The transfer guide vehicle for robot joint reducers and its control method

Abstract

This invention relates to a transfer guide vehicle for robot joint reducers and its control method, belonging to the field of cargo handling. The vehicle body is moved and steered by four Mecanum wheels; an integrated conveyor belt is mounted on internal guide rails and a gantry module via a moving slide and a conveyor belt connecting plate, respectively; the gantry module is connected and fixed to the vehicle body via side wall connecting plates, and is connected to a ball screw module and a rack and pinion slide via height and horizontal position connecting plates; a gripping device housing is connected via a gripping device base. Advantages include: the Mecanum wheels allow for omnidirectional movement and steering; the integrated conveyor belt works in conjunction with various transmission devices to enable movement in three-dimensional space; and the intelligent image processing module further enhances the conveyor belt's adaptability and the accuracy of identifying and positioning goods such as robot joint reducers during transport. It is suitable for highly automated applications and complex working environments.

Description

Technical Field

[0001] This invention relates to the field of cargo handling, and in particular to a transfer guide vehicle with a robot joint reducer and its control method. Background Technology

[0002] Conveyor belts are widely used in modern logistics. However, most existing conveyor belts are large and inflexible, limited to fixed locations for transporting specific goods. They cannot be adjusted in conjunction with gripping devices or the overall movement of the equipment, resulting in low automation and making them unsuitable for confined spaces with high flexibility requirements. Material handling is crucial for warehouse efficiency. Manual warehouse material handling typically involves identifying, gripping, and transferring goods, a time-consuming, labor-intensive, and inefficient process. Furthermore, current handling robots or transfer equipment usually rely on robotic arms and fixed conveyor belts or carts to complete the transfer, a method that is inefficient and requires specific site conditions. Summary of the Invention

[0003] The purpose of this invention is to provide a transfer guide vehicle and its control method for robot joint reducers, solving the problems of large size, inflexible movement, and low automation of existing transfer conveyor belts. This invention features a simple and reliable structure. The guide vehicle-type carrier design allows the device to move and turn flexibly in the work area. Multiple transmission devices work together to accommodate the movement of the integrated conveyor belt at different positions in space, thus meeting the positional requirements of the gripping device and the transported goods. The integrated design makes this invention more adaptable to different working environments and task requirements, such as operating scenarios in narrow spaces or irregular terrain. This invention can adjust the speed and direction of the conveyor belt according to different production needs, performing various types of handling tasks. The automated and intelligent design enables this invention to better transfer goods such as robot joint reducers in different environments.

[0004] The above-mentioned objective of the present invention is achieved through the following technical solution:

[0005] The transfer guide vehicle for the robot joint reducer includes a vehicle body 1, an integrated conveyor belt mechanism 2, a gantry module 3, and a connecting assembly 4. The vehicle body 1 moves and steers via four Mecanum wheels 101. The integrated conveyor belt mechanism 2 is mounted on the vehicle body 1 and the gantry module 3 via a moving slide 108 and a conveyor belt connecting plate 403. The gantry module 3 is connected and fixed to the vehicle body 1 via a side wall connecting plate 401. The ball screw module 302 is connected to the gear and rack slide 303 via the height and horizontal position connecting plate 402 of the connecting assembly 4. The structure adopts a gantry single-sided double ball screw module and two gear and rack slides in cooperation. The gripping device is connected to the gripping device housing 306 via a gripping device base 305.

[0006] The vehicle body 1 is: a drive motor 102 is fixed to the bottom side of the vehicle body by a motor mounting bracket 103, a bearing 105 is fixed to the side of the vehicle body by a bearing end cover 106, a drive 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.

