Palletizing device and palletizing system

Abstract

The application provides a stacking device and a stacking system, and relates to the technical field of material stacking equipment. The stacking device comprises two support frames, each of which is arranged oppositely along a first direction; a moving platform is arranged on the two support frames and is in sliding connection with each support frame to slide along the first direction relative to each support frame; and at least two groups of stacking mechanisms are arranged on the moving platform at intervals. Each stacking mechanism comprises a hoisting assembly and a grabbing assembly. The moving end of the hoisting assembly is connected with the grabbing assembly to drive the grabbing assembly to move along a second direction. The grabbing assembly is used for clamping materials. The stacking device provided by the application can perform stacking operation on multiple materials at a time, improves the stacking efficiency and the accuracy of the stacking operation, and is safer to operate.

Description

Technical Field

[0001] This application relates to the field of material stacking equipment technology, and in particular to a palletizing device and palletizing system. Background Technology

[0002] Coiled tubing is a common type of metal tubing, made by winding metal or alloy tubing into a fixed-sizing coil. In actual production, coiled tubing needs to be stacked and stored after production, and this stacking is typically done using a stacking device. A stacking device is a piece of equipment used to automate the handling of coiled tubing, designed to improve production efficiency and safety. Compared to manual stacking, using a stacking device results in neater and more secure stacking of products, rather than relying on worker experience and skill level. It also solves the problem of decreased product stacking quality due to worker fatigue after prolonged work.

[0003] In the prior art, the palletizing device consists of a lifting frame, a support frame suspended below the lifting frame, and an expansion and contraction mechanism located at the center of the bottom of the support frame. The expansion and contraction mechanism expands or contracts through a cylinder in the middle of the support frame, thereby clamping or releasing the coil, and gripping the coil by lifting the lifting frame. When the lifting frame descends to the position of the coil, the expansion and contraction mechanism extends into the coil and expands. The arc-shaped support plate on the expansion and contraction mechanism supports the coil, allowing it to rise with the lifting frame and be transported to the position where it needs to be palletized. After the lifting frame descends to the required position, the expansion and contraction mechanism contracts and disengages from the coil, thus completing the palletizing operation of the coil.

[0004] However, although the palletizing device can simplify the operation of workers and save labor costs, it can only palletize a single coil at a time and has only a single operating system, which cannot handle multiple tasks at the same time. The palletizing efficiency is low, and it has defects in precise positioning and repetitive operation, poor operational safety, and is difficult to meet the requirements of large-scale production. Utility Model Content

[0005] In view of this, this application provides a palletizing device and palletizing system that can palletize multiple materials at a time, improving palletizing efficiency and accuracy, and enhancing operational safety.

[0006] To achieve the above objectives, this application provides a palletizing device and palletizing system, which adopts the following technical solution:

[0007] This application provides a palletizing device, including:

[0008] Two support frames are arranged opposite to each other along a first direction;

[0009] A mobile platform is mounted on two of the support frames and is slidably connected to each of the support frames so as to slide relative to each of the support frames along the first direction;

[0010] At least two palletizing mechanisms are spaced apart on the mobile platform. Each palletizing mechanism includes a lifting component and a gripping component. The moving end of the lifting component is connected to the gripping component to drive the gripping component to move along a second direction. The gripping component is used to clamp materials.

[0011] In one possible implementation, the crawling component includes:

[0012] A support platform is connected to the moving end of the lifting assembly;

[0013] Two clamps are slidably mounted on both sides of the support platform along the third direction;

[0014] An adjustable spacing structure is installed on the support platform, and the driving end of the adjustable spacing structure is connected to each of the clamps respectively to drive each of the clamps to move along the third direction to adjust the spacing between the clamps.

[0015] In one possible implementation, the support platform is provided with columns, and the adjustable structure includes:

[0016] A rotating rod has a mounting hole in its middle, and the rotating rod is sleeved on the column through the mounting hole to be rotatably connected to the support platform;

[0017] A connecting rod, one end of which is rotatably connected to the end of the rotating rod, and the other end of which is rotatably connected to the clamp;

[0018] A drive unit is mounted on the support platform, and the drive end of the drive unit is connected to one of the clamps to drive the clamp to move along the third direction.

