A palletizing robot gripper

Abstract

This invention provides a palletizing robot gripper, relating to the field of robot gripper technology. The palletizing robot gripper includes a robotic arm, grippers, a support plate, a buffer mechanism, and a reinforcing rib mechanism. The gripper is filled with hydraulic oil, the buffer mechanism is located inside the hydraulic oil, and the support plate is connected to the lower end of the gripper. The gripper and support plate move slowly towards or away from each other via the buffer mechanism. When the gripper and support plate move away from each other, the hydraulic oil inside the gripper is driven into the reinforcing rib mechanism. The reinforcing rib mechanism is inclined at the upper end of the support plate to strengthen the connection between the gripper and support plate. The reinforcing rib mechanism disperses the stress it receives through the hydraulic oil. This invention achieves buffering by driving the gripper and support plate to move slowly away from each other through the buffer mechanism, preventing the box from being lifted and causing stress concentration on the support plate due to impact; simultaneously, it drives the hydraulic oil inside the gripper into the reinforcing rib mechanism, so that the stress is evenly distributed on the hydraulic oil lines, avoiding stress concentration.

Description

Technical Field

[0001] This invention relates to the field of robot gripper technology, and more specifically, to a palletizing robot gripper. Background Technology

[0002] The gripper of a palletizing robot is a key component installed on the robot's end effector. It is used to grasp, transport, and palletize various materials (such as bags, boxes, and drums). Its performance directly affects the efficiency and stability of automated production lines.

[0003] In actual palletizing, the robot grippers are L-shaped to facilitate the clamping and handling of boxes with pallets. The L-shaped grippers support the bottom sides of the boxes. However, this structure lacks reinforcing ribs, resulting in reduced strength compared to grippers with reinforcing ribs. Furthermore, the reinforcing plates on the inner side of grippers with reinforcing ribs are generally fixed by welding. Welded structures are weaker than unibody structures. Therefore, when handling boxes, the grippers are impacted by gravity and rapid lifting, causing stress concentration. The welded reinforcing plates are prone to breakage due to the weak weld joints. Summary of the Invention

[0004] To address the above problems, this invention provides a palletizing robot gripper.

[0005] This invention provides a palletizing robot gripper, comprising a robotic arm, grippers, a support plate, a buffer mechanism, and a reinforcing rib mechanism. The robotic arm includes two grippers filled with hydraulic oil. The buffer mechanism is disposed within the hydraulic oil. The support plate is connected to the lower end of the grippers. The grippers and the support plate move slowly toward or away from each other via the buffer mechanism. When the grippers and the support plate move away from each other, the hydraulic oil in the grippers is driven into the reinforcing rib mechanism. When the grippers and the support plate move toward each other, the hydraulic oil inside the reinforcing rib mechanism is driven into the grippers. The reinforcing rib mechanism is inclinedly disposed on the upper end of the support plate to enhance the connection strength between the grippers and the support plate. The reinforcing rib mechanism disperses the stress it receives through the hydraulic oil.

[0006] Optionally, a rectangular cavity is formed inside the lower end of the gripper, and a first piston plate is slidably connected to the inner wall of the rectangular cavity. Multiple evenly distributed oil delivery pipes are fixed horizontally along a straight line at the bottom end of the first piston plate. The outer side of the oil delivery pipes is slidably connected to the inner side of the bottom end of the rectangular cavity. An L-shaped rod is fixed to the outer side of the oil delivery pipes. A support plate is fixed to the end of the L-shaped rod away from the oil delivery pipes. Multiple evenly distributed first air holes are formed at the upper end of the side wall of the rectangular cavity. The buffer mechanism is set at the lower end of the first piston plate, and the reinforcing rib mechanism is connected between the L-shaped rod and the support plate.

[0007] Optionally, the buffer mechanism includes a first spring, an oil hole, and a first chamber. The first chamber is formed by a rectangular inner wall and the bottom end of a first piston plate. The first chamber is filled with hydraulic oil. A plurality of oil holes are evenly opened in the upper side wall of the oil pipeline, and the first chamber and the inside of the oil pipeline are connected through the oil holes. The first spring covers the outer side of the upper end of the oil pipeline and is fastened between the bottom end of the first piston plate and the bottom surface of the first chamber.

