CN210557174U

CN210557174U - Gripper for palletizing robot

Info

Publication number: CN210557174U
Application number: CN201921655763.4U
Authority: CN
Inventors: 俞瑞富; 夏柱; 秦爱胜; 赵重阳; 徐先耀
Original assignee: Mingguang Leadtop Intelligent Technology Co ltd
Current assignee: Mingguang Leadtop Intelligent Technology Co ltd
Priority date: 2019-09-29
Filing date: 2019-09-29
Publication date: 2020-05-19
Anticipated expiration: 2029-09-29

Abstract

The utility model belongs to commodity circulation storage equipment field, concretely relates to tongs for pile up neatly machine tool. The gripper comprises a mounting seat, wherein a horizontal guide plate is arranged below the mounting seat; the shovel plate, the horizontal guide plate and the vertical connecting plate are matched together to form a right-angle groove-shaped sliding table mechanism with an opening facing to the action direction of the horizontal guide plate; the mounting seat is also provided with a pressing plate which is driven by a second power source so as to be matched with the shovel plate to press the box body in the groove cavity of the sliding table mechanism, and the pressing plate is positioned in the groove cavity of the sliding table mechanism; the gripper further comprises a vertical baffle plate of a vertical connecting plate with a parallel plate surface, the vertical baffle plate is also located in a groove cavity of the sliding table mechanism, and the top end of the vertical baffle plate extends upwards and avoids a horizontal guide plate and then is fixedly connected with the mounting seat. The utility model discloses when realizing that the box of convenient changes snatchs and transport function, can also be through the mode of the ejection of compact of unique lateral part to can ensure that each box laminating is inseparable after the box pile up neatly.

Description

Gripper for palletizing robot

Technical Field

The utility model belongs to commodity circulation storage equipment field, concretely relates to tongs for pile up neatly machine tool.

Background

In modern production, a large number of finished packaging cartons need to be stacked every day; if the complicated work is completed manually, the operation is not only troublesome, but also has low efficiency and high labor intensity, and is obviously not suitable for the requirement of modern production. In order to improve the working efficiency and the working environment, most enterprises adopt an automatic packaging and stacking production line to carry out large-scale batch production so as to replace manpower to complete the complicated work. The existing automatic packaging and stacking production line is mainly formed by matching a roller conveying line and a stacker crane, so that automatic stacking is realized. For a traditional stacker crane, the grabbing is realized by the following two ways: one is to suck the top of the article by a vacuum chuck, then transport the article to the desired location, and then release the vacuum chuck. Another is to grip the side of the article by means of the gripper jaws, then transport the article to the desired position and release the gripper jaws. Among the two modes, the former vacuum chuck is also easy to cause the situations of article crash, article shell damage and the like when conveying articles with heavier mass, so that the application field is less. The latter, also known as gripper jaws, are used in many applications and have produced a number of derivative structures, such as those described in the text entitled "a stacker crane gripping device" in the utility model with the patent publication number "CN 204802657U" and "a logistics detection stacker crane gripper" in the utility model with the patent publication number "CN 206795860U". The use defects of the prior gripper claw type are as follows: firstly, because of the adoption of the pinching and grabbing manner, the box body is easy to damage when the box body with softer hand is clamped. Secondly, as the two opposite side surfaces of the box body are clamped by the grippers, after the box body is stacked, a gap for the grippers to stretch into and withdraw from is formed between the box body and the box body, and further the gap between the box body and the box body is too large, so that the stability of the box body is greatly influenced, the placing space of the box body is also unnecessarily increased, and finally, a plurality of troubles are brought to actual storage and carrying.

