目的 为了提高码垛效率，设计一种能够满足多种产品规格的码垛机器人末端执行器多箱抓取装置，并通过编程实现码垛控制。方法 详细分析末端执行器的结构设计，借助SolidWorks软件平台完成执行器的三维模型。完成真空吸附回路的设计以及真空吸盘的选型计算，最后通过PLC编程完成产品位置点的计算，并进行实验验证。结果 末端执行器依垛型规划软件的垛型高效地完成了多箱抓取任务。结论 此真空吸附式末端执行器具有较高的实用性，能提高码垛效率。

The work aims to design a multi-box grasping device of palletizing robot end effector that can meet the specifications of various kinds of products and achieve the palletizing control through programming, so as to improve the palletizing efficiency. Through the detailed analysis on the structure design of end effector, the three-dimensional model of effector was set up by means of the SolidWorks platform. The design of vacuum adsorption circuit and the selection calculation of vacuum sucker were finished. In the end, the position point of the product was calculated by PLC programming and the experimental verification was carried out. The end effector efficiently accomplished the task of multi-box grasping according to the stack type in the stack type planning software. The vacuum adsorption end effector has high practicability and can improve the stacking efficiency.