[0008] Optionally, the reinforcing rib mechanism includes a first sleeve, a second piston plate, a second spring, a second chamber, a second vent, and a piston assembly. The end of the first sleeve is obliquely fixed to the bottom end of the horizontal section of the L-shaped rod. The second piston plate is slidably connected to the inner wall of the first sleeve. The end of the oil pipeline away from the first piston plate is fixedly connected to the side wall of the first sleeve away from the L-shaped rod. The second chamber is formed by the inner wall of the first sleeve near the oil pipeline and the second piston plate. The second spring is fastened between the side of the second piston plate away from the second chamber and the inner wall of the end of the first sleeve. The second vent is opened in the side wall of the end of the first sleeve. The piston assembly is connected to the second piston plate and is obliquely fixed to the upper end of the support plate.

[0009] Optionally, the piston assembly includes a second sleeve, a third piston plate, a piston rod, a third vent, a connecting pipe, and a solenoid valve. The bottom end of the second sleeve is inclinedly fixed to the upper end of the support plate. The third piston plate is slidably connected to the inner wall of the second sleeve. The end of the piston rod is fixed to the middle of the end face of the third piston plate. The end of the piston rod away from the third piston plate is fixed to the middle of the end face of the second piston plate. The piston rod is slidably connected to the ends of the first sleeve and the second sleeve respectively. A third vent is opened at a relatively opposite position on the outer side of the second sleeve, and a connecting pipe is fixedly connected thereto. The solenoid valve is fixed on the connecting pipe.

[0010] Optionally, the first sleeve and the piston assembly are coaxially arranged.

[0011] Optionally, the structural position of the reinforcing rib mechanism does not interfere with the operation of the gripper and the support plate.

[0012] Optionally, the robotic arm is mounted on the bottom of the three-axis truss lifting module. The robotic arm also includes a clamping servo, a position photoelectric sensor, a guide rail, a slider, a camera, a limit photoelectric sensor, and a hollow rotating platform. The clamping servo is located near the gripper, the gripper is mounted at the end of the robotic arm, the position photoelectric sensor is integrated at the gripper joint, the slider cooperates with the guide rail, the camera is mounted at the front end of the robotic arm, the limit photoelectric sensor is fixed at the limit position of the guide rail, and the hollow rotating platform is located at the upper end of the robotic arm.

[0013] Optionally, an anti-slip pad is attached to the upper end of the support plate.

[0014] The beneficial effects of the palletizing robot gripper of this invention are as follows: When handling boxes, the gripper and support plate are driven to move slowly away from each other through a buffer mechanism, achieving buffering and preventing stress concentration on the support plate caused by the impact force due to gravity and rapid lifting of the gripper when the box is lifted, thus extending the service life of the support plate; when the gripper and support plate move away from each other, the hydraulic oil in the gripper is driven to enter the reinforcing rib mechanism, and the hydraulic oil in the reinforcing rib mechanism is connected to the hydraulic oil inside the gripper. Therefore, the entire hydraulic oil pipeline plays a role in dispersing stress, and the hydraulic oil in the hydraulic oil pipeline can evenly distribute the stress at various points, making the entire hydraulic oil pipeline uniformly stressed. This avoids the situation where traditional reinforcing ribs break due to uneven stress distribution and local stress concentration, thus extending the service life of the support plate and reinforcing rib mechanism. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall three-dimensional structure of the palletizing robot gripper according to an embodiment of the present invention;

[0016] Figure 2 This is a schematic diagram of the overall three-dimensional structure of the gripper in the palletizing robot according to an embodiment of the present invention;

[0017] Figure 3 This is a schematic diagram of the overall planar structure of the gripper in the palletizing robot according to an embodiment of the present invention;

[0018] Figure 4 This is a top-view planar structural diagram of the gripper in the palletizing robot according to an embodiment of the present invention;

[0019] Figure 5 for Figure 4 Sectional view along line AA in the middle;

[0020] Figure 6 This is a schematic diagram of the internal structure of the palletizing robot gripper in the state of holding the box in an embodiment of the present invention;

[0021] Figure 7 for Figure 5 Enlarged view of the structure at point A in the image;

[0022] Figure 8 for Figure 6 Enlarged view of the structure at point B in the image.

