor for detection via a light beam avoids physical contact, extending the lifespan of the device. Compared to contact sensors, it offers higher long-term stability and lower latency.

[0023] As a preferred embodiment of the mother-daughter pallet separating and palletizing device, the lifting mechanism includes:

[0024] The transmission rollers are provided in two, and the two transmission rollers are arranged horizontally in the axial direction and spaced apart in the vertical direction.

[0025] A drive chain, which is wound around and meshes with the outer periphery of the two drive rollers, and the pneumatic gripper is connected to the drive chain;

[0026] A first driving member, the driving end of which is connected to one of the transmission rollers, to drive the transmission rollers to rotate in the forward or reverse direction.

[0027] The first driving component drives the transmission roller to rotate forward or in reverse, and the transmission chain meshing with the transmission roller drives synchronously, thereby adjusting the pneumatic gripper located on the transmission chain to achieve lifting and lowering. The structure is simple and easy to manufacture.

[0028] As a preferred embodiment of the mother-daughter pallet separation and palletizing device, the lifting mechanism further includes:

[0029] A first linear guide rail is provided, at least one first linear guide rail is provided, the first linear guide rail includes a first slide rail and a first slider, the first slide rail extends in a vertical direction, and the first slider is slidably connected to the first slide rail in a vertical direction.

[0030] Guided by the sliding of the first slider and the first slide rail, the pneumatic gripper can move smoothly up and down in the vertical direction, resulting in higher stability.

[0031] As a preferred embodiment of the mother-daughter pallet separating and palletizing device, the clamping assembly includes:

[0032] The second linear guide rail is provided at least once. The second linear guide rail includes a second slide rail and a second slider. There are two second sliders. The second slide rail is provided on the lifting end of the lifting mechanism. The second slide rail extends in the horizontal direction. The two second sliders are slidably connected to the second slide rail in the horizontal direction. The two grippers are respectively connected to the two second sliders.

[0033] The second driving member has two driving ends connected to the two second sliders respectively, so as to drive the two second sliders to move closer to each other or further away from each other.

[0034] Guided by the sliding of the second slider and the second slide rail, the gripper can move smoothly in the horizontal direction, further improving stability. The second drive unit drives the two grippers to move synchronously, with high synchronicity.

[0035] The beneficial effects of this utility model are:

[0036] The pallet is conveyed onto a conveyor via external conveying equipment. The conveyor carries the pallet into the machine body. When it reaches the separation station, the conveyor stops, allowing the pallet to remain at the separation station. The lifting mechanism lowers the pneumatic grippers to a suitable clamping position on the pallet. The clamping assembly drives the two grippers to move closer together. When the first sensor detects that the grippers are in contact with or clamping the pallet, it sends a signal to the controller. The controller then controls the lifting mechanism to raise the pallet and starts the conveyor to transfer the pallet from the separation station to the next work stage. By setting the first sensor, the movement stroke of the clamping assembly can be automatically adjusted according to the shape and size of the pallet, and the gripping force of the grippers can be adaptively adjusted to ensure stable clamping of the pallet while protecting it from damage. This allows for precise clamping of parent and child pallets of different sizes, offering good versatility. Attached Figure Description

[0037] Figure 1 This is a side view of the mother-daughter pallet separating and palletizing device provided in this embodiment of the utility model;

[0038] Figure 2 yes Figure 1 A magnified view of a section at point A in the middle;

[0039] Figure 3 This is a front view of the mother-daughter pallet separating and palletizing device provided in this embodiment of the utility model;

[0040] Figure 4 This is a top view of the parent-child pallet separating and stacking device provided in this embodiment of the utility model.

[0041] In the picture:

[0042] 1. Body; 11. Second sensor;

[0043] 2. Conveyor;

[0044] 3. Lifting mechanism; 31. Transmission roller; 32. Transmission chain; 33. Drive motor; 34. First slide rail; 35. First slider;

[0045] 4. Gripper; 41. First sensor; 42. Support; 43. Clamping; 431. Mounting surface; 44. Gasket; 45. Abutment platform;

[0046] 5. Clamping assembly; 51. Second slide rail; 52. Second slider; 53. First connecting rod; 54. Second connecting rod; 55. Transmission rod; 56. Hydraulic cylinder. Detailed Implementation

[0047] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0048] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0049] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0050] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0051] After the auxiliary materials are used up, the child pallet and the mother pallet need to be recycled separately. Since the child pallets and the mother pallet are different sizes, the existing pallet separation and stacking device is difficult to accurately pick up pallets of different sizes. Therefore, manual sorting of child pallets and mother pallets is also adopted. However, manual sorting is time-consuming, labor-intensive and costly.

