Composite integrated stacking feeding and discharging gripper

Abstract

The invention discloses a composite integrated stacking feeding and discharging gripper, and relates to the technical field of stacking gripping. Comprising a mounting plate; the outer frame is connected to the exterior of the mounting plate; the central box is connected with the outer frame through screws; the supporting mechanism is arranged outside the outer frame, the supporting mechanism comprises a first push rod and a first fixing ring, the outer portion of the first push rod is connected with a sliding ring, connecting assemblies are arranged below the first fixing ring and the sliding ring, and the first push rod is used for controlling the multiple connecting assemblies to make contact; the first push rod and the first fixing ring are both installed outside the outer frame. And the suction mechanism is arranged at the bottom of the center box, the suction mechanism comprises a fourth push rod and a second telescopic pipe, the fourth push rod is used for controlling the pipe opening direction of the second telescopic pipe, and the composite integrated stacking feeding and discharging gripper achieves the purpose of improving the use efficiency of equipment.

Description

Technical Field

[0001] This invention relates to the field of palletizing gripping technology, specifically a composite integrated palletizing and unloading gripper. Background Technology

[0002] Palletizing robots are a type of industrial robot, mainly used for handling and stacking goods. The mechanical gripper is one of the most important components of a palletizing robot, and the picking, handling, and stacking of goods are all achieved through the mechanical gripper.

[0003] A composite integrated palletizing and loading / unloading gripper is disclosed in utility model patent publication number CN217755865U. Through optimization of the gripper head hydraulic mechanism and its coordination with a suction cup device, it efficiently and safely transfers objects. However, during the loading and unloading process, rigid support is used at the bottom of the items to prevent them from shaking or falling. This causes the items to easily rub against the rigid fixing points during loading, unloading, or movement, resulting in wear on the bottom of the items. Summary of the Invention

[0004] To overcome the problem that when loading and unloading items, rigid support is used at the bottom of the items to prevent them from shaking or falling, which causes the items to rub against the rigid fixed points during loading, unloading, or movement, resulting in wear on the bottom of the items, this invention provides a composite integrated palletizing and unloading gripper, including a mounting plate. The outer frame is connected to the outside of the mounting plate; A central box, which is connected to the outer frame by screws; A support mechanism is provided outside the outer frame. The support mechanism includes a first push rod and a first fixing ring. A sliding ring is connected to the outside of the first push rod. A connecting component is provided below both the first fixing ring and the sliding ring. The first push rod is used to control the contact of multiple sets of connecting components. Both the first push rod and the first fixing ring are installed outside the outer frame. A material suction mechanism is provided at the bottom of the central box. The material suction mechanism includes a fourth push rod and a second telescopic tube. The fourth push rod is used to control the direction of the opening of the second telescopic tube and is installed at the bottom of the central box.

[0005] Preferably, the support mechanism further includes: A connector, wherein multiple connectors are provided, and the multiple connectors are respectively installed at the bottom of the sliding ring and the first fixed ring, and the connectors are connected to the connecting assembly; The mounting holes are located inside the outer frame, and there are multiple mounting holes arranged symmetrically.

[0006] Preferably, the support mechanism further includes: The second fixing ring is installed on the outside of the outer frame; The first lifting rod is installed at the bottom of the second fixing ring, and there are two first lifting rods; A fixing box is connected to the telescopic end of the first lifting rod.

[0007] Preferably, the support mechanism further includes: The second push rod is installed inside the fixed box; The first support plate is connected to the telescopic end of the second push rod, and the first support plate is configured as a U-shaped plate.

[0008] Preferably, the connection component includes: A fixing cylinder, which is installed on the outside of the connector; A central cylinder, which is mounted on the outside of a fixed cylinder; The third push rod, the fixed end of which is installed inside the central cylinder; The second support plate is connected to the output end of the third push rod.

