CN216736423U - Soft packet of pile up neatly machine of grabhook formula - Google Patents

Abstract

The utility model relates to the field of stacker cranes, in particular to a gripping and clamping type soft package stacker crane, which comprises a supporting frame, wherein the left side and the right side of the top of the supporting frame are connected with gripping and clamping devices in a sliding manner, each gripping and clamping device comprises an oil cylinder driving mechanism and an anti-cracking mechanism arranged on the bottom surface of the oil cylinder driving mechanism, each anti-cracking mechanism comprises a fixed plate, a first oil cylinder and a second oil cylinder are fixed on the bottom surface of the fixed plate, the end part of a screw rod shaft of the first oil cylinder is fixed at the top end of a left gripping and clamping part, the end part of a screw rod shaft of the second oil cylinder is fixed at the top end of a right gripping and clamping part, the left gripping and clamping parts are respectively connected with the bottom surface of the fixed plate in a sliding manner, the stacker crane can control the gripping and clamping force on goods, the surface of soft package goods cannot be cracked due to over-tight gripping and clamping of the soft package goods, and the stacker crane adopts an oil cylinder driving mode to greatly increase the bearing force of the driving mechanism, and then guaranteed the stability of work, eliminated the potential safety hazard, also guaranteed the accurate nature of stacker crane operation process simultaneously.

Description

Soft packet of pile up neatly machine of grabhook formula

Technical Field

The utility model relates to the field of stacking machines, in particular to a gripping type soft package stacking machine.

Background

When the existing stacker crane grabs and clamps soft package goods, the grabbing and clamping mechanism of the existing stacker crane is directly opened to grab the whole soft package goods, the grabbing mode usually causes the goods to be very tight in grabbing and clamping, the soft package goods are very easy to break, on one hand, the grabbing mechanism directly damages the surface of the soft package goods, on the other hand, the weight of the soft package goods is concentrated at the bottom after being grabbed by the grabbing mechanism, therefore, the bottom of the soft package goods is easy to break, the soft package goods are finally frequently broken in the process of grabbing and clamping, the subsequent manual treatment is needed, the trouble is caused, the working efficiency is greatly reduced, the great loss is caused, meanwhile, in the process of grabbing and clamping the goods by the existing stacker crane, because the stacker crane is driven by the air cylinder, the situation of unstable operation often occurs, potential safety hazards are brought, and meanwhile, the normal operation of the stacker crane is influenced, and a lot of unnecessary troubles are brought.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

Aiming at the defects of the prior art, the utility model aims to provide the grasping and clamping type soft package stacker which solves the problems in the prior art, breaks through the traditional mode that the whole soft package goods are directly grasped, and can control the grasping and clamping force of the goods through the parallel moving grasping and clamping parts arranged on the two sides of the soft package goods, so that the surface of the soft package goods is not broken due to the over-tight grasping and clamping of the soft package goods.

(II) technical scheme

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a soft package of grabbing clamp formula stacker crane, the loach carrying platform comprises a supporting fram, the top left and right sides sliding connection of support frame has the grabbing device, the grabbing device includes cylinder drive mechanism and sets up the anti-rupture mechanism in cylinder drive mechanism bottom surface, anti-rupture mechanism includes the fixed plate, be fixed with first hydro-cylinder and second hydro-cylinder on the bottom surface of fixed plate, the lead screw axle tip of first hydro-cylinder is fixed on the top of left grab clamp part, the lead screw axle tip of second hydro-cylinder is fixed on the top of right grab clamp part, left side grab clamp part and right grab clamp part respectively with the bottom surface sliding connection of fixed plate.

Preferably, the center that first hydro-cylinder and second hydro-cylinder used the fixed plate is central symmetry as the symmetric point, and edge is fixed with the first slider of mutual symmetry near the front and back on the bottom surface of fixed plate, and the top of right side grabbing clamp part is fixed with the right-hand member portion with the first slide rail of first slider looks adaptation, and the inboard of first slider is fixed with the second slider on the fixed plate, and the top of left side grabbing clamp part is fixed with the left end portion with the second slide rail of second slider looks adaptation.