[0052] To solve the above problems, such as Figures 1-3 As shown, this embodiment provides a pallet-separation and palletizing device, including a body 1 and a conveyor 2. The body 1 has a frame structure, with an inlet on one side and an outlet on the other side. The conveyor 2 is supported on the ground and is located inside the body 1. The conveyor 2 transports pallets horizontally, conveying pallets from external conveying equipment through the inlet into the body 1 and out through the outlet. Since the specific structure of the conveyor 2 is prior art, it will not be described further here.

[0053] The mother-daughter pallet separating and palletizing device also includes a lifting mechanism 3 and pneumatic grippers, such as Figure 1 As shown, the lifting mechanism 3 is located inside the body 1 and above the conveyor 2. The pneumatic gripper includes grippers 4 and clamping assembly 5. At least two grippers 4 are provided and are symmetrically arranged in the vertical direction. The clamping assembly 5 is connected to the lifting end of the lifting mechanism 3. The two grippers 4 are respectively connected to the two moving ends of the clamping assembly 5. At least one gripper 4 is provided with a first sensor 41 for detecting the clamping distance between the gripper 4 and the tray. The first sensor 41 is electrically connected to a controller. The controller is electrically connected to the clamping assembly 5. The clamping assembly 5 is configured to drive the two grippers 4 to move closer / away from each other to flexibly clamp / release the tray. The controller is used to control the action of the clamping assembly 5.

[0054] Conveyor 2 transports the pallet to the machine body 1. When it reaches the separation station, conveyor 2 stops, allowing the pallet to remain at the separation station. Lifting mechanism 3 lowers the pneumatic grippers to a suitable clamping position on the pallet. Clamping assembly 5 drives the two grippers 4 to move closer together. When the first sensor 41 detects that the grippers 4 are in contact with or clamping the pallet, it sends a signal to the controller. The controller then controls lifting mechanism 3 to lift and starts conveyor 2 to transport the pallet from the separation station to the next work stage. By setting the first sensor 41, the movement stroke of clamping assembly 5 can be automatically adjusted according to the shape and size of the pallet, and the gripping force of the grippers 4 can be adaptively adjusted to ensure stable clamping of the pallet while protecting it from damage. This allows for precise clamping of sub-pallets and parent pallets of different sizes, demonstrating good versatility.

[0055] Specifically, such as Figure 1 and Figure 3 As shown, the lifting mechanism 3 includes a transmission roller 31, a transmission chain 32, and a first driving component. Two transmission rollers 31 are provided, with both ends of each roller 31 rotatably connected to the inner side of the machine body 1 via bearing seats. The two transmission rollers 31 are arranged horizontally along their axial direction and spaced apart vertically. Preferably, in this embodiment, the transmission roller 31 is a gear roller; in other embodiments, it can be a smooth roller. The transmission chain 32 is wound around and meshes with the outer periphery of the two transmission rollers 31. A pneumatic gripper is connected to the transmission chain 32. Through the mutual meshing of the transmission rollers 31 and the transmission chain 32, the meshing transmission relies on the rigid contact of the tooth surfaces. Compared to belt drives, there is no slippage, ensuring strict synchronization of input / output speeds.

[0056] The driving end of the first driving component is connected to one of the transmission rollers 31 to drive the transmission roller 31 to rotate in the forward or reverse direction. Preferably, the first driving component is a drive motor 33, which is located above the transmission roller 31 to reserve more internal space in the machine body 1 for the pneumatic gripper and ensure a reasonable positional layout. By driving the transmission roller 31 to rotate in the forward or reverse direction through the first driving component, the transmission chain 32 meshing with the transmission roller 31 is synchronously driven, thereby adjusting the pneumatic gripper located on the transmission chain 32 to achieve lifting and lowering. The structure is simple and easy to manufacture.

[0057] To improve the stability of the pneumatic gripper lifting mechanism, please refer to [link / reference needed]. Figure 1 The lifting mechanism 3 also includes a first linear guide rail, of which at least one is provided. The first linear guide rail includes a first slide rail 34 and a first slider 35. The first slide rail 34 extends vertically, and the first slider 35 is slidably connected to the first slide rail 34 in the vertical direction. Under the sliding guidance of the first slider 35 and the first slide rail 34, the pneumatic gripper can be smoothly lifted and lowered in the vertical direction, resulting in higher stability.