[0023] Explanation of reference numerals in the attached drawings: 100, robotic arm; 101, gripper; 200, rectangular cavity; 201, first piston plate; 202, oil pipeline; 203, first spring; 204, oil hole; 205, first air hole; 206, first chamber; 300, L-shaped rod; 301, support plate; 400, first sleeve; 401, second piston plate; 402, second spring; 403, second chamber; 404, second air hole; 500, second sleeve; 501, third piston plate; 502, piston rod; 503, third air hole; 504, connecting pipe; 505, solenoid valve. Detailed Implementation

[0024] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] In the description of this specification, the references to terms such as "embodiment," "one embodiment," "some implementations," "exemplary," and "one implementation," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or implementation is included in at least one embodiment or implementation of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or implementations.

[0027] The terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature.

[0028] like Figure 1-8As shown, this embodiment of the invention provides a palletizing robot gripper, including a robotic arm 100, grippers 101, a support plate 301, a buffer mechanism, and a reinforcing rib mechanism. The robotic arm 100 includes two grippers 101, which are filled with hydraulic oil. The buffer mechanism is disposed inside the hydraulic oil. The support plate 301 is connected to the lower end of the grippers 101. The grippers 101 and the support plate 301 move slowly toward or away from each other through the buffer mechanism. When the grippers 101 and the support plate 301 move away from each other, the hydraulic oil inside the grippers 101 is driven into the reinforcing rib mechanism. When the grippers 101 and the support plate 301 move toward each other, the hydraulic oil inside the reinforcing rib mechanism is driven into the grippers 101. The reinforcing rib mechanism is inclinedly disposed on the upper end of the support plate 301 to strengthen the connection strength between the grippers 101 and the support plate 301. The reinforcing rib mechanism disperses the stress it receives through the hydraulic oil.

[0029] In this embodiment, when the box needs to be moved, the robotic arm 100 drives the grippers 101 on both sides to move synchronously towards each other and clamp the sides of the box. At this time, the support plates 301 on both sides support the bottom sides of the box. Then, the robotic arm 100 controls the grippers 101 to move vertically upward. Since the box is pressed against the upper part of the support plates 301 on both sides, the buffer mechanism set inside the hydraulic oil in the grippers 101 drives the grippers 101 and the support plates 301 to move slowly away from each other. That is, although the grippers 101 are moving vertically upward, the support plates 301 and the box have not yet moved upward. When the grippers 101 move upward relative to the support plates 301 and the box to a certain extent, the support plates 301 and the box will move upward synchronously with the grippers 101. The buffer mechanism buffers the impact caused by gravity and the rapid lifting of the grippers 101 when the box is lifted, preventing stress concentration in the support plates 301 and extending the service life of the support plates 301. During movement, the hydraulic oil inside the gripper 101 is driven into the reinforcing rib mechanism. When the box is being transported in the air, the box exerts downward pressure on the support plate 301. At this time, the stress is concentrated in the reinforcing rib mechanism connecting the gripper 101 and the support plate 301. Since hydraulic oil has entered the reinforcing rib mechanism at this time, and the hydraulic oil in the reinforcing rib mechanism is connected to the hydraulic oil inside the gripper 101, the entire hydraulic oil pipeline plays a role in dispersing stress. The hydraulic oil in the hydraulic oil pipeline can evenly distribute the stress to various points, making the entire hydraulic oil pipeline evenly stressed. This avoids the situation where traditional reinforcing ribs break due to uneven stress distribution and local stress concentration. When unloading the box, the manipulator 100 controls the grippers 101 on both sides to move synchronously away from the box. At this time, the buffer mechanism drives the gripper 101 and the support plate 301 to move slowly and synchronously towards each other, so that the gripper 101 is reset. At the same time, the hydraulic oil inside the reinforcing rib mechanism is driven to flow back into the gripper 101 for reuse.

