Transfer guide vehicle of robot joint speed reducer and control method of transfer guide vehicle

Abstract

The invention relates to a transfer guide vehicle of a robot joint speed reducer and a control method thereof, and belongs to the field of cargo carrying. The vehicle body is in charge of moving and steering by four Mecanum wheels; the integrated conveyor belt is respectively mounted on the guide rail in the vehicle body and the portal frame module through the movable sliding table and the conveyor belt connecting plate; the portal frame module is fixedly connected with the vehicle body through a side wall connecting plate, and is connected with the ball screw module and the gear rack sliding table through a height and horizontal position connecting plate; the grabbing device base is connected with the grabbing device shell. The device has the advantages that the Mecanum wheels can enable the device to move and steer in all directions, the integrated conveying belt is matched with various transmission devices to work, so that the device can move in a three-dimensional space, and the intelligent image processing module is matched in an auxiliary mode; the application range of the conveying belt is greatly widened, and the recognition and positioning precision of cargoes such as robot joint speed reducers during carrying is greatly improved. The device is suitable for occasions with high automation degree and complex working environment.

Description

Technical Field

[0001] The invention relates to the field of cargo handling, and in particular to a transfer guide vehicle for a robot joint reducer and a control method thereof. Background Art

[0002] Conveyor belts are widely used in the modern logistics industry, but most of the existing conveyor belts are large and inflexible. They can only carry designated goods in some fixed work locations, and cannot be adjusted in position with the gripping device and the overall movement of the equipment. The degree of automation is low, and it is difficult to use in some small spaces and working environments with high flexibility requirements. Material handling is very important for the efficiency of warehouse operations. When performing manual warehouse material handling operations, it is usually necessary to identify, grab and transfer goods. Related operations such as transportation are time-consuming and labor-intensive, and the efficiency is not high. In addition, current handling robots or transfer equipment usually rely on manipulators plus fixed conveyor belts or transport vehicles to complete cargo transfer work. This working method is inefficient and has high requirements on the site environment. Summary of the invention

[0003] The purpose of the present invention is to provide a transfer guide vehicle for a robot joint reducer and a control method thereof, which solves the problems existing in the prior art, such as the large size of the transfer conveyor belt, the inflexible movement, and the low degree of automation. The structure of the present invention is simple and reliable, and the guide vehicle-type carrier design allows the device to be flexibly moved and turned in the workplace. The cooperation of a variety of transmission devices can meet the movement of the integrated conveyor belt in different positions in space, thereby meeting the position requirements of the grasping device and the transported goods. The integrated design makes the present invention easier to adapt to different working environments and task requirements, such as operating scenarios in narrow spaces or irregular terrains. The present invention can adjust the speed and direction of the conveyor belt according to different production requirements and perform various types of handling tasks. The automated and intelligent design enables the present invention to better transport goods such as robot joint reducers in different environments.

[0004] The above-mentioned object of the present invention is achieved by the following technical solutions: The transfer guide vehicle of the robot joint reducer includes a vehicle body 1, an integrated conveyor belt mechanism 2, a gantry module 3, and a connecting component 4. The vehicle body 1 is moved and steered by four Mecanum wheels 101; the integrated conveyor belt 2 is installed on the vehicle body 1 and the gantry module 3 through a movable slide 108 and a conveyor belt connecting plate 403; the gantry module 3 is connected and fixed to the vehicle body 1 through a side wall connecting plate 401, and the ball screw module 302 is connected to the gear rack slide 303 through the height and horizontal position connecting plate 402 of the connecting component 4. The structure of the gantry single-sided double ball screw module and two gear rack slides is matched, and the gripping device housing 306 is connected through the gripping device base 305.

[0005] The vehicle body 1 is: a driving motor 102 is fixed to the bottom side of the vehicle body through a motor fixing frame 103, a bearing 105 is fixed to the side of the vehicle body through a bearing end cover 106, a driving connecting shaft 104 transmits the motor torque and axially fixes the bearing 105 and the Mecanum wheel 101, and a movable slide 108 is installed in the middle part of the vehicle body 1.