[0058] Optionally, two first linear guides are provided, spaced apart vertically. These two first linear guides reduce the wobbling of the gripper 4 during movement, further improving stability. Of course, in other embodiments, one or three first linear guides may be provided; this embodiment does not specifically limit this.

[0059] like Figure 1 and Figure 2 As shown, the gripper 4 in this embodiment includes a supporting portion 42 and a clamping portion 43. The supporting portion 42 and the clamping portion 43 are arranged in an L-shape, with the clamping portion 43 arranged vertically. There are two supporting portions 42, which are spaced apart along the length of the clamping portion 43. The opposite sides of the clamping portions 43 of the two grippers 4 are mounting surfaces 431. A first sensor 41 is disposed on the mounting surface 431. One end of the supporting portion 42 extends movably into the bottom of the tray to support the tray. The first sensor 41 detects the distance between the clamping portion 43 and the side wall of the tray, enabling precise control of the clamping force of the gripper 4 in grasping the tray, resulting in high clamping accuracy.

[0060] Furthermore, a gasket 44 is detachably mounted on the end of the support portion 42 away from the clamping portion 43 via a connector. The gasket 44 reduces wear between the support portion 42 and the pallet. When the gasket 44 is worn out over a long period, it can be removed and replaced with a new one. The gasket 44 protects the support portion 42 and improves the service life of the clamp 4. The connector is preferably a bolt. The support portion 42 has a threaded hole matching the bolt, and the gasket 44 has a through hole for the bolt to pass through, with a countersunk hole at the top of the through hole for the bolt head to be inserted.

[0061] In this embodiment, the thickness of the end of the support portion 42 connected to the clamping portion 43 gradually decreases towards the end with the pad 44. That is, the end of the support portion 42 away from the clamping portion 43 is smaller than the end connected to the clamping portion 43, which allows the support portion 42 to extend into the bottom of the lower tray to accommodate trays with smaller thicknesses.

[0062] In addition, the upper surface of the pad 44 is provided with an abutment platform 45. The side of the abutment platform 45 facing the tray is set as an inclined surface, and the inclined surface gradually slopes from the bottom of the pad to the top of the pad. The setting of the abutment platform 45 can push the tray to adjust for centering during the gripping process of the gripper 4, making the alignment more accurate, thereby ensuring higher detection accuracy of the first sensor 41 during subsequent gripping.

[0063] To improve the automation level of the device, a second sensor 11 is installed on the inner wall of the machine body 1 along the inner side perpendicular to the pallet conveying direction. The second sensor 11 is electrically connected to the controller and the conveyor 2. The second sensor 11 is configured to send a signal to the controller when the pallet arrives at the separation station, and the controller is used to control the start and stop of the conveyor 2. The second sensor 11 accurately stops the pallet at the separation station, which facilitates the operation of subsequent equipment and achieves a high degree of automation.

[0064] For example, both the first sensor 41 and the second sensor 11 are laser rangefinders. Using laser rangefinders for detection via a laser beam avoids physical contact, extending the lifespan of the device. Compared to contact sensors, they offer higher long-term stability and lower latency. In other embodiments, the first sensor 41 and the second sensor 11 can also be photoelectric switches, etc.

[0065] like Figure 3 and Figure 4 As shown, the clamping assembly 5 includes a first linear guide rail and a second driving member. At least one second linear guide rail is provided, comprising a second slide rail 51 and two sliders 52. Two sliders 52 are provided. The second slide rail 51 is located on the lifting end of the lifting mechanism 3 and extends horizontally. The two sliders 52 are slidably connected to the second slide rail 51 horizontally. Two grippers 4 are respectively connected to the two sliders 52. The two driving ends of the second driving member are respectively connected to the two sliders 52 to drive the two sliders 52 to move closer to or further away from each other. Under the sliding guidance of the second sliders 52 and the second slide rail 51, the grippers 4 can move smoothly horizontally, further improving stability. The second driving member drives the two grippers 4 to move synchronously, resulting in high synchronicity.

[0066] Specifically, such as Figure 1 As shown, the second driving component includes a first connecting rod 53, a second connecting rod 54, a transmission rod 55, and a hydraulic cylinder 56. One end of the first connecting rod 53 is rotatably connected to one of the two grippers 4, and one end of the second connecting rod 54 is rotatably connected to the other of the two grippers 4. Both ends of the transmission rod 55 are rotatably connected to the other ends of the first connecting rod 53 and the second connecting rod 54, respectively. The middle part of the transmission rod 55 is rotatably connected to the inner side of the machine body 1 via a rotating shaft. The hydraulic cylinder 56 is installed on the inner side of the machine body 1, and its output end is connected to one of the grippers 4. The extension and retraction of the hydraulic cylinder 56 drives one of the grippers 4 to move horizontally under the guidance of the second linear guide rail. Under the connecting action of the aforementioned connecting rods, the two grippers 4 can move closer to or further away from each other, resulting in a simple structure and good synchronization.

