Multi-purpose end effector for rope-driven parallel warehouse robot

Abstract

The application relates to a warehouse logistics device, in particular to a multipurpose end clamp for a rope-driven parallel warehouse robot, which comprises a base and a first outer layer clamp, a second outer layer clamp, a first inner layer clamp, a second inner layer clamp and a control unit connected to the base, the first inner layer clamp and the second inner layer clamp are located between the first outer layer clamp and the second outer layer clamp, when goods are received, the control unit controls the first outer layer clamp, the second outer layer clamp and the first inner layer clamp and the second inner layer clamp to open, when the goods completely slide in, the first inner layer clamp and the second inner layer clamp clamp, when the goods are unloaded, the control unit controls the first outer layer clamp and the second outer layer clamp to move away from each other while the first inner layer clamp and the second inner layer clamp move close to each other. The application can realize the full-process automation of receiving, clamping, carrying and releasing goods and is compatible with goods of different sizes.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of warehousing logistics equipment, in particular to a kind of multipurpose end clamp for rope-driven parallel warehousing robot. BACKGROUND

[0002] Due to the development of logistics industry, the existing warehousing volume is huge, and the goods are stacked in large quantities, resulting in huge work load of goods receiving, stacking, and heavy work. At the same time, due to the large amount of goods, the stacking is getting higher and higher, resulting in difficulty in stacking, and the ground condition limits the goods handling, and the ground is stacked with more goods, resulting in difficulty in using the goods handling tool. SUMMARY

[0003] The present application aims to provide a kind of multipurpose end clamp for rope-driven parallel warehousing robot, which can realize the whole process automation of receiving, clamping, transporting and releasing goods, and is compatible with different sizes of goods.

[0004] To achieve the above-mentioned purpose, the present application provides a kind of multipurpose end clamp for rope-driven parallel warehousing robot, which comprises a base and a control unit connected thereto, a first outer clamp connected with the control unit, a second outer clamp, a first inner clamp, a second inner clamp,

[0005] The first outer clamp and the second outer clamp are the same structure and are oppositely arranged and controlled by the control unit to be synchronously away from or close to each other, the first outer clamp comprises a first bottom plate and a first side plate connected to each other to form an L shape, when the first bottom plate and the second bottom plate of the second outer clamp are abutted to each other by moving the first outer clamp and the second outer clamp close to each other, one side between the first outer clamp and the second outer clamp forms a goods entrance,

[0006] The first inner clamp and the second inner clamp are located between the first outer clamp and the second outer clamp and are the same structure and oppositely arranged, and are controlled by the control unit to be away from or close to each other, the first inner clamp comprises a first clamping plate vertically arranged and parallel to the first side plate and located above the first bottom plate.

[0007] The present application provides a kind of multipurpose end clamp for rope-driven parallel warehousing robot, wherein the first outer clamp further comprises a first baffle, the first baffle is connected to the side edge of the first bottom plate away from the goods entrance, and the first baffle is perpendicular to the first bottom plate.

[0008] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein it further includes first driving part, second driving part, third driving part, fourth driving part, the first driving part, the second driving part drive the first outer layer clamp, the second outer layer clamp moves in synchronization, the third driving part, fourth driving part respectively drive the first inner layer clamp, the second inner layer clamp moves.

[0009] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein it further includes first rack, second rack, central gear, the first rack, the second rack is located two sides of central gear respectively, the first rack, the second rack all is engaged with central gear, the first outer layer clamp connects the first rack, the second outer layer clamp connects the second rack.

[0010] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein the first driving part, the second driving part, the third driving part, the fourth driving part all are pneumatic telescopic rod.

[0011] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein it further includes first guide rail group, second guide rail group, the first guide rail group, the second guide rail group all are connected on the base, the first outer layer clamp still includes first top plate, the first top plate is connected with the first side plate, be provided with two first sliding block on the first top plate, the first outer layer clamp is connected on two guide rails of the first guide rail group through the two first sliding block, the first inner layer clamp still includes first connecting frame, the first connecting frame is connected with the first clamping plate, be provided with two second sliding block on the first connecting frame, the first inner layer clamp is connected on two guide rails of the second guide rail group through the two second sliding block.