[0007] The integrated conveyor belt mechanism 2 comprises: a non-powered idler roller 202 fixed to the front end and corner end of the support frame 201 via a second bearing 203; a drive roller 215 fixed to the tail end of the support frame via a second bearing 203; the second bearing 203 fixed to the front end of the support frame 201 near the gantry module 3 via a second bearing end cover 204 and a front fixed end 207; the second bearing 203 fixed to the corner end of the support frame 201 via a second bearing end cover 204 and a corner fixed end 208; and the second bearing 203 fixed to the tail fixed end 209 via a second bearing end cover 204. The bearing end cap 204 is fixed to the front fixed end 207, the corner fixed end 208 and the tail fixed end 209 respectively 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 corner bracket 212 connects the support frame 201 and the slider 213. The slider 213 is connected to the movable slide table 108 to make the integrated conveyor belt mechanism 2 slide along the guide rail in the front, back, left and right directions.

[0008] The gantry module 3 comprises: a gantry housing 301 fixed to the vehicle body 1 via a side wall connecting plate 401; a ball screw module 302 fixed inside the gantry housing 301; and a rack and pinion slide 303 cooperating with the ball screw module 302 via a height and horizontal position connecting plate 402, thereby achieving vertical and horizontal position movement; an image module 304 fixed to the rack and pinion slide 303, the image module including a binocular structured light 3D camera, a lidar, and sensors; and a gripper. The grabbing device base 305 is fixed to the top of the gantry module 3 housing. The grabbing device housing 306 is installed on the grabbing device base 305. The ball screw module 307 is installed inside the grabbing 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. The servo motor 310 is installed on the suction cup connecting frame 311 and drives the integrated vacuum suction cup 312 to swing.

[0009] The connecting component 4 is: a side wall connecting plate 401 connecting the vehicle body 1 and the gantry module 3; a height and horizontal position connecting plate 402 connecting the ball screw module 302 and the gear rack slide 303; and a conveyor belt connecting plate 403 connecting the integrated conveyor belt mechanism 2 and the gear rack slide 303.

[0010] 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:

[0011] Step 1: Power on the central control unit 111 and initialize the data, including setting the working mode, transport path, and speed of the transfer equipment;

[0012] Step 2: Based on the path planning results, control the guide vehicle to move along the predetermined path, while adjusting its speed and direction to adapt to environmental changes;

[0013] Step 3: The image module 304 operates to identify and locate the grabbed goods;

[0014] Step 4: The image module 304 transmits the observed data to the grasping module through the central control unit 111. The grasping module moves to the designated position according to the information. At the same time, the gear rack slide 303, together with the ball screw module 302, moves the front end of the integrated conveyor belt mechanism 2 to the vicinity of the grasped goods.

[0015] Step 5: When each component moves to its corresponding position, the central control unit 111 sends a signal, the air compressor 110 starts working, the gripping device moves the goods to be transported onto the integrated conveyor belt mechanism, the air compressor 110 stops working, and the goods are transferred by the conveyor belt.

[0016] Step 6: The image module 304 determines whether the transfer 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 and the system waits for the next instruction.

[0017] The beneficial effects of this invention are as follows: The invention has a simple and reliable structure; its vehicle body design, similar to an automated guided vehicle (AGV), allows for omnidirectional steering and movement, making it suitable for mobile platforms with different scenarios and needs; by placing the integrated conveyor belt within the vehicle body, the conveyor belt can move flexibly between different positions within the vehicle body, resulting in more efficient transfer of robot joint reducers; through the cooperation of the gear rack slide and ball screw module, the position conversion of the conveyor belt between different levels and heights can be completed, improving the flexibility and adaptability of the production line; through the gripping device and image processing module on the gantry module, the robot joint reducers being transferred can be gripped onto the conveyor belt; and through intelligent management and remote monitoring, this device can achieve autonomous driving and automatic identification and positioning functions. Attached Figure Description

[0018] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate the invention and are used to explain it, but do not constitute an undue limitation of the invention.

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0020] Figure 2 This is a schematic diagram of the main structure of the present invention;

[0021] Figure 3 for Figure 2 Enlarged view of a partial section;

[0022] Figure 4 for Figure 2 A cross-sectional view of AA;

[0023] Figure 5 This is a structural framework diagram of the main structure of the present invention (mainly showing the connection position relationship between the integrated conveyor belt and each transmission device).

