Gripper anti-falling device for stacker crane

Abstract

The invention discloses a gripper anti-falling device for a stacker crane and belongs to the technical field of stackers. Anti-falling clamping grooves are evenly distributed in an anti-falling plate, fixing plates are symmetrically installed on the two sides of each anti-falling clamping groove, an air cylinder is installed between the pair of fixing plates, an anti-falling clamping plate is installed at the output end of the air cylinder, and a sliding plate is installed at the outer end of the air cylinder; the sliding plate is provided with the clamping plate, the anti-falling clamping plate is rapidly inserted into the anti-falling clamping groove in the anti-falling plate under the thrust action of the air cylinder, and the gripper of the stacker crane stops falling through mechanical engagement between the clamping groove and the clamping plate, so that accidents are effectively avoided, and the anti-falling device can be suitable for high-position stacking equipment and photoelectric sensing triggering anti-falling devices. And the buckles installed on the imbedding frame in a surrounding mode are clamped on the outer rings of the anti-falling clamping grooves, fixing is conducted again through the connecting pieces, double-side fixing is achieved, the anti-falling clamping grooves and the imbedding frame are combined, the thickness of the anti-falling piece is increased, deformation of equipment and parts is reduced, the depth is increased, and the anti-falling piece has the function of avoiding slipping.

Description

Technical Field

[0001] The present invention relates to a palletizer, and in particular to a gripper anti-pendulum device for a palletizer, belonging to the technical field of palletizers. Background Art

[0002] A palletizer stacks cartons that have been loaded into containers in a certain arrangement on pallets, pallets (wooden, plastic), and performs automatic stacking. It can stack multiple layers and then push them out for easy transportation to the warehouse for storage by a forklift. A palletizer is a device that automatically stacks the material bags, cartons, or other packaging materials conveyed by a conveyor into stacks according to the working mode required by the customer's process and transports the stacked materials.

[0003] For the existing palletizer equipment on the market, when the chain used to lift the gripper breaks or is damaged, it will cause the gripper to pendulum downwards, resulting in safety accidents and equipment damage.

[0004] For example, the anti-falling device of a high-level stacker disclosed in the application number 202411798852.X, when the chain breaks, the internal space of the airbag assembly is compressed, causing the expansion bag to instantly expand outwards, so that the buffer plate is released and frictionally contacts the inner surfaces of the auxiliary plate and the mounting frame, greatly reducing the falling speed of the moving frame. At the same time, as the expansion bag continues to expand, the friction force of the buffer plate will gradually increase, and the elastic telescopic plate will be squeezed. Then, the plug-in plate is clamped with the clamping groove through the plug-in groove, automatically realizing the forced stop of the moving frame and preventing the goods from falling. However, this anti-falling device requires a certain amount of time during the expansion of the airbag, and the airbag is an elastic structure that generates pressure and friction with the hoisting, which may cause the buffer plate or the plug-in plate to retract under pressure, resulting in the failure of the anti-falling.

[0005] For example, a mechanical photoelectric sensor disclosed in the application number 202420855776.0 includes a fixed base, a swing plate arranged on the base and swinging through a pin shaft. One side of the swing plate is fixedly connected obliquely upwards with a support plate. The upper part of the support plate passes through the gap between two rollers and is fixedly connected with a pressing block. The top surface of the pressing block is located above the rollers. A tension spring is also fixedly arranged on the base. The proximity switch is signal-connected to the control unit. The proximity switch is located on one side of the trajectory line of the downward swing of the proximity plate. The tension spring is located above the swing plate and one end is fixedly connected with the swing plate. However, this mechanical photoelectric sensor has a relatively complex structure and cumbersome operation.