[0012] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein it further includes first outer side distance sensor, second outer side distance sensor, first inner side distance sensor, second inner side distance sensor, the first outer side distance sensor, the second outer side distance sensor are used for gathering the distance information of first outer layer clamp, second outer layer clamp relative to the base and transmission to control unit, the first inner side distance sensor, second inner side distance sensor are used for gathering the distance information of first inner layer clamp, second inner layer clamp relative to the base and transmission to control unit, the control unit according to the distance information of preconcerted control first outer layer clamp, second outer layer clamp, first inner layer clamp, second inner layer clamp's movement amount.

[0013] The utility model is used for the multipurpose end clamp of rope drive parallel warehouse robot, wherein the base can rotate.

[0014] The application is a multi-purpose end clamp for a rope-driven parallel warehouse robot, wherein a plurality of rope connection ends are arranged on the upper surface of the base.

[0015] The application is a multi-purpose end clamp for a rope-driven parallel warehouse robot, wherein at least two pairs of pallet hooks are further included, wherein one pair of the pallet hooks are respectively connected to the outer edges of the first bottom plate and the second bottom plate on the side of the goods inlet, and the other pair of the pallet hooks are respectively connected to the outer edges of the first bottom plate and the second bottom plate on the other side.

[0016] The application is a multi-purpose end clamp for a rope-driven parallel warehouse robot, which has at least the following beneficial effects:

[0017] The application is a multi-purpose end clamp for a rope-driven parallel warehouse robot, wherein the first outer clamp and the second outer clamp are close to each other, so that when the first bottom plate and the second bottom plate of the second outer clamp abut against each other, a goods inlet is formed on one side between the first outer clamp and the second outer clamp, and the control unit can control the first outer clamp and the second outer clamp to move synchronously close to or away from each other, and the first inner clamp and the second inner clamp move close to or away from each other. The base is used to connect with the driving ropes, and the end clamp of the application is moved and swung by pulling the driving ropes, which facilitates the movement of the end clamp of the application to any height and any position, and is not limited by ground conditions. Therefore, the whole process of receiving goods from the conveyor and releasing goods can be completed, the whole process of receiving, clamping, carrying, and releasing goods is automated, large-scale unmanned transfer and efficient stacking in the warehouse are realized, the problem of high stacking of goods is solved, the efficiency of goods transfer is improved, the first outer clamp and the second outer clamp are synchronously relatively far away or close to each other, which avoids the situation that the first bottom plate and the second bottom plate cannot receive goods, and the opening degree of the first outer clamp and the second outer clamp and the opening degree of the first inner clamp and the second inner clamp can be adjusted, so that the application is compatible with goods of different sizes and improves the flexibility of operation.

[0018] The application is a multi-purpose end clamp for a rope-driven parallel warehouse robot, wherein a plurality of rope connection ends are arranged on the upper surface of the base. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings in this application serve to supplement the description in the text part of the specification and further explain the technical solutions of the application, and do not constitute an improper limitation on the application.

[0020] Figure 1 FIG. 1 is a perspective view of the overall structure of the multi-purpose end clamp for a rope-driven parallel warehouse robot of the application;

[0021] Figure 2 FIG. 2 is a side view of the overall structure of the multi-purpose end clamp for a rope-driven parallel warehouse robot of the application;

[0022] Figure 3 A perspective view of the internal transmission structure of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application;

[0023] Figure 4 A top view of the internal transmission structure of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application;

[0024] Figure 5 A use state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application;

[0025] Figure 6 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when preparing to receive goods on the conveyor belt;

[0026] Figure 7 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when receiving goods on the conveyor belt;

[0027] Figure 8 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when moving goods to the target position;

[0028] Figure 9 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when placing goods;

[0029] Figure 10 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when preparing to grab the pallet;

[0030] Figure 11 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when grabbing the pallet with the gripper open;

[0031] Figure 12 A state diagram of the multipurpose end gripper for the rope-driven parallel warehouse robot of the present application when grabbing the pallet is complete.

