Composite grabbing device of palletizing robot
By designing a composite grasping device, the problem of only one item being captured in the robot palletizing equipment is solved, and the simultaneous grabbing of large and small items is achieved, reducing costs and improving production efficiency.
Patent Information
- Application Number
- CN202422126864.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-30
- Publication Date
- 2025-07-25
- Estimated Expiration
- 2034-08-30
AI Technical Summary
In the existing robot palletizing equipment, the robot mechanical gripper can only grab one item and requires a quick change device to achieve the production of two products. It is costly and inefficient, and it is impossible to achieve the production of both products at the same time.
A composite gripping device of palletizing robot is designed, including a base, jaw, fixed vertical plate, horizontal moving vertical plate and packing assembly. The gripping jaw drive assembly and linear drive device are used to grasp different items, and large items and small items can be grasped at the same time, and the gripping width can be adjusted to accommodate material packs of different widths.
The simultaneous grabbing of both products is achieved, reducing costs, improving production efficiency, and enhancing the versatility and compatibility of the device.
Smart Images
Figure CN223149676U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a robot palletizing device, in particular to a composite grasping device for a palletizing robot. Background Art
[0002] In the existing robot palletizing devices, the robot mechanical grippers are used to grasp larger items such as material packages and smaller items such as packing boxes. Both are independent grippers. If there is only one robot in the device but it needs to grasp two kinds of products, a quick-change device has to be made. The robot can only be connected to one type of gripper at a time. In this way, the robot has to alternately use two grippers to achieve the grasping of two products with different sizes. However, the cost is high, and at the same time, the quick-change device cannot realize the simultaneous production of two products and can only produce them separately. In addition, generally, due to the different widths of the material packages, different grippers are required for the grippers. Therefore, a quick-change device also has to be used to switch between two grippers with different grasping widths. Summary of the Invention
[0003] In order to solve the problems existing in the above-mentioned prior art, the utility model provides a composite grasping device for a palletizing robot, which is a composite gripper that can both grasp packages and boxes, combining the original two grippers into one gripper. The utility model has low cost, high efficiency, and can realize the simultaneous grasping of two products. The utility model can also realize the automatic adjustment of the width of the gripper and is compatible with material packages of different widths.
[0004] The technical solution adopted by the utility model to solve its technical problems is as follows.
[0005] A composite grasping device for a palletizing robot, characterized in that: it includes a base connected to the grasping arm of the palletizing robot, two grippers, a fixed vertical plate, a horizontally moving vertical plate, two gripper driving components, and a package pressing component connected to the base.
[0006] The base includes two lower vertical plates symmetrically arranged front and back; a first longitudinal axis perpendicular to the two lower vertical plates is respectively arranged between the left ends and between the right ends of the two lower vertical plates; the two grippers are respectively hinged on a first longitudinal axis.
[0007] A first linear drive device mounting frame is connected between the middle parts of the bottoms of the two lower vertical plates. A first linear drive device is horizontally mounted on the first linear drive device mounting frame. The left end or the right end of the bottom surface of each lower vertical plate is provided with a horizontal guide rail. A slider is mounted on each horizontal guide rail. The two sliders are connected by a horizontally moving vertical plate. The top end of the horizontally moving vertical plate is connected to the first linear drive device; the fixed vertical plate is connected to the two lower vertical plates and is located on the side of the first linear drive device away from the horizontally moving vertical plate.
[0008] The bottom end of the horizontally moving vertical plate, away from the fixed vertical plate end, is longitudinally provided with a hinge shaft. A locking plate is connected to the hinge shaft. The hinge shaft is connected to the second linear driving device through the first ear plate. The top end of the second linear driving device is hinged to the side of the top end of the horizontally moving vertical plate away from the fixed vertical plate.
[0009] The clamping jaws include clamping jaw brackets and a number of fork rods. Each clamping jaw bracket is connected to a clamping jaw driving assembly; at the bottom end of each clamping jaw bracket, near the side of another clamping jaw bracket, a number of fork rods perpendicular to the first longitudinal axis are provided; when the distance between the fork rods of the two clamping jaws is the closest, the top surfaces of the fork rods are parallel to the bottom surfaces of the two lower vertical plates, and the fixed vertical plate and the horizontally moving vertical plate are both above the top surfaces of the fork rods.