[0006] As disclosed in the patent application No. 202121697880.4, a manipulator for transporting thermal insulation boards includes a base. A rotating disc is rotatably connected to the top of the base. A support column is fixedly connected to the top of the rotating disc. Slide rails are fixedly connected to both sides of the support column. A first slide seat and a second slide seat are respectively slidably connected to the outer surfaces of the two slide rails. A robotic arm is fixedly connected to one side of the first slide seat. The robotic arm is fixedly connected to a clamping assembly through a rotating mechanism. An anti-falling mechanism is arranged inside the support column. The counterweight and the robotic arm are supported by the anti-falling mechanism, so as to effectively prevent the counterweight and the robotic arm from falling during operation, thereby greatly improving the safety of using this device. The angle of the clamping assembly can be adjusted through the rotating mechanism, so that the clamping assembly can stack the thermal insulation boards crosswise, thereby greatly improving the stability of the thermal insulation board stacking.

[0007] This kind of manipulator for transportation can use the anti-falling mechanism to support the counterweight and the robotic arm, and can prevent the counterweight and the robotic arm from falling accidentally during operation. However, the above structure uses a chain suspension to achieve the anti-falling function. The weights of the stacked items may vary, which may cause the anti-falling parts to break. Moreover, since it is a chain structure, it may swing during falling, resulting in the problem of injuring the operator.

[0008] Based on the above deficiencies, a grab anti-pendulum device for a palletizer is designed to optimize the above problems. Summary of the Invention

[0009] The main purpose of the present invention is to provide a grab anti-pendulum device for a palletizer.

[0010] The purpose of the present invention can be achieved by adopting the following technical solutions:

[0011] A grab anti-pendulum device for a palletizer, which includes an anti-pendulum component and a photoelectric trigger component for detection and anti-pendulum on the palletizer;

[0012] The anti-pendulum component is used in cooperation with an anti-falling plate, an anti-falling card slot, a fixing plate, an anti-falling card plate, a cylinder, a slide plate and a card plate;

[0013] Anti-falling card slots are evenly distributed on the anti-falling plate;

[0014] Fixing plates are symmetrically installed on both sides of the anti-falling card slot. A cylinder is installed between a pair of fixing plates. A second fixing plate is fixedly installed on the cylinder. Sleeve fours are installed at both ends of the second fixing plate. An anti-falling card plate is installed at the output end of the cylinder;

[0015] A slide plate is installed at the outer end of the cylinder. A card plate is installed on the slide plate;

[0016] The anti-falling plate is snap-fitted with the fixed connection component.

[0017] Preferably, the photoelectric trigger assembly is composed of a connecting shaft, a fixing plate III, a detection bracket, a plate, a photoelectric detection, and a spring;

[0018] The connecting shaft is installed on the photoelectric trigger assembly. On both sides of the connecting shaft, a fixing plate III and a plate are respectively installed. The outer end of the connecting shaft is installed with a photoelectric detection. A spring is sleeved on the connecting shaft, and the connecting shaft is installed on the detection bracket.

[0019] Preferably, the fixed connection assembly includes a base body, a connecting abutting block, a connecting hole, a placement frame, a buckle, a fixing screw, and a connecting piece;

[0020] The base bodies are symmetrically installed on the palletizer. Fixing screws are distributed on both sides of the base body. Placement frames are equidistantly distributed on the base body. Buckles are installed around the outer ends of the placement frames. Connecting abutting blocks are respectively installed at both ends of the base body, and connecting holes are opened on the connecting abutting blocks.

[0021] Preferably, those on are in one-to-one correspondence with the placement frames on the base body.

[0022] Preferably, the placement frame is fixedly connected by being clamped by the buckle when placed inside.

[0023] Preferably, a shaft is connected between the fixing plates. The upper end of the anti-falling clamping plate is sleeved on the shaft, and a sleeve I is sleeved on the outer end of the shaft.

[0024] Preferably, a spacer sleeve is sleeved on the outside of the shaft, a sleeve II is sleeved on the screw on the fixing plate, and a sleeve III is sleeved on one side of the sleeve II.

[0025] Preferably, the air cylinder pushes the anti-falling clamping plate to be clamped and connected with the anti-falling clamping groove, and a column is installed on the anti-falling clamping plate.

[0026] Preferably, the anti-falling pendant assembly is electrically connected to the photoelectric trigger assembly.

[0027] Preferably, the air cylinder is movably connected to the anti-falling clamping plate, and the anti-falling clamping plate swings back and forth along the fixing plate.