[0030] When transporting the box, the buffer mechanism drives the gripper 101 and the support plate 301 to move slowly away from each other, achieving buffering and preventing stress concentration in the support plate 301 due to the impact caused by gravity and the rapid lifting of the gripper 101 when the box is lifted, thus extending the service life of the support plate 301. When the gripper 101 and the support plate 301 move away from each other, the hydraulic oil in the gripper 101 is driven into the reinforcing rib mechanism. The hydraulic oil in the reinforcing rib mechanism is connected to the hydraulic oil inside the gripper 101. Therefore, the entire hydraulic oil pipeline plays a role in dispersing stress, and the hydraulic oil in the hydraulic oil pipeline can evenly distribute the stress at various points, making the entire hydraulic oil pipeline uniformly stressed. This avoids the situation where the traditional reinforcing rib plate breaks due to uneven stress distribution and local stress concentration, thus extending the service life of the support plate 301 and the reinforcing rib mechanism.

[0031] like Figure 2 , Figure 3 and Figure 5 As shown, optionally, a rectangular cavity 200 is provided inside the lower end of the gripper 101. A first piston plate 201 is slidably connected to the inner wall of the rectangular cavity 200. Multiple evenly distributed oil delivery pipes 202 are fixed horizontally along a straight line at the bottom end of the first piston plate 201. The outer side of the oil delivery pipes 202 is slidably connected to the inner side of the bottom end of the rectangular cavity 200. An L-shaped rod 300 is fixed to the outer side of the oil delivery pipes 202. A support plate 301 is fixed to one end of the L-shaped rod 300 away from the oil delivery pipes 202. Multiple evenly distributed first air holes 205 are provided at the upper end of the side wall of the rectangular cavity 200. A buffer mechanism is provided at the lower end of the first piston plate 201. A reinforcing rib mechanism is connected between the L-shaped rod 300 and the support plate 301.

[0032] In this embodiment, the first piston plate 201 can move vertically up and down within the rectangular cavity 200. Multiple evenly distributed support plates 301 move vertically up and down synchronously via the oil pipeline 202 and the L-shaped rod 300. A buffer mechanism allows the grippers 101 and support plates 301 to move relatively slowly towards each other or away from each other. The robotic arm 100 drives the grippers 101 on both sides to move synchronously towards each other, clamping them on both sides of the housing. This drives the support plates 301 on both sides to move synchronously towards each other, supporting the bottom sides of the housing. The sealed space formed by the inner wall of the rectangular cavity 200 and the upper end of the first piston plate 201 is connected to the external environment through the first air hole 205. When the first piston plate 201 moves downward, the volume of the sealed space increases, and the air pressure decreases, allowing external air to enter the sealed space through the first air hole 205, ensuring the first piston plate 201 can move downward smoothly. Conversely, when the first piston plate 201 moves upward, the volume of the sealed space decreases, expelling air and ensuring the first piston plate 201 can move upward smoothly.

[0033] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, optionally, the buffer mechanism includes a first spring 203, an oil hole 204, and a first chamber 206. The first chamber 206 is formed by the inner wall of the rectangular cavity 200 and the bottom end of the first piston plate 201. The first chamber 206 is filled with hydraulic oil. Multiple oil holes 204 are evenly opened in the upper side wall of the oil pipeline 202. The first chamber 206 and the inside of the oil pipeline 202 are connected through the oil holes 204. The first spring 203 covers the outer side of the upper end of the oil pipeline 202 and is fastened between the bottom end of the first piston plate 201 and the bottom surface of the first chamber 206.

[0034] In this embodiment, when the bottom of the housing is supported by the support plates 301 on both sides, the gripper 101 moves vertically upward under the control of the robotic arm 100. Since the first piston plate 201, the oil pipeline 202, the L-shaped rod 300, and the support plate 301 are interconnected and can be considered as a whole, the first piston plate 201 moves vertically downward relative to the rectangular cavity 200. The volume of the space inside the first chamber 206 decreases, and the hydraulic oil cannot be compressed. Therefore, the hydraulic oil in the first chamber 206 is squeezed by the first piston plate 201 and enters the oil pipeline 202 through multiple oil holes 204. The downward movement of the first piston plate 201 also compresses the first spring 203. The first spring 203, under compression, generates an upward thrust through deformation to balance the pressure. When the downward pull on the first piston plate 201 reaches equilibrium, the first piston plate 201 no longer moves vertically downward relative to the rectangular cavity 200. At this time, the gripper 101 and the connected structure can be regarded as a whole. The box is then lifted off the ground and moves synchronously with the gripper 101. Here, the first spring 203 is compressed in the hydraulic oil in the first chamber 206. The resistance of the fluid being squeezed can be regarded as a whole, which has a damping effect. Therefore, the buffer mechanism achieves buffering when the gripper 101 and the support plate 301 move slowly away from each other, avoiding stress concentration in the support plate 301 caused by the impact force caused by gravity and the rapid lifting of the gripper 101 when the box is lifted, thus extending the service life of the support plate 301.