[0024] Figure 6 for Figure 5 Enlarged view of point C;

[0025] Figure 7 for Figure 5 Enlarged view of point D;

[0026] Figure 8 for Figure 5 Enlarged view of point E.

[0027] In the diagram: 1. Vehicle body; 2. Integrated conveyor belt mechanism; 3. Gantry module; 4. Connecting components; 101. Mecanum wheel; 102. Drive motor; 103. Motor mounting bracket; 104. Drive connecting shaft; 105. Bearing 1; 106. Bearing end cover 1; 107. Bolt 1; 108. Moving slide; 109. Battery box; 110. Air compressor; 111. Central control unit; 201. Support frame; 202. Unpowered idler roller; 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 fixing end; 210. Bolt 2; 211. Bolt 3; 212. Angle bracket; 213. Slider; 214. Conveyor belt; 215. Drive roller; 301. Gantry frame housing; 302. Ball screw module; 303. Gear rack 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 motor; 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 Implementation

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] See Figures 1 to 8 As shown, the present invention relates to a transfer guide vehicle and its control method for robot joint reducers. The invention employs a dynamic, three-dimensional frame structure. Taking the gripping of robot joint reducers as an example, an integrated conveyor belt works in conjunction with various transmission devices, enabling the conveyor belt to move in three-dimensional space. By optimizing the collaborative work between the integrated conveyor belt and the gripping device, and with the assistance of an intelligent image processing module, the adaptability of the conveyor belt and the accuracy of identifying and positioning goods such as robot joint reducers during transfer are greatly improved. Mecanum wheels allow the device to move and turn in all directions. The integrated conveyor belt, in conjunction with various transmission devices, enables movement in three-dimensional space. The intelligent image processing module further enhances the adaptability of the conveyor belt and the accuracy of identifying and positioning goods such as robot joint reducers during handling. This invention is suitable for applications with high automation and complex working environments.

[0030] See 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 moves and steers via four Mecanum wheels 101. The integrated conveyor belt mechanism 2 is mounted on the vehicle body 1 and the gantry module 3 via a moving slide 108 and a conveyor belt connecting plate 403. The gantry module 3 is connected and fixed to the vehicle body 1 via a side wall connecting plate 401. The ball screw module 302 is connected to the gear rack slide 303 via the height and horizontal position connecting plate 402 of the connecting component 4. The flexibility and reliability of the device are improved by the structure of the single-sided double ball screw module of the gantry and the two gear rack slides. The gripping device housing 306 is connected to the gripping device base 305.

[0031] See Figure 1 and Figure 2 As shown, the vehicle body 1 includes a Mecanum wheel 101, a drive motor 102, a motor mounting bracket 103, a drive connecting shaft 104, a bearing 105, a bearing end cap 106, bolts 107, a movable slide 108, a battery box 109, an air compressor 110, and a central control unit 111. The drive motor 102 is fixed to the bottom of the vehicle body via the motor mounting bracket 103. The bearing 105 is fixed to the side of the vehicle body via the bearing end cap 106. The drive connecting shaft 104 transmits motor torque and axially fixes the bearing 105 and the Mecanum wheel 101. The movable slide 108 is installed in the middle of the vehicle body 1. The bearing end cap 106 is fixedly connected to the vehicle body 1 via bolts 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 unit 111 is fixed to the rear exterior of the vehicle body 1.