[0009] Preferably, the connection component further includes: Telescopic plates are installed on the outside of the central cylinder, and multiple telescopic plates are provided and arranged symmetrically. A magnetic plate, wherein multiple magnetic plates are provided, and the multiple magnetic plates are respectively installed on the outside of the telescopic plate.

[0010] Preferably, the suction mechanism further includes: The first telescopic tube is installed on the top of the central box, and a connecting tube is installed on the top of the first telescopic tube. The channel is located inside the central box, and multiple channels are provided. An adjustment assembly is mounted on the bottom of the fourth push rod.

[0011] Preferably, the suction mechanism further includes: A slide rail is provided at the bottom of the central box; A slider, which is slidably connected inside a slide rail; The second lifting rod is installed at the bottom of the slider; A barrier plate, which is connected to the telescopic end of the second lifting rod; Suction cups are installed on the bottom of the baffle, and multiple suction cups are provided and evenly distributed.

[0012] Preferably, the adjustment component includes: A connector, which is connected to the telescopic end of the fourth push rod; Connecting plate, which is connected to the connector; A fixing tube is installed at the bottom of the central box and is connected to a second telescopic tube.

[0013] This invention provides a composite integrated palletizing and unloading gripper. It has the following beneficial effects: 1. This integrated palletizing and loading gripper features a support mechanism that provides elastic support to the bottom of the items. Existing grippers, when loading and unloading items, rely on rigid support at the bottom to prevent swaying or falling. However, this can lead to friction between the items and the rigid support during loading, unloading, or movement, causing wear on the bottom. Therefore, the support mechanism, after the suction mechanism picks up the items, adjusts the positions of the two sets of first pallets, which then elastically support the bottom of the items to reduce swaying during movement and prevent them from falling.

[0014] 2. This integrated palletizing and unloading gripper, through the installation of connecting components, provides greater support for the bottom of the items. Since the shapes of the items vary and their bottom heights differ, four pairs of connecting components are used. These components, including the telescopic plate, magnetic plate, and second support plate, are adjusted according to the different heights of the four corners of the item, bringing the second support plate closer to the bottom of the item. Furthermore, by adjusting the stroke of the four first push rods, the magnetic plates in the four pairs of connecting components are attracted and fixed, thereby lengthening the four pairs of telescopic plates. These telescopic plates then support the item from the bottom, further increasing the support range.

[0015] 3. This integrated palletizing and loading gripper uses a suction mechanism to pick up and secure items. Before suction, a baffle is positioned outside the adjustment assembly to protect it and prevent dust and impurities from entering the air intake pipe. During suction, suction cups at the bottom of the baffle adhere to the top of the item, increasing the stability of the item's upper surface.

[0016] 4. This composite integrated palletizing and unloading gripper, through the setting of adjustment components, under the control of four fourth push rods in each set of adjustment components, adjusts the deflection of the joint, connecting plate and second telescopic tube opening, thereby making the opening of the second telescopic tube fit more closely to the upper surface of the item, and strengthening the fixation of the upper surface of irregularly shaped items. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the present invention; Figure 3 This is a schematic diagram of the support mechanism structure of the present invention; Figure 4 For the present invention Figure 3 Schematic diagram of the structure at point A; Figure 5 This is a schematic diagram of the connection component structure of the present invention; Figure 6 This is a schematic diagram of the top structure of the suction mechanism of the present invention; Figure 7 This is a schematic diagram of the bottom structure of the suction mechanism of the present invention; Figure 8 For the present invention Figure 7 Schematic diagram of the structure at point B; Figure 9 This is a schematic diagram of the adjustment component structure of the present invention.