Disclosure of Invention

The utility model aims at overcoming above-mentioned prior art not enough, providing a tongs for pile up neatly machine tool rational in infrastructure, its box that realizes the convenience snatchs and transport function in, can also be through the mode of unique lateral part ejection of compact to can ensure that each box laminating after the box pile up neatly is inseparable, space utilization when the box storage can be showing and promotes.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model provides a tongs for pile up neatly machine people which characterized in that: the gripper comprises a mounting seat fixed on a robot arm, wherein a horizontal guide plate is arranged below the mounting seat and forms a slide rail fit relation with the mounting seat, and the horizontal guide plate can generate guide sliding motion relative to the mounting seat through the driving of a first power source; a shovel plate which can extend into the bottom of the box body to shovel the box body is arranged below the horizontal guide plate, and the tail end of the shovel plate and the tail end of the horizontal guide plate are fixedly connected with each other through a vertical connecting plate, so that the shovel plate, the horizontal guide plate and the vertical connecting plate are matched together to form a right-angle groove-shaped sliding table mechanism with an opening facing to the action direction of the horizontal guide plate; the mounting seat is also provided with a pressing plate which is driven by a second power source so as to be matched with the shovel plate to press the box body in the groove cavity of the sliding table mechanism, and the pressing plate is positioned in the groove cavity of the sliding table mechanism; the gripper further comprises a vertical baffle plate of a vertical connecting plate with a parallel plate surface, the vertical baffle plate is also located in a groove cavity of the sliding table mechanism, and the top end of the vertical baffle plate extends upwards and avoids a horizontal guide plate and then is fixedly connected with the mounting seat.

Preferably, the mounting base comprises a mounting baffle plate with a rectangular plate shape and a mounting flange fixedly connected to the upper plate surface of the mounting baffle plate and used for fixedly connecting the mechanical arm; the first power source and the second power source are both cylinders; the two groups of second power sources are respectively arranged at the two plate sides of the horizontal guide plate, the action direction is vertically arranged, the pressing plate is horizontally arranged right below the horizontal guide plate, and the upper plate surface of the pressing plate is fixedly connected with a piston rod end of the second power source; the piston cylinder and the piston rod end of the first power source are respectively and fixedly connected with the mounting seat and the horizontal guide plate, so that the horizontal guide plate is driven to perform reciprocating linear guide action.

Preferably, a through hole for the top end of the vertical baffle to pass through is vertically penetrated through the lead at the plate surface of the horizontal guide plate, the appearance of the through hole is in a rectangular hole shape, and the length direction of a hole pattern of the through hole is parallel to the action direction of the horizontal guide plate; the two groups of the through holes are arranged in parallel, an area between the two groups of the through holes forms a mounting area for mounting the first power source, and the outer sides of the two groups of the through holes are respectively provided with a group of guide rails; the two groups of guide rails are matched to form a double-row type rail, and a slide block is vertically and downwards convexly arranged at the lower plate surface of the mounting baffle so as to form guide matching of the slide rail and the corresponding guide rail.

Preferably, a padding block for increasing the gap between the mounting baffle and the horizontal guide plate is fixedly connected to the lower plate surface of the mounting baffle, the bottom end of the padding block is fixedly connected to the top end surface of the sliding block, and the sliding block is matched with the guide rail to form a sliding rail; the piston cylinder of first power supply passes through the fixed block and the rigid coupling in face department under the installation baffle, and the tailpiece of the piston rod end of first power supply follows horizontal deflector action direction and extends the back to horizontal deflector tail end direction, and face department on horizontal deflector is fixed connection to the rethread floating joint.

Preferably, the gripper further comprises a limiting block for limiting the maximum return displacement of the sliding table when the first power source acts as a return stroke, the limiting block is fixedly connected to the upper plate surface of the tail end of the horizontal guide plate, and the limiting block and the piston rod end of the first power source are connected with each other through the floating joint; the top end of the limiting block is fixedly connected with a damping limiting stopper, and the sensing end of the damping limiting stopper is horizontally arranged and points to the tail end face of the mounting baffle.

Preferably, the gripper further comprises a blocking mechanism for preventing the box body from sliding out of the opening of the sliding table mechanism, the blocking mechanism comprises a shifting plate, and a lower side rod body of the shifting plate is hinged to the mounting baffle through a first hinge seat; the piston cylinder of the guide cylinder is hinged to the mounting baffle through a third hinge seat, and the tail end of the shifting plate is hinged to the end of the piston rod of the guide cylinder through a second hinge seat; the hinge axes of the first hinge seat, the second hinge seat and the third hinge seat are all horizontally arranged and are all perpendicular to the action direction of the horizontal guide plate, so that when the guide cylinder moves, the shifting plate can turn down to perform hinge action.

Preferably, an extension rod vertically extends downwards from the side part of the front end of the mounting baffle, the bottom end of the extension plate horizontally extends outwards to form an outward flange, and the first hinge seat and the third hinge seat are respectively arranged at two ends of the upper plate surface of the outward flange; the extension rod, the flanging, the guide cylinder, the shifting plate and the hinged seats on one side of the mounting baffle form a group of blocking units, and the blocking units are arranged on two sides of the mounting baffle symmetrically.