[0006] The integrated conveyor belt mechanism 2 is as follows: the unpowered roller drum 202 is fixed to the front end and the corner end of the support frame 201 through the second bearing 203, the active roller 215 is fixed to the rear end of the support frame through the second bearing 203, the second bearing 203 is fixed to the front end of the support frame 201 near the gantry module 3 through the second bearing end cover 204 and the front fixed end 207; the second bearing 203 is fixed to the corner end of the support frame 201 through the second bearing end cover 204 and the corner fixed end 208; the second bearing 203 is fixed to the corner end of the support frame 201 through the second bearing end cover 204 and the tail fixed end 209 Fixed at the tail end of the support frame 201; the bearing end cover 204 is respectively fixed to the front fixed end 207, the corner fixed end 208 and the tail fixed end 209 by bolts 210, the front fixed end 207 is fixed to the front end of the support frame 201, the corner fixed end 208 is fixed to the corner end of the support frame 201, and the tail fixed end 209 is fixed to the tail end of the support frame 201; the angle code 212 connects the support frame 201 and the slider 213, and the slider 213 is connected with the movable slide 108 to enable the integrated conveyor belt mechanism 2 to slide in the front, rear, left and right directions along the guide rail.

[0007] The gantry module 3 is as follows: the gantry housing 301 is fixed to the vehicle body 1 through the side wall connecting plate 401, the ball screw module 302 is fixed inside the gantry housing 301, and the gear rack slide 303 cooperates with the ball screw module 302 through the height and horizontal position connecting plate 402, so as to achieve vertical and horizontal position movement; the image module 304 is fixed to the gear rack slide 303, and the image module includes a binocular structured light 3D camera, a laser radar, and a sensor; the capture The picking device base 305 is fixed on the top of the gantry module 3 shell, the grabbing device shell 306 is installed on the grabbing device base 305, the ball screw module 307 is installed inside the grabbing device shell 306, the connecting frame 308 connects the ball screw module 307 and the electric push rod 309, the suction cup connecting frame 311 connects the integrated vacuum suction cup 312 and the electric push rod 309, and the steering gear 310 is installed on the suction cup connecting frame 311 to drive the integrated vacuum suction cup 312 to swing.

[0008] The connecting component 4 is: the side wall connecting plate 401 connects the vehicle body 1 and the gantry module 3, the height and horizontal position connecting plate 402 connects the ball screw module 302 and the gear rack slide 303, and the conveyor belt connecting plate 403 connects the integrated conveyor belt mechanism 2 and the gear rack slide 303.

[0009] Another object of the present invention is to provide a control method for a transfer guide vehicle of a robot joint reducer, comprising the following steps: Step 1: The central control integrated machine 111 is turned on and data is initialized, including setting the working mode, transport path and speed of the transfer equipment; Step 2: According to the path planning results, control the guide vehicle to move along the predetermined path, and adjust the speed and direction to adapt to environmental changes; Step 3: The image module 304 works to identify and locate the grabbed goods; Step 4: The image module 304 transmits the observed data to the grabbing module through the central control integrated machine 111. The grabbing module moves to the designated position according to the information. At the same time, the rack and pinion slide 303 cooperates with the ball screw module 302 to move the front end of the integrated conveyor belt mechanism 2 to the vicinity of the grabbed goods. Step 5: When each component moves to the corresponding position, the central control integrated machine 111 sends a signal, the air compressor 110 starts working, the grabbing device moves the goods to be transported to the integrated conveyor belt mechanism, the air compressor 110 stops working, and the goods are transported by the conveyor belt; Step 6: The image module 304 determines whether the transfer needs to continue. If so, the grabbing device returns to its original position and the above process is repeated; otherwise, the motor is turned off and the next step instruction is waited for.

[0010] The beneficial effects of the present invention are as follows: the present invention has a simple and reliable structure, and adopts a body design similar to that of an automatic guided vehicle to achieve all-round steering and movement of the device, and is suitable for mobile platforms of different scenarios and needs; by placing an integrated conveyor belt in the body, the conveyor belt can be flexibly moved between different positions in the body, and the robot joint reducer can be more efficiently transported; through the cooperation of the rack and pinion slide and the ball screw module, the position conversion of the conveyor belt between different levels and heights can be completed, thereby improving the flexibility and adaptability of the production line; through the grabbing device and image processing module on the gantry module, the robot joint reducer to be transported can be grabbed onto the conveyor belt; through intelligent management and remote monitoring, the device can realize the functions of automatic driving and automatic identification and positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide further understanding of the present invention and constitute a part of this application. The illustrative examples of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0012] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic diagram of the main structure of the present invention; Figure 3 for Figure 2 An enlarged view of a partial section; Figure 4 for Figure 2 AA cross-section diagram; Figure 5 It is a main structural framework diagram of the present invention (mainly showing the connection position relationship between the integrated conveyor belt and each transmission device); Figure 6 for Figure 5 Enlarged view of point C; Figure 7 for Figure 5 The enlarged view of point D; Figure 8 for Figure 5 Enlarged view of point E.

