At present, the box type cargo picking robot mostly adopts the sucker type end-effector in the logistics industry in china. In the light of the disadvantages and limitation of the complex heavy pneumatic devices used in the existing sucker type end-effector, a new type of clamping end-effector's structure is designed here. Relying on the clamp, flip, clamping to realise the pickup of the box goods. Only by stepping motor as the driving device, the weight of the driving system is greatly reduced, so that the overall structure of the robot is lightweight and the selection efficiency is improved. The finite element analysis of key components improves the feasibility of structural design. The finite element analysis of key components verifies the feasibility of the structure design and provides references for subsequent optimisation.