[0032] See Figures 4 to 7As shown, the integrated conveyor belt mechanism 2 includes a support frame 201, a non-powered idler roller 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 bracket 212, a slider 213, a conveyor belt 214, and a drive roller 215. The unpowered idler roller 202 is fixed to the front end and corner end of the support frame 201 by bearing 203. The unpowered idler roller 202 can rotate through bearing 203. The drive roller 215 is fixed to the tail end of the support frame by bearing 203. The drive roller 215, in conjunction with the unpowered idler roller 202, can drive the conveyor belt 214 to rotate. Bearing 203 is fixed to the front end of the support frame 201 near the gantry module 3 by bearing end cap 204 and front fixed end 207. Bearing 203 is fixed to the corner end of the support frame 201 by bearing end cap 204 and corner fixed end 208. Bearing 203 is fixed to the tail fixed end 209 by bearing end cap 204. The bearing end cap 204 is fixed to the rear of the support frame 201. The bearing end cap 204 is fixed to the front fixed end 207, the corner fixed end 208, and the rear fixed end 209 respectively by bolts 210. The front fixed end 207 is fixed to the front end of the support frame 201 by bolts 211, and the corner fixed end 208 is fixed to the corner end of the support frame 201 by bolts 211. The corner fixed end 208 can rotate around the bearing 203. The rear fixed end 209 is fixed to the rear of the support frame 201 by bolts 211. The corner bracket 212 connects the support frame 201 and the slider 213 by bolts 211. The slider 213 is connected to the movable slide table 108, allowing the integrated conveyor belt mechanism 2 to slide along the guide rail in the forward, backward, left, and right directions. The integrated conveyor belt mechanism 2 can rotate at the corner end, thus cooperating with its sliding along the guide rail in different directions.

[0033] The auxiliary roller base 205 is fixed to the support frame 201 by bolt three 211; the auxiliary roller 206 is mounted on the auxiliary roller base 205; the tail fixing end 209 is fixed to the support frame 201 by bolt three; the conveyor belt 214 is mounted on the inner side of the support frame 201 around the unpowered idler roller 202, the auxiliary roller 206 and the drive roller 215, so that the conveyor belt can rotate cyclically.

[0034] See Figure 2 , Figure 4 , Figure 5 and Figure 8As shown, the gantry module 3 includes a gantry housing 301, a ball screw module 302, a gear and 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 motor 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 via a side wall connecting plate 401. The ball screw module 302 is fixed inside the gantry housing 301. The gear rack slide 303 cooperates with the ball screw module 302 via a height and horizontal position connecting plate 402, thereby enabling the integrated conveyor belt mechanism 2 and the image module 304 to move in the vertical and horizontal directions. The image module 304 is fixed to the gear rack slide 303 and includes a binocular structured light 3D camera, a lidar, 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 mounted on the gripping device base 3. On the 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. The servo motor 310 is installed on the suction cup connecting frame 311 and drives the integrated vacuum suction cup 312 to swing.

[0035] The gear rack slide 303 can move vertically along the ball screw module 302, and the slider on the gear rack slide 303 can drive the integrated conveyor belt mechanism 2 and the image module 304 to move horizontally, thereby achieving position switching in both the horizontal and vertical directions.

[0036] The grasping device works in conjunction with the image module 304, including steps such as target localization, attitude estimation, grasping detection, and motion planning for the joint reducer of the robot being grasped. During the grasping process, the grasping device needs to adjust its motion path in real time based on visual feedback. Visual servo control guides the manipulator to the optimal observation position by comparing the current image with a reference image, ensuring that the grasping conditions are met.

[0037] See Figure 1 and Figure 2As shown, the connecting component 4 includes a side wall connecting plate 401, a height and horizontal position connecting plate 402, and a conveyor belt connecting plate 403. 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.

[0038] The control method of the transfer guide vehicle for the robot joint reducer of the present invention includes the following steps:

[0039] Step 1: Power on the central control unit 111 and initialize the data, including setting parameters such as the working mode, transport path, and speed of the transfer equipment;

[0040] Step 2: Based on the path planning results, control the guide vehicle to move along the predetermined path, while adjusting its speed and direction to adapt to environmental changes;

[0041] Step 3: The image module 304 operates to identify and locate the grabbed goods;

[0042] Step 4: The image module 304 transmits the observed data to the grasping module through the central control unit 111. The grasping module moves to the designated position according to the information. At the same time, the gear rack slide 303, together with the ball screw module 302, moves the front end of the integrated conveyor belt mechanism 2 to the vicinity of the grasped goods.