Preferably, the front end of the poking plate is provided with anti-skid teeth for increasing the friction force with the box body.

Preferably, the front end of the shovel plate is provided with a slope section which is convenient for shoveling the box body.

Preferably, reinforcing ribs are arranged at the lower plate surface of the shovel plate, the joint of the shovel plate and the vertical connecting plate and the joint of the vertical connecting plate and the horizontal guide plate.

The beneficial effects of the utility model reside in that:

1) and on the basis that combines current pile up neatly machine people's arm, the utility model discloses the adoption of opening direction towards the lateral part business turn over material structure of horizontal deflector action direction of developing a new style, it snatchs and the transport function in the box that realizes the convenience, can also be through the mode of unique lateral part ejection of compact to can ensure that each box laminating after the box pile up neatly is inseparable, space utilization when the box storage can be showing and promotes.

Particularly, on the one hand, through forming the right angle groove-shaped slip table mechanism of opening towards horizontal guide plate action direction with shovel board, horizontal guide plate and the common cooperation of vertical connecting plate, during the use with the opening of slip table mechanism towards the box and scoop up the box, the box can be natural this moment be located in the slip table mechanism. And then, the pressing action of the pressing plate is matched, so that the purposes of conveniently fixing and conveying the box body can be realized. On the other hand, the mounting seat is matched with the vertical baffle plate to form a static part relative to the mechanical arm, and the sliding table mechanism forms a movable part. Whenever the arm drives the utility model discloses a box moves to when stacking the point, and the relative mount pad of first power supply drive slip table mechanism produces the sharp action, and the box that is located the cell cavity of slip table mechanism is but blockked because of the existence of vertical baffle to can not produce the follow-up action. Therefore, the sliding table mechanism can be gradually separated from the box body, so that the box body naturally falls to a stacking point due to the bearing of the sliding table-free mechanism, and the purpose of stacking the box body layer by layer is finally realized. Because the box is following the utility model discloses when locating the discharge, deviate from the opening part of slip table mechanism, and should deviate from the direction and do not have any extra part again and block, consequently the box of new discharge can be hugged closely the box that has unloaded before and placed to ensure that each box can laminate closely behind the box pile up neatly.

2) The mount is provided as a joint between the robot arm and the slide mechanism. On one hand, the mounting seat passes through the mounting flange, thereby realizing the rigid connection purpose between the mounting seat and the mechanical arm. On the other hand, the setting of installation baffle provides first power supply and second power supply with the installation base member to for horizontal deflector and even whole slip table mechanism's reciprocal linear displacement action provides the basis and guarantees. Two sets of cylinders are arranged on two sides of the horizontal guide plate, so that the lifting action of a pressing plate in a groove cavity of the sliding table mechanism is realized through the process and return action of the cylinders, and the box body is pressed or loosened by matching with a shovel plate. And the group of cylinders are arranged at the crack between the mounting baffle and the horizontal guide plate, so that the forward and backward movement of the whole sliding table mechanism relative to the mounting seat is realized through the telescopic action of the cylinders. The sliding table mechanism is in a reset state, the vertical baffle is located at the groove bottom of the sliding table mechanism, and the groove cavity of the sliding table mechanism can shovel the box body and contain the box body under the driving of the mechanical arm. When the sliding table mechanism retreats, the box body is left in place due to the existence of the vertical baffle plate and finally falls into the specified position of the stacking point, and the action is very concise and stable.

3) The vertical baffle is located below the horizontal guide plate, and the installation baffle is located above the horizontal guide plate, at the moment, the horizontal guide plate needs to be provided with the through hole, so that the top end of the vertical baffle penetrates out of the through hole to be fixedly connected with the installation baffle. When the horizontal guide plate and even the whole sliding table mechanism generate front and back sliding actions, the vertical baffle plate and the mounting baffle plate are fixed as static parts, so that the box body positioned in the groove cavity of the sliding table mechanism is pushed out by utilizing the relative action of the vertical baffle plate and the sliding table mechanism.

4) The setting of bed hedgehopping piece, aim at lifting installation baffle to clearance between increase installation baffle and the horizontal guide plate, so that the installation of first power supply. The floating joint aims to achieve the compensation function of the precision of the action direction of the first power source, so that the consistency of the action directions of the first power source and the sliding table mechanism is ensured.