[0013] In the figure: 1. vehicle body; 2. integrated conveyor belt mechanism; 3. gantry module; 4. connection assembly; 101. Mecanum wheel; 102. drive motor; 103. motor fixing frame; 104. drive connecting shaft; 105. bearing 1; 106. bearing end cover 1; 107. bolt 1; 108. mobile slide; 109. battery box; 110. air compressor; 111. central control integrated machine; 201. support frame; 202. unpowered roller drum; 203. bearing 2; 204. bearing end cover 2; 205. auxiliary roller base; 206. auxiliary roller; 207. front fixed end; 208. corner fixed end; 209, tail fixed end; 210, bolt two; 211, bolt three; 212, angle code; 213, slider; 214, conveyor belt; 215, active roller; 301, gantry housing; 302, ball screw module; 303, rack and pinion slide; 304, image module; 305, gripping device base; 306, gripping device housing; 307, ball screw module; 308, connecting frame; 309, electric push rod; 310, servo; 311, suction cup connecting frame; 312, integrated vacuum suction cup; 401 side wall connecting plate; 402, height and horizontal position connecting plate; 403, conveyor belt connecting plate. DETAILED DESCRIPTION

[0014] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention. In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0015] See also Figures 1 to 8 As shown, the transfer guide vehicle and control method of the robot joint reducer of the present invention adopts a dynamic three-dimensional frame structure. Taking the grabbing robot joint reducer as an example, the integrated conveyor belt is coordinated with various transmission devices to make the conveyor belt meet the requirements of moving in three-dimensional space. By optimizing the coordinated work of the integrated conveyor belt and the grabbing device, and assisting with the intelligent image processing module, the conveyor belt adaptability range and the recognition and positioning accuracy of goods such as robot joint reducers during transportation are greatly improved. The Mecanum wheel can make the device move and turn in all directions. The integrated conveyor belt works with various transmission devices to meet the requirements of moving in three-dimensional space. It is assisted by the intelligent image processing module, which greatly improves the conveyor belt adaptability range and the recognition and positioning accuracy of goods such as robot joint reducers during transportation. It is suitable for occasions with high automation and complex working environment.

[0016] See also Figures 1 to 4 As shown, the transfer guide vehicle of the robot joint reducer of the present invention mainly includes a vehicle body 1, an integrated conveyor belt mechanism 2, a gantry module 3, and a connecting component 4. The vehicle body 1 is moved and steered by four Mecanum wheels 101; the integrated conveyor belt 2 is installed on the vehicle body 1 and the gantry module 3 through a movable slide 108 and a conveyor belt connecting plate 403; the gantry module 3 is connected and fixed to the vehicle body 1 through a side wall connecting plate 401, and the ball screw module 302 is connected to the gear rack slide 303 through the height and horizontal position connecting plate 402 of the connecting component 4. The flexibility and reliability of the device are improved by relying on the structure of the gantry single-sided double ball screw module and the two gear rack slides, and the grabbing device housing 306 is connected through the grabbing device base 305.

[0017] See also Figure 1 and Figure 2As shown, the vehicle body 1 comprises a Mecanum wheel 101, a drive motor 102, a motor fixing frame 103, a drive connecting shaft 104, a bearing 105, a bearing end cover 106, a bolt 107, a movable slide 108, a battery box 109, an air compressor 110, and a central control integrated machine 111. The drive motor 102 is fixed to the bottom side of the vehicle body through the motor fixing frame 103, the bearing 105 is fixed to the side of the vehicle body through the bearing end cover 106, the drive connecting shaft 104 transmits the motor torque and axially fixes the bearing 105 and the Mecanum wheel 101, and the movable slide 108 is installed in the middle part of the vehicle body 1. The bearing end cover 106 is fixedly connected to the vehicle body 1 through a bolt 107; the battery box 109 is fixed to one side of the bottom plate of the vehicle body 1, and the air compressor 110 is fixed to the other side of the bottom plate of the vehicle body 1; the central control integrated machine 111 is fixed to the rear side of the vehicle body 1.

