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.