5) When the first power source is considered to perform return stroke action, the sliding table mechanism is possibly reset excessively due to the existence of the vertical baffle plate, and then the sliding table mechanism is collided with the vertical baffle plate. In order to avoid the situation, the utility model discloses set up the stopper of the maximum displacement volume when restriction slip table mechanism resets to guarantee the accuracy nature of the action that resets of slip table mechanism. Meanwhile, the utility model discloses still set up the damping stopper in stopper department, this type stopper market has and sells, and aim at will originally the stopper installs the direct striking of baffle tail end face relatively, changes into more for soft buffering and bumps and touch, guarantees the utility model discloses an actual life to avoid because of the emergence of the too big class of a great deal of problem of noise that the striking vibration leads to.

6) And the setting of the blocking mechanism is the other key part of the utility model. When the box body slides into the groove cavity of the sliding table mechanism, the fixing function of the box body can be ensured through the downward pressing action of the pressing plate theoretically. However, for a box body with relatively weak texture, the pressure plate often cannot have enough force to fix the box body, and a blocking mechanism needs to be matched to realize the combined blocking function of the box body. When the box body is positioned in a groove cavity of the sliding table mechanism, firstly, the pressing plate descends to be matched with the shovel plate to preliminarily fix the box body, and then the guide cylinder acts to drive the shifting plate to generate downward-turning hinging action, so that the top end of the shifting plate directly applies force to abut against the outer edge of the box body after downward turning; at the moment, the downward movement of the box body is limited by the shovel plate, the forward and backward movement of the box body is limited by the vertical baffle plate and the shifting plate respectively, and the upward movement of the box body is limited by the pressing plate, so that the reliable fixing purpose of the box body during carrying is obviously ensured. Of course, the hinge axis of the second hinge seat should be higher than the hinge axes of the first hinge shaft and the third hinge seat to avoid being in a dead point position and being unable to move, and will not be described herein again.

7) Furthermore, the blocking mechanism is fixed at the outward flanging part extending out of the installation baffle plate and is respectively arranged at two sides of the installation baffle plate so as to ensure the double-point positioning function of the box body. When necessary, the front end of the shifting plate can be provided with anti-skid teeth for increasing the friction force with the box body so as to further improve the fixing effect relative to the box body.

8) The front end of the shovel plate is provided with a slope section which is convenient for shoveling the box body, so that the propelling efficiency of the shovel plate relative to the box body is improved. And the board department under the shovel board, the linking department of shovel board and vertical connecting plate and the linking department of vertical connecting plate and horizontal deflector all set up the strengthening rib, and aim at promotes the structural strength at above-mentioned position to promote its actual life.

Drawings

Fig. 1 is a schematic view of a three-dimensional structure of the present invention when the pressing plate has a flat plate structure;

FIG. 2 is a front view of the structure shown in FIG. 1;

FIG. 3 is a left side view of FIG. 2;

FIG. 4 is a top view of FIG. 2;

fig. 5-6 are the operation flow chart of the present invention when the second set of blocking members is added at the pressing plate.

The utility model discloses each reference numeral is as follows with the actual corresponding relation of part name:

10-mounting seat 11-vertical baffle 12-mounting baffle

12 a-heightening block 12 b-slide block 12 c-extension rod 12 d-flanging 13-mounting flange

20-sliding table mechanism 21-horizontal guide plate 21 a-through hole 21 b-guide rail

22-shovel plate 22 a-slope section 23-vertical connecting plate

31-first power source 32-fixed block 33-floating joint

34-limiting block 35-damping limiting stopper

41-second power source 42-pressure plate

51-shifting plate 51 a-anti-slip teeth 52-first hinge seat 53-second hinge seat

54-third hinge seat 55-guide cylinder

60-reinforcing rib

Detailed Description

For ease of understanding, the specific structure and operation of the present invention will be further described herein with reference to fig. 1-6:

the concrete structure of the utility model is shown in figures 1-6, and the main structure of the robot is composed of four parts, namely a static part directly fixedly connected with the mechanical arm of the robot palletizer, a movable part which can perform reciprocating displacement action relative to the static part, a pressing part for pressing the box body and a blocking part for blocking the box body from moving outwards. Wherein:

the stationary part comprises a mounting flange 13, a mounting baffle 12 and a vertical baffle 11. The bottom end of the mounting flange 13 is fixedly connected with the top end of the mounting baffle 12, so that the mounting base 10 which is directly matched with the mechanical arm is formed by combination. The tail end of the mounting seat 10, i.e. the left end described in fig. 3, is fixedly connected to the top end of the vertical baffle 11, i.e. the overall arrangement is similar to the shape of an angle "L", so as to ensure the structural integration of the vertical baffle 11 relative to the mounting seat 10.