[0018] In the diagram: 1. Mounting plate; 2. Outer frame; 3. Support mechanism; 301. First push rod; 302. Sliding ring; 303. First fixing ring; 304. Connector; 305. Connecting assembly; 3051. Fixing cylinder; 3052. Central cylinder; 3053. Telescopic plate; 3054. Magnetic plate; 3055. Third push rod; 3056. Second support plate; 306. Mounting hole; 307. Second fixing ring; 308. First lifting rod; 309. 310. Fixed box; 311. Second push rod; 312. First support plate; 4. Center box; 5. Suction mechanism; 501. First telescopic tube; 502. Connecting tube; 503. Channel; 504. Fourth push rod; 505. Adjustment component; 5051. Connector; 5052. Connecting plate; 5053. Fixed tube; 5054. Second telescopic tube; 506. Slide rail; 507. Slider; 508. Second lifting rod; 509. Bar; 510. Suction cup. Detailed Implementation

[0019] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and design various embodiments with various modifications suitable for a particular purpose.

[0020] like Figures 1-9 As shown, the present invention provides a technical solution: including a mounting plate 1, wherein the mounting plate 1 has an installation opening inside; Outer frame 2, which is connected to the outside of mounting plate 1; Center box 4 is connected to outer frame 2 by screws; Support mechanism 3 is located outside the outer frame 2. Support mechanism 3 includes a first push rod 301 and a first fixing ring 303. A sliding ring 302 is connected to the outside of the first push rod 301. The sliding ring 302 is slidably connected to the outside of the outer frame 2. A connecting component 305 is provided below the first fixing ring 303 and the sliding ring 302. The first push rod 301 is used to control the contact of multiple sets of connecting components 305. The first push rod 301 and the first fixing ring 303 are both installed outside the outer frame 2. The material suction mechanism 5 is located at the bottom of the central box 4. The material suction mechanism 5 includes a fourth push rod 504 and a second telescopic tube 5054. There are multiple sets of the fourth push rod 504, with four in each set. The fourth push rod 504 is used to control the direction of the tube opening of the second telescopic tube 5054. The fourth push rod 504 is installed at the bottom of the central box 4.

[0021] Before using the equipment, connect it to the external control mechanism via the mounting plate 1 and the mounting port. The external control mechanism moves the equipment to the object to be gripped. Adjust the support mechanism 3 and the suction mechanism 5, and then begin gripping the object. Next, adjust the support mechanism 3 to support the bottom of the object. Then, adjust the external control mechanism to control the equipment position, and move the object to the unloading point. Finally, adjust the support mechanism 3 and the suction mechanism 5 to complete the unloading process.

[0022] Supporting mechanism 3 also includes: Connector 304, multiple connectors 304 are provided, and multiple connectors 304 are respectively installed at the bottom of sliding ring 302 and first fixed ring 303. Connector 304 is connected to connecting assembly 305. Connector 304 is composed of a telescopic rod in the vertical direction and a connecting rod in the horizontal direction. Mounting holes 306 are provided inside the outer frame 2. Multiple mounting holes 306 are provided and symmetrically arranged. The center box 4 and the outer frame 2 are fixed with screws through the mounting holes 306. The second fixing ring 307 is installed on the outside of the outer frame 2. There are two second fixing rings 307, which are arranged symmetrically. The first lifting rod 308 is installed at the bottom of the second fixing ring 307, and there are two first lifting rods 308. Fixed box 309, fixed box 309 is connected to the telescopic end of the first lifting rod 308; The second push rod 310 is installed inside the fixed box 309; The first support plate 311 is connected to the telescopic end of the second push rod 310. The first support plate 311 is configured as a U-shaped plate, and the U-shaped plate is made of rubber.

[0023] Before grabbing the material, the telescopic rod in connector 304 and the first lifting rod 308 are both in their initial state. As the external control mechanism moves the control device to the item, the suction mechanism 5 is adjusted to pick up the item. After this, the external control mechanism is adjusted, the control device moves up, and the telescopic rod in connector 304 and the first lifting rod 308 are activated to their corresponding strokes. The second push rod 310 is then activated, and the second push rod 310 drives the first pallet 311 to move away from the fixed box 309. The second push rod 310 is then adjusted to its corresponding stroke, and the second push rod 310 drives the first pallet 311 to contact the bottom of the item, providing support to the bottom of the item.