[0035] like Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, optionally, the reinforcing rib mechanism includes a first sleeve 400, a second piston plate 401, a second spring 402, a second chamber 403, a second vent 404, and a piston assembly. The end of the first sleeve 400 is obliquely fixed to the bottom end of the horizontal section of the L-shaped rod 300. The second piston plate 401 is slidably connected to the inner wall of the first sleeve 400. The end of the oil pipeline 202 away from the first piston plate 201 is fixedly connected to the side wall of the first sleeve 400 away from the L-shaped rod 300. The second chamber 403 is formed by the inner wall of the first sleeve 400 near the oil pipeline 202 and the second piston plate 401. The second spring 402 is fastened between the side of the second piston plate 401 away from the second chamber 403 and the inner wall of the end of the first sleeve 400. The second vent 404 is opened in the side wall of the end of the first sleeve 400. The piston assembly is connected to the second piston plate 401 and is obliquely fixed to the upper end of the support plate 301.

[0036] In this embodiment, when the first piston plate 201 moves downward, it compresses hydraulic oil into the oil delivery pipe 202. Then, the hydraulic oil enters the second chamber 403 through the oil delivery pipe 202. As the amount of hydraulic oil in the second chamber 403 increases, it pushes the second piston plate 401 to move relative to the L-shaped rod 300 inside the first sleeve 400. At this time, the second spring 402 is compressed. When the second piston plate 401 moves, it discharges the air in the space where the second spring 402 is located through the second air hole 404, ensuring that the second piston plate 401 moves smoothly. When the housing leaves the ground, the support plate 301 is subjected to pressure, causing stress concentration inside the piston assembly, resulting in the second piston plate 401 tilting downward. The second piston plate 401 exerts a compressive force on the hydraulic oil in the entire hydraulic oil pipeline, that is, the hydraulic oil in the second chamber 403, the oil delivery pipeline 202 and the first chamber 206 is compressed. The hydraulic oil is compressed and transmits the force to various points on the inner wall of the pipeline. Since the hydraulic oil in the pipeline is interconnected, the pressure generated by the hydraulic oil on various points on the inner wall of the pipeline is the same, which makes the force distribution range wide and the force magnitude uniform. The rigid tensile force inside the traditional reinforcing rib is converted into the uniform pressure of the hydraulic oil on the inner wall. This avoids the situation where the traditional reinforcing rib breaks due to local stress concentration caused by uneven stress distribution, and extends the service life of the support plate 301 and the reinforcing rib mechanism.

[0037] like Figure 5 , Figure 6 , Figure 7 and Figure 8As shown, optionally, the piston assembly includes a second sleeve 500, a third piston plate 501, a piston rod 502, a third vent 503, a connecting pipe 504, and a solenoid valve 505. The bottom end of the second sleeve 500 is inclinedly fixed to the upper end of the support plate 301. The third piston plate 501 is slidably connected to the inner wall of the second sleeve 500. The end of the piston rod 502 is fixed to the middle of the end face of the third piston plate 501. The end of the piston rod 502 away from the third piston plate 501 is fixed to the middle of the end face of the second piston plate 401. The piston rod 502 is slidably connected to the ends of the first sleeve 400 and the second sleeve 500 respectively. The second sleeve 500 has a third vent 503 and a connecting pipe 504 fixedly connected at opposite positions on the outer side. The solenoid valve 505 is fixed on the connecting pipe 504.