[0032] Reference signs:

[0033] 01 base; 11 goods entrance; 12 rope connection end; 21 first outer layer clamp; 211 first bottom plate; 212 first side plate; 213 first top plate; 214 first baffle; 215 tray hook; 22 second outer layer clamp; 23 first driving member; 24 second driving member; 251 first rack; 252 second rack; 26 central gear; 27 first guide rail group; 28 first outer side distance sensor; 29 second outer side distance sensor; 31 first inner layer clamp; 311 first clamping plate; 312 first connecting frame; 32 second inner layer clamp; 33 third driving member; 34 fourth driving member; 37 second guide rail group; 38 first inner side distance sensor; 39 second inner side distance sensor; 06 mounting frame; 61 rope winch; 09 tray. DETAILED DESCRIPTION

[0034] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings.

[0035] In the description of the present application, it should be understood that the terms "center", "transverse", "longitudinal", "front", "back", "left", "right", "up", "down", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the scope of protection of the present application.

[0036] As shown in Figure 1 , Figure 2 A multi-purpose end clamp for rope-driven parallel warehouse robots according to the present application comprises a base 01, a first outer layer clamp 21, a second outer layer clamp 22, a first inner layer clamp 31, a second inner layer clamp 32 connected to the base 01, and a control unit, wherein the control unit adopts a PLC control system,

[0037] The first outer layer clamp 21 and the second outer layer clamp 22 are identical in structure and oppositely arranged, and the control unit controls the first outer layer clamp 21 and the second outer layer clamp 22 to synchronously move away from or synchronously move close to each other, the first outer layer clamp 21 comprises a first bottom plate 211 and a first side plate 212, the first bottom plate 211 and the first side plate 212 are connected to each other to form an L shape, and when the first bottom plate 211 of the first outer layer clamp 21 and a second bottom plate of the second outer layer clamp 22 abut against each other, a side between the first outer layer clamp 21 and the second outer layer clamp 22 forms a goods entrance 11, and the first bottom plate 211 and the second bottom plate form a goods bearing surface for bearing goods of different sizes, in the embodiment, the first side plate 212 is in the shape of a frame,

[0038] The first inner layer clamp 31 and the second inner layer clamp 32 are located between the first outer layer clamp 21 and the second outer layer clamp 22, the first inner layer clamp 31 and the second inner layer clamp 32 are the same structure and oppositely arranged, the control unit controls the first inner layer clamp 31 and the second inner layer clamp 32 to be relatively far away or relatively close, the first inner layer clamp 31 comprises a first clamping plate 311, the first clamping plate 311 is vertically arranged, the first clamping plate 311 is parallel to the first side plate 212, the first clamping plate 311 is located above the first bottom plate 211, the lower edge of the first clamping plate 311 is close to the upper surface of the first bottom plate 211, and the first inner layer clamp 31 and the second inner layer clamp 32 are close to each other, and the goods supported on the first bottom plate 211 and the second bottom plate are formed twice. Clamping.

[0039] As shown in Figure 1 , Figure 5 The present application is used for the multi-purpose end clamp of the rope-driven parallel warehouse robot, which is installed at the end of various rope-driven parallel warehouse robots when used, a plurality of rope connection ends 12 are arranged on the upper surface of the base 01, the ropes are connected with the multi-purpose end clamp of the rope-driven parallel warehouse robot through the rope connection ends 12, a rope winch 61 is arranged on the installation frame 06 of the rope-driven parallel warehouse robot, each rope is pulled by the rope winch 61 to move and swing the end clamp, so that the end clamp is moved to any height and any position, is not limited by ground conditions, realizes the unmanned large-scale transfer and efficient stacking of the warehouse, and solves the problem of high stacking difficulty of goods. The specific process is shown in Figure 6 , Figure 7 , Figure 8 , Figure 9 When the multi-purpose end clamp of the rope-driven parallel warehouse robot reaches the end of the conveyor and is inclined at a certain angle, the base 01 is rotated to the direction corresponding to the arrival of the goods at the goods entrance 11, the control unit controls the first outer layer clamp 21 and the second outer layer clamp 22 to be close, the first inner layer clamp 31 and the second inner layer clamp 32 are appropriately opened according to the size of the goods, the goods conveyed by the conveyor slide onto the first bottom plate and the second bottom plate, and when the goods completely slide onto the first bottom plate and the second bottom plate, the control unit controls the first inner layer clamp 31 and the second inner layer clamp 32 to clamp and fix the goods according to the size of the goods; the control unit drives each rope to be telescopic, moves the multi-purpose end clamp of the rope-driven parallel warehouse robot to the target position, the control unit controls the first outer layer clamp 21 and the second outer layer clamp 22 to be far away from each other, and controls the first inner layer clamp 31 and the second inner layer clamp 32 to be close to each other to push the supported goods inward, so that the goods completely separate from the clamp and are placed in the placement position, and the release of the goods is completed.