[0010] The press-packing assembly includes two third linear driving devices vertically arranged in the middle of the side of each lower vertical plate away from the other lower vertical plate. The bottom ends of the two third linear driving devices are connected to a longitudinal pressing plate arranged below the two lower vertical plates and above the locking plate; the horizontally moving vertical plate and the fixed vertical plate are respectively located on both sides of the longitudinal pressing plate, and a number of suction cups are provided on the bottom surface of the longitudinal pressing plate.
[0011] The beneficial effects of the present utility model are as follows: When grasping a larger item, under the drive of the clamping jaw driving assembly, when each clamping jaw rotates counterclockwise along the first longitudinal axis, the fork rods of the two clamping jaws move to both sides of the base. The gripper arm of the palletizing robot drives the base to move above the larger item to be taken. Under the drive of the clamping jaw driving assembly, each clamping jaw rotates clockwise along the first longitudinal axis, and the fork rods of the two clamping jaws move below the larger item. At this time, the two clamping jaws can grasp the larger item, such as grasping a package. The action is opposite when placing the package.
[0012] When it is necessary to grasp a smaller item, such as a cardboard box, under the drive of the clamping jaw driving assembly, when each clamping jaw rotates counterclockwise along the first longitudinal axis, the fork rods of the two clamping jaws move to both sides of the base. The smaller item enters the space between the fixed vertical plate and the horizontally moving vertical plate. The first linear driving device drives the horizontally moving vertical plate to move towards the fixed vertical plate to clamp the smaller item. The longitudinal pressing plate descends, and the suction cups at the bottom end of the longitudinal pressing plate adsorb and clamp the top surface of the smaller item; the second linear driving device drives the locking plate to rotate and makes the bottom surface of the locking plate parallel to the bottom surface of the base, blocking the smaller item from the bottom of the horizontally moving vertical plate, thereby realizing the grasping of the smaller item. The action is opposite when placing the package.
[0013] The present utility model can grasp both larger objects and smaller objects, enhancing the versatility of the device. The horizontally moving vertical plate can move and can grasp items of different sizes. A locking plate is provided, making it more reliable when grasping smaller items. The present utility model has low cost, high efficiency, and can realize the simultaneous production of multiple products.
[0014] As a preferred technical solution, both the first linear driving device and the second linear driving device are cylinders or electric push rods.
[0015] As a preferred technical solution, the cross-section of the locking plate perpendicular to the hinge axis is in an "L" shape.
[0016] As a preferred technical solution, the third linear drive device is a cylinder or an electric push rod.
[0017] As a preferred technical solution, upper vertical plates are provided above the middle parts of the lower vertical plates, a second longitudinal axis is provided between the middle parts of the two upper vertical plates; the two jaw drive assemblies are symmetric about the second longitudinal axis left and right;
[0018] Each jaw drive assembly includes two first connecting plates, two second connecting plates, a connecting plate, a fourth linear motion drive device, a fifth linear motion drive device, and a third longitudinal axis;
[0019] The front and rear ends of each first longitudinal axis are sleeved with first connecting plates, the bottom ends of the two first connecting plates are hinged to the third longitudinal axis; a second ear plate is provided at the top end of one of the first connecting plates, the second ear plate is hinged to the fourth linear motion drive device, and the fourth linear motion drive device is hinged to the second longitudinal axis;
[0020] The middle parts of the two first connecting plates are connected to the connecting plate, a fifth linear motion drive device is connected to the connecting plate, the fifth linear motion drive device is hinged to the third ear plate, and the third ear plate is connected to the third longitudinal axis;
[0021] A second connecting plate is fixed to each end of each third longitudinal axis, and the two second connecting plates are connected to a jaw bracket. With this technical solution, when the fork rods of the two jaws move to both sides of the base, the third longitudinal axis can be driven to rotate counterclockwise again by the fifth linear motion drive device, so that the bottoms of the fork rods move to a higher height, thereby preventing the fork rods from blocking the movement of the grabbed items.
[0022] As a preferred technical solution, a rotating shaft is vertically provided on the gripper arm of the palletizing robot, a panel is connected between the top ends of the two upper vertical plates, and a rotating shaft connection hole connected to the rotating shaft is provided at the center of the panel.
[0023] As a preferred technical solution, a hollow hole is provided at the bottom of each connecting plate, a fifth linear motion drive device is connected to each connecting plate far from the third longitudinal axis closest to it, and each second ear plate is inserted into the hollow hole closest to it. With this technical solution, the volume of the device can be reduced.