[0028] The beneficial technical effects of the present invention:

[0029] A grab anti-falling pendant device for a palletizer provided by the present invention. A slide plate is installed at the outer end of the air cylinder, and a clamping plate is installed on the slide plate. The anti-falling pendant assembly is the "executing mechanism" of the whole device, and components such as an anti-falling plate, an anti-falling clamping groove, a fixing plate, an anti-falling clamping plate, an air cylinder, a slide plate, and a clamping plate are used in cooperation to realize the emergency braking of the falling grab;

[0030] The anti-falling plate is usually made of high-quality steel plate with a relatively large thickness, has extremely high strength and rigidity, can withstand the huge impact force generated when the grab falls, and anti-falling clamping grooves are evenly distributed on the anti-falling plate. These grooves are precisely processed and the dimensional accuracy is strictly controlled to ensure precise cooperation with the anti-falling clamping plate;

[0031] When the protection mechanism of the photoelectric trigger component is triggered, the control system will immediately send a start command to the cylinder. The cylinder will act quickly to eject the anti-falling clamping plate connected to the output end. Under the thrust of the cylinder, the anti-falling clamping plate will quickly insert into the anti-falling card slot on the anti-falling plate. Through the mechanical engagement between the card slot and the clamping plate, the gripper of the palletizer will stop falling, thus effectively avoiding accidents. It can be applied to high-position palletizing equipment. The photoelectric sensing triggers the anti-falling pendant device, which plays a role of instantaneous start;

[0032] Fix the base body to the palletizer by passing screws through the fixing screws. The base body has a certain thickness to strengthen the connection position of the palletizer. Cover the anti-falling plate outside the base body and align the anti-falling card slot with the placement frame;

[0033] After alignment, press the anti-falling plate to sleeve the anti-falling card slot on the outer ring of the placement frame. The buckles installed around the placement frame are stuck on the outer ring of the anti-falling card slot and are fixed again through the connecting piece to achieve double-sided fixation. Moreover, the combination of the anti-falling card slot and the placement frame increases the thickness of the anti-falling part, reduces the deformation of the equipment and parts, and increases the depth to avoid the function of slipping off. Description of the Drawings

[0034] Figure 1 It is a structural cross-sectional view of the anti-falling pendant device of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0035] Figure 2 It is a structural side cross-sectional view of the anti-falling pendant device of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0036] Figure 3 It is a schematic diagram of the photoelectric detection component of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0037] Figure 4 It is a side view of the photoelectric detection component of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0038] Figure 5 It is a three-dimensional schematic diagram of the structure of the anti-falling plate and the base of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0039] Figure 6 It is a schematic diagram of the base of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0040] Figure 7 It is a schematic diagram of the structure of the anti-falling plate of a preferred embodiment of the gripper anti-falling pendant device for a palletizer according to the present invention;

[0041] Figure 8 Schematic diagram of the engaging part of a preferred embodiment of the gripper anti-pendulum device for a palletizing machine according to the present invention.

[0042] In the figure: 1. Anti-pendulum assembly; 101. Anti-pendulum plate; 102. Anti-pendulum slot; 2. Fixed plate; 201. Sleeve 1; 202. Spacer sleeve; 203. Shaft; 204. Second fixed plate; 205. Anti-pendulum clamping plate; 206. Sleeve 2; 207. Sleeve 3; 208. Sleeve 4; 209. Cylinder; 210. Slide plate; 211. Column; 212. Clamping plate; 3. Photoelectric trigger assembly; 301. Connecting shaft; 302. Third fixed plate; 303. Detection bracket; 304. Plate; 305. Photoelectric detection; 306. Spring; 4. Base body; 401. Connecting abutment; 402. Connecting hole; 403. Insertion frame; 404. Buckle; 405. Fixing screw; 406. Connecting piece. Detailed implementation manners

[0043] To make the technical solutions of the present invention clearer and more definite to those skilled in the art, the present invention will be further described in detail below in conjunction with the embodiments and the accompanying drawings. However, the implementation manners of the present invention are not limited thereto.