The moving part is a sliding table mechanism 20, and the main body part is composed of a horizontal guide plate 21, a vertical connecting plate 23 and a shovel plate 22, which are connected with each other to form a right-angle groove-shaped structure with an opening facing the action direction of the horizontal guide plate 21 as shown in fig. 1-3 and fig. 5-6. As can be seen from fig. 1, 3 and 5-6, the vertical baffle 11 is located in the cavity of the slide mechanism 20 after installation, and when the slide mechanism 20 performs back-and-forth reciprocating guiding action under the driving of the first power source 31 and the guiding action of the slide and the guide rail 21b, due to the existence of the through hole 21a on the horizontal guide plate 21, the vertical baffle 11 is always in a static state relative to the installation seat 10, so as to push out the box body as shown in fig. 6. The first power source 31 is preferably a cylinder, and at this time, as shown in fig. 3, a piston cylinder of the first power source 31 is directly and fixedly mounted at a lower plate surface at the right end or a lower plate surface at the front end of the baffle 12 through a fixing block 32, and a piston rod end of the first power source 31 is fixedly connected to a floating joint 33 and a limiting block 34 in sequence, and then fixed at an upper plate surface at the left end or an upper plate surface at the tail end of the horizontal guide plate 21 through the limiting block 34. 3-4, the purpose will be stopper 34 relatively installing the direct rigidity striking of baffle 12 tail end face originally, changes into more gentle buffering and bumps into touching, guarantees the utility model discloses an actual life to avoid the emergence of a great deal of problems such as too big noise that leads to because of striking vibration. Because whole slip table mechanism 20 is the eccentric business turn over material of lateral part, vertical connecting plate 23 need have sufficient intensity and rigidity and be used for bearing box weight, consequently, can consider to make vertical connecting plate 23 with the sheet metal component mode to the integrative panel beating of the board back department of vertical connecting plate 23 goes out reinforcing plate muscle structure, with its load reliability of further assurance.

The lower pressing member includes a horizontally disposed rectangular plate-shaped pressing plate 42, the plate length direction of the pressing plate 42 is parallel to the slot length direction of the sliding table mechanism 20, and the upper plate surface of the pressing plate 42 is lifted by two sets of second power sources 41, as shown in fig. 1-3 and fig. 5-6.

And for the blocking member, namely, the blocking mechanism, the blocking member is formed by matching an extension rod 12c, a flanging 12d, a guide cylinder 55, a shifting plate 51 and hinge seats at two sides of the mounting baffle 12. When the box body is located in the groove cavity of the sliding table mechanism 20, the pressing plate 42 firstly moves downwards to match with the shovel plate 22 to primarily fix the box body, and then the guide cylinder 55 acts to drive the shifting plate 51 to generate downward-turning hinging action, so that the top end of the shifting plate 51 directly applies force to abut against the outer edge of the box body after downward turning. At this time, the downward movement of the box is limited by the shovel plate 22, the forward and backward movement of the box is limited by the vertical baffle plate 11 and the shifting plate 51, and the upward movement of the box is limited by the pressing plate 42, which obviously ensures the purpose of reliably fixing the box during transportation. In practice, as embodied in the configurations shown in fig. 5-6, the stop member may be added to the front end of the pressure plate 42 to limit outward movement of the relatively small case. In other words, since the blocking mechanism includes a first set of blocks at the front end of the horizontal guide plate 21 and a second set of blocks at the front end of the pressure plate 42: when used for loading and unloading the conventional size container, the first group of the blocking members works and the second group of the blocking members does not work; and when loading and unloading the box of smaller size relatively, but first group stops the inoperative and the work is stopped to the second group to promote the utility model discloses an applicable face.