Preferably, the left grabbing clamp part and the right grabbing clamp part are symmetrically arranged on the left side and the right side of the fixing plate, the left grabbing clamp part or the right grabbing clamp part comprises a 7-shaped plate, a grid plate is fixed on the inner side of the 7-shaped plate, a plurality of clamping blocks are fixed on the grid plate, a bearing plate is fixed at the bottom end of each clamping block, the clamping blocks are provided with three blocks which are vertically aligned, and the clamping blocks are triangular prisms and the surfaces of the clamping blocks, which are in contact with goods, are arranged to be arc-shaped surfaces.

Preferably, the oil cylinder driving mechanism comprises an oil station fixed on the upper surface of the fixed plate, oil cylinders are respectively fixed on the fixed plate on the left side and the right side of the oil station, ends of screw shafts of the left oil cylinder and the right oil cylinder are respectively fixed on the left inner surface and the right inner surface of the fixed frame, the left outer surface and the right outer surface of the fixed frame are respectively connected with the fixed frame in a sliding mode, and the bottom end of the fixed frame is fixed on the fixed plate.

Preferably, the outer surface is fixed with the fixing base near bottom department around the fixed frame, is fixed with the L-square between fixing base and the fixed frame, and the riser of L-square is fixed on fixed frame, and its diaphragm is fixed on the fixing base, is fixed with the set-square on the L-square.

Preferably, the left side and the right side of the bottom surface of the fixing seat are respectively fixed on the upper surfaces of the left support box and the right support box, a motor is fixed at the middle position of the front end of the fixing seat, an oblique gear mechanism is fixed at the end part of an output shaft of the motor, a transmission rod is fixed on the oblique gear mechanism, the left end and the right end of the transmission rod respectively penetrate through the front ends of the left support box and the right support box and are rotatably connected with the support boxes, and a roller is fixed on the part of the transmission rod in the support boxes and is in rolling connection with the support boxes.

Preferably, the helical gear mechanism includes a first helical gear fixed to an end of the output shaft, a second helical gear engaged with a bottom surface of the first helical gear, and a transmission rod fixed to a center of the second helical gear.

Preferably, the bottom opening of supporting box, it includes roof, preceding curb plate, posterior lateral plate, left side board and right side board, and the bottom of preceding curb plate and posterior lateral plate is equipped with the spout, the top of support frame be equipped with the slide rail of spout looks adaptation, be equipped with on the gyro wheel with the roll groove of slide rail looks adaptation.

Preferably, the bottom surface of the fixing plate is fixed with a fixing rod, the bottom surface of the fixing rod is fixed with a tray, and the tray is large and small and can cover the bottom surface of the oil station.

Preferably, the tray is set to be rectangular, and the fixed rods are provided with four square parts which are respectively fixed at four corners of the tray.

(III) advantageous effects

The utility model provides a grabbing-clamping type soft package stacker which breaks through the situation that the whole soft package is directly grabbed in the traditional mode, and the grabbing-clamping parts which move in parallel are arranged on the two sides of the soft package, so that the grabbing-clamping force on the package can be controlled, the surface of the soft package cannot be broken due to the fact that the soft package is grabbed and clamped tightly, meanwhile, the stacker adopts an oil cylinder driving mode, so that the bearing capacity of a driving mechanism is greatly improved, the requirements of the stacker are met, the working stability is further ensured, potential safety hazards are eliminated, and meanwhile, the accuracy of the stacker in the operation process is also ensured.

Drawings

Fig. 1 is an overall schematic view of the present invention.

Fig. 2 is a schematic view of the rupture prevention mechanism of the present invention.

Fig. 3 is a schematic view of the rupture prevention mechanism of the present invention with the fixing plate removed.

FIG. 4 is a detailed view of either the left or right gripping members of the present invention.

FIG. 5 is a detailed view of the clamp blocks and the arcuate surfaces on the clamp blocks of the present invention.

Fig. 6 is an overall schematic view of the cylinder driving apparatus of the present invention.