[0044] To make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are some of the embodiments of the present invention, rather than all of the embodiments.

[0045] Therefore, the following detailed description of the embodiments of the present invention is not intended to limit the scope of the present invention claimed, but merely represents some embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present invention.

[0046] It should be noted that, without conflict, the embodiments in the present invention and the features and technical solutions in the embodiments may be combined with each other.

[0047] It should be noted that similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0048] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "lower" is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use, or the orientation or positional relationship commonly understood by those skilled in the art. Such terms are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, terms such as "first", "second", "one", and "two" are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0049] Embodiment 1

[0050] As Figure 1 、 Figure 2 、 Figure 3 and Figure 4 shown, this embodiment proposes a grab anti-pendulum device for a palletizer. The photoelectric trigger assembly 3 is composed of a connecting shaft 301, a fixing plate three 302, a detection bracket 303, a plate 304, a photoelectric detection 305, and a spring 306;

[0051] A connecting shaft 301 is installed on the photoelectric trigger assembly 3. A fixing plate three 302 and a plate 304 are respectively installed on both sides of the connecting shaft 301. A photoelectric detection 305 is installed at the outer end of the connecting shaft 301. A spring 306 is sleeved on the connecting shaft 301. The connecting shaft 301 is installed on the detection bracket 303. The photoelectric trigger assembly 3 serves as the "sensing organ" of the entire anti-pendulum device. Its structural design is precise and its function is crucial. This assembly is composed of a connecting shaft 301, a fixing plate three 302, a detection bracket 303, a plate 304, a photoelectric detection 305, and a spring 306;

[0052] The connecting shaft 301 is the core component connecting the photoelectric trigger assembly 3 and the palletizing claw. It is made of high-strength alloy steel and has excellent tensile resistance and wear resistance, which can ensure stable connection between the palletizing claw and other parts of the assembly during long-term use;

[0053] A fixing plate three 302 and a plate 304 are respectively installed on both sides of the connecting shaft 301. These two components are fixed to the connecting shaft 301 by high-strength bolts, playing a role of stable support and positioning, ensuring the stability of the connecting shaft 301 during movement. The photoelectric detection 305 installed at the outer end of the connecting shaft 301 uses a high-precision opposed photoelectric sensor, and its detection accuracy can reach the millimeter level, which can quickly and accurately sense the position change of the connecting shaft 301;

[0054] The spring 306 sleeved on the connecting shaft 301 is a helical spring with a high elastic coefficient. When the gripper drops and the steel wire rope is tightened, and the connecting shaft 301 is lifted, the spring 306 can quickly absorb the impact force, play a good buffering role, avoid damage to the connecting shaft 301 due to excessive instantaneous impact force, and at the same time extend the service life of the entire component;

[0055] The connecting shaft 301 is installed on the detection bracket 303. The detection bracket 303 is made of high-strength aluminum alloy, has the characteristics of light weight and high strength, and is fixed at a suitable position of the palletizer by welding, providing a stable installation foundation for the connecting shaft 301.

[0056] During the normal operation of the palletizer, the steel wire rope is in a relaxed state, and the connecting shaft 301 is in a low position under the action of gravity, and the photoelectric detection 305 can normally detect the connecting shaft 301;

[0057] Once the chain breaks or is damaged, the drop of the gripper will tighten the steel wire rope, and the connecting shaft 301 will be lifted upward under the pulling force of the steel wire rope. When the connecting shaft 301 rises to the detection blind area of the photoelectric detection 305, that is, when the photoelectric detection 305 cannot detect the connecting shaft 301, the photoelectric detection 305 will immediately transmit a signal to the control system, trigger the protection mechanism, and then start the anti-pendulum component 1;

[0058] The anti-pendulum component 1 consists of an anti-drop plate 101, anti-drop slots 102, a fixing plate 2, an anti-drop clamping plate 205, a cylinder 209, a sliding plate 210 and a clamping plate 212 for combined use;

[0059] Anti-drop slots 102 are evenly distributed on the anti-drop plate 101;