[0018] See also Figures 4 to 7 As shown, the integrated conveyor belt mechanism 2 includes a support frame 201, an unpowered roller drum 202, a second bearing 203, a second bearing end cover 204, an auxiliary roller base 205, an auxiliary roller 206, a front fixed end 207, a corner fixed end 208, a tail fixed end 209, a second bolt 210, a third bolt 211, an angle code 212, a slider 213, a conveyor belt 214, and an active roller 215. The unpowered roller drum 202 is fixed to the front end and the corner end of the support frame 201 through the second bearing 203. The unpowered roller drum 202 can rotate through the second bearing 203. The active roller 215 is fixed to the tail of the support frame through the second bearing 203. The active roller 215 cooperates with the unpowered roller drum 202 to drive the conveyor belt 214 to rotate. The second bearing 203 is fixed to the front end of the support frame 201 near the gantry module 3 through the second bearing end cover 204 and the front fixed end 207; the second bearing 203 is fixed to the corner end of the support frame 201 through the second bearing end cover 204 and the corner fixed end 208; the second bearing 203 is fixed to the corner end of the support frame 201 through the second bearing end cover 204 and the tail fixed end 209 Fixed to the rear of the support frame 201; the bearing end cover 204 is fixed to the front fixed end 207, the corner fixed end 208 and the tail fixed end 209 respectively by bolt 210, the front fixed end 207 is fixed to the front end of the support frame 201 by bolt 3 211, the corner fixed end 208 is fixed to the corner end of the support frame 201 by bolt 3 211, the corner fixed end 208 can rotate around the bearing 203, and the tail fixed end 209 is fixed to the rear of the support frame 201 by bolt 3; the angle code 212 is connected to the support frame 201 and the slider 213 by bolt 3 211, and the slider 213 is connected with the movable slide 108, so that the integrated conveyor belt mechanism 2 can slide forward, backward, left and right along the guide rail. The integrated conveyor belt mechanism 2 can rotate at the corner end to cooperate with its sliding in different directions along the guide rail.

[0019] The auxiliary roller base 205 is fixed to the support frame 201 by bolt three 211; the auxiliary roller 206 is installed on the auxiliary roller base 205; the tail fixed end 209 is fixed to the support frame 201 by bolt three; the conveyor belt 214 is installed on the inner side of the support frame 201 around the unpowered roller drum 202, the auxiliary roller 206 and the active roller 215, so that the conveyor belt can rotate in a cycle.

[0020] See also Figure 2 , Figure 4 , Figure 5 and Figure 8 As shown, the gantry module 3 includes a gantry housing 301, a ball screw module 302, a gear rack slide 303, an image module 304, a gripping device base 305, a gripping device housing 306, a ball screw module 307, a connecting frame 308, an electric push rod 309, a servo 310, a suction cup connecting frame 311, and an integrated vacuum suction cup 312. The gantry housing 301 is fixed to the vehicle body 1 through the side wall connecting plate 401, the ball screw module 302 is fixed inside the gantry housing 301, and the gear rack slide 303 cooperates with the ball screw module 302 through the height and horizontal position connecting plate 402, so that the integrated conveyor belt mechanism 2 and the image module 304 can be moved in the vertical and horizontal directions; the image module 304 is fixed to the gear rack slide 303, and the image module includes a binocular structured light 3D camera, a laser radar, and a sensor; the gripping device base 305 is fixed to the top of the gantry module 3 housing, and the gripping device housing 306 is installed on the gripping device base 3 05, the gripping device housing 306 can rotate around the gripping base 305, the ball screw module 307 is installed inside the gripping device housing 306, the connecting frame 308 connects the ball screw module 307 and the electric push rod 309, the ball screw module 307 can drive the electric push rod 309 to move in the horizontal direction through the connecting frame 308, the suction cup connecting frame 311 connects the integrated vacuum suction cup 312 and the electric push rod 309, the electric push rod 309 can make the integrated vacuum suction cup 312 move in the vertical direction, and the servo 310 is installed on the suction cup connecting frame 311, driving the integrated vacuum suction cup 312 to swing.