[0024] Before the unloading operation, the stroke of the first lifting rod 308 and the telescopic rod in the connecting piece 304 is adjusted to make the first pallet 311 and the second pallet 3056 move downward. The second push rod 310 and the third push rod 3055 are adjusted to the initial state so that the first pallet 311 and the second pallet 3056 return to their original positions. Then the suction mechanism 5 is adjusted to complete the unloading operation of the items.

[0025] By setting up a support mechanism 3, after the suction mechanism 5 picks up the item, the positions of the two sets of first trays 311 are adjusted so that the two sets of first trays 311 can elastically support the item at the bottom, thereby reducing the shaking of the bottom of the item during movement and preventing the item from falling off during movement.

[0026] Connection component 305 includes: The fixing cylinder 3051 is installed on the outside of the connector 304; The center cylinder 3052 is installed outside the fixed cylinder 3051; The third push rod 3055, the fixed end of the third push rod 3055 is installed inside the central cylinder 3052; The second support plate 3056 is connected to the output end of the third push rod 3055, and the second support plate 3056 is made of rubber. Telescopic plate 3053 is installed on the outside of the central cylinder 3052. Multiple telescopic plates 3053 are provided and arranged symmetrically. Magnetic plate 3054, multiple magnetic plates 3054 are provided, and multiple magnetic plates 3054 are respectively installed on the outside of telescopic plate 3053.

[0027] When the first push rod 301 is activated to the second stroke, the first push rod 301 drives the sliding ring 302, the connecting piece 304, and the connecting assembly 305 to move towards the first fixed ring 303. The magnetic plate 3054 below the sliding ring 302 gradually attracts and fixes with the magnetic plate 3054 below the first fixed ring 303. Then, the first push rod 301 is adjusted to the first stroke, and the first push rod 301 drives the sliding ring 302, the connecting piece 304, the fixed cylinder 3051, the center cylinder 3052, the telescopic plate 3053, and the magnetic plate 3054 to move away from the first fixed ring 303. The telescopic plate 3053 below the sliding ring 302 and the telescopic plate 3053 below the first fixed ring 303 are both stretched, and the two magnetic plates 3054 are still in the attracting state.

[0028] Simultaneously, multiple third push rods 3055 are activated. The third push rods 3055 drive the second support plate 3056 to move away from the connector 304. The second support plate 3056 gradually moves to the bottom of the item. The stroke of the telescopic rod in the connector 304 is adjusted. The telescopic rod controls the height of the second support plate 3056 until the second support plate 3056 supports and fixes the item at the bottom.

[0029] By incorporating connecting components 305, the support range for the bottom of the item is expanded. Since the shapes of the items vary, the height of their bottoms differs. By using four pairs of connecting components 305, the heights of the telescopic plates 3053, magnetic plates 3054, and second support plates 3056 within these four pairs of connecting components are adjusted according to the different heights of the four corners of the item, thus bringing the second support plate 3056 closer to the bottom of the item. Furthermore, by adjusting the stroke of the four first push rods 301, the magnetic plates 3054 in the four pairs of connecting components 305 are attracted and fixed, thereby lengthening the four pairs of telescopic plates 3053. These telescopic plates 3053 then support the item at its bottom, further increasing the support range.

[0030] The suction mechanism 5 also includes: The first telescopic pipe 501 is installed on the top of the central box 4. A connecting pipe 502 is installed on the top of the first telescopic pipe 501. An external fan is connected to the outside of the connecting pipe 502. Channel 503 is provided inside the central box 4. Multiple channels 503 are provided and the channels 503 extend through the interior of the central box 4. Adjustment component 505 is installed at the bottom of the fourth push rod 504; Slide 506 is located at the bottom of the central box 4; Slider 507 is slidably connected inside slide rail 506, and a power system is installed inside slider 507; The second lifting rod 508 is installed at the bottom of the slider 507; The barrier 509 is connected to the telescopic end of the second lifting rod 508; Suction cup 510 is installed at the bottom of the baffle 509. Multiple suction cups 510 are provided and are evenly distributed.