[0040] The utility model is used for the multipurpose end clamp of rope driving parallel warehousing robot, because the first outer layer clamp 21, second outer layer clamp 22 are close to each other, when the first bottom plate 211 and the second bottom plate of second outer layer clamp 22 are close to each other, one side between the first outer layer clamp 21, second outer layer clamp 22 forms goods entrance 11, and the control unit can control the first outer layer clamp 21, second outer layer clamp 22 are close to each other or are far from each other, and the first inner layer clamp 31, second inner layer clamp 32 are close to each other or are far from each other, so the whole process of self-conveyor receiving and releasing goods can be completed, the whole process automation of receiving, clamping, carrying and releasing goods is realized, and manual operation is not needed, simultaneously, because the first outer layer clamp 21, second outer layer clamp 22 form goods entrance 11, when using, the goods entrance 11 corresponds the position of conveyor goods arrival, so the rope driving in the air is convenient, is not limited by ground conditions, realizes the unmanned large-scale transfer and efficient stacking of warehouse, solves the problem of high stacking difficulty of goods, furthermore, the first outer layer clamp 21, second outer layer clamp 22 are far from each other or are close to each other, the first bottom plate and the second bottom plate cannot receive goods are avoided, and the opening degree of the first outer layer clamp 21, second outer layer clamp 22 and the opening degree of the first inner layer clamp 31, second inner layer clamp 32 can be adjusted, so that the utility model is compatible with goods of different sizes, and operation flexibility is improved.

[0041] Optionally, the base 01 is adapted to rotate freely within a range of 360 degrees, and the control unit controls the base 01 to rotate during the process of receiving, carrying and releasing goods, so that the utility model can receive goods on the conveyor belt at any angle, make up for the problem of insufficient freedom of the end of the rope driving robot, adjust the posture of the clamp according to the task requirement, optimize the efficiency of goods handover, and enhance the space adaptability.

[0042] Optionally, the first outer layer clamp 21 further comprises a first baffle 214 connected to the side edge of the first bottom plate 211 away from the goods entrance 11, and the first baffle 214 is perpendicular to the first bottom plate 211. By arranging the first baffle 214, the goods conveyed by the conveyor belt are prevented from sliding into the first bottom plate and the second bottom plate and falling off during transportation.

[0043] Optionally, as Figure 3 , Figure 4As shown, it also comprises a first driving member 23, a second driving member 24, a third driving member 33, and a fourth driving member 34 connected to the base 01, the first driving member 23 and the second driving member 24 drive the first outer layer clamp 21 and the second outer layer clamp 22 to move synchronously, and the third driving member 33 and the fourth driving member 34 drive the first inner layer clamp 31 and the second inner layer clamp 32 to move, respectively. The driving members are arranged separately, so that the multipurpose end clamp of the rope-driven parallel warehouse robot is convenient to operate and maintain, and the first inner layer clamp 31 and the second inner layer clamp 32 can be controlled on one side, so that the goods are clamped more conveniently.