[0019] In one possible implementation, the clamp is provided with a snap-fit ​​block;

[0020] The support platform is provided with a guide rail, and the guide rail has a snap-fit ​​groove. The snap-fit ​​block is located in the snap-fit ​​groove and slides along the extension direction of the snap-fit ​​groove, so as to drive the clamp to move relative to the support platform in the third direction.

[0021] In one possible implementation, the lifting assembly includes:

[0022] A roller structure includes a first drive motor and a roller. The first drive motor is mounted on the mobile platform, and the drive end of the first drive motor is connected to the roller to drive the roller to rotate.

[0023] The lifting platform is connected to the supporting platform;

[0024] Rollers are rotatably mounted on the lifting platform;

[0025] A connecting rope is wound around the drum and the pulley to drive the lifting platform to move in the second direction via the pulley.

[0026] In one possible implementation, a weighing sensor is also included, which is located between the lifting platform and the supporting platform, and the two ends of the weighing sensor are connected to the lifting platform and the supporting platform respectively through flexible connectors.

[0027] The lifting assembly also includes a guide structure, which includes a guide cylinder and a guide column. The guide cylinder is installed on the moving platform, and the guide column is installed on the lifting platform and inserted into the guide cylinder to limit the movement direction of the lifting platform.

[0028] In one possible implementation, a weighing sensor is also included, which is located between the lifting platform and the support platform, and both ends of the weighing sensor are connected to the lifting platform and the support platform respectively via flexible connectors.

[0029] One possible implementation also includes a positioning mechanism;

[0030] The positioning mechanism includes a laser emitter, a laser receiver, and a reflector. The laser emitter and the laser receiver are both mounted on the mobile platform. The reflector is mounted on the support frame and is used to reflect the laser emitted by the laser emitter to the laser receiver for positioning the mobile platform.

[0031] One possible implementation also includes a sliding control mechanism;

[0032] The sliding control mechanism includes a sliding component and a second drive motor. The moving platform is slidably connected to each of the support frames through the sliding component. The second drive motor is mounted on the moving platform, and the drive end of the second drive motor is connected to the sliding component to drive the moving platform to move relative to each of the support frames along the first direction.

[0033] In one possible implementation, the sliding component includes a pulley;

[0034] The support frame has a sliding groove, and the pulley is located in the sliding groove and slides along the extension direction of the sliding groove, so as to drive the mobile platform to move relative to each of the support frames in the first direction.

[0035] Another embodiment of this application provides a palletizing system applied to the above-mentioned palletizing device, the palletizing system comprising:

[0036] A mobile module is used to enable the mobile platform to move and position itself along the first direction;

[0037] The palletizing unit includes a lifting module and a gripping module. The lifting module is used to move the material along the second direction, and the gripping module is used to grip the material.

[0038] The control unit is electrically connected to the moving module, the lifting module, and the grasping module.

[0039] This application provides a palletizing device, which includes a support frame, a moving platform, and a palletizing mechanism, wherein the palletizing mechanism includes a lifting component and a gripping component.

[0040] When palletizing materials is required, simply control the mobile platform to move relative to the support frame until the palletizing mechanism on the mobile platform corresponds to the material below the mobile platform; operate the lifting component configured on the palletizing mechanism to drive the gripping component connected to its moving end to descend to a position level with the material; operate the gripping component to cooperate with the material to achieve the lifting, transportation and placement of the material.

[0041] Meanwhile, since the mobile platform is equipped with multiple palletizing mechanisms, and each palletizing mechanism is operated independently without affecting each other, compared with the palletizing devices in the prior art, the palletizing device provided in this application can lift, transport or place multiple materials at a time, which improves palletizing efficiency and accuracy of palletizing operations, and also enhances operational safety. Attached Figure Description

[0042] The specific implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific implementation described herein is only for illustration and explanation of the embodiments of this application, and the embodiments of this application are not limited to the specific implementation described below.