[0024] As a preferred technical solution, each connecting plate is perpendicular to the second ear plate closest to it.
[0025] As a preferred technical solution, both the fourth linear motion drive device and the fifth linear motion drive device are cylinders or electric push rods. BRIEF DESCRIPTION OF THE DRAWINGS
[0026] Figure 1 is an axonometric view of a preferred embodiment of the palletizing robot composite gripping device of the present invention.
[0027] Figure 2 is Figure 1 A partial enlarged view of part A of
[0028] Figure 3 is Figure 1 A partial enlarged view of part B of
[0029] Figure 4 is Figure 1 The front view of the palletizing robot composite grasping device shown in
[0030] Figure 5 is Figure 4 A partial enlarged view of part C of
[0031] Figure 6 is Figure 1 The top view of the palletizing robot composite grasping device shown in
[0032] Figure 7 is Figure 6 A partial enlarged view of part D of
[0033] Figure 8 is Figure 1 The axonometric view of the palletizing robot composite grasping device in a certain state shown in
[0034] Figure 9 is Figure 8 A partial enlarged view of part E of
[0035] Figure 10 is Figure 8 A partial enlarged view of part F of
[0036] Figure 11 is Figure 8 The sectional view of the palletizing robot composite grasping device G-G’ shown in
[0037] Figure 12 is Figure 11 A partial enlarged view of part H of
[0038] Figure 13 is Figure 11 A partial enlarged view of part I of
[0039] Figure 14 is Figure 8 The front view of the palletizing robot composite grasping device shown in
[0040] Figure 15 is Figure 14 A partial enlarged view of part J of
[0041] Figure 16 is Figure 8Top view of the palletizing robot composite gripping device shown
[0042] Figure 17 is Figure 16 Partial enlarged view of part K of
[0043] Figure 18 is Figure 16 Partial enlarged view of part L of
[0044] Figure 19 is Figure 1 Front view of the palletizing robot composite gripping device shown in one state
[0045] Figure 20 is Figure 19 Partial enlarged view of part M of
[0046] Figure 21 Front view of a preferred embodiment of the palletizing robot composite gripping device of the present utility model
[0047] Wherein: lower vertical plate - 11; first longitudinal axis - 12; first linear drive device mounting bracket - 13; first linear drive device - 14; slider - 15; transverse guide rail - 16;
[0048] fork rod - 21; jaw support - 22;
[0049] first connecting plate - 31; second connecting plate - 32; connecting plate - 33; fourth linear motion drive device - 34; fifth linear motion drive device - 35; third longitudinal axis - 36; second ear plate - 37; third ear plate - 38; hollow hole - 39;
[0050] fixed vertical plate - 4;
[0051] transverse moving vertical plate - 5; hinge shaft - 51; locking plate - 52; first ear plate - 53; second linear drive device - 54;
[0052] third linear drive device - 6; longitudinal pressure plate - 61; suction cup - 62;
[0053] upper vertical plate - 7; second longitudinal axis - 71; panel - 72; rotary shaft connection hole - 73;
[0054] larger item - 8;
[0055] smaller item - 9. Detailed implementation manners
[0056] Next, the present utility model will be further described in conjunction with the drawings and embodiments.
[0057] Embodiment 1. As shown in Figure 1-20As shown in the figure, a palletizing robot composite gripping device includes a base connected to the gripper arm of the palletizing robot, two grippers connected to the base, a fixed vertical plate 4, a laterally moving vertical plate 5, two gripper drive assemblies, and a bale pressing assembly.
[0058] The base includes two lower vertical plates 11 symmetrically arranged in the front and rear; a first longitudinal axis 12 perpendicular to the two lower vertical plates 11 is provided between the left ends and between the right ends of the two lower vertical plates 11 respectively; the two grippers are respectively hinged on a first longitudinal axis 12.
[0059] A first linear drive device mounting bracket 13 is connected between the middle parts of the bottoms of the two lower vertical plates 11. A first linear drive device 14 is horizontally mounted on the first linear drive device mounting bracket 13. A lateral guide rail 16 is mounted on the right end of the bottom surface of each lower vertical plate 11. A slider 15 is mounted on each lateral guide rail 16. The two sliders 15 are connected by a laterally moving vertical plate 5. The top end of the laterally moving vertical plate 5 is connected to the first linear drive device 14; the fixed vertical plate 4 is connected to the two lower vertical plates 11 and is located on the side of the first linear drive device 14 away from the laterally moving vertical plate 5, that is, on the left side of the first linear drive device 14.