[0021] The rack and pinion slide 303 can move in the vertical direction along the ball screw module 302, and the slider on the rack and pinion slide 303 can drive the integrated conveyor belt mechanism 2 and the image module 304 to move in the horizontal direction, thereby achieving position conversion in the horizontal and vertical directions.

[0022] The grasping device cooperates with the image module 304, including the steps of target positioning, posture estimation, grasping detection and motion planning of the grasped robot joint reducer. During the grasping process, the grasping device needs to adjust its motion path in real time according to the visual feedback. The visual servo control guides the manipulator to the best observation position by comparing the current image with the reference image to ensure that the grasping conditions are met.

[0023] See also Figure 1 and Figure 2 As shown, the connection assembly 4 includes a side wall connection plate 401, a height and horizontal position connection plate 402, and a conveyor belt connection plate 403. The side wall connection plate 401 connects the vehicle body 1 and the gantry module 3, the height and horizontal position connection plate 402 connects the ball screw module 302 and the gear rack slide 303, and the conveyor belt connection plate 403 connects the integrated conveyor belt mechanism 2 and the gear rack slide 303.

[0024] The control method of the transfer guide vehicle of the robot joint reducer of the present invention comprises the following steps: Step 1: The central control integrated machine 111 is turned on and data is initialized, including setting the working mode, transport path, speed and other parameters of the transfer equipment; Step 2: According to the path planning results, control the guide vehicle to move along the predetermined path, and adjust the speed and direction to adapt to environmental changes; Step 3: The image module 304 works to identify and locate the grabbed goods; Step 4: The image module 304 transmits the observed data to the grabbing module through the central control integrated machine 111. The grabbing module moves to the designated position according to the information. At the same time, the rack and pinion slide 303 cooperates with the ball screw module 302 to move the front end of the integrated conveyor belt mechanism 2 to the vicinity of the grabbed goods. Step 5: When each component moves to the corresponding position, the central control integrated machine 111 sends a signal, the air compressor 110 starts working, the grabbing device moves the goods to be transported to the integrated conveyor belt mechanism, the air compressor 110 stops working, and the goods are transported by the conveyor belt; Step 6: The image module 304 determines whether the transfer needs to continue. If so, the grabbing device returns to its original position and the above process is repeated; otherwise, the motor is turned off and the next step instruction is waited for.

[0025] Step 7: Abnormal handling: During the transfer process, monitor the status of the transfer equipment and the surrounding environment in real time. Once an abnormal situation (such as collision, failure, etc.) is found, take corresponding handling measures (such as emergency stop, alarm, etc.) immediately.

[0026] See also Figures 1 to 8 As shown, the working process of the present invention is as follows: First, the equipment arrives at the designated location according to the work requirements, and then the image module 304 identifies and locates the robot joint reducer to be transported. When the specific location is determined, the integrated conveyor belt mechanism 2 will move in the horizontal and vertical directions accordingly with the assistance of the visual servo control and the ball screw module 302 and the gear rack slide 303. The grabbing device on the gantry module 3 will grab the robot joint reducer to be transported and place it on the integrated conveyor belt mechanism 2, so that the robot joint reducer to be transported enters the conveyor belt to realize the transportation of the robot joint reducer. It is worth noting that different collection or transmission devices, such as collection boxes or flexible conveyor belts, can be installed at the rear of the vehicle body according to the different characteristics of the grabbed goods, so as to facilitate the next step of operation.

[0027] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made to the present invention shall be included in the protection scope of the present invention.

Claims

1. A transfer guide vehicle for a robot joint reducer, characterized in that: The invention comprises a vehicle body (1), an integrated conveyor belt mechanism (2), a gantry module (3) and a connecting assembly (4); the vehicle body (1) is moved and steered by means of four Mecanum wheels (101); the integrated conveyor belt (2) is mounted on the vehicle body (1) and the gantry module (3) by means of a movable slide (108) and a conveyor belt connecting plate (403); the gantry module (3) is connected and fixed to the vehicle body (1) by means of a side wall connecting plate (401); the ball screw module (302) is connected to the gear rack slide (303) by means of a height and horizontal position connecting plate (402) of the connecting assembly (4); a structure in which a gantry single-sided double ball screw module and two gear rack slides are matched is adopted, and a gripping device housing (306) is connected by means of a gripping device base (305).