[0043] Figure 1 This is an assembly diagram of the palletizing device provided in the embodiments of this application;

[0044] Figure 2 for Figure 1 Assembly diagram of China Mobile's platform and palletizing mechanism;

[0045] Figure 3 for Figure 1 Schematic diagram of the structure of the lifting assembly;

[0046] Figure 4 for Figure 1 A schematic diagram of the structure of the crawling component.

[0047] Explanation of reference numerals in the attached figures:

[0048] 100-Support frame;

[0049] 110-Slide groove;

[0050] 200-Mobile Platform;

[0051] 300 - Lifting assembly;

[0052] 310 - Roller structure;

[0053] 311 - First drive motor; 312 - Drum;

[0054] 320 - Lifting platform;

[0055] 330-roller;

[0056] 340 - Connecting rope;

[0057] 350-Guide Structure;

[0058] 351 - Guide cylinder; 352 - Guide post;

[0059] 400 - Crawler component;

[0060] 410 - Support Platform;

[0061] 411-Column; 412-Guide rail;

[0062] 420-Clamp;

[0063] 421-Card Connector;

[0064] 430-Adjustable Gap Structure;

[0065] 431 - Rotating rod; 432 - Connecting rod; 433 - Driving component;

[0066] 500 - Load cell;

[0067] 600 - Slip control mechanism;

[0068] 610 - Sliding assembly;

[0069] 611-Pulley;

[0070] 620 - Second drive motor.

[0071] The accompanying drawings have illustrated specific embodiments of this application, which will be described in more detail below. These drawings and descriptions are not intended to limit the scope of the embodiments of this application in any way, but rather to illustrate the concepts of this application to those skilled in the art through reference to specific embodiments. Detailed Implementation

[0072] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application and how the technical solutions of the embodiments of this application solve the above-mentioned technical problems will be clearly and completely described below with reference to specific embodiments and the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0073] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, an indirect connection through an intermediate medium, or 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 the embodiments of this application according to the specific circumstances.

[0074] In the description of the embodiments of this application, it should be understood that the terms "upper", "lower", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, 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 the embodiments of this application.

[0075] The terms "first," "second," "third," "fourth," etc. (if present) in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein.

[0076] In this application, the terms "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0077] Furthermore, the terms “comprising” and “having”, and any variations thereof, are intended to cover non-exclusive inclusion, such that a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product, or apparatus.

[0078] Coiled tubing is a common type of metal tubing, made by winding metal or alloy tubing into a fixed-sizing coil. In actual production, coiled tubing needs to be stacked and stored after production, and this stacking work is usually done using stacking devices. Although existing stacking devices can replace manual labor in automating the gripping and stacking of coiled tubing, they can only process a single coil, resulting in low efficiency per operation. They cannot handle multiple tasks simultaneously, and their accuracy and stability are insufficient to meet the demands of large-scale, high-efficiency production.

[0079] Based on this, an embodiment of this application provides a palletizing device, including a support frame, a moving platform, and a palletizing mechanism, wherein the palletizing mechanism includes a lifting component and a gripping component.

[0080] When palletizing materials is required, simply control the mobile platform to move relative to the support frame until the palletizing mechanism on the mobile platform corresponds to the material below the mobile platform; operate the lifting component configured on the palletizing mechanism to drive the gripping component connected to its moving end to descend to a position level with the material; operate the gripping component to cooperate with the material to achieve the lifting, transportation and placement of the material.

[0081] Meanwhile, since the mobile platform is equipped with multiple palletizing mechanisms, and each palletizing mechanism is operated independently without affecting each other, the palletizing device provided in this application can lift, transport or place multiple materials at a time, which improves the efficiency of palletizing operations compared to the palletizing devices in the prior art.