[0031] As the external control mechanism moves the equipment onto the item, the power system in the slider 507 is activated, and the slider 507 begins to move in the slide rail 506. The slider 507 drives the second lifting rod 508 and the baffle 509 to move away from the adjustment component 505. Then, the stroke of the second lifting rod 508 is adjusted so that the baffle 509 is in the gap between the adjustment components 505.

[0032] Based on the shape of the item, the adjusting component 505 is adjusted to make contact with the item, and the stroke of the second lifting rod 508 is adjusted so that the suction cup 510 at the bottom of the baffle 509 is attracted and fixed to the upper surface of the item. Then, the external fan is turned on to exhaust mode, and the gas is drawn into the central box 4 through the adjusting component 505, then into the first telescopic tube 501, and finally into the connecting tube 502. During the movement of the equipment driven by the external control mechanism, the first telescopic tube 501 is stretched or compressed.

[0033] The suction mechanism 5 is used to pick up and fix the item. Before the suction operation, the baffle 509 is located outside the adjusting component 505 to protect the adjusting component 505 and prevent dust and impurities from entering the air intake pipe. During the suction operation, the suction cup 510 at the bottom of the baffle 509 suctions and fixes the top of the item, increasing the fixation position of the upper surface of the item.

[0034] Adjustment component 505 includes: Connector 5051 is connected to the telescopic end of the fourth push rod 504; Connecting plate 5052, connecting plate 5052 is connected to connector 5051; Fixed tube 5053 is installed at the bottom of the central box 4 and is connected to the second telescopic tube 5054.

[0035] Based on the shape of the upper surface of the item, the stroke of the four fourth push rods 504 around an adjusting component 505 is adjusted. The four fourth push rods 504 control the deflection of four connectors 5051, which in turn controls the deflection of the connecting plate 5052. The connecting plate 5052 then controls the deflection of the opening of the second telescopic tube 5054, causing the opening of the second telescopic tube 5054 to adhere to the upper surface of the item. By adjusting multiple adjusting components 505, multiple highly adaptable adhesion and fixation operations are performed on the upper surface of the item.

[0036] During the unloading operation, the external fan is turned off, the second telescopic tube 5054 gradually separates from the item, the second lifting rod 508 is adjusted to the initial state, and the second lifting rod 508 drives the baffle 509 and suction cup 510 to gradually move away from the item. At this time, the item is removed from the equipment, and the unloading operation is completed.

[0037] By setting the adjustment component 505, under the control of the four fourth push rods 504 in each adjustment component 505, the deflection of the connector 5051, the connecting plate 5052 and the pipe opening of the second telescopic tube 5054 are adjusted, thereby making the pipe opening of the second telescopic tube 5054 fit more closely to the upper surface of the item and strengthening the fixation of the upper surface of the irregularly shaped item.

[0038] Working principle: Before using the equipment, connect the equipment to the external control mechanism through the mounting plate 1 and the mounting port. The external control mechanism controls the equipment to move to the object to be grabbed, adjusts the support mechanism 3 and the suction mechanism 5, and then performs the suction operation on the object.

[0039] As the external control mechanism moves the equipment onto the item, the power system in the slider 507 is activated, and the slider 507 begins to move in the slide rail 506. The slider 507 drives the second lifting rod 508 and the baffle 509 to move away from the adjustment component 505. Then, the stroke of the second lifting rod 508 is adjusted so that the baffle 509 is in the gap between the adjustment components 505.

[0040] Based on the shape of the item, the adjustment component 505 is adjusted to make contact with the item, and the stroke of the second lifting rod 508 is adjusted so that the suction cup 510 at the bottom of the baffle 509 is attracted and fixed to the upper surface of the item. Then, the external fan is turned on to exhaust mode, and the gas is drawn into the central box 4 through the second telescopic tube 5054 and the fixed tube 5053, then enters the first telescopic tube 501 through the central box 4, and finally enters the connecting tube 502 through the first telescopic tube 501. During the movement of the equipment driven by the external control mechanism, the first telescopic tube 501 is stretched or compressed.