[0060] A hinge shaft 51 is longitudinally provided at the end of the bottom of the laterally moving vertical plate 5 away from the fixed vertical plate 4, that is, a hinge shaft 51 is longitudinally provided at the left end of the laterally moving vertical plate 5. A locking plate 52 is connected to the hinge shaft 51. The hinge shaft 51 is connected to a second linear drive device 54 through a first ear plate 53. The top end of the second linear drive device 54 is hinged to the side of the top end of the laterally moving vertical plate 5 away from the fixed vertical plate 4, that is, the top end of the second linear drive device 54 is hinged to the right side of the top end of the laterally moving vertical plate 5.
[0061] The gripper includes a gripper bracket 22 and a plurality of fork rods 21. Each gripper bracket 22 is connected to a gripper drive assembly; a plurality of fork rods 21 perpendicular to the first longitudinal axis 12 are provided at the bottom end of each gripper bracket 22 near the side of the other gripper bracket 22; when the distance between the fork rods 21 of the two grippers is the closest, the top surfaces of the fork rods 21 are parallel to the bottom surfaces of the two lower vertical plates 11, and the fixed vertical plate 4 and the laterally moving vertical plate 5 are both above the top surfaces of the fork rods 21. The two grippers are arranged symmetrically left and right with respect to the centroid of the base.
[0062] The bale pressing assembly includes two third linear drive devices 6 vertically arranged in the middle of the side of each lower vertical plate 11 away from the other lower vertical plate 11. The bottom ends of the two third linear drive devices 6 are connected to a longitudinal pressing plate 61 provided below the two lower vertical plates 11 and above the locking plate 52; the laterally moving vertical plate 5 and the fixed vertical plate 4 are respectively located on both sides of the longitudinal pressing plate 61. A suction cup 62 is provided on the bottom surface of the longitudinal pressing plate 61.
[0063] The beneficial effects of the present utility model are as follows: When grasping a relatively large item 8, when each jaw rotates counterclockwise along the first longitudinal axis 12 under the drive of the jaw drive assembly, the fork rods 21 of the two jaws move to both sides of the base. The gripper arm of the palletizing robot drives the base to move above the relatively large item. Each jaw rotates clockwise along the first longitudinal axis 12 under the drive of the jaw drive assembly, and the fork rods 21 of the two jaws move below the relatively large item. At this time, the two jaws can grasp the relatively large item, such as grasping a bag. The action is opposite when placing the bag.
[0064] When it is necessary to grasp a relatively small item 9, such as a cardboard box, when each jaw rotates counterclockwise along the first longitudinal axis 12 under the drive of the jaw drive assembly, the fork rods 21 of the two jaws move to both sides of the base. The relatively small item enters the space between the fixed vertical plate 4 and the laterally movable vertical plate 5. The first linear drive device 14 drives the laterally movable vertical plate 5 to move towards the fixed vertical plate 4 to clamp the relatively small item 9. The longitudinal pressure plate 61 descends, and the suction cup 62 at the bottom end of the longitudinal pressure plate 61 adsorbs and clamps the top surface of the relatively small item. The second linear drive device 54 drives the locking plate 52 to rotate and makes the bottom surface of the locking plate 52 parallel to the bottom surface of the base, blocking the relatively small item 9 from the bottom of the laterally movable vertical plate 5, thereby realizing the grasping of the relatively small item. The action is opposite when placing the bag.
[0065] The present utility model can realize the grasping of both relatively large objects and relatively small objects, enhancing the versatility of the device. The laterally movable vertical plate 5 can move and can grasp items of different sizes. There is a locking plate 52, which is relatively firm when grasping relatively small items. The present utility model has low cost, high efficiency, and can realize the simultaneous production of multiple products.
[0066] The first linear drive device 14 and the second linear drive device 54 are both cylinders.
[0067] The cross-section of the locking plate 52 perpendicular to the hinge shaft 51 is in an "L" shape.
[0068] The third linear drive device 6 is a cylinder.