[0082] The technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0083] Reference Figures 1 to 4As shown, this application provides a palletizing device, including two support frames 100, each support frame 100 along a first direction (refer to...). Figure 4 The mobile platform 200 is mounted on two support frames 100 and slidably connected to each support frame 100, so as to slide relative to each support frame 100 along a first direction; at least two sets of palletizing mechanisms are spaced apart on the mobile platform 200, each palletizing mechanism including a lifting assembly 300 and a gripping assembly 400, the moving end of the lifting assembly 300 being connected to the gripping assembly 400 to drive the gripping assembly 400 along a second direction (refer to the first direction). Figure 4 (As shown in the Z direction) the gripping component 400 moves to grip the material.

[0084] When palletizing materials is required, simply control the mobile platform 200 to move relative to the support frame 100 until the palletizing mechanism on the mobile platform 200 corresponds to the material below the mobile platform 200; operate the lifting component 300 configured on the palletizing mechanism to drive the gripping component 400 connected to its moving end to descend to a position level with the material; operate the gripping component 400 to cooperate with the material to achieve lifting, transportation and placement of the material.

[0085] Meanwhile, since the mobile platform 200 is equipped with multiple palletizing mechanisms, and each palletizing mechanism is operated independently without affecting each other, compared with the palletizing devices in the prior art, the palletizing device provided in this application can lift, transport or place multiple materials at a time, thereby improving the efficiency of palletizing operations.

[0086] Reference Figure 4 As shown, in some embodiments, the gripping component 400 includes a support platform 410 connected to the movable end of the lifting component 300; two clamps 420 are slidably disposed on the support platform 410 along a third direction (see reference). Figure 4 On both sides of the Y-direction (as shown in the middle); the adjustable distance structure 430 is installed on the support platform 410, and the driving end of the adjustable distance structure 430 is connected to each clamp 420 respectively to drive each clamp 420 to move along the third direction to adjust the distance between each clamp 420.

[0087] Since different materials have different specific dimensions, in order to meet the palletizing requirements of various materials, an adjustable spacing structure 430 is provided in the above embodiment. The adjustable spacing structure 430 pushes or pulls each clamp 420 relative to the support platform 410 to adjust the spacing between each clamp 420 to adapt to the matching requirements of various materials and expand the applicability of the palletizing device.

[0088] Meanwhile, the tension applied by the adjustable spacing structure 430 to each clamp 420 can be converted into pressure of each clamp 420 on the material surface, making the clamp 420 fit more tightly with the material surface, increasing the friction between each clamp 420 and the material surface, and preventing the material from falling and causing safety hazards when the palletizing device lifts, transports or places the material.

[0089] Furthermore, in some embodiments, a column 411 is provided on the support platform 410, and the adjustable structure 430 includes a rotating rod 431 with a mounting hole in its middle. The rotating rod 431 is sleeved on the column 411 through the mounting hole to be rotatably connected to the support platform 410; a connecting rod 432, one end of which is rotatably connected to the end of the rotating rod 431, and the other end of which is rotatably connected to the clamp 420; and a driving member 433, which is installed on the support platform 410, and the driving end of the driving member 433 is connected to one of the clamps 420 to drive the clamp 420 to move in a third direction.

[0090] In practical implementation, the driving component 433 is a cylinder, and the rotating rod 431 is sleeved on the column 411 through the mounting hole. The two ends of the rotating rod 431 are respectively rotatably connected to the clamps 420 installed on both sides of the support platform 410 through the connecting rods 432. When the cylinder pushes or pulls one clamp 420, it will drive the rotating rod 431 to rotate clockwise or counterclockwise through the connecting rod 432, so as to push or pull the other clamp 420 to move, thereby realizing the detachment or clamping of the coil from the outside.

[0091] Meanwhile, the adjustable distance structure 430 ensures that the movement of the clamps 420 on both sides is the same, avoiding the problem of one clamp 420 moving more than the other, causing the material's center of gravity to shift to one side and the stacking device to easily tip over. Of course, workers can also use electric telescopic rods instead of cylinders, and can choose flexibly according to the actual working environment, which will not be elaborated here.