[0044] Optionally, it also comprises a first rack 251, a second rack 252, and a central gear 26, the first rack 251 and the second rack 252 are located on the two sides of the central gear 26, and the first rack 251 and the second rack 252 are engaged with the central gear 26, the first outer layer clamp 21 is connected to the first rack 251, and the second outer layer clamp 22 is connected to the second rack 252. When the first driving member 23 drives the first outer layer clamp 21 to move, the first rack 251 is driven to move synchronously, the central gear 26 is driven to rotate, the second rack 252 and the second outer layer clamp 22 are driven to produce equal and opposite displacement, so that the first outer layer clamp 21 and the second outer layer clamp 22 always keep symmetrical opening and closing, effectively avoiding the problem of asynchronous movement caused by air pressure fluctuation, air cylinder response difference, or uneven friction, so that the first outer layer clamp 21 and the second outer layer clamp 22 open and close synchronously and symmetrically, and the first bottom plate and the second bottom plate can hold the goods.

[0045] Optionally, the first driving member 23, the second driving member 24, the third driving member 33, and the fourth driving member 34 are all pneumatic telescopic rods.

[0046] Optionally, it also comprises a first guide rail set 27 and a second guide rail set 37, the first guide rail set 27 and the second guide rail set 37 are both connected to the base 01, the first outer layer clamp 21 further comprises a first top plate 213, the first top plate 213 is connected to the first side plate 212, two first sliding blocks are arranged on the first top plate 213, and the first outer layer clamp 21 is connected to two guide rails of the first guide rail set 27 through the two first sliding blocks, the first inner layer clamp 31 further comprises a first connecting frame 312, the first connecting frame 312 is connected to the first clamp plate 311, two second sliding blocks are arranged on the first connecting frame 312, and the first inner layer clamp 31 is connected to two guide rails of the second guide rail set 37 through the two second sliding blocks. By arranging the first guide rail set 27 and the second guide rail set 37, the first outer layer clamp 21, the second outer layer clamp 22, the first inner layer clamp 31, and the second inner layer clamp 32 are prevented from deviating during opening and closing.

[0047] Optionally, the first outer distance sensor 28 and the second outer distance sensor 29 are further included, the first inner distance sensor 38 and the second inner distance sensor 39 are further included, the first outer distance sensor 28 and the second outer distance sensor 29 are used to collect distance information of the first outer layer clamp 21 and the second outer layer clamp 22 relative to the base 01, and transmit the distance information to the control unit, the first inner distance sensor 38 and the second inner distance sensor 39 are used to collect distance information of the first inner layer clamp 31 and the second inner layer clamp 32 relative to the base 01, and transmit the distance information to the control unit, the control unit is preset with distance information of the first outer layer clamp 21 and the second outer layer clamp 22 and distance information of the first inner layer clamp 31 and the second inner layer clamp 32 according to size information of the to-be-picked goods, and the control unit controls movement amounts of the first outer layer clamp 21, the second outer layer clamp 22, the first inner layer clamp 31 and the second inner layer clamp 32 according to the preset distance information, so that the multipurpose end clamp of the rope-driven parallel warehouse robot can clamp the goods when receiving the goods, and the goods can be released when the goods are released.

[0048] Optionally, two pairs or more pairs of tray hooks 215 are further included, one pair of tray hooks 215 is connected to the outer edge of the first bottom plate 211 and the second bottom plate on the side of the goods entrance 11, and the other pair of tray hooks 215 is connected to the outer edge of the first bottom plate 211 and the second bottom plate on the other side.

[0049] When it is necessary to pick up a tray, the multipurpose end clamp of the rope-driven parallel warehouse robot is moved above the tray 09 through a rope, and the posture is kept horizontal; then, as shown in Figure 10 , the first outer layer clamp 21 and the second outer layer clamp 22 are opened to a length slightly larger than the size of the tray 09, the tray hooks 215 are placed between the tray grid gaps, and then, as shown in Figure 11 , Figure 12 , the first outer layer clamp 21 and the second outer layer clamp 22 are inwards retracted until the tray hooks 215 clamp the tray, and are moved to other positions.

[0050] The above-described embodiments are only used to describe the preferred embodiments of the present application, and do not limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those skilled in the art without departing from the design spirit of the present application shall fall within the protection scope of the claims of the present application.