[0069] Above the middle of each lower vertical plate 11, there is an upper vertical plate 7. Between the middles of the two upper vertical plates 7, there is a second longitudinal axis 71; the two jaw drive assemblies are symmetric about the second longitudinal axis 71.
[0070] Each jaw drive assembly includes two first connecting plates 31, two second connecting plates 32, a connecting plate 33, a fourth linear motion drive device 34, a fifth linear motion drive device 35, and a third longitudinal axis 36.
[0071] A first connecting plate 31 is sleeved on the front and rear ends of each first vertical axis 12, and the bottom ends of the two first connecting plates 31 are hinged to a third vertical axis 36; a second ear plate 37 is provided at the top end of the first connecting plate 31 located at the rear among the two first connecting plates 31, the second ear plate 37 is hinged to a fourth linear motion driving device 34, and the fourth linear motion driving device 34 is hinged to a second vertical axis 71.
[0072] The middle parts of the two first connecting plates 31 are connected to a connecting plate 33, a fifth linear motion driving device 35 is connected to the connecting plate 33, the fifth linear motion driving device 35 is hinged to a third ear plate 38, and the third ear plate 38 is connected to the third vertical axis 36.
[0073] A second connecting plate 32 is fixed to each end of the third vertical axis 36, and the two second connecting plates 32 are connected to a jaw support 22. With this technical solution, when the fork rods 21 of the two jaws move to both sides of the base, the third vertical axis 36 can be driven to rotate counterclockwise again by the fifth linear motion driving device 35, so that the bottom of each fork rod 21 moves to a higher height, thereby preventing each fork rod 21 from blocking the movement of the grabbed item.
[0074] A rotating shaft is vertically provided on the gripper arm of the palletizing robot, a panel 72 is connected between the top ends of the two upper vertical plates 7, and a rotating shaft connection hole 73 connected to the rotating shaft is provided at the center of the panel 72.
[0075] A hollow hole 39 is provided at the bottom of each connecting plate 33, a fifth linear motion driving device 35 is connected to each connecting plate 33 far away from the third vertical axis 36 closest to it, and each second ear plate 37 is inserted into the hollow hole 39 closest to it. With this technical solution, the volume of the device can be reduced.
[0076] Each connecting plate 33 is perpendicular to the second ear plate 37 closest to it.
[0077] The fourth linear motion driving device 34 and the fifth linear motion driving device 35 are both cylinders or electric push rods.
[0078] Embodiment 2. As Figure 21 shown, the difference between this embodiment and Embodiment 1 is that: a transverse guide rail 16 is installed at the left end of the bottom surface of each lower vertical plate 11 as a preferred technical solution, and the first linear driving device and the second linear driving device are both electric push rods. The third linear driving device 6 is an electric push rod. The fourth linear motion driving device and the fifth linear motion driving device are both electric push rods. Two suction cups 62 are provided on the bottom surface of the longitudinal pressure plate.
[0079] The above are only the preferred specific embodiments of the present utility model, but the protection scope of the present utility model is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present utility model, according to the technical solution and its concept of the present utility model, making equivalent substitutions or changes should be covered within the protection scope of the present utility model.
Claims
1. A palletizing robot composite grasping device, characterized in that: It includes a base connected to the gripper arm of the palletizing robot, two grippers connected to the base, a fixed vertical plate (4), a laterally moving vertical plate (5), two gripper drive assemblies, and a bale pressing assembly; The base includes two lower vertical plates (11) symmetrically arranged front and rear; a first longitudinal axis (12) perpendicular to the two lower vertical plates (11) is provided between the left ends and between the right ends of the two lower vertical plates (11); the two grippers are respectively hinged on a first longitudinal axis (12); A first linear drive device mounting bracket (13) is connected between the middle parts of the bottoms of the two lower vertical plates (11). A first linear drive device (14) is horizontally mounted on the first linear drive device mounting bracket (13). A lateral guide rail (16) is mounted on the left end or the right end of the bottom surface of each lower vertical plate (11). A slider (15) is mounted on each lateral guide rail (16). The two sliders (15) are connected by a laterally moving vertical plate (5). The top end of the laterally moving vertical plate (5) is connected to the first linear drive device (14); the fixed vertical plate (4) is connected to the two lower vertical plates (11) and is located on the side of the first linear drive device (14) away from the laterally moving vertical plate (5). A hinge shaft (51) is longitudinally provided at the end of the bottom of the laterally moving vertical plate (5) away from the fixed vertical plate (4). A locking plate (52) is connected to the hinge shaft (51). The hinge shaft (51) is connected to a second linear drive device (54) through a first ear plate (53). The top end of the second linear drive device (54) is hinged to the side of the top end of the laterally moving vertical plate (5) away from the fixed vertical plate (4); The gripper includes a gripper bracket (22) and a plurality of fork rods (21). Each gripper bracket (22) is connected to a gripper drive assembly; a plurality of fork rods (21) perpendicular to the first longitudinal axis (12) are provided at the bottom end of each gripper bracket (22) close to the side surface of the other gripper bracket (22); when the distance between the two gripper fork rods (21) is the closest, the top surfaces of the fork rods (21) are parallel to the bottom surfaces of the two lower vertical plates (11), and the fixed vertical plate (4) and the laterally moving vertical plate (5) are both above the top surfaces of the fork rods (21).