[0092] In some embodiments, the clamp 420 is provided with a snap-fit ​​block 421; the support platform 410 is provided with a guide rail 412, the guide rail 412 is provided with a snap-fit ​​groove, the snap-fit ​​block 421 is located in the snap-fit ​​groove and slides along the extension direction of the snap-fit ​​groove, so as to drive the clamp 420 to move relative to the support platform 410 in a third direction.

[0093] In practical implementation, the guide rail 412 has a locking groove, and the clamp 420 is provided with a locking block 421. The locking block 421 is located in the locking groove and slides along the extension direction of the locking groove. The locking groove has a guiding and limiting function for the locking block 421, so as to prevent the clamp 420 from swaying left and right or even falling when moving relative to the support platform 410. Of course, the locking groove and locking block 421 can also be replaced by other connection structures, as long as they can enable the clamp 420 to move relative to the support platform 410 in a third direction. These will not be described in detail here.

[0094] Reference Figure 3 As shown, in some embodiments, the lifting assembly 300 includes a roller structure 310, including a first drive motor 311 and a roller 312. The first drive motor 311 is mounted on the moving platform 200, and the drive end of the first drive motor 311 is connected to the roller 312 to drive the roller 312 to rotate. The lifting platform 320 is connected to the support platform 410. The roller 330 is rotatably disposed on the lifting platform 320. The connecting rope 340 is wound around the roller 312 and the roller 330 to drive the lifting platform 320 to move in a second direction through the roller 330.

[0095] In practical implementation, the first drive motor 311 drives the drum 312 to rotate, causing the connecting rope 340, which is wound between the drum 312 and the roller 330, to wrap around the drum 312, thereby slowly lifting the lifting platform 320. Conversely, when the first drive motor 311 drives the drum 312 to rotate in the opposite direction, the connecting rope 340 originally wrapped around the drum 312 is released, allowing the lifting platform 320 to slowly descend. Thus, the lifting assembly 300 in the above embodiment has a simple structure and is easy to maintain. It can effectively control the lifting amount and lifting rate of the lifting platform 320, improving the safety of palletizing operations.

[0096] Furthermore, refer to Figure 2 and Figure 4 As shown, in some embodiments, a weighing sensor 500 is also included. The weighing sensor 500 is located between the lifting platform 320 and the support platform 410, and both ends of the weighing sensor 500 are connected to the lifting platform 320 and the support platform 410 respectively through flexible connectors. The lifting assembly 300 also includes a guide structure 350, which includes a guide cylinder 351 and a guide column 352. The guide cylinder 351 is installed on the moving platform 200, and the guide column 352 is installed on the lifting platform 320. The guide column 352 is inserted into the guide cylinder 351 to limit the movement direction of the lifting platform 320.

[0097] The weighing sensor 500 installed between the lifting platform 320 and the support platform 410 can measure the weight of the material in real time, so as to avoid the lifting component 300 being overloaded due to excessive material weight, which could easily lead to safety accidents.

[0098] Meanwhile, since the mobile platform 200 and the lifting platform 320 are connected only by a connecting rope 340, and the connecting rope 340 has a certain degree of elasticity, the vertical movement of the lifting platform 320 and the material during lifting becomes unstable, and they are prone to swaying left and right. Therefore, in the above embodiment, a guide structure 350 is provided, a guide cylinder 351 is installed on the mobile platform 200, and a guide column 352 is installed on the lifting platform 320. The guide cylinder 351 guides and limits the guide column 352, thereby improving the stability of the lifting assembly 300.

[0099] In some embodiments, a positioning mechanism is also included; the positioning mechanism includes a laser emitter, a laser receiver, and a reflector, both of which are mounted on the mobile platform 200, and the reflector is mounted on the support frame 100, and the reflector is used to reflect the laser emitted by the laser emitter to the laser receiver for positioning the mobile platform 200.

[0100] In practice, the laser generator emits a laser, which is then reflected by the emitting plate and transmitted to the laser receiver. The laser receiver can accurately control the position of the mobile platform 200 by measuring the time required for laser reflection and the reflection angle, so as to ensure that the palletizing mechanism on the mobile platform 200 corresponds to the material below the mobile platform 200, thereby improving the accuracy of the palletizing operation.

[0101] Reference Figure 2 As shown, in some embodiments, a sliding control mechanism 600 is also included; the sliding control mechanism 600 includes a sliding component 610 and a second drive motor 620. The moving platform 200 is slidably connected to each support frame 100 through the sliding component 610. The second drive motor 620 is mounted on the moving platform 200, and the drive end of the second drive motor 620 is connected to the sliding component 610 to drive the moving platform 200 to move relative to each support frame 100 in a first direction.

[0102] In a specific implementation, the second drive motor 620 drives the sliding assembly 610, thereby causing the moving platform 200 to move relative to each support frame 100 along the first direction. Thus, the sliding control mechanism 600 in the above embodiment has a simple structure and is easy to maintain, effectively controlling the amount and speed of movement of the moving platform 200, improving the accuracy of palletizing operations.

[0103] Furthermore, in some embodiments, the sliding assembly 610 includes a pulley 611; the support frame 100 is provided with a groove 110, the pulley 611 is located in the groove 110 and slides along the extension direction of the groove 110, so as to drive the moving platform 200 to move relative to each support frame 100 in a first direction.

[0104] In a specific implementation, a sliding groove 110 is provided on the support frame 100, and a pulley 611 is installed on the moving platform 200. The pulley 611 is located in the sliding groove 110 and slides along the extension direction of the sliding groove 110. On the one hand, the sliding groove 110 guides and limits the pulley 611 to prevent the moving platform 200 from swaying left and right or even falling when moving relative to the support frame 100. On the other hand, the sliding connection between the moving platform 200 and the support frame 100 is transformed into a rolling connection, which allows the moving platform 200 to move with less force, reducing energy consumption. Of course, the sliding groove 110 and the pulley 611 can also be replaced by other connection structures that can enable the moving platform 200 to move relative to each support frame 100 in the first direction, which will not be elaborated here.

[0105] This application also provides a palletizing system applied to the palletizing device in the above embodiments. The palletizing system includes a moving module for moving and positioning the moving platform 200 along a first direction; a palletizing unit including a lifting module and a gripping module, wherein the lifting module is used to move the material along a second direction and the gripping module is used to grip the material; and a control unit electrically connected to the moving module, the lifting module and the gripping module.

[0106] The structure of the palletizing device has been described in detail in the above embodiments and will not be repeated here. Under the control of the palletizing system, the palletizing device can respond to changes on the production line in real time and dynamically adjust its operating strategy to adapt to constantly changing production demands. This not only improves the efficiency of the palletizing device but also optimizes the resource allocation, speed, and overall smoothness of the entire production line.

[0107] It should be understood that the various forms of processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the embodiments of this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in the embodiments of this application can be achieved, and this document does not impose any restrictions.

[0108] The specific embodiments described above do not constitute a limitation on the scope of protection of the embodiments of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the principles of the embodiments of this application should be included within the scope of protection of the embodiments of this application.

Claims

1. A palletizing device, characterized in that, include: Two support frames (100) are arranged opposite each other along a first direction; A mobile platform (200) is mounted on two of the support frames (100) and is slidably connected to each of the support frames (100) so as to slide relative to each of the support frames (100) along the first direction; At least two palletizing mechanisms are spaced apart on the mobile platform (200). Each palletizing mechanism includes a lifting assembly (300) and a gripping assembly (400). The moving end of the lifting assembly (300) is connected to the gripping assembly (400) to drive the gripping assembly (400) to move along a second direction. The gripping assembly (400) is used to grip materials.

2. The palletizing device according to claim 1, characterized in that, The grasping component (400) includes; A support platform (410) is connected to the movable end of the lifting assembly (300); Two clamps (420) are slidably disposed on both sides of the support platform (410) along the third direction; An adjustable spacing structure (430) is installed on the support platform (410), and the driving end of the adjustable spacing structure (430) is connected to each of the clamps (420) to drive each of the clamps (420) to move along the third direction to adjust the spacing between the clamps (420).

3. The palletizing device according to claim 2, characterized in that, The support platform (410) is provided with a column (411), and the adjustable distance structure (430) includes: A rotating rod (431) has a mounting hole in its middle. The rotating rod (431) is sleeved on the column (411) through the mounting hole so as to be rotatably connected to the support platform (410). A connecting rod (432) has one end rotatably connected to the end of the rotating rod (431) and the other end rotatably connected to the clamp (420); A drive unit (433) is mounted on the support platform (410), and the drive end of the drive unit (433) is connected to one of the clamps (420) to drive the clamp (420) to move along the third direction.

4. The palletizing device according to claim 2, characterized in that, The clamp (420) is provided with a snap-fit ​​block (421); The support platform (410) is provided with a guide rail (412), and the guide rail (412) has a snap-fit ​​groove. The snap-fit ​​block (421) is located in the snap-fit ​​groove and slides along the extension direction of the snap-fit ​​groove, so as to drive the clamp (420) to move relative to the support platform (410) along the third direction.

5. The palletizing device according to claim 2, characterized in that, The lifting assembly (300) includes: The roller structure (310) includes a first drive motor (311) and a roller (312). The first drive motor (311) is mounted on the mobile platform (200), and the drive end of the first drive motor (311) is connected to the roller (312) to drive the roller (312) to rotate. The lifting platform (320) is connected to the supporting platform (410); Rollers (330) are rotatably mounted on the lifting platform (320); A connecting rope (340) is wound around the drum (312) and the roller (330) to drive the lifting platform (320) to move in the second direction via the roller (330).

6. The palletizing device according to claim 5, characterized in that, It also includes a weighing sensor (500), which is located between the lifting platform (320) and the support platform (410), and the two ends of the weighing sensor (500) are connected to the lifting platform (320) and the support platform (410) respectively through flexible connectors; The lifting assembly (300) further includes a guide structure (350), which includes a guide cylinder (351) and a guide column (352). The guide cylinder (351) is mounted on the moving platform (200), and the guide column (352) is mounted on the lifting platform (320). The guide column (352) is inserted into the guide cylinder (351) to limit the movement direction of the lifting platform (320).

7. The palletizing device according to claim 1, characterized in that, It also includes positioning mechanisms; The positioning mechanism includes a laser generator, a laser receiver, and a reflector. The laser generator and the laser receiver are both mounted on the mobile platform (200), and the reflector is mounted on the support frame (100). The reflector is used to reflect the laser emitted by the laser generator to the laser receiver to position the mobile platform (200).

8. The palletizing device according to claim 1, characterized in that, It also includes a sliding control mechanism (600); The sliding control mechanism (600) includes a sliding component (610) and a second drive motor (620). The moving platform (200) is slidably connected to each of the support frames (100) through the sliding component (610). The second drive motor (620) is mounted on the moving platform (200), and the drive end of the second drive motor (620) is connected to the sliding component (610) to drive the moving platform (200) to move relative to each of the support frames (100) along the first direction.

9. The palletizing device according to claim 8, characterized in that, The sliding assembly (610) includes a pulley (611); The support frame (100) is provided with a sliding groove (110), and the pulley (611) is located in the sliding groove (110) and slides along the extension direction of the sliding groove (110) to drive the mobile platform (200) to move relative to each of the support frames (100) in the first direction.

10. A palletizing system, characterized in that, Applied to the palletizing apparatus as described in any one of claims 1-9, the palletizing system comprises: A mobile module is used to enable the mobile platform (200) to move and position itself along the first direction; The palletizing unit includes a lifting module and a gripping module. The lifting module is used to move the material along the second direction, and the gripping module is used to grip the material. The control unit is electrically connected to the moving module, the lifting module, and the grasping module.

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