Fig. 7 is a schematic position diagram of the fixing base and the fixing frame according to the present invention.

Fig. 8 is a schematic view showing a specific sliding connection structure between the gripping device and the supporting frame according to the present invention.

Fig. 9 is a detailed schematic diagram of the helical gear mechanism of the present invention.

FIG. 10 is a detailed view of the support box of the present invention.

Fig. 11 is a schematic view of the rolling groove of the roller according to the present invention.

In the figure: 1-supporting frame, 2-gripping device, 3-oil cylinder driving mechanism, 4-anti-cracking mechanism, 5-fixing plate, 6-first oil cylinder, 7-second oil cylinder, 8-left gripping part, 9-right gripping part, 10-first slide block, 11-first slide rail, 12-second slide block, 13-second slide rail, 14-7 type plate, 15-grating plate, 16-clamping block, 17-supporting plate, 18-arc surface, 19-oil station, 20-oil cylinder, 21-screw shaft, 22-fixing frame, 23-fixing frame, 24-fixing seat, 25-right angle plate, 26-triangular plate, 27-supporting box, 28-motor, 29-output shaft, 30-bevel gear mechanism, 31-transmission rod, 32-roller, 33-first bevel gear, 34-second bevel gear, 35-top plate, 36-front side plate, 37-rear side plate, 38-left side plate, 39-right side plate, 40-sliding groove, 41-sliding rail, 42-rolling groove, 43-fixing rod, 44-tray and 45-soft package goods.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 11 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model provides a technical scheme that: a grabbing and clamping type soft package stacker comprises a supporting frame 1, wherein the left side and the right side of the top of the supporting frame 1 are connected with grabbing and clamping devices 2 in a sliding mode, each grabbing and clamping device 2 comprises an oil cylinder driving mechanism 3 and an anti-breaking mechanism 4 arranged on the bottom surface of the oil cylinder driving mechanism 3, each anti-breaking mechanism 4 comprises a fixing plate 5, a first oil cylinder 6 and a second oil cylinder 7 are fixed on the bottom surface of the fixing plate 5, the end portion of a screw shaft of the first oil cylinder 6 is fixed to the top end of a left grabbing and clamping part 8, the end portion of a screw shaft of the second oil cylinder 7 is fixed to the top end of a right grabbing and clamping part 9, the left grabbing and clamping part 8 and the right grabbing and clamping part 9 are respectively connected with the bottom surface of the fixing plate 5 in a sliding mode, when soft package goods 45 need to be grabbed and clamped, firstly, the grabbing and clamping device 2 moves to be right above the soft package goods 45, then the oil cylinder driving mechanism 3 on the grabbing and clamping device 2 is started to enable the anti-breaking mechanism 4 to descend to the soft package goods 45, at the moment, the left grabbing and clamping part 8 and the right grabbing and clamping part 9 are respectively positioned at the left side and the right side of the soft package cargo 45, then the first oil cylinder 6 and the second oil cylinder 7 are started, screw shafts of the first oil cylinder 6 and the second oil cylinder 7 are contracted, the left grabbing and clamping part 4 and the right grabbing and clamping part 5 which are fixed at the end parts of the screw shafts are driven to slide along the bottom surface of the fixed plate 1 and approach to the soft package cargo 45, the first oil cylinder 6 and the second oil cylinder 7 stop running when reaching a preset position, thus the grabbing and clamping of the soft package cargo 45 are completed, the soft package cargo is grabbed and clamped through the parallel movement of the left grabbing and clamping part 8 and the right grabbing and clamping part 9, the whole soft package cargo is directly grabbed in the traditional mode, the grabbing and clamping force of the soft package cargo is controlled, the surface fracture of the soft package cargo caused by over-tight grabbing and clamping of the soft package cargo is avoided, and simultaneously, the oil cylinder driving mode is adopted, the bearing capacity of the driving mechanism is greatly increased, the requirements of the stacker crane are met, the working stability is guaranteed, potential safety hazards are eliminated, and meanwhile the accuracy of the operation process of the stacker crane is guaranteed.