[0041] Based on the shape of the upper surface of the item, the stroke of the four fourth push rods 504 around an adjusting component 505 is adjusted. The four fourth push rods 504 control the deflection of four connectors 5051, which in turn controls the deflection of the connecting plate 5052. The connecting plate 5052 then controls the deflection of the opening of the second telescopic tube 5054, causing the opening of the second telescopic tube 5054 to adhere to the upper surface of the item. By adjusting multiple adjusting components 505, multiple highly adaptable adhesion and fixation operations are performed on the upper surface of the item.

[0042] Then, the support mechanism 3 is adjusted to support the bottom of the item. Before grabbing the material, the telescopic rod in the connector 304 and the first lifting rod 308 are in their initial state. As the external control mechanism moves the control device to the item, the suction mechanism 5 is adjusted to pick up the item. After this, the external control mechanism is adjusted, the control device moves up, and the telescopic rod in the connector 304 and the first lifting rod 308 are activated to their corresponding strokes. The second push rod 310 is then activated, and the second push rod 310 drives the first pallet 311 to move away from the fixed box 309. The second push rod 310 is then adjusted to its corresponding stroke, and the second push rod 310 drives the first pallet 311 to contact the bottom of the item, providing support for the bottom of the item.

[0043] When the first push rod 301 is activated to the second stroke, the first push rod 301 drives the sliding ring 302, the connecting piece 304, and the connecting assembly 305 to move towards the first fixed ring 303. The magnetic plate 3054 below the sliding ring 302 gradually attracts and fixes with the magnetic plate 3054 below the first fixed ring 303. Then, the first push rod 301 is adjusted to the first stroke, and the first push rod 301 drives the sliding ring 302, the connecting piece 304, the fixed cylinder 3051, the center cylinder 3052, the telescopic plate 3053, and the magnetic plate 3054 to move away from the first fixed ring 303. The telescopic plate 3053 below the sliding ring 302 and the telescopic plate 3053 below the first fixed ring 303 are both stretched, and the two magnetic plates 3054 are still in the attracting state.

[0044] Simultaneously, multiple third push rods 3055 are activated. The third push rods 3055 drive the second support plate 3056 to move away from the connector 304. The second support plate 3056 gradually moves to the bottom of the item. The stroke of the telescopic rod in the connector 304 is adjusted. The telescopic rod controls the height of the second support plate 3056 until the second support plate 3056 supports and fixes the item at the bottom.

[0045] Then, the external control mechanism is adjusted to control the position of the equipment, thereby adjusting the item to the unloading point. The support mechanism 3 and the suction mechanism 5 are then adjusted to complete the unloading of the item.

[0046] Before the unloading operation, the stroke of the first lifting rod 308 and the telescopic rod in the connecting piece 304 is adjusted to make the first pallet 311 and the second pallet 3056 move downward. The second push rod 310 and the third push rod 3055 are adjusted to the initial state so that the first pallet 311 and the second pallet 3056 return to their original positions. Then the suction mechanism 5 is adjusted to complete the unloading operation of the items.

[0047] During the unloading operation, the external fan is turned off, the second telescopic tube 5054 gradually separates from the item, the second lifting rod 508 is adjusted to the initial state, and the second lifting rod 508 drives the baffle 509 and suction cup 510 to gradually move away from the item. At this time, the item is removed from the equipment, and the unloading operation is completed.

[0048] Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art and related fields based on the embodiments of the present invention without inventive effort should fall within the scope of protection of the present invention. Structures, devices, and operating methods not specifically described and explained in the present invention, unless otherwise specified or limited, shall be implemented according to conventional means in the art.