[0038] In this embodiment, the solenoid valve 505 is opened, and the third air hole 503 and the connecting pipe 504 are evenly connected to the inside of the second sleeve 500 to ensure that the third piston plate 501 can slide smoothly inside the second sleeve 500. When the hydraulic oil enters the second chamber 403, it pushes the second piston plate 401 to move. The piston rod 502 drives the third piston plate 501 to move relative to the inside of the second sleeve 500. When the box is lifted off the ground, the solenoid valve 505 is closed, and the connecting pipe 504 is disconnected from the inside of the second sleeve 500. The space formed by the second sleeve 500 and the third piston plate 501 connected by the connecting pipe 504 is now a closed space. The third piston plate 501 cannot move at this time. At this time, the entire piston assembly can be regarded as a whole and connected to the second piston plate 401. Then the piston assembly can transfer stress to the second piston plate 401, so that the second piston plate 401 is subjected to a downward pulling force, which in turn squeezes the hydraulic oil to disperse the stress.

[0039] like Figure 8 As shown, optionally, the first sleeve 400 and the piston assembly are arranged coaxially.

[0040] In this embodiment, the coaxial arrangement of the first sleeve 400 and the piston assembly ensures the rationality of the structure, so that the piston assembly can coaxially transmit the stress to the second piston plate 401 inside the first sleeve 400. The second piston plate 401 squeezes the hydraulic oil to disperse the stress, thereby ensuring that the connection strength of the gripper 101 and the support plate 301 is strengthened by the reinforcing rib mechanism.

[0041] like Figure 3 As shown, optionally, the structural position of the reinforcing rib mechanism does not interfere with the operation of the gripper 101 and the support plate 301.

[0042] In this embodiment, through reasonable position design, the structural position of the reinforcing rib mechanism is ensured not to interfere with the operation of the gripper 101 and the support plate 301, so that when the support plate 301 supports the bottom of the box, the gripper 101 can clamp on the outside of the box, ensuring a tight fit. This is suitable for use with boxes with support plates, and does not affect the connection strength between the gripper 101 and the support plate 301.

[0043] like Figure 1 As shown, optionally, the robot arm 100 is mounted on the bottom of the three-axis truss lifting module. The robot arm 100 also includes a clamping servo, a position photoelectric sensor, a guide rail, a slider, a camera, a limit photoelectric sensor, and a hollow rotating platform. The clamping servo is located near the gripper 101, the gripper 101 is mounted on the end of the robot arm 100, the position photoelectric sensor is integrated into the joint of the gripper 101, the slider cooperates with the guide rail, the camera is mounted on the front end of the robot arm 100, the limit photoelectric sensor is fixed at the limit position of the guide rail, and the hollow rotating platform is located on the upper end of the robot arm 100.

[0044] In this embodiment, the three-axis gantry and the robot arm 100 perform operations such as fixed-point handling, palletizing, clamping, rotation, visual inspection, and inspection. The three-axis gantry is linked to the product coordinate point, the camera captures and records the product posture, the three-axis gantry is linked to the gripper 101 to the pick-up position posture, the gripper 101 opens, picks up the product, and places it into the production line. Since the internal structure, connection relationship and working principle of the three-axis gantry and the robot arm 100 are all existing technologies, they will not be described in detail here.

[0045] like Figure 1 As shown, optionally, an anti-slip pad is attached to the upper end of the support plate 301.

[0046] In this embodiment, the stability of the box is improved by setting an anti-slip pad on the upper end of the support plate 301.

[0047] While the present invention has been disclosed above, its scope of protection is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present invention, and all such changes and modifications will fall within the scope of protection of the present invention.