First hydro-cylinder 6 and second hydro-cylinder 7 use the center of fixed plate 5 to be central symmetry as the symmetric point, edge is fixed with first slider 10 of mutual symmetry near the front and back on the bottom surface of fixed plate 5, the top of right side grab clamp part 9 is fixed with the right-hand member portion with first slide rail 11 of first slider 10 looks adaptation, the inboard of first slider 10 is fixed with second slider 12 on fixed plate 5, the top of left side grab clamp part 8 is fixed with the left end portion with the second slide rail 13 of second slider 12 looks adaptation, this kind of mode has realized the synchronous parallel slip of left side grab clamp part 8 and right side grab clamp part 9 in fixed plate 5 bottom surface.

The left grabbing clamp part 8 and the right grabbing clamp part 9 are symmetrically arranged on the left side and the right side of the fixing plate 5, the left grabbing clamp part 8 or the right grabbing clamp part 9 comprises a 7-shaped plate 14, a grid plate 15 is fixed on the inner side of the 7-shaped plate 14, a plurality of clamp blocks 16 are fixed on the grid plate 15, a bearing plate 17 is fixed at the bottom end of each clamp block 16, the clamp blocks 16 are provided with three blocks which are vertically aligned, the clamp blocks are triangular, the surface of each clamp block, which is in contact with goods, is set to be an arc surface 18, the bottom of soft package goods 45 is supported by the bearing plate 17 to play a certain supporting role, after the placed soft package goods are grabbed and clamped, the soft package goods 45 cannot break due to overlarge bottom weight, the soft package goods 45 are protected in an omnibearing mode, the contact surface of the soft package goods 12 and the soft package goods 45 is softened due to the arrangement of the arc surface 18, is not easy to be punctured, and further plays a role in preventing cracking.

The oil cylinder driving mechanism 3 comprises an oil station 19 fixed on the upper surface of a fixed plate 5, oil cylinders 20 are respectively fixed on the fixed plate 5 at the left side and the right side of the oil station 19, ends of screw shafts 21 of the left oil cylinder 20 and the right oil cylinder 20 are respectively fixed on the left inner surface and the right inner surface of a fixed frame 22, the left outer surface and the right outer surface of the fixed frame 22 are respectively connected with a fixed frame 23 in a sliding manner, the bottom end of the fixed frame 23 is fixed on the fixed plate 5, when the gripping and clamping device 2 grips and clamps soft package goods 45 and needs to ascend, the oil cylinders 20 at the left side and the right side of the fixed plate 5 are started, as the screw shafts 21 of the oil cylinders 20 are fixed on the fixed frame 22, after the oil cylinders 20 are started, the screw shafts 21 contract to drive the oil cylinders 20 to move upwards, the oil cylinders 20 move upwards to drive the fixed plate 5, the oil station 19 and the fixed frame 23 which are fixedly connected with the oil cylinder 20, to integrally move upwards, and as the left outer surface and the right outer surface of the fixed frame 22 are respectively connected with the fixed frame 23 in a sliding manner, therefore, the upward movement of the oil cylinder 20 drives the fixed plate 5, the oil station 19 and the fixed frame 23 to slide upwards along the left and right outer surfaces of the fixed frame 22, and finally drives the anti-cracking mechanism 4 arranged on the bottom surface of the fixed plate 5 to ascend, so that the ascending function is realized, when the downward movement is needed, the screw shaft 21 is extended, and the oil cylinder 20 is driven to move downwards, so that the fixed plate 5, the anti-cracking mechanism 4, the oil station 19 and the fixed frame 23 are driven to move downwards integrally, so that the descending function is realized, because the driving device needs to make the soft package 45, the fixed plate 5, the anti-cracking mechanism 4, the oil station 19 and the fixed frame 23 move upwards and downwards together in the process, the load is large, if a general cylinder driving device is used, the unstable condition easily occurs under the large load, the potential safety hazard exists, and the normal working process is influenced, the damage to the machine is large, and meanwhile, the running accuracy is also influenced, the driving mechanism adopts an oil cylinder driving mode, so that the bearing capacity of the driving mechanism is greatly increased, the requirements of the stacker crane are met, the working stability is further ensured, the potential safety hazard is eliminated, and meanwhile, the running accuracy of the stacker crane is also ensured.