2. The transfer guide vehicle for the robot joint reducer according to claim 1, characterized in that: The vehicle body (1) is: a driving motor (102) is fixed to the bottom side of the vehicle body through a motor fixing frame (103); a bearing 1 (105) is fixed to the side of the vehicle body through a bearing end cover 1 (106); a driving connecting shaft (104) transmits motor torque and axially fixes the bearing 1 (105) and the Mecanum wheel (101); and a movable slide (108) is installed in the middle part of the vehicle body (1).

3. The transfer guide vehicle for the robot joint reducer according to claim 1, characterized in that: The integrated conveyor belt mechanism (2) is as follows: the unpowered roller drum (202) is fixed to the front end and the corner end of the support frame (201) through the second bearing (203); the active roller (215) is fixed to the rear end of the support frame through the second bearing (203); the second bearing (203) is fixed to the front end of the support frame (201) through the second bearing end cover (204) and the front fixed end (207); the second bearing (203) is fixed to the corner end of the support frame (201) through the second bearing end cover (204) and the corner fixed end (208); the second bearing (203) is fixed to the support frame through the second bearing end cover (204) and the tail fixed end (209). (201); the second bearing end cover (204) is respectively fixed to the front fixed end (207), the corner fixed end (208) and the tail fixed end (209) by means of the second bolt (210); the front fixed end (207) is fixed to the front end of the support frame (201), the corner fixed end (208) is fixed to the corner end of the support frame (201), and the tail fixed end (209) is fixed to the tail of the support frame (201); the angle code (212) connects the support frame (201) and the slider (213), and the slider (213) is connected with the movable slide table (108) so that the integrated conveyor belt mechanism (2) slides in the front, rear, left and right directions along the guide rail.

4. The transfer guide vehicle for the robot joint reducer according to claim 1, characterized in that: The gantry module (3) is: the gantry shell (301) is fixed to the vehicle body (1) through the side wall connecting plate (401); the ball screw module (302) is fixed inside the gantry shell (301); the gear rack slide (303) cooperates with the ball screw module (302) through the height and horizontal position connecting plate (402), so as to achieve vertical and horizontal position movement; the image module (304) is fixed to the gear rack slide (303), and the image module includes a binocular structured light 3D camera, a laser radar, and a sensor; the gripping device bottom The seat (305) is fixed on the top of the housing of the gantry module (3); the gripping device housing (306) is mounted on the gripping device base (305); the ball screw module (307) is mounted inside the gripping device housing (306); the connecting frame (308) connects the ball screw module (307) and the electric push rod (309); the suction cup connecting frame (311) connects the integrated vacuum suction cup (312) and the electric push rod (309); and the steering gear (310) is mounted on the suction cup connecting frame (311) to drive the integrated vacuum suction cup (312) to swing.

5. The transfer guide vehicle for the robot joint reducer according to claim 1, characterized in that: The connection assembly (4) comprises: a side wall connection plate (401) connecting the vehicle body (1) and the gantry module (3), a height and horizontal position connection plate (402) connecting the ball screw module (302) and the gear rack slide (303), and a conveyor belt connection plate (403) connecting the integrated conveyor belt mechanism (2) and the gear rack slide (303).

6. The control method of the transfer guide vehicle of the robot joint reducer according to any one of claims 1 to 5, characterized in that: The following steps are involved: Step 1: The central control integrated machine (111) is turned on and data is initialized, including setting the working mode, transport path, and speed of the transfer equipment; Step 2: According to the path planning results, control the guide vehicle to move along the predetermined path, and adjust the speed and direction to adapt to environmental changes; Step 3: The image module (304) works to identify and locate the grabbed goods; Step 4: The image module (304) transmits the observed data to the grabbing module through the central control integrated machine (111), and the grabbing module moves to the designated position according to the information. At the same time, the rack and pinion slide (303) cooperates with the ball screw module (302) to move the front end of the integrated conveyor belt mechanism (2) to the vicinity of the grabbed goods; Step 5: When each component moves to a corresponding position, the central control integrated machine (111) sends a signal, the air compressor (110) starts working, the grabbing device moves the goods to be transported to the integrated conveyor belt mechanism, the air compressor (110) stops working, and the goods are transported by the conveyor belt; Step 6: The image module (304) determines whether the transport needs to continue. If so, the gripping device returns to its original position and the above process is repeated; otherwise, the motor is turned off.

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