[0043] Step 5: When each component moves to its corresponding position, the central control unit 111 sends a signal, the air compressor 110 starts working, the gripping device moves the goods to be transported onto the integrated conveyor belt mechanism, the air compressor 110 stops working, and the goods are transferred by the conveyor belt.

[0044] Step 6: The image module 304 determines whether the transfer 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 and the system waits for the next instruction.

[0045] Step 7: Abnormal Handling: During the transfer process, monitor the status of the transfer equipment and the surrounding environment in real time. Once an abnormality is detected (such as collision, malfunction, etc.), take corresponding measures immediately (such as emergency stop, alarm, etc.).

[0046] See Figures 1 to 8 As shown, the working process of this invention is as follows:

[0047] First, the equipment is guided to the designated location according to the work requirements. Then, the image module 304 identifies and locates the robot joint reducer to be transferred. Once the specific position is determined, the integrated conveyor belt mechanism 2, with the assistance of visual servo control, ball screw module 302, and gear rack slide 303, moves accordingly in the horizontal and vertical directions. The gripping device on the gantry module 3 grabs the robot joint reducer to be transferred and places it onto the integrated conveyor belt mechanism 2, thus allowing the robot joint reducer to enter the conveyor belt and realize the transfer 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 according to the different characteristics of the grabbed goods, thereby facilitating the next step of the operation.

[0048] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made to the present invention should be included within the scope of protection of the present invention.

Claims

1. A transfer and guiding vehicle for a robot joint reducer, characterized in that: The system includes a vehicle body (1), an integrated conveyor belt mechanism (2), a gantry module (3), and a connecting assembly (4). The vehicle body (1) moves and steers via four Mecanum wheels (101). The integrated conveyor belt mechanism (2) is mounted on the vehicle body (1) and the gantry module (3) via a moving slide (108) and a conveyor belt connecting plate (403). The gantry module (3) is connected and fixed to the vehicle body (1) via a side wall connecting plate (401). The ball screw module (302) is connected to the gear rack slide (303) via the height and horizontal position connecting plate (402) of the connecting assembly (4). The system adopts a structure in which a single-sided double ball screw module of the gantry and two gear rack slides cooperate. The gripping device housing (306) is connected via a gripping device base (305). The integrated conveyor belt mechanism (2) is as follows: a non-powered idler roller (202) is fixed to the front end and corner end of the support frame (201) by bearing two (203), and a drive roller (215) is fixed to the tail end of the support frame by bearing two (203). The bearing two (203) is fixed to the front end of the support frame (201) by bearing end cap two (204) and front fixed end (207). The bearing two (203) is fixed to the corner end of the support frame (201) by bearing end cap two (204) and corner fixed end (208). The bearing two (203) is fixed to the support frame by bearing end cap two (204) and tail fixed end (209). (201) tail end; the bearing end cover two (204) is fixed to the front fixed end (207), the corner fixed end (208) and the tail fixed end (209) respectively by bolt two (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 corner bracket (212) connects the support frame (201) and the slider (213), the slider (213) is connected to the movable slide table (108) so that the integrated conveyor belt mechanism (2) slides along the guide rail in the front, back, left and right directions.

2. The transfer and guiding vehicle for the robot joint reducer according to claim 1, characterized in that: The vehicle body (1) is: a drive motor (102) is fixed to the bottom side of the vehicle body by a motor mounting bracket (103), a bearing (105) is fixed to the side of the vehicle body by a bearing end cover (106), a drive 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).

3. The transfer and guiding vehicle for the robot joint reducer according to claim 1, characterized in that: The gantry module (3) is as follows: the gantry housing (301) is fixed to the vehicle body (1) by 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) 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 lidar, and a sensor; the gripping device bottom The base (305) is fixed to the top of the gantry module (3) housing. The gripping device housing (306) is installed on the gripping device 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 suction cup connecting frame (311) connects the integrated vacuum suction cup (312) and the electric push rod (309). The servo motor (310) is installed on the suction cup connecting frame (311) and drives the integrated vacuum suction cup (312) to swing.

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

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

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