Claims

1. A composite integrated palletizing and unloading gripper, comprising a mounting plate (1), characterized in that: The outer frame (2) is connected to the outside of the mounting plate (1); The center box (4) is connected to the outer frame (2) by screws; Support mechanism (3), the support mechanism (3) is set outside the outer frame (2), the support mechanism (3) includes a first push rod (301) and a first fixing ring (303), a sliding ring (302) is connected to the outside of the first push rod (301), and a connecting component (305) is provided below the first fixing ring (303) and the sliding ring (302). The first push rod (301) is used to control the contact of multiple sets of connecting components (305). The first push rod (301) and the first fixing ring (303) are both installed outside the outer frame (2); The suction mechanism (5) is located at the bottom of the center box (4). The suction mechanism (5) includes a fourth push rod (504) and a second telescopic tube (5054). The fourth push rod (504) is used to control the direction of the opening of the second telescopic tube (5054). The fourth push rod (504) is installed at the bottom of the center box (4).

2. The composite integrated palletizing and unloading gripper according to claim 1, characterized in that: The support mechanism (3) also includes: A connector (304) is provided in multiple ways. The multiple connectors (304) are respectively installed at the bottom of the sliding ring (302) and the first fixed ring (303). The connectors (304) are connected to the connecting assembly (305). Mounting holes (306) are provided inside the outer frame (2). Multiple mounting holes (306) are provided and are arranged symmetrically.

3. The composite integrated palletizing and unloading gripper according to claim 2, characterized in that: The support mechanism (3) also includes: The second fixing ring (307) is installed on the outside of the outer frame (2); The first lifting rod (308) is installed at the bottom of the second fixing ring (307), and there are two first lifting rods (308); A fixing box (309) is connected to the telescopic end of the first lifting rod (308).

4. The composite integrated palletizing and unloading gripper according to claim 3, characterized in that: The support mechanism (3) also includes: The second push rod (310) is installed inside the fixed box (309); The first support plate (311) is connected to the telescopic end of the second push rod (310), and the first support plate (311) is configured as a U-shaped plate.

5. The composite integrated palletizing and unloading gripper according to claim 2, characterized in that: The connection component (305) includes: A fixing cylinder (3051) is installed on the outside of the connector (304); A central cylinder (3052) is mounted on the outside of a fixed cylinder (3051); The third push rod (3055) has its fixed end installed inside the central cylinder (3052); The second support plate (3056) is connected to the output end of the third push rod (3055).

6. The composite integrated palletizing and unloading gripper according to claim 5, characterized in that: The connection component (305) further includes: Telescopic plate (3053), the telescopic plate (3053) is installed on the outside of the central cylinder (3052), and multiple telescopic plates (3053) are provided and symmetrically arranged; A magnetic plate (3054) is provided in multiple ways, and the multiple magnetic plates (3054) are respectively installed on the outside of the telescopic plate (3053).

7. The composite integrated palletizing and unloading gripper according to claim 1, characterized in that: The suction mechanism (5) further includes: The first telescopic tube (501) is installed on the top of the central box (4), and a connecting tube (502) is installed on the top of the first telescopic tube (501). Channel (503), the channel (503) is opened inside the central box (4), and multiple channels (503) are opened; Adjustment assembly (505) is mounted on the bottom of the fourth push rod (504).

8. The composite integrated palletizing and unloading gripper according to claim 7, characterized in that: The suction mechanism (5) further includes: A slide rail (506) is provided at the bottom of the central box (4); A slider (507) is slidably connected inside a slide rail (506); The second lifting rod (508) is installed at the bottom of the slider (507); A barrier (509) is connected to the telescopic end of the second lifting rod (508); Suction cups (510): Suction cups (510) are installed on the bottom of the baffle (509). Multiple suction cups (510) are provided and are evenly distributed.

9. The composite integrated palletizing and unloading gripper according to claim 7, characterized in that: The adjustment component (505) includes: Connector (5051), which is connected to the telescopic end of the fourth push rod (504); A connecting plate (5052) is connected to a connector (5051); A fixing tube (5053) is installed at the bottom of the center box (4) and is connected to the second telescopic tube (5054).

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