[0060] Fixing plates 2 are symmetrically installed on both sides of the anti-drop slots 102. A cylinder 209 is installed between a pair of fixing plates 2. A fixing plate two 204 is fixedly installed on the cylinder 209. Sleeve fours 208 are installed at both ends of the fixing plate two 204. An anti-drop clamping plate 205 is installed at the output end of the cylinder 209;

[0061] A sliding plate 210 is installed at the outer end of the cylinder 209. A clamping plate 212 is installed on the sliding plate 210. The anti-pendulum component 1 is the "executing mechanism" of the entire device, and is used in combination with components such as the anti-drop plate 101, anti-drop slots 102, fixing plate 2, anti-drop clamping plate 205, cylinder 209, sliding plate 210 and clamping plate 212 to achieve emergency braking of the dropping gripper;

[0062] The anti-drop plate 101 is usually made of high-quality steel plate with a relatively large thickness, has extremely high strength and rigidity, can withstand the huge impact force generated when the gripper drops. Anti-drop slots 102 are evenly distributed on the anti-drop plate 101. These slots are precisely processed and the dimensional accuracy is strictly controlled to ensure precise cooperation with the anti-drop clamping plate 205;

[0063] When the protection mechanism of the photoelectric trigger component 3 is triggered, the control system will immediately send a start command to the cylinder 209, and the cylinder 209 will move quickly to push out the anti-fall card plate 205 connected to the output end. Under the thrust of the cylinder 209, the anti-fall card plate 205 is quickly inserted into the anti-fall card slot 102 on the anti-fall plate 101. Through the mechanical engagement between the card slot and the card plate, the palletizer gripper stops falling, thereby effectively avoiding accidents.

[0064] Example 2

[0065] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, this embodiment proposes a gripper anti-dropping device for a palletizer, and the operation signal is transmitted to the electromagnetic reversing valve of the cylinder 209 via the connecting cable. After the electromagnetic reversing valve is energized, the air flow direction is changed, and the compressed air enters the rodless chamber of the cylinder 209, pushing the piston to drive the anti-dropping card plate 205 to be quickly ejected along the guide groove. During the ejection process, the guide sliders on both sides of the anti-dropping card plate 205 slide in the guide groove to ensure that the anti-dropping card plate 205 accurately moves toward the anti-dropping plate 101;

[0066] When the anti-falling clamping plate 205 contacts the anti-falling plate 101, the two quickly engage due to the effect of the serrated engaging surface;

[0067] At this time, the pressure sensor of the cylinder 209 monitors the pressure inside the cylinder in real time. When the pressure reaches the preset stable engagement pressure value, the pressure sensor feeds back the signal to the control system. The control system locks the state of the electromagnetic reversing valve, maintains the pressure in the cylinder 209, and makes the anti-fall plate 205 continuously and stably stuck on the anti-fall plate 101, thereby effectively preventing the palletizer gripper from falling.

[0068] When the anti-fall state needs to be released, the operator issues a command again through the operation panel or the operation starter, the electromagnetic reversing valve loses power, the air path is reversed, and compressed air enters the rod chamber of the cylinder 209, pushing the piston to drive the anti-fall clamping plate 205 to retract and disengage.

[0069] Example 3

[0070] like Figure 5 , Figure 6 , Figure 7 and Figure 8 As shown, this embodiment proposes a gripper anti-falling device for a palletizer, the base body 4 is fixedly connected to the palletizer by screws penetrating the fixing screws 405, the base body 4 has a certain thickness to strengthen the connection position of the palletizer, the anti-falling plate 101 is covered on the outside of the base body 4, and the anti-falling slot 102 is matched with the insertion frame 403;

[0071] After alignment, press the anti-falling plate 101 to set the anti-falling card slot 102 on the outer ring of the insertion frame 403. The buckle 404 installed around the insertion frame 403 is stuck on the outer ring of the anti-falling card slot 102, and is fixed again through the connecting piece 406 to achieve bilateral fixation. Moreover, the combination of the anti-falling card slot 102 and the insertion frame 403 increases the thickness of the anti-falling component, reduces the deformation of the equipment and parts, and increases the depth to avoid the function of slipping off.