The surface is close to bottom department and is fixed with fixing base 24 around fixed frame 22, be fixed with the L-square 25 between fixing base 24 and the fixed frame 22, the riser of L-square 25 is fixed on fixed frame 22, its diaphragm is fixed on fixing base 24, be fixed with set-square 26 on the L-square 25, it is more firm and stable to make fixed frame 22's fixed like this, thereby guarantee the stability of whole operation process, wherein the bottom of fixing base 24 is fixed on support frame 1, fixed frame 22's stability and fixed fastness have been guaranteed like this.

The left side and the right side of the bottom surface of the fixed seat 24 are respectively fixed on the upper surfaces of the left and the right supporting boxes 27, a motor 28 is fixed at the middle position of the front end of the fixed seat, a helical gear mechanism 30 is fixed at the end part of an output shaft 29 of the motor 28, a transmission rod 31 is fixed on the helical gear mechanism 30, the left end and the right end of the transmission rod 31 respectively penetrate through the front ends of the left and the right supporting boxes 27 and are rotatably connected with the supporting boxes 27, a roller 32 is fixed on the part of the transmission rod 31 in the supporting boxes 27, the roller 32 is in rolling connection with the supporting frame 1, when the soft package goods 45 to be grabbed and clamped need to move in the horizontal direction, the motor 28 is started, the rotation of the output shaft 29 drives the helical gear mechanism 30 fixed on the transmission rod to operate, the operation of the helical gear mechanism 30 drives the left end and the right end parts of the transmission rod 31 to synchronously rotate, thereby driving the rotation of the roller 32, and the rotation of the roller 32 can drive the supporting boxes 27 to horizontally slide on the supporting frame 1, finally, the horizontal movement of the gripper device 2 is driven, and the device drives the goods to move in the horizontal direction by arranging the motor 28 at the middle position of the transmission rod 31, so that the synchronism of the movement of the left side and the right side is kept, the power resource is greatly saved, and the device conforms to the current power-saving large background.

The bevel gear mechanism 30 includes a first bevel gear 33 fixed at an end of the output shaft 29, a second bevel gear 34 engaged with a bottom surface of the first bevel gear 33, and a transmission rod 31 fixed at a center position of the second bevel gear 34, wherein rotation of the motor 28 drives rotation of the transmission rod 31 through the first bevel gear 33 and the second bevel gear 34.

The bottom opening of supporting box 27, it includes roof 35, preceding curb plate 36, posterior lateral plate 37, left side board 38 and right side board 39, and the bottom of preceding curb plate 36 and posterior lateral plate 37 is equipped with spout 40, and the top of support frame 1 is equipped with the slide rail 41 with spout 40 looks adaptation, be equipped with on gyro wheel 32 with the roll groove 42 of slide rail 41 looks adaptation, through this kind of setting, can make spout 40 slide along slide rail 41 on the one hand, and on the other hand can make gyro wheel 32 roll along slide rail 41, makes the gyro wheel 32 that transfer line 31 drove the transfer line 31 both ends when the pivoted very ingeniously like this rotate to promote the horizontal migration of supporting box 27 on slide rail 41.

Be fixed with dead lever 43 on the bottom surface of fixed plate 5, be fixed with tray 44 on the bottom surface of dead lever 43, tray 44's size can cover the bottom surface of oil station 2, and when oil station 19 broke down the oil leak like this, the oil of leaking out will be caught by tray 44, can not leak to soft package goods 45 on, pollutes soft package goods 45, has played the effect of protection goods.

Tray 44 sets up to the rectangle, and dead lever 43 is equipped with four and the square and fixes four angles departments at tray 44 respectively, and fixed fastness and stability have been guaranteed to this mode of setting.