Claims

1. A multi-purpose end effector for a rope-driven parallel warehouse robot, characterized by: The base (01) and the control unit connected thereto, the first outer layer clamp (21) connected with the control unit, the second outer layer clamp (22), the first inner layer clamp (31), the second inner layer clamp (32), The first outer layer clamp (21) and the second outer layer clamp (22) are the same structure and are oppositely arranged and are controlled by the control unit to be synchronously away or close to each other, the first outer layer clamp (21) comprises a first bottom plate (211) and a first side plate (212) connected to each other to form an L shape, when the first bottom plate (211) and the second bottom plate of the second outer layer clamp (22) abut each other by moving close to each other, the first outer layer clamp (21) and the second outer layer clamp (22) form a goods entrance (11) on one side, The first inner layer clamp (31) and the second inner layer clamp (32) are located between the first outer layer clamp (21) and the second outer layer clamp (22) and are the same structure and are oppositely arranged, and are controlled by the control unit to be away or close to each other, the first inner layer clamp (31) comprises a first clamping plate (311) vertically arranged and parallel to the first side plate (212) and located above the first bottom plate (211).

2. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 1, characterized in that: The first outer layer clamp (21) further comprises a first baffle (214) connected to the side edge of the first bottom plate (211) away from the goods entrance (11), and the first baffle (214) is perpendicular to the first bottom plate (211).

3. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 1, characterized in that: Further comprising a first driving member (23), a second driving member (24), a third driving member (33), and a fourth driving member (34), the first driving member (23) and the second driving member (24) synchronously drive the first outer layer clamp (21) and the second outer layer clamp (22) to move, and the third driving member (33) and the fourth driving member (34) respectively drive the first inner layer clamp (31) and the second inner layer clamp (32) to move.

4. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 3, characterized in that: Further comprising a first rack (251), a second rack (252), and a central gear (26), the first rack (251) and the second rack (252) are respectively located on both sides of the central gear (26), the first rack (251) and the second rack (252) are engaged with the central gear (26), the first outer layer clamp (21) is connected with the first rack (251), and the second outer layer clamp (22) is connected with the second rack (252).

5. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 4, characterized in that: The first driving member (23), the second driving member (24), the third driving member (33), and the fourth driving member (34) are all pneumatic telescopic rods.

6. The multi-purpose end effector for a rope-driven parallel warehouse robot according to claim 5, characterized in that: The first guide rail group (27) and the second guide rail group (37) are connected to the base (01), the first outer layer clamp (21) further comprises a first top plate (213), the first top plate (213) is connected with the first side plate (212), two first sliding blocks are arranged on the first top plate (213), and the first outer layer clamp (21) is connected to two guide rails of the first guide rail group (27) through the two first sliding blocks.

7. The multi-purpose end effector for a rope-driven parallel warehouse robot according to claim 6, characterized in that: The first outer side distance sensor (28) and the second outer side distance sensor (29) are used to collect distance information of the first outer layer clamp (21) and the second outer layer clamp (22) relative to the base (01) and transmit the distance information to the control unit, the first inner side distance sensor (38) and the second inner side distance sensor (39) are used to collect distance information of the first inner layer clamp (31) and the second inner layer clamp (32) relative to the base (01) and transmit the distance information to the control unit, and the control unit controls movement amounts of the first outer layer clamp (21), the second outer layer clamp (22), the first inner layer clamp (31) and the second inner layer clamp (32) according to preset distance information.

8. The multi-purpose end effector for a rope-driven parallel warehouse robot of claim 1, wherein: The base (01) is rotatable.

9. The multipurpose end effector for a rope-driven parallel warehouse robot according to claim 1, characterized in that: A plurality of rope connection ends (12) are arranged on the upper surface of the base (01).

10. The multi-purpose end effector for a rope-driven parallel warehouse robot according to any of claims 1-9, characterized in that: At least two pairs of tray hooks (215) are further included, one pair of the tray hooks (215) is respectively connected to outer edges of the first bottom plate (211) and the second bottom plate on one side of the goods inlet (11), and the other pair of the tray hooks (215) is respectively connected to outer edges of the first bottom plate (211) and the second bottom plate on the other side.

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