In order to facilitate understanding of the present invention, the specific working procedures of the present invention are shown in fig. 1 to 6 as follows:

1) and boxing:

the utility model discloses when being in initial condition, be fixed in on pile up neatly machine people's the arm as the state shown in figure 1. When needs carry out the pile up neatly operation, at first cylinder transfer chain carries box to assigned position, and the climbing mechanism of cylinder transfer chain terminal department drives the box jack-up this moment, arm action the utility model discloses produce the displacement and even rotatory action to make the opening of slip table mechanism 20 also can be just to the box to the right side oral area that figure 2 is shown. Then, the mechanical arm continues to act until the shovel plate 22 of the sliding table mechanism 20 is shoveled from the lower part of the box body, and the whole box body naturally slides into the groove cavity of the sliding table mechanism 20. Thereafter, the pressing plate 42 descends and presses the case by the second power source 41. Meanwhile, the poking plate 51 generates downward turning action under the action of the guide air rod, so that the box body is prevented from moving outwards. At this moment, the working state of the utility model is shown in figure 5, and the box body is effectively fixed.

2) And carrying:

pile up neatly machine people's arm action orders about the utility model discloses the box that is located slip table mechanism 20 together moves to the department of stacking point.

3) Unloading the box and stacking:

when the utility model discloses move to appointed stacking point under the arm action. At first the pile up neatly machine people can be according to the box of piling up some department and stacked, and judge and rotatory the utility model discloses an opening orientation. Thereafter, the pressing plate 42 moves upward, and the paddle 51 is opened to release the outward movement restriction of the casing. The first power source 31 is operated to push the entire slide table mechanism 20 to perform a linear displacement operation as shown in fig. 6. Due to the existence of the vertical baffle 11, the box body does not generate follow-up action when the sliding table mechanism 20 displaces. The sliding table mechanism 20 is displaced to the end point, and the box body naturally falls to the stacking point under the gravity due to the separation of the sliding table mechanism 20, so as to complete the stacking operation.

4) And resetting:

when the box is piled up to the stacking point, the first power source 31 drives the sliding table assembly to reset again. The arm drives the utility model discloses displacement to cylinder transfer chain terminal department again to carry out the box pile up neatly operation of next round, with this circulation.

Claims

1. The utility model provides a tongs for pile up neatly machine people which characterized in that: the gripper comprises a mounting seat (10) fixed on a robot arm, wherein a horizontal guide plate (21) is arranged below the mounting seat (10) and forms a slide rail fit relation with the mounting seat, and the horizontal guide plate (21) can generate guide sliding motion relative to the mounting seat (10) through the driving of a first power source (31); a shovel plate (22) which can extend into the bottom of the box body to shovel the box body is arranged below the horizontal guide plate (21), and the tail end of the shovel plate (22) is fixedly connected with the tail end of the horizontal guide plate (21) through a vertical connecting plate (23), so that the shovel plate (22), the horizontal guide plate (21) and the vertical connecting plate (23) are matched together to form a right-angle groove-shaped sliding table mechanism (20) with an opening facing to the action direction of the horizontal guide plate; a second power source (41) is arranged at the mounting seat (10) to drive so as to be matched with the shovel plate (22) to press a pressing plate (42) of a box body in a groove cavity of the sliding table mechanism (20), and the pressing plate (42) is arranged in the groove cavity of the sliding table mechanism (20); the gripper further comprises a vertical baffle (11) of a vertical connecting plate (23) with a parallel plate surface, the vertical baffle (11) is also located in a groove cavity of the sliding table mechanism (20), and the top end of the vertical baffle (11) extends upwards and avoids a horizontal guide plate (21) and then is fixedly connected with the mounting seat (10) mutually.

2. The gripper for palletizing robots as claimed in claim 1, wherein: the mounting seat (10) comprises a mounting baffle plate (12) with a rectangular plate shape and a mounting flange (13) fixedly connected to the upper plate surface of the mounting baffle plate (12) and used for fixedly connecting a mechanical arm; the first power source (31) and the second power source (41) are both cylinders; the two groups of second power sources (41) are respectively arranged at the two plate sides of the horizontal guide plate (21) and are vertically arranged in the action direction, the pressing plate (42) is horizontally arranged right below the horizontal guide plate (21), and the upper plate surface of the pressing plate (42) is fixedly connected with the piston rod end of the second power source (41); the piston cylinder and the piston rod end of the first power source (31) are respectively and fixedly connected with the mounting base (10) and the horizontal guide plate (21) so as to drive the horizontal guide plate (21) to perform reciprocating linear guide action.