The working principle is as follows: when soft package goods 45 need to be grabbed and transported, the motor 28 is started, the rotation of the output shaft 29 of the motor drives the bevel gear mechanism 30 fixed on the bevel gear mechanism to operate, the operation of the bevel gear mechanism 30 drives the left end and the right end of the transmission rod 31 to synchronously rotate, so as to drive the roller 32 to rotate, the rotation of the roller 32 drives the supporting box 27 to horizontally slide on the supporting frame 1, finally the grabbing device 2 is driven to horizontally move right above the soft package goods 45, then the oil cylinder driving mechanism 3 on the grabbing device 2 is started to enable the anti-breaking mechanism 4 to descend to the soft package goods 45, at the moment, the left grabbing clamp part 8 and the right grabbing clamp part 9 are respectively positioned at the left side and the right side of the soft package goods 45, then the first oil cylinder 6 and the second oil cylinder 7 are started, the screw shafts of the first oil cylinder 6 and the second oil cylinder 7 are contracted, and the left grabbing clamp part 4 and the right grabbing clamp part 5 fixed at the end of the shaft are driven to slide along the bottom surface of the fixed plate 1, approaching to soft package goods 45, stopping the first oil cylinder 6 and the second oil cylinder 7 when reaching a preset position, thus completing the gripping of the soft package goods 45, then starting the oil cylinders 20 on the left and right sides of the fixed plate 5 on the oil cylinder driving mechanism 3, because the screw shaft 21 of the oil cylinder 20 is fixed on the fixed frame 22, after the oil cylinder 20 is started, the screw shaft 21 contracts, thus driving the oil cylinder 20 to move upwards, the oil cylinder 20 moves upwards, then driving the fixed plate 5, the oil station 19 and the fixed frame 23 which are fixedly connected with the oil cylinder 20 to move upwards integrally, and because the left and right outer surfaces of the fixed frame 22 are respectively connected with the fixed frame 23 in a sliding manner, the oil cylinder 20 moves upwards, thus driving the fixed plate 5, the oil station 19 and the fixed frame 23 to slide upwards along the left and right outer surfaces of the fixed frame 22 integrally, and finally driving the anti-fracture mechanism 4 arranged on the bottom surface of the fixed plate 5 to ascend, realized the function that rises, carry out horizontal migration when rising, transport soft package goods 45 to appointed place, this stacker crane has broken directly to whole soft package goods and has snatched in the traditional mode, the part is grabbed through the both sides at soft package goods set up parallel translation, can control the grab clamp dynamics to the goods like this, can not lead to soft package goods surface to break because of grabbing the clamp to soft package goods to tight, what this stacker crane adopted simultaneously is cylinder drive's mode, make actuating mechanism's bearing capacity rise greatly, satisfy the requirement of stacker crane, and then guarantee job stabilization nature, eliminate the potential safety hazard, the accurate nature of stacker crane operation process has also been guaranteed simultaneously.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims (10)

1. The utility model provides a grab clamp formula soft package stacker, includes support frame (1), the top left and right sides sliding connection of support frame (1) has grabbing clamp device (2), grabbing clamp device (2) including oil cylinder actuating mechanism (3) and setting up anti-rupture mechanism (4) in oil cylinder actuating mechanism (3) bottom surface, its characterized in that, anti-rupture mechanism (4) are including fixed plate (5), be fixed with first hydro-cylinder (6) and second hydro-cylinder (7) on the bottom surface of fixed plate (5), the lead screw shaft end fixing of first hydro-cylinder (6) is on the top of grabbing clamp part (8) on the left side, the lead screw shaft end fixing of second hydro-cylinder (7) is on the top of grabbing clamp part (9) on the right side, grab clamp part (8) on the left side with grab clamp part (9) on the right side respectively with the bottom surface sliding connection of fixed plate (5).