2. The palletizing robot composite grasping device according to claim 1, wherein: The bale pressing assembly includes two third linear drive devices (6) vertically arranged in the middle of the side of each lower vertical plate (11) away from the other lower vertical plate (11). The bottom ends of the two third linear drive devices (6) are connected to a longitudinal pressing plate (61) arranged below the two lower vertical plates (11) and above the locking plate (52); the laterally moving vertical plate (5) and the fixed vertical plate (4) are respectively located on both sides of the longitudinal pressing plate (61). A plurality of suction cups (62) are provided on the bottom surface of the longitudinal pressing plate (61).
3. The palletizing robot composite grasping device according to claim 2, characterized in that: The first linear drive device (14) and the second linear drive device (54) are both cylinders or electric push rods.
4. The palletizing robot composite grasping device according to claim 2, wherein: The cross-section of the locking plate (52) perpendicular to the hinge shaft (51) is in an "L" shape.
5. The palletizing robot composite grasping device according to claim 2, characterized in that: The third linear drive device (6) is a cylinder or an electric push rod.
6. The palletizing robot composite gripping device according to claim 1, wherein: Upper vertical plates (7) are provided above the middle parts of the lower vertical plates (11). A second longitudinal axis (71) is provided between the middle parts of the two upper vertical plates (7); the two gripper drive assemblies are symmetrically arranged left and right along the second longitudinal axis (71); Each jaw driving assembly includes two first connecting plates (31), two second connecting plates (32), a connecting plate (33), a fourth linear motion driving device (34), a fifth linear motion driving device (35), and a third longitudinal axis (36); The front and rear ends of each first longitudinal axis (12) are sleeved with a first connecting plate (31), and the bottom ends of the two first connecting plates (31) are hinged to the third longitudinal axis (36); a second ear plate (37) is provided at the top end of one of the first connecting plates (31), the second ear plate (37) is hinged to the fourth linear motion driving device (34), and the fourth linear motion driving device (34) is hinged to the second longitudinal axis (71); The middle parts of the two first connecting plates (31) are connected to the connecting plate (33), the connecting plate (33) is connected with a fifth linear motion driving device (35), the fifth linear motion driving device (35) is hinged to the third ear plate (38), and the third ear plate (38) is connected to the third longitudinal axis (36); A second connecting plate (32) is fixed to each end of each third longitudinal axis (36), and the two second connecting plates (32) are connected to a jaw support (22).
7. The palletizing robot composite grasping device according to claim 6, characterized in that: A rotating shaft is vertically provided on the gripper arm of the palletizing robot, a panel (72) is connected between the top ends of the two upper vertical plates (7), and a rotating shaft connection hole (73) connected to the rotating shaft is provided at the center of the panel (72).
8. The palletizing robot composite grasping device according to claim 6, characterized in that: A hollow hole (39) is provided at the bottom of each connecting plate (33), a fifth linear motion driving device (35) is connected to each connecting plate (33) far from the third longitudinal axis (36) closest to it, and each second ear plate (37) is inserted into the hollow hole (39) closest to it.
9. The palletizing robot composite gripping device according to claim 8, characterized in that: Each connecting plate (33) is perpendicular to the second ear plate (37) closest to it.
10. The palletizing robot composite grasping device according to claim 6, wherein: Both the fourth linear motion driving device (34) and the fifth linear motion driving device (35) are cylinders or electric push rods.