3. The gripper for palletizing robots as claimed in claim 2, wherein: a lead vertical through hole (21a) for the top end of the vertical baffle (11) to pass through is arranged on the plate surface of the horizontal guide plate (21), the appearance of the through hole (21a) is in a rectangular hole shape, and the hole shape length direction of the through hole (21a) is parallel to the action direction of the horizontal guide plate (21); the two groups of the through holes (21a) are arranged in parallel, an area between the two groups of the through holes (21a) forms an arrangement area for arranging the first power source (31), and the outer sides of the two groups of the through holes (21a) are respectively provided with a group of guide rails (21 b); two groups of guide rails (21b) are matched to form a double-row type rail, and a slide block (12b) is vertically and downwards convexly arranged at the lower plate surface of the mounting baffle (12) so as to form guide matching with the corresponding guide rails.

4. The gripper for palletizing robots as claimed in claim 3, wherein: a padding block (12a) for increasing the gap between the mounting baffle (12) and the horizontal guide plate (21) is fixedly connected to the lower plate surface of the mounting baffle (12), the bottom end of the padding block (12a) is fixedly connected to the top end surface of a sliding block (12b), and the sliding block (12b) is matched with a sliding rail formed between the guide rails; a piston cylinder of the first power source (31) is fixedly connected to the lower plate surface of the mounting baffle plate (12) through a fixing block (32), and a piston rod end of the first power source (31) extends towards the tail end direction of the horizontal guide plate (21) along the action direction of the horizontal guide plate (21) and then is fixedly connected to the upper plate surface of the horizontal guide plate (21) through a floating joint (33).

5. The gripper for palletizing robots as claimed in claim 4, wherein: the gripper also comprises a limiting block (34) for limiting the maximum return displacement of the sliding table when the first power source (31) performs return action, wherein the limiting block (34) is fixedly connected to the upper plate surface of the tail end of the horizontal guide plate (21), and the limiting block (34) and the piston rod end of the first power source (31) are connected with each other through the floating joint (33); the top end of the limiting block (34) is fixedly connected with a damping limiting stopper (35), and the sensing end of the damping limiting stopper (35) is horizontally arranged and points to the tail end face of the mounting baffle (12).

6. Gripper for a palletizing robot according to claim 2, 3, 4 or 5, characterized in that: the gripper further comprises a blocking mechanism (50) for preventing the box body from sliding out of an opening of the sliding table mechanism (20), wherein the blocking mechanism (50) comprises a shifting plate (51), and a lower side rod body of the shifting plate (51) is hinged to the mounting baffle (12) through a first hinge seat (52); the piston cylinder of the guide cylinder (55) is hinged to the mounting baffle (12) through a third hinge seat (54), and the tail end of the shifting plate (51) is hinged to the end of the piston rod of the guide cylinder (55) through a second hinge seat (53); the hinge axes of the first hinge seat (52), the second hinge seat (53) and the third hinge seat (54) are all horizontally arranged and are all vertical to the action direction of the horizontal guide plate (21), so that when the guide cylinder (55) makes a process action, the shifting plate (51) can make a downward turning hinge action.

7. The gripper for palletizing robots as claimed in claim 6, wherein: an extension rod (12c) vertically extends downwards from the side part of the front end of the mounting baffle (12), an outward flange (12d) horizontally extends outwards from the bottom end of the extension rod, and the first hinge seat (52) and the third hinge seat (54) are respectively arranged at two ends of the upper plate surface of the outward flange (12 d); the device comprises a group of blocking units, wherein the blocking units are two groups and are symmetrically arranged on two sides of the mounting baffle (12) respectively, and the blocking units are formed by extension rods (12c), flanging (12d), guide cylinders (55), shifting plates (51) and hinged seats which are positioned on one side of the mounting baffle (12).

8. The gripper for palletizing robots as claimed in claim 6, wherein: the front end of the poking plate (51) is provided with anti-skid teeth (51a) used for increasing the friction force with the box body.

9. Gripper for a palletizing robot according to claim 1, 2, 3, 4 or 5, characterized in that: a slope section (22a) which is convenient for shoveling the box body is arranged at the front end of the shovel plate (22).

10. Gripper for a palletizing robot according to claim 1, 2, 3, 4 or 5, characterized in that: reinforcing ribs (60) are arranged at the plate surface position under the shovel plate (22), the joint position of the shovel plate (22) and the vertical connecting plate (23) and the joint position of the vertical connecting plate (23) and the horizontal guide plate (21).