[0067] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A pallet-separation and palletizing device, comprising a body (1) and a conveyor (2), wherein the conveyor (2) is disposed within the body (1) and transports pallets horizontally, characterized in that, Also includes: A lifting mechanism (3) is provided inside the body (1) and above the conveyor (2); A pneumatic gripper includes grippers (4) and a clamping assembly (5). At least two grippers (4) are provided and the two grippers (4) are symmetrically arranged in the vertical direction. The clamping assembly (5) is connected to the lifting end of the lifting mechanism (3). The two grippers (4) are respectively connected to the two moving ends of the clamping assembly (5). At least one gripper (4) is provided with a first sensor (41) for detecting the gripping distance between the gripper (4) and the tray. The first sensor (41) is electrically connected to a controller. The controller is electrically connected to the clamping assembly (5). The clamping assembly (5) is configured to drive the two grippers (4) to move closer to / away from each other to flexibly grip / release the tray. The controller is used to control the action of the clamping assembly (5).

2. The mother-daughter pallet separating and palletizing device according to claim 1, characterized in that, The gripper (4) includes a supporting part (42) and a clamping part (43). The two clamping parts (43) of the two grippers (4) have mounting surfaces (431) on opposite sides. The first sensor (41) is disposed on the mounting surface (431). One end of the supporting part (42) extends into the bottom of the tray to support the tray.

3. The mother-daughter pallet separating and palletizing device according to claim 2, characterized in that, The supporting part (42) and the clamping part (43) are arranged in an L-shape. The clamping part (43) is arranged vertically. A gasket (44) is detachably installed on one end of the supporting part (42) away from the clamping part (43) through a connector.

4. The mother-daughter pallet separating and palletizing device according to claim 3, characterized in that, The thickness of the end of the supporting part (42) connected to the clamping part (43) gradually decreases toward the end with the pad (44).

5. The mother-daughter pallet separating and palletizing device according to claim 3, characterized in that, The upper end face of the pad (44) is provided with an abutment platform (45), and the side of the abutment platform (45) facing the tray is set as an inclined surface and the inclined surface gradually slopes from the bottom of the pad (44) toward the top of the pad (44).

6. The mother-daughter pallet separating and palletizing device according to claim 1, characterized in that, A second sensor (11) is provided on the inner side of the machine body (1) along the inner side perpendicular to the pallet conveying direction. The second sensor (11) is electrically connected to the controller and the conveyor (2). The second sensor (11) is configured to send a signal to the controller when the pallet arrives at the separation station. The controller is used to control the start and stop of the conveyor (2).

7. The mother-daughter pallet separating and palletizing device according to claim 6, characterized in that, Both the first sensor (41) and the second sensor (11) are laser rangefinders.

8. The mother-daughter pallet separating and palletizing device according to any one of claims 1-7, characterized in that, The lifting mechanism (3) includes: The transmission roller (31) is provided in two, and the two transmission rollers (31) are arranged horizontally in the axial direction and are spaced apart in the vertical direction. A transmission chain (32) is wound around and engaged with the outer periphery of the two transmission rollers (31), and the pneumatic gripper is connected to the transmission chain (32). A first driving member, the driving end of which is connected to one of the transmission rollers (31) to drive the transmission rollers (31) to rotate in the forward or reverse direction.

9. The mother-daughter pallet separating and palletizing device according to claim 8, characterized in that, The lifting mechanism (3) also includes: The first linear guide rail is provided at least once. The first linear guide rail includes a first slide rail (34) and a first slider (35). The first slide rail (34) extends in the vertical direction, and the first slider (35) is slidably connected to the first slide rail (34) in the vertical direction.

10. The mother-daughter pallet separating and palletizing device according to any one of claims 1-7, characterized in that, The clamp assembly (5) includes: The second linear guide rail, at least one of which is provided, includes a second slide rail (51) and a second slider (52). There are two second sliders (52). The second slide rail (51) is provided on the lifting end of the lifting mechanism (3). The second slide rail (51) extends horizontally. The two second sliders (52) are slidably connected to the second slide rail (51) in the horizontal direction. The two grippers (4) are respectively connected to the two second sliders (52). The second driving member has two driving ends connected to the two second sliders (52) respectively, so as to drive the two second sliders (52) to move closer to each other / away from each other.

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