[0072] As mentioned above, it is only a further embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the scope disclosed by the present invention, according to the technical solution and its concept of the present invention, makes equivalent replacements or changes, all belong to the protection scope of the present invention.

Claims

1. A gripper anti-pendulum device for a palletizer, characterized in that: The palletizer is equipped with a pendant prevention component (1) and a photoelectric trigger component (3) for detection and anti-pendulum; The pendant prevention component (1) is used in combination with an anti-falling plate (101), an anti-falling card slot (102), a fixing plate (2), an anti-falling card board (205), a cylinder (209), a sliding plate (210) and a card board (212); The anti-falling card slots (102) are evenly distributed on the anti-falling plate (101); Fixing plates (2) are symmetrically installed on both sides of the anti-falling card slot (102). A cylinder (209) is installed between a pair of fixing plates (2). A second fixing plate (204) is fixedly installed on the cylinder (209). Sleeve fours (208) are installed at both ends of the second fixing plate (204). The output end of the cylinder (209) is installed with an anti-falling card board (205); The outer end of the cylinder (209) is installed with a sliding plate (210), and a card board (212) is installed on the sliding plate (210); The anti-falling plate (101) is snap-fitted with the fixed connection component.

2. The gripper anti-pendulum device for a palletizer according to claim 1, characterized in that: The photoelectric trigger component (3) consists of a connecting shaft (301), a third fixing plate (302), a detection bracket (303), a plate (304), a photoelectric detection (305) and a spring (306); A connecting shaft (301) is installed on the photoelectric trigger component (3). A third fixing plate (302) and a plate (304) are respectively installed on both sides of the connecting shaft (301). A photoelectric detection (305) is installed at the outer end of the connecting shaft (301). A spring (306) is sleeved on the connecting shaft (301). The connecting shaft (301) is installed on the detection bracket (303).

3. The gripper anti-pendulum device for a palletizer according to claim 2, characterized in that: The fixed connection component includes a base body (4), a connecting abutting block (401), a connecting hole (402), a placing frame (403), a buckle (404), a fixing screw (405) and a connecting piece (406); The base bodies (4) are symmetrically installed on the palletizer. Fixing screws (405) are distributed on both sides of the base body (4). Placing frames (403) are equally spaced on the base body (4). Buckles (404) are installed around the outer ends of the placing frames (403). Connecting abutting blocks (401) are respectively installed at both ends of the base body (4), and connecting holes (402) are opened on the connecting abutting blocks (401).

4. The gripper anti-pendulum device for a palletizer according to claim 1, characterized in that: (102) on (101) corresponds to the placing frame (403) on the base body (4) one by one.

5. The gripper anti-pendulum device for a palletizer according to claim 3, characterized in that: The placing frame (403) is placed into (102) and fixedly connected by clamping with the buckle (404).

6. The gripper anti-pendulum device for a palletizer according to claim 2, characterized in that: A shaft (203) is connected between the fixing plates (2). The upper end of the anti-falling card board (205) is sleeved on the shaft (203), and a first sleeve (201) is sleeved on the outer end of the shaft (203).

7. The gripper anti-pendulum device for a palletizer according to claim 5, characterized in that: A spacer sleeve (202) is sleeved on the outside of the shaft (203). A second sleeve (206) is sleeved on the screw on the fixing plate (2). A third sleeve (207) is sleeved on one side of the second sleeve (206).

8. The gripper anti-pendulum device for a palletizer according to claim 4, characterized in that: The cylinder (209) pushes the anti-falling card board (205) to be snap-fitted with the anti-falling card slot (102), and a column (211) is installed on the anti-falling card board (205).

9. The gripper anti-pendulum device for a palletizer according to claim 6, wherein: The pendant prevention component (1) is electrically connected to the photoelectric trigger component (3).

10. The gripper anti-pendulum device for a palletizer according to claim 1, characterized in that: The air cylinder (209) is movably connected to the anti-falling clamping plate (205), and the anti-falling clamping plate (205) swings back and forth along the fixed plate (2).

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