Claims

1. A palletizing robot gripper, characterized in that, The device includes a robotic arm (100), grippers (101), a support plate (301), a buffer mechanism, and a reinforcing rib mechanism. The robotic arm (100) includes two grippers (101), which are filled with hydraulic oil. The buffer mechanism is located inside the hydraulic oil. The support plate (301) is connected to the lower end of the grippers (101). The grippers (101) and the support plate (301) move slowly toward or away from each other through the buffer mechanism. When the grippers (101) and the support plate (301) move away from each other, the hydraulic oil inside the grippers (101) is driven into the reinforcing rib mechanism. When the grippers (101) and the support plate (301) move toward each other, the hydraulic oil inside the reinforcing rib mechanism is driven into the grippers (101). The reinforcing rib mechanism is inclinedly arranged on the upper end of the support plate (301) to strengthen the connection strength between the grippers (101) and the support plate (301). The reinforcing rib mechanism disperses the stress it receives through the hydraulic oil. The gripper (101) has a rectangular cavity (200) inside its lower end. A first piston plate (201) is slidably connected to the inner wall of the rectangular cavity (200). Multiple evenly distributed oil pipelines (202) are fixed horizontally along a straight line at the bottom end of the first piston plate (201). The outer side of the oil pipelines (202) is slidably connected to the inner side of the bottom end of the rectangular cavity (200). An L-shaped rod (300) is fixed on the outer side of the oil pipelines (202). A support plate (301) is fixed on the end of the L-shaped rod (300) away from the oil pipelines (202). Multiple evenly distributed first air holes (205) are opened at the upper end of the side wall of the rectangular cavity (200). The buffer mechanism is located at the lower end of the first piston plate (201). The reinforcing rib mechanism is connected between the L-shaped rod (300) and the support plate (301). The buffer mechanism includes a first spring (203), an oil hole (204), and a first chamber (206). The first chamber (206) is formed by the inner wall of a rectangular cavity (200) and the bottom end of a first piston plate (201). The first chamber (206) is filled with hydraulic oil. A plurality of oil holes (204) are evenly opened in the upper side wall of the oil pipeline (202). The first chamber (206) and the inside of the oil pipeline (202) are connected through the oil holes (204). The first spring (203) covers the outer side of the upper end of the oil pipeline (202). The first spring (203) is fastened between the bottom end of the first piston plate (201) and the bottom surface of the first chamber (206). The reinforcing rib mechanism includes a first sleeve (400), a second piston plate (401), a second spring (402), a second chamber (403), a second vent (404), and a piston assembly. The end of the first sleeve (400) is obliquely fixed to the bottom end of the horizontal section of the L-shaped rod (300). The second piston plate (401) is slidably connected to the inner wall of the first sleeve (400). The oil pipeline (202) is fixedly connected to the side wall of the first sleeve (400) away from the first piston plate (201). The second chamber (403) is formed by the inner wall of the first sleeve (400) near the oil pipeline (202) and the second piston plate (401). The second spring (402) is fastened between the side of the second piston plate (401) away from the second chamber (403) and the inner wall of the end of the first sleeve (400). The second air hole (404) is opened in the side wall of the end of the first sleeve (400). The piston assembly is connected to the second piston plate (401). The piston assembly is inclinedly fixed on the upper end of the support plate (301). The piston assembly includes a second sleeve (500), a third piston plate (501), a piston rod (502), a third vent (503), a connecting pipe (504), and a solenoid valve (505). The bottom end of the second sleeve (500) is inclinedly fixed to the upper end of the support plate (301). The third piston plate (501) is slidably connected to the inner wall of the second sleeve (500). The end of the piston rod (502) is fixed to the middle of the end face of the third piston plate (501). The piston rod (502) is fixed at the middle of the end face of the second piston plate (401) at one end away from the third piston plate (501). The piston rod (502) is slidably connected to the ends of the first sleeve (400) and the second sleeve (500). The second sleeve (500) has a third air hole (503) and a connecting pipe (504) fixedly connected at opposite positions on the outer side. The solenoid valve (505) is fixed on the connecting pipe (504).

2. The palletizing robot gripper as described in claim 1, characterized in that, The first sleeve (400) and the piston assembly are coaxially arranged.

3. The palletizing robot gripper as described in claim 1, characterized in that, The structural position of the reinforcing rib mechanism does not interfere with the operation of the gripper (101) and the support plate (301).

4. The palletizing robot gripper as described in claim 1, characterized in that, The robotic arm (100) is mounted on the bottom of the three-axis truss lifting module. The robotic arm (100) also includes a clamping servo, a position photoelectric sensor, a guide rail, a slider, a camera, a limit photoelectric sensor, and a hollow rotating platform. The clamping servo is located near the gripper (101), the gripper (101) is mounted on the end of the robotic arm (100), the position photoelectric sensor is integrated at the joint of the gripper (101), the slider cooperates with the guide rail, the camera is mounted on the front end of the robotic arm (100), the limit photoelectric sensor is fixed at the limit position of the guide rail, and the hollow rotating platform is located on the upper end of the robotic arm (100).

5. The palletizing robot gripper as described in claim 1, characterized in that, An anti-slip pad is attached to the upper end of the support plate (301).

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