2. The soft package stacker of claim 1, wherein the first oil cylinder (6) and the second oil cylinder (7) are centrosymmetric with respect to the center of the fixing plate (5), first sliding blocks (10) which are symmetric with each other are fixed on the bottom surface of the fixing plate (5) near the front and rear edges, the right end of the right gripper component (9) is fixed with the right end of a first sliding rail (11) which is matched with the first sliding block (10), the inner side of the first sliding block (10) is fixed with a second sliding block (12) on the fixing plate (5), and the top end of the left gripper component (8) is fixed with the left end of a second sliding rail (13) which is matched with the second sliding block (12).

3. The soft-packing stacker of claim 1, characterized in that, the left gripper assembly (8) and the right gripper assembly (9) are symmetrically arranged on the left and right sides of the fixed plate (5), the left gripper assembly (8) or the right gripper assembly (9) comprises a 7-shaped plate (14), a grating plate (15) is fixed on the inner side of the 7-shaped plate (14), a plurality of clamping blocks (16) are fixed on the grating plate (15), a bearing plate (17) is fixed at the bottom end of the grating plate, the clamping blocks (16) are provided with three blocks which are aligned up and down, and the clamping blocks are triangular prisms and the surfaces of the clamping blocks, which are in contact with goods, are arranged to be arc surfaces (18).

4. The soft bag palletizer of the gripping type according to claim 1, wherein the oil cylinder driving mechanism (3) comprises an oil station (19) fixed on the upper surface of the fixing plate (5), oil cylinders (20) are respectively fixed on the fixing plate (5) at the left side and the right side of the oil station (19), the ends of screw shafts (21) of the left oil cylinder and the right oil cylinder (20) are respectively fixed on the left inner surface and the right inner surface of a fixing frame (22), the left outer surface and the right outer surface of the fixing frame (22) are respectively connected with a fixing frame (23) in a sliding manner, and the bottom end of the fixing frame (23) is fixed on the fixing plate (5).

5. The soft packet of stacker of claim 4 of a kind of gripping type, characterized by that, the front and back external surface of the said fixed frame (22) is fixed with the fixed seat (24) near bottom end, there are right-angle plates (25) between said fixed seat (24) and said fixed frame (22), the riser of the said right-angle plate (25) is fixed on said fixed frame (22), its diaphragm is fixed on said fixed seat (24), there are set square (26) on said right-angle plate (25).

6. The soft package of grabbing and clamping stacker according to claim 5 characterized in that, the bottom left and right sides of the fixing base (24) are fixed on the upper surface of left and right supporting boxes (27) respectively, and a motor (28) is fixed in the middle of the front end, the end of the output shaft (29) of the motor (28) is fixed with a bevel gear mechanism (30), a transmission rod (31) is fixed on the bevel gear mechanism (30), the left and right ends of the transmission rod (31) respectively penetrate through the front ends of the left and right supporting boxes (27) and are rotatably connected with the supporting boxes (27), the part of the transmission rod (31) in the supporting boxes (27) is fixed with a roller (32), and the roller (32) is rotatably connected with the supporting frames (1).

7. A gripper type soft pack palletizer according to claim 6, characterized in that the helical gear mechanism (30) comprises a first helical gear (33) fixed at the end of the output shaft (29), a second helical gear (34) is engaged with the bottom surface of the first helical gear (33), and the transmission rod (31) is fixed at the central position of the second helical gear (34).

8. The soft bag of unstacker of claim 6, wherein the bottom of the support box (27) is open and comprises a top plate (35), a front side plate (36), a rear side plate (37), a left side plate (38) and a right side plate (39), sliding grooves (40) are formed in the bottoms of the front side plate (36) and the rear side plate (37), sliding rails (41) matched with the sliding grooves (40) are arranged at the top of the support frame (1), and rolling grooves (42) matched with the sliding rails (41) are formed in the rollers (32).

9. A soft package stacker of the gripper type according to claim 1, characterized in that a fixed bar (43) is fixed on the bottom of the fixed plate (5), a tray (44) is fixed on the bottom of the fixed bar (43), and the tray (44) is sized to cover the bottom of the oil station (2).

10. A soft packet palletizer as in claim 9, characterized in that said tray (44) is rectangular and said fixing bars (43) are provided with four and fixed at the four corners